CN110516564A - Pavement detection method and apparatus - Google Patents
Pavement detection method and apparatus Download PDFInfo
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- CN110516564A CN110516564A CN201910720834.2A CN201910720834A CN110516564A CN 110516564 A CN110516564 A CN 110516564A CN 201910720834 A CN201910720834 A CN 201910720834A CN 110516564 A CN110516564 A CN 110516564A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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Abstract
This application discloses a kind of pavement detection method and apparatus, are related to technical field of image processing, this method comprises: obtaining the point cloud data of motor vehicle direction of travel and direction of travel two sides in real time as initial point cloud data by laser radar；Pre-processed to obtain the point cloud data within the scope of pre-set space as target point cloud data to the initial point cloud data；Data processing is carried out to the target point cloud data using plane detection algorithm, obtains road surface data.By this way can in automatic Pilot real-time detection road surface situation, for automatic Pilot plan driving path.
Description
Technical field
This application involves technical field of image processing more particularly to a kind of pavement detection method and apparatus.
Background technique
With the development that deepens continuously of artificial intelligence, the research for automatic Pilot is more and more deep, and automatic Pilot is not only
It can be to avoid the security risk for driving trip, or user plans reasonable traffic path, brings just to people's lives
Prompt service.
However, the prior art is not yet mature about the research of automatic Pilot, depth is mainly used about pavement detection
A large amount of actual condition of road surface data are input to training pattern as training data and are trained by the method for habit, are extracted different
Then the characteristic value of road detects road surface data by laser radar, obtains detection data, then will test data input training
Model is predicted according to characteristic value road pavement situation.The data volume of this method training is big.
Further, it is also possible to pavement behavior is detected by global plane monitoring-network method, but this method wants hardware device
Ask higher, and real-time and validity are difficult to ensure.
Therefore, the prior art is not directed to the rational method of pavement behavior detection, therefore cannot be under automatic Pilot scene
Plan reasonable travelling route.
Summary of the invention
The embodiment of the present application provides a kind of pavement detection method and apparatus, to solve in the prior art without for road surface
The rational method of condition detection, therefore the problem of cannot plan reasonable travelling route under automatic Pilot scene.
In a first aspect, the real-time example of the application provides a kind of pavement detection method, which comprises
The point cloud data of motor vehicle direction of travel and direction of travel two sides is obtained in real time by laser radar as initial point
Cloud data；
Pre-processed to obtain the point cloud data within the scope of pre-set space as target point cloud to the initial point cloud data
Data；
Data processing is carried out to the target point cloud data using plane detection algorithm, obtains road surface data.
Optionally, the pre-set space range includes: that the longitudinal maneuver vehicle first on motor vehicle direction of travel arranges range
And the longitudinal maneuver vehicle second of direction of travel two sides arranges range.
Optionally, described that data processing is carried out to the target point cloud data using plane detection algorithm, obtain road surface number
According to, comprising:
The plane in the target point cloud data is detected using plane detection algorithm, obtains multiple planes；
Extract the point cloud data of each plane respectively from the target point cloud data.
Optionally, the plane detected in the target point cloud data using plane detection algorithm, obtains multiple planes,
Include:
The target point cloud data is detected using plane detection algorithm, detects a plane；
The point cloud data of pre-determined distance will be less than at a distance from the plane detected as the plane detected
Related point cloud data；
The related point cloud data is rejected from the target point cloud data, obtains updated target point cloud data, if
Meet preset condition and then return to execution using plane detection algorithm to detecting in the target point cloud data, detects one
The step of plane；
Wherein, the preset condition includes at least one of the following:
It executes to be less than number the step of detection in the target point cloud data using plane detection algorithm and preset
Number；
The point cloud amount of target point cloud data is greater than preset quantity.
Optionally, this method further include:
According to the point cloud data of each plane, the motor vehicle is reconstructed into the road surface of direction and direction of travel two sides spy
Sign.
Second aspect, the real-time example of the application provide a kind of road surface checking device, and described device includes:
Module is obtained, for obtaining the point cloud number of motor vehicle direction of travel and direction of travel two sides in real time by laser radar
According to as initial point cloud data；
Preprocessing module, for being pre-processed to obtain the point cloud number within the scope of pre-set space to the initial point cloud data
According to as target point cloud data；
Data processing module is obtained for carrying out data processing to the target point cloud data using plane detection algorithm
Road surface data.
Optionally, the pre-set space range includes: that the longitudinal maneuver vehicle first on motor vehicle direction of travel arranges range
And the longitudinal maneuver vehicle second of direction of travel two sides arranges range.
