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Device and method for detecting a curbstone in an environment of a vehicle and system for curbstone control for a vehicle
Device and method for detecting a curbstone in an environment of a vehicle and system for curbstone control for a vehicle
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机译:用于检测车辆环境中的路缘石的装置和方法以及用于车辆的路缘石控制的系统
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摘要
A method for detecting a curbstone in an environment of a vehicle. The method includes recognizing at least one line segment that belongs to the curbstone with the aid of image data that are read in by an interface to a camera device of the vehicle. The line segment is projected onto a ground plane of the environment in order to generate a projected line segment. A subset of a plurality of three-dimensionally triangulated points in the environment of the vehicle is assigned to the line segment as a function of a position of the points relative to a position of the camera device, relative to a starting point of the projected line segment, and relative to an end point of the projected line segment. A flank plane of the curbstone is ascertained with the aid of the assigned points.
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