Method and device for generating drivable region, storage medium and electronic device

Abstract

The invention discloses a drivable domain generation method and device, a storage medium and an electronic device. The method comprises the steps that a grid area under a self-vehicle coordinate system is determined, the self-vehicle coordinate system represents a coordinate system established with a rear axle center point of a target vehicle as an original point, and the grid area comprises a plurality of grids; grid attributes of grids are set according to a first drivable domain point set under an image coordinate system, the image coordinate system represents a coordinate system established with the vertex of the upper left corner of an image as an original point, and the image represents an image collected by an image collection device on a target vehicle; the first drivable region point set represents a set of points identified as a safe driving region in the image, and the grid attributes at least comprise driving permission; and determining a region corresponding to the travelable grid in the grid region as a travelable region of the target vehicle, the grid attribute of the travelable grid being driving permission. By adopting the technical scheme, the problem of how to accurately generate the drivable region of the vehicle is solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and more specifically, to a method and device for generating a drivable domain, a storage medium, and an electronic device. Background Art

[0002] With the development of autonomous driving technology, it is particularly important to accurately identify and define the drivable area around the vehicle. The identification of the drivable domain is a key component in the autonomous driving system, which directly affects the path planning and safety of the vehicle. In the existing technology, there is often a lack of sufficient accuracy in the process of converting image recognition results to the vehicle's coordinate system, which leads to a reduction in the reliability of the generated drivable domain.

[0003] With regard to related technologies, there is no effective solution to the problem of how to accurately generate the drivable domain of a vehicle.

[0004] Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology. Summary of the invention

[0005] The embodiments of the present application provide a method and device for generating a drivable domain, a storage medium, and an electronic device to at least solve the problem of how to accurately generate a drivable domain of a vehicle.

[0006] According to one aspect of an embodiment of the present application, a method for generating a drivable domain is provided, comprising: determining a grid area in a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with the center point of the rear axle of a target vehicle as the origin, and the grid area includes a plurality of grids; setting grid attributes of the grid according to a first drivable domain point set in an image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of an image as the origin, the image represents an image captured by an image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image identified as a safe driving area, and the grid attributes include at least allowing driving; determining an area corresponding to a drivable grid in the grid area as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is allowing driving.

[0007] In an exemplary embodiment, the grid attributes of the grid are set according to a first drivable domain point set in an image coordinate system, including: converting the coordinate points in the first drivable domain point set from the image coordinate system to the vehicle coordinate system to obtain a second drivable domain point set; determining a third drivable domain point set in a grid coordinate system according to the coordinate points in the second drivable domain point set located in the grid area, wherein the grid coordinate system represents a coordinate system established with the upper left corner vertex of the grid area as the origin; and setting the grid attributes in the grid area according to the third drivable domain point set.

[0008] In an exemplary embodiment, the grid attributes also include not allowing driving, and setting the grid attributes in the grid area according to the third drivable domain point set includes: sorting the coordinate points in the third drivable domain point set according to a preset rule to obtain a fourth drivable domain point set; determining the boundary coordinate points according to the first coordinate point and the second coordinate point to obtain a plurality of boundary coordinate points, wherein the first coordinate point and the second coordinate point represent two adjacent coordinate points in the fourth drivable area point set; setting the grid attribute of the grid corresponding to the plurality of boundary coordinate points to a non-drivable grid, wherein the grid attribute of the non-drivable grid is not allowing driving.

[0009] In an exemplary embodiment, determining a boundary coordinate point based on a first coordinate point and a second coordinate point includes: calculating the absolute value of a slope of a target line, wherein the target line represents a line connecting the first coordinate point and the second coordinate point; and determining the boundary coordinate point based on the absolute value of the slope of the target line.

[0010] In an exemplary embodiment, determining the boundary coordinate point according to the absolute value of the slope of the target line includes: when it is determined that the absolute value of the slope of the target line is less than or equal to a preset value, determining the boundary coordinate point by the following formula:

[0011] S i+n (j i+n ,k i+n ), j i+n =j i +n,k i+n =k i +round(n*tanθ);

[0012] Among them, S i+n (j i+n ,k i+n ) represents the nth boundary coordinate point, j i+n represents the horizontal coordinate of the nth boundary coordinate point, k i+n Indicates the ordinate of the nth boundary coordinate point, j i represents the horizontal coordinate of the i-th first coordinate point, k i represents the ordinate of the i-th first coordinate point, tanθ represents the slope of the line connecting the first coordinate point and the second coordinate point, round represents the rounding function, n is a positive integer, and i is a positive integer.

[0013] In an exemplary embodiment, the method further includes: when it is determined that the absolute value of the slope of the target line is greater than the preset value, and the ordinate of the second coordinate point is less than the ordinate of the first coordinate point, determining the boundary coordinate point by the following formula:

[0014]

[0015] When it is determined that the absolute value of the slope of the target line is greater than the preset value, and the ordinate of the second coordinate point is greater than the ordinate of the first coordinate point, the boundary coordinate point is determined by the following formula:

[0016]

[0017] In an exemplary embodiment, after obtaining multiple boundary coordinate points, the method also includes: determining a closed boundary line based on the multiple boundary coordinate points; setting the grid properties of the grids outside the closed boundary line among the multiple grids to not allow travel; and setting the grid properties of the grids inside the closed boundary line among the multiple grids to allow travel.

[0018] According to another aspect of an embodiment of the present application, a device for generating a drivable domain is also provided, including: a first determination module, used to determine a grid area under a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with the center point of the rear axle of the target vehicle as the origin, and the grid area includes multiple grids; an attribute setting module, used to set the grid attributes of the grid according to a first drivable domain point set under an image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of the image as the origin, the image represents an image captured by an image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image identified as a safe driving area, and the grid attributes at least include allowing driving; a second determination module, used to determine the area corresponding to the drivable grid in the grid area as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is allowing driving.

[0019] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for generating a drivable domain when running.

[0020] According to another aspect of an embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for generating a drivable domain through the computer program.

[0021] Through this application, a self-vehicle coordinate system can be established with the rear axle center point of the target vehicle as the origin, the grid area under the self-vehicle coordinate system can be determined, and then the grid attributes of the grid are set according to the first drivable domain point set under the image coordinate system, and the grid attributes of multiple grids in the grid area are determined to be drivable grids that are allowed to drive, and then the area corresponding to the drivable grid in the grid area is determined as the drivable domain of the target vehicle. The problem of how to accurately generate the drivable domain of the vehicle is solved, and the effect of accurately generating the drivable domain of the vehicle can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The exemplary embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0023] Figure 1 It is a hardware structure block diagram of a computer terminal that executes the method for generating a drivable domain according to an embodiment of the present application;

[0024] Figure 2 is a flowchart of a method for generating a drivable domain according to an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a drivable domain according to an embodiment of the present application;

[0026] Figure 4 It is a structural block diagram of a device for generating a drivable domain according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms and "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 is a hardware structure block diagram of a computer terminal that executes the method for generating a drivable domain according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, referred to as MPU) or a programmable logic device (Programmable logic device, referred to as PLD) and a memory 104 configured to store data. In an exemplary embodiment, the computer terminal may also include a transmission device 106 configured to have a communication function and an input / output device 108. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 A different configuration with more features is shown.

[0030] The memory 104 may be configured to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for generating the drivable domain in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0031] The transmission device 106 is configured to receive or send data via a network. A specific example of the above network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0032] In this embodiment, a method for generating a drivable domain is provided. Figure 2 : is a flow chart of a method for generating a drivable domain according to an embodiment of the present application, the process comprising the following steps:

[0033] Step S202, determining a grid area in a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with the rear axle center point of the target vehicle as the origin, and the grid area includes a plurality of grids;

[0034] Optionally, in the above step S202, for example, the grid area can be set to a rectangular area with a length of 90 meters and a width of 60 meters, with the center of the rear axle of the vehicle as the midpoint of the base, and the resolution of the grid is set to 0.1 meters * 0.1 meters, that is, the size of one grid.

[0035] Step S204, setting grid attributes of the grid according to the first drivable domain point set in the image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of the image as the origin, the image represents an image captured by the image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image that are identified as safe driving areas, and the grid attributes at least include allowing driving.

[0036] Optionally, in the above step S204, the grid attributes include allowing driving and not allowing driving. Allowing driving means that the actual area corresponding to the grid in the vehicle coordinate system is an area where the vehicle can drive safely, such as roads, open areas and other areas. Not allowing driving means that the actual area corresponding to the grid in the vehicle coordinate system is an area where the vehicle cannot drive, such as obstacles, green belts, buildings and other areas.