Optionally, the data processing module, comprising:
Detection unit is obtained multiple flat for being detected the plane in the target point cloud data using plane detection algorithm
Face；
Extraction unit, for extracting the point cloud data of each plane respectively from the target point cloud data.
Optionally, detection unit, comprising:
First detection sub-unit is detected for being detected using plane detection algorithm to the target point cloud data
One plane；
Second detection sub-unit, for making the point cloud data for being less than pre-determined distance at a distance from the plane detected
Related point cloud data for the plane detected；
Subelement is updated, for rejecting the related point cloud data from the target point cloud data, is obtained updated
Target point cloud data returns to execution using plane detection algorithm to carrying out in the target point cloud data if meeting preset condition
The step of detecting, detecting a plane；
Wherein, the preset condition includes at least one of the following:
It executes to be less than number the step of detection in the target point cloud data using plane detection algorithm and preset
Number；
The point cloud amount of target point cloud data is greater than preset quantity.
Optionally, described device further include:
It reconstructs device and reconstructs the motor vehicle into direction and traveling side for the point cloud data according to each plane
To the road surface characteristic of two sides.
The third aspect, the real-time example of the application provide a kind of computing device, comprising: at least one processor；And with it is described
The memory of at least one processor communication connection；Wherein, the memory, which is stored with, to be held by least one described processor
Capable instruction, described instruction are executed by least one described processor, so that at least one described processor is able to carry out such as
Method described in one side.
Fourth aspect, the real-time example of the application provide a kind of computer storage medium, are stored with computer executable instructions, institute
Computer executable instructions are stated for executing method as described in relation to the first aspect.
A kind of pavement detection method and apparatus provided by the embodiments of the present application are obtained by laser radar motor-driven in real time first
Then vehicle direction of travel and the point cloud data of direction of travel two sides carry out the initial point cloud data as initial point cloud data
Pretreatment obtains the point cloud data within the scope of pre-set space as target point cloud data, finally using plane detection algorithm to described
Target point cloud data carries out data processing, obtains road surface data, the road surface data obtained by this way, and accuracy is high, can be with
It detects the situation on road surface in real time in automatic Pilot, plans situation path for automatic Pilot.
Other features and advantage will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood and implementing the application.The purpose of the application and other advantages can be by written explanations
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, attached drawing described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of flow chart of pavement detection method provided by the embodiments of the present application；
Fig. 2 is a kind of structural schematic diagram of road surface checking device provided by the embodiments of the present application；
Fig. 3 is a kind of structural schematic diagram of computing device provided by the embodiments of the present application.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
Existing automatic Pilot is mainly the Road Detection Algorithm by laser radar, and utilizes the network mould of deep learning
Type carries out network training to a large amount of true road informations, predicts to realize the road of driving path, or using global
Plane detection algorithm detects road plane, and the algorithm is higher to calculating equipment requirement, the road obtained through the above way
Road plane authenticity is poor, plans when being unfavorable for automatic Pilot motor-driven vehicle going path.
Based on this, the embodiment of the present application a kind of pavement detection method is provided as shown in Figure 1, this method comprises:
Step 101: the point cloud data for obtaining motor vehicle direction of travel and direction of travel two sides in real time by laser radar is made
For initial point cloud data.
It should be noted that defaulting combination (the wherein slope, road that road surface is a plane or multiple planes when automatic Pilot
The ring road on the vertical road surface of hollow, two sides on face belongs to different planes).It therefore can by these planes of laser radar scanning
To obtain the point cloud data of motor vehicle direction of travel and direction of travel two sides.Wherein, laser radar passes through the fixed branch of laser radar
Frame is arranged on vehicle roof, and in order to obtaining preferable initial point cloud data, can be mounted on laser radar and machine
The position of motor-car driving direction level.
Step 102: being pre-processed to obtain the point cloud data conduct within the scope of pre-set space to the initial point cloud data
Target point cloud data.
It should be noted that pretreatment is straight-through filtering in the application, target point cloud data is extracted by straight-through filtering.In
In one embodiment, pre-set space range includes: that the longitudinal maneuver vehicle first on motor vehicle direction of travel arranges range and row
Longitudinal maneuver vehicle second into direction two sides arranges range.Such as by 10 meters of the longitudinal maneuver front side work on motor vehicle direction of travel
For the first agreement range, range is arranged into as second in 2 meters of longitudinal maneuver vehicle two sides on motor vehicle direction of travel.
Target point cloud data can be efficiently extracted from initial point cloud data by this way, subsequent processing is based on mesh
Mark point cloud data is handled, rather than is handled for all point cloud datas of acquisition, it is possible to reduce data processing amount mentions
High data-handling efficiency.
