JP2019053619A - 信号識別装置、信号識別方法、及び運転支援システム - Google Patents

信号識別装置、信号識別方法、及び運転支援システム Download PDF

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Publication number
JP2019053619A
JP2019053619A JP2017178306A JP2017178306A JP2019053619A JP 2019053619 A JP2019053619 A JP 2019053619A JP 2017178306 A JP2017178306 A JP 2017178306A JP 2017178306 A JP2017178306 A JP 2017178306A JP 2019053619 A JP2019053619 A JP 2019053619A
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Japan
Prior art keywords
area
lighting
signal
region
traffic light
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JP2017178306A
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English (en)
Japanese (ja)
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JP2019053619A5 (enExample
Inventor
貴芬 田
Guifen Tian
貴芬 田
学 西山
Manabu Nishiyama
学 西山
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.)
Toshiba Corp
Toshiba Electronic Devices and Storage Corp
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Toshiba Corp
Toshiba Electronic Devices and Storage Corp
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Application filed by Toshiba Corp, Toshiba Electronic Devices and Storage Corp filed Critical Toshiba Corp
Priority to JP2017178306A priority Critical patent/JP2019053619A/ja
Priority to CN201810052157.7A priority patent/CN109509362A/zh
Priority to EP18161169.0A priority patent/EP3457317A1/en
Priority to US15/918,468 priority patent/US20190087961A1/en
Publication of JP2019053619A publication Critical patent/JP2019053619A/ja
Publication of JP2019053619A5 publication Critical patent/JP2019053619A5/ja
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/174—Segmentation; Edge detection involving the use of two or more images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/32—Vehicle surroundings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/36—Global Positioning System [GPS]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10144—Varying exposure

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Software Systems (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
JP2017178306A 2017-09-15 2017-09-15 信号識別装置、信号識別方法、及び運転支援システム Pending JP2019053619A (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2017178306A JP2019053619A (ja) 2017-09-15 2017-09-15 信号識別装置、信号識別方法、及び運転支援システム
CN201810052157.7A CN109509362A (zh) 2017-09-15 2018-01-19 信号识别装置、信号识别方法以及驾驶辅助系统
EP18161169.0A EP3457317A1 (en) 2017-09-15 2018-03-12 Signal identifying device, signal identifying method, and driving support system
US15/918,468 US20190087961A1 (en) 2017-09-15 2018-03-12 Signal identifying device, signal identifying method, and driving support system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017178306A JP2019053619A (ja) 2017-09-15 2017-09-15 信号識別装置、信号識別方法、及び運転支援システム

Publications (2)

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JP2019053619A true JP2019053619A (ja) 2019-04-04
JP2019053619A5 JP2019053619A5 (enExample) 2019-09-19

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JP2017178306A Pending JP2019053619A (ja) 2017-09-15 2017-09-15 信号識別装置、信号識別方法、及び運転支援システム

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Country Link
US (1) US20190087961A1 (enExample)
EP (1) EP3457317A1 (enExample)
JP (1) JP2019053619A (enExample)
CN (1) CN109509362A (enExample)

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CN112180285A (zh) * 2020-09-23 2021-01-05 北京百度网讯科技有限公司 识别交通信号灯故障的方法、装置、导航系统和路侧设备
JP2021002275A (ja) * 2019-06-24 2021-01-07 トヨタ自動車株式会社 信号認識システム
KR102214022B1 (ko) * 2020-01-07 2021-02-09 주식회사 에프에스솔루션 교통 신호의 식별 방법, 이를 이용하는 교통 신호 식별 장치 및 프로그램
KR102248673B1 (ko) * 2020-01-07 2021-05-06 주식회사 에프에스솔루션 교통 신호의 식별 방법, 이를 이용하는 교통 신호 식별 장치 및 프로그램
US20210334980A1 (en) * 2020-12-28 2021-10-28 Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. Method and apparatus for determining location of signal light, storage medium, program and roadside device
JP2022516183A (ja) * 2019-07-31 2022-02-24 浙江商▲湯▼科技▲開▼▲発▼有限公司 指示灯検出方法、装置、デバイス、及びコンピュータ可読記録媒体
JP2022120116A (ja) * 2021-06-17 2022-08-17 阿波▲羅▼智▲聯▼（北京）科技有限公司 交通信号灯の識別方法、装置、電子機器、記憶媒体、コンピュータプログラム、路側機器、クラウド制御プラットフォーム及び車両道路協同システム
JP2023017707A (ja) * 2021-07-26 2023-02-07 バイエリシエ・モトーレンウエルケ・アクチエンゲゼルシヤフト 信号標示ユニットを識別および／または描写する装置および方法
DE102024106767A1 (de) 2023-03-16 2024-09-19 Subaru Corporation Fahrzeugfahrsteuerung

