CN115406457A - Driving region detection method, system, equipment and storage medium - Google Patents
Driving region detection method, system, equipment and storage medium Download PDFInfo
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- CN115406457A CN115406457A CN202211049225.7A CN202211049225A CN115406457A CN 115406457 A CN115406457 A CN 115406457A CN 202211049225 A CN202211049225 A CN 202211049225A CN 115406457 A CN115406457 A CN 115406457A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention provides a method, a system, equipment and a storage medium for detecting a travelable area, wherein non-ground point clouds in a front preset range and a side preset range of a vehicle are obtained through a laser radar; carrying out meshing on road surface areas in a preset range in front of the vehicle and a preset range on the side of the vehicle to obtain a plurality of initial meshes; projecting the non-ground point cloud into a plurality of initial grids to obtain a plurality of projection grids; counting non-ground point clouds corresponding to the projection grids, and taking the projection grids with the number of the non-ground point clouds larger than a threshold value as boundary grids; a travelable region is constructed from the boundary grid. According to the method, the road area is subjected to grid division, then the grid is subjected to boundary judgment, the accuracy of the drivable area can be ensured without image recognition, and the operation complexity is reduced.
Description
Technical Field
The application relates to the technical field of auxiliary driving, in particular to a method, a system, equipment and a storage medium for detecting a travelable area.
Background
In automatic driving, the detection of the drivable area of the vehicle is one of key technologies in the unmanned driving technology, and the safe driving of the vehicle can be ensured by combining a high-precision map. Specifically, laser radar (lidar) point cloud data can detect ground points on a road and surrounding obstacles, and a travelable area of the automatic driving vehicle can be determined according to the point cloud information.
The existing technology for detecting the drivable area mainly utilizes a mode of combining a laser radar and a camera to identify the road condition, and the calculated amount is large.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a method, system, device and storage medium for detecting a travelable area, so as to solve the above-mentioned technical problems.
The invention provides a method for detecting a travelable area, which comprises the following steps:
acquiring non-ground point clouds in a preset range in front of the vehicle and a preset range on the side of the vehicle;
carrying out mesh division on road surface areas in a preset range in front of the vehicle and a preset range on the side of the vehicle to obtain a plurality of initial meshes;
projecting the non-ground point cloud into the plurality of initial grids to obtain a plurality of projection grids;
counting non-ground point clouds corresponding to the projection grids, and taking the projection grids with the number of the non-ground point clouds larger than a threshold value as boundary grids;
and constructing a drivable area according to the boundary grid.
In an embodiment of the present invention, obtaining a non-ground point cloud in a preset range in front of a vehicle and a preset range in a side of the vehicle includes:
acquiring point clouds and a vehicle coordinate system of a preset range in front of the vehicle and a preset range at the side of the vehicle; the vehicle coordinate system comprises a Z axis, and the Z axis is vertical to the ground;
when the heights of the point clouds in the vehicle front preset range and the side preset range are smaller than a height threshold value and the included angles between the normal vectors of the point clouds in the vehicle front preset range and the side preset range and the Z axis of the vehicle coordinate system are smaller than an included angle threshold value, judging that the point clouds in the vehicle front preset range and the side preset range are ground point clouds;
and removing ground point clouds in the preset range in front of the vehicle and the preset range on the side of the vehicle to obtain non-ground point clouds.
In an embodiment of the present invention, the mesh division is performed on a road surface area in a preset range in front of a vehicle and a preset range in a side direction of the vehicle to obtain a plurality of initial meshes, and the mesh division includes:
dividing areas of a preset range in front of the vehicle and a preset range on the side of the vehicle into a plurality of square grids with preset sizes;
and defining a confidence coefficient for each square grid to obtain an initial grid.
In an embodiment of the invention, the plurality of projected meshes comprise a plurality of projected meshes and a plurality of non-projected meshes, the projected meshes are initial meshes projected to by non-ground point clouds, and the non-projected meshes are initial meshes not projected to by non-ground point clouds;
counting non-ground point clouds corresponding to the projection grid, including:
calculating a height difference between a highest point and a lowest point of a non-ground point cloud in the projected grid;
when the height difference is smaller than a preset height threshold value, emptying the non-ground point cloud in the projected grid;
and when the height difference is greater than or equal to a preset height threshold value, counting the non-ground point clouds in the projected grid.
