CN115909235A - Method and device for identifying road gap, computer equipment and storage medium - Google Patents

Abstract

The application provides a method, a device, computer equipment and a storage medium for identifying a road opening, wherein the method comprises the following steps: acquiring a road image about a current road, wherein the current road comprises a corresponding isolation zone; identifying an isolation strip image area corresponding to an isolation strip in the road image; and identifying the opening image area of the road opening in the road image according to the isolated strip image area. The method and the device greatly save the extraction cost of the notch elements, can provide optimal route planning for navigation, and improve the driving experience of users.

Description

Method and device for identifying road gap, computer equipment and storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a method and an apparatus for identifying a road opening, a computer device, and a storage medium.

Background

The road gap is a U-turn-able gap in the center of an urban road, is one of key elements of a map, and is usually a part for U-turn in the middle of a road; however, with the development of cities, urban roads are increasingly complex, so that the updating cost of the signs is high, the updating frequency is low, no signs or navigation instructions exist at road gaps on the urban roads, and the driving experience of drivers is poor.

Disclosure of Invention

The application provides a method, a device, computer equipment and a storage medium for identifying road gaps, which can accurately identify and position the positions of the gaps in pictures collected by external collection equipment, thereby greatly saving the extraction cost of the gap elements, providing optimal route planning for navigation and improving the driving experience of users.

According to an aspect of the application, there is provided a method of identifying a road opening, the method comprising:

acquiring a road image about a current road, wherein the current road comprises a corresponding isolation zone;

identifying an isolation strip image area corresponding to an isolation strip in the road image;

and identifying the opening image area of the road opening in the road image according to the isolated strip image area.

According to an aspect of the application, there is provided an apparatus for identifying a road opening, the apparatus comprising:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a road image about a current road, and the current road comprises an isolation zone of the road;

the isolation zone identification module is used for identifying an isolation zone image area corresponding to an isolation zone in the road image;

and the opening identification module is used for identifying the opening image area of the road opening in the road image according to the isolation zone image area.

According to an aspect of the present application, there is also provided a computer apparatus, the apparatus comprising:

one or more processors;

a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to perform the operations of any of the methods above.

According to an aspect of the application, there is also provided a computer-readable storage medium having stored thereon a computer program, the computer program being loadable by a processor to perform the operations of any of the methods described above.

Through the median in the present road of discernment to fuse image segmentation and opening and fuse and draw the technique, the extraction cost of opening element has greatly been saved to the opening position in the picture in discernment location in the picture that the equipment of adopting from outside that can be accurate collected returns, can provide optimal route planning for the navigation, promotes user's driving experience.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart of a method for identifying a road opening according to an embodiment of the present application;

FIG. 2 shows functional modules of a road gap identification device provided by the embodiment of the application;

FIG. 3 illustrates an exemplary system that can be used to implement the various embodiments described in this application.

The same or similar reference numbers in the drawings identify the same or similar elements.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

It should be noted that, since the method in the embodiment of the present application is executed in the computing device, the processing objects of each computing device exist in the form of data or information, for example, time, which is substantially time information, it can be understood that, in the subsequent embodiments, if the size, the number, the position, and the like are mentioned, corresponding data exist, so that the electronic device performs processing, and details are not described herein.

In a typical configuration of the present application, a terminal or a trusted party, etc. each includes one or more processors, such as a Central Processing Unit (CPU), an input/output interface, a network interface, and a memory. The Memory may include forms of volatile Memory, random Access Memory (RAM), and/or non-volatile Memory in a computer-readable medium, such as Read Only Memory (ROM) or Flash Memory. Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase-Change Memory (PCM), programmable Random Access Memory (PRAM), static Random-Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash Memory or other Memory technology, compact Disc Read Only Memory (CD-ROM), digital Versatile Disc (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

The device referred to in the present application includes, but is not limited to, a user equipment, a network device, or a device formed by integrating a user equipment and a network device through a network. The user equipment includes, but is not limited to, any mobile electronic product, such as a smart phone, a tablet computer, etc., capable of performing human-computer interaction with a user (e.g., human-computer interaction through a touch panel), and the mobile electronic product may employ any operating system, such as an Android operating system, an iOS operating system, etc. The network Device includes an electronic Device capable of automatically performing numerical calculation and information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded Device, and the like. The network device includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud of a plurality of servers; here, the Cloud is composed of a large number of computers or network servers based on Cloud Computing (Cloud Computing), which is a kind of distributed Computing, one virtual supercomputer consisting of a collection of loosely coupled computers. Including, but not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a VPN network, a wireless Ad Hoc network (Ad Hoc network), etc. Preferably, the device may also be a program running on the user device, the network device, or a device formed by integrating the user device and the network device, the touch terminal, or the network device and the touch terminal through a network.