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US11244478B2 (en) * 2016-03-03 2022-02-08 Sony Corporation Medical image processing device, system, method, and program
US10852743B2 (en) * 2018-09-07 2020-12-01 GM Global Technology Operations LLC Multimodal multi-technique signal fusion system for autonomous vehicle
CN111762230B (zh) * 2019-04-02 2022-01-21 株洲中车时代电气股份有限公司 一种机车信号的处理系统及铁路机车
JP7289723B2 (ja) * 2019-05-23 2023-06-12 日立Astemo株式会社 物体認識装置
JP7088137B2 (ja) * 2019-07-26 2022-06-21 トヨタ自動車株式会社 信号機情報管理システム
CN111144336A (zh) * 2019-12-30 2020-05-12 贵州近邻宝科技有限公司 面向快递面单的收件人手机号码、运单号的自动识别方法
CN111572472A (zh) * 2020-04-30 2020-08-25 汉腾新能源汽车科技有限公司 一种避免闯红灯的方法
CN113343873B (zh) * 2021-06-17 2023-07-18 亿咖通(湖北)技术有限公司 信号灯识别方法、装置、设备、介质及产品
CN114217118B (zh) * 2021-12-09 2023-05-16 福建省海峡智汇科技有限公司 一种室内变电站高压带电显示器状态识别方法及系统
CN117237907A (zh) * 2022-06-08 2023-12-15 鸿海精密工业股份有限公司 交通信号灯识别方法、装置、存储介质及电子设备
CN116946211A (zh) * 2023-06-13 2023-10-27 浙江众合科技股份有限公司 信号机安全识别装置、方法、计算机设备及存储介质

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Cited By (16)

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JP7268497B2 (ja) 2019-06-24 2023-05-08 トヨタ自動車株式会社 信号認識システム
JP2021002275A (ja) * 2019-06-24 2021-01-07 トヨタ自動車株式会社 信号認識システム
JP2022516183A (ja) * 2019-07-31 2022-02-24 浙江商▲湯▼科技▲開▼▲発▼有限公司 指示灯検出方法、装置、デバイス、及びコンピュータ可読記録媒体
KR102214022B1 (ko) * 2020-01-07 2021-02-09 주식회사 에프에스솔루션 교통 신호의 식별 방법, 이를 이용하는 교통 신호 식별 장치 및 프로그램
KR102248673B1 (ko) * 2020-01-07 2021-05-06 주식회사 에프에스솔루션 교통 신호의 식별 방법, 이를 이용하는 교통 신호 식별 장치 및 프로그램
CN112180285B (zh) * 2020-09-23 2024-05-31 阿波罗智联(北京)科技有限公司 识别交通信号灯故障的方法、装置、导航系统和路侧设备
CN112180285A (zh) * 2020-09-23 2021-01-05 北京百度网讯科技有限公司 识别交通信号灯故障的方法、装置、导航系统和路侧设备
US11810320B2 (en) * 2020-12-28 2023-11-07 Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. Method and apparatus for determining location of signal light, storage medium, program and roadside device
JP7295213B2 (ja) 2020-12-28 2023-06-20 阿波▲羅▼智▲聯▼（北京）科技有限公司 信号灯の位置判定方法、装置、記憶媒体、プログラム、路側機器
JP2022043214A (ja) * 2020-12-28 2022-03-15 アポロ インテリジェント コネクティビティ （ベイジン） テクノロジー カンパニー リミテッド 信号灯の位置判定方法、装置、記憶媒体、プログラム、路側機器
US20210334980A1 (en) * 2020-12-28 2021-10-28 Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. Method and apparatus for determining location of signal light, storage medium, program and roadside device
JP2022120116A (ja) * 2021-06-17 2022-08-17 阿波▲羅▼智▲聯▼（北京）科技有限公司 交通信号灯の識別方法、装置、電子機器、記憶媒体、コンピュータプログラム、路側機器、クラウド制御プラットフォーム及び車両道路協同システム
JP2023017707A (ja) * 2021-07-26 2023-02-07 バイエリシエ・モトーレンウエルケ・アクチエンゲゼルシヤフト 信号標示ユニットを識別および／または描写する装置および方法
JP7235918B2 (ja) 2021-07-26 2023-03-08 バイエリシエ・モトーレンウエルケ・アクチエンゲゼルシヤフト 信号標示ユニットを識別および／または描写する装置および方法
US11847835B2 (en) 2021-07-26 2023-12-19 Bayerische Motoren Werke Aktiengesellschaft Device and method for identifying and/or representing a signaling unit
DE102024106767A1 (de) 2023-03-16 2024-09-19 Subaru Corporation Fahrzeugfahrsteuerung

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Publication number Publication date
US20190087961A1 (en) 2019-03-21
EP3457317A1 (en) 2019-03-20
CN109509362A (zh) 2019-03-22

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