Control method and device of unmanned equipment
A technology for unmanned equipment and signal lights, which is applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, which can solve the problem that unmanned equipment cannot accurately predict signal lights and unmanned equipment. Unable to predict based on problems such as wrong identification of signal lights
Pending Publication Date: 2022-05-06
BEIJING SANKUAI ONLINE TECH CO LTD
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[0004] When identifying signal lights based on the above methods, if the camera installed on the unmanned device shakes, or the unmanned device cannot obtain its own accurate positioning data, the unmanned device will not be able to accurately predict the location of the signal light. The position in the image, which in turn makes it impossible for the unmanned driving device to delineate the area that needs to be detected by traffic light perception from the collected image according to the predicted position, resulting in the error of signal light recognition
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[0054] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.
[0055] The control scheme of the unmanned device provided in this specification will be described in detail below in combination with the embodiments.
[0056] figure 1 It is a schematic flow chart of a control method for unmanned equipment in this manual, which specifically includes the following steps:
[0057] Step S100, collecting a current frame image including signal lights at the c...
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The invention discloses a method and a device for controlling unmanned equipment, and particularly discloses a method and a device for predicting an imaging area of an image of a signal lamp in a current frame image as a compensation area when the unmanned equipment is controlled according to a signal lamp detection result. Meanwhile, an actual detection area of the signal lamp recognized from the previous frame of image in the previous frame of image is obtained as a basic area, then the basic area is adjusted through the compensation area to obtain an actual detection area in the current frame of image, and the signal lamp is detected according to a detection result of signal lamp detection for the actual detection area. And controlling the unmanned equipment. Therefore, the area range of the actual detection area refers to the imaging area of the signal lamp in the current frame image and the actual detection area of the signal lamp in the previous frame image at the same time, so that the area range is more accurate, the detection result of signal lamp detection is more accurate, and the safety risk during driving of the unmanned equipment is reduced.
Description
technical field [0001] This specification relates to the field of unmanned driving technology, and in particular to a control method and device for unmanned driving equipment. Background technique [0002] When the unmanned driving device realizes automatic driving, it is necessary to use the signal light perception module to identify each signal light located on the travel path of the unmanned device, and drive according to the recognition result. [0003] Among them, when sensing the signal lights on the path of the unmanned driving equipment, the unmanned driving equipment needs to collect images containing the signal lights, based on the preset high-precision map, and predict the location data of the unmanned equipment. When the camera installed on the driving device captures the position of the signal light in the captured image, the position of the signal light in the image, and then, according to the position, delineate the image area that needs to be detected by traf...
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 张智华史信楚乔健
Owner BEIJING SANKUAI ONLINE TECH CO LTD