BR112018069501A2 - método de detecção de pista de deslocamento e dispositivo de detecção de pista de deslocamento - Google Patents

método de detecção de pista de deslocamento e dispositivo de detecção de pista de deslocamento

Info

Publication number
BR112018069501A2
BR112018069501A2 BR112018069501A BR112018069501A BR112018069501A2 BR 112018069501 A2 BR112018069501 A2 BR 112018069501A2 BR 112018069501 A BR112018069501 A BR 112018069501A BR 112018069501 A BR112018069501 A BR 112018069501A BR 112018069501 A2 BR112018069501 A2 BR 112018069501A2
Authority
BR
Brazil
Prior art keywords
displacement
lane detection
lane
characteristic points
runway
Prior art date
Application number
BR112018069501A
Other languages
English (en)
Other versions
BR112018069501B1 (pt
Inventor
Tsuchiya Chikao
SANO Yasuhito
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 BR112018069501A2 publication Critical patent/BR112018069501A2/pt
Publication of BR112018069501B1 publication Critical patent/BR112018069501B1/pt

Links

Classifications

    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • 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
    • 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
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • 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
    • 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)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Geometry (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

é fornecido um método de detecção de pista de deslocamento para detectar limiares de pista de deslocamento de acordo com uma pluralidade de pontos característicos de pista de deslocamento detectados por um sensor de detecção de alvo instalado em um veículo. quando uma mudança de pista do veículo for detectada, o método determina continuidade dos pontos característicos de pista de deslocamento detectados antes da mudança de pista ser concluída em relação aos pontos característicos de pista de deslocamento detectados após a mudança de pista ser concluída ao mesmo tempo em que considera a uma quantidade de mudança de pista com a finalidade de detectar os limiares de pista de deslocamento de acordo com a continuidade dos pontos característicos de pista de deslocamento.
BR112018069501-7A 2016-03-24 2016-03-24 Método de detecção de pista de deslocamento e dispositivo de detecção de pista de deslocamento BR112018069501B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/059399 WO2017163368A1 (ja) 2016-03-24 2016-03-24 走路検出方法及び走路検出装置

Publications (2)

Publication Number Publication Date
BR112018069501A2 true BR112018069501A2 (pt) 2019-01-29
BR112018069501B1 BR112018069501B1 (pt) 2024-01-02

Family

ID=59900074

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112018069501-7A BR112018069501B1 (pt) 2016-03-24 2016-03-24 Método de detecção de pista de deslocamento e dispositivo de detecção de pista de deslocamento

Country Status (10)

Country Link
US (1) US10275666B2 (pt)
EP (1) EP3435353B1 (pt)
JP (1) JP6658868B2 (pt)
KR (1) KR20180122382A (pt)
CN (1) CN109074741B (pt)
BR (1) BR112018069501B1 (pt)
CA (1) CA3018663C (pt)
MX (1) MX369231B (pt)
RU (1) RU2695011C1 (pt)
WO (1) WO2017163368A1 (pt)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020087001A (ja) * 2018-11-27 2020-06-04 株式会社デンソー 車線位置情報出力装置
US11093761B2 (en) * 2019-03-06 2021-08-17 GM Global Technology Operations LLC Lane position sensing and tracking in a vehicle
US11584371B2 (en) 2020-07-15 2023-02-21 Toyota Research Institute, Inc. Systems and methods for using R-functions and semi-analytic geometry for lane keeping in trajectory planning
RU210463U1 (ru) * 2021-11-17 2022-04-15 федеральное государственное бюджетное образовательное учреждение высшего образования "Новгородский государственный университет имени Ярослава Мудрого" Телевизионное устройство для измерения координат изображения объекта
CN114396933B (zh) * 2021-12-31 2024-03-08 广州小鹏自动驾驶科技有限公司 一种车道拓扑构建方法、装置、车辆和存储介质

