CN104108392A - 车道估计装置和方法 - Google Patents
车道估计装置和方法 Download PDFInfo
- Publication number
- CN104108392A CN104108392A CN201410208141.2A CN201410208141A CN104108392A CN 104108392 A CN104108392 A CN 104108392A CN 201410208141 A CN201410208141 A CN 201410208141A CN 104108392 A CN104108392 A CN 104108392A
- Authority
- CN
- China
- Prior art keywords
- track
- imaginary
- lane
- unit
- final
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 40
- 230000000052 comparative effect Effects 0.000 claims description 7
- 238000007689 inspection Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 2
- 230000009257 reactivity Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B60W2420/408—
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mathematical Physics (AREA)
- Geometry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (9)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020130039681A KR101787996B1 (ko) | 2013-04-11 | 2013-04-11 | 차선 추정 장치 및 그 방법 |
KR10-2013-0039681 | 2013-04-11 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104108392A true CN104108392A (zh) | 2014-10-22 |
CN104108392B CN104108392B (zh) | 2017-04-19 |
Family
ID=51618506
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410208141.2A Active CN104108392B (zh) | 2013-04-11 | 2014-04-11 | 车道估计装置和方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9664787B2 (zh) |
KR (1) | KR101787996B1 (zh) |
CN (1) | CN104108392B (zh) |
DE (1) | DE102014005688B4 (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105197014A (zh) * | 2014-06-30 | 2015-12-30 | 现代自动车株式会社 | 用于识别车辆的行驶车道的装置和方法 |
CN107305129A (zh) * | 2016-04-22 | 2017-10-31 | 沃尔沃汽车公司 | 用于生成导航数据的方法和用于执行该方法的导航装置 |
CN107792068A (zh) * | 2016-09-06 | 2018-03-13 | 德尔福技术有限公司 | 自动化车辆车道变换控制系统 |
CN105667518B (zh) * | 2016-02-25 | 2018-07-24 | 福州华鹰重工机械有限公司 | 车道检测的方法及装置 |
WO2018177026A1 (zh) * | 2017-03-29 | 2018-10-04 | 蔚来汽车有限公司 | 确定道路边沿的装置和方法 |
CN111824163A (zh) * | 2019-04-16 | 2020-10-27 | 标致雪铁龙汽车股份有限公司 | 用于确定道路的曲线的方法和设备 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101502510B1 (ko) * | 2013-11-26 | 2015-03-13 | 현대모비스 주식회사 | 차량의 차선 유지 제어 장치 및 방법 |
US20160210775A1 (en) * | 2015-01-21 | 2016-07-21 | Ford Global Technologies, Llc | Virtual sensor testbed |
JP6456761B2 (ja) * | 2015-04-21 | 2019-01-23 | 本田技研工業株式会社 | 道路環境認識装置、車両制御装置及び車両制御方法 |
US10503983B2 (en) * | 2015-08-19 | 2019-12-10 | Mitsubishi Electric Corporation | Lane recognition apparatus and lane recognition method |
KR102420409B1 (ko) * | 2015-09-03 | 2022-07-14 | 주식회사 에이치엘클레무브 | 차선 이탈 판단 방법 및 그 장치 |
US20170160744A1 (en) * | 2015-12-08 | 2017-06-08 | Delphi Technologies, Inc. | Lane Extension Of Lane-Keeping System By Ranging-Sensor For Automated Vehicle |
KR102456626B1 (ko) * | 2016-01-15 | 2022-10-18 | 현대자동차주식회사 | 자율 주행 차량의 차선 인지 방법 및 장치 |
KR20180051836A (ko) * | 2016-11-09 | 2018-05-17 | 삼성전자주식회사 | 주행 차량을 위한 가상의 주행 차선을 생성하는 방법 및 장치 |
KR102568114B1 (ko) * | 2016-11-30 | 2023-08-18 | 현대오토에버 주식회사 | 자율 주행 제어 장치 및 방법 |
KR20180090610A (ko) * | 2017-02-03 | 2018-08-13 | 삼성전자주식회사 | 차선 정보를 출력하는 방법 및 장치. |
JP6609292B2 (ja) * | 2017-08-24 | 2019-11-20 | 株式会社Subaru | 車外環境認識装置 |
KR102521656B1 (ko) | 2018-01-03 | 2023-04-13 | 삼성전자주식회사 | 객체를 인식하는 방법 및 장치 |
