The invention provides a monocular recognition-based visual blind area obstacle avoidance method and device, which relate to the technical field of unmanned drivers. The method comprises the steps ofdetermining a first obstacle and a first position of the first obstacle based on a historical image of a monocular camera, the included angle between the first obstacle relative to the vehicle direction and the driving direction of the vehicle being within a preset range, acquiring a current image of the monocular camera, and tracking the first obstacle in the current image, and when determining that the first obstacle does not exist in the current image, controlling the vehicle to perform obstacle avoidance driving for the first obstacle in the visual blind area based on the first position ofthe first obstacle. Therefore, obstacles in a visual blind area can be avoided, and the safety of automatic driving is improved while the algorithm complexity is not excessively improved.

    本发明提供了一种基于单目识别的视野盲区避障方法及装置,涉及无人驾驶技术领域,该方法包括:基于单目摄像头的历史图像,确定相对于车辆的方向与车辆的行驶方向的夹角在预设范围内的第一障碍物,以及第一障碍物的第一位置;获取单目摄像头的当前图像,并在当前图像中对第一障碍物进行追踪;当确定当前图像中不存在第一障碍物时,基于第一障碍物的第一位置控制车辆针对视野盲区内的第一障碍物进行避障行驶。从而可以针对处于视觉盲区中的障碍物进行避障,在不过多的提升算法复杂度的同时,提升自动驾驶的安全性。


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    Titel :

    Monocular recognition-based visual blind area obstacle avoidance method and device


    Weitere Titelangaben:

    基于单目识别的视野盲区避障方法及装置


    Beteiligte:
    SU YINGFEI (Autor:in)

    Erscheinungsdatum :

    2020-08-28


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    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



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