CN108008379B - 生成表示车辆环境的物体的轮廓的折线的方法 - Google Patents
生成表示车辆环境的物体的轮廓的折线的方法 Download PDFInfo
- Publication number
- CN108008379B CN108008379B CN201711045291.6A CN201711045291A CN108008379B CN 108008379 B CN108008379 B CN 108008379B CN 201711045291 A CN201711045291 A CN 201711045291A CN 108008379 B CN108008379 B CN 108008379B
- Authority
- CN
- China
- Prior art keywords
- line segment
- straight line
- point
- points
- polyline
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000012545 processing Methods 0.000 claims description 3
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims description 2
- 239000006185 dispersion Substances 0.000 claims description 2
- 238000012163 sequencing technique Methods 0.000 abstract 1
- 230000003068 static effect Effects 0.000 description 9
- 238000013459 approach Methods 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 2
- 230000007717 exclusion Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Images
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
- 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
- G01S13/89—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
- 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 CN108008379A (zh) | 2018-05-08 |
CN108008379B true 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 (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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 |
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 |
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 (11)
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 |
US7376285B2 (en) * | 2004-12-13 | 2008-05-20 | Primax Electronics Ltd. | Method of auto-deskewing a tilted image |
KR101141874B1 (ko) * | 2008-06-04 | 2012-05-08 | 주식회사 만도 | 위험 지역의 검출 장치, 방법 및 그를 이용한 보행자 검출장치 |
DE102009006765B4 (de) * | 2009-01-30 | 2018-06-14 | Siemens Healthcare Gmbh | Verfahren zur Ansteuerung einer Bildausgabeeinrichtung, Verfahren zur Ermittlung von tangentialen Schnittebenen, Ansteuerungsmodul und Schnittebenenermittlungseinheit |
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 |
EP2606472A2 (en) * | 2010-06-11 | 2013-06-26 | Estill, James A. | System and method for manipulating data having spatial coordinates |
CN103065151B (zh) * | 2012-11-04 | 2017-02-22 | 北京工业大学 | 一种基于深度信息的车辆识别方法 |
JP6784943B2 (ja) * | 2015-09-30 | 2020-11-18 | ソニー株式会社 | 情報処理装置、情報処理方法、およびプログラム |
-
2016
- 2016-11-02 EP EP16196798.9A patent/EP3318890B1/en active Active
-
2017
- 2017-10-31 CN CN201711045291.6A patent/CN108008379B/zh active Active
- 2017-10-31 US US15/799,324 patent/US10509980B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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 |
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 |
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 |
Also Published As
Publication number | Publication date |
---|---|
US20180121750A1 (en) | 2018-05-03 |
EP3318890A1 (en) | 2018-05-09 |
EP3318890B1 (en) | 2019-05-01 |
US10509980B2 (en) | 2019-12-17 |
CN108008379A (zh) | 2018-05-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108008379B (zh) | 生成表示车辆环境的物体的轮廓的折线的方法 | |
US10677907B2 (en) | Method to determine the orientation of a target vehicle | |
US10776983B2 (en) | Analysis of point cloud data using depth and texture maps | |
CN107632308B (zh) | 一种基于递归叠加算法的车辆前方障碍物轮廓检测方法 | |
CN107000753B (zh) | 用于提供用于车辆的障碍物地图的方法 | |
CN110816548A (zh) | 传感器融合 | |
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 | |
CN113189975B (zh) | 确定车辆的位置数据和/或运动数据的方法 | |
CN112513679B (zh) | 一种目标识别的方法和装置 | |
CN107766405A (zh) | 自动车辆道路模型定义系统 | |
CN112781599B (zh) | 确定车辆的位置的方法 | |
CN104554258A (zh) | 采用虚拟势场技术的避让转向操作的路径规划 | |
US20200300967A1 (en) | Sensor verification | |
US11592820B2 (en) | Obstacle detection and vehicle navigation using resolution-adaptive fusion of point clouds | |
WO2020235396A1 (ja) | 障害物検出装置および障害物検出方法 | |
CN114084126B (zh) | 用于确定无碰撞空间的方法 | |
US20220003860A1 (en) | Determining the orientation of objects using radar or through the use of electromagnetic interrogation radiation | |
CN115151954A (zh) | 可行驶区域检测的方法和装置 | |
CN114556145A (zh) | 用于将车辆周围环境中的对象分类的方法和驾驶员辅助系统 | |
CN113496199B (zh) | 对目标对象的基于直方图的l形检测 | |
CN113030997B (zh) | 一种基于激光雷达的露天矿区可行驶区域检测方法 | |
JP6955833B2 (ja) | 車両レーダシステムを用いた駐車列の検出 | |
CN105511468B (zh) | 一种激光雷达与线结构光视觉系统的光束二重反射判别方法 | |
EP3229173B1 (en) | Method and apparatus for determining a traversable path | |
CN116129669B (zh) | 一种基于激光雷达的车位测评方法、系统、设备及介质 |
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 | ||
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. |