[0037] Step S206: Determine the area corresponding to the drivable grid in the grid area as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is that drivability is allowed.

[0038] Through the above steps, a self-vehicle coordinate system with the rear axle center point of the target vehicle as the origin can be established, the grid area under the self-vehicle coordinate system can be determined, and then the grid attributes of the grid are set according to the first drivable domain point set under the image coordinate system, and the grid attributes of multiple grids in the grid area are determined to be drivable grids that are allowed to drive, and then the area corresponding to the drivable grid in the grid area is determined as the drivable domain of the target vehicle. The problem of how to accurately generate the drivable domain of the vehicle is solved, and the effect of accurately generating the drivable domain of the vehicle can be achieved.

[0039] In an exemplary embodiment, the grid attributes of the grid are set according to a first drivable domain point set in an image coordinate system, including: converting the coordinate points in the first drivable domain point set from the image coordinate system to the vehicle coordinate system to obtain a second drivable domain point set; determining a third drivable domain point set in a grid coordinate system according to the coordinate points in the second drivable domain point set located in the grid area, wherein the grid coordinate system represents a coordinate system established with the upper left corner vertex of the grid area as the origin; and setting the grid attributes in the grid area according to the third drivable domain point set.

[0040] Optionally, in the above embodiment, the first drivable domain point set is an output result obtained by processing images collected by the vehicle through an existing image segmentation model.

[0041] The drivable domain point set (equivalent to the first drivable domain point set) output by the segmentation model in the image coordinate system is converted to the vehicle coordinate system. The conversion method is as follows: according to the intrinsic parameter K and extrinsic parameter R pre-calibrated by the camera (image acquisition device on the target vehicle), cam , T cam The coordinates of the drivable domain points in the vehicle coordinate system can be calculated The calculation formula is as follows:

[0042]

[0043] Among them, i represents the i-th drivable domain point, (u i , vi ) represents the image coordinates of the i-th drivable domain point, and s is the value of the coordinate point (u, v) in the Z-axis direction of the image coordinate system.

[0044] The drivable domain point in the vehicle coordinate system Projected onto the divided grid area, the drivable domain point set in the grid area is obtained (equivalent to the third drivable domain point set), where the point coordinates are represented by S i (j i ,k i ), where j i is the horizontal coordinate in the grid coordinate system, k i It is the vertical coordinate in the grid coordinate system.

[0045] In an exemplary embodiment, the grid attributes also include not allowing driving, and setting the grid attributes in the grid area according to the third drivable domain point set includes: sorting the coordinate points in the third drivable domain point set according to a preset rule to obtain a fourth drivable domain point set; determining the boundary coordinate points according to the first coordinate point and the second coordinate point to obtain a plurality of boundary coordinate points, wherein the first coordinate point and the second coordinate point represent two adjacent coordinate points in the fourth drivable area point set; setting the grid attribute of the grid corresponding to the plurality of boundary coordinate points to a non-drivable grid, wherein the grid attribute of the non-drivable grid is not allowing driving.

[0046] In an exemplary embodiment, determining a boundary coordinate point based on a first coordinate point and a second coordinate point includes: calculating the absolute value of a slope of a target line, wherein the target line represents a line connecting the first coordinate point and the second coordinate point; and determining the boundary coordinate point based on the absolute value of the slope of the target line.

[0047] In an exemplary embodiment, determining the boundary coordinate point according to the absolute value of the slope of the target line includes: when it is determined that the absolute value of the slope of the target line is less than or equal to a preset value, determining the boundary coordinate point by the following formula:

[0048] S i+n (j i+n ,k i+n ), j i+n =j i +n,k i+n =k i +round(n*tanθ);

[0049] Among them, S i+n (j i+n ,k i+n ) represents the nth boundary coordinate point, j i+n represents the horizontal coordinate of the nth boundary coordinate point, ki+n Indicates the ordinate of the nth boundary coordinate point, j i represents the horizontal coordinate of the i-th first coordinate point, k i represents the ordinate of the i-th first coordinate point, tanθ represents the slope of the line connecting the first coordinate point and the second coordinate point, round represents the rounding function, n is a positive integer, and i is a positive integer.

