DE112018003499A5 - Verfahren und Vorrichtung zum Erkennen von Fahrspuren, Fahrerassistenzsystem und Fahrzeug - Google Patents

Verfahren und Vorrichtung zum Erkennen von Fahrspuren, Fahrerassistenzsystem und Fahrzeug Download PDF

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Publication number
DE112018003499A5
DE112018003499A5 DE112018003499.2T DE112018003499T DE112018003499A5 DE 112018003499 A5 DE112018003499 A5 DE 112018003499A5 DE 112018003499 T DE112018003499 T DE 112018003499T DE 112018003499 A5 DE112018003499 A5 DE 112018003499A5
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DE
Germany
Prior art keywords
vehicle
assistance system
driver assistance
recognizing lanes
lanes
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.)
Pending
Application number
DE112018003499.2T
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English (en)
Inventor
Christopher Bayer
Claudio Heller
Claudia Loy
Alexey Abramov
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.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Continental Teves AG and Co OHG
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 Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of DE112018003499A5 publication Critical patent/DE112018003499A5/de
Pending legal-status Critical Current

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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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • 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
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G06V10/443—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by matching or filtering
    • G06V10/449—Biologically inspired filters, e.g. difference of Gaussians [DoG] or Gabor filters
    • G06V10/451—Biologically inspired filters, e.g. difference of Gaussians [DoG] or Gabor filters with interaction between the filter responses, e.g. cortical complex cells
    • G06V10/454—Integrating the filters into a hierarchical structure, e.g. convolutional neural networks [CNN]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20024—Filtering details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Biophysics (AREA)
  • Computational Linguistics (AREA)
  • Data Mining & Analysis (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
DE112018003499.2T 2017-09-22 2018-08-31 Verfahren und Vorrichtung zum Erkennen von Fahrspuren, Fahrerassistenzsystem und Fahrzeug Pending DE112018003499A5 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102017216802.1A DE102017216802A1 (de) 2017-09-22 2017-09-22 Verfahren und vorrichtung zum erkennen von fahrspuren, fahrerassistenzsystem und fahrzeug
DE102017216802.1 2017-09-22
PCT/DE2018/200078 WO2019057252A1 (de) 2017-09-22 2018-08-31 Verfahren und vorrichtung zum erkennen von fahrspuren, fahrerassistenzsystem und fahrzeug

Publications (1)

Publication Number Publication Date
DE112018003499A5 true DE112018003499A5 (de) 2020-04-30

Family

ID=63637607

Family Applications (2)

Application Number Title Priority Date Filing Date
DE102017216802.1A Withdrawn DE102017216802A1 (de) 2017-09-22 2017-09-22 Verfahren und vorrichtung zum erkennen von fahrspuren, fahrerassistenzsystem und fahrzeug
DE112018003499.2T Pending DE112018003499A5 (de) 2017-09-22 2018-08-31 Verfahren und Vorrichtung zum Erkennen von Fahrspuren, Fahrerassistenzsystem und Fahrzeug

Family Applications Before (1)

Application Number Title Priority Date Filing Date
DE102017216802.1A Withdrawn DE102017216802A1 (de) 2017-09-22 2017-09-22 Verfahren und vorrichtung zum erkennen von fahrspuren, fahrerassistenzsystem und fahrzeug

Country Status (5)

Country Link
US (1) US11417117B2 (de)
JP (1) JP7548813B2 (de)
CN (1) CN111066024B (de)
DE (2) DE102017216802A1 (de)
WO (1) WO2019057252A1 (de)

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* Cited by examiner, † Cited by third party
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AU2019433083B2 (en) * 2019-03-01 2023-05-18 Nec Corporation Control method, learning device, discrimination device, and program
CN112164228A (zh) * 2020-09-15 2021-01-01 深圳市点创科技有限公司 驾驶电动车未佩戴头盔行为检测方法、电子设备、存储介质

