JP6469013B2 - 自動車用の交通標識を認識するための方法及び装置 - Google Patents

自動車用の交通標識を認識するための方法及び装置 Download PDF

Info

Publication number
JP6469013B2
JP6469013B2 JP2015540048A JP2015540048A JP6469013B2 JP 6469013 B2 JP6469013 B2 JP 6469013B2 JP 2015540048 A JP2015540048 A JP 2015540048A JP 2015540048 A JP2015540048 A JP 2015540048A JP 6469013 B2 JP6469013 B2 JP 6469013B2
Authority
JP
Japan
Prior art keywords
information
data
traffic signs
sensor
traffic
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.)
Active
Application number
JP2015540048A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016502178A5 (https=
JP2016502178A (ja
Inventor
フィッシャー・マルク
ファン・デア・フェフテ・ペーター
メルラー・ウルリヒ
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.)
Aumovio Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic 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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of JP2016502178A publication Critical patent/JP2016502178A/ja
Publication of JP2016502178A5 publication Critical patent/JP2016502178A5/ja
Application granted granted Critical
Publication of JP6469013B2 publication Critical patent/JP6469013B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/254—Fusion techniques of classification results, e.g. of results related to same input data
    • G06F18/256—Fusion techniques of classification results, e.g. of results related to same input data of results relating to different input data, e.g. multimodal recognition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/809—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data
    • G06V10/811—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data the classifiers operating on different input data, e.g. multi-modal recognition
    • 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
    • G06V20/582—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 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
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Medical Informatics (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Software Systems (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Mechanical Engineering (AREA)
JP2015540048A 2012-11-06 2013-10-21 自動車用の交通標識を認識するための方法及び装置 Active JP6469013B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012110595.2 2012-11-06
DE102012110595.2A DE102012110595A1 (de) 2012-11-06 2012-11-06 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug
PCT/DE2013/200238 WO2014071939A1 (de) 2012-11-06 2013-10-21 Verfahren und vorrichtung zur erkennung von verkehrszeichen für ein fahrzeug

Publications (3)

Publication Number Publication Date
JP2016502178A JP2016502178A (ja) 2016-01-21
JP2016502178A5 JP2016502178A5 (https=) 2017-10-26
JP6469013B2 true JP6469013B2 (ja) 2019-02-13

Family

ID=49674106

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015540048A Active JP6469013B2 (ja) 2012-11-06 2013-10-21 自動車用の交通標識を認識するための方法及び装置

Country Status (5)

Country Link
US (1) US10223600B2 (https=)
EP (1) EP2917759A1 (https=)
JP (1) JP6469013B2 (https=)
DE (2) DE102012110595A1 (https=)
WO (1) WO2014071939A1 (https=)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9164511B1 (en) 2013-04-17 2015-10-20 Google Inc. Use of detected objects for image processing
JP5961207B2 (ja) * 2014-03-28 2016-08-02 富士重工業株式会社 車外環境認識装置
DE102014214713A1 (de) * 2014-07-25 2016-01-28 Conti Temic Microelectronic Gmbh Verfahren zum Betrieb eines Assistenzsystems eines Kraftfahrzeugs sowie Assistenzsystem
DE102014220571A1 (de) 2014-10-10 2016-04-14 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Erkennung von relevanten Verkehrszeichen für ein Fahrzeug
US9530313B2 (en) 2014-10-27 2016-12-27 Here Global B.V. Negative image for sign placement detection
WO2016080452A1 (ja) * 2014-11-19 2016-05-26 エイディシーテクノロジー株式会社 自動運転制御装置
DE102015003963A1 (de) 2015-03-26 2015-08-20 Daimler Ag Vorrichtung und Verfahren zur Erkennung von Verkehrszeichen
US10345107B2 (en) * 2016-06-22 2019-07-09 Aptiv Technologies Limited Automated vehicle sensor selection based on map data density and navigation feature density
CN107818288B (zh) * 2016-09-13 2019-04-09 腾讯科技（深圳）有限公司 标志牌信息获取方法及装置
DE102016118538A1 (de) * 2016-09-29 2018-03-29 Valeo Schalter Und Sensoren Gmbh Verfahren zum Klassifizieren eines Verkehrszeichens in einem Umgebungsbereich eines Kraftfahrzeugs, Rechenvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
US10528055B2 (en) * 2016-11-03 2020-01-07 Ford Global Technologies, Llc Road sign recognition
KR102383426B1 (ko) 2016-12-15 2022-04-07 현대자동차주식회사 톨게이트 구간 판단 장치 및 방법
KR20180106417A (ko) * 2017-03-20 2018-10-01 현대자동차주식회사 차량의 위치 인식 시스템 및 방법
DE102017218192A1 (de) * 2017-10-12 2019-04-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Verkehrsschilderkennung
US10627516B2 (en) * 2018-07-19 2020-04-21 Luminar Technologies, Inc. Adjustable pulse characteristics for ground detection in lidar systems
US10891501B2 (en) * 2019-01-28 2021-01-12 Uber Technologies, Inc. Automatically associating road sign information with road segments using image data
US11334089B1 (en) 2019-07-26 2022-05-17 Jeffrey W. Bryce Infrastructure markers for autonomous vehicles
CN111964673A (zh) * 2020-08-25 2020-11-20 一汽解放汽车有限公司 一种无人车定位系统
DE102021202232A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Erkennung eines Verkehrszeichens mittels eines LiDAR-Systems
KR20240058610A (ko) * 2022-10-26 2024-05-03 삼성전자주식회사 차량을 위한 표지 장치
CN116577752A (zh) * 2023-04-18 2023-08-11 深圳优地科技有限公司 识别标识结构的方法、装置、电子设备和可读存储介质
JP2025036354A (ja) * 2023-08-31 2025-03-14 北京地平▲線▼信息技▲術▼有限公司 交通標識の検出方法、装置、記憶媒体及び電子機器

