The invention relates to a vehicle control method, a road concave-convex feature detection method based on binocular stereoscopic vision, a road concave-convex feature detection system, detection equipment and a computer readable storage medium. The road concave-convex feature detection method based on binocular stereo vision comprises the following steps: S1, road surface concave-convex feature detection; s2, generating a binocular parallax point cloud; s3, carrying out feature region point cloud projection; and S4, region feature calculation: calculating the concave-convex information of the point cloud of the corresponding region. The vehicle control method comprises the following steps: T1, predicting a self-vehicle track according to a vehicle motion state; t2, based on the predicted self-vehicle track, calculating the correlation degree with the point cloud of the corresponding area; and T3, sending the concavity and convexity, the height position and the obtained correlation degree of the point cloud of the corresponding area to an ADAS controller as summarized information of each road concavity and convexity feature. The method can effectively recognize the road concave-convex information, reduces the consumption of computing resources, and improves the comfort of intelligent driving.
本发明涉及一种车辆控制方法、基于双目立体视觉的道路凹凸特征检测方法、道路凹凸特征检测系统、检测设备及计算机可读存储介质。该基于双目立体视觉的道路凹凸特征检测方法步骤:S1,路面凹凸特征检测;S2,生成双目视差点云;S3,特征区域点云投影;S4,区域特征计算,计算对应区域点云的凹凸信息。一种车辆控制方法包括步骤:T1,根据车辆运动状态进行自车轨迹预测;T2,基于预测的自车轨迹,计算与对应区域点云的关联度;T3,将对应区域点云的凹凸性、高度位置,以及获取的关联度作为每个道路凹凸特征的汇总信息发送给ADAS控制器。本发明能有效识别道路凹凸信息,降低计算资源消耗,进而提升智能驾驶的舒适性。
Vehicle control method, road concave-convex feature detection method based on binocular stereoscopic vision, detection system, detection equipment and computer readable storage medium
一种车辆控制方法、基于双目立体视觉的道路凹凸特征检测方法、检测系统、检测设备及计算机可读存储介质
2024-04-02
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06V |
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