Step 103: data processing being carried out to the target point cloud data using plane detection algorithm, obtains road surface data.
In one embodiment, data processing is carried out to the target point cloud data using plane detection algorithm, obtains road
Face data can comprise the following steps that
Step S1: the plane in the target point cloud data is detected using plane detection algorithm, obtains multiple planes；
Step S2: the point cloud data of each plane is extracted respectively from the target point cloud data.
It should be noted that can be arranged according to road conditions using RANSAC algorithm as plane detection algorithm in the application
The number of iterations, to detect plane when automatic Pilot.Wherein, if road conditions complexity such as: pot hole has situations such as multiple slopes
When, the number of iterations suitably increases.If road conditions simply if the number of iterations suitably reduce.In addition, needing to provide before automatic Pilot effectively
Road surface number, complex situations can increase road surface number, on the contrary then reduce.
Step S1 is implementable are as follows:
Step A1: the target point cloud data is detected using plane detection algorithm, detects a plane；
Step A2: the point cloud data of pre-determined distance will be less than at a distance from the plane detected as the institute detected
State the related point cloud data of plane；
It should be noted that regarding the point cloud data in 0.2 meter of the plane of distance one as conplane point cloud data.
Step A3: the related point cloud data is rejected from the target point cloud data, obtains updated target point cloud
Data return to step A1 if meeting preset condition；
Wherein, the preset condition includes at least one of the following:
The first, execute it is small to number the step of detection in the target point cloud data using plane detection algorithm
In preset times；
Second, the point cloud amount of target point cloud data is greater than preset quantity.
It should be noted that in step bl is determined, preset number is the number of iterations of algorithm, in B2, reference point is rejected
After cloud data, if remaining cloud quantity is excessively few, plane is not extracted in point cloud data in the updated.For example, setting
Plane is 5, if it is detected that remaining point cloud is very few after a plane, no longer detects remaining plane, directly exports first
Plane.
Multiple effective planes can be detected from target point cloud data by this way, facilitate conjunction when automatic Pilot
Reason planning driving path.
In addition, in application embodiment, it, can also be according to the point cloud number of each plane after the plane for detecting road surface
According to, reconstruct the motor vehicle into direction and direction of travel two sides road surface characteristic.
Road surface characteristic in available each plane by this way, helping to make rational planning for when automatic Pilot travels road
Diameter.
Referring to Fig.2, for a kind of road surface checking device schematic diagram in the embodiment of the present application, which includes:
Module 20 is obtained, for obtaining the point cloud of motor vehicle direction of travel and direction of travel two sides in real time by laser radar
Data are as initial point cloud data.
Preprocessing module 21, for being pre-processed to obtain the point cloud within the scope of pre-set space to the initial point cloud data
Data are as target point cloud data.
Data processing module 22 is obtained for carrying out data processing to the target point cloud data using plane detection algorithm
To road surface data.
Specifically, pre-set space range described in preprocessing module 21 includes: the longitudinal maneuver on motor vehicle direction of travel
Vehicle first arranges range and the longitudinal maneuver vehicle second of direction of travel two sides arranges range.
Data processing module 22, comprising:
Detection unit is obtained multiple flat for being detected the plane in the target point cloud data using plane detection algorithm
Face.
Extraction unit, for extracting the point cloud data of each plane respectively from the target point cloud data.
Detection unit, comprising:
First detection sub-unit is detected for being detected using plane detection algorithm to the target point cloud data
One plane；
Second detection sub-unit, for making the point cloud data for being less than pre-determined distance at a distance from the plane detected
Related point cloud data for the plane detected；
Subelement is updated, for rejecting the related point cloud data from the target point cloud data, is obtained updated
Target point cloud data returns to execution using plane detection algorithm to carrying out in the target point cloud data if meeting preset condition
The step of detecting, detecting a plane；
Wherein, the preset condition includes at least one of the following:
It executes to be less than number the step of detection in the target point cloud data using plane detection algorithm and preset
Number；
The point cloud amount of target point cloud data is greater than preset quantity.
Road surface checking device further include:
It reconstructs device and reconstructs the motor vehicle into direction and traveling side for the point cloud data according to each plane
To the road surface characteristic of two sides.
After describing the pavement detection method and apparatus in the application illustrative embodiments, next, introducing this
The computing device of the another exemplary embodiment of application.
