EP3391281A1 - Procédé et dispositif de reconnaissance de panneaux de signalisation par caméra dans un véhicule autmobile - Google Patents

Procédé et dispositif de reconnaissance de panneaux de signalisation par caméra dans un véhicule autmobile

Info

Publication number
EP3391281A1
EP3391281A1 EP16810345.5A EP16810345A EP3391281A1 EP 3391281 A1 EP3391281 A1 EP 3391281A1 EP 16810345 A EP16810345 A EP 16810345A EP 3391281 A1 EP3391281 A1 EP 3391281A1
Authority
EP
European Patent Office
Prior art keywords
traffic sign
camera
speed
vehicle
motor vehicle
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Withdrawn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
EP16810345.5A
Other languages
German (de)
English (en)
Inventor
Robert Lindemann
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 Automotive GmbH
Original Assignee
Continental Automotive 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 Continental Automotive GmbH filed Critical Continental Automotive GmbH
Publication of EP3391281A1 publication Critical patent/EP3391281A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G06V20/582—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; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/98—Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
    • G06V10/993—Evaluation of the quality of the acquired pattern

Definitions

  • traffic character recognition is provided by means of a camera which records images of a traffic space lying in front of the motor vehicle in the direction of travel.
  • the images taken by the camera are analyzed by means of a computer and appropriate software, and traffic signs are recognized by pattern recognition in the images.
  • Contents of recognized traffic signs are extracted and the extracted information is displayed to a driver or incorporated into a driver assistance system.
  • information about speed limits is displayed to give the driver another opportunity to perceive it in the event that the driver has missed an appropriate traffic sign.
  • stickers in the form of a speed limit signaling traffic signs are often attached, which should inform the following traffic about a current maximum speed for this vehicle.
  • traffic signs signaling a speed limit are also smaller images of city entrance panels, which are to indicate a connection of the vehicle owner with a location. All these "traffic signs" can be recognized by the traffic sign recognition and at least a resulting traffic recommendation or restriction may be erroneously displayed to a driver, or even used by a driver assistance system to automatically affect the driven route or speed.
  • Such misrecognition takes place especially in convoys or overtaking, because then the traffic sign representing sticker frontally or laterally recognized by the motor vehicle, so it can be well detected by the camera and fits in a conventional scheme for installation of traffic signs.
  • the invention utilizes the recognition that valid traffic signs are fixedly mounted in the rule, or if they are playing mounted on a vehicle of the road maintenance at ⁇ , which performs a control run on a road move only at a very low speed.
  • An inventive method for camera-based traffic sign recognition comprises taking at least one image of a vehicle in front of a space with a camera and performing a pattern recognition for detecting traffic signs in the at least one recorded image.
  • a sequence of further images of the space in front of the vehicle is taken with the camera, and the traffic sign recognized in the first image is tracked in the sequence of the further images.
  • a plausibility check as to whether the tracked traffic sign actually is the previously recognized traffic sign can be made, for example, when the traffic sign is not at an expected position in a subsequent image, or has a different basic shape and / or color.
  • the plausibility check can also be carried out with different parameters or methods, depending on how many traffic signs in the image taken by the camera are close to each other, especially if they are traffic signs that resemble each other.
  • similar traffic signs may have similar basic shapes and / or similar color combinations.
  • a first speed value is determined indicating the Ge ⁇ speed with which the detected and traced traffic sign on the camera and / or to the camera passes by. It exploits the fact that objects in the recording area of a camera with an unchanged focal length when approaching are displayed increasingly larger in successive images.
  • the term "successive images” refers to those successive images which are supplied to the image processing for the purpose of traffic sign recognition Moreover, an object arranged outside a straight line of sight of the camera in a sequence of images as it approaches the object becomes its position within the respective one If a camera provides more images per unit of time than required for the purposes of traffic sign recognition according to the invention, only one selection of the images actually taken can be used while other images are not used.
  • a speed of approach can be determined from the change in size over time in the image series.
  • a traffic sign will generally not be so mounted on a lane of a road that a vehicle approaches it head-on, unless the lane ends before the traffic sign or turns left or right. Accordingly, a traffic sign changes its position when the motor vehicle approaches in successive images of a camera oriented forward in the direction of travel. The position of the traffic sign is, starting from the first position at which it was detected, and with unchanged direction of travel, move to the sides and / or up or down in the image section.
  • the first velocity value is then compared with a second, provided from a tachometer of the motor vehicle speed value representing a Fahrge ⁇ speed of the motor vehicle.
  • the Ge ⁇ schwindtechniksmesser works independent of the camera.
  • the Ver ⁇ traffic signs or information extracted from the driver or the driver support system is signaled. Otherwise, the traffic sign is rejected as unreliable and information extracted therefrom is not signaled or used because the traffic sign was not stationary and was highly likely to be attached to another vehicle.
