| CPC G06T 7/75 (2017.01) [G06T 7/11 (2017.01); G06T 7/536 (2017.01); G06T 2207/30244 (2013.01); G06T 2207/30256 (2013.01)] | 9 Claims |
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1. A road slope predicting method, comprising:
obtaining a road image of a road by a camera installed on or in a vehicle that is currently in motion;
detecting a first image lane line and a second image lane line of the road from the obtained road image by a processor in a device installed on or in the vehicle for road slope, and forming three-dimensional lane lines corresponding to the first image lane line and the second image lane line as the first spatial lane line and the second spatial lane line;
using the processor to set a plurality of road image segmentation points along a road image center line of the first image lane line and the second image lane line and the second image lane line, and divide the road into multiple segments by the road image segmentation points;
using the processor to determine a pitch angle of the camera with respect to the road plane at each road space segmentation point by the road image segmentation points, respectively, each of a plurality of three-dimensional space segmentation points corresponding to these road image segmentation points is referred to as a road space segmentation point, and the pitch angle which is used to indicate the angle between the optical axis of the camera and the road space centerline of the first and second road space lane lines at the road space segmentation point on the road plane;
using the processor to calculate spatial coordinates of each road space segmentation points in a recursive manner based on internal parameters, external parameters and pitch angle of the camera; and
using the processor to construct a road model of the road based on each of the spatial coordinates and obtain a slope angle of the road at an arbitrary position or a corresponding road depth by the road model;
controlling the vehicle to provide assisted driving based on the road model.
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