Of course, those skilled in the art will appreciate that the foregoing is by way of example only, and that other existing or future devices, which may be suitable for use in the present application, are also encompassed within the scope of the present application and are hereby incorporated by reference.

Fig. 1 shows a method for identifying a road opening according to an aspect of the present application, applied to a computer device, comprising step S101, step S102 and step S103. In step S101, a road image about a current road is acquired, wherein the current road includes a corresponding isolation zone; in step S102, an isolation strip image area corresponding to the isolation strip in the road image is identified; in step S103, a breach image area of the road breach in the road image is identified from the isolated band image area. Here, the computer device may be an independent server, or may be a server network or a server cluster composed of servers, for example, the computer device described in the embodiment of the present application includes, but is not limited to, a computer, a network host, a single network server, a plurality of network server sets, or a cloud server composed of a plurality of servers. Among them, the Cloud server is constituted by a large number of computers or web servers based on Cloud Computing (Cloud Computing).

Specifically, in step S101, a road image is acquired about a current road, wherein the current road includes a corresponding isolation zone.

For example, the isolation belt is usually applied in the center of the road for area isolation to control the order, and may be made of different materials (such as titanium, wood or plastic spraying materials) or green belts. The width of the intermediate isolation belt is determined according to the width of the facility belt needed by guardrails, planting, anti-dazzle nets, piers of crossing roads and the like for preventing the vehicles from entering the opposite lane, wherein the width of the facility belt is determined according to the lateral excess width outside the lane. The wider the middle band, the more obvious the effect is, and the maintenance operation is convenient to develop. However, it is difficult to use a wide middle band in a region where land resources are precious, so that the narrow middle band is basically used in China. Urban road regulations are about the same as highways. The left side curb belt is typically 0.50 or 0.75m wide.

The road image can be acquired by a vehicle-mounted camera device, and the computer equipment can be connected with the vehicle-mounted camera device in a wired or wireless mode so as to acquire the road image of the current road. For example, the computer equipment directly receives the road image shot by the vehicle-mounted camera device or sends a corresponding image acquisition instruction to the vehicle-mounted camera device, and receives the road image shot by the vehicle-mounted camera device. In other cases, the computer device may also obtain the road image from other devices (such as other computer devices), for example, the road image is stored in other devices, and the computer device sends the image obtaining instruction to other devices and receives the road image returned by other devices. Corresponding isolation zones exist on the current road, and the current road is a bidirectional isolation road.

In step S102, a barrier strip image area corresponding to the barrier strip in the road image is identified.

For example, we can establish a corresponding pixel coordinate system based on the road image, such as taking the upper left corner of the road image as the origin, the horizontal axis as the X axis, and the vertical axis as the Y axis, and establish a corresponding pixel coordinate system, where the coordinate system takes one pixel as a unit, and can identify the minimum unit in the image in the unit of one pixel, and so on. The obtained road image has an isolation zone, and an isolation zone image area of the isolation zone in the road image can be identified through a computer vision algorithm and the like, such as a point set or an expression of image pixels corresponding to the isolation zone. Here, a plurality of isolated band image areas exist in the road image, and if there is only one isolated band image area, the road image is marked as an unnecessary image, and the other road images are continuously acquired until the plurality of isolated band image areas exist in the road image.

In step S103, a notch image area of the road notch in the road image is identified from the isolated strip image area.

For example, a road gap can be identified from the plurality of separator image areas, the road gap is usually located between two separators, and the blank position of two separator image areas is identified from the plurality of separator image areas, and the blank position is used as the road gap. Or, based on a preset width or area of the opening, if the blank position is within a preset width of the opening (e.g., greater than or equal to the first pixel width, and/or less than or equal to the second pixel width, where the first pixel width is less than the second pixel width, etc.), or the blank position is within a preset area of the opening (e.g., greater than or equal to the first number of pixels, and/or less than or equal to the second pixel area, where the first pixel area is less than the second pixel area, etc.), the blank position is determined as a road opening, etc.

