A method and apparatus for driving area detection

Abstract

The invention discloses a method and equipment for detecting a driving area, relating to the technical field of automatic driving. The method is used for solving the problem that accurate three-dimensional distance information cannot be obtained in current driving area detection, the driving area cannot be accurately detected. The method comprises the steps that first feature information of road surface points and second feature information of road shoulder points in the bird's-eye view feature map are determined through a neural network segmentation model according to the average reflection intensity and height coding features of grids in the bird's-eye view feature map, and the bird's-eye view feature map is obtained by conducting rasterization processing on a point cloud map; road surface points corresponding to the road surface points in the bird's-eye view feature map in the point cloud map is determined according to the first feature information, and road shoulder points corresponding to the road shoulder points in the bird's-eye view feature map in the point cloud map is determined according to the second feature information; the road surface points and the road shoulder points in the point cloud map are subjected to geometric model fitting to determine the driving area, and the driving area is detected by adopting a deep learning method, so that the accuracy is high.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and equipment for detecting a driving area. Background technique [0002] In recent years, with the rapid development of the automobile industry, traffic accidents have become a global problem. It is estimated that the number of deaths and injuries in traffic accidents in the world exceeds more than 500,000 people every year. Born for human driving applications. In order to perceive environmental information in real time and reliably, unmanned vehicles are equipped with various active and passive sensors, including cameras, lidar, millimeter-wave radar and GPS (Global Positioning System, Global Positioning System). One of the key parts in technology. [0003] Image-based driving area detection technology is mainly based on camera sensors. Through image and video analysis technology, such as image pixel-level semantic segmentation technology, the pixel points ...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a method and equipment for detecting a driving area, which is used to solve the problem in the prior art that the current driving area detection based on a camera sensor cannot obtain effective and accurate three-dimensional distance information, and is greatly affected by the environment and cannot accurately detect the driving area. regional problems

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