[0050] In an exemplary embodiment, the method further includes: when it is determined that the absolute value of the slope of the target line is greater than the preset value, and the ordinate of the second coordinate point is less than the ordinate of the first coordinate point, determining the boundary coordinate point by the following formula:

[0051]

[0052] When it is determined that the absolute value of the slope of the target line is greater than the preset value, and the ordinate of the second coordinate point is greater than the ordinate of the first coordinate point, the boundary coordinate point is determined by the following formula:

[0053]

[0054] In an optional embodiment, for a set of drivable domain points within a grid area, a closed drivable domain boundary may be generated in the following manner:

[0055] Sort the coordinate points in the drivable domain point set in the grid area, for example, sort from left to right in the grid area, and after sorting, select two adjacent coordinate points, and the previous coordinate point (equivalent to the first coordinate point) is S i (j i ,k i ), the next coordinate point (equivalent to the second coordinate point) is Calculate S i (j i ,k i ) and S i+m (j i+m ,k i+m ) is the absolute value of the slope of the line connecting |tanθ, the specific calculation formula is as follows:

[0056]

[0057] S i (j i ,k i ) and S i+m (j i+m ,k i+m ) is represented by S i+n (j i+n ,k i+n).

[0058] If |tanθ≤1, then j i+n =j i +n,k i+n =k i +round(n*tanθ), round represents the rounding function, and the rounding method is rounding.

[0059] If |tanθ>1, and k i+m Greater than k i ,but k i+n =k i +n.

[0060] If |tanθ>1, and k i+m Less than k i ,but k i+n =k i -n.

[0061] In an exemplary embodiment, after obtaining multiple boundary coordinate points, the method also includes: determining a closed boundary line based on the multiple boundary coordinate points; setting the grid properties of the grids outside the closed boundary line among the multiple grids to not allow travel; and setting the grid properties of the grids inside the closed boundary line among the multiple grids to allow travel.

[0062] In an optional embodiment, if Figure 3 As shown, the multiple boundary points calculated in the above embodiment are connected to obtain a closed drivable domain boundary, and then the grid outside the boundary is filled using a seed filling algorithm. Specifically, the four vertices of the rectangular grid can be selected as seed points to start filling. The filled grid area (corresponding to Figure 3 The gray area in the figure is set as a non-drivable area, and the grid area within the boundary (corresponding to Figure 3 The white area in the figure is set as the drivable area.

[0063] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0064] In this embodiment, a device for generating a drivable domain is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0065] Figure 4 : is a structural block diagram of a device for generating a drivable domain according to an embodiment of the present application, the device comprising:

[0066] A first determination module 42 is used to determine a grid area in a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with the rear axle center point of the target vehicle as the origin, and the grid area includes a plurality of grids;

[0067] The attribute setting module 44 is used to set the grid attributes of the grid according to the first drivable domain point set in the image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of the image as the origin, the image represents an image captured by the image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image that are identified as safe driving areas, and the grid attributes at least include allowing driving;

[0068] The second determination module 46 is configured to determine the area corresponding to the drivable grid in the grid area as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is that drivability is allowed.

[0069] Through the device for generating the drivable domain of the embodiment of the present application, a self-vehicle coordinate system can be established with the rear axle center point of the target vehicle as the origin, the grid area under the self-vehicle coordinate system can be determined, and then the grid attributes of the grid are set according to the first drivable domain point set under the image coordinate system, and the grid attributes of multiple grids in the grid area are determined to be drivable grids that are allowed to travel, and then the area corresponding to the drivable grid in the grid area is determined as the drivable domain of the target vehicle. The problem of how to accurately generate the drivable domain of the vehicle is solved, and the effect of accurately generating the drivable domain of the vehicle can be achieved.

[0070] In an exemplary embodiment, the attribute setting module 44 is also used to: convert the coordinate points in the first drivable domain point set from the image coordinate system to the self-vehicle coordinate system to obtain a second drivable domain point set; determine a third drivable domain point set in a grid coordinate system based on the coordinate points in the second drivable domain point set located in the grid area, wherein the grid coordinate system represents a coordinate system established with the upper left corner vertex of the grid area as the origin; and set the grid attributes in the grid area according to the third drivable domain point set.