In some embodiments, in step S102, the road image is input into a deep learning algorithm, and a plurality of candidate isolation strip image areas corresponding to the isolation strip are determined; and determining the isolation band image area corresponding to the isolation band according to the candidate isolation band image areas.

For example, recognition algorithms commonly used by computer vision algorithms include, but are not limited to, object detection algorithms, tracking algorithms, and the like, such as Region-Convolutional Neural Networks (RCNN). Practically, any deep learning method can be adopted as long as the concerned examples can be accurately segmented. The Cascade-Mask-Rcnn is a Cascade network, the distribution of targets is continuously changed, resampling is carried out in a mode of adjusting corresponding threshold values, and each detector after resampling is optimal for the resampled sample, so that the problem of threshold value deviation is generally avoided.

The isolation belt example area similar to the isolation belt characteristic in the road image can be identified through a target detection algorithm, the identified isolation belt example area is used as a candidate isolation belt image area, and the isolation belt image area corresponding to the isolation belt can be screened out from the candidate isolation belt image area. For example, by integrating the position distribution, the example area, and the like of each candidate isolation zone image area, it can be determined whether each candidate isolation zone image area is an isolation zone image area corresponding to an isolation zone.

In some embodiments, the determining an isolated band image region to which the isolated band corresponds from the plurality of candidate isolated band image regions comprises: sequentially taking a candidate isolation belt image area from a plurality of candidate isolation belt image areas, and carrying out central isolation belt detection and direction detection on the candidate isolation belt image area, wherein the central isolation belt detection is used for detecting whether an isolation belt corresponding to the candidate isolation belt image area is a central isolation belt, and the direction detection is used for detecting whether the candidate isolation belt image area is positioned on the left side of a road area of the current road; and if the isolation zone corresponding to the candidate isolation zone image area is the central isolation zone and the candidate isolation zone image area is positioned on the left side of the road area of the current road, determining the candidate isolation zone image area as the isolation zone image area corresponding to the isolation zone.

For example, the distribution of the positions of the candidate barrier strip image areas on the road image is analyzed to exclude other areas of similar barrier strips. The central isolation zone detection is used for detecting whether a candidate isolation zone area is in the road center, for example, according to the identification such as traffic flow or street lamps on the image, the road area of the current road in the road image can be identified, wherein the road area comprises a pixel area corresponding to the road and a pixel boundary corresponding to a road boundary. The candidate isolation strip area is determined to pass the detection of the central isolation strip if the candidate isolation strip area is in the pixel area corresponding to the road, and the isolation strip corresponding to the candidate isolation strip area is the central isolation strip. Further, it may be determined whether the current candidate isolation image area is the isolation image area of the central isolation strip or not by determining whether a difference between the candidate isolation image area and a pixel boundary corresponding to the road boundary is greater than or equal to a boundary difference threshold or not. If not, the candidate isolation band regions will be removed from the plurality of candidate isolation band regions, and so on.

The orientation detection is used to detect whether or not a candidate strip image area is on the left side of the road area of the current road, typically, the center strip is on the left side of the preceding vehicle, and the center strip photographed by the onboard camera is typically on the left side of the road area due to the photographing angle. If the candidate isolation belt image area passes the azimuth detection and the like, determining a fitting straight line of the candidate isolation belt image area through a straight line detection algorithm, identifying the position of the isolation belt image area through the position of the fitting straight line, and the like, and further judging whether the fitting straight line is positioned on the left side of the road area. Or, by performing lane line detection (determining a plurality of straight lines by fitting straight lines to a road image and determining a lane line by assisting a road area or the like), a central lane line at the center of the road image is detected, and whether the fitted straight line is on the left side of the central lane line is determined, and if so, it is determined that the candidate barrier image area is on the left side of the road area of the current road.

If the candidate isolated band image area passes the central isolated band detection and the azimuth detection, the candidate isolated band image area is determined as the isolated band image area corresponding to the isolated band.

