The embodiment of the invention provides a vehicle turning control method and device based on binocular stereoscopic vision, and relates to the technical field of vehicle auxiliary driving. Comprising the following steps: when the vehicle turns on an unstructured road; acquiring initial image data acquired by the binocular stereoscopic vision sensor; performing three-dimensional matching on the initial image data to generate three-dimensional point cloud data; filtering the three-dimensional point cloud data based on a preset height threshold to obtain a travelable space; and determining a turning path according to the travelable space. According to the embodiment of the invention, when turning is carried out on the unstructured road, three-dimensional reconstruction can be carried out on the unstructured road, so that the driving space for accurately avoiding obstacles can be determined in the unstructured road, and then the turning path is determined, so that the vehicle can accurately drive into the target intersection.
本发明实施例提供了一种基于双目立体视觉的车辆转弯控制方法和装置,涉及车辆辅助驾驶技术领域;包括:当所述车辆在非结构化道路进行转弯时;获取所述双目立体视觉传感器采集的初始图像数据;将所述初始图像数据进行三维立体匹配,生成三维点云数据;将所述三维点云数据基于预设高度阈值进行过滤,得到可行驶空间;依据所述可行驶空间确定转弯路径。通过本发明实施例可以在非结构化道路上转弯时,对非结构化道路进行三维重建,使得可以在非结构化道路中确定出准确避开障碍物的可行驶空间,进而确定转弯路径使得车辆准确驶入目标路口。
Vehicle turning control method and device based on binocular stereoscopic vision
一种基于双目立体视觉的车辆转弯控制方法和装置
2023-09-08
Patent
Electronic Resource
Chinese
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