In an embodiment of the present invention, taking the projection mesh with the number of non-ground point clouds greater than the threshold as the boundary mesh includes:
setting the confidence coefficient value of the projected grid with the non-ground point cloud number larger than the threshold value as a target value;
and taking the projection grid with the confidence coefficient value as the target value as a boundary grid.
In an embodiment of the present invention, constructing the travelable region according to the boundary grid includes:
acquiring the coordinates of the central point of the boundary grid according to the vehicle coordinate system;
constructing a polar coordinate with the center of the vehicle, wherein the polar coordinate comprises a plurality of sector areas, and mapping the central point coordinate of the boundary grid into the sector area of the polar coordinate;
searching the central point coordinate of the boundary grid in the fan-shaped area; when the central point coordinates of the boundary grids exist in the sector area, taking the boundary grid with the minimum polar coordinate radius in the sector area as a travelable area boundary in the sector area; when the central point coordinate of the boundary grid does not exist in the sector area, taking the boundary of the sector area as a travelable area boundary;
and constructing a travelable area by using travelable area boundaries in the plurality of fan-shaped areas.
In an embodiment of the present invention, obtaining coordinates of a center point of the boundary grid includes:
acquiring a boundary grid of a plurality of time points;
when the current time point is the earliest time point, obtaining the central point coordinate of the boundary grid of the current time point;
and when the current time point is not the earliest time point, performing weighted average operation on the central point coordinate of the boundary grid of the current time point and the central point coordinate of the boundary grid of the previous time point, and taking the central point coordinate obtained by the weighted average operation as the central point coordinate of the boundary grid of the current time point.
The present invention also provides a travelable area detection system, characterized in that the system comprises:
the acquisition module is used for acquiring non-ground point clouds in a preset range in front of the vehicle and a preset range on the side of the vehicle;
the grid division module is used for carrying out grid division on the road surface area in the front preset range and the side preset range of the vehicle to obtain a plurality of initial grids;
the projection module is used for projecting the non-ground point cloud into the plurality of initial grids to obtain a plurality of projection grids;
the counting module is used for counting the non-ground point clouds corresponding to the projection grids and taking the projection grids with the non-ground point clouds number larger than a threshold value as boundary grids;
and the region construction module is used for constructing a travelable region according to the boundary grid.
The present invention also provides an electronic device, including:
one or more processors;
a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement a travelable region detection method as described above.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute a travelable region detection method as described above.
The invention has the beneficial effects that: according to the method, the system, the equipment and the storage medium for detecting the travelable area, non-ground point clouds in a preset range in front of a vehicle and a preset range on the side of the vehicle are obtained through a laser radar; carrying out meshing on road surface areas in a preset range in front of the vehicle and a preset range on the side of the vehicle to obtain a plurality of initial meshes; projecting the non-ground point cloud into a plurality of initial grids to obtain a plurality of projection grids; counting non-ground point clouds corresponding to the projection grids, and taking the projection grids with the quantity of the non-ground point clouds larger than a threshold value as boundary grids; a travelable region is constructed from the boundary grid. According to the method, the road area is subjected to grid division, then the grid is subjected to boundary judgment, the accuracy of the drivable area can be ensured without image recognition, and the operation complexity is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is an application scenario diagram of a travelable area detection method according to an exemplary embodiment of the present application
FIG. 2 is a flow chart illustrating a method of travelable region detection in an exemplary embodiment of the present application;
FIG. 3 is a flow chart of step S210 in the embodiment shown in FIG. 2 in an exemplary embodiment;
fig. 4 is a block diagram illustrating a travelable region detection system according to an exemplary embodiment of the present application;
FIG. 5 illustrates a schematic structural diagram of a computer system suitable for use to implement the electronic device of the embodiments of the subject application.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure herein, wherein the embodiments of the present invention are described in detail with reference to the accompanying drawings and preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, and are not intended to limit the scope of the present invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, amount and proportion of each component in actual implementation can be changed freely, and the layout of the components can be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, to avoid obscuring embodiments of the present invention.
