CN108008379A - 根据检测数据提供车辆环境轮廓折线的方法 - Google Patents
根据检测数据提供车辆环境轮廓折线的方法 Download PDFInfo
- Publication number
- CN108008379A CN108008379A CN201711045291.6A CN201711045291A CN108008379A CN 108008379 A CN108008379 A CN 108008379A CN 201711045291 A CN201711045291 A CN 201711045291A CN 108008379 A CN108008379 A CN 108008379A
- Authority
- CN
- China
- Prior art keywords
- point
- broken line
- straightway
- line
- points
- 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 45
- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 230000007613 environmental effect Effects 0.000 title claims abstract description 8
- 238000012986 modification Methods 0.000 claims description 22
- 230000004048 modification Effects 0.000 claims description 22
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 5
- 230000003068 static effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 2
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 2
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 2
- 230000009849 deactivation Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T9/00—Image coding
- G06T9/20—Contour coding, e.g. using detection of edges
-
- 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
-
- 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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (7)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16196798.9A EP3318890B1 (en) | 2016-11-02 | 2016-11-02 | Method to provide a vehicle environment contour polyline from detection data |
EP16196798.9 | 2016-11-02 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108008379A true CN108008379A (zh) | 2018-05-08 |
CN108008379B CN108008379B (zh) | 2021-07-23 |
Family
ID=57218824
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711045291.6A Active CN108008379B (zh) | 2016-11-02 | 2017-10-31 | 生成表示车辆环境的物体的轮廓的折线的方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10509980B2 (zh) |
EP (1) | EP3318890B1 (zh) |
CN (1) | CN108008379B (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10066946B2 (en) | 2016-08-26 | 2018-09-04 | Here Global B.V. | Automatic localization geometry detection |
EP3483629B1 (en) * | 2017-11-09 | 2021-12-29 | Veoneer Sweden AB | Detecting a parking row with a vehicle radar system |
US11093759B2 (en) * | 2018-03-06 | 2021-08-17 | Here Global B.V. | Automatic identification of roadside objects for localization |
DE102018209959A1 (de) * | 2018-06-20 | 2019-12-24 | Robert Bosch Gmbh | Verfahren und Fahrassistenzsystem zum Vermeiden einer Kollision eines Fahrzeugs mit einem Hindernis |
JP7312608B2 (ja) * | 2019-05-23 | 2023-07-21 | 豊田合成株式会社 | 車両用装飾部品 |
IT201900024685A1 (it) * | 2019-12-19 | 2021-06-19 | Cnh Ind Italia Spa | Sistema di guida autonoma attraverso filari di una piantagione |
JP7420086B2 (ja) * | 2021-01-13 | 2024-01-23 | 豊田合成株式会社 | 車両用外装品 |
EP4215943A1 (en) * | 2022-01-25 | 2023-07-26 | Continental Autonomous Mobility Germany GmbH | Method and apparatus for tracking a polyline, advanced driver assistance system and autonomous vehicle |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060126965A1 (en) * | 2004-12-13 | 2006-06-15 | Destiny Technology Corporation | Method of auto-deskewing a tilted image |
CN101414348A (zh) * | 2007-10-19 | 2009-04-22 | 三星电子株式会社 | 多角度人脸识别方法和系统 |
US20090303026A1 (en) * | 2008-06-04 | 2009-12-10 | Mando Corporation | Apparatus, method for detecting critical areas and pedestrian detection apparatus using the same |
CN101726255A (zh) * | 2008-10-24 | 2010-06-09 | 中国科学院光电研究院 | 从三维激光点云数据中提取感兴趣建筑物的方法 |
US20100195879A1 (en) * | 2009-01-30 | 2010-08-05 | Bernhardt Dominik | Method for actuating an image output device, method for determining tangential slice planes, actuation module and slice plane determination unit |
CN101893704A (zh) * | 2010-07-20 | 2010-11-24 | 哈尔滨工业大学 | 一种基于粗糙集的雷达辐射源信号识别方法 |
JP2010271828A (ja) * | 2009-05-20 | 2010-12-02 | Honda Motor Co Ltd | 立体形状生成システム及び方法 |
CN102566500A (zh) * | 2011-11-24 | 2012-07-11 | 山东理工大学 | 基于直线段逼近节点的数控系统轮廓误差控制方法 |
CN103065151A (zh) * | 2012-11-04 | 2013-04-24 | 北京工业大学 | 一种基于深度信息的车辆识别方法 |
CN103500359A (zh) * | 2013-10-18 | 2014-01-08 | 无锡科技职业学院 | 基于结构等价型模糊神经网络的雷达辐射源识别方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4783829A (en) * | 1983-02-23 | 1988-11-08 | Hitachi, Ltd. | Pattern recognition apparatus |
