The embodiments of the present invention relate to the technical field of vehicle assisted driving. Provided are a vehicle turning control method and apparatus based on binocular stereoscopic vision. The method comprises: when a vehicle turns on an unstructured road, acquiring initial image data, which is collected by means of a binocular stereoscopic vision sensor; performing three-dimensional matching on the initial image data, so as to generate three-dimensional point cloud data; filtering the three-dimensional point cloud data on the basis of a preset height threshold value, so as to obtain a travelable space; and determining a turning path according to the travelable space. By means of the embodiments of the present invention, in the case of turning on an unstructured road, three-dimensional reconstruction can be performed on the unstructured road, such that a travelable space where an obstacle is accurately avoided can be determined in the unstructured road, and then a turning path is determined to make a vehicle accurately drive into a target intersection.
B62D 6/00 - Dispositions pour la commande automatique de la direction en fonction des conditions de conduite, qui sont détectées et pour lesquelles une réaction est appliquée, p. ex. circuits de commande
B60R 1/24 - Dispositions de visualisation en temps réel pour les conducteurs ou les passagers utilisant des systèmes de capture d'images optiques, p. ex. des caméras ou des systèmes vidéo spécialement adaptés pour être utilisés dans ou sur des véhicules pour visualiser une zone extérieure au véhicule, p. ex. l’extérieur du véhicule avec un champ de vision prédéterminé à l’avant du véhicule
B60R 1/31 - Dispositions de visualisation en temps réel pour les conducteurs ou les passagers utilisant des systèmes de capture d'images optiques, p. ex. des caméras ou des systèmes vidéo spécialement adaptés pour être utilisés dans ou sur des véhicules fournissant une vision stéréoscopique
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes
2.
VEHICLE SCRATCH IDENTIFICATION METHOD AND APPARATUS, BASED ON BINOCULAR STEREO VISION
The embodiments of the present invention provide a vehicle scratch identification method and apparatus which are based on binocular stereo vision, and relate to the technical field of vehicle assisted driving; the method comprises: when a vehicle reaches a narrow turning space, acquiring, in real time, initial image data and vehicle operating condition data collected by a binocular stereo vision sensor; performing three-dimensional stereo matching on the initial image data to generate three-dimensional point cloud data; according to the three-dimensional point cloud data and the vehicle operating condition data, generating vehicle forward-driving trajectory data; and based on the vehicle forward-driving trajectory data and the three-dimensional point cloud data, determining scratch risk information. The embodiments of the present invention use point cloud data of a binocular stereo vision sensor to accurately reconstruct a narrow turning space, determine a scratch risk on the basis of the point cloud data of the binocular stereo vision sensor and on the basis of vehicle operating condition data, and actively intervene to avoid the vehicle being scratched, thereby increasing vehicle driving safety.
A vehicle driving control method and apparatus, a vehicle, and a storage medium. The method comprises: according to a binocular image at the current moment, determining environmental state data at the current moment; according to IMU data at the current moment, determining motion state data of a vehicle at the current moment; according to the environmental state data, the motion state data and vehicle control state data, performing parameter identification on an observer and a controller, so as to obtain at least one observer parameter identification result and at least one controller parameter identification result; according to the environmental state data, the motion state data, the at least one observer parameter identification result and the at least one controller parameter identification result, determining control information of the vehicle at the next moment when a driving smoothness condition is met; and outputting the control information.
B60W 30/02 - Commande de la stabilité dynamique du véhicule
B60W 40/10 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés au mouvement du véhicule
B60W 40/02 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes
B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier
4.
PONDING DEPTH ESTIMATION METHOD AND APPARATUS, ELECTRONIC DEVICE, AND STORAGE MEDIUM
Embodiments of the present application provide a ponding depth estimation method and apparatus, an electronic device, and a storage medium. The method comprises: acquiring a road surface image, photographed by a binocular camera on a target vehicle, of a road surface where the target vehicle is located; identifying a ponding area in the road surface image; according to three-dimensional point cloud information of other image areas except the ponding area in the road surface image, determining a slope equation corresponding to the road surface; and on the basis of the slope equation, estimating a ponding depth corresponding to the ponding area. According to the embodiments of the present application, the road surface ponding depth can be estimated without relying on information such as a high-precision map and pre-measured three-dimensional data, thereby reducing the difficulty of ponding depth estimation.
