The invention discloses a deviation correction method and device, a vehicle and a storage medium. The method comprises the steps of acquiring an image containing two first boundary lines; inputting the image into a preset model, and performing boundary line detection on the image to obtain a point set of the first boundary line on the image; performing linear fitting on the point set of the first boundary line to obtain a second boundary line; obtaining a first center line of the two second boundary lines according to parallel line constraint; and conducting deviation correction operation according to transverse displacement and an included angle of the first center line and a reference center line. According to the method, the center line where a mobile device is located is obtained through image recognition, and then deviation correction operation is carried out according to the deviation of the center line and the reference center line. The deployment cost of deviation correction of the mobile device can be reduced; meanwhile, the scheme has multiple deployment schemes, can serve control assistance of human drivers and can also serve as feedback signals to be used for an automatic control system.

    本发明公开了一种纠偏方法、装置、交通工具及存储介质,方法包括:获取包含两条第一边界线的图像;把图像输入预设模型,对图像进行边界线检测,获得图像上第一边界线的点集;对第一边界线的点集进行线性拟合,获得第二边界线;根据平行线约束获取两条第二边界线的第一中心线;根据第一中心线和基准中心线的横向位移和夹角进行纠偏操作。通过本发明实施例,使用图像识别获取移动装置所在的中心线,然后根据中心线和基准中心线的偏移进行纠偏操作。能够降低移动装置纠偏的部署成本;同时该方案具有多种部署方案,既能服务于人类司机的控制辅助,也能作为反馈信号用于自动化控制系统。


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    Title :

    Deviation correction method and device, vehicle and storage medium


    Additional title:

    一种纠偏方法、装置、交通工具及存储介质


    Contributors:
    CHEN SHIJIA (author) / YANG QINGXIONG (author) / HAN XU (author)

    Publication date :

    2021-12-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06K Erkennen von Daten , RECOGNITION OF DATA