WO2012011713A3 - 차선 인식 시스템 및 방법 - Google Patents

차선 인식 시스템 및 방법 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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traffic lane
lane candidate
coordinates
equation
pair
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PCT/KR2011/005290
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English (en)
French (fr)
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WO2012011713A2 (ko
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한영인
서용덕
송영기
최현철
오세영
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주식회사 이미지넥스트
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Publication of WO2012011713A2 publication Critical patent/WO2012011713A2/ko
Publication of WO2012011713A3 publication Critical patent/WO2012011713A3/ko

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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
    • 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

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

Abstract

본 발명은 차선 인식 시스템 및 방법에 관한 것으로, 차량에 장착된 카메라 모듈에서 획득된 차량 전방 영상을 적분 영상으로 전처리하는 단계, 이전 차선 방정식이 없는 경우 적분 영상과 차선 후보점 템플릿의 컨벌루션을 수행하여 차선 후보점을 추출하는 단계, 추출된 차선 후보점의 좌표를 실제 거리 좌표계에서 좌표로 변환한 후 클러스터링하여 구해지는 차선 후보 클러스터의 1차 차선 방정식을 구하는 단계, 구해진 차선 후보 클러스터 중에서 미리 정해진 조건을 만족하는 차선 후보 클러스터 쌍을 초기 검출된 차선 쌍으로 선택하는 단계를 포함한다.
PCT/KR2011/005290 2010-07-19 2011-07-19 차선 인식 시스템 및 방법 WO2012011713A2 (ko)

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)

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WO2012011713A2 WO2012011713A2 (ko) 2012-01-26
WO2012011713A3 true WO2012011713A3 (ko) 2012-05-10

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KR (1) KR101225626B1 (ko)
WO (1) WO2012011713A2 (ko)

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KR101382902B1 (ko) * 2012-06-29 2014-04-23 엘지이노텍 주식회사 차선이탈 경고 시스템 및 차선이탈 경고 방법
KR101428165B1 (ko) * 2012-06-29 2014-08-07 엘지이노텍 주식회사 차선이탈 경고 시스템 및 차선이탈 경고 방법
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KR20120009590A (ko) 2012-02-02
KR101225626B1 (ko) 2013-01-24
WO2012011713A2 (ko) 2012-01-26

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