Method and apparatus for generating drivable domain, storage medium and electronic device

Abstract

This application discloses a method, apparatus, storage medium, and electronic device for generating a drivable domain. The method includes: determining a grid region in a vehicle coordinate system, wherein the vehicle coordinate system is a coordinate system established with the rear axle center point of the target vehicle as the origin, and the grid region includes multiple grids; setting grid attributes of the grids according to a first drivable domain point set in an image coordinate system, wherein the image coordinate system is a coordinate system established with the upper left corner vertex of an image as the origin, the image represents an image acquired by an image acquisition device on the target vehicle, the first drivable domain point set represents the set of points in the image identified as safe driving areas, and the grid attributes include at least "allowed driving"; and determining the area corresponding to the drivable grid in the grid region as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is "allowed driving". This technical solution solves the problem of how to accurately generate the drivable domain of a vehicle.

Description

Technical Field

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

[0002] With the development of autonomous driving technology, accurate identification and definition of the drivable area around the vehicle has become particularly important. The identification of the drivable area is a key component of the autonomous driving system, which directly affects the vehicle's path planning and safety. In the existing technology, the process of converting the image recognition results to the vehicle's coordinate system often lacks sufficient accuracy, which leads to a decrease in the reliability of the generated drivable area.

[0003] Regarding the relevant technologies, there is currently 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 relevant technology to overcome the aforementioned defects. Summary of the Invention

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

[0006] According to one aspect of the embodiments of this application, a method for generating a drivable domain is provided, comprising: determining a grid region in a vehicle coordinate system, wherein the vehicle coordinate system represents a coordinate system established with the rear axle center point of the target vehicle as the origin, and the grid region includes multiple grids; setting grid attributes of the grids 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 acquired 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 safe driving areas, and the grid attributes include at least allowing driving; determining the area corresponding to the drivable grid in the grid region as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is allowing driving.

[0007] In an exemplary embodiment, setting the grid attributes of a grid based on a first drivable domain point set in an image coordinate system includes: 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 based on the coordinate points in the second drivable domain point set located within 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 based on the third drivable domain point set.

[0008] In an exemplary embodiment, the grid attribute further includes disallowing driving. Setting the grid attribute in the grid region 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 boundary coordinate points according to a first coordinate point and a second coordinate point to obtain multiple boundary coordinate points, wherein the first coordinate point and the second coordinate point represent two adjacent coordinate points in the fourth drivable region point set; setting the grid attribute of the grid corresponding to the multiple boundary coordinate points to a non-drivable grid, wherein the grid attribute of the non-drivable grid is disallowing 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 the slope of a target line, wherein the target line represents the 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 based on the absolute value of the slope of the target line includes: if the absolute value of the slope of the target line is less than or equal to a preset value, determining the boundary coordinate point using 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 coordinates of the nth boundary point, j i+n k represents the x-coordinate of the nth boundary point. i+n j represents the ordinate of the nth boundary point. i Let k represent the x-coordinate of the i-th first coordinate point. i Let θ represent the ordinate of the i-th first coordinate point, tanθ represent 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: determining the boundary coordinate point using the following formula when 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:

[0014]

[0015] If 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 one exemplary embodiment, after obtaining multiple boundary coordinate points, the method further 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 to disallow driving; and setting the grid properties of the grids inside the closed boundary line to allow driving.

[0018] According to another aspect of the embodiments of this application, a device for generating a drivable domain is also provided, comprising: a first determining module, configured to determine a grid region in a vehicle coordinate system, wherein the vehicle coordinate system represents a coordinate system established with the rear axle center point of the target vehicle as the origin, and the grid region includes multiple grids; an attribute setting module, configured to set the grid attributes of the grids 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 acquired 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 safe driving areas, and the grid attributes include at least allowing driving; and a second determining module, configured to determine the area corresponding to the drivable grid in the grid region 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 the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, and the computer program is configured to execute the above-described method for generating a drivable domain when it is run.

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

[0021] This application establishes a vehicle coordinate system with the rear axle center point of the target vehicle as the origin, determines the grid region within this coordinate system, and then sets the grid attributes of the grids based on the first drivable domain point set in the image coordinate system. It then identifies the drivable grids among multiple grids in the grid region whose grid attributes are permitted for driving, and finally determines the region corresponding to each drivable grid within the grid region as the drivable domain of the target vehicle. This solves the problem of accurately generating the vehicle's drivable domain, thus achieving the effect of accurately generating the vehicle's drivable domain. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and, together with the description thereof, serve to explain this application and do not constitute an undue limitation thereof. In the drawings:

