Ground identifier category confirmation method and device and vehicle

A technology for confirming devices and signs, applied in the computer field, can solve problems such as low practicability, deformation of candidate ground signs, poor ground sign detection ability, etc., to achieve the effects of improving detection ability, good technical support, and improving accuracy

Pending Publication Date: 2022-03-04
ENBOTAI TIANJIN TECH CO LTD
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Problems solved by technology

[0004] However, this method is only suitable for dealing with the situation when the ground mark is located at the near end of the current vehicle. This is because the position of the camera device of the vehicle is fixed and is affected by the shooting angle of the camera device. For the ground mark at the far end of the vehicle, the horizontal pr

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  • Ground identifier category confirmation method and device and vehicle
  • Ground identifier category confirmation method and device and vehicle
  • Ground identifier category confirmation method and device and vehicle

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Embodiment Construction

[0033] In order to enable those skilled in the art to understand the solution of the present application more clearly, the application scenarios of the technical solution of the present application are first described below.

[0034] see figure 1 , which is a schematic diagram of a vehicle performing ground mark detection.

[0035] The ground markings in the following descriptions of this application refer to the lines, marks and characters drawn on the road where the vehicle is driving to indicate the driving of the vehicle. Different from the sign boards arranged perpendicular to the ground, the ground markings are drawn horizontally on the road.

[0036] Common ground signs such as straight-going signs, turning signs, and no parking signs.

[0037] When the vehicle is driving automatically, it is of great significance to accurately detect the ground signs of the road the vehicle is driving on, for subsequent path planning, real-time decision-making and driving control.

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Abstract

The invention provides a category confirmation method and device for ground identifiers and a vehicle, and relates to the technical field of computers. The method comprises the following steps: acquiring an image comprising a to-be-determined ground identifier; performing inverse perspective transformation on the image to obtain a top view corresponding to the image; and determining the category of the to-be-determined ground identifier by using the top views and a ground identifier identification model, training the ground identifier identification model by using a top view set, and obtaining each top view in the top view set by performing inverse perspective transformation on an image comprising a ground identifier with a known category. By using the method provided by the invention, the detection capability of the ground identifier is improved, and especially the detection capability of the far-end ground identifier is improved, so that better technical support is provided for path planning, real-time decision making and driving control in the subsequent automatic driving process, and the method has relatively high practicability.

Description

technical field [0001] The present application relates to the field of computer technology, and in particular to a method, device and vehicle for confirming the type of ground signs. Background technique [0002] In autonomous driving technology, environmental perception is the first link, and its core is to enable the vehicle to better simulate the perception of human drivers and accurately understand the surrounding driving conditions. In practical applications, accurately realizing the detection of the ground signs of the vehicle driving road is of great significance for subsequent path planning, real-time decision-making and driving control. [0003] At present, the method for identifying the category of ground markers is generally a method based on the Region of Interest (ROI) and artificially constructed features, such as the method for confirming the category of the ground marker horizontal projection. The method uses the histogram of oriented gradients (HOG) to extr...

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Application Information

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IPC IPC(8): G06V20/58G06V10/774G06K9/62G06N3/04
CPCG06N3/045G06F18/214
Inventor 商德宇胥洪利
Owner ENBOTAI TIANJIN TECH CO LTD
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