In some embodiments, said determining said one candidate swath image area as a swath image area corresponding to said swath comprises: and acquiring the image area of the candidate isolation zone image area, and if the image area is less than or equal to an image area threshold value, determining the candidate isolation zone image area as the isolation zone image area corresponding to the isolation zone.

For example, in addition to the above-mentioned central isolation band detection and orientation detection, we also analyze the areas of the example areas of the candidate isolation band image areas, for example, we determine the corresponding image areas according to the number of pixels of each example area, and if the corresponding image areas are less than or equal to a preset image area threshold (e.g., 200 pixels, etc.), determine the candidate isolation band image areas as the isolation band image areas corresponding to the isolation bands. If not, the candidate spacer regions will be removed from the plurality of candidate spacer regions, and so on. Through the judgment of a plurality of factors, the interference of other factors to the isolation strip identification can be eliminated, and the identification accuracy, speed and the like are improved.

In some embodiments, in step S103, two isolated band image areas are taken in sequence from the isolated band image area as two isolated band image areas to be detected; and identifying a road gap according to the two to-be-detected isolation strip image areas, and determining a gap image area of the road gap in the road image.

For example, after the computer device identifies a plurality of barrier image areas, two barrier image areas may be sequentially taken, the two barrier image areas are fitted, a blank area in the middle of the two barrier image areas is determined, for example, polygon fitting is performed on the two barrier image areas, a circumscribed polygon (such as a rectangle) of the two barrier image areas is determined, and two adjacent break points of the two barrier image areas are connected to form two sides that are not intended to intersect, so that the two sides and the area in the middle of the barrier image areas are determined as the blank area. Alternatively, straight lines are fitted to the two isolated band image areas, and the end points where the straight lines are close to each other are connected, whereby a straight line connecting the two fitted straight lines is determined as a blank area or the like. After the corresponding blank area is determined, the blank area can be determined as a road opening; of course, the blank region may be screened to a certain degree to improve the recognition accuracy and the like.

In some embodiments, the identifying a road opening according to the two to-be-detected median image regions and determining an opening image region of the road opening in the road image includes: performing linear fitting according to the two to-be-detected isolation zone image areas, and determining a corresponding overall fitting linear line; projecting the two isolated belt image areas to be detected onto the integral fitting straight line, and determining the projection distance information of the two isolated belt image areas to be detected; and if the projection distance information is greater than or equal to a projection distance threshold value, determining an image area corresponding to the projection distance information as a road gap, and determining the image area corresponding to the projection distance information as a gap image area.

For example, through the pixel point sets corresponding to the two to-be-detected isolation belt image areas, the whole straight line fitting can be carried out on the two pixel areas, the whole fitting straight line is determined, the two to-be-detected isolation belt image areas are kept in the same direction, and the follow-up judgment is facilitated. Further, the pixels of the two to-be-detected isolation belt image areas are projected to the overall fitting straight line, if the vertical line of the overall fitting straight line is made through each pixel point on the to-be-detected isolation belt image areas, the intersection point of the vertical line and the overall fitting straight line is taken as a projection point, so that the two projection straight lines of the to-be-detected isolation belt image areas are determined, and the distance between the two endpoints with the minimum distance can be determined as corresponding projection distance information according to the two endpoints of the two projection straight lines.

The computer device may determine whether the current blank area is a road gap by the projection distance information and preset projection distance threshold information (e.g., 15 pixels). And if the projection distance information is greater than or equal to a projection distance threshold value, determining an image area corresponding to the projection distance information as a road gap, and determining the image area corresponding to the projection distance information as a gap image area. If not, determining that the blank area is not the road gap.

In some embodiments, the method further includes step S104 (not shown), in step S104, performing straight line fitting on the two to-be-detected isolation zone image regions, and determining two corresponding to-be-detected straight lines; determining an angle difference value according to the angles of the two to-be-detected straight lines, and detecting whether the angle difference value is smaller than or equal to an angle difference value threshold value; wherein, the integral fitting is carried out according to the two straight lines to be detected, and the corresponding integral fitting straight line is determined, and the method comprises the following steps: if yes, performing overall fitting according to the two to-be-detected straight lines, and determining the corresponding overall fitting straight line.

