The invention provides a method and device for detecting a drivable area of a vehicle, and the method comprises the steps: determining a current frame obstacle probability graph in a scene where the vehicle is located based on a target sensor installed on the vehicle; for each pixel point in the current frame of obstacle probability graph, executing the following processing: determining a second pixel position corresponding to the first pixel position of the pixel point in the previous frame of obstacle probability graph, determining a second obstacle fusion probability value of the pixel point in the current frame of obstacle probability graph according to an obstacle detection probability value corresponding to the first pixel position in the current frame of obstacle probability graph and a first obstacle fusion probability value corresponding to the second pixel position in the previous frame of obstacle probability graph; and according to the second obstacle fusion probability value corresponding to each pixel point in the current frame obstacle probability graph, outputting a vehicle drivable area. According to the invention, the method can help to improve the recognition accuracy of the driving area of the vehicle.
本申请提供一种车辆可行驶区域的检测方法和装置,该方法包括:基于车辆上安装的目标传感器,确定车辆所处场景下的当前帧障碍物概率图;针对当前帧障碍物概率图中的每个像素点执行以下处理:确定上一帧障碍物概率图中与该像素点的第一像素位置相对应的第二像素位置,根据第一像素位置在当前帧障碍物概率图中对应的障碍物探测概率值和第二像素位置在上一帧障碍物概率图中对应的第一障碍物融合概率值,确定该像素点在当前帧障碍物概率图中的第二障碍物融合概率值;根据当前帧障碍物概率图中的各像素点对应的第二障碍物融合概率值,输出车辆可行驶区域。通过本申请,能够有助于提高对车辆可行驶区域的识别准确性。
Method and device for detecting drivable area of vehicle
车辆可行驶区域的检测方法和装置
11.10.2024
Patent
Elektronische Ressource
Chinesisch
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