  • discarding indicate an unsafe recognized traffic signs can be done so that the driver can decide, based on the current traffic situation or environment even if he may have overlooked a traffic sign ⁇ .
  • the second speed value is provided via a data bus of the vehicle.
  • atoxicitysin ⁇ formation may be provided via a CAN bus, similar to a speed-dependent volume control for a car radio.
  • the connection to the data bus can take place via cable or wirelessly, eg according to IEEE 802.15.1 (Bluetooth).
  • the second speed value can be determined, for example, from data from one or more speed sensors on a vehicle transmission or at one or more wheels or drive shafts, or can also be determined from data from a satellite navigation system. Combinations of the different sources of data to determine the second speed value are of course also conceivable.
  • the recording of further images takes place with a fixed frame rate.
  • the term frame rate in this context refers to the number of pictures per unit of time. This makes it possible to make the determination of the first speed value only dependent on the size or position change of the detected and tracked traffic sign as well as fixed parameters of the camera and the optics.
  • the accuracy of the determination of the first speed value is higher at lower speeds of the motor vehicle than at high speeds, because the change in the size or the position of a recognized and tracked traffic sign between two images is smaller than at high speeds of the motor vehicle.
  • the tracking of the detected traffic sign at higher speeds may become difficult, or an increase in tracking errors may occur.
  • the threshold for the difference between the first and second speed values may be selected to account for the lower accuracy of the speed estimate from the camera images versus the speedometer of the vehicle.
  • a threshold value or tolerance value may be selected such that a slow change in location of traffic signs is considered valid. Such slow changes of location come e.g. when a traffic sign is attached to the back of a slow-moving control vehicle of a road maintenance company in order to regulate the speed or to set a lane.
  • the threshold value for the difference between the first and the second speed value depends on the second speed value. For example, with a fixed frame rate, lower accuracy at higher speeds can Mood of the first speed value are taken into account.
  • the recording of further images takes place at a frame rate dependent on the second speed.
  • the frame rate may be slower at low speeds than at high speeds. This can ensure that the changes in the size or position of the recognized and tracked traffic sign in two consecutive images remain within a limited range. This can lead to a simplification and acceleration of the recognition of the traffic sign in the next image because the image area to be searched for in the recognition can be narrowed down and a prediction of the expected size and position is simplified due to a simple mathematical relationship.
  • the frame rate may alternatively or additionally be changed depending on other factors described below, for example to minimize the changes in the image content in successive images.
  • the change of the frame rate can be done by actually adjusting the frame rate in the camera. However, if the camera does not allow for adjustment of the frame rate or to perform other tasks at a higher frame rate must be operated at ⁇ play wise, than would be required for the Traffic Sign ⁇ chenerkennung, a change in the frame rate can also by using only every nth image for the purposes of traffic sign recognition, ie by omitting images in the image processing.
  • the change of the frame rate can be carried out substantially continuously at the speed, or even in discrete stages for speed ranges.
  • a lower frame rate at low speeds requires fewer resources in image processing, thereby freeing up for other purposes. So at lower speeds For example, for an improved pedestrian or ekterkennung be used if a higher probability for the presence of pedestrians or for the driver of a motor vehicle relevant objects in traffic areas, in which lower speeds are driven.
  • a steering angle ie one of a position of a steering device of the
  • the values or data representing the steering angle can be provided, for example, by corresponding sensors on the steering device and / or by acceleration or gyro sensors for an electronic stability control of the motor vehicle or by an electronic compass.
  • the electronic compass or the acceleration or gyro ⁇ sensors can also be arranged in a temporarily connected to the vehicle mobile phone or smartphone, the corresponding data are then provided via a wired or wireless connection.
  • the mobile phone or the smartphone is arranged in the motor vehicle to ⁇ that it performs movements of the body at the same time and largely identical.
  • a change in the inclination of the vehicle in the longitudinal and / or transverse direction for example in the case of a changing incline or a changing profile of the surface of the road, can be taken into account in successive images.
  • the body and thus the camera perform an up-and-down motion or lateral roll motion, also known in marine as "pounding" or “rolling” is. Since the camera is firmly connected to the body of the motor vehicle, the area covered by the camera will change accordingly.
  • a change in position could erroneously result in the determination of a speed other than the actual speed when determining the first speed value.
  • acceleration sensors gyro sensors or an electronic compass of a satellite navigation system present in the motor vehicle.
  • a corresponding sensors temporarily ver the vehicle ⁇ -bound mobile phone or smartphone.
  • the sensors can provide appropriate data via a wired or wireless connection.
  • the mobile phone or the smartphone is arranged in the motor vehicle to ⁇ that it performs movements of the body at the same time and largely identical.