For example, through the pixel point set of waiting to detect the median image area, can wait to detect the median image area to carry out straight line fitting to two respectively, the fitting obtains two and waits to detect the straight line, and every is waited to detect the straight line and includes corresponding straight line angle, slope, offset etc. and the corresponding straight line angle is the contained angle of waiting to detect straight line and X axle. The angle judgment is carried out through the two straight lines to be detected, and whether the two isolation strip image areas to be detected are adjacent or close isolation strip image areas or not can be determined. If the angle difference value is determined according to the angles of the two straight lines to be detected, whether the angle difference value is smaller than or equal to an angle difference value threshold value (such as +/-15 degrees and the like) is detected, if so, the two isolation belt image areas to be detected are determined to be adjacent or similar isolation belts, and subsequent integral fitting straight line fitting and the like are further carried out; and if not, determining that the two isolation belt image areas to be detected are non-adjacent or non-adjacent isolation belts, and taking the two isolation belt image areas as the isolation belt image areas to be detected again for detection and the like.

In some embodiments, the method further comprises step S105 (not shown), in step S105, detecting whether the whole fitting straight line intersects other isolation zone image areas; wherein, will two wait to detect isolation area image area projection to on the whole fit straight line, include: and if not, projecting the two isolated belt image areas to be detected onto the integral fitting straight line.

For example, since the imaging angle of the in-vehicle imaging device is on the left side of the central isolation band, the central isolation bands that are on the same straight line in the world coordinate system are not generally on the same straight line in the pixel coordinate system. After the computer equipment determines the two image areas of the isolation zone to be detected, whether the two image areas of the isolation zone are in the corresponding area of the central isolation zone can be judged by integrally fitting a straight line to be intersected with the image areas of other isolation zones. If yes, determining that the two isolation belt image areas are in the corresponding area of the central isolation belt, executing subsequent projection steps, and the like, otherwise, reselecting the two isolation belt image areas for carrying out the judgment and the like.

Embodiments of a method for identifying a road-opening according to the present application are described above, and an apparatus capable of implementing the embodiments is provided, which is described below with reference to fig. 2.

In some embodiments, after identifying an opening image region of the road opening in the road image from the isolated band image region, further comprising: determining a terminal identity of a target terminal for acquiring a road image; acquiring the vehicle type of a target vehicle where a target terminal is located according to the terminal identity; and if the vehicle type is a preset special type, performing route planning on the target vehicle based on the gap image area.

If the target terminal is a vehicle-mounted intelligent terminal, the server 200 may first obtain a terminal identity of the vehicle-mounted intelligent terminal through a preset communication protocol, such as a CAN protocol, a TCP protocol, and the like, and then generate a vehicle type query instruction by using the terminal identity to instruct the vehicle-mounted intelligent terminal to obtain and feed back a vehicle type of a target vehicle where the vehicle-mounted intelligent terminal is located, and if the vehicle type of the target vehicle is a preset special type, the vehicle type may be route-planned and navigated for the target vehicle by using the breach image area.

If the target terminal is a car navigator, and the car navigator cannot be connected to an on-board intelligent terminal (OBU), and then the server 200 cannot acquire the vehicle type of the target vehicle, the road image acquired by the server 200 should show the navigator identifier of the car navigator. The server 200 is pre-stored with an identification type comparison table, and different navigator identifications correspond to different vehicle types, so that the vehicle type of the target vehicle can be obtained through table lookup, and if the vehicle type of the target vehicle is a preset special type, route planning and navigation can be performed on the target vehicle by using the opening image area.

Fig. 2 shows an apparatus for identifying a road opening, also called road opening identification apparatus, according to an aspect of the present application, which includes an obtaining module 101, a median identification module 102, and an opening identification module 103. An obtaining module 101, configured to obtain a road image of a current road, where the current road includes a corresponding isolation zone; the isolation zone identification module 102 is configured to identify an isolation zone image area corresponding to the isolation zone in the road image; and the opening identification module 103 is used for identifying an opening image area of the road opening in the road image according to the isolation belt image area. The computer device may be a stand-alone server, or may be a server network or a server cluster composed of servers, for example, the computer device described in the embodiment of the present application includes, but is not limited to, a computer, a network host, a single network server, multiple network server sets, or a cloud server composed of multiple servers. Among them, the Cloud server is constituted by a large number of computers or web servers based on Cloud Computing (Cloud Computing).