Provided in the present application are a method, apparatus and system for measuring a road surface roughness, and an electronic device and a medium. The method comprises: acquiring a disparity map of binocular stereoscopic vision of a road surface area to be subjected to measurement, wherein said road surface area is segmented into a plurality of measurement areas having the same size; on the basis of the disparity map of each measurement area, determining a parallax gradient vector of the corresponding measurement area; compiling statistics on the number of direction deviations in the parallax gradient vector in each measurement area, and a deviation angle; and on the basis of the number of direction deviations in the parallax gradient vector in each measurement area, and the corresponding deviation angle, predicting a road surface roughness in the corresponding measurement area. In the present application, a disparity map including depth information is obtained by using a binocular stereoscopic camera, a corresponding parallax gradient vector is determined on the basis of the disparity map, and a road surface roughness on the disparity map is determined according to deviation statistics of the parallax gradient vector and a deviation angle. By means of the present application, not only is the calculation consumption of the road surface roughness reduced, but the precision for evaluating the road surface roughness is also effectively improved.
A three-dimensional semantic scene completion method, a device, and a medium. The method comprises: processing a target image by using a first preset network, and obtaining image feature information corresponding to the target image, the target image comprising a binocular image; constructing a first volume according to the image feature information, the first volume comprising a first binocular stereo volume; and performing three-dimensional semantic scene completion according to the first volume.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
38 - Services de télécommunications
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Computer software applications, downloadable; computer
hardware; humanoid robots with artificial intelligence;
navigational instruments; portable media players; steering
apparatus, automatic, for vehicles; laboratory robots; chips
[integrated circuits]; transducer; video screens; parking
sensors for vehicles; batteries, electric. Electric vehicles; driverless cars [autonomous cars];
self-driving cars; robotic cars; anti-theft devices for
automobiles. Advertising; publicity; business management consultancy;
commercial or industrial management assistance; market
research and analysis; marketing; marketing services; sales
promotion for others. Message sending; computer aided transmission of messages and
images; communications by telephone; communications by
computer terminals; providing instant message transmission
services; teleconferencing and videoconferencing service;
transmission of sound, video and information. Technological research; consulting services in the field of
technology development; vehicle roadworthiness testing;
testing of computing equipment; industrial design; computer
software design; maintenance of computer software; software
as a service [SaaS]; software design consulting; computer
hardware design; research in the field of artificial
intelligence; consultancy in the design and development of
computer hardware; computer system design.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Electronic message sending; computer aided transmission of messages and images; communications by telephone; communications by computer terminals; providing electronic instant message transmission services; teleconferencing and videoconferencing services; transmission of sound, video and information Computer software applications, downloadable for use as autonomous driving systems for vehicles; computer hardware; humanoid robots with artificial intelligence for use in scientific research related to autonomous vehicles; electric navigational instruments; portable media players; steering apparatus, automatic, for vehicles in the nature of simulators for the steering and control of vehicles; laboratory robots; integrated circuit chips; pressure and electric transducers; video screens; parking sensors for vehicles; batteries, electric Electric vehicles, namely, cars and automobiles, buses, trucks, minivans, and vans; driverless cars; self-driving cars; robotic cars; anti-theft devices for automobiles Advertising services; publicity consultation; business management consultancy; commercial or industrial business management assistance; market research and analysis; marketing consultation; marketing services; sales promotion for others Technological research in the field of autonomous vehicles; consulting services in the field of technology development; vehicle roadworthiness testing; testing of computing equipment; industrial design; computer software design; maintenance of computer software; software as a service (SAAS) services featuring software for operating autonomous driving systems and vehicles; software design consulting; computer hardware design; research in the field of artificial intelligence; consultancy in the design and development of computer hardware; computer system design
