JP6302920B2 - 走行路の領域内にあるマークされた危険個所、及び/或いは、工事現場を認識するための方法、並びに、手段 - Google Patents
走行路の領域内にあるマークされた危険個所、及び/或いは、工事現場を認識するための方法、並びに、手段 Download PDFInfo
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- JP6302920B2 JP6302920B2 JP2015538301A JP2015538301A JP6302920B2 JP 6302920 B2 JP6302920 B2 JP 6302920B2 JP 2015538301 A JP2015538301 A JP 2015538301A JP 2015538301 A JP2015538301 A JP 2015538301A JP 6302920 B2 JP6302920 B2 JP 6302920B2
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- 238000010276 construction Methods 0.000 title claims description 37
- 238000000034 method Methods 0.000 title claims description 26
- 230000011664 signaling Effects 0.000 claims description 24
- 230000002093 peripheral effect Effects 0.000 claims description 15
- 231100001261 hazardous Toxicity 0.000 claims description 6
- 238000011156 evaluation Methods 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- 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
- B60R1/005—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 specially adapted for viewing traffic-lights
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
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- 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
- B60R2300/8093—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 obstacle warning
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Environmental Sciences (AREA)
- Ecology (AREA)
- Environmental & Geological Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Atmospheric Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Description
− 周辺センサーにより信号装置によって検出し、
− 該信号装置のポジションデータを割出し、
− 周辺センサーによって捕捉された周辺データから、周辺ストラクチャーに関する周辺シナリオを割出し、該周辺シナリオの基準モデルと比較し、続いて、
− 該基準モデルに、信号装置が示されない場合、或いは、該信号装置が、認識された信号装置のポジションデータとは異なるポジションデータを示す場合は、危険個所、及び/或いは、工事現場をマークする信号装置であるとする。
Claims (8)
- 車両に搭載された少なくとも一つの周辺センサーによって危険個所及び/又は工事現場を示す信号装置を認識して、走行路の領域内にある危険個所及び/又は工事現場を認識するための方法であって、
− 周辺センサーにより信号装置を検出し、
− 該信号装置の位置データを割出し、
− 周辺センサーによって捕捉された周辺データから、車両の周辺構成に関する周辺状況を分類し、
− この分類に応じて、該周辺状況の基準モデルを割出して、この基準モデルが信号装置を示すか否かを調べ、
− この基準モデルが信号装置を示さない場合、或いは、この基準モデルが、認識された信号装置の位置データとは異なる位置データを示す信号装置を示す場合は、認識された信号装置が危険個所及び/又は工事現場を示す信号装置であるとする
ことを特徴とする方法。 - 基準モデルが、車両のナビゲーション・システムから得られる情報から作成されることを特徴とする請求項1に記載の方法。
- 危険個所及び/又は工事現場を示す信号装置を認識するために、工事現場特有及び/又は危険個所特有の信号装置の特徴に関してオブジェクト認識を実施することを特徴とする請求項1或いは2に記載の方法。
- 基準モデルが、ナビゲーション・データベース内に保存されている道路網のデジタル地図データから作成される、但し、該デジタル地図データは、工事現場情報も有していることを特徴とする請求項1から3のうち何れか一項に記載の方法。
- 周辺センサーによって捕捉された、走行路の走行レーンの推移に関する情報及び/又は走行路の認識された走行レーン情報を、危険個所及び/又は工事現場を示す信号装置を検出するために用いることを特徴とする請求項1から4のうち何れか一項に記載の方法。
- 周辺センサーによって認識された交通標識に関する情報を、危険個所及び/又は工事現場を示す信号装置を検出するために用いることを特徴とする請求項1から5のうち何れか一項に記載の方法。
- 車両に搭載された少なくとも一つの周辺センサーと、この周辺センサーのセンサー信号を請求項1から6のうち何れか一項に記載の方法に基づき評価する評価・オブジェクト認識ユニットとを備えた、請求項1から6のうち何れか一項に記載の方法を実施するための装置において、周辺センサーとしてカメラシステムが配備されていることを特徴とする装置。
- 請求項7の装置を搭載した車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201210110219 DE102012110219A1 (de) | 2012-10-25 | 2012-10-25 | Verfahren und Vorrichtung zur Erkennung von gekennzeichneten Gefahr- und/oder Baustellen im Bereich von Fahrbahnen |
DE102012110219.8 | 2012-10-25 | ||
PCT/DE2013/200034 WO2014063688A1 (de) | 2012-10-25 | 2013-07-10 | Verfahren und vorrichtung zur erkennung von gekennzeichneten gefahr- und/oder baustellen im bereich von fahrbahnen |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2015535106A JP2015535106A (ja) | 2015-12-07 |
JP2015535106A5 JP2015535106A5 (ja) | 2016-06-16 |
JP6302920B2 true JP6302920B2 (ja) | 2018-03-28 |
Family
ID=49036401
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015538301A Active JP6302920B2 (ja) | 2012-10-25 | 2013-07-10 | 走行路の領域内にあるマークされた危険個所、及び/或いは、工事現場を認識するための方法、並びに、手段 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10148917B2 (ja) |
EP (1) | EP2912489B1 (ja) |
JP (1) | JP6302920B2 (ja) |
DE (2) | DE102012110219A1 (ja) |
WO (1) | WO2014063688A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US9145140B2 (en) | 2012-03-26 | 2015-09-29 | Google Inc. | Robust method for detecting traffic signals and their associated states |