Person of ordinary skill in the field it is understood that the various aspects of the application can be implemented as system, method or
Program product.Therefore, the various aspects of the application can be with specific implementation is as follows, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
In some possible embodiments, at least one processing can be included at least according to the computing device of the application
Device and at least one processor.Wherein, memory is stored with program code, when program code is executed by processor, so that
Processor executes the step in the pavement detection method according to the various illustrative embodiments of the application of this specification foregoing description
Suddenly.For example, processor can execute step 101- step 103 as shown in fig. 1.
The computing device 130 of this embodiment according to the application is described referring to Fig. 3.The calculating that Fig. 3 is shown
Device 130 is only an example, should not function to the embodiment of the present application and use scope bring any restrictions.
As shown in figure 3, computing device 130 is showed in the form of general-purpose calculating appts.The component of computing device 130 can wrap
Include but be not limited to: at least one above-mentioned processor 131, above-mentioned at least one processor 132, the different system components of connection (including
Memory 132 and processor 131) bus 133.
Bus 133 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, processor or the local bus using any bus structures in a variety of bus structures.
Memory 132 may include the readable medium of form of volatile memory, such as random access memory (RAM)
1321 and/or cache memory 1322, it can further include read-only memory (ROM) 1323.
Memory 132 can also include program/utility 1325 with one group of (at least one) program module 1324,
Such program module 1324 includes but is not limited to: operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.
Computing device 130 can also be communicated with one or more external equipments 134 (such as keyboard, sensing equipment etc.), also
The equipment communication that target object can be enabled to interact with computing device 130 with one or more, and/or filled with the calculating is made
It is logical to set any equipment (such as router, modem etc.) that 130 can be communicated with one or more of the other computing device
Letter.This communication can be carried out by input/output (I/O) interface 135.Also, computing device 130 can also be suitable by network
Orchestration 136 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as because of spy
Net) communication.As shown, network adapter 136 is communicated by bus 133 with other modules for computing device 130.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with computing device 130, including but unlimited
In: microcode, device driver, redundant processor, external disk drive array, RAID system, tape drive and data
Backup storage system etc..
In some possible embodiments, the various aspects of data processing method provided by the present application are also implemented as
A kind of form of program product comprising program code, when program product is run on a computing device, program code is used for
Computer equipment is set to execute the pavement detection method according to the various illustrative embodiments of the application of this specification foregoing description
In step, for example, computer equipment can execute step 101- step 103 as shown in fig. 1.
Program product can be using any combination of one or more readable mediums.Readable medium can be readable signal Jie
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example may be-but not limited to-electricity, magnetic, optical, electromagnetic, infrared
The system of line or semiconductor, device or device, or any above combination.The more specific example of readable storage medium storing program for executing is (non-
The list of exhaustion) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM),
Read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, the read-only storage of portable compact disc
Device (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The program product for smart machine control of presently filed embodiment can be read-only using portable compact disc
Memory (CD-ROM) and including program code, and can run on the computing device.However, the program product of the application is unlimited
In this, in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, which can be referred to
Enable execution system, device or device use or in connection.
Readable signal medium may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying
Readable program code.The data-signal of this propagation can take various forms, including --- but being not limited to --- electromagnetism letter
Number, optical signal or above-mentioned any appropriate combination.Readable signal medium can also be other than readable storage medium storing program for executing it is any can
Read medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Program in connection.
The program code for including on readable medium can transmit with any suitable medium, including --- but being not limited to ---
Wirelessly, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with any combination of one or more programming languages come write for execute the application operation program
Code, programming language include object oriented program language-Java, C++ etc., further include conventional process
Formula programming language-such as " C " language or similar programming language.Program code can be fully in target object
It executes on computing device, partly executed in target object equipment, being executed, as an independent software package partially in target
Part executes on remote computing device or executes on remote computing device or server completely on calculation and object device.
In the situation for being related to remote computing device, remote computing device can pass through the network of any kind --- including local area network
(LAN) or wide area network (WAN)-is connected to target object computing device, or, it may be connected to external computing device (such as benefit
It is connected with ISP by internet).
It should be noted that although being referred to several unit or sub-units of device in the above detailed description, this stroke
It point is only exemplary not enforceable.In fact, according to presently filed embodiment, it is above-described two or more
The feature and function of unit can embody in a unit.Conversely, the feature and function of an above-described unit can
It is to be embodied by multiple units with further division.
In addition, although describing the operation of the application method in the accompanying drawings with particular order, this do not require that or
Hint must execute these operations in this particular order, or have to carry out shown in whole operation be just able to achieve it is desired
As a result.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or by one
Step is decomposed into execution of multiple steps.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (12)
1. a kind of pavement detection method, which is characterized in that the described method includes:
The point cloud data of motor vehicle direction of travel and direction of travel two sides is obtained in real time by laser radar as initial point cloud number
According to；
Pre-processed to obtain the point cloud data within the scope of pre-set space as target point cloud data to the initial point cloud data；
Data processing is carried out to the target point cloud data using plane detection algorithm, obtains road surface data.
