CN107667378B - 用于识别和评估路面反射的方法和装置 - Google Patents

用于识别和评估路面反射的方法和装置 Download PDF

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Publication number
CN107667378B
CN107667378B CN201680026128.2A CN201680026128A CN107667378B CN 107667378 B CN107667378 B CN 107667378B CN 201680026128 A CN201680026128 A CN 201680026128A CN 107667378 B CN107667378 B CN 107667378B
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China
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road surface
image
vehicle
road
camera
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Chinese (zh)
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CN107667378A (zh
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S·弗里茨
B·哈特曼
M·阿姆托尔
J·登茨勒
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Continental Zhixing Germany Co ltd
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Continental Teves AG and Co OHG
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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 OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
    • G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
    • G06V10/464—Salient features, e.g. scale invariant feature transforms [SIFT] using a plurality of salient features, e.g. bag-of-words [BoW] representations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • B60W2552/00—Input parameters relating to infrastructure
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/247—Aligning, centring, orientation detection or correction of the image by affine transforms, e.g. correction due to perspective effects; Quadrilaterals, e.g. trapezoids

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Software Systems (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201680026128.2A 2015-05-06 2016-05-04 用于识别和评估路面反射的方法和装置 Active CN107667378B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015208429.9 2015-05-06
DE102015208429.9A DE102015208429A1 (de) 2015-05-06 2015-05-06 Verfahren und Vorrichtung zur Erkennung und Bewertung von Fahrbahnreflexionen
PCT/DE2016/200207 WO2016177371A1 (de) 2015-05-06 2016-05-04 Verfahren und vorrichtung zur erkennung und bewertung von fahrbahnreflexionen

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CN107667378A CN107667378A (zh) 2018-02-06
CN107667378B true CN107667378B (zh) 2021-04-27

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US (1) US10442438B2 (enExample)
EP (1) EP3292510B1 (enExample)
JP (1) JP6453490B2 (enExample)
KR (1) KR101891460B1 (enExample)
CN (1) CN107667378B (enExample)
DE (2) DE102015208429A1 (enExample)
WO (1) WO2016177371A1 (enExample)

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* Cited by examiner, † Cited by third party
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CN114612877B (zh) * 2016-01-05 2025-08-19 御眼视觉技术有限公司 用于估计未来路径的系统和方法
GB201711409D0 (en) * 2016-12-30 2017-08-30 Maxu Tech Inc Early entry
CN106686165B (zh) * 2016-12-30 2018-08-17 维沃移动通信有限公司 一种路况检测的方法及移动终端
DE102018203807A1 (de) 2018-03-13 2019-09-19 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Erkennung und Bewertung von Fahrbahnzuständen und witterungsbedingten Umwelteinflüssen
DE102018218733B4 (de) * 2018-10-31 2025-03-13 Robert Bosch Gmbh Verfahren zur Unterstützung einer kamerabasierten Umfelderkennung eines Fortbewegungsmittels mittels einer Strassennässeinformation eines ersten Ultraschallsensors
FI128495B (en) * 2019-05-21 2020-06-15 Vaisala Oyj Method for calibrating optical surface monitoring system, arrangement, device and computer readable memory
FR3103303B1 (fr) * 2019-11-14 2022-07-22 Continental Automotive Détermination d’un coefficient de friction pour un véhicule sur une route
EP3866055B1 (en) * 2020-02-12 2025-09-24 Aptiv Technologies AG System and method for displaying spatial information in the field of view of a driver of a vehicle
US20220198200A1 (en) * 2020-12-22 2022-06-23 Continental Automotive Systems, Inc. Road lane condition detection with lane assist for a vehicle using infrared detecting device
CN112597666B (zh) * 2021-01-08 2022-05-24 北京深睿博联科技有限责任公司 一种基于表面材质建模的路面状态分析方法及装置
DE102021101788A1 (de) 2021-01-27 2022-07-28 Zf Cv Systems Global Gmbh Verfahren zum ortsaufgelösten Ermitteln einer Oberflächeneigenschaft eines Untergrundes, Verarbeitungseinheit und Fahrzeug
JP6955295B1 (ja) * 2021-02-16 2021-10-27 株式会社アーバンエックステクノロジーズ 識別装置、識別プログラム、および識別方法
CN115201218A (zh) * 2022-07-13 2022-10-18 鲁朗软件(北京)有限公司 一种车载路面病害智能检测方法及系统

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CN102902952A (zh) * 2011-07-28 2013-01-30 株式会社日立制作所 车载用环境识别装置

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DE3023444C2 (de) * 1979-06-29 1985-07-11 Omron Tateisi Electronics Co., Kyoto Einrichtung zur Ermittlung des witterungsbedingten Straßenzustandes
JPS6015015B2 (ja) 1979-06-29 1985-04-17 株式会社 レオ技研 路面水分検知装置
DE3738221A1 (de) * 1987-11-11 1989-06-08 Bayerische Motoren Werke Ag Verfahren und einrichtung zum erkennen des zustandes einer strasse
DE4235104A1 (de) * 1992-10-17 1994-04-21 Sel Alcatel Ag Straßenzustandsdetektor
AU3201101A (en) * 2000-02-07 2001-08-14 Intelligent Security Limited Smoke and flame detection
JP3626905B2 (ja) * 2000-11-24 2005-03-09 富士重工業株式会社 車外監視装置
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CN102902952A (zh) * 2011-07-28 2013-01-30 株式会社日立制作所 车载用环境识别装置

Also Published As

Publication number Publication date
EP3292510B1 (de) 2021-07-07
US10442438B2 (en) 2019-10-15
EP3292510A1 (de) 2018-03-14
US20180141561A1 (en) 2018-05-24
JP6453490B2 (ja) 2019-01-16
CN107667378A (zh) 2018-02-06
DE112016002050A5 (de) 2018-01-11
JP2018516799A (ja) 2018-06-28
KR20170127036A (ko) 2017-11-20
DE102015208429A1 (de) 2016-11-10
WO2016177371A1 (de) 2016-11-10
KR101891460B1 (ko) 2018-08-24

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