DE102012110595A1 - Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug - Google Patents

Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug Download PDF

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Publication number
DE102012110595A1
DE102012110595A1 DE102012110595.2A DE102012110595A DE102012110595A1 DE 102012110595 A1 DE102012110595 A1 DE 102012110595A1 DE 102012110595 A DE102012110595 A DE 102012110595A DE 102012110595 A1 DE102012110595 A1 DE 102012110595A1
Authority
DE
Germany
Prior art keywords
traffic sign
information
radar
traffic
data
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.)
Withdrawn
Application number
DE102012110595.2A
Other languages
German (de)
English (en)
Inventor
Marc Fischer
Peter van der Vegte
Ulrich Möller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aumovio Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Priority to DE102012110595.2A priority Critical patent/DE102012110595A1/de
Priority to US14/427,427 priority patent/US10223600B2/en
Priority to EP13795994.6A priority patent/EP2917759A1/de
Priority to DE112013005299.7T priority patent/DE112013005299A5/de
Priority to PCT/DE2013/200238 priority patent/WO2014071939A1/de
Priority to JP2015540048A priority patent/JP6469013B2/ja
Publication of DE102012110595A1 publication Critical patent/DE102012110595A1/de
Withdrawn legal-status Critical Current

Links

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
    • G01S13/93—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 OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/254—Fusion techniques of classification results, e.g. of results related to same input data
    • G06F18/256—Fusion techniques of classification results, e.g. of results related to same input data of results relating to different input data, e.g. multimodal recognition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/809—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data
    • G06V10/811—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data the classifiers operating on different input data, e.g. multi-modal recognition
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Medical Informatics (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Software Systems (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Mechanical Engineering (AREA)
DE102012110595.2A 2012-11-06 2012-11-06 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug Withdrawn DE102012110595A1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE102012110595.2A DE102012110595A1 (de) 2012-11-06 2012-11-06 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug
US14/427,427 US10223600B2 (en) 2012-11-06 2013-10-21 Method and device for recognizing traffic signs for a vehicle
EP13795994.6A EP2917759A1 (de) 2012-11-06 2013-10-21 Verfahren und vorrichtung zur erkennung von verkehrszeichen für ein fahrzeug
DE112013005299.7T DE112013005299A5 (de) 2012-11-06 2013-10-21 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug
PCT/DE2013/200238 WO2014071939A1 (de) 2012-11-06 2013-10-21 Verfahren und vorrichtung zur erkennung von verkehrszeichen für ein fahrzeug
JP2015540048A JP6469013B2 (ja) 2012-11-06 2013-10-21 自動車用の交通標識を認識するための方法及び装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012110595.2A DE102012110595A1 (de) 2012-11-06 2012-11-06 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug

Publications (1)

Publication Number Publication Date
DE102012110595A1 true DE102012110595A1 (de) 2014-05-08

Family

ID=49674106

Family Applications (2)

Application Number Title Priority Date Filing Date
DE102012110595.2A Withdrawn DE102012110595A1 (de) 2012-11-06 2012-11-06 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug
DE112013005299.7T Pending DE112013005299A5 (de) 2012-11-06 2013-10-21 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE112013005299.7T Pending DE112013005299A5 (de) 2012-11-06 2013-10-21 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug

Country Status (5)

Country Link
US (1) US10223600B2 (https=)
EP (1) EP2917759A1 (https=)
JP (1) JP6469013B2 (https=)
DE (2) DE102012110595A1 (https=)
WO (1) WO2014071939A1 (https=)

Cited By (7)

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DE102015003963A1 (de) 2015-03-26 2015-08-20 Daimler Ag Vorrichtung und Verfahren zur Erkennung von Verkehrszeichen
WO2016012014A1 (de) * 2014-07-25 2016-01-28 Conti Temic Microelectronic Gmbh Verfahren zum betrieb eines assistenzsystems eines kraftfahrzeugs sowie assistenzsystem
DE102014220571A1 (de) 2014-10-10 2016-04-14 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Erkennung von relevanten Verkehrszeichen für ein Fahrzeug
EP3016086A1 (en) * 2014-10-27 2016-05-04 HERE Global B.V. Negative image for sign placement detection
WO2018060344A1 (de) * 2016-09-29 2018-04-05 Valeo Schalter Und Sensoren Gmbh Verkehrszeichenklassifikation in einem umgebungsbereich eines kraftfahrzeugs
CN111964673A (zh) * 2020-08-25 2020-11-20 一汽解放汽车有限公司 一种无人车定位系统
DE102021202232A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Erkennung eines Verkehrszeichens mittels eines LiDAR-Systems

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US9164511B1 (en) 2013-04-17 2015-10-20 Google Inc. Use of detected objects for image processing
JP5961207B2 (ja) * 2014-03-28 2016-08-02 富士重工業株式会社 車外環境認識装置
WO2016080452A1 (ja) * 2014-11-19 2016-05-26 エイディシーテクノロジー株式会社 自動運転制御装置
US10345107B2 (en) * 2016-06-22 2019-07-09 Aptiv Technologies Limited Automated vehicle sensor selection based on map data density and navigation feature density
CN107818288B (zh) * 2016-09-13 2019-04-09 腾讯科技（深圳）有限公司 标志牌信息获取方法及装置
US10528055B2 (en) * 2016-11-03 2020-01-07 Ford Global Technologies, Llc Road sign recognition
KR102383426B1 (ko) 2016-12-15 2022-04-07 현대자동차주식회사 톨게이트 구간 판단 장치 및 방법
KR20180106417A (ko) * 2017-03-20 2018-10-01 현대자동차주식회사 차량의 위치 인식 시스템 및 방법
DE102017218192A1 (de) * 2017-10-12 2019-04-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Verkehrsschilderkennung
US10627516B2 (en) * 2018-07-19 2020-04-21 Luminar Technologies, Inc. Adjustable pulse characteristics for ground detection in lidar systems
US10891501B2 (en) * 2019-01-28 2021-01-12 Uber Technologies, Inc. Automatically associating road sign information with road segments using image data
US11334089B1 (en) 2019-07-26 2022-05-17 Jeffrey W. Bryce Infrastructure markers for autonomous vehicles
KR20240058610A (ko) * 2022-10-26 2024-05-03 삼성전자주식회사 차량을 위한 표지 장치
CN116577752A (zh) * 2023-04-18 2023-08-11 深圳优地科技有限公司 识别标识结构的方法、装置、电子设备和可读存储介质
JP2025036354A (ja) * 2023-08-31 2025-03-14 北京地平▲線▼信息技▲術▼有限公司 交通標識の検出方法、装置、記憶媒体及び電子機器

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DE102008043743A1 (de) * 2008-11-14 2010-05-20 Robert Bosch Gmbh Verfahren und Steuergerät zur Auswertung eines Sensorsignals
EP2629237A1 (en) * 2012-02-14 2013-08-21 Yan-Hong Chiang Remote vehicle management system by video radar

Cited By (11)

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Publication number Priority date Publication date Assignee Title
WO2016012014A1 (de) * 2014-07-25 2016-01-28 Conti Temic Microelectronic Gmbh Verfahren zum betrieb eines assistenzsystems eines kraftfahrzeugs sowie assistenzsystem
US10339803B2 (en) 2014-07-25 2019-07-02 Conti Temic Microelectronic Gmbh Method for operating an assistance system of a motor vehicle and assistance system
DE102014220571A1 (de) 2014-10-10 2016-04-14 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Erkennung von relevanten Verkehrszeichen für ein Fahrzeug
EP3016086A1 (en) * 2014-10-27 2016-05-04 HERE Global B.V. Negative image for sign placement detection
US9530313B2 (en) 2014-10-27 2016-12-27 Here Global B.V. Negative image for sign placement detection
US9978274B2 (en) 2014-10-27 2018-05-22 Here Global B.V. Negative image for sign placement detection
DE102015003963A1 (de) 2015-03-26 2015-08-20 Daimler Ag Vorrichtung und Verfahren zur Erkennung von Verkehrszeichen
WO2018060344A1 (de) * 2016-09-29 2018-04-05 Valeo Schalter Und Sensoren Gmbh Verkehrszeichenklassifikation in einem umgebungsbereich eines kraftfahrzeugs
US10896337B2 (en) 2016-09-29 2021-01-19 Valeo Schalter Und Sensoren Gmbh Method for classifying a traffic sign, or road sign, in an environment region of a motor vehicle, computational apparatus, driver assistance system and motor vehicle
CN111964673A (zh) * 2020-08-25 2020-11-20 一汽解放汽车有限公司 一种无人车定位系统
DE102021202232A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Erkennung eines Verkehrszeichens mittels eines LiDAR-Systems

Also Published As

Publication number Publication date
US20150220795A1 (en) 2015-08-06
JP6469013B2 (ja) 2019-02-13
WO2014071939A1 (de) 2014-05-15
JP2016502178A (ja) 2016-01-21
EP2917759A1 (de) 2015-09-16
DE112013005299A5 (de) 2015-07-16
US10223600B2 (en) 2019-03-05

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