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US 11,698,459 B2Granted
Method and apparatus for determining drivable region information
AssigneeHuawei Technologies Co., Ltd.
InventorsQinghua Chi, Kexing Lyu
Life of this patent
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Abstract
Embodiments of this application provide a method and an apparatus for determining drivable region information. The method includes obtaining first information, where the first information includes information about an initial drivable region determined based on at least one image, and the at least one image is from at least one camera module. The method also includes obtaining second information, where the second information includes radar detection information. The method further includes determining first drivable region information based on the first information and the second information.
Claims20
A method comprising:
- obtaining first information, wherein the first information comprises information about an initial drivable region in a physical region for a vehicle and is based on at least one image of the physical region, and the at least one image is from at least one camera module, the initial drivable region being a region initially identified for the vehicle as free of obstacles to travel, wherein
- the information about the initial drivable region comprises information of at least one pixel of an image of the initial drivable region;
- or
- the information about the initial drivable region comprises boundary information of the image of the initial drivable region;
- obtaining second information, wherein the second information comprises radar detection information of the physical region;
- determining, based on the first information and the second information, whether a region of interest exists in the initial drivable region, wherein the region of interest is a region with an inaccurate detection result based on fusing the first information and the second information;
- upon determining that the region of interest exists,
- obtaining, based on the first information and the second information, second drivable region information and region information of the region of interest;
- sending the region information of the region of interest to the camera module;
- obtaining a detection result of the region of interest from the camera module, the detection result of the region of interest indicating whether an obstacle exists in the region of interest;
- and
- determining a first drivable region within which the vehicle is able to travel obstacle-free based on the second drivable region information and the detection result of the region of interest, wherein the first drivable region is within the initial drivable region.
9 more elements
An apparatus comprising:
- one or more processors, and a non-transitory computer-readable storage medium storing program instructions;
- wherein, when executed by the one or more processors, the instructions cause the apparatus to:
- obtain first information, wherein the first information comprises information about an initial drivable region in a physical region for a vehicle and is based on at least one image of the physical region, and the at least one image is from at least one camera module, the initial drivable region being a region initially identified for the vehicle as free of obstacles to travel, wherein,
- the information of the initial drivable region comprises information of at least one pixel of an image of the initial drivable region;
- or
- the information of the initial drivable region comprises boundary information of the image of the initial drivable region;
- obtain second information, wherein the second information comprises radar detection information of the physical region;
- determine, based on the first information and the second information, whether a region of interest exists in the initial drivable region, wherein the region of interest is a region with an inaccurate detection result based on fusing the first information and the second information;
- upon determine that the region of interest exists,
- obtain, based on the first information and the second information, second drivable region information and region information of the region of interest;
- send the region information of the region of interest to the camera module;
- obtain a detection result of the region of interest from the camera module, wherein the detection result of the region of interest indicating whether an obstacle exists in the region of interest;
- and
- determine a first drivable region within which the vehicle is able to travel obstacle-free based on the second drivable region information and the detection result of the region of interest, wherein the first drivable region is within the initial drivable region.
11 more elements
Dependencies are inferred from the claim text.