FR3106918B1 - Path reconstruction method and device - Google Patents

Path reconstruction method and device Download PDF

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Publication number
FR3106918B1
FR3106918B1 FR2000926A FR2000926A FR3106918B1 FR 3106918 B1 FR3106918 B1 FR 3106918B1 FR 2000926 A FR2000926 A FR 2000926A FR 2000926 A FR2000926 A FR 2000926A FR 3106918 B1 FR3106918 B1 FR 3106918B1
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France
Prior art keywords
lines
lane
vehicle
line
pair
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FR2000926A
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French (fr)
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FR3106918A1 (en
Inventor
Bruno Durand
Chrysanthi Papamichail
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Renault SAS
Nissan Motor Co Ltd
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Renault SAS
Nissan Motor Co Ltd
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Priority to FR2000926A priority Critical patent/FR3106918B1/en
Publication of FR3106918A1 publication Critical patent/FR3106918A1/en
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Publication of FR3106918B1 publication Critical patent/FR3106918B1/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

L’invention fournit un dispositif de reconstruction de voies routières (10) pour véhicule (2), le véhicule étant équipé d’au moins un dispositif de détection (120) apte à acquérir des images d’une portion de la route de circulation située à l'avant du véhicule. Le dispositif de reconstruction des voies est configuré pour recevoir des données de lignes représentant un ensemble de lignes dans un format de représentation donné, les données de lignes étant dérivées des images acquises par les dispositifs de détection. Le dispositif comprend une unité de sélection (102) configurée pour sélectionner chaque paire de lignes de l’ensemble de lignes correspondant à deux positions de lignes successives dans la direction de l’axe des ordonnées, l’axe des ordonnées correspondant à la direction du mouvement latéral du véhicule et l’axe des abscisses correspondant à la direction du mouvement longitudinal du véhicule sur la route. Le dispositif comprend en outre un unité de détermination de voie (103) configurée pour créer une voie délimitée par des lignes de délimitation définies par les lignes d’une paire de ligne sélectionnée par l’unité de sélection si les lignes de la paire ont une longueur commune supérieure ou égale à un seuil de longueur prédéfini, l’unité de détermination de voie comprenant une fonction de calcul (1030) de ligne centrale de voie configurée pour calculer la ligne centrale de ladite voie créée et un ensemble de paramètres géométriques associés à ladite ligne centrale, chaque paramètre géométrique de la ligne étant calculé en effectuant une moyenne des paramètres géométriques correspondants, associés aux lignes de la paire de lignes. Figure pour l’abrégé : Fig.12The invention provides a roadway reconstruction device (10) for a vehicle (2), the vehicle being equipped with at least one detection device (120) capable of acquiring images of a portion of the traffic road located at the front of the vehicle. The lane reconstruction device is configured to receive line data representing a set of lines in a given representation format, the line data being derived from images acquired by the detection devices. The device comprises a selection unit (102) configured to select each pair of lines of the set of lines corresponding to two successive line positions in the direction of the ordinate axis, the ordinate axis corresponding to the direction of the lateral movement of the vehicle and the abscissa axis corresponding to the direction of the longitudinal movement of the vehicle on the road. The device further comprises a lane determining unit (103) configured to create a lane bounded by boundary lines defined by the lines of a line pair selected by the selection unit if the lines of the pair have a common length greater than or equal to a predefined length threshold, the lane determination unit comprising a lane centerline calculation function (1030) configured to calculate the centerline of said created lane and a set of geometric parameters associated with said central line, each geometric parameter of the line being calculated by performing an average of the corresponding geometric parameters, associated with the lines of the pair of lines. Figure for the abstract: Fig.12

FR2000926A 2020-01-30 2020-01-30 Path reconstruction method and device Active FR3106918B1 (en)

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FR2000926A FR3106918B1 (en) 2020-01-30 2020-01-30 Path reconstruction method and device

Applications Claiming Priority (2)

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FR2000926 2020-01-30
FR2000926A FR3106918B1 (en) 2020-01-30 2020-01-30 Path reconstruction method and device

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FR3106918A1 FR3106918A1 (en) 2021-08-06
FR3106918B1 true FR3106918B1 (en) 2022-01-28

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Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113945221B (en) * 2021-09-26 2024-02-13 华中科技大学 Automatic driving lane width determining method considering near-force effect
CN114132325B (en) * 2021-12-14 2024-03-01 京东鲲鹏(江苏)科技有限公司 Method and device for driving vehicle
CN114485716A (en) * 2021-12-28 2022-05-13 北京百度网讯科技有限公司 Lane rendering method and device, electronic equipment and storage medium
FR3137992A1 (en) * 2022-07-13 2024-01-19 Psa Automobiles Sa Methods and systems for detecting traffic lane lines
FR3142730A1 (en) 2022-12-05 2024-06-07 Renault S.A.S Method for detecting a central line of a traffic lane and controlling a motor vehicle
CN117456496B (en) * 2023-12-25 2024-03-22 合众新能源汽车股份有限公司 Map lane boundary line processing method and system

Family Cites Families (6)

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Publication number Priority date Publication date Assignee Title
JP5124875B2 (en) * 2008-03-12 2013-01-23 本田技研工業株式会社 Vehicle travel support device, vehicle, vehicle travel support program
KR101191308B1 (en) 2010-05-31 2012-10-16 태성전장주식회사 Road and lane detection system for intelligent transportation system and method therefor
CN103136341B (en) 2013-02-04 2016-12-28 北京航空航天大学 A kind of lane line based on Bézier curve reconstruct device
JP6096723B2 (en) 2014-07-11 2017-03-15 株式会社日本自動車部品総合研究所 Traveling lane marking recognition device and traveling lane marking recognition program
FR3043975B1 (en) 2015-10-16 2018-09-21 Valeo Schalter Und Sensoren Gmbh METHOD AND SYSTEM FOR ASSISTANCE IN MAINTAINING A MOTOR VEHICLE TRACK IN A TRACKWAY
FR3069222B1 (en) 2017-07-18 2020-09-25 Renault Sas METHOD OF OPERATION OF A DRIVING ASSISTANCE SYSTEM OF THE CENTERING ASSISTANCE TYPE OF A VEHICLE IN A TRAFFIC LANE

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