WO2005088344A1 - Verfahren zur spurerkennung einer fahrspur für ein kraftfahrzeug - Google Patents
Verfahren zur spurerkennung einer fahrspur für ein kraftfahrzeug Download PDFInfo
- Publication number
- WO2005088344A1 WO2005088344A1 PCT/EP2005/001345 EP2005001345W WO2005088344A1 WO 2005088344 A1 WO2005088344 A1 WO 2005088344A1 EP 2005001345 W EP2005001345 W EP 2005001345W WO 2005088344 A1 WO2005088344 A1 WO 2005088344A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- lane
- camera
- vehicle
- detection
- traffic lane
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
Definitions
- the invention relates to a method for lane detection of a lane for a motor vehicle according to the preamble of patent claim 1.
- Lane detection is to be carried out by means of the camera.
- the obstacles detected by means of the LIDAR sensor are then to be evaluated to determine whether these obstacles are in the lane or next to the lane.
- the sensor signal is evaluated for detected obstacles as well as their direction and distance to the vehicle. The course of the lane recognized by the camera is then used to assess whether these obstacles are in the lane or not.
- the present invention is based on the object of improving the detection of a lane.
- the LIDAR sensor has at least one detection plane which is at an acute angle in front of the driver. Stuff points to the ground and that the signal originating from this level additionally detects a lane in the vicinity of the vehicle.
- a lidar sensor to perform lane detection by evaluating the reflected signal. This detection is based on the fact that the lane markings reflect the signals more than the usual road surface. By recognizing corresponding patterns in the reflected signals, a recognition of the lane markings and thus also a position of the lane relative to the vehicle can be determined. For this purpose, reference is made, for example, to DE 199 54 361 AI.
- lane detection should also be implemented in the immediate vicinity in front of the vehicle.
- ACC system existing sensor equipment of the vehicle can advantageously be used if the vehicle is already equipped with a system for obstacle detection and collision avoidance (so-called ACC system).
- a system for obstacle detection and collision avoidance such a system can be implemented, for example, with an inexpensive lidar sensor.
- Additional sensors can be provided, for example, in connection with the detection of the lane of vehicles.
- vehicles can be equipped with a camera. Lane detection can then be used for a warning when leaving the lane (so-called lane departure warning) or in assistance systems for automatic lane guidance (so-called lane keeping).
- lane keeping Such a camera can also be used for other assistance or security functions.
- Good track detection is a prerequisite for most functions. This applies, for example, to systems for obstacle detection and collision avoidance for lane assignment of vehicles driving ahead, a system for warning of leaving the lane or a system for automatic lane guidance.
- the calculation of the driving corridor on the basis of the evaluation of inertial sensors or the evaluation of vehicles traveling in front represent possibilities for estimating the course of the lane.
- the evaluation of images which are recorded by cameras installed in vehicles represent a reliable and more accurate alternative.
- lane estimation based on image evaluation can be prone to errors, especially in bad weather, low sun or similar conditions. If the camera has a telephoto lens, determining the position of the vehicle in the lane can be problematic because there is no information about the surroundings directly in front of the vehicle.
- the lane detection of the evaluation of the image of the camera is interpreted as a continuation of the lane recognized by the LIDAR sensor.
- the advantage here is that a sufficiently reliable starting value can be specified for lane detection at a greater distance. This significantly simplifies the orientation of the lane detection in the camera image.
- the signal of the LIDAR sensor is also used as a reference signal for the sensor adjustment.
- lidar systems on the market scan the surroundings for obstacles on several levels.
- the systems are particularly dependent on the reflection properties of the possible obstacle.
- the various levels can ensure that a possible obstacle can still be reliably detected even when the vehicle nods but also crests and depressions due to the intersection of the scan level with the roadway level.
- a detection level can thus advantageously be defined such that it intersects the road surface immediately in front of the vehicle.
- the targeted, directed view of the road can be used for reference purposes for the sensor, for example to detect the loading condition (pitch angle of the vehicle) and to use it in other assistance systems, such as lane detection, and to adjust other sensors.
- the lowest level of the system is usually very far down on the street. This leads to, that the lidar system also receives reflections from the road markings, which usually have a different reflection property than the road surface.
- this information is only available for a very small section in front of your own vehicle or only very few measuring points can be generated - which is sufficient, among other things, to execute a lane departure warning application.
- this information can also be used to support camera-based lane detection. This has already been mentioned in connection with claim 2.
- the camera-based lane detection can be made easier by placing the lidar-based lane data as an initial value.
- this support by lidar-based lane detection can be of particular advantage: this means that the camera only takes a relatively long distance from the road and thus the lane mark. and the lidar system can recognize the lane markings shortly before the vehicle, the two systems complement each other perfectly and " you get a continuous recognition of the lane markings by connecting the two sensors.