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

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

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

[0026] Figure 4 This is a structural block diagram of a device for generating a drivable domain according to an embodiment of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] It should be noted that the terms and terms such as "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] The methods and embodiments provided in this application can be executed on a computer terminal or similar computing device. Taking running on a computer terminal as an example, Figure 1 This is a hardware structure block diagram of a computer terminal that executes the method for generating a drivable domain according to embodiments of this application. For example... Figure 1 As shown, a computer terminal may include one or more ( Figure 1 Only one is shown in the diagram. The processor 102 (which may include, but is not limited to, a microprocessor unit (MPU) or a programmable logic device (PLD)) and a memory 104 configured to store data are also included. In one exemplary embodiment, the computer terminal may further include a transmission device 106 configured for communication and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the computer terminal described above. For example, the computer terminal may also include components that are more complex than those described above. Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0030] The memory 104 may be configured to store computer programs, such as application software programs and modules, like the computer program corresponding to the method for generating the drivable domain in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include 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 memory remotely located relative to the processor 102, and these remote memories can be connected to a computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0031] The transmission device 106 is configured to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider for the computer terminal. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module configured to communicate with the Internet wirelessly.

[0032] This embodiment provides a method for generating a drivable domain. Figure 2 This is a flowchart of a method for generating a drivable domain according to an embodiment of this application, the process including the following steps:

[0033] Step S202: Determine the grid area under the vehicle coordinate system, wherein the vehicle coordinate system is a coordinate system established with the rear axle center point of the target vehicle as the origin, and the grid area includes multiple grids.

[0034] Optionally, in step S202 above, for example, the grid area can be set as a rectangular area with the center of the rear axle of the vehicle as the midpoint of the bottom edge, 90 meters long and 60 meters wide, 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: 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 refers to a coordinate system established with the upper left corner vertex of the image as the origin, the image refers to the image acquired by the image acquisition device on the target vehicle, the first drivable domain point set refers to the set of points in the image that are identified as safe driving areas, and the grid attributes include at least allowing driving.

[0036] Optionally, in step S204 above, the grid attributes include allowed driving and disallowed driving. Allowed 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, etc. Disallowed 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, etc.

[0037] Step S206: The area corresponding to the drivable grid in the grid area is determined as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is drivable.

[0038] Through the above steps, a vehicle coordinate system can be established with the rear axle center point of the target vehicle as the origin. The grid region within this coordinate system is then determined. Next, the grid attributes are set based on the first drivable region point set in the image coordinate system. The drivable grids among the multiple grids in the grid region are identified as having drivable attributes, and the area corresponding to each drivable grid within the grid region is defined as the drivable region of the target vehicle. This solves the problem of accurately generating the vehicle's drivable region, thus achieving the effect of accurately generating the vehicle's drivable region.

[0039] In an exemplary embodiment, setting the grid attributes of a grid based on a first drivable domain point set in an image coordinate system includes: 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 based on the coordinate points in the second drivable domain point set located within 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 based on the third drivable domain point set.

[0040] Optionally, in the above embodiments, the first drivable domain point set is the output result obtained by processing the images acquired by the vehicle using 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 transformed into the vehicle coordinate system. The transformation method is as follows: based on the pre-calibrated intrinsic parameters K and extrinsic parameters R of 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] Where 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] Driving domain points in the vehicle coordinate system Projecting onto the predefined grid region yields the drivable point set within the grid region (equivalent to the third drivable point set), where the point coordinates are represented as S. i (j i ,k i ), where j i k is the x-coordinate in the raster coordinate system. i The vertical coordinate is the ordinate in the raster coordinate system.

[0045] In an exemplary embodiment, the grid attribute further includes disallowing driving. Setting the grid attribute in the grid region 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 boundary coordinate points according to a first coordinate point and a second coordinate point to obtain multiple boundary coordinate points, wherein the first coordinate point and the second coordinate point represent two adjacent coordinate points in the fourth drivable region point set; setting the grid attribute of the grid corresponding to the multiple boundary coordinate points to a non-drivable grid, wherein the grid attribute of the non-drivable grid is disallowing 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 the slope of a target line, wherein the target line represents the 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 based on the absolute value of the slope of the target line includes: if the absolute value of the slope of the target line is less than or equal to a preset value, determining the boundary coordinate point using 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 coordinates of the nth boundary point, j i+n k represents the x-coordinate of the nth boundary point.i+n j represents the ordinate of the nth boundary point. i Let k represent the x-coordinate of the i-th first coordinate point. i Let θ represent the ordinate of the i-th first coordinate point, tanθ represent 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: determining the boundary coordinate point using the following formula when 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:

[0051]

[0052] If 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 can be generated in the following manner:

[0055] Sort the coordinates of the drivable domain points within the grid area, for example, sorting them from left to right within the grid area. After sorting, select two adjacent coordinates, with the first coordinate point (equivalent to the first coordinate point) as 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 The absolute value of the slope of the line connecting the two sides, |tanθ, is calculated using the following formula:

[0056]

[0057] S i (j i ,k i ) and S i+m (j i+m ,k i+m The nth boundary point between () is denoted as 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), where round represents the rounding function, and the rounding method is to round to the nearest integer.

