The embodiment of the invention provides a road recognition method, device and equipment and a storage medium. The method comprises the steps that a first image, collected by a camera of a first vehicle, of a current road surface is obtained; the first image is input into a pre-trained road type recognition model to obtain prediction results of the pixel points of the first image output by the road type recognition model; the pixel points are divided into multiple groups according to the prediction results of the pixel points, wherein the prediction results of the pixel points in the same group are the same, and the prediction results of the pixel points in different groups are different; the road type of the current road surface is determined according to the prediction results of a group of pixel points of which the number of the pixel points meets a preset condition; and a current adhesion coefficient between the first vehicle and the current road surface is determined according to the road type. According to the method, the road type of any road surface and the adhesion coefficient between the road surface and a vehicle can be accurately recognized, the recognition precision is high, the robustness is good, and therefore the safety of a vehicle intelligent driving system is improved.
本发明实施例提供了一种道路识别方法、装置、设备和存储介质,通过获得第一车辆的摄像头采集到的当前路面的第一图像;将第一图像输入至预先训练好的道路类型识别模型中,从而获得道路类型识别模型输出的第一图像的各像素点的预测结果;根据各像素点的预测结果,将各像素点划分为多组,其中,同一组的各像素点的预测结果相同,不同组的各像素点的预测结果不同;根据像素点的数量符合预设条件的一组像素点的预测结果,确定当前路面的道路类型;根据道路类型,确定第一车辆与所述当前路面之间的当前附着系数。本发明可以实现精确识别任何路面的道路类型以及路面与车辆之间的附着系数,识别精度较高、鲁棒性较好,从而提高车辆智能驾驶系统的安全性。
Road recognition method, device and equipment and storage medium
一种道路识别方法、装置、设备和存储介质
2021-05-28
Patent
Electronic Resource
Chinese
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