Fig. 1 is an application scene diagram of a travelable area detection method according to an exemplary embodiment of the present disclosure, and as shown in fig. 1, a vehicle acquires point cloud data of a road through a laser radar, and then calculates and processes the point cloud data through a vehicle-to-vehicle system; the vehicle-mounted system calculates and processes the point cloud data through an internal calculation unit, the calculation processing result is transmitted to a vehicle control system through a data bus in the vehicle, the calculation processing result comprises travelable area information, and the vehicle control system controls the vehicle to perform operations such as straight line driving, turning control, emergency obstacle avoidance and active braking according to the obtained travelable area information.
As shown in fig. 2, in an exemplary embodiment, the travelable region detection method at least includes steps S210 to S250, which are described in detail as follows:
s210, acquiring non-ground point clouds in a front preset range and a side preset range of the vehicle;
in this embodiment, the non-ground point cloud is obtained by performing segmentation processing on the point cloud data, and the point cloud data is obtained by a laser radar. The vehicle front preset range and the side preset range specifically refer to the range of 100 meters in front of the vehicle and 20 meters left and right.
S220, carrying out grid division on road surface areas in a front preset range and a side preset range of the vehicle to obtain a plurality of initial grids;
in step S220, the side length of the grid is set to 0.2 m, and obstacle detection is performed on the road surface area in units of grids.
S230, projecting the non-ground point cloud into a plurality of initial grids to obtain a plurality of projection grids;
in step S230, the non-ground point cloud represents obstacles such as a front vehicle and a road guardrail, and the obstacles are primarily positioned by projecting the ground point cloud to a plurality of initial grids; the projection mesh comprises an initial mesh projected by the non-ground point cloud and an initial mesh not projected by the non-ground point cloud.
S240, counting non-ground point clouds corresponding to the projection grids, and taking the projection grids with the number of the non-ground point clouds larger than a threshold value as boundary grids;
in step S240, when the number of non-ground point clouds on the projection grid is greater than the threshold, it indicates that there is an obstacle in the corresponding position of the projection grid; when the number of the non-ground point clouds on the projection grid is less than or equal to a threshold value, judging the non-ground point clouds in the projection grid to be noise points; the threshold value serves to set the determination accuracy, and the value of the threshold value is 2 in the present embodiment.
S250, constructing a travelable area according to the boundary grid;
in step S250, since the boundary mesh represents an obstacle, the area corresponding to the boundary mesh is not able to travel, and therefore, obstacle avoidance can be effectively performed with the boundary mesh as the boundary of the travel area.
As shown in fig. 3, in an embodiment of the present invention, the process of acquiring the non-ground point clouds in the front preset range and the side preset range of the vehicle may include steps S310 to S330, which are described in detail as follows:
s310, acquiring point clouds and a vehicle coordinate system of a front preset range and a side preset range of the vehicle; the vehicle coordinate system comprises a Z axis which is vertical to the ground;
in the embodiment, the point cloud of the preset range in front of the vehicle and the preset range in side direction of the vehicle comprises point cloud data of the range of 100 meters in front of the vehicle and 20 meters left and right, and the point cloud data is collected by a laser radar on the vehicle; the vehicle coordinate system is a three-dimensional coordinate system taking the central point of the vehicle as an origin and comprises an X axis, a Y axis and a Z axis; the X-axis and the Y-axis are formed in a plane parallel to the road, and the Z-axis is perpendicular to the road.