- the single figure shows a vehicle 1 with two sensors in the front area 4. On the one hand, this is a camera 2 and a LIDAR sensor 3.
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004008868A DE102004008868A1 (de) | 2004-02-20 | 2004-02-20 | Verfahren zur Spurerkennung einer Fahrspur für ein Kraftfahrzeug |
DE102004008868.3 | 2004-02-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005088344A1 true WO2005088344A1 (de) | 2005-09-22 |
Family
ID=34832996
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2005/001345 WO2005088344A1 (de) | 2004-02-20 | 2005-02-10 | Verfahren zur spurerkennung einer fahrspur für ein kraftfahrzeug |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102004008868A1 (de) |
WO (1) | WO2005088344A1 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015106913A1 (de) | 2014-01-16 | 2015-07-23 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und system zum schätzen eines fahrspurverlaufs |
TWI665114B (zh) * | 2017-08-25 | 2019-07-11 | Institute For Information Industry | 車輛行駛偵測方法及車輛行駛偵測系統 |
CN110967024A (zh) * | 2019-12-23 | 2020-04-07 | 苏州智加科技有限公司 | 可行驶区域的检测方法、装置、设备及存储介质 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4687563B2 (ja) * | 2006-05-23 | 2011-05-25 | 株式会社デンソー | 車両用レーンマーク認識装置 |
DE202007000327U1 (de) * | 2007-01-10 | 2007-04-12 | Sick Ag | Optoelektronischer Scanner |
DE102019211207B4 (de) * | 2019-07-29 | 2021-07-29 | Zf Friedrichshafen Ag | Verfahren und Sensorsystem zur Fahrbahnmarkierungserkennung |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19629775A1 (de) * | 1995-11-17 | 1997-05-22 | Mitsubishi Electric Corp | Verfahren und Vorrichtung zur Überwachung der Umgebung eines Fahrzeugs und zur Erfassung eines Ausfalls der Überwachungsvorrichtung |
DE19954362A1 (de) * | 1998-11-12 | 2000-06-29 | Denso Corp | Autoradar zur Erfassung einer Fahrspurmarkierung und eines voraus befindlichen Hindernisses |
US6151539A (en) * | 1997-11-03 | 2000-11-21 | Volkswagen Ag | Autonomous vehicle arrangement and method for controlling an autonomous vehicle |
US6580385B1 (en) * | 1999-05-26 | 2003-06-17 | Robert Bosch Gmbh | Object detection system |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2646146B2 (ja) * | 1990-03-28 | 1997-08-25 | 三菱電機株式会社 | 車間距離制御装置 |
US5293162A (en) * | 1992-03-09 | 1994-03-08 | Bachalo William D | Laser based tracking device for detecting the distance between a vehicle and a roadway marker |
US5875408A (en) * | 1995-07-17 | 1999-02-23 | Imra America, Inc. | Automated vehicle guidance system and method for automatically guiding a vehicle |
DE19934670B4 (de) * | 1999-05-26 | 2004-07-08 | Robert Bosch Gmbh | Objektdetektionssystem |
DE10149115A1 (de) * | 2001-10-05 | 2003-04-17 | Bosch Gmbh Robert | Objekterfassungsvorrichtung |
-
2004
- 2004-02-20 DE DE102004008868A patent/DE102004008868A1/de not_active Withdrawn
-
2005
- 2005-02-10 WO PCT/EP2005/001345 patent/WO2005088344A1/de active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19629775A1 (de) * | 1995-11-17 | 1997-05-22 | Mitsubishi Electric Corp | Verfahren und Vorrichtung zur Überwachung der Umgebung eines Fahrzeugs und zur Erfassung eines Ausfalls der Überwachungsvorrichtung |
US6151539A (en) * | 1997-11-03 | 2000-11-21 | Volkswagen Ag | Autonomous vehicle arrangement and method for controlling an autonomous vehicle |
DE19954362A1 (de) * | 1998-11-12 | 2000-06-29 | Denso Corp | Autoradar zur Erfassung einer Fahrspurmarkierung und eines voraus befindlichen Hindernisses |
US6580385B1 (en) * | 1999-05-26 | 2003-06-17 | Robert Bosch Gmbh | Object detection system |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015106913A1 (de) | 2014-01-16 | 2015-07-23 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und system zum schätzen eines fahrspurverlaufs |
DE102014200638A1 (de) | 2014-01-16 | 2015-07-30 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und System zum Schätzen eines Fahrspurverlaufs |
TWI665114B (zh) * | 2017-08-25 | 2019-07-11 | Institute For Information Industry | 車輛行駛偵測方法及車輛行駛偵測系統 |
CN110967024A (zh) * | 2019-12-23 | 2020-04-07 | 苏州智加科技有限公司 | 可行驶区域的检测方法、装置、设备及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
DE102004008868A1 (de) | 2005-09-08 |
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