[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 one exemplary embodiment, after obtaining multiple boundary coordinate points, the method further 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 to disallow driving; and setting the grid properties of the grids inside the closed boundary line to allow driving.

[0062] In an optional embodiment, such as Figure 3 As shown, in the above embodiment, connecting multiple boundary points yields a closed drivable domain boundary. Then, a seed-fill algorithm is used to fill the grid outside the boundary. Specifically, the four vertices of a rectangular grid can be selected as seed points to begin filling. The filled grid area (corresponding to...) Figure 3 The gray area in the image is set as a non-driving area, and the grid area within the boundary (corresponding to...) Figure 3 The white area in the image is set as a drivable area.

[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0064] This embodiment also provides a drivable domain generation apparatus for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementations, or a combination of software and hardware, are also possible and contemplated.

[0065] Figure 4 This is a structural block diagram of a drivable domain generation apparatus according to an embodiment of this application, the apparatus comprising:

[0066] The first determining module 42 is used to determine the grid area under the vehicle coordinate system, wherein the 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 multiple 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 refers to a coordinate system established with the upper left corner vertex of the image as the origin, the image refers to the image acquired by the image acquisition device on the target vehicle, the first drivable domain point set refers to the set of points in the image that are identified as safe driving areas, and the grid attributes include at least allowing driving.

[0068] The second determining module 46 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 drivable.

[0069] The drivable domain generation apparatus of this application embodiment can establish a vehicle coordinate system with the rear axle center point of the target vehicle as the origin, determine the grid region under the vehicle coordinate system, and then set the grid attributes of the grid according to the first drivable domain point set under the image coordinate system. It then determines the drivable grids among multiple grids in the grid region whose grid attributes are allowed to be driven, and finally determines the region corresponding to the drivable grid in the grid region as the drivable domain of the target vehicle. This solves the problem of how to accurately generate the drivable domain of a vehicle, thereby achieving the effect of accurately generating the drivable domain of a vehicle.

[0070] In an exemplary embodiment, the attribute setting module 44 is further configured to: convert 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 the grid coordinate system based on the coordinate points in the second drivable domain point set located within 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 based on the third drivable domain point set.

[0071] In an exemplary embodiment, the grid attribute further includes "not allowed to drive". The attribute setting module 44 is further configured 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 boundary coordinate points according to the first coordinate point and the second coordinate point to obtain multiple boundary coordinate points, wherein the first coordinate point and the second coordinate point represent two adjacent coordinate points in the fourth drivable domain point set; and set the grid attribute of the grid corresponding to the multiple boundary coordinate points to a "not allowed to drive" grid, wherein the grid attribute of the "not allowed to drive" grid is "not allowed to drive".

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

[0073] In an exemplary embodiment, the attribute setting module 44 is further configured to: determine the boundary coordinate point using the following formula if the absolute value of the slope of the target line is less than or equal to a preset value:

[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 coordinates of the nth boundary point, j i+n k represents the x-coordinate of the nth boundary point. i+n j represents the ordinate of the nth boundary point. i Let k represent the x-coordinate of the i-th first coordinate point. i Let θ represent the ordinate of the i-th first coordinate point, tanθ represent 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 configured to: determine the boundary coordinate point using 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 less than the ordinate of the first coordinate point:

[0077]

[0078] If 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 one exemplary embodiment, after obtaining multiple boundary coordinate points, the method further 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 to disallow driving; and setting the grid properties of the grids inside the closed boundary line to allow driving.

[0081] Embodiments of this application also provide a storage medium including a stored program, wherein the program executes any of the above embodiments when it 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, Determine the grid area under the vehicle coordinate system, wherein the 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 multiple grids.

[0084] S2, 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 refers to a coordinate system established with the top left corner vertex of the image as the origin, the image refers to the image acquired by the image acquisition device on the target vehicle, the first drivable domain point set refers to the set of points in the image that are identified as safe driving areas, and the grid attributes include at least allowing driving.

[0085] S3, the area corresponding to the drivable grid in the grid area is determined as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is drivable.

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

[0087] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0088] Embodiments of this application also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

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

[0090] S1, Determine the grid area under the vehicle coordinate system, wherein the 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 multiple grids.