S320, when the heights of the point clouds in the front preset range and the side preset range of the vehicle are smaller than a height threshold value, and the included angles between the normal vectors of the point clouds in the front preset range and the side preset range of the vehicle and the Z axis of the vehicle coordinate system are smaller than an included angle threshold value, judging that the point clouds in the front preset range and the side preset range of the vehicle are ground point clouds;
in step S320, a height threshold is set according to the ground height (or the road height), the included angle threshold is determined in consideration of safety threats possibly caused by some obstacles on the ground to the vehicle, when an included angle between a normal vector of the point cloud and the Y axis is smaller than the threshold, it is determined that the point cloud and the ground are substantially coincident, otherwise, it is determined that the point cloud is not the ground point cloud.
S330, removing ground point clouds in the front preset range and the side preset range of the vehicle to obtain non-ground point clouds;
in step S330, the ground point cloud is removed to obtain the point cloud of the obstacle.
In an embodiment of the present invention, the process of performing mesh division on the road surface area in the preset range in front of the vehicle and the preset range in the side of the vehicle to obtain a plurality of initial meshes may include steps S410 to S420, and the following details are described as follows:
s410, dividing the area of the preset range in front of the vehicle and the area of the preset range in the side into a plurality of square grids with preset sizes;
in the present embodiment, most of the current feasible driving area detection methods based on meshing divide the area around the vehicle into fan-shaped meshes. Although the calculation amount of the fan-shaped grids is small, the grids are large at positions far away from the vehicle, the detection accuracy is low, and the grid tracking is not facilitated due to the irregularity of the fan-shaped grids. Therefore, the present invention divides the area within the preset range in front of the vehicle and the preset range in the side into square grids.
And S420, defining a confidence coefficient for each square grid to obtain an initial grid.
In step S420, the confidence of each square grid has a value of 0.
In an embodiment of the invention, the plurality of projected meshes includes a plurality of projected meshes and a plurality of non-projected meshes, the projected meshes are initial meshes projected by non-ground point clouds, and the non-projected meshes are initial meshes not projected by the non-ground point clouds;
the process of counting the non-ground point clouds corresponding to the projection grid may include steps S510 to S530, which are described in detail as follows:
s510, calculating the height difference between the highest point and the lowest point of the non-ground point cloud in the projected grid;
in step S510, the height difference is used to reflect the obstacle distribution of the non-ground point cloud;
s520, emptying the non-ground point cloud in the projected grid when the height difference is smaller than a preset height threshold value;
in step S520, when the height difference is smaller than the preset height threshold, it indicates that the obstacle distribution is relatively flat, generally, a tunnel, a manhole cover protruding from the ground, and the like, and at this time, it is not necessary to use the non-ground point cloud in the initial grid as the obstacle, so the non-ground point cloud in the initial grid is directly removed;
s530, when the height difference is larger than or equal to a preset height threshold value, counting the non-ground point clouds in the projected grid;
in step S530, when the height difference is greater than or equal to the preset height threshold, it is determined that the non-ground point cloud in the initial grid is an obstacle, and therefore a subsequent counting process is performed to determine noise.
In an embodiment of the present invention, the process of using the projection mesh with the number of non-ground point clouds greater than the threshold as the boundary mesh may include steps S610 to S620, which are described in detail as follows:
s610, setting the confidence coefficient value of the projected grid with the non-ground point cloud number larger than the threshold value as a target value;
in this embodiment, when the number of non-ground point clouds corresponding to the projected grid is greater than a threshold, it is determined that an obstacle exists at a corresponding position of the projected grid, and when the number of non-ground point clouds corresponding to the projected grid is less than the threshold, it is determined that the non-ground point clouds corresponding to the projected grid are noise points; the threshold value is set to 2 in the present embodiment;
and S620, taking the projection grid with the confidence coefficient value as the target value as a boundary grid.
In step S620, the target value is 1, and the projection grid with the confidence value of 1 has an obstacle at the corresponding position, and thus the projection grid is regarded as a boundary grid.
In an embodiment of the present invention, the process of constructing the drivable area based on the boundary mesh may include steps S710 to S740, which are described in detail as follows:
s710, obtaining the coordinates of the central point of the boundary grid according to a vehicle coordinate system;
in the present embodiment, since the vehicle coordinate system has been established previously, the coordinates of the center point of the boundary mesh can be easily obtained by the three-dimensional coordinate system.
