BR112017000267A2 - dispositivo de detecção de sinal de tráfego e método para detecção de sinal de tráfego - Google Patents

dispositivo de detecção de sinal de tráfego e método para detecção de sinal de tráfego

Info

Publication number
BR112017000267A2
BR112017000267A2 BR112017000267A BR112017000267A BR112017000267A2 BR 112017000267 A2 BR112017000267 A2 BR 112017000267A2 BR 112017000267 A BR112017000267 A BR 112017000267A BR 112017000267 A BR112017000267 A BR 112017000267A BR 112017000267 A2 BR112017000267 A2 BR 112017000267A2
Authority
BR
Brazil
Prior art keywords
traffic signal
signal detection
location
unit
detection device
Prior art date
Application number
BR112017000267A
Other languages
English (en)
Other versions
BR112017000267B1 (pt
Inventor
Yamanoi Daiki
MATSUO Haruo
Oki Takahiko
Original Assignee
Nissan Motor
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.)
Filing date
Publication date
Application filed by Nissan Motor filed Critical Nissan Motor
Publication of BR112017000267A2 publication Critical patent/BR112017000267A2/pt
Publication of BR112017000267B1 publication Critical patent/BR112017000267B1/pt

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B60Y2400/3015—Optical cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)

Abstract

resumo ?dispositivo de detecção de sinal de tráfego e método para detecção de sinal de tráfego? a presente invenção diz respeito a um dispositivo de detecção de sinal de tráfego capaz de apropriadamente selecionar um sinal de tráfego para um alvo de detecção dependendo de um estado de obstrução do sinal de tráfego. um dispositivo de detecção de sinal de tráfego (10) inclui: uma unidade de captura de imagem (31) que é montada em um veículo e captura uma imagem de arredores; uma unidade de detecção de localização do veículo (11) que detecta uma localização do veículo; uma unidade de informação de mapa (12) que armazena informação de mapa; uma unidade de estimativa de localização de sinal de tráfego (13) que estima uma localização de um sinal de tráfego ao redor do veículo com referência à localização do veículo e à informação de mapa, e estabelece uma área de pesquisa de sinal de tráfego na qual se estima que o sinal de tráfego esteja presente; uma unidade de detecção de sinal de tráfego (32) que detecta o sinal de tráfego por pesquisar a área de pesquisa de sinal de tráfego na imagem; e uma unidade de estimativa de obstrução (22) que estima se um estado de obstrução contínua onde uma visão do sinal de tráfego é continuamente obstruída ocorre na área de pesquisa e sinal de tráfego. quando a unidade de estimativa de obstrução (22) estima que um estado de obstrução contínua ocorre, a unidade de estimativa de localização de sinal de tráfego (13) seleciona a área de pesquisa de sinal de tráfego baseada no estado de obstrução contínua.
BR112017000267-1A 2014-07-08 2014-07-08 Dispositivo de detecção de sinal de tráfego e método para detecção de sinal de tráfego BR112017000267B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/068105 WO2016006029A1 (ja) 2014-07-08 2014-07-08 信号機検出装置及び信号機検出方法

Publications (2)

Publication Number Publication Date
BR112017000267A2 true BR112017000267A2 (pt) 2017-10-31
BR112017000267B1 BR112017000267B1 (pt) 2021-12-28

Family

ID=55063706

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017000267-1A BR112017000267B1 (pt) 2014-07-08 2014-07-08 Dispositivo de detecção de sinal de tráfego e método para detecção de sinal de tráfego

Country Status (8)

Country Link
US (1) US9922259B2 (pt)
EP (1) EP3168823B1 (pt)
JP (1) JP6256611B2 (pt)
CN (1) CN106663374B (pt)
BR (1) BR112017000267B1 (pt)
MX (1) MX354764B (pt)
RU (1) RU2634852C1 (pt)
WO (1) WO2016006029A1 (pt)