[0071] In an exemplary embodiment, the grid attributes also include no driving allowed, and the attribute setting module 44 is also used to: sort the coordinate points in the third drivable domain point set according to a preset rule to obtain a fourth drivable domain point set; determine the boundary coordinate points according to the first coordinate point and the second coordinate point to obtain a plurality of boundary coordinate points, wherein the first coordinate point and the second coordinate point represent two adjacent coordinate points in the fourth drivable area point set; set the grid attribute of the grid corresponding to the plurality of boundary coordinate points to a non-drivable grid, wherein the grid attribute of the non-drivable grid is no driving allowed.

[0072] In an exemplary embodiment, the property setting module 44 is further used to: calculate the absolute value of the slope of a target line, wherein the target line represents a line connecting the first coordinate point and the second coordinate point; and determine the boundary coordinate point according to the absolute value of the slope of the target line.

[0073] In an exemplary embodiment, the property setting module 44 is further configured to: when it is determined that the absolute value of the slope of the target line is less than or equal to a preset value, determine the boundary coordinate point by the following formula:

[0074] S i+n (j i+n ,k i+n ), j i+n =j i +n,k i+n =k i +round(n*tanθ);

[0075] Among them, S i+n (j i+n ,k i+n ) represents the nth boundary coordinate point, j i+n represents the horizontal coordinate of the nth boundary coordinate point, k i+n Indicates the ordinate of the nth boundary coordinate point, j i represents the horizontal coordinate of the i-th first coordinate point, k i represents the ordinate of the i-th first coordinate point, tanθ represents the slope of the line connecting the first coordinate point and the second coordinate point, round represents the rounding function, n is a positive integer, and i is a positive integer.

[0076] In an exemplary embodiment, the attribute setting module 44 is further used to: when it is determined that the absolute value of the slope of the target line is greater than the preset value, and the ordinate of the second coordinate point is less than the ordinate of the first coordinate point, determine the boundary coordinate point by the following formula:

[0077]

[0078] When it is determined that the absolute value of the slope of the target line is greater than the preset value, and the ordinate of the second coordinate point is greater than the ordinate of the first coordinate point, the boundary coordinate point is determined by the following formula:

[0079]

[0080] In an exemplary embodiment, after obtaining multiple boundary coordinate points, the method also includes: determining a closed boundary line based on the multiple boundary coordinate points; setting the grid properties of the grids outside the closed boundary line among the multiple grids to not allow travel; and setting the grid properties of the grids inside the closed boundary line among the multiple grids to allow travel.

[0081] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein any of the above embodiments is executed when the program is run.

[0082] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0083] S1, determining a grid area in a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with a rear axle center point of the target vehicle as an origin, and the grid area includes a plurality of grids;

[0084] S2, setting grid attributes of the grid according to a first drivable domain point set in an image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of the image as the origin, the image represents an image captured by an image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image that are identified as safe driving areas, and the grid attributes at least include permission to drive;

[0085] S3, determining an area corresponding to a drivable grid in the grid area as a drivable area of ​​the target vehicle, wherein a grid attribute of the drivable grid is that drivability is allowed.

[0086] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0087] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0088] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0089] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0090] S1, determining a grid area in a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with a rear axle center point of the target vehicle as an origin, and the grid area includes a plurality of grids;

[0091] S2, setting grid attributes of the grid according to a first drivable domain point set in an image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of the image as the origin, the image represents an image captured by an image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image that are identified as safe driving areas, and the grid attributes at least include permission to drive;

[0092] S3, determining an area corresponding to a drivable grid in the grid area as a drivable area of ​​the target vehicle, wherein a grid attribute of the drivable grid is that drivability is allowed.

[0093] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0094] An embodiment of the present application further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0095] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0096] S1, determining a grid area in a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with a rear axle center point of the target vehicle as an origin, and the grid area includes a plurality of grids;

[0097] S2, setting grid attributes of the grid according to a first drivable domain point set in an image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of the image as the origin, the image represents an image captured by an image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image that are identified as safe driving areas, and the grid attributes at least include permission to drive;

[0098] S3, determining an area corresponding to a drivable grid in the grid area as a drivable area of ​​the target vehicle, wherein a grid attribute of the drivable grid is that drivability is allowed.

