JP-7855081-B2 - Road boundary detection method, road boundary detection device, computer-readable storage medium, electronic device and computer program

Inventors

• リー チョングアン
• チョン グアンリアン
• シー ジエンピン
• 有吉 斗紀知
• 松原 海明
• 安井 裕司
• ナカザト ユウスケ
• スズキ タツヤ
• アマノ ノブアキ

Assignees

• 本田技研工業株式会社
• センスタイム グループ リミテッド

Dates

Publication Date

20260507

Application Date

20221101

Priority Date

20220324

Claims (14)

1. A road boundary detection method performed by electronic equipment, Identifying road images collected by image acquisition equipment installed on the vehicle, and determining multiple road boundaries within the road images, This includes selecting a road boundary from among the aforementioned multiple road boundaries that the vehicle can enter, Determining multiple road boundaries within the aforementioned road image is: This includes detecting multiple roadways within the aforementioned road image and determining the boundaries of the multiple roads by connecting the ends of each roadway, Road boundary detection method.
2. Selecting a road boundary from among the aforementioned multiple road boundaries that the vehicle can enter is, Based on the aforementioned road image, the vehicle's own roadway is determined, This includes determining, from among the plurality of road boundaries, a road boundary into which the vehicle can enter, based on the roadway in which the vehicle is located. The road boundary detection method according to claim 1.
3. Based on the aforementioned road image, determining the roadway on which the vehicle is located is: This includes identifying traffic signs in the road image and determining the roadway on which the vehicle is located based on the traffic signs, or identifying the direction of travel of other vehicles in the road image and determining the roadway on which the vehicle is located based on the direction of travel of other vehicles. The road boundary detection method according to claim 2.
4. Determining the roadway in which the vehicle is located based on the aforementioned traffic signs is: The traffic sign indicates that the roadway in which the vehicle is located is not a one-way roadway, and in response to the traffic sign including a designated road marking, the vehicle determines the roadway in which it is located based on the designated road marking. The road boundary detection method according to claim 3.
5. Determining the roadway in which the vehicle is located based on the direction of travel of the other vehicle is, In response to the other vehicle's direction of travel being opposite to the vehicle's direction of travel, the system includes determining the vehicle's own lane based on the lane where the other vehicle is located. The road boundary detection method according to claim 3.
6. Determining which road boundary the vehicle can enter from among the multiple road boundaries, based on the roadway in which the vehicle is located, This includes determining, from among the multiple road boundaries, which the vehicle can enter, based on the aforementioned traffic sign and the roadway on which the vehicle is located. The road boundary detection method according to claim 3.
7. Determining which road boundary the vehicle can enter from among the multiple road boundaries, based on the roadway in which the vehicle is located, The process includes acquiring location information of the vehicle, determining map subdata related to the location information from previously acquired map data, and determining the road boundary into which the vehicle can enter from among the multiple road boundaries based on the map subdata, wherein the map data includes at least road data, road sign data, and traffic sign data. The road boundary detection method according to claim 2.
8. The aforementioned road boundary detection method is: The system further includes determining the vehicle's travel path based on the road boundary into which the vehicle can enter, and controlling the vehicle to travel along the said travel path. A road boundary detection method according to any one of claims 1 to 7 .
9. The aforementioned road boundary detection method is: The process further includes setting a first region of interest based on the road boundary into which the vehicle can enter, and acquiring an image corresponding to the first region of interest according to a first resolution, wherein the road image is acquired according to a second resolution, the second resolution being smaller than the first resolution. A road boundary detection method according to any one of claims 1 to 7 .
10. The aforementioned road boundary detection method is: The process further includes setting a second region of interest based on the road boundary into which the vehicle can enter, and acquiring an image corresponding to the second region of interest according to a first frame rate, wherein the road image is acquired according to a second frame rate, the second frame rate being smaller than the first frame rate. A road boundary detection method according to any one of claims 1 to 7 .
11. A road boundary detection device comprising a detection unit and a selection unit, The detection unit is configured to identify road images collected by image acquisition equipment installed on the vehicle and to determine multiple road boundaries within the road images. The selection unit is configured to select a road boundary from among the plurality of road boundaries that the vehicle can enter . Determining multiple road boundaries within the aforementioned road image is: This includes detecting multiple roadways within the aforementioned road image and determining the boundaries of the multiple roads by connecting the ends of each roadway, Road boundary detection device.
12. A computer-readable storage medium having a processor that stores a computer program for causing the processor to perform the steps of the road boundary detection method described in any one of claims 1 to 7 .
13. Electronic device comprising memory, a processor, and a computer program stored in memory and executable by the processor, wherein the processor executes the program to realize the steps of the road boundary detection method described in any one of claims 1 to 7 .
14. A computer program that causes a computer to perform the steps of the road boundary detection method described in any one of claims 1 to 7 .

