The invention discloses a driving route generation method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises the following steps: determining each two-dimensional coordinate of each wheel grounding point of a barrier vehicle according to a foreground image collected by a front camera of a target vehicle; according to each two-dimensional coordinate, determining a three-dimensional coordinate of each wheel grounding point; determining the obstacle vehicle course angle as an initial obstacle vehicle course angle; according to the initial obstacle vehicle course angle and each three-dimensional coordinate, generating an obstacle vehicle course angle unit vector; according to the course angle unit vector, generating an obstacle vehicle course angle; generating a rotation matrix of the obstacle vehicle according to the obstacle vehicle course angle; generating a center coordinate of the obstacle vehicle according to the rotation matrix; generating a bounding box of the obstacle vehicle according to the center coordinate and the rotation matrix; and generating a driving route based on the bounding box. According to the embodiment, the number of times that the running vehicle cannot safely avoid the obstacle vehicle is reduced, and the running safety is improved.
本发明公开了行驶路线生成方法、装置、电子设备和计算机可读介质。该方法的一具体实施方式包括:根据目标车辆的前置摄像头采集的前景图像,确定障碍车辆各个车轮接地点的各个二维坐标;根据各个二维坐标,确定各个车轮接地点的三维坐标;将障碍车辆航向角确定为初始障碍车辆航向角;根据初始障碍车辆航向角及各个三维坐标,生成障碍车辆航向角单位向量;根据航向角单位向量,生成障碍车辆航向角;根据障碍车辆航向角,生成障碍车辆的旋转矩阵;根据旋转矩阵,生成障碍车辆的中心坐标;根据中心坐标和旋转矩阵,生成障碍车辆的包围盒;基于包围盒,生成行驶路线。该实施方式减少了行驶车辆无法安全避开障碍车辆的次数,提升了行驶安全性。
Driving route generation method and device, electronic equipment and computer readable medium
行驶路线生成方法、装置、电子设备和计算机可读介质
2023-01-10
Patent
Electronic Resource
Chinese
IPC: | G06V / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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