[0099] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0100] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0101] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for generating a drivable domain, characterized in that: include: Determine a grid area in a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with a rear axle center point of the target vehicle as an origin, and the grid area includes a plurality of grids; The grid attributes of the grid are set according to the first drivable domain point set in the image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of the image as the origin, the image represents an image acquired by the image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image that are identified as safe driving areas, and the grid attributes at least include permission to drive; An area corresponding to a drivable grid in the grid area is determined as a drivable domain of the target vehicle, wherein a grid attribute of the drivable grid is that drivability is allowed.

2. The method according to claim 1, characterized in that The grid properties of the grid are set according to the first drivable domain point set in the image coordinate system, including: Converting the coordinate points in the first drivable domain point set from the image coordinate system to the vehicle coordinate system to obtain a second drivable domain point set; Determine a third drivable domain point set in a grid coordinate system according to the coordinate points in the second drivable domain point set located in the grid area, wherein the grid coordinate system represents a coordinate system established with the upper left corner vertex of the grid area as the origin; The grid attributes in the grid area are set according to the third drivable domain point set.

3. The method according to claim 2, characterized in that The grid attributes also include not allowing driving, and setting the grid attributes in the grid area according to the third drivable domain point set includes: Sorting the coordinate points in the third drivable domain point set according to a preset rule to obtain a fourth drivable domain point set; Determine a boundary coordinate point according to the first coordinate point and the second coordinate point to obtain a plurality of boundary coordinate points, wherein the first coordinate point and the second coordinate point represent two adjacent coordinate points in the fourth drivable area point set; The grid attributes of the grids corresponding to the plurality of boundary coordinate points are set as non-drivable grids, wherein the grid attribute of the non-drivable grids is that driving is not allowed.

4. The method according to claim 3, characterized in that Determining a boundary coordinate point according to the first coordinate point and the second coordinate point includes: Calculating an absolute value of a slope of a target line, wherein the target line represents a line connecting the first coordinate point and the second coordinate point; The boundary coordinate point is determined according to the absolute value of the slope of the target line.

5. The method according to claim 4, characterized in that Determining the boundary coordinate point according to the absolute value of the slope of the target line includes: When it is determined that the absolute value of the slope of the target line is less than or equal to a preset value, the boundary coordinate point is determined by the following formula: S i+n (j i+n ,k i+n ),j i+n =j i +n,k i+n =k i +round(n*tanθ); Among them, S i+n (j i+n ,k i+n ) represents the nth boundary coordinate point, j i+n represents the horizontal coordinate of the nth boundary coordinate point, k i+n Indicates the ordinate of the nth boundary coordinate point, j i represents the horizontal coordinate of the i-th first coordinate point, k i represents the ordinate of the i-th first coordinate point, tanθ represents the slope of the line connecting the first coordinate point and the second coordinate point, round represents the rounding function, n is a positive integer, and i is a positive integer.

6. The method according to claim 5, characterized in that The method further comprises: When it is determined that the absolute value of the slope of the target line is greater than the preset value, and the ordinate of the second coordinate point is less than the ordinate of the first coordinate point, the boundary coordinate point is determined by the following formula: When it is determined that the absolute value of the slope of the target line is greater than the preset value, and the ordinate of the second coordinate point is greater than the ordinate of the first coordinate point, the boundary coordinate point is determined by the following formula:

7. The method according to claim 3, characterized in that After obtaining a plurality of boundary coordinate points, the method further includes: Determine a closed boundary line according to the plurality of boundary coordinate points; Setting the grid attributes of the grids outside the closed boundary line among the plurality of grids to not allow travel; The grid attributes of the grids within the closed boundary line among the plurality of grids are set to allow travel.

8. A device for generating a drivable domain, characterized in that: include: A first determination module is used to determine a grid area in a self-vehicle coordinate system, wherein the self-vehicle coordinate system represents a coordinate system established with a rear axle center point of the target vehicle as an origin, and the grid area includes a plurality of grids; An attribute setting module is used to set the grid attributes of the grid according to the first drivable domain point set in the image coordinate system, wherein the image coordinate system represents a coordinate system established with the upper left corner vertex of the image as the origin, the image represents an image captured by the image acquisition device on the target vehicle, the first drivable domain point set represents a set of points in the image that are identified as safe driving areas, and the grid attributes at least include permission to drive; The second determination module is used to determine the area corresponding to the drivable grid in the grid area as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is that driving is allowed.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 7 when executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 7 through the computer program.

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