US11321950B2 (en) * | 2018-06-26 | 2022-05-03 | Sk Telecom Co., Ltd. | Apparatus and method for detecting lane information, and computer-readable recording medium storing computer program programmed to execute same method |
KR102448164B1 (ko) * | 2018-07-20 | 2022-09-28 | 현대모비스 주식회사 | 차량용 레이더 제어 장치 및 방법 |
KR102589617B1 (ko) | 2019-01-24 | 2023-10-16 | 주식회사 에이치엘클레무브 | 운전자 보조 시스템 |
WO2020163390A1 (en) * | 2019-02-05 | 2020-08-13 | Nvidia Corporation | Driving lane perception diversity and redundancy in autonomous driving applications |
US11421996B2 (en) | 2020-01-24 | 2022-08-23 | Here Global B.V. | Method, apparatus, and system for comparing and assimilating road lane representations using geospatial data and attribute data |
US11679768B2 (en) | 2020-10-19 | 2023-06-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for vehicle lane estimation |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09167239A (ja) * | 1995-12-18 | 1997-06-24 | Hitachi Ltd | 画像処理による走行路面の監視装置及び方法 |
DE102006040334A1 (de) * | 2006-08-29 | 2008-03-06 | Robert Bosch Gmbh | Verfahren für die Spurerfassung mit einem Fahrerassistenzsystem und Fahrerassistenzsystem |
CN101911122A (zh) * | 2008-01-11 | 2010-12-08 | 日本电气株式会社 | 车道识别系统、车道识别方法和车道识别程序 |
DE102010032063A1 (de) * | 2010-06-09 | 2011-05-12 | Daimler Ag | Verfahren zur Erfassung einer Umgebung eines Fahrzeugs |
KR20110066571A (ko) * | 2009-12-11 | 2011-06-17 | 삼성전기주식회사 | 복합 기능 카메라 모듈 |
CN102275558A (zh) * | 2010-06-12 | 2011-12-14 | 财团法人车辆研究测试中心 | 双视觉前车安全警示装置及其方法 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR19990084339A (ko) | 1998-05-04 | 1999-12-06 | 오상수 | 차선 물체 인식 판별방법 |
US7085638B2 (en) * | 2004-07-13 | 2006-08-01 | Robert Bosch Gmbh | Steering angle sensor assembly including reduction gear and logic module |
JP4759547B2 (ja) * | 2007-09-27 | 2011-08-31 | 日立オートモティブシステムズ株式会社 | 走行支援装置 |
US8830141B2 (en) * | 2009-04-02 | 2014-09-09 | GM Global Technology Operations LLC | Full-windshield head-up display enhancement: anti-reflective glass hard coat |
JP5080602B2 (ja) * | 2010-03-19 | 2012-11-21 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP5389002B2 (ja) * | 2010-12-07 | 2014-01-15 | 日立オートモティブシステムズ株式会社 | 走行環境認識装置 |
JP5348180B2 (ja) * | 2011-05-30 | 2013-11-20 | トヨタ自動車株式会社 | 運転支援装置 |
KR20130011825A (ko) | 2011-07-22 | 2013-01-30 | 현대자동차주식회사 | 차선인식 방법 |
JP2013083612A (ja) | 2011-10-12 | 2013-05-09 | Mitsumi Electric Co Ltd | 電池状態計測方法及び電池状態計測装置 |
JP5757900B2 (ja) * | 2012-03-07 | 2015-08-05 | 日立オートモティブシステムズ株式会社 | 車両走行制御装置 |
JP5711721B2 (ja) | 2012-12-03 | 2015-05-07 | 富士重工業株式会社 | 車両の運転支援制御装置 |
US9403436B1 (en) * | 2015-02-12 | 2016-08-02 | Honda Motor Co., Ltd. | Lane keep assist system having augmented reality indicators and method thereof |
-
2013
- 2013-04-11 KR KR1020130039681A patent/KR101787996B1/ko active IP Right Grant
-
2014
- 2014-04-11 DE DE102014005688.0A patent/DE102014005688B4/de active Active
- 2014-04-11 CN CN201410208141.2A patent/CN104108392B/zh active Active
- 2014-04-11 US US14/251,042 patent/US9664787B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09167239A (ja) * | 1995-12-18 | 1997-06-24 | Hitachi Ltd | 画像処理による走行路面の監視装置及び方法 |
DE102006040334A1 (de) * | 2006-08-29 | 2008-03-06 | Robert Bosch Gmbh | Verfahren für die Spurerfassung mit einem Fahrerassistenzsystem und Fahrerassistenzsystem |
