BR112018000708A2 - dispositivo de reconhecimento de sinal luminoso de trânsito e método de reconhecimento de sinal luminoso de trânsito - Google Patents

dispositivo de reconhecimento de sinal luminoso de trânsito e método de reconhecimento de sinal luminoso de trânsito

Info

Publication number
BR112018000708A2
BR112018000708A2 BR112018000708-0A BR112018000708A BR112018000708A2 BR 112018000708 A2 BR112018000708 A2 BR 112018000708A2 BR 112018000708 A BR112018000708 A BR 112018000708A BR 112018000708 A2 BR112018000708 A2 BR 112018000708A2
Authority
BR
Brazil
Prior art keywords
traffic light
image
vehicle
detection area
signal
Prior art date
Application number
BR112018000708-0A
Other languages
English (en)
Japanese (ja)
Other versions
BR112018000708B1 (pt
Inventor
Yamanoi Daiki
MATSUO Haruo
Oki Takahiko
Suzuki Akira
Original Assignee
Nissan Motor Co., Ltd.
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 Co., Ltd. filed Critical Nissan Motor Co., Ltd.
Publication of BR112018000708A2 publication Critical patent/BR112018000708A2/pt
Publication of BR112018000708B1 publication Critical patent/BR112018000708B1/pt

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W40/04—Traffic conditions
    • 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
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Navigation (AREA)

Abstract

um dispositivo de reconhecimento de sinal luminoso de trânsito inclui: uma câmera (11) que captura uma imagem em torno de um veículo (51); uma unidade de aquisição de informações de mapa (17) configurada para adquirir informações de mapa em torno do veículo; um detector de autoposição (12) configurado para detectar a posição de uma autoposição em um mapa do veículo; um estimador de posição de sinal luminoso de trânsito (13) configurado para estimar a posição em uma imagem de um sinal luminoso de trânsito com base na autoposição e nas informações de mapa; um estimador de comportamento de veículo (14) configurado para estimar um comportamento do veículo; uma calculadora de área de detecção de sinal luminoso de trânsito (15) configurada para definir uma área de detecção do sinal luminoso de trânsito na imagem com base na posição estimada na imagem do sinal luminoso de trânsito e uma quantidade de deslocamento da posição na imagem do sinal luminoso de trânsito devido a um comportamento do veículo; e uma unidade de reconhecimento de sinal luminoso de trânsito (16) configurada para detectar um sinal luminoso de trânsito a partir da área de detecção. essa configuração permite que a área de detecção seja definida em uma posição adequada.
BR112018000708-0A 2015-07-13 2015-07-13 Dispositivo de reconhecimento de sinal luminoso de trânsito e método de reconhecimento de sinal luminoso de trânsito BR112018000708B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/070042 WO2017009934A1 (ja) 2015-07-13 2015-07-13 信号機認識装置及び信号機認識方法

Publications (2)

Publication Number Publication Date
BR112018000708A2 true BR112018000708A2 (pt) 2018-09-18
BR112018000708B1 BR112018000708B1 (pt) 2023-03-14

Family

ID=57758258

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112018000708-0A BR112018000708B1 (pt) 2015-07-13 2015-07-13 Dispositivo de reconhecimento de sinal luminoso de trânsito e método de reconhecimento de sinal luminoso de trânsito

Country Status (10)

Country Link
US (1) US10789491B2 (pt)
EP (1) EP3324384B1 (pt)
JP (1) JP6477883B2 (pt)
KR (2) KR20180021159A (pt)
CN (1) CN107836017B (pt)
BR (1) BR112018000708B1 (pt)
CA (1) CA2992405A1 (pt)
MX (1) MX367068B (pt)
RU (1) RU2678527C1 (pt)
WO (1) WO2017009934A1 (pt)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6451853B2 (ja) * 2015-07-28 2019-01-16 日産自動車株式会社 走行制御装置の制御方法および走行制御装置
JP7205695B2 (ja) * 2019-02-18 2023-01-17 トヨタ自動車株式会社 運転支援システム
JP7268497B2 (ja) * 2019-06-24 2023-05-08 トヨタ自動車株式会社 信号認識システム
JP7274366B2 (ja) * 2019-06-28 2023-05-16 日産自動車株式会社 自己位置推定方法及び自己位置推定装置
JP7156252B2 (ja) * 2019-11-13 2022-10-19 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
JP7318609B2 (ja) * 2020-08-06 2023-08-01 トヨタ自動車株式会社 車載検出装置
CN112489466B (zh) * 2020-11-27 2022-02-22 恒大新能源汽车投资控股集团有限公司 交通信号灯识别方法和装置
DE112021005643T5 (de) 2020-12-24 2023-12-28 Honda Motor Co., Ltd. Fahrzeug
CN113177522A (zh) * 2021-05-24 2021-07-27 的卢技术有限公司 一种用于自动驾驶场景下的红绿灯检测与识别方法
KR102368262B1 (ko) * 2021-06-02 2022-03-03 (주)에이아이매틱스 다중 관측정보를 이용한 신호등 배치정보 추정 방법
KR102652486B1 (ko) * 2021-09-24 2024-03-29 (주)오토노머스에이투지 라이다를 이용한 신호등 정보 예측 방법 및 이를 이용한 서버

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4483305B2 (ja) 2004-01-16 2010-06-16 トヨタ自動車株式会社 車両周辺監視装置
JP2007219758A (ja) * 2006-02-15 2007-08-30 Fujitsu Ten Ltd 車載情報装置および車載装置用情報処理方法
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
JP4724043B2 (ja) * 2006-05-17 2011-07-13 トヨタ自動車株式会社 対象物認識装置
JP5761109B2 (ja) * 2012-04-10 2015-08-12 トヨタ自動車株式会社 運転支援装置
WO2014062797A1 (en) * 2012-10-16 2014-04-24 Numera Methods for configuring biometric devices for transmitting health information
WO2014162797A1 (ja) * 2013-04-04 2014-10-09 日産自動車株式会社 信号認識装置
RU144555U1 (ru) * 2014-05-05 2014-08-27 Павел Юрьевич Михайлов Устройство для повышения безопасности движения транспортного средства
JP6464783B2 (ja) 2015-02-04 2019-02-06 株式会社デンソー 物体検出装置
CN104952249A (zh) * 2015-06-10 2015-09-30 浙江吉利汽车研究院有限公司 基于车联网的驾驶行为纠正方法及装置

Also Published As

Publication number Publication date
US10789491B2 (en) 2020-09-29
BR112018000708B1 (pt) 2023-03-14
US20180204077A1 (en) 2018-07-19
MX2018000437A (es) 2018-05-17
KR20180021159A (ko) 2018-02-28
EP3324384B1 (en) 2021-03-03
MX367068B (es) 2019-08-05
CN107836017A (zh) 2018-03-23
RU2678527C1 (ru) 2019-01-29
EP3324384A1 (en) 2018-05-23
CA2992405A1 (en) 2017-01-19
KR20190097326A (ko) 2019-08-20
CN107836017B (zh) 2019-03-26
JPWO2017009934A1 (ja) 2018-06-14
JP6477883B2 (ja) 2019-03-13
WO2017009934A1 (ja) 2017-01-19
EP3324384A4 (en) 2018-12-05

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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 13/07/2015, OBSERVADAS AS CONDICOES LEGAIS