KR100873474B1 - Vehicle location estimation device and method using pixel size and location of traffic facilities on image - Google Patents

Vehicle location estimation device and method using pixel size and location of traffic facilities on image Download PDF

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Publication number
KR100873474B1
KR100873474B1 KR1020060121758A KR20060121758A KR100873474B1 KR 100873474 B1 KR100873474 B1 KR 100873474B1 KR 1020060121758 A KR1020060121758 A KR 1020060121758A KR 20060121758 A KR20060121758 A KR 20060121758A KR 100873474 B1 KR100873474 B1 KR 100873474B1
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KR
South Korea
Prior art keywords
vehicle
information
traffic facility
traffic
location
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KR1020060121758A
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Korean (ko)
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KR20080050887A (en
Inventor
김인현
이승용
조성익
Original Assignee
(주)한국공간정보통신
한국전자통신연구원
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Priority to KR1020060121758A priority Critical patent/KR100873474B1/en
Publication of KR20080050887A publication Critical patent/KR20080050887A/en
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Publication of KR100873474B1 publication Critical patent/KR100873474B1/en

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968Systems involving transmission of navigation instructions to the vehicle
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00798Recognition of lanes or road borders, e.g. of lane markings, or recognition of driver's driving pattern in relation to lanes perceived from the vehicle; Analysis of car trajectory relative to detected road
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62Methods or arrangements for recognition using electronic means
    • G06K9/6201Matching; Proximity measures
    • G06K9/6202Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/04Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K2209/00Indexing scheme relating to methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K2209/23Detecting or categorising vehicles

Abstract

1. TECHNICAL FIELD OF THE INVENTION
The present invention relates to an apparatus and method for estimating a vehicle position using pixel size and position of a traffic facility on an image.
2. The technical problem to be solved by the invention
The present invention uses the pixel size vs. distance information of traffic facilities (such as traffic lights and traffic signs) and pixel location information adjacent to the intersection shown in the image when GPS information of the vehicle is unreceived or inaccurate in the neighborhood of the intersection. To provide a vehicle position estimation apparatus using the pixel size and the position of the traffic facilities on the image for estimating the relative position of the vehicle from the traffic facilities, and a method thereof.
3. Summary of Solution to Invention
The present invention provides a vehicle position estimation apparatus in a navigation system including a location information receiver, a camera, a navigation map including traffic facility information, and information providing means for providing a driving route. A database storing information and driving lane information for each pixel position; Traffic facility information providing means for providing information of traffic facilities present at the current vehicle location on the navigation map based on location information; Traffic facility recognition means for recognizing a traffic facility from an image input from the camera by using the traffic facility information provided by the traffic facility information providing means, and extracting a pixel size and a location of an image of the recognized traffic facility; Distance extracting means for extracting an actual distance between the traffic facility on the image and the vehicle by using the pixel size and location on the image of the traffic facility recognized by the traffic facility recognition means and the distance information for each pixel size of the traffic facility in the database; And vehicle position estimating means for estimating the position of the vehicle by reflecting the distance information between the traffic facility and the vehicle extracted by the distance extracting means in the image of the current position.
4. Important uses of the invention
The present invention is used in a vehicle position estimation system and the like.

Description

Apparatus and method for estimating location of vehicle using pixel location and size of road facilities which appear in images}

1 is a configuration diagram of a vehicle position estimation system using a pixel size and a location of a traffic facility on an image according to the present invention;

2 is a flowchart illustrating an embodiment of a method for estimating a vehicle location using a pixel size and a location of a traffic facility on an image according to the present invention;

3 is an exemplary explanatory diagram of a method for building a pixel size versus distance database in accordance with the present invention;

4 is an explanatory diagram of a method of constructing a driving lane information (X * Y quadrant versus distance information) database for each pixel position according to the present invention;

5 is a diagram for explaining a lane change recognition method for a vehicle according to the present invention;

6 is a diagram illustrating an embodiment of a traffic facility according to a distance difference between the traffic facility and the vehicle according to the present invention.

* Explanation of symbols on the main parts of the drawing

11: information acquisition unit 12: information provider

13: Traffic facility information providing unit 14: Traffic facility recognition unit

15 lane detection unit 16 distance extraction unit

17 lane correction unit 18 vehicle position estimation unit

111: GPS 112: video recording unit

121: shortest path display unit 122: navigation map

161: Pixel Size vs. Distance Database

171: driving lane information database for each pixel position

The present invention relates to an apparatus for estimating a vehicle position using a pixel size and a location of a traffic facility on an image and a method thereof, and more particularly, to pixel size versus distance information of a traffic facility (such as a traffic light and a traffic sign) adjacent to an intersection shown in the image. And using the pixel location information to estimate the relative position of the vehicle from the traffic facility when GPS (GPS) information of the vehicle is unreceived or inaccurate in an area adjacent to the intersection. An apparatus and method for estimating a vehicle position using size and position are provided.

In general, a vehicle navigation system displays current position information of a vehicle corresponding to an absolute position on a coordinate axis of the earth surface identified by a GPS receiver on a navigation map through a map matching technique or dead reckoning. However, in places such as dense buildings or tunnels, GPS reception and GPS accuracy are significantly lowered. In particular, in the case of map matching, it is almost impossible to correct the accuracy of the vehicle traveling direction. In addition, even in a region where GPS reception is good, an error occurs between the vehicle position displayed on the navigation map and the actual vehicle position since the vehicle position is displayed by matching the position of the vehicle with the centerline of the road during general map matching.