S720, constructing a polar coordinate by using the center of the vehicle, wherein the polar coordinate comprises a plurality of sector areas, and mapping the central point coordinate of the boundary grid into the sector areas of the polar coordinate;
in step S720, a polar coordinate is directly established on the basis of the vehicle coordinate system, i.e., the central point coordinate of the boundary grid is mapped to the sector area of the polar coordinate.
S730, searching the coordinates of the central point of the boundary grid in the sector area; when the central point coordinate of the boundary grid exists in the sector area, the boundary grid with the minimum polar coordinate radius in the sector area is used as the boundary of the travelable area in the sector area; when the central point coordinate of the boundary grid does not exist in the sector area, taking the boundary of the sector area as a travelable area boundary;
in step S730, the boundary grid is allocated into 180 sector areas (which cover the entire vehicle front preset range and side preset range) by polar angle;
and S740, constructing a travelable area by using travelable area boundaries in the plurality of fan-shaped areas.
In step S740, all boundary meshes are obtained by searching the boundary meshes in each sector area, the boundary meshes are synthesized into the boundary of the travelable area, and the travelable area is constructed from the boundary of the travelable area.
In an embodiment of the present invention, the process of obtaining the coordinates of the center point of the boundary grid may include steps S810 to S830, which are described in detail as follows:
s810, acquiring a boundary grid of a plurality of time points;
in the embodiment, the boundary grid is generated regularly according to the steps S210 to S240, and each generated boundary grid is used as one frame of data;
s820, when the current time point is the earliest time point, obtaining the center point coordinate of the boundary grid of the current time point;
in step S820, if the boundary grid of the current frame is the first frame, the center point coordinates of the boundary grid of the current time point are directly obtained since there is no reference data, and the travelable region is constructed by the center point coordinates of the boundary grid of the current time point.
S830, when the current time point is not the earliest time point, performing weighted average operation on the center point coordinate of the boundary grid of the current time point and the center point coordinate of the boundary grid of the previous time point, and taking the center point coordinate obtained by the weighted average operation as the center point coordinate of the boundary grid of the current time point;
in step S830, if the boundary grid of the current frame is not the first frame, the position of the boundary grid of the previous frame and the position of the boundary grid of the current frame are fused by using a weighted average operation with reference to previous frame data (the boundary grid of the previous frame and the boundary grid of the current frame correspond to each other through the motion information of the vehicle), so that the determination result is more consistent, and the problem of large jump of the drivable area detected by the previous and next frames is avoided.
According to the method for detecting the drivable area, non-ground point clouds in a front preset range and a side preset range of a vehicle are obtained through a laser radar; carrying out meshing on road surface areas in a preset range in front of the vehicle and a preset range on the side of the vehicle to obtain a plurality of initial meshes; projecting the non-ground point cloud into a plurality of initial grids to obtain a plurality of projection grids; counting non-ground point clouds corresponding to the projection grids, and taking the projection grids with the number of the non-ground point clouds larger than a threshold value as boundary grids; a drivable area is constructed from the boundary mesh. According to the method, the road area is subjected to grid division, then the boundary of the grid is judged, the accuracy of the travelable area can be ensured without image recognition, and the operation complexity is reduced.
The invention also provides a travelable area detection system, which comprises:
the acquisition module is used for acquiring non-ground point clouds in a preset range in front of the vehicle and a preset range on the side of the vehicle;
the grid division module is used for carrying out grid division on the road surface area in the front preset range and the side preset range of the vehicle to obtain a plurality of initial grids;
the projection module is used for projecting the non-ground point cloud into a plurality of initial grids to obtain a plurality of projection grids;
the counting module is used for counting the non-ground point clouds corresponding to the projection grids and taking the projection grids with the number of the non-ground point clouds larger than a threshold value as boundary grids;
and the region construction module is used for constructing a travelable region according to the boundary grid.