  • the threshold above which a traffic sign is discarded is keitswert ⁇ in response to the second VELOCITY, changing the steering angle and / or a change in the inclination of the vehicle in the longitudinal and / or transverse direction.
  • a ZuOrdnungsvorschrift which describes a Zu ⁇ order of two or more values or parameters to each other.
  • the ZuOrd Vietnamesesvorschrift may be described formulaically, or be implemented as a mapping table. Assignments can be made continuously or in areas. As a result, a determination of the first speed value that varies with the speed of the motor vehicle, a steering angle or dynamic changes in the body position can be taken into account.
  • a recognized traffic sign is discarded if it could not be detected or tracked in an uninterruptedly consecutive minimum number of further images.
  • the minimum number may be determined as a function of the second speed value, the steering angle and / or a change in the inclination of the vehicle in the longitudinal and / or transverse direction.
  • the method pauses when the second speed values correspond to a motor vehicle that is not in motion.
  • the knowledge is used that the recording of further images and a tracking of traffic signs while the motor vehicle is not sensibly evaluable information provides to determine a speed.
  • the process will pause, performs so no tracking of the recognized traffic sign, and no determination of a Ge ⁇ speed of a series of images that energy can a ⁇ be saved and / or resources, so for example, equipped for performing the process computer may be in This time can be used for other purposes.
  • the method pauses when a traffic sign with a speed limit has been detected to very low values, for example 6 km / h. Sticker with such Ge ⁇ schwindtechniksbegrenzonne are sometimes mounted on agricultural tractors, but are otherwise very rare.
  • a database query takes place in order to determine permanently installed traffic signs known at the current position of the vehicle.
  • the database query can be used to further verify the recognition. If the database query does not match, it is also possible to send the result of the discovery to the database. If a detected at a position not included in the database traffic sign of a plurality of traffic part ⁇ holders are independently and reported over a certain period to the database, the database can be updated accordingly.
  • information of a lane recognition is used to improve the traffic sign recognition.
  • a traffic sign recognized on a lane immediately next to it can be discarded, because in this case only one traffic sign located above the lane can be valid.
  • information of an assistance system which can identify vehicles in front to exclude image areas from the traffic sign recognition that have been identified as belonging to a preceding vehicle.
  • Figure 1 is a schematic representation of a camera view of a first traffic situation in front of a vehicle at a first time
  • Figure 2 is a schematic representation of the camera view of the first traffic situation in front of the vehicle at a second time
  • Figure 3 is a schematic representation of a camera view of a second traffic situation in front of a vehicle at a first time
  • Figure 4 is a schematic representation of the camera view of the second traffic situation in front of the vehicle at a second time
  • Figure 5 is a schematic representation of a camera view of a third traffic situation in front of a vehicle at a first time
  • FIG. 6 a schematic representation of the camera view of the third traffic situation in front of the vehicle at a second time
  • FIG. 7 shows an exemplary flow diagram of an embodiment of the method according to the invention.
  • FIG. 8 shows a schematic block diagram of an apparatus for carrying out the method.
  • Figure 1 shows a first schematic representation of a Ka ⁇ merasicht to a first traffic situation ahead of a vehicle 100 (not shown) at a first time.
  • the traffic situation shows a straight to the horizon 101 extending two-lane road 102.
  • the vehicle not shown in the figure moves on the right lane in the direction of the horizon 101.
  • a traffic sign 103 At some distance from the current position of the vehicle is a traffic sign 103, which has a speed s - Limit signaled at 80 km / h.
  • the camera is not shown in the figure provides images of the traffic situation to an also not shown in the figure module for Traffic Sign ⁇ chenerkennung which include a dedicated software can be done on a suitable hardware.
  • a traffic sign when a traffic sign has been detected, in this example the traffic sign 103, the traffic sign is tracked in subsequently captured images. For this purpose, an area occupied by the traffic sign or a lying around the traffic sign area of the image can be marked, which must be recognized in the subsequently recorded images again.
  • the scene captured by the camera changes due to the movement of the camera with the vehicle. This change is reflected, for example, in a change in size of objects, but also in a change of location of objects within the image taken by the camera. From a known time interval between two images of the camera and a change in size and / or change of location of objects, a speed of the camera and thus of the vehicle can be determined. Immutable properties of a lens of the camera, such as nonlinearities or distortions in certain image areas can be taken into account accordingly.
  • FIG. 2 shows a schematic representation of the camera view of the first traffic situation 100 in front of the vehicle at a second time.
  • the vehicle has moved forward a certain distance and has come closer to the traffic sign 103. Accordingly, the traffic sign 103 is now larger in the image and is at a different position in the image.
  • the change in position relative to the camera shown in FIG. 1 at the first time is illustrated by the arrows 205 and 206.
  • a speed is determined according to the invention, with which the camera has moved towards the traffic sign. The determined speed is compared with a speed value provided by a speedometer of the vehicle.
  • the Traffic sign 103 is fixed in place.
  • the recognized traffic sign 103 may thus be displayed to the driver of the vehicle and / or the speed limit signaled by the traffic sign may be used for automated vehicle control.
  • the recognition of the traffic sign 103 recognized at the first time can be simplified and / or accelerated if the search area can be delimited in a subsequent image.
  • the vehicle speed is measured by a camera-independent speedometer of the vehicle at each time point and thus known. From the known FahrZeug Anthony and the known characteristics of the camera thus a search range can be predicted, within which the traffic sign must be in a subsequent image. The prediction not only affects a change of location within the picture, but also a resizing.
  • the predicted search area is indicated in FIG. 2 by way of example by the dot-dashed frame 207 about the traffic sign 103.
  • FIG. 3 shows a schematic representation of a camera view of a second traffic situation 300 in front of a vehicle at a first time.
  • the traffic situation is similar to that of Figures 1 and 2, but the road 102 is in a left turn.
  • the driver of the vehicle In order to follow the road course of the road 102, the driver of the vehicle must turn the steering wheel to the left. Due to the steering wheel angle, the image captured by the camera changes accordingly; the change of
  • the direction of travel corresponds to a camera swing.
  • a recognized in the captured image at the first time traffic sign ⁇ 103 is thus a stronger change in the position experienced in a captured at a second time subsequent image than in the embodiment described with reference to Figures 1 and 2 situation. If the speed of the camera and thus of the vehicle is based solely on the magnitude and position tion change of the traffic sign in successive images, the time interval is known, the caused by the panning of the vehicle stronger change in position of the traffic sign can lead to a less accurate determination of the speed, or it is determined a wrong speed.
  • This can cause the difference in the speeds is a comparison of the determined by the camera images speed with the provided by the speedometer of the vehicle speed value above a threshold value, so that the Ver ⁇ traffic signs is evaluated not recognized as valid. An unrecognized as valid road sign will not be displayed to the driver of the vehicle and will not be used for the au ⁇ tomatinstrumente vehicle control.
  • FIG. 4 shows a schematic representation of the camera view of the second traffic situation 300 at a second time.
  • the vehicle has moved forward a certain distance and has come closer to the traffic sign three. Accordingly, the traffic sign 103 is now larger in the image and is at a different position in the image.
  • the change in position relative to the camera shown in FIG. 3 at the first time is illustrated by arrows 405 and 406. From the time difference between the first and the second time and the change in the position of the traffic sign ⁇ 103, a speed he ⁇ mediates, with which the camera has moved towards the traffic sign.
  • the speed of the steering wheel is considered in determining the speed in order to compensate for the resulting greater change in the position of the traffic sign 103.
  • the greater change in the position of the traffic sign 103 compared to the comparable scene in FIG. 2 is clearly recognizable.
  • the determined speed is compared with a speed value supplied by a speedometer of the vehicle. If the difference between the two speeds can be below a tolerance value It can be assumed that the traffic sign 103 is fixed in place. Experience has shown that stationary traffic signs are always to be considered by road users. The recognized traffic sign 103 may thus be displayed to the driver of the vehicle and / or the speed limit signaled by the traffic sign may be used for automated vehicle control.
  • This embodiment of the invention thus makes it possible to compensate for or reduce the influence of a lateral shift in the scene detected by the camera when determining the speed.
  • the consideration of the steering wheel angle can also be used in the recognition of the traffic sign 103 recognized at the first time for simplification or acceleration by limiting the search area accordingly in a subsequent image.
  • the search area is thus positioned not only from the expected change in the position of the traffic sign due to the approach of the vehicle to a traffic sign, but also due to the lateral displacement of the captured by the camera scene.
  • the search region is characterized by a dot-dashed frame 407 as previously in FIG.
  • the simplification or acceleration of the recognition of objects results in a shorter or lesser use of the resources provided in the vehicle for traffic sign recognition, which can be used accordingly for other purposes or placed in a sleep mode.
  • the prediction of the search area may be other driving dynamics related changes in the camera view be ⁇ into account, such as a change in the inclination of the motor vehicle chassis in the longitudinal or transverse direction.
  • FIG. 5 shows a schematic representation of a camera view of a third traffic situation 500 in front of a vehicle at a first time.
  • the simulatorsi ⁇ situation shows a straight to the horizon 101 running lane road 102.
  • the vehicle not shown in the figure goes on the left lane towards horizon 101 and is about to overtake a truck 501, which runs on the right lane at 80 km / h.
  • a sticker 502 is attached, which represents a traffic sign.
  • the sticker 502 shows a traffic sign signaling a speed limit of 80 km / h and is intended to indicate that the maximum speed of the truck 501 is 80 km / h.
  • the maximum permissible speed indicated on the roadside road sign 503 on this section of the road is 100 km / h. It is assumed that the traffic sign 503 has been reliably detected before and that the vehicle, not shown in the figure, is traveling at a speed of 100 km / h.
  • the device according to the invention recognizes the "traffic sign" 502 attached to the rear of the truck 501, and tracks it according to the invention on subsequently recorded images of the camera.
  • FIG. 6 shows a schematic illustration of the camera view of the third traffic situation in front of the vehicle at a second time. It can clearly be seen that the traffic sign 503 has disappeared from the field of view of the camera, while the truck 501 is located in a slightly changed position in the image. In particular, the change in the size and the position of the "traffic sign" 502 is only comparatively small compared with the previously recorded image. As described above with reference to FIGS. 1 and 2, the device according to the invention determines the change in size and the change in the position of the "traffic sign". 502 in consecutive pictures a speed.
  • the inventive device determined from only small change in the size and position of the "traffic sign" 502, a speed of 20 km / h, but according to the Differenzge ⁇ speed between the vehicle and the truck 501.
  • the Ge ⁇ schwindtechniksmesser of the vehicle provides A measured speed of 100 km / h
  • the difference of 80 km / h between the two speeds is above the
  • Threshold It can be concluded from this that the traffic sign is not a valid stationary one Traffic sign acts. Accordingly, the incorrectly recognized traffic sign is not displayed or the information is not used for influencing driving parameters.
  • a search area in which the traffic sign is expected to be tracked in a subsequently captured image can be estimated from the speed of the motor vehicle.
  • a valid, fixed traffic sign should be recognized in the area of the image marked by the dot-dashed frame 507.
  • the position of the frame 507 marks the expected search range.
  • the mere fact that the "traffic sign" 502 was not recognized in the expected area can be taken as an indication that it is not a valid, fixed traffic sign, at which point the search for recognition can be aborted and the signalization of the traffic sign
  • the search area may be expanded or repositioned to determine a speed from an actual location of the "traffic sign" 502 in the image.
  • a difference between the detected from the image sequence and a speed detected by the VELOCITY ⁇ keitsmesser of the motor vehicle speed is then compared in the manner described above with a threshold value. If the threshold is exceeded, ie the difference is too large, the signaling of the traffic sign to the driver or to an apparatus for automated driving is omitted.
  • the search can be limited just to the expected range. This makes the search faster and requires less resources or resources for a shorter one Period. Further data from sensors of the motor vehicle, such as the steering wheel angle or an inclination of the vehicle, as described above, can be included in the prediction to improve the positioning of the search range.
  • FIG. 7 shows an exemplary flow diagram of an embodiment of the method according to the invention 700.
  • step 702 an image is first taken, which is supplied in step 704, a Mus ⁇ more excellent recognition for recognizing traffic signs. If no traffic sign was detected, "no" branch of
  • Step 706 the process is restarted. If a traffic sign has been detected, "yes" branch from step 706, another image is captured, step 708, the traffic sign is detected in step 710 in the further image (tracking), and in step 712 a velocity from the displacement Steps 708, 710, and 712 may also be repeated one or more times (not shown in the figure), each determining a speed from the sequence of images, and an average speed Also in step 712, a speed value is obtained from the vehicle's speedometer, either at each frame or after repeatedly executing steps 708, 710, and 712 for a series of multiple frames from the speedometer related speed value and from the tracking of the Verke Thus, the speed value determined over the series of images is determined and compared with a threshold value.
  • step 714 If the difference is above the threshold, the "yes" branch of step 714, the recognized traffic sign is discarded, ie not signaled to the driver or the automated driving device, otherwise the "no" branch of step 714 becomes the traffic sign Driver or the device signals, which can then control the vehicle accordingly.
  • the flowchart shown in the figure is only an example of a variety of design variants.
  • the recording of images for other purposes can be continuous, and only tracking can be conditional if a traffic sign has been detected.
  • the recording of the additional image (s) can thus also consist in the conditional forwarding of images to a tracking module.
  • FIG. 8 shows a schematic block diagram of a device 800 for carrying out the method.
  • a camera 802 is provided with a module 804 for traffic sign detection, a tracking module 806 to track a recognized road sign, and for determining a velocity from the tracked movement ⁇ sign over a series of images, an interface module 808, which velocity values from a tachometer a motor vehicle, and a module 810, which determines a difference between the determined and the related speed and compares it with a threshold, connected via one or more bus systems and / or data interfaces 812.
  • a sensor module 814 may be connected to other modules via the bus system (s) and / or data interfaces.
  • the sensor module 814 may provide values of vehicle sensors relating to a lateral or vertical tilt of the vehicle or a steering angle and the like to, for example, traffic character recognition module 804 and tracking module 806 to enhance their respective function and / or accuracy.
  • One or more of the modules may in this case be formed by respective computer programs which are executed on one or more processors in conjunction with correspondingly provided working memory means and non-volatile memory means.
  • the bus system or the data interfaces 812 can be embodied in hardware or in software, ie also include software interfaces for exchanging data between programs or program parts within a computer.