DE102015214622A1 (de) * | 2015-07-31 | 2017-02-02 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Verifizieren der Erkennung von Verkehrsleitzeichen |
DE102017208124B4 (de) * | 2017-05-15 | 2019-04-04 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren, Vorrichtung und System zum Ermitteln einer Straßenbaustelle |
DE102017218932B4 (de) * | 2017-10-24 | 2023-07-20 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Bewertung einer Trajektorie eines Fortbewegungsmittels |
EP3966799A4 (en) * | 2019-05-06 | 2023-01-04 | 3M Innovative Properties Company | RISK ASSESSMENT FOR TEMPORARY ZONES |
CN111275011B (zh) * | 2020-02-25 | 2023-12-19 | 阿波罗智能技术(北京)有限公司 | 移动红绿灯检测方法、装置、电子设备和存储介质 |
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US6047234A (en) * | 1997-10-16 | 2000-04-04 | Navigation Technologies Corporation | System and method for updating, enhancing or refining a geographic database using feedback |
JP2004341182A (ja) * | 2003-05-15 | 2004-12-02 | Matsushita Electric Ind Co Ltd | 地図誤り情報取得システムおよび地図誤り情報取得方法 |
DE102004003848A1 (de) | 2004-01-26 | 2005-08-11 | Ibeo Automobile Sensor Gmbh | Verfahren zur Erkennung von gekennzeichneten Gefahr- und/oder Baustellen im Bereich von Fahrbahnen |
US7363151B2 (en) * | 2004-06-21 | 2008-04-22 | Matsushita Electric Industrial Co., Ltd. | Map error information obtaining system and map error information obtaining method |
US7804980B2 (en) * | 2005-08-24 | 2010-09-28 | Denso Corporation | Environment recognition device |
JP4631750B2 (ja) * | 2006-03-06 | 2011-02-16 | トヨタ自動車株式会社 | 画像処理システム |
WO2008038370A1 (en) * | 2006-09-28 | 2008-04-03 | Pioneer Corporation | Traffic information detector, traffic information detecting method, traffic information detecting program, and recording medium |
DE102008020447A1 (de) * | 2007-08-29 | 2009-03-05 | Continental Teves Ag & Co. Ohg | Dynamische Aktualisierung von digitalen Karten |
KR100887721B1 (ko) * | 2007-11-26 | 2009-03-12 | 한국전자통신연구원 | 영상 차량 항법 장치 및 방법 |
JP4831434B2 (ja) * | 2007-12-27 | 2011-12-07 | アイシン・エィ・ダブリュ株式会社 | 地物情報収集装置及び地物情報収集プログラム、並びに自車位置認識装置及びナビゲーション装置 |
US8963702B2 (en) * | 2009-02-13 | 2015-02-24 | Inthinc Technology Solutions, Inc. | System and method for viewing and correcting data in a street mapping database |
US8576069B2 (en) * | 2009-10-22 | 2013-11-05 | Siemens Corporation | Mobile sensing for road safety, traffic management, and road maintenance |
US8620032B2 (en) | 2011-05-10 | 2013-12-31 | GM Global Technology Operations LLC | System and method for traffic signal detection |
US8831849B2 (en) * | 2012-02-13 | 2014-09-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and method for traffic signal recognition |
US9145140B2 (en) * | 2012-03-26 | 2015-09-29 | Google Inc. | Robust method for detecting traffic signals and their associated states |
US8527199B1 (en) * | 2012-05-17 | 2013-09-03 | Google Inc. | Automatic collection of quality control statistics for maps used in autonomous driving |
US9195914B2 (en) * | 2012-09-05 | 2015-11-24 | Google Inc. | Construction zone sign detection |
US9221461B2 (en) * | 2012-09-05 | 2015-12-29 | Google Inc. | Construction zone detection using a plurality of information sources |
-
2012
- 2012-10-25 DE DE201210110219 patent/DE102012110219A1/de not_active Withdrawn
-
2013
- 2013-07-10 DE DE112013005162.1T patent/DE112013005162A5/de not_active Withdrawn
- 2013-07-10 EP EP13753268.5A patent/EP2912489B1/de active Active
- 2013-07-10 JP JP2015538301A patent/JP6302920B2/ja active Active
- 2013-07-10 WO PCT/DE2013/200034 patent/WO2014063688A1/de active Application Filing
- 2013-07-10 US US14/417,931 patent/US10148917B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
DE112013005162A5 (de) | 2015-07-09 |
EP2912489A1 (de) | 2015-09-02 |
US20150189244A1 (en) | 2015-07-02 |
DE102012110219A1 (de) | 2014-04-30 |
US10148917B2 (en) | 2018-12-04 |
JP2015535106A (ja) | 2015-12-07 |
EP2912489B1 (de) | 2019-04-24 |
WO2014063688A1 (de) | 2014-05-01 |
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