According to the drivable area detection system, non-ground point clouds in a front preset range and a side preset range of a vehicle are obtained through a laser radar; carrying out meshing on road surface areas in a preset range in front of the vehicle and a preset range on the side of the vehicle to obtain a plurality of initial meshes; projecting the non-ground point cloud into a plurality of initial grids to obtain a plurality of projection grids; counting non-ground point clouds corresponding to the projection grids, and taking the projection grids with the number of the non-ground point clouds larger than a threshold value as boundary grids; a drivable area is constructed from the boundary mesh. According to the method, the road area is subjected to grid division, then the boundary of the grid is judged, the accuracy of the travelable area can be ensured without image recognition, and the operation complexity is reduced.
It should be noted that the application data presentation system provided in the foregoing embodiment and the application data presentation method provided in the foregoing embodiment belong to the same concept, and specific ways of executing operations by the modules and units have been described in detail in the method embodiments, and are not described herein again. In practical applications, the application data display system provided in the above embodiment may distribute the functions to different function modules according to needs, that is, divide the internal structure of the device into different function modules to complete all or part of the functions described above, which is not limited herein.
An embodiment of the present application further provides an electronic device, including: one or more processors; the storage device is used for storing one or more programs, and when the one or more programs are executed by one or more processors, the electronic equipment is enabled to realize the application program data presentation method provided in the above embodiments.
FIG. 5 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 500 of the electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the application scope of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes, such as executing the methods in the above-described embodiments, according to a program stored in a Read-Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other through a bus 504. An Input/Output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output section 507 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN (Local area network) card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the foregoing application data presentation method. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and executes the computer instructions, so that the computer device executes the application data presentation method provided in the foregoing embodiments.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A travelable region detection method, characterized in that the method comprises:
acquiring non-ground point clouds in a preset range in front of the vehicle and a preset range on the side of the vehicle;
carrying out meshing on road surface areas in a preset range in front of the vehicle and a preset range on the side of the vehicle to obtain a plurality of initial meshes;
projecting the non-ground point cloud into the plurality of initial grids to obtain a plurality of projection grids;
counting non-ground point clouds corresponding to the projection grids, and taking the projection grids with the number of the non-ground point clouds larger than a threshold value as boundary grids;
and constructing a travelable area according to the boundary grid.
2. The method for detecting the travelable area according to claim 1, wherein acquiring the non-ground point cloud of the preset range in front of the vehicle and the preset range in side of the vehicle comprises:
acquiring point clouds and a vehicle coordinate system of a preset range in front of the vehicle and a preset range at the side of the vehicle; the vehicle coordinate system comprises a Z axis, and the Z axis is vertical to the ground;
when the heights of the point clouds in the vehicle front preset range and the side preset range are smaller than a height threshold value, and the included angles between the normal vectors of the point clouds in the vehicle front preset range and the side preset range and the Z axis of the vehicle coordinate system are smaller than an included angle threshold value, judging that the point clouds in the vehicle front preset range and the side preset range are ground point clouds;
and removing ground point clouds in the preset range in front of the vehicle and the preset range on the side of the vehicle to obtain non-ground point clouds.
3. The drivable region detection method as claimed in claim 1, wherein meshing the road surface regions of the preset range in front of the vehicle and the preset range in the side to obtain a plurality of initial meshes comprises:
dividing areas of a preset range in front of the vehicle and a preset range on the side of the vehicle into a plurality of square grids with preset sizes;
and defining a confidence coefficient for each square grid to obtain an initial grid.
4. The travelable region detection method according to claim 2,
the plurality of projected meshes comprise a plurality of projected meshes and a plurality of non-projected meshes, the projected meshes are initial meshes projected to by non-ground point clouds, and the non-projected meshes are initial meshes not projected to by non-ground point clouds;
counting non-ground point clouds corresponding to the projection grid, including:
calculating a height difference between a highest point and a lowest point of a non-ground point cloud in the projected grid;
when the height difference is smaller than a preset height threshold value, emptying the non-ground point cloud in the projected grid;
and when the height difference is greater than or equal to a preset height threshold value, counting the non-ground point clouds in the projected grid.
