The invention relates to an auxiliary driving method and device, equipment and a medium. The method comprises the following steps: expanding a current driving image of a target vehicle to obtain an expanded image; wherein the expanded image comprises an expansion area, the expansion area comprises a target point, the target point is a corresponding position point of the image acquisition device under an image coordinate system, and the current driving image is captured by the image acquisition device; according to the expanded image, identifying a lane center line of a lane where the target vehicle is located in the current driving image; and determining a deviation value between the target vehicle and the extension line according to the extension line of the lane center line and the target point. The influence of vehicle head shielding and the field angle of the image acquisition equipment is eliminated by obtaining the lane center line, and the deviation value can be obtained without inverse perspective transformation, so that the influence of road curvature and gradient on an inverse perspective transformation matrix is avoided, the accuracy of judging the position relationship between the vehicle and the lane line of the lane is improved, and the accuracy of judging the position relationship between the vehicle and the lane line is improved. And thus, the auxiliary driving effect is improved.
本公开涉及一种辅助驾驶方法、装置、设备及介质。该方法包括:对目标车辆的当前行车图像进行扩展,获得扩展后图像;其中,扩展后图像包含扩展区,扩展区包含目标点,目标点为图像采集装置在图像坐标系下对应的位置点,当前行车图像通过图像采集装置捕获;根据扩展后图像,识别当前行车图像中、目标车辆所在车道的车道中心线;根据车道中心线的延长线以及目标点,确定目标车辆与延长线的偏离值。通过获取车道中心线来消除车头遮挡以及图像采集设备视场角的影响,并且无需进行逆透视变换即可得到偏离值,避免了道路曲率以及坡度对逆透视变换矩阵的影响,提高对车辆与所在车道的车道线的位置关系判断的准确性,进而提升辅助驾驶的效果。
Auxiliary driving method and device, equipment and medium
辅助驾驶方法、装置、设备及介质
01.10.2024
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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