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EP3306589B1 (en) * 2015-06-05 2019-01-09 Nissan Motor Co., Ltd. Traffic signal detection device and traffic signal detection method
DE102015224112A1 (de) * 2015-12-02 2017-06-08 Bayerische Motoren Werke Aktiengesellschaft System zur Beeinflussung von Fahrzeugsystemen durch Berücksichtigung relevanter Signalgeber
US10124804B2 (en) * 2017-04-12 2018-11-13 GM Global Technology Operations LLC Method and apparatus for traffic control device detection optimization
DE102017212034A1 (de) * 2017-07-13 2019-01-17 Bayerische Motoren Werke Aktiengesellschaft System und Verfahren zur automatisierten Längsführung eines Kraftfahrzeugs bis in den Stillstand
CN111448598A (zh) 2017-12-05 2020-07-24 日产自动车株式会社 车辆的控制方法以及控制装置
JP7067067B2 (ja) 2018-01-11 2022-05-16 トヨタ自動車株式会社 信号機認識装置、及び自動運転システム
US11161464B2 (en) 2018-01-12 2021-11-02 Uatc, Llc Systems and methods for streaming processing for autonomous vehicles
JP7003735B2 (ja) * 2018-02-28 2022-01-21 トヨタ自動車株式会社 運転支援装置
US10884424B2 (en) * 2018-09-07 2021-01-05 GM Global Technology Operations LLC Traffic light occlusion detection for autonomous vehicle
CN109035831B (zh) 2018-09-07 2021-07-27 百度在线网络技术（北京）有限公司 交通指示灯的识别方法、装置、设备、存储介质及车辆
JP2020106961A (ja) * 2018-12-26 2020-07-09 トヨタ自動車株式会社 信号機判定装置
JP7347193B2 (ja) * 2019-12-18 2023-09-20 トヨタ自動車株式会社 運転支援装置
US20210211568A1 (en) * 2020-01-07 2021-07-08 Motional Ad Llc Systems and methods for traffic light detection
WO2021153051A1 (ja) * 2020-01-29 2021-08-05 日立Astemo株式会社 車両制御装置、車両制御方法またはプログラム
JP7409257B2 (ja) 2020-08-07 2024-01-09 株式会社デンソー 信号機認識装置、信号機認識方法、車両制御装置
US11681780B2 (en) 2020-09-30 2023-06-20 Nissan North America, Inc. Annotation and mapping for vehicle operation in low-confidence object detection conditions
CN112141176B (zh) * 2020-09-30 2022-07-22 青岛海信微联信号有限公司 一种可移动设备搜索的方法及设备
CN112699773B (zh) * 2020-12-28 2023-09-01 阿波罗智联(北京)科技有限公司 交通灯识别方法、装置及电子设备
KR102652486B1 (ko) * 2021-09-24 2024-03-29 (주)오토노머스에이투지 라이다를 이용한 신호등 정보 예측 방법 및 이를 이용한 서버
CN116071945A (zh) * 2021-10-29 2023-05-05 通用汽车环球科技运作有限责任公司 交通灯可见性检测和增强显示

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JP4577655B2 (ja) * 2005-12-27 2010-11-10 アイシン・エィ・ダブリュ株式会社 地物認識装置
JP4631750B2 (ja) * 2006-03-06 2011-02-16 トヨタ自動車株式会社 画像処理システム
JP2007257299A (ja) 2006-03-23 2007-10-04 Honda Motor Co Ltd 車外認識装置
JP2007320458A (ja) * 2006-06-01 2007-12-13 Toyota Motor Corp 車間距離制御装置
US20100033571A1 (en) * 2006-09-28 2010-02-11 Pioneer Corporation Traffic information detector, traffic information detecting method, traffic information detecting program, and recording medium
JP2008149786A (ja) * 2006-12-14 2008-07-03 Mazda Motor Corp 車両用運転支援装置及び車両用運転支援システム
JP4915281B2 (ja) 2007-05-24 2012-04-11 アイシン・エィ・ダブリュ株式会社 信号機検出装置、信号機検出方法及びプログラム
JP4852482B2 (ja) * 2007-06-25 2012-01-11 日立オートモティブシステムズ株式会社 車両走行支援制御装置
US8576069B2 (en) * 2009-10-22 2013-11-05 Siemens Corporation Mobile sensing for road safety, traffic management, and road maintenance
JP5591613B2 (ja) * 2010-07-27 2014-09-17 株式会社小糸製作所 車両検出装置
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Also Published As

Publication number Publication date
US20180012088A1 (en) 2018-01-11
MX2017000063A (es) 2017-04-27
WO2016006029A1 (ja) 2016-01-14
CN106663374B (zh) 2018-08-28
JPWO2016006029A1 (ja) 2017-05-25
MX354764B (es) 2018-03-21
EP3168823A4 (en) 2018-01-03
JP6256611B2 (ja) 2018-01-10
CN106663374A (zh) 2017-05-10
US9922259B2 (en) 2018-03-20
RU2634852C1 (ru) 2017-11-07
EP3168823B1 (en) 2020-05-13
BR112017000267B1 (pt) 2021-12-28
EP3168823A1 (en) 2017-05-17

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Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 08/07/2014, OBSERVADAS AS CONDICOES LEGAIS.