The invention relates to the technical field of intelligent traffic, in particular to a method and device for generating a drivable area of a road, a vehicle and a storage medium, and the method comprises the steps: collecting image information and point cloud information of a current scene, and fusing the image information and the point cloud information to obtain fusion information of the current scene; extracting at least one lane feature of the current scene according to the fusion information; projecting at least one lane feature of the current scene to a target coordinate system, generating a local map, and obtaining a current map of the current scene, so as to obtain actual map information according to the local map and the current map; on the basis of the actual map information, static obstacles on the road are recognized, the lane sections meeting the preset invasion and occupation conditions are marked as non-driving areas according to the static obstacles, and driving areas are generated. Therefore, the problems of high manufacturing and maintenance cost of a high-precision map, difficulty in using a uniform map format in actual application, poor real-time performance and low precision in a vehicle driving process and the like in the related technology are solved.
本申请涉及智能交通技术领域,特别涉及一种道路的可行驶区域生成方法、装置、车辆及存储介质,其中,方法包括:采集当前场景的图像信息和点云信息,融合图像信息和点云信息,得到当前场景的融合信息;根据融合信息提取当前场景的至少一个车道特征;将当前场景的至少一个车道特征投影至目标坐标系,生成局部地图,并获取当前场景的当前地图,以根据局部地图和当前地图得到实际地图信息;基于实际地图信息,识别道路上的静态障碍物,以根据静态障碍物将达到预设侵占条件的车道段标记为不可行驶区域,并生成可行驶区域。由此,解决了相关技术中,高精地图的制作和维护成本高,在实际的应用中很难用统一的地图格式,且在车辆行驶的过程中实时性差精度不高等问题。
Road travelable area generation method and device, vehicle and storage medium
道路的可行驶区域生成方法、装置、车辆及存储介质
12.01.2024
Patent
Elektronische Ressource
Chinesisch
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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