Description

(Cross-reference to related applications) This application is filed on March 24, 2022, based on a Chinese patent application no. 202210303727.1, with the title of the invention "Road boundary detection method and apparatus therefor, electronic device, and storage medium," claiming priority from said Chinese patent application, and all contents of said Chinese patent application are incorporated into this application by reference. This application relates to, but is not limited to, the field of computer vision technology, and also to road boundary detection methods and apparatus, electronic devices, storage media, and computer program products. In the process of an autonomous vehicle, based on camera sensing, changing direction at an intersection, it is necessary to detect not only the location of road boundaries but also the road boundaries that the vehicle can enter, in order to provide sufficient justification for the autonomous vehicle's decision to change direction at the intersection. Currently, it is not possible to determine which road boundaries the vehicle can enter in road boundary scenarios. This is a schematic diagram of a road boundary in a road boundary detection method according to an embodiment of the present invention.This is a schematic diagram of an accessible road boundary in the road boundary detection method according to an embodiment of the present invention.This is a schematic diagram 1 of an application scenario of an embodiment of the present invention.Figure 2 shows a schematic diagram illustrating an application scenario of an embodiment of the present invention.This is flowchart 1, an example of a road boundary detection method according to an embodiment of the present invention.This is a schematic diagram 1 of the scenario for the vehicle's own roadway in the road boundary detection method according to an embodiment of the present invention.This is a schematic diagram 2 of the scenario for the vehicle's own roadway in the road boundary detection method according to an embodiment of the present invention.This is a structural diagram 1 illustrating the configuration of a road boundary detection device according to an embodiment of the present invention.This is a structural diagram 2 illustrating the configuration of a road boundary detection device according to an embodiment of the present invention.This is structural diagram 3, which illustrates the configuration of a road boundary detection device according to an embodiment of the present invention.This is a structural diagram illustrating the hardware configuration of an electronic device according to an embodiment of the present invention. To more clearly illustrate the technical solutions of the embodiments of the present invention, the necessary drawings for the embodiments of the present invention have been described above. The drawings herein are incorporated into and form part of this specification, and these drawings illustrate embodiments consistent with the present application and are used together with this specification to illustrate the technical solutions of embodiments of the present invention. The present application will be described in further detail below with reference to the drawings and specific embodiments. Before describing the proposed road boundary detection technology according to an embodiment of the present invention, we will first briefly explain some concepts. Figures 1a and 1b are schematic diagrams of the road boundary and the accessible road boundary in the road boundary detection method of an embodiment of the present invention, respectively. The road boundary includes not only the boundaries 110 on both sides of the roadway where the vehicle 130 is located, but also boundaries 120 perpendicular to both sides of the roadway. As shown in Figure 1a, it includes the boundaries 120 perpendicular to both sides of the roadway. In the following embodiments, these boundaries are collectively referred to as road boundaries, and eight road boundaries are shown at the intersection depicted in the scenario. As shown in Figure 1b, the roadway is a two-way roadway, and the road boundary corresponding to the direction of vehicle travel is the road boundary that the vehicle can enter. Assuming that vehicle 130 is traveling on the left side, for each of the two road boundaries 120 in each direction, the left-hand road boundary is the road boundary 140 that the vehicle can enter. Figure 2a is a schematic diagram 1 of an application scenario of an embodiment of the present invention. As shown in Figure 2a, assuming that there is an obstacle 210 at the southwest corner of the intersection in the intersection scenario shown in Figures 1a and 1b (the top, bottom, left, and right of the image correspond to north, south, west, and east, respectively), under normal circumstances, the obstacle 210 obstructs the view of a vehicle traveling from south to north. Figure 2b is a schematic diagram 2 of an application scenari