Obstacle sensing method and device, equipment and storage medium
A technology for sensing devices and obstacles, applied in the field of driving, can solve problems such as low obstacle sensing accuracy, reduce overexposure problems, reduce the probability of missed or false detection, and improve accuracy.
Pending Publication Date: 2022-04-08
际络科技(上海)有限公司
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[0003] The present invention provides an obstacle sensing method, device, equipment and storage medium, which are used to solve the defect of low obstacle sensing accuracy in the prior art and realize high-precision obstacle sensing
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[0044] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0045] In practice, it is found that in the process of driving against the light, the obstacle perception based on the visual image is inaccurate, which leads to the problem that the obstacle avoidance is not timely.
[0046] Through the analysis of the problem, it is found that when the driving environment image is taken during driving, if there is strong light distributed in the shooting di...
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The invention provides an obstacle sensing method, device and equipment and a storage medium, a light image of a driving environment in the driving direction of a vehicle is collected, the light image is subjected to photoelectric conversion, electric signal distribution data is output, the light image is formed by collecting reflected light of an object, and the brightness of the light image can reflect the brightness distribution information of the driving environment. The brightness distribution information is further reflected to the electric signal distribution data. The value of the electric signal is gradually reduced according to the electric signal distribution direction of the electric signal distribution data from small to large, the value of the larger electric signal is reduced, and the pixel value of the brighter area in the corresponding light image is reduced, so that the overexposure problem caused by the intense light signal can be reduced, and if an obstacle is shot in the corresponding pixel area, the brightness of the image is improved. Therefore, the contour of the obstacle becomes clearer due to the darkening of the brightness, so that the obstacle sensing accuracy is improved, and the probability of missing detection or false detection of obstacle sensing is reduced.
Description
technical field [0001] The present invention relates to the technical field of driving, in particular to an obstacle sensing method, device, equipment and storage medium. Background technique [0002] The development of automobiles is becoming more and more intelligent, and the number of cars equipped with unmanned driving technology is gradually increasing. In unmanned driving technology, accurate perception of obstacles around the body is an important prerequisite for safe driving. Contents of the invention [0003] The present invention provides an obstacle sensing method, device, equipment and storage medium, which are used to solve the defect of low obstacle sensing accuracy in the prior art and realize high-precision obstacle sensing. [0004] An embodiment of the present invention provides an obstacle sensing method, the method comprising: [0005] Use optical acquisition equipment to collect light images of the driving environment, and perform photoelectric conver...
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IPC IPC(8): G06V20/58G06V10/60
Inventor 赵国良程新景杨睿刚
Owner 际络科技(上海)有限公司