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JPH08202877A (ja) * 1995-01-31 1996-08-09 Toyota Motor Corp 画像認識装置
DE19926559A1 (de) * 1999-06-11 2000-12-21 Daimler Chrysler Ag Verfahren und Vorrichtung zur Detektion von Objekten im Umfeld eines Straßenfahrzeugs bis in große Entfernung
DE10127034A1 (de) * 2001-06-02 2002-12-05 Opel Adam Ag Verfahren und Vorrichtung zur Ermittlung eines Spurverlaufs einer Fahrbahn
JP2007003298A (ja) * 2005-06-22 2007-01-11 Toyota Motor Corp 道路モデル生成装置
US8670592B2 (en) * 2008-04-24 2014-03-11 GM Global Technology Operations LLC Clear path detection using segmentation-based method
US8452053B2 (en) 2008-04-24 2013-05-28 GM Global Technology Operations LLC Pixel-based texture-rich clear path detection
US8773535B2 (en) * 2010-12-08 2014-07-08 GM Global Technology Operations LLC Adaptation for clear path detection using reliable local model updating
EP2549408A1 (de) * 2011-07-20 2013-01-23 Delphi Technologies, Inc. Verfahren zur Detektion und Klassifikation von Objekten
DE102011111856B4 (de) * 2011-08-27 2019-01-10 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Detektion mindestens einer Fahrspur in einem Fahrzeugumfeld
DE102011122310A1 (de) 2011-12-23 2015-06-18 Daimler Ag Verfahren und Vorrichtung zur Erkennung von Fahrspurmarkierungen
JP6185418B2 (ja) * 2014-03-27 2017-08-23 トヨタ自動車株式会社 走路境界区画線検出装置
JP6141788B2 (ja) 2014-04-14 2017-06-07 本田技研工業株式会社 レーンマーク認識装置
CN104036253A (zh) * 2014-06-20 2014-09-10 智慧城市系统服务（中国）有限公司 一种车道线追踪方法及系统
CN104967885B (zh) * 2015-03-27 2019-01-11 哈尔滨工业大学深圳研究生院 一种基于视频内容感知的广告推荐方法及系统
DE102015209467A1 (de) 2015-05-22 2016-11-24 Continental Teves Ag & Co. Ohg Verfahren zur Schätzung von Fahrstreifen
US9884623B2 (en) * 2015-07-13 2018-02-06 GM Global Technology Operations LLC Method for image-based vehicle localization
CN105046235B (zh) 2015-08-03 2018-09-07 百度在线网络技术（北京）有限公司 车道线的识别建模方法和装置、识别方法和装置
CN105260699B (zh) * 2015-09-10 2018-06-26 百度在线网络技术（北京）有限公司 一种车道线数据的处理方法及装置
US10124730B2 (en) 2016-03-17 2018-11-13 Ford Global Technologies, Llc Vehicle lane boundary position
CN111542860B (zh) * 2016-12-30 2024-08-27 辉达公司 用于自主车辆的高清地图的标志和车道创建
CN107092862A (zh) * 2017-03-16 2017-08-25 浙江零跑科技有限公司 一种基于卷积神经网络的车道边缘检测方法
CN107145904A (zh) * 2017-04-28 2017-09-08 北京小米移动软件有限公司 图像类别的确定方法、装置及存储介质
US10401866B2 (en) * 2017-05-03 2019-09-03 GM Global Technology Operations LLC Methods and systems for lidar point cloud anomalies
US10634317B2 (en) * 2017-08-03 2020-04-28 Toyota Motor Engineering & Manufacturing North America, Inc. Dynamic control of vehicle lamps during maneuvers

Also Published As

Publication number Publication date
CN111066024B (zh) 2024-07-19
US11417117B2 (en) 2022-08-16
JP2020534600A (ja) 2020-11-26
DE102017216802A1 (de) 2019-03-28
WO2019057252A1 (de) 2019-03-28
CN111066024A (zh) 2020-04-24
US20200410256A1 (en) 2020-12-31
JP7548813B2 (ja) 2024-09-10

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R081 Change of applicant/patentee

Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE

Free format text: FORMER OWNER: CONTINENTAL TEVES AG & CO. OHG, 60488 FRANKFURT, DE

R079 Amendment of ipc main class

Free format text: PREVIOUS MAIN CLASS: G06K0009620000

Ipc: G06V0030190000

R081 Change of applicant/patentee

Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE

Free format text: FORMER OWNER: CONTINENTAL TEVES AG & CO. OHG, 60488 FRANKFURT, DE