In some embodiments, the isolation zone identification module 102 is configured to input the road image into a deep learning algorithm, and determine a plurality of candidate isolation zone image regions corresponding to the isolation zone; and determining an isolation band image area corresponding to the isolation band according to the plurality of candidate isolation band image areas. In some embodiments, the determining an isolated band image region to which the isolated band corresponds from the plurality of candidate isolated band image regions comprises: sequentially taking a candidate isolation belt image area from a plurality of candidate isolation belt image areas, and performing central isolation belt detection and direction detection on the candidate isolation belt image area, wherein the central isolation belt detection is used for detecting whether an isolation belt corresponding to the candidate isolation belt image area is a central isolation belt, and the direction detection is used for detecting whether the candidate isolation belt image area is positioned on the left side of a road area of the current road; and if the isolation belt corresponding to the candidate isolation belt image area is the central isolation belt and the candidate isolation belt image area is positioned on the left side of the road area of the current road, determining the candidate isolation belt image area as the isolation belt image area corresponding to the isolation belt. In some embodiments, said determining said one candidate swath image area as a swath image area to which said swath corresponds comprises: and acquiring the image area of the candidate isolation strip image area, and determining the candidate isolation strip image area as the isolation strip image area corresponding to the isolation strip if the image area is smaller than or equal to an image area threshold value.

In some embodiments, the gap identification module 103 is configured to take two isolated strip image areas from the isolated strip image area in sequence as two isolated strip image areas to be detected; and identifying a road gap according to the two to-be-detected isolation strip image areas, and determining a gap image area of the road gap in the road image. In some embodiments, the identifying a road opening according to the two to-be-detected median image regions and determining an opening image region of the road opening in the road image includes: performing linear fitting according to the two to-be-detected isolation zone image areas, and determining a corresponding overall fitting linear line; projecting the two isolated belt image areas to be detected onto the integral fitting straight line, and determining the projection distance information of the two isolated belt image areas to be detected; and if the projection distance information is greater than or equal to a projection distance threshold value, determining an image area corresponding to the projection distance information as a road gap, and determining the image area corresponding to the projection distance information as a gap image area.

Here, the specific implementation manners of the obtaining module 101, the median identifying module 102, and the breach identifying module 103 shown in fig. 2 are the same as or similar to the embodiments of step S101, step S102, and step S103 shown in fig. 1, and thus are not described again and are included herein by way of reference.

In some embodiments, the apparatus further includes an angle detection module (not shown) for performing a straight line fitting on the two to-be-detected isolation zone image regions to determine two corresponding to-be-detected straight lines; determining an angle difference value according to the angles of the two to-be-detected straight lines, and detecting whether the angle difference value is smaller than or equal to an angle difference value threshold value; wherein, the integral fitting is carried out according to the two straight lines to be detected, and the corresponding integral fitting straight line is determined, which comprises the following steps: if so, performing integral fitting according to the two to-be-detected straight lines, and determining the corresponding integral fitting straight line.

In some embodiments, the apparatus further comprises an intersection detection module (not shown) for detecting whether the whole fitted straight line intersects other isolated band image regions; wherein, will two wait to detect isolation area image area projection to on the whole fit straight line, include: and if not, projecting the two isolated zone image areas to be detected onto the integral fitting straight line.

Here, the specific implementation manners of the angle detection module and the intersection detection module are the same as or similar to the embodiments of step S104 and step S105, and are therefore not repeated herein and are included herein by way of reference.

In addition to the methods and apparatus described in the embodiments above, the present application also provides a computer-readable storage medium storing computer code that, when executed, performs the method described in any of the preceding claims.

The present application also provides a computer program product, which when executed by a computer device, performs the method of any of the preceding claims.

The present application further provides a computer device, comprising:

one or more processors;

a memory for storing one or more computer programs;

the one or more computer programs, when executed by the one or more processors, cause the one or more processors to implement the method of any preceding claim.

FIG. 3 illustrates an exemplary system that can be used to implement the various embodiments described herein;

in some embodiments, as shown in FIG. 3, the system 300 can be implemented as any of the devices in the various embodiments described. In some embodiments, system 300 may include one or more computer-readable media (e.g., system Memory or non-volatile Memory NVM/storage 320) having instructions and one or more processors (e.g., processor(s) 305) coupled with the one or more computer-readable media and configured to execute the instructions to implement modules to perform the actions described herein.