[0091] S2, 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 refers to a coordinate system established with the top left corner vertex of the image as the origin, the image refers to the image acquired by the image acquisition device on the target vehicle, the first drivable domain point set refers to the set of points in the image that are identified as safe driving areas, and the grid attributes include at least allowing driving.

[0092] S3, the area corresponding to the drivable grid in the grid area is determined as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is drivable.

[0093] In one 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] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium storing the computer program product, wherein the computer program, when executed by a processor, implements the steps of the methods described in various embodiments of this application.

[0095] Optionally, in this embodiment, the computer program described above can be configured to perform the following steps when executed by the processor:

[0096] S1, Determine the grid area under the vehicle coordinate system, wherein the 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 multiple grids.

[0097] S2, 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 refers to a coordinate system established with the top left corner vertex of the image as the origin, the image refers to the image acquired by the image acquisition device on the target vehicle, the first drivable domain point set refers to the set of points in the image that are identified as safe driving areas, and the grid attributes include at least allowing driving.

[0098] S3, the area corresponding to the drivable grid in the grid area is determined as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is drivable.

[0099] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0100] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0101] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for generating a drivable domain, characterized in that, include: Determine a grid region in the vehicle coordinate system, wherein the vehicle coordinate system is a coordinate system established with the rear axle center point of the target vehicle as the origin, and the grid region includes multiple 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 refers to a coordinate system established with the top left corner vertex of the image as the origin, the image refers to the image acquired by the image acquisition device on the target vehicle, the first drivable domain point set refers to the set of points in the image that are identified as safe driving areas, and the grid attributes include at least allowing driving. The area corresponding to the drivable grid in the grid area is defined as the drivable domain of the target vehicle, wherein the grid attribute of the drivable grid is drivable. The step of setting the grid attributes of the grid based on the first drivable domain point set in the image coordinate system includes: 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 the grid coordinate system based on the coordinate points in the second drivable domain point set located within 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 based on the third drivable domain point set.

2. The method according to claim 1, characterized in that, The grid attributes also include disallowing driving, and setting the grid attributes in the grid region according to the third drivable domain point set, including: The coordinate points in the third drivable domain point set are sorted according to preset rules to obtain the fourth drivable domain point set. Boundary coordinate points are determined based on the first coordinate point and the second coordinate point, resulting in multiple boundary coordinate points. 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 non-drivable grid, wherein the grid attribute of the non-drivable grid is that driving is not allowed.

3. The method according to claim 2, characterized in that, Determine the boundary coordinate points based on the first and second coordinate points, including: Calculate the absolute value of the slope of the target line, where the target line represents the line connecting the first coordinate point and the second coordinate point; The boundary coordinates are determined based on the absolute value of the slope of the line connecting the targets.

4. The method according to claim 3, characterized in that, Determining the boundary coordinates based on the absolute value of the slope of the target line includes: If the absolute value of the slope of the target line is less than or equal to a preset value, the boundary coordinate points are determined using the following formula: ， ， ； in, This represents the coordinates of the nth boundary point. This represents the x-coordinate of the nth boundary point. This represents the ordinate of the nth boundary point. This represents the x-coordinate of the i-th first coordinate point. This represents the y-coordinate of the i-th first coordinate point. This represents the slope of the line connecting the first coordinate point and the second coordinate point. This represents the floor function, where n is a positive integer and i is a positive integer.

5. The method according to claim 4, characterized in that, The method further includes: If 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: ， ， ； If 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: ， ， 。 6. The method according to claim 2, characterized in that, After obtaining multiple boundary coordinate points, the method further includes: The closed boundary line is determined based on the multiple boundary coordinate points; Set the grid attribute of the grid outside the closed boundary line among the plurality of grids to disallow driving; Set the grid properties of the grids inside the closed boundary line to allow driving.

7. A device for generating a drivable domain, characterized in that, include: The first determining module is used to determine the grid area under the vehicle coordinate system, wherein the vehicle coordinate system is a coordinate system established with the rear axle center point of the target vehicle as the origin, and the grid area includes multiple grids. The 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 refers to a coordinate system established with the upper left corner vertex of the image as the origin, the image refers to the image acquired by the image acquisition device on the target vehicle, the first drivable domain point set refers to the set of points in the image that are identified as safe driving areas, and the grid attributes include at least allowing driving. The second determining 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 drivable. The attribute setting module is further configured to convert the coordinates of 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 the grid coordinate system based on the coordinates of the second drivable domain point set located within 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 based on the third drivable domain point set.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method according to any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method described in any one of claims 1 to 6 through the computer program.

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