9 results about "Trafficability" patented technology

This invention provides a vision-based self-supervised off-road terrain accessibility estimation method. This method utilizes measurement data from an onboard inertial measurement unit to generate self-supervised access cost labels, enabling the predicted terrain cost to reflect the dynamic response characteristics of the vehicle during driving. Furthermore, these labels do not require manual annotation, saving the cost of training data labeling. Images containing rich terrain features are used as input perceptual information for the prediction network, and a contrastive learning method is used to pre-train the backbone network that extracts multi-scale features from the images, improving the reliability and accuracy of off-road terrain accessibility estimation.

The application discloses a complex road boundary detection method and device based on point cloud voxel processing and belongs to the field of road detection. The method comprises the following steps: acquiring point cloud image data of articles around a road vehicle driving area, and performing voxel segmentation; adding a fixed point in the voxel to expand the voxel features; inputting a single-layer full connection layer to obtain a high-dimensional feature vector matrix; performing global feature transformation on all point cloud high-dimensional feature vector matrices in the voxel; selecting the global features corresponding to the k nearest point clouds as the center to aggregate; taking different values of k to obtain voxel features at different scales, and performing fusion; performing regression on the fused features to obtain related information of the articles around the vehicle driving area; calculating the boundary position of the vehicle driving area to obtain the width of the vehicle driving area, and determining whether the vehicle driving area is passable. The complex road boundary is accurately detected.

The application discloses a space-time joint trajectory planning method for off-road environment, relates to the technical field of vehicle automatic driving and trajectory planning control, and realizes unified modeling of a vehicle motion state and external environment characteristics by establishing a vehicle dynamics model and fusing environment information such as terrain structure, obstacle distribution and passing area, so that the trajectory planning process can simultaneously consider dynamics constraints and environment constraints, thereby realizing global feasibility and smoothness of a trajectory in an off-road or other unstructured scene. By constructing a space-time joint planning model, the method guarantees dynamic continuity of vehicle motion in the time dimension and ensures safety and passability of a path in the space dimension, and effectively solves the problem of the prior art that trajectory optimization only depends on a static geometric path and is difficult to reflect dynamic constraints and terrain characteristics.

This invention discloses a method and system for terrain accessibility assessment of unmanned ground vehicles in unstructured environments, belonging to the field of terrain accessibility analysis technology. The method includes: acquiring image data and LiDAR point cloud data using data acquisition equipment, and extracting features from the image data and LiDAR point cloud data using a pre-trained model to obtain image feature maps and point cloud feature maps; the data acquisition equipment includes a camera and a LiDAR; fusing the image feature maps and point cloud feature maps to obtain multimodal feature maps; spatially transforming the multimodal feature maps to obtain transformed multimodal feature maps; classifying and calculating the transformed multimodal feature maps to obtain an elevation map and a accessibility map, using the accessibility map as the final output of the terrain accessibility assessment. This invention is applicable to unstructured scenarios with complex terrain types and frequent dynamic environmental changes.

The application relates to the technical field of robots, in particular to a smart car passable map construction method based on multi-sensor fusion.The application provides a smart car passable map construction method based on multi-sensor fusion, which can accurately perceive and identify terrain information and passable areas in a complex unstructured environment, and improves the driving safety of the smart car in a complex scene.The process is as follows: a height cost map and an uncertainty map are obtained;an image processing model trained is obtained;image data is input into the trained image processing model, and a category label corresponding to each pixel point of the image is output, which is converted into a binary navigability value;point cloud is obtained in combination with the binary navigability value; a semantic cost map is obtained based on the point cloud; the uncertainty map and the semantic cost map are used as a constraint mask of the height cost map, and a final passable map is generated.

This invention relates to the field of public safety monitoring technology, and discloses a method, system, equipment, and medium for assessing the post-earthquake accessibility of urban bridge networks. The method includes: constructing a three-dimensional underground structural velocity model of a key area in the target city based on bridge foundation information data; generating three-dimensional ground acceleration time histories for each bridge based on the three-dimensional underground structural velocity model; calculating structural response data corresponding to the three-dimensional ground acceleration time histories under different earthquake scenarios, and calculating a remaining accessibility score; training a graph neural network using the structural response data and the remaining accessibility score to obtain a target assessment network; using the target assessment network to calculate the predicted remaining accessibility score for each target bridge node in real-time earthquake monitoring data; and solving for the optimal access path based on the predicted remaining accessibility score. This invention can rapidly and quantitatively assess the post-earthquake accessibility of urban bridge networks under real-world earthquake conditions and provide emergency access paths.