For one embodiment, system control module 310 may include any suitable interface controllers to provide any suitable interface to at least one of processor(s) 305 and/or any suitable device or component in communication with system control module 310.

The system control module 310 may include a memory controller module 330 to provide an interface to the system memory 315. Memory controller module 330 may be a hardware module, a software module, and/or a firmware module.

System memory 315 may be used, for example, to load and store data and/or instructions for system 300. For one embodiment, system memory 315 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, the system memory 315 may include a double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, system control module 310 may include one or more input/output (I/O) controllers to provide an interface to NVM/storage 320 and communication interface(s) 325.

For example, NVM/storage 320 may be used to store data and/or instructions. NVM/storage 320 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more Hard Disk Drive(s) (HDD (s)), one or more Compact Disc (CD) Drive(s), and/or one or more Digital Versatile Disc (DVD) Drive (s)).

NVM/storage 320 may include storage resources that are physically part of the device on which system 300 is installed or may be accessed by the device and not necessarily part of the device. For example, NVM/storage 320 may be accessible over a network via communication interface(s) 325.

Communication interface(s) 325 may provide, among other things, an interface for system 300 to communicate over one or more networks and/or with any other suitable device. System 300 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols.

For one embodiment, at least one of the processor(s) 305 may be packaged together with logic for one or more controller(s) (e.g., memory controller module 330) of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be packaged together with logic for one or more controller(s) of the System control module 310 to form a System in a Package (SiP). For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with logic for one or more controller(s) of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with logic for one or more controller(s) of the System control module 310 to form a System on Chip (SoC).

In various embodiments, system 300 may be, but is not limited to being: a server, a workstation, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, system 300 may have more or fewer components and/or different architectures. For example, in some embodiments, system 300 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen Display), a non-volatile memory port, a plurality of antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and a speaker.

It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.

In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Those skilled in the art will appreciate that the forms of computer program instructions that reside on a computer-readable medium include, but are not limited to, source files, executable files, installation package files, and the like, and that the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Computer-readable media herein can be any available computer-readable storage media or communication media that can be accessed by a computer.

Communication media includes media by which communication signals, including, for example, computer readable instructions, data structures, program modules, or other data, are transmitted from one system to another. Communication media may include conductive transmission media such as cables and wires (e.g., fiber optics, coaxial, etc.) and wireless (non-conductive transmission) media capable of propagating energy waves such as acoustic, electromagnetic, RF, microwave, and infrared. Computer readable instructions, data structures, program modules, or other data may be embodied in a modulated data signal, for example, in a wireless medium such as a carrier wave or similar mechanism such as is embodied as part of spread spectrum techniques. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The modulation may be analog, digital or hybrid modulation techniques.

By way of example, and not limitation, computer-readable storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memory such as random access memory (RAM, DRAM, SRAM); and nonvolatile memories such as flash memories, various read only memories (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic (MRAM)/Ferroelectric electric RAM, feRAM); and magnetic and optical storage devices (hard disk, tape, CD, DVD); or other now known media or later developed that are capable of storing computer-readable information/data for use by a computer system.

An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware.

The method, apparatus, computer device and storage medium for identifying a road opening provided in the embodiments of the present application are described in detail above, and specific embodiments are applied in the present application to explain the principles and embodiments of the present invention, and the description of the embodiments is only used to help understanding the method and its core idea of the present invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (14)

1. A method of identifying a road opening, comprising:

acquiring a road image about a current road, wherein the current road comprises a corresponding isolation zone;

identifying an isolation strip image area corresponding to the isolation strip in the road image;

and identifying the opening image area of the road opening in the road image according to the isolation belt image area.

2. The method of claim 1, wherein the identifying a median image region in the road image to which the median corresponds comprises:

inputting the road image into a target detection algorithm, and determining a plurality of candidate isolation zone image areas corresponding to the isolation zones;

and determining an isolation band image area corresponding to the isolation band according to the plurality of candidate isolation band image areas.

