WO2012011713A3 - Système et procédé de reconnaissance de voie de circulation - Google Patents

Système et procédé de reconnaissance de voie de circulation Download PDF

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Publication number
WO2012011713A3
WO2012011713A3 PCT/KR2011/005290 KR2011005290W WO2012011713A3 WO 2012011713 A3 WO2012011713 A3 WO 2012011713A3 KR 2011005290 W KR2011005290 W KR 2011005290W WO 2012011713 A3 WO2012011713 A3 WO 2012011713A3
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WO
WIPO (PCT)
Prior art keywords
traffic lane
lane candidate
coordinates
equation
pair
Prior art date
Application number
PCT/KR2011/005290
Other languages
English (en)
Korean (ko)
Other versions
WO2012011713A2 (fr
Inventor
한영인
서용덕
송영기
최현철
오세영
Original Assignee
주식회사 이미지넥스트
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 주식회사 이미지넥스트 filed Critical 주식회사 이미지넥스트
Publication of WO2012011713A2 publication Critical patent/WO2012011713A2/fr
Publication of WO2012011713A3 publication Critical patent/WO2012011713A3/fr

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G06F2218/02—Preprocessing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Geometry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

La présente invention concerne un procédé et un système de reconnaissance de voie de circulation qui comportent les étapes suivantes : le traitement préalable d'une image avant de véhicule obtenue par un module de caméra attaché à un véhicule afin d'obtenir une image intégrale ; l'extraction d'un point de voie de circulation candidate par convolution de l'image intégrale et d'un modèle de point de voie de circulation candidate lorsqu'une équation de voie de circulation précédente n'existe pas ; la découverte d'une équation de voie de circulation primaire d'un groupe de voies de circulation candidates, qui est obtenu par conversion des coordonnées des points de voie de circulation candidate extraits en coordonnées d'un système de coordonnées à distance vraie et ensuite par regroupement, et la sélection, parmi les groupes potentiels de voie de circulation trouvés, une paire de groupes de voie de circulation candidate qui satisfait les conditions prédéterminées à titre de paire de voies de circulation initialement détectées.
PCT/KR2011/005290 2010-07-19 2011-07-19 Système et procédé de reconnaissance de voie de circulation WO2012011713A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020100069537A KR101225626B1 (ko) 2010-07-19 2010-07-19 차선 인식 시스템 및 방법
KR10-2010-0069537 2010-07-19

Publications (2)

Publication Number Publication Date
WO2012011713A2 WO2012011713A2 (fr) 2012-01-26
WO2012011713A3 true WO2012011713A3 (fr) 2012-05-10

Family

ID=45497281

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/005290 WO2012011713A2 (fr) 2010-07-19 2011-07-19 Système et procédé de reconnaissance de voie de circulation

Country Status (2)

Country Link
KR (1) KR101225626B1 (fr)
WO (1) WO2012011713A2 (fr)

