Intelligent chassis control method and system based on binocular stereoscopic vision
A technology of binocular stereo vision and control method, applied in character and pattern recognition, image analysis, image enhancement, etc., can solve the problems of inability to obtain spatial information, sparse LiDAR point cloud, and high price.
Pending Publication Date: 2022-07-15
BEIJING SMARTER EYE TECH CO LTD
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However, the detection image based on a single camera is easily affected by the environment and light, and spatial information cannot be obtained, resulting in low accuracy of intelligent chassis control; while the lidar point cloud is sparse, fine perception results cannot be obtained, and the price is expensive. Standard on all production models
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[0065] The following specific embodiments are used to illustrate the embodiments of the present invention. Those who are familiar with the technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0066] In order to solve the problems of poor detection accuracy and high cost in the prior art, the present invention provides an intelligent chassis control method based on binocular stereo vision. The method uses deep learning to detect ground scenes, and the results are more accurate and reliable. Stereo vision can obtain multi-dimensional spatial information, and can control the cost well.
[0067] Pl...
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The invention discloses an intelligent chassis control method and system based on binocular stereoscopic vision, and the method comprises the steps: obtaining a binocular original image of a driving region, and calculating a disparity map; delimiting a target area in the driving area based on the disparity map; detecting a ground scene of the target area based on a pre-stored deep learning model, and outputting a ground scene detection result; performing information fusion on the disparity map in the target area and the ground scene detection result to obtain image information and spatial position information of the ground scene; and based on the image information and the spatial position information, generating a control strategy output to the intelligent chassis, so that a control module of the intelligent chassis outputs a control instruction according to the control strategy. The control accuracy of the intelligent chassis is improved, and the control cost is reduced.
Description
technical field [0001] The invention relates to the technical field of intelligent driving, in particular to an intelligent chassis control method and system based on binocular stereo vision. Background technique [0002] With the increasing demand for intelligent driving, it is becoming more and more important to accurately obtain diverse information in driving scenarios. As a multi-purpose and low-cost sensor that can simultaneously acquire scene space and image information, the binocular sensor system plays an increasingly important role in the intelligent driving system. At the same time, the traditional vehicle chassis has also developed a form of intelligent chassis, which is convenient for intelligent control of the body. [0003] On the other hand, off-road driving is an important part of car culture, and the power and braking of off-road vehicles are the core indicators of the car. When off-road, in the face of different ground types such as grass, snow, desert, e...
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IPC IPC(8): G06T7/00G06T5/00G06T7/33G06V10/764G06K9/62G06F16/29B60W60/00
CPCG06T7/97G06T7/337G06F16/29B60W60/001G06F18/24B60W2420/403G06T5/80
Inventor 苏文秀杨超冯凯
Owner BEIJING SMARTER EYE TECH CO LTD