The road environment prediction is an essential task for intelligent vehicle. In this study, we provide a flexible system that focuses on freespace detection and road environment prediction to host vehicle. The hardware of this system includes two parts: a binocular camera and a low-power mobile platform, which is flexible and portable for a variety of intelligent vehicle. We put forward a multiscale stereo matching algorithm to reduce the computing cost of the hardware unit. Based on disparity space and points cloud, we propose a weighted probability grid map to detect freespace region and a state model to describe the road environment. The experiments show that the proposed system is accurate and robust, which indicates that this technique is fully competent for road environment prediction for intelligent vehicle.

中文翻译：

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智能车辆的道路环境预测系统

道路环境预测是智能车辆必不可少的任务。在这项研究中，我们提供了一个灵活的系统，侧重于对宿主车辆的自由空间检测和道路环境预测。该系统的硬件包括两部分：双目相机和低功率移动平台，可灵活，便携地用于各种智能车辆。为了降低硬件单元的计算成本，我们提出了一种多尺度立体匹配算法。基于视差空间和点云，提出了一种加权概率网格图来检测自由空间区域，并提出了一种状态模型来描述道路环境。实验表明，所提出的系统是准确，鲁棒的，表明该技术完全可以胜任智能车辆的道路环境预测。