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Publication number Priority date Publication date Assignee Title
US4819169A (en) * 1986-09-24 1989-04-04 Nissan Motor Company, Limited System and method for calculating movement direction and position of an unmanned vehicle
GB9317983D0 (en) * 1993-08-28 1993-10-13 Lucas Ind Plc A driver assistance system for a vehicle
JP3209671B2 (ja) 1995-11-27 2001-09-17 富士通テン株式会社 カーブ路判定装置
JP2002029347A (ja) 2000-07-17 2002-01-29 Honda Motor Co Ltd 車両用走行区分線検出装置
US6894606B2 (en) * 2000-11-22 2005-05-17 Fred Forbes Vehicular black box monitoring system
US6819779B1 (en) * 2000-11-22 2004-11-16 Cognex Corporation Lane detection system and apparatus
JP2003322522A (ja) * 2002-05-07 2003-11-14 Daihatsu Motor Co Ltd 車間距離検出装置及び検出方法
JP2003203298A (ja) 2002-12-11 2003-07-18 Honda Motor Co Ltd 走行区分線認識装置を備えた自動走行車両
JP3956926B2 (ja) 2003-09-24 2007-08-08 アイシン精機株式会社 路面走行レーン検出装置
JP4822099B2 (ja) * 2005-07-11 2011-11-24 アイシン・エィ・ダブリュ株式会社 ナビゲーション装置及びナビゲーション方法
JP2007241468A (ja) * 2006-03-06 2007-09-20 Toyota Motor Corp 車線変更検出装置
JP4656456B2 (ja) * 2008-10-22 2011-03-23 日本電気株式会社 車線区画線検出装置、車線区画線検出方法、及び車線区画線検出プログラム
JP5321497B2 (ja) * 2010-02-22 2013-10-23 株式会社デンソー 白線認識装置
US20120022739A1 (en) * 2010-07-20 2012-01-26 Gm Global Technology Operations, Inc. Robust vehicular lateral control with front and rear cameras
JP5591613B2 (ja) * 2010-07-27 2014-09-17 株式会社小糸製作所 車両検出装置
DE102010048760A1 (de) * 2010-09-17 2011-07-28 Daimler AG, 70327 Verfahren zur Erzeugung eines Straßenmodells
JP5825239B2 (ja) * 2012-10-09 2015-12-02 トヨタ自動車株式会社 車両制御装置
RU2571871C2 (ru) * 2012-12-06 2015-12-27 Александр ГУРЕВИЧ Способ определения границ дороги, формы и положения объектов, находящихся на дороге, и устройство для его выполнения
JP6141788B2 (ja) * 2014-04-14 2017-06-07 本田技研工業株式会社 レーンマーク認識装置
CN103942960B (zh) * 2014-04-22 2016-09-21 深圳市宏电技术股份有限公司 一种车辆变道检测方法及装置
US20170089717A1 (en) * 2015-09-29 2017-03-30 Garmin Switzerland Gmbh Use of road lane data to improve traffic probe accuracy

Also Published As

Publication number Publication date
JP6658868B2 (ja) 2020-03-04
EP3435353A1 (en) 2019-01-30
EP3435353B1 (en) 2022-03-02
CN109074741B (zh) 2021-08-10
CN109074741A (zh) 2018-12-21
MX369231B (es) 2019-11-01
JPWO2017163368A1 (ja) 2019-03-14
CA3018663C (en) 2019-04-30
RU2695011C1 (ru) 2019-07-18
MX2018011510A (es) 2019-01-10
EP3435353A4 (en) 2019-03-27
CA3018663A1 (en) 2017-09-28
KR20180122382A (ko) 2018-11-12
US10275666B2 (en) 2019-04-30
US20190102632A1 (en) 2019-04-04
BR112018069501B1 (pt) 2024-01-02
WO2017163368A1 (ja) 2017-09-28

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Legal Events

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B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B350 Update of information on the portal [chapter 15.35 patent gazette]
B06A Patent application procedure suspended [chapter 6.1 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]

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