CN101911122A (zh) * | 2008-01-11 | 2010-12-08 | 日本电气株式会社 | 车道识别系统、车道识别方法和车道识别程序 |
KR20110066571A (ko) * | 2009-12-11 | 2011-06-17 | 삼성전기주식회사 | 복합 기능 카메라 모듈 |
DE102010032063A1 (de) * | 2010-06-09 | 2011-05-12 | Daimler Ag | Verfahren zur Erfassung einer Umgebung eines Fahrzeugs |
CN102275558A (zh) * | 2010-06-12 | 2011-12-14 | 财团法人车辆研究测试中心 | 双视觉前车安全警示装置及其方法 |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105197014A (zh) * | 2014-06-30 | 2015-12-30 | 现代自动车株式会社 | 用于识别车辆的行驶车道的装置和方法 |
US10140527B2 (en) | 2014-06-30 | 2018-11-27 | Hyundai Motor Company | Apparatus and method for recognizing driving lane of vehicle |
CN105197014B (zh) * | 2014-06-30 | 2020-04-17 | 现代自动车株式会社 | 用于识别车辆的行驶车道的装置和方法 |
CN105667518B (zh) * | 2016-02-25 | 2018-07-24 | 福州华鹰重工机械有限公司 | 车道检测的方法及装置 |
CN107305129A (zh) * | 2016-04-22 | 2017-10-31 | 沃尔沃汽车公司 | 用于生成导航数据的方法和用于执行该方法的导航装置 |
CN107305129B (zh) * | 2016-04-22 | 2021-07-20 | 沃尔沃汽车公司 | 用于生成导航数据的方法和用于执行该方法的导航装置 |
CN107792068A (zh) * | 2016-09-06 | 2018-03-13 | 德尔福技术有限公司 | 自动化车辆车道变换控制系统 |
CN107792068B (zh) * | 2016-09-06 | 2020-04-21 | 安波福技术有限公司 | 自动化车辆车道变换控制系统 |
WO2018177026A1 (zh) * | 2017-03-29 | 2018-10-04 | 蔚来汽车有限公司 | 确定道路边沿的装置和方法 |
CN111824163A (zh) * | 2019-04-16 | 2020-10-27 | 标致雪铁龙汽车股份有限公司 | 用于确定道路的曲线的方法和设备 |
Also Published As
Publication number | Publication date |
---|---|
KR20140122810A (ko) | 2014-10-21 |
DE102014005688A1 (de) | 2014-10-16 |
US9664787B2 (en) | 2017-05-30 |
US20140306844A1 (en) | 2014-10-16 |
KR101787996B1 (ko) | 2017-10-19 |
DE102014005688B4 (de) | 2020-08-06 |
CN104108392B (zh) | 2017-04-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104108392A (zh) | 车道估计装置和方法 | |
US9378425B2 (en) | On-vehicle image processing device | |
US20070127778A1 (en) | Object detecting system and object detecting method | |
JP4607193B2 (ja) | 車両及びレーンマーク検出装置 | |
US11014566B2 (en) | Object detection apparatus | |
US10142595B2 (en) | Driving assistance device and method of detecting vehicle adjacent thereto | |
KR101961571B1 (ko) | 복수의 물체 검출 수단을 사용한 물체 인식 장치 | |
CN104834889A (zh) | 标志线检测系统和标志线检测方法 | |
US20160059890A1 (en) | Vehicle movement path system and method for vehicle | |
JPH07332966A (ja) | 車両用距離計測装置 | |
KR102096230B1 (ko) | 도착 레인으로 합병되는 이동 아이템의 출발 레인을 결정 | |
JP6139088B2 (ja) | 車両検知装置 | |
CN107787496B (zh) | 消失点修正装置及方法 | |
JP2013020543A (ja) | 車両用障害物検出装置及びそれを用いた車両 | |
WO2014002692A1 (ja) | ステレオカメラ | |
JP3656056B2 (ja) | 割り込み車両検出装置及びその方法 | |
JP2016018371A (ja) | 車載システム、情報処理装置、及びプログラム | |
JPH11139225A (ja) | トンネル検出装置及びそれを用いた車両制御装置 | |
JP5491242B2 (ja) | 車両周辺監視装置 | |
JP4123138B2 (ja) | 車両検知方法及び車両検知装置 | |
JP2003077099A (ja) | 先行車両認識装置 | |
JP3868915B2 (ja) | 前方監視装置及びその方法 | |
KR101465236B1 (ko) | 스테레오 카메라를 이용한 차량 속도 검출 장치 및 방법 | |
KR101420242B1 (ko) | 스테레오 카메라를 이용한 차량 검지 방법 및 장치 | |
JP5132164B2 (ja) | 背景画像作成装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20211203 Address after: Gyeonggi Do, South Korea Patentee after: Wandu Mobile System Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: MANDO Corp. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20221009 Address after: Inchon, Korea Patentee after: Halla Creedong Electronics Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: Wandu Mobile System Co.,Ltd. |
|
TR01 | Transfer of patent right |