US5335296A (en) | 1991-04-30 | 1994-08-02 | Optigraphics Corporation | Process for high speed rescaling of binary images |
JP2940240B2 (ja) * | 1991-08-01 | 1999-08-25 | 日本電気株式会社 | 波形データ圧縮方式 |
US5335298A (en) * | 1991-08-19 | 1994-08-02 | The United States Of America As Represented By The Secretary Of The Army | Automated extraction of airport runway patterns from radar imagery |
EP2606472A2 (en) * | 2010-06-11 | 2013-06-26 | Estill, James A. | System and method for manipulating data having spatial coordinates |
US10591594B2 (en) * | 2015-09-30 | 2020-03-17 | Sony Corporation | Information processing apparatus, information processing method, and program |
-
2016
- 2016-11-02 EP EP16196798.9A patent/EP3318890B1/en active Active
-
2017
- 2017-10-31 US US15/799,324 patent/US10509980B2/en active Active
- 2017-10-31 CN CN201711045291.6A patent/CN108008379B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060126965A1 (en) * | 2004-12-13 | 2006-06-15 | Destiny Technology Corporation | Method of auto-deskewing a tilted image |
CN101414348A (zh) * | 2007-10-19 | 2009-04-22 | 三星电子株式会社 | 多角度人脸识别方法和系统 |
US20090303026A1 (en) * | 2008-06-04 | 2009-12-10 | Mando Corporation | Apparatus, method for detecting critical areas and pedestrian detection apparatus using the same |
CN101726255A (zh) * | 2008-10-24 | 2010-06-09 | 中国科学院光电研究院 | 从三维激光点云数据中提取感兴趣建筑物的方法 |
US20100195879A1 (en) * | 2009-01-30 | 2010-08-05 | Bernhardt Dominik | Method for actuating an image output device, method for determining tangential slice planes, actuation module and slice plane determination unit |
JP2010271828A (ja) * | 2009-05-20 | 2010-12-02 | Honda Motor Co Ltd | 立体形状生成システム及び方法 |
CN101893704A (zh) * | 2010-07-20 | 2010-11-24 | 哈尔滨工业大学 | 一种基于粗糙集的雷达辐射源信号识别方法 |
CN102566500A (zh) * | 2011-11-24 | 2012-07-11 | 山东理工大学 | 基于直线段逼近节点的数控系统轮廓误差控制方法 |
CN103065151A (zh) * | 2012-11-04 | 2013-04-24 | 北京工业大学 | 一种基于深度信息的车辆识别方法 |
CN103500359A (zh) * | 2013-10-18 | 2014-01-08 | 无锡科技职业学院 | 基于结构等价型模糊神经网络的雷达辐射源识别方法 |
Non-Patent Citations (1)
Title |
---|
周昌乐: "《视觉计算原理》", 31 August 1996 * |
Also Published As
Publication number | Publication date |
---|---|
EP3318890A1 (en) | 2018-05-09 |
CN108008379B (zh) | 2021-07-23 |
US10509980B2 (en) | 2019-12-17 |
EP3318890B1 (en) | 2019-05-01 |
US20180121750A1 (en) | 2018-05-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108008379A (zh) | 根据检测数据提供车辆环境轮廓折线的方法 | |
Holder et al. | Real-time pose graph SLAM based on radar | |
CN110458854B (zh) | 一种道路边缘检测方法和装置 | |
CN104793202B (zh) | 多雷达成像传感器的对象融合系统 | |
CN104035071B (zh) | 融合雷达/摄像机物体数据和LiDAR扫描点的方法和装置 | |
CN110163871B (zh) | 一种多线激光雷达的地面分割方法及装置 | |
Yao et al. | Extraction and motion estimation of vehicles in single-pass airborne LiDAR data towards urban traffic analysis | |
CN109212531A (zh) | 确定目标车辆取向的方法 | |
CN108140323B (zh) | 用于机动车中的环境检测时改进的数据融合的方法和设备 | |
CN107766405A (zh) | 自动车辆道路模型定义系统 | |
CN104035439A (zh) | 用多个激光雷达传感器利用扫描点追踪物体的贝叶斯网络 | |
CN105404844A (zh) | 一种基于多线激光雷达的道路边界检测方法 | |
US20060115113A1 (en) | Method for the recognition and tracking of objects | |
CN112464812B (zh) | 一种基于车辆的凹陷类障碍物检测方法 | |
CN112455430B (zh) | 无车位线的斜列车位的检测方法、泊车方法及泊车系统 | |
US11403482B2 (en) | Adaptive search for LiDAR-based clustering | |
CN110674705A (zh) | 基于多线激光雷达的小型障碍物检测方法及装置 | |
CN112781599A (zh) | 确定车辆的位置的方法 | |
US20150198735A1 (en) | Method of Processing 3D Sensor Data to Provide Terrain Segmentation | |
Nguyen et al. | Planar surface detection for sparse and heterogeneous mobile laser scanning point clouds | |
CN113008296A (zh) | 用于通过在点云平面上融合传感器数据来检测汽车环境的方法和汽车控制单元 | |
JP3636150B2 (ja) | 走路上反射物の物体種類判定方法 | |
CN115151836A (zh) | 用于探测车辆周围环境中的移动对象的方法和机动车辆 | |
US20220363288A1 (en) | Method and Apparatus for Tracking Object Using Lidar Sensor and Recording Medium Storing Program to Execute the Method | |
CN113496199B (zh) | 对目标对象的基于直方图的l形检测 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address |
Address after: michigan Patentee after: Anbofu Service 5 LLC USA Country or region after: U.S.A. Address before: michigan Patentee before: Delphi Technologies, LLC Country or region before: U.S.A. Address after: michigan Patentee after: Delphi Technologies, LLC Country or region after: U.S.A. Address before: michigan Patentee before: DELPHI TECHNOLOGIES, Inc. Country or region before: U.S.A. |
|
CP03 | Change of name, title or address |