5. The travelable region detection method according to claim 4, wherein the step of using the projection mesh with the number of non-ground point clouds greater than the threshold as the boundary mesh comprises:
setting the confidence coefficient value of the projected grid with the non-ground point cloud number larger than the threshold value as a target value;
and taking the projection grid with the confidence coefficient value as the target value as a boundary grid.
6. The travelable region detection method of claim 2, wherein constructing a travelable region from the boundary grid comprises:
acquiring the coordinates of the central point of the boundary grid according to the vehicle coordinate system;
constructing a polar coordinate with the center of the vehicle, the polar coordinate comprising a plurality of sector-shaped areas, and mapping the center point coordinate of the boundary grid into the sector-shaped areas of the polar coordinate;
searching the central point coordinates of the boundary grid in the sector area; when the central point coordinates of the boundary grids exist in the sector area, taking the boundary grid with the minimum polar coordinate radius in the sector area as a travelable area boundary in the sector area; when the central point coordinate of the boundary grid does not exist in the sector area, taking the boundary of the sector area as a travelable area boundary;
and constructing a travelable area by using travelable area boundaries in the plurality of fan-shaped areas.
7. The travelable region detection method of claim 6, wherein obtaining coordinates of a center point of the boundary grid comprises:
acquiring a boundary grid of a plurality of time points;
when the current time point is the earliest time point, acquiring the center point coordinate of the boundary grid of the current time point;
and when the current time point is not the earliest time point, performing weighted average operation on the central point coordinate of the boundary grid of the current time point and the central point coordinate of the boundary grid of the previous time point, and taking the central point coordinate obtained by the weighted average operation as the central point coordinate of the boundary grid of the current time point.
8. A travelable region detection system, characterized in that the system comprises:
the acquisition module is used for acquiring non-ground point clouds in a preset range in front of the vehicle and a preset range on the side of the vehicle;
the grid division module is used for carrying out grid division on the road surface area in the front preset range and the side preset range of the vehicle to obtain a plurality of initial grids;
the projection module is used for projecting the non-ground point cloud into the plurality of initial grids to obtain a plurality of projection grids;
the counting module is used for counting the non-ground point clouds corresponding to the projection grids and taking the projection grids with the non-ground point clouds number larger than a threshold value as boundary grids;
and the region construction module is used for constructing a travelable region according to the boundary grid.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement a travelable region detection method according to any one of claims 1 to 7.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute a travelable region detection method according to any of claims 1 to 7.
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| CN202211049225.7A CN115406457A (en) | 2022-08-30 | 2022-08-30 | Driving region detection method, system, equipment and storage medium |
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| CN202211049225.7A CN115406457A (en) | 2022-08-30 | 2022-08-30 | Driving region detection method, system, equipment and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115877405A (en) * | 2023-01-31 | 2023-03-31 | 小米汽车科技有限公司 | Method and device for detecting travelable area and vehicle |
| CN115930967A (en) * | 2023-01-03 | 2023-04-07 | 浙江大华技术股份有限公司 | Path planning method and device and computer storage medium |
| CN116258822A (en) * | 2023-05-16 | 2023-06-13 | 山东捷瑞数字科技股份有限公司 | Three-dimensional engine boundary defining method, device and storage medium based on meta universe |
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2022
- 2022-08-30 CN CN202211049225.7A patent/CN115406457A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115930967A (en) * | 2023-01-03 | 2023-04-07 | 浙江大华技术股份有限公司 | Path planning method and device and computer storage medium |
| CN115877405A (en) * | 2023-01-31 | 2023-03-31 | 小米汽车科技有限公司 | Method and device for detecting travelable area and vehicle |
| CN116258822A (en) * | 2023-05-16 | 2023-06-13 | 山东捷瑞数字科技股份有限公司 | Three-dimensional engine boundary defining method, device and storage medium based on meta universe |
| CN116258822B (en) * | 2023-05-16 | 2023-08-11 | 山东捷瑞数字科技股份有限公司 | Three-dimensional engine boundary defining method, device and storage medium based on meta universe |
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