The present invention has been proposed to solve the above problems, by using the pixel size versus distance information of the traffic facilities (such as traffic lights and traffic signs) and the location information of the pixels adjacent to the intersection shown in the image of the vehicle GPS ( It is an object of the present invention to provide an apparatus and method for estimating a vehicle position using a pixel size and position of a traffic facility on an image for estimating a relative position of the vehicle from a traffic facility when GPS) information is not received or inaccurate.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. It will also be appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

According to an aspect of the present invention, there is provided a vehicle location estimation apparatus in a navigation system including a location information receiver, a camera, a navigation map including traffic facility information, and information providing means for providing a driving route. A database for storing distance information for each pixel size of the facility and driving lane information for each pixel location; Traffic facility information providing means for providing information of traffic facilities present at the current vehicle location on the navigation map based on location information; Traffic facility recognition means for recognizing a traffic facility from an image input from the camera by using the traffic facility information provided by the traffic facility information providing means, and extracting a pixel size and a location of an image of the recognized traffic facility; Distance extracting means for extracting an actual distance between the traffic facility on the image and the vehicle by using the pixel size and location on the image of the traffic facility recognized by the traffic facility recognition means and the distance information for each pixel size of the traffic facility in the database; And vehicle position estimating means for estimating the position of the vehicle by reflecting the distance information between the traffic facility and the vehicle extracted by the distance extracting means in the image of the current position.

On the other hand, the present invention, in the vehicle location estimation method using the pixel size and location of the traffic facilities on the image, by taking a video of the current location through a video camera mounted on the vehicle, and the traffic facilities from the image of the current location Recognizing; Comparing the recognized traffic facilities with previously stored traffic facility information to determine a type of traffic facility, and extracting a pixel size and a location of the traffic facility on the image; Extracting a distance between the traffic facility and the vehicle by comparing the extracted pixel size of the traffic facility with previously stored pixel size vs. distance information of the traffic facility; And a location estimation step of estimating the location of the vehicle by reflecting the extracted traffic facility and the distance information between the vehicle to the satellite reception state of the vehicle and the driving information of the vehicle.

The above objects, features and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, whereby those skilled in the art may easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram of a vehicle position estimation system using pixel size and position of a traffic facility on an image according to the present invention.

As shown in FIG. 1, the vehicle location estimation system using the pixel size and location of a traffic facility on an image according to the present invention includes an information acquisition unit 11, an information provider 12, and a traffic facility information provider 13. , The traffic facility recognition unit 14, the lane recognition unit 15, the distance extractor 16, the lane correction unit 17, and the vehicle position estimation unit 18.

Here, the information acquisition unit 11 includes a GPS (Global Positioning System) 111 for acquiring the current position information of the vehicle, the satellite reception state of the vehicle, and the vehicle driving information, and the traffic facilities and lanes mounted on the vehicle. An image capturing unit (video camera) 112 for capturing an image is included.
In this case, the vehicle driving information includes a trajectory, a vehicle speed, a driving direction, and the like, and the traffic facilities include a traffic light and a traffic sign.

In addition, the information providing unit 12 may include the shortest path display unit 121 for displaying the shortest path from the starting point of the driving vehicle to the destination, the node / link information for the traffic facility, and the node / link information of the road lane. Map 122.

In addition, the traffic facility information providing unit 13 may store the current vehicle on the basis of the current position and vehicle driving information of the vehicle acquired by the information obtaining unit 11 and the navigation map 122 of the information providing unit 12. Provides information about traffic facilities on the road.
In addition, the traffic facility information providing unit 13 may include a traffic facility information database that stores attribution information (type of traffic facility, location information, length information, image, etc.) of the traffic facility.

In addition, the traffic facility recognition unit 14 recognizes the traffic facility from the image of the current location photographed by the image photographing unit (video camera) 112 of the information acquisition unit 11.
In addition, the traffic facility recognition unit 14 compares the recognized traffic facilities with the traffic facility information provided from the traffic facility information providing unit 13 to determine the type of traffic facility, and based on the pixel size of the traffic facility on the image. And extract location.

In this case, the traffic facility recognition unit 14 may recognize the traffic facility using a conventional image recognition method.

The lane recognizing unit 15 recognizes the lane using the image information of the driving vehicle provided from the information obtaining unit 11, determines the change of the angle formed between the vehicle and the lane, and receives the lane change information. To the government (17).

In this case, the lane recognizing unit 15 may recognize the lane using a conventional lane recognizing method.

Then, the distance extraction unit 16 experiences the pixel size vs. distance information of the traffic facilities stored in the pixel size vs. distance database 161 of the traffic facilities previously constructed, and the traffic facilities recognized by the traffic facility recognition unit 14. By comparing the pixel size of the, the actual distance between the traffic facilities and the vehicle on the image is extracted.

In addition, the lane correction unit 17 experiences the driving lane information for each pixel location of the traffic facility stored in the pixel location driving lane information (X * Y quadrant versus distance information) database 171, which has been previously constructed. Distance information) and the position of the traffic facilities on the image extracted by the traffic facility recognition unit 14, and the lane recognition unit 15 receives information on the lane change at the moment of comparison and corrects the lane.

The vehicle position estimating unit 18 receives the lane information corrected by the distance and lane correction unit 17 and the distance between the traffic facility extracted by the distance extracting unit 16 and the vehicle, and the information obtaining unit 11 (in particular, The position of the vehicle is estimated by reflecting the satellite reception state of the vehicle and the driving information of the vehicle obtained from the GPS 111.

2 is a flowchart illustrating a method for estimating a vehicle location using a pixel size and a location of a traffic facility on an image according to the present invention.

First, the vehicle position estimating apparatus captures an image of a current position through a video camera mounted on a vehicle, and displays vehicle driving information (extra track, vehicle speed, direction of travel, etc.) and traffic facility information provided through the GPS 111. Recognizing a traffic facility (traffic light and traffic sign, etc.) from