The invention provides a drivable area detection method. The drivable area detection method comprises the following steps: generating point cloud data according to road and obstacle information around a current vehicle collected by laser radar equipment; projecting the point cloud data into a two-dimensional grid map under a two-dimensional coordinate system; according to a height value presented in each grid by a point cloud in the point cloud data, at least segmenting a target grid whose semantics is a travelable area from the two-dimensional grid map, the height value being a height value of the point cloud in a corresponding vertical direction in the point cloud data; reconstructing the point cloud data according to the target grid to obtain target three-dimensional point cloud data; and the vehicle driving area is determined according to the target three-dimensional point cloud data, so that the processing difficulty of the point cloud data can be reduced, the processing speed can be improved, and the detection accuracy can be effectively improved.
本申请提供一种可行驶区域检测方法,包括:根据激光雷达设备采集的当前车辆周边的道路及障碍物信息生成点云数据;将点云数据投影至二维坐标系下的二维栅格图内;根据点云数据中的点云在每个栅格内呈现的高度值,至少从二维栅格图中分割出语义为可行驶区域的目标栅格,其中,高度值为点云在点云数据中对应的竖直方向上的高度值;根据目标栅格对点云数据进行重构得到目标三维点云数据;根据目标三维点云数据确定车辆可行驶区域,从而既能降低点云数据的处理难度,提升处理速度,又能有效提升检测的准确性。
Driving area detection method, device and equipment and storage medium
一种可行驶区域检测方法、装置、设备及存储介质
2023-12-29
Patent
Electronic Resource
Chinese
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