3. The method of claim 1, wherein determining the corresponding isolated band image area of the isolated band from the plurality of candidate isolated band image areas comprises:

sequentially taking a candidate isolation belt image area from a plurality of candidate isolation belt image areas, and carrying out central isolation belt detection and direction detection on the candidate isolation belt image area, wherein the central isolation belt detection is used for detecting whether an isolation belt corresponding to the candidate isolation belt image area is a central isolation belt, and the direction detection is used for detecting whether the candidate isolation belt image area is positioned on the left side of a road area of the current road;

and if the isolation belt corresponding to the candidate isolation belt image area is the central isolation belt and the candidate isolation belt image area is positioned on the left side of the road area of the current road, determining the candidate isolation belt image area as the isolation belt image area corresponding to the isolation belt.

4. The method of claim 3, wherein said determining said one candidate swath image area as a swath image area for said swath comprises:

and acquiring the image area of the candidate isolation strip image area, and determining the candidate isolation strip image area as the isolation strip image area corresponding to the isolation strip if the image area is smaller than or equal to an image area threshold value.

5. The method of claim 1, wherein identifying an opening image region of a road opening in the road image from the isolated strip image region comprises:

sequentially taking two isolated belt image areas from the isolated belt image area as two isolated belt image areas to be detected;

and identifying a road gap according to the two image areas of the isolation zone to be detected, and determining a gap image area of the road gap in the road image.

6. The method according to claim 5, wherein the identifying a road opening from the two to-be-detected median image regions and determining an opening image region of the road opening in the road image comprises:

performing linear fitting according to the two to-be-detected isolation zone image areas, and determining a corresponding overall fitting linear line;

projecting the two isolated belt image areas to be detected onto the integral fitting straight line, and determining the projection distance information of the two isolated belt image areas to be detected;

and if the projection distance information is greater than or equal to a projection distance threshold value, determining an image area corresponding to the projection distance information as a road gap, and determining the image area corresponding to the projection distance information as a gap image area.

7. The method of claim 6, further comprising:

performing linear fitting on the two to-be-detected isolation zone image areas to determine two corresponding to-be-detected straight lines;

determining an angle difference value according to the angles of the two to-be-detected straight lines, and detecting whether the angle difference value is smaller than or equal to an angle difference value threshold value;

wherein, the integral fitting is carried out according to the two straight lines to be detected, and the corresponding integral fitting straight line is determined, which comprises the following steps:

if so, performing integral fitting according to the two to-be-detected straight lines, and determining the corresponding integral fitting straight line.

8. The method of claim 6, further comprising:

detecting whether the integral fitting straight line is intersected with other isolation zone image areas;

wherein, will two wait to detect isolation area image area projection to on the whole fit straight line, include:

and if not, projecting the two isolated zone image areas to be detected onto the integral fitting straight line.

9. The method according to any of claims 1-8, further comprising, after said identifying an opening image area of a road opening in said road image from said isolated strip image area:

determining a terminal identity of a target terminal for acquiring the road image;

acquiring the vehicle type of a target vehicle where the target terminal is located according to the terminal identity;

and if the vehicle type is a preset special type, performing route planning on the target vehicle based on the opening image area.

10. The method according to claim 9, wherein the target terminal is a vehicle-mounted intelligent terminal, and the determining the terminal identity of the target terminal that collects the road image comprises:

taking the vehicle-mounted intelligent terminal for collecting the road image as the target terminal;

determining a terminal identity of the target terminal based on a preset communication protocol; wherein the communication protocol comprises a CAN protocol and/or a TCP protocol.

11. The method of claim 9, wherein the target terminal is a car navigation system, and the determining the terminal identity of the target terminal that acquires the road image comprises:

taking a vehicle navigator for collecting the road image as the target terminal;

and reading a navigator mark contained in the road image to serve as the terminal identity mark.

12. An apparatus for identifying a road opening, comprising:

the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring a road image of a current road, and the current road comprises a corresponding isolation zone;

the isolation zone identification module is used for identifying an isolation zone image area corresponding to the isolation zone in the road image;

and the opening identification module is used for identifying the opening image area of the road opening in the road image according to the isolated strip image area.

13. A computer device, the device comprising:

one or more processors;

a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to perform the operations of the method of any of claims 1 to 11 by the processor.

14. A computer-readable storage medium, having stored thereon a computer program which is loaded by a processor to perform operations of the method according to any of claims 1 to 11.

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