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KR101327348B1 (ko) * 2012-06-15 2013-11-11 재단법인 경북아이티융합 산업기술원 주행도로 영상에 정의된 마스크를 이용한 자기 차로 인식 시스템
KR101428165B1 (ko) 2012-06-29 2014-08-07 엘지이노텍 주식회사 차선이탈 경고 시스템 및 차선이탈 경고 방법
KR101382902B1 (ko) * 2012-06-29 2014-04-23 엘지이노텍 주식회사 차선이탈 경고 시스템 및 차선이탈 경고 방법
JP5921983B2 (ja) * 2012-08-03 2016-05-24 クラリオン株式会社 車載撮像装置
CN103057470B (zh) * 2012-12-06 2015-09-16 重庆交通大学 一种车辆违章压线预先提示装置及其提示方法
CN103150337B (zh) * 2013-02-04 2016-09-21 北京航空航天大学 一种基于Bézier曲线的车道线重构方法
KR101338347B1 (ko) * 2013-04-02 2014-01-03 라온피플 주식회사 차선 이탈 경고 시스템 및 방법
KR101483742B1 (ko) 2013-06-21 2015-01-16 가천대학교 산학협력단 지능형 차량의 차선 검출방법
KR102016549B1 (ko) * 2014-01-13 2019-08-30 한화디펜스 주식회사 차량 및 차선 위치 검출 시스템 및 방법
KR102170689B1 (ko) 2014-01-14 2020-10-27 한화테크윈 주식회사 영상 정합을 위한 특징점 샘플링 방법
KR102456626B1 (ko) 2016-01-15 2022-10-18 현대자동차주식회사 자율 주행 차량의 차선 인지 방법 및 장치
CN106778605B (zh) * 2016-12-14 2020-05-05 武汉大学 导航数据辅助下的遥感影像道路网自动提取方法
KR101878490B1 (ko) * 2017-03-10 2018-07-13 만도헬라일렉트로닉스(주) 차선 인식 시스템 및 방법
CN109084782B (zh) * 2017-06-13 2024-03-12 蔚来(安徽)控股有限公司 基于摄像头传感器的车道线地图构建方法以及构建***
KR102499398B1 (ko) 2017-08-09 2023-02-13 삼성전자 주식회사 차선 검출 방법 및 장치
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DE112019000065T5 (de) 2018-02-02 2020-03-05 Nvidia Corporation Sicherheitsprozeduranalyse zur hindernisvermeidung in einem autonomen fahrzeug
DE112019000049T5 (de) 2018-02-18 2020-01-23 Nvidia Corporation Für autonomes fahren geeignete objekterfassung und erfassungssicherheit
CN111095291B (zh) * 2018-02-27 2024-04-09 辉达公司 由自动驾驶车辆实时检测车道和边界
DE102018202970A1 (de) * 2018-02-28 2019-08-29 Robert Bosch Gmbh Verfahren zum Ermitteln einer topologischen Information einer Straßenkreuzung
WO2019178548A1 (fr) 2018-03-15 2019-09-19 Nvidia Corporation Détermination d'emplacements de stationnement manoeuvrables pour véhicules autonomes
WO2019182974A2 (fr) 2018-03-21 2019-09-26 Nvidia Corporation Estimation de profondeur stéréo à l'aide de réseaux neuronaux profonds
CN111919225B (zh) 2018-03-27 2024-03-26 辉达公司 使用模拟环境对自主机器进行培训、测试和验证
KR102097869B1 (ko) * 2018-04-25 2020-04-06 연세대학교 산학협력단 자가 지도 학습을 이용한 딥러닝 기반 도로 영역 추정 장치 및 방법
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CN110222658A (zh) * 2019-06-11 2019-09-10 腾讯科技（深圳）有限公司 道路灭点位置的获取方法及装置
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CN111008600B (zh) * 2019-12-06 2023-04-07 中国科学技术大学 一种车道线检测方法
CN111401251B (zh) * 2020-03-17 2023-12-26 北京百度网讯科技有限公司 车道线提取方法、装置、电子设备及计算机可读存储介质
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CN112285734B (zh) * 2020-10-30 2023-06-23 北京斯年智驾科技有限公司 基于道钉的港口无人集卡高精度对准方法及其对准***
CN112613344B (zh) * 2020-12-01 2024-04-16 浙江华锐捷技术有限公司 车辆占道检测方法、装置、计算机设备和可读存储介质
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CN112818804B (zh) * 2021-01-26 2024-02-20 重庆长安汽车股份有限公司 目标级车道线的平行处理方法、***、车辆及存储介质
CN116997940A (zh) * 2021-03-29 2023-11-03 华为技术有限公司 一种车道线检测方法及装置
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KR102629639B1 (ko) * 2021-04-21 2024-01-29 계명대학교 산학협력단 차량용 듀얼 카메라 장착 위치 결정 장치 및 방법
CN114120258B (zh) * 2022-01-26 2022-05-03 深圳佑驾创新科技有限公司 一种车道线识别方法、装置及存储介质
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Also Published As

Publication number Publication date
WO2012011713A2 (fr) 2012-01-26
KR20120009590A (ko) 2012-02-02
KR101225626B1 (ko) 2013-01-24

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