2. the method according to claim 1, wherein the pre-set space range includes: motor vehicle direction of travel
On longitudinal maneuver vehicle first arrange the longitudinal maneuver vehicles second of range and direction of travel two sides and arrange range.
3. the method according to claim 1, wherein described utilize plane detection algorithm to the target point cloud number
According to data processing is carried out, road surface data are obtained, comprising:
The plane in the target point cloud data is detected using plane detection algorithm, obtains multiple planes；
Extract the point cloud data of each plane respectively from the target point cloud data.
4. according to the method described in claim 3, it is characterized in that, described detect the target point cloud using plane detection algorithm
Plane in data obtains multiple planes, comprising:
The target point cloud data is detected using plane detection algorithm, detects a plane；
The point cloud data of pre-determined distance will be less than at a distance from the plane detected as the phase of the plane detected
Close point cloud data；
The related point cloud data is rejected from the target point cloud data, obtains updated target point cloud data, if meeting
Preset condition then returns to execution using plane detection algorithm to detecting in the target point cloud data, detects a plane
The step of；
Wherein, the preset condition includes at least one of the following:
It executes and preset times is less than to number the step of detection in the target point cloud data using plane detection algorithm；
The point cloud amount of target point cloud data is greater than preset quantity.
5. according to the method described in claim 3, it is characterized by further comprising:
According to the point cloud data of each plane, reconstruct the motor vehicle into direction and direction of travel two sides road surface characteristic.
6. a kind of road surface checking device, which is characterized in that described device includes:
Module is obtained, the point cloud data for obtaining motor vehicle direction of travel and direction of travel two sides in real time by laser radar is made
For initial point cloud data；
Preprocessing module is made for being pre-processed to obtain the point cloud data within the scope of pre-set space to the initial point cloud data
For target point cloud data；
Data processing module obtains road surface for carrying out data processing to the target point cloud data using plane detection algorithm
Data.
7. device according to claim 6, which is characterized in that the pre-set space range includes: motor vehicle direction of travel
On longitudinal maneuver vehicle first arrange the longitudinal maneuver vehicles second of range and direction of travel two sides and arrange range.
8. device according to claim 6, which is characterized in that the data processing module, comprising:
Detection unit obtains multiple planes for detecting the plane in the target point cloud data using plane detection algorithm；
Extraction unit, for extracting the point cloud data of each plane respectively from the target point cloud data.
9. device according to claim 8, which is characterized in that detection unit, comprising:
First detection sub-unit detects one for detecting using plane detection algorithm to the target point cloud data
Plane；
Second detection sub-unit, for the point cloud data using pre-determined distance is less than at a distance from the plane detected as inspection
The related point cloud data for the plane measured；
Subelement is updated, for rejecting the related point cloud data from the target point cloud data, obtains updated target
Point cloud data returns to execution using plane detection algorithm to examining in the target point cloud data if meeting preset condition
The step of surveying, detecting a plane；
Wherein, the preset condition includes at least one of the following:
It executes and preset times is less than to number the step of detection in the target point cloud data using plane detection algorithm；
The point cloud amount of target point cloud data is greater than preset quantity.
10. device according to claim 8, which is characterized in that described device further include:
It reconstructs device and reconstructs the motor vehicle into direction and direction of travel two for the point cloud data according to each plane
The road surface characteristic of side.
11. a kind of computing device characterized by comprising at least one processor；And it is logical at least one described processor
Believe the memory of connection；Wherein, the memory is stored with the instruction that can be executed by least one described processor, described instruction
It is executed by least one described processor, so that at least one described processor is able to carry out such as power any in claim 1-5
Benefit requires the method.
12. a kind of computer storage medium, is stored with computer executable instructions, which is characterized in that the computer is executable
Instruction is for executing method as claimed in any one of claims 1-5.
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| CN201910720834.2A CN110516564A (en) | 2019-08-06 | 2019-08-06 | Pavement detection method and apparatus |
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| CN201910720834.2A CN110516564A (en) | 2019-08-06 | 2019-08-06 | Pavement detection method and apparatus |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113420687A (en) * | 2021-06-29 | 2021-09-21 | 三一专用汽车有限责任公司 | Method and device for acquiring travelable area and vehicle |
| CN114616158A (en) * | 2021-07-09 | 2022-06-10 | 华为技术有限公司 | Automatic driving method, device and storage medium |
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