Vehicle travelable area detection method and system and automatic driving vehicle adopting system

Abstract

The invention discloses a vehicle drivable area detection method, an automatic driving assistance system and an automatic driving vehicle. The method comprises the following steps: processing image data acquired by a camera device by using a neural network to obtain first probability distribution of an obstacle; obtaining second probability distribution of the obstacle according to the echo time and the echo width of the radar echo signal; and according to the first probability distribution of the obstacle and the second probability distribution of the obstacle, a vehicle drivable area represented by a probability is obtained, and the probability represents the probability that the vehicle is impassable. The automatic driving assistance system comprises a camera device, at least one radar and a processor, the system is configured to realize the technical scheme of the method, and the automatic driving vehicle comprises the automatic driving assistance system. According to the method, the camera device and the radar are fused, the obstacle distribution information obtained based on the two sensors is fused, and the vehicle travelable area after fusion is expressed in the form of probability. Therefore, the obstacle information around the vehicle can be comprehensively obtained, and the detection blind area caused by the blind area of the camera device or the detection range of the radar is avoided.

Description

technical field [0001] The present application relates to the field of automatic driving, in particular, to a detection method and system for a vehicle drivable area and an automatic driving vehicle using the system. Background technique [0002] With the rapid development of 5G communication and Internet of Vehicles technology, autonomous driving technology has become a research hotspot. The core technologies in the field of autonomous driving include intelligent environment perception, automatic navigation and positioning, driving behavior decision-making, and intelligent path planning control. In automatic driving technology, the detection of the vehicle's drivable area is the basic requirement for automatic driving. The vehicle must identify which areas are drivable and which are undrivable before subsequent path planning can be performed. In some specific automatic driving assistance functions (such as parking), the recognition of the drivable area is particularly impo...

AI Technical Summary

Problems solved by technology

[0003] The existing technology generally uses sensors to obtain and analyze the surrounding information of the vehicle, so as to obtain the drivable environment around the vehicle; however, the existing technology is often not accurate enough for the identification of the drivable area. Therefore, a new vehicle drivable area detection is needed method, which can more accurately identify the driving environment around the vehicle and the drivable area

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