CN110287803B - 一种轨迹路标的识别方法及系统 - Google Patents
一种轨迹路标的识别方法及系统 Download PDFInfo
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- CN110287803B CN110287803B CN201910461999.2A CN201910461999A CN110287803B CN 110287803 B CN110287803 B CN 110287803B CN 201910461999 A CN201910461999 A CN 201910461999A CN 110287803 B CN110287803 B CN 110287803B
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- 238000000034 method Methods 0.000 title claims abstract description 74
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000000605 extraction Methods 0.000 claims description 6
- 239000003550 marker Substances 0.000 claims 1
- 238000012549 training Methods 0.000 description 18
- 239000000284 extract Substances 0.000 description 14
- 238000004590 computer program Methods 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 10
- 238000004422 calculation algorithm Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000007477 logistic regression Methods 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 208000031427 Foetal heart rate deceleration Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- 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
- 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]
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- 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
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
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- Bioinformatics & Computational Biology (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
Description
路标类型 | 关键特征 | 所使用的传感器 |
道闸点 | 速度、前向加速度 | 轮速计、加速度计 |
入坡点/出坡点 | 俯仰角速度 | 陀螺仪 |
入弯点/出弯点 | 航向角速度 | 陀螺仪 |
减速带 | 俯仰角速度、速度 | 陀螺仪、轮速计 |
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CN201910461999.2A CN110287803B (zh) | 2019-05-29 | 2019-05-29 | 一种轨迹路标的识别方法及系统 |
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CN110287803A CN110287803A (zh) | 2019-09-27 |
CN110287803B true CN110287803B (zh) | 2021-07-13 |
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Families Citing this family (1)
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CN111885138A (zh) * | 2020-07-16 | 2020-11-03 | 广州小鹏车联网科技有限公司 | 控制方法、车辆和服务器 |
Citations (8)
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CN104977012A (zh) * | 2014-03-11 | 2015-10-14 | 沃尔沃汽车公司 | 用于确定车辆的位置的方法和系统 |
CN105004340A (zh) * | 2015-07-14 | 2015-10-28 | 沈向东 | 结合惯性导航技术和指纹定位技术的定位误差修正方法 |
WO2016148237A1 (ja) * | 2015-03-19 | 2016-09-22 | クラリオン株式会社 | 情報処理装置、及び、車両位置検出方法 |
CN106289282A (zh) * | 2016-07-18 | 2017-01-04 | 北京方位捷讯科技有限公司 | 一种室内地图行人航迹匹配方法 |
CN106935052A (zh) * | 2015-12-30 | 2017-07-07 | 沈阳美行科技有限公司 | 一种基于行驶数据的变速提示方法及装置 |
CN106931980A (zh) * | 2015-12-30 | 2017-07-07 | 沈阳美行科技有限公司 | 一种行驶数据的生成方法及装置 |
CN108021862A (zh) * | 2016-11-03 | 2018-05-11 | 福特全球技术公司 | 道路标志识别 |
CN109466546A (zh) * | 2018-11-20 | 2019-03-15 | 广州小鹏汽车科技有限公司 | 自动泊车方法及系统 |
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2019
- 2019-05-29 CN CN201910461999.2A patent/CN110287803B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104977012A (zh) * | 2014-03-11 | 2015-10-14 | 沃尔沃汽车公司 | 用于确定车辆的位置的方法和系统 |
WO2016148237A1 (ja) * | 2015-03-19 | 2016-09-22 | クラリオン株式会社 | 情報処理装置、及び、車両位置検出方法 |
CN105004340A (zh) * | 2015-07-14 | 2015-10-28 | 沈向东 | 结合惯性导航技术和指纹定位技术的定位误差修正方法 |
CN106935052A (zh) * | 2015-12-30 | 2017-07-07 | 沈阳美行科技有限公司 | 一种基于行驶数据的变速提示方法及装置 |
CN106931980A (zh) * | 2015-12-30 | 2017-07-07 | 沈阳美行科技有限公司 | 一种行驶数据的生成方法及装置 |
CN106289282A (zh) * | 2016-07-18 | 2017-01-04 | 北京方位捷讯科技有限公司 | 一种室内地图行人航迹匹配方法 |
CN108021862A (zh) * | 2016-11-03 | 2018-05-11 | 福特全球技术公司 | 道路标志识别 |
CN109466546A (zh) * | 2018-11-20 | 2019-03-15 | 广州小鹏汽车科技有限公司 | 自动泊车方法及系统 |
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Effective date of registration: 20210106 Address after: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Applicant after: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Address before: Room 245, No. 333, jiufo Jianshe Road, Zhongxin Guangzhou Knowledge City, Guangzhou City, Guangdong Province Applicant before: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. |
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Application publication date: 20190927 Assignee: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Assignor: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Contract record no.: X2021440000219 Denomination of invention: A recognition method and system of track landmark Granted publication date: 20210713 License type: Common License Record date: 20211220 |
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Effective date of registration: 20240301 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |