FR2861487B1 - METHOD FOR DETECTING A CIRCULATION PATH OUTPUT - Google Patents

METHOD FOR DETECTING A CIRCULATION PATH OUTPUT

Info

Publication number
FR2861487B1
FR2861487B1 FR0312444A FR0312444A FR2861487B1 FR 2861487 B1 FR2861487 B1 FR 2861487B1 FR 0312444 A FR0312444 A FR 0312444A FR 0312444 A FR0312444 A FR 0312444A FR 2861487 B1 FR2861487 B1 FR 2861487B1
Authority
FR
France
Prior art keywords
marking
vehicle
detecting
lines
central unit
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.)
Expired - Lifetime
Application number
FR0312444A
Other languages
French (fr)
Other versions
FR2861487A1 (en
Inventor
Stephane Capparon
Hubert Roch
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.)
Renault SAS
Original Assignee
Renault SAS
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 Renault SAS filed Critical Renault SAS
Priority to FR0312444A priority Critical patent/FR2861487B1/en
Publication of FR2861487A1 publication Critical patent/FR2861487A1/en
Application granted granted Critical
Publication of FR2861487B1 publication Critical patent/FR2861487B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8066—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring rearward traffic
    • 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

Abstract

L'invention propose un procédé de détection d'une sortie de voie de circulation d'un véhicule (12) équipé d'une caméra de rétrovision (14), et comportant une unité centrale prévue pour déterminer la position du véhicule (12) dans sa voie de circulation et pour produire un signal d'alerte, la voie de circulation étant matérialisée par des lignes de marquage (L1, L2), caractérisé en ce que l'unité centrale met en oeuvre les étapes successives suivantes :- identification des lignes de marquage (L1, L2) par analyse d'une image fournie par la caméra (14) à un instant donné ;- calcul, à partir des lignes de marquage (L1, L2) identifiées dans l'image, de distances latérales (d1d, d1g, d2d, d2g) représentatives de la position transversale du véhicule (12) par rapport à une ligne de marquage (L1, L2) à l'instant donné ;- estimation, à partir des distances calculées (d1d, d1g, d2d, d2g), d'une position de l'essieu avant (22) du véhicule (12) par rapport aux lignes de marquage (L1, L2).The invention proposes a method for detecting a traffic lane exit of a vehicle (12) equipped with a rear view camera (14), and comprising a central unit provided for determining the position of the vehicle (12) in its traffic lane and to produce an alert signal, the lane being marked by marking lines (L1, L2), characterized in that the central unit implements the following successive steps: - identification of the lines marking (L1, L2) by analyzing an image provided by the camera (14) at a given instant; - calculating, from the marking lines (L1, L2) identified in the image, lateral distances (d1d , d1g, d2d, d2g) representative of the transverse position of the vehicle (12) with respect to a marking line (L1, L2) at the given instant; - estimation, from the calculated distances (d1d, d1g, d2d, d2g), a position of the front axle (22) of the vehicle (12) relative to the line s marking (L1, L2).

FR0312444A 2003-10-24 2003-10-24 METHOD FOR DETECTING A CIRCULATION PATH OUTPUT Expired - Lifetime FR2861487B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR0312444A FR2861487B1 (en) 2003-10-24 2003-10-24 METHOD FOR DETECTING A CIRCULATION PATH OUTPUT

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0312444A FR2861487B1 (en) 2003-10-24 2003-10-24 METHOD FOR DETECTING A CIRCULATION PATH OUTPUT

Publications (2)

Publication Number Publication Date
FR2861487A1 FR2861487A1 (en) 2005-04-29
FR2861487B1 true FR2861487B1 (en) 2006-01-20

Family

ID=34400751

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0312444A Expired - Lifetime FR2861487B1 (en) 2003-10-24 2003-10-24 METHOD FOR DETECTING A CIRCULATION PATH OUTPUT

Country Status (1)

Country Link
FR (1) FR2861487B1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3036180B1 (en) * 2015-05-11 2018-08-10 Valeo Schalter Und Sensoren Gmbh METHOD FOR DETERMINING THE PLATE OF A MOTOR VEHICLE
FR3107234B1 (en) * 2020-02-13 2023-03-03 Psa Automobiles Sa Method and system for managing the operation of an adaptive cruise control of a motor vehicle when changing lanes

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3470559B2 (en) * 1997-07-10 2003-11-25 トヨタ自動車株式会社 Travel lane departure warning device
JP2000259998A (en) * 1999-03-12 2000-09-22 Yazaki Corp Back monitoring device for vehicle
JP3716905B2 (en) * 1999-12-14 2005-11-16 三菱自動車工業株式会社 Lane departure warning device
JP3739269B2 (en) * 2000-10-04 2006-01-25 トヨタ自動車株式会社 Vehicle driving support device

Also Published As

Publication number Publication date
FR2861487A1 (en) 2005-04-29

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