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19546506A1 (de) * 1995-12-13 1997-06-19 Daimler Benz Ag Fahrzeug-Navigationssystem und Signalverarbeitungsverfahren für ein solches Navigationssystem
DE19852631C2 (de) * 1998-11-14 2001-09-06 Daimler Chrysler Ag Vorrichtung und Verfahren zur Verkehrszeichenerkennung
JP2002189075A (ja) 2000-12-20 2002-07-05 Fujitsu Ten Ltd 道路上方静止物検知方法
DE10200784A1 (de) * 2002-01-11 2003-07-31 Audi Ag Kraftfahrzeug
US7633383B2 (en) * 2006-08-16 2009-12-15 International Business Machines Corporation Systems and arrangements for providing situational awareness to an operator of a vehicle
WO2008043852A1 (de) * 2006-10-13 2008-04-17 Continental Teves Ag & Co. Ohg System zur bestimmung von objekten
US20080243378A1 (en) * 2007-02-21 2008-10-02 Tele Atlas North America, Inc. System and method for vehicle navigation and piloting including absolute and relative coordinates
JP2008286566A (ja) * 2007-05-16 2008-11-27 Omron Corp 車載装置
DE102007034505A1 (de) * 2007-07-24 2009-01-29 Hella Kgaa Hueck & Co. Verfahren und Vorrichtung zur Verkehrszeichenerkennung
AU2009211435A1 (en) 2008-02-04 2009-08-13 Tele Atlas B.V. Method for map matching with sensor detected objects
JP5094658B2 (ja) * 2008-09-19 2012-12-12 日立オートモティブシステムズ株式会社 走行環境認識装置
DE102008043743A1 (de) * 2008-11-14 2010-05-20 Robert Bosch Gmbh Verfahren und Steuergerät zur Auswertung eines Sensorsignals
DE102009013326A1 (de) * 2009-03-16 2009-11-12 Daimler Ag Verfahren zur Steuerung eines Fahrzeugs
DE102010020330A1 (de) * 2010-05-14 2011-11-17 Conti Temic Microelectronic Gmbh Verfahren zur Erkennung von Verkehrszeichen
JP5747593B2 (ja) * 2011-03-22 2015-07-15 株式会社豊田中央研究所 規範車速算出装置及びプログラム
TW201333896A (zh) * 2012-02-14 2013-08-16 yan-hong Jiang 使用視訊雷達的遠距交通管理系統
US9195914B2 (en) * 2012-09-05 2015-11-24 Google Inc. Construction zone sign detection

Also Published As

Publication number Publication date
US20150220795A1 (en) 2015-08-06
WO2014071939A1 (de) 2014-05-15
JP2016502178A (ja) 2016-01-21
EP2917759A1 (de) 2015-09-16
DE102012110595A1 (de) 2014-05-08
DE112013005299A5 (de) 2015-07-16
US10223600B2 (en) 2019-03-05

Similar Documents

Publication Publication Date Title
JP6469013B2 (ja) 自動車用の交通標識を認識するための方法及び装置
JP2016502178A5 (https=)
US10086832B2 (en) Vehicle and method for controlling the same
CN114126940B (zh) 电子控制装置
CN109427213B (zh) 用于车辆的防碰撞装置、方法及非暂时性存储介质
EP3324556B1 (en) Visual communication system for autonomous driving vehicles (adv)
US9830814B2 (en) System and method for transmitting detected object attributes over a dedicated short range communication system
US10576945B2 (en) Vehicle and method for controlling the same
US10793162B2 (en) Method and system for predicting driving path of neighboring vehicle
US10384717B2 (en) Vehicle and method for controlling the same
CN110036308B (zh) 车辆周边信息获取装置以及车辆
JP6843819B2 (ja) 交通案内物認識装置、交通案内物認識方法、およびプログラム
US9792819B2 (en) Provision of an efficient environmental map for a vehicle
JP5094658B2 (ja) 走行環境認識装置
JP6189815B2 (ja) 走行区画線認識システム
US10198951B2 (en) Models of the surroundings for vehicles
CN112292286A (zh) 骑乘者辅助系统和方法
US20160147921A1 (en) Making available a model of the surroundings when a sensor of a vehicle fails
US10967867B2 (en) Method and apparatus for efficiently providing occupancy information on the surroundings of a vehicle
CN109278642B (zh) 车辆倒车安全性映射
GB2558752A (en) Vehicle vision
CN115610313B (zh) 一种车辆上激光大灯的控制方法、装置及车辆
CN110758234A (zh) 车灯投影方法及相关产品
CN115635963B (zh) 目标对象筛选方法、装置、电子装置、存储介质和车辆
JP2020160560A (ja) 運転支援装置、運転支援方法、およびプログラム

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160805

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20170621

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20170621

A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A524

Effective date: 20170915

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180307

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20180605

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180719

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20181219

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20190115

R150 Certificate of patent or registration of utility model

Ref document number: 6469013

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250