METHOD FOR OBTAINING DRIVABLE ROAD AREA

摘要

Method for obtaining drivable road area for assisting a driver of a vehicle, comprising: obtaining at least one current pose of the vehicle through a localization system; obtaining a map model of the road from a repository of road maps according to the at least one current pose of the vehicle; obtaining at least one image of the road through at least one vehicle on-board image capturing device having predetermined device parameters; for each obtained current pose of the vehicle, obtaining a projected model of the road by projecting the map model of the road according to the current pose of the vehicle and to the predetermined device parameters; for each obtained image of the road, obtaining a probabilistic map of the image of the road by applying a computer vision method to the image of the road; and obtaining drivable road area by applying a probabilistic analysis method to the at least one projected model of the road and the at least one probabilistic map of the image of the road.