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Abstract

L'invention concerne un procédé de reconnaissance de panneaux de signalisation par caméra dans un véhicule automobile. Le procédé comprend la réception d'au moins une image d'un espace situé en avant d'un véhicule au moyen d'une caméra et la reconnaissance de formes pour reconnaître des panneaux de signalisation dans l'au moins une image capturée. Après avoir reconnu un panneau de signalisation dans une première image, une séquence d'images supplémentaires de l'espace situé en avant du véhicule est capturée au moyen de la caméra, un suivi du panneau de signalisation, reconnu dans la première image, est effectué dans la séquence d'images supplémentaires et une première valeur de vitesse, qui indique la vitesse à laquelle le panneau de signalisation détecté et suivi arrive sur la caméra et/ou passe devant la caméra, est déterminée à partir d'un changement de taille et/ou d'un décalage d'une position du panneau de signalisation détecté et suivi dans les images respectives de la séquence d'images supplémentaires. La première valeur de vitesse est comparée à une seconde valeur de vitesse produite par le compteur de vitesse du véhicule automobile et représentant la vitesse de déplacement du véhicule. Si la différence entre les valeurs de vitesse est supérieure à un seuil, le panneau de signalisation reconnu est rejeté. Dans le cas contraire, le panneau de signalisation reconnu est signalé au conducteur et/ou à un système d'aide à la conduite du véhicule automobile.
EP16810345.5A 2015-12-18 2016-12-12 Procédé et dispositif de reconnaissance de panneaux de signalisation par caméra dans un véhicule autmobile Withdrawn EP3391281A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015225900.5A DE102015225900B3 (de) 2015-12-18 2015-12-18 Verfahren und Vorrichtung zur kamerabasierten Verkehrszeichenerkennung in einem Kraftfahrzeug
PCT/EP2016/080613 WO2017102634A1 (fr) 2015-12-18 2016-12-12 Procédé et dispositif de reconnaissance de panneaux de signalisation par caméra dans un véhicule autmobile

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EP3391281A1 true EP3391281A1 (fr) 2018-10-24

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EP16810345.5A Withdrawn EP3391281A1 (fr) 2015-12-18 2016-12-12 Procédé et dispositif de reconnaissance de panneaux de signalisation par caméra dans un véhicule autmobile

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EP (1) EP3391281A1 (fr)
DE (1) DE102015225900B3 (fr)
WO (1) WO2017102634A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
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US11699342B2 (en) 2021-10-25 2023-07-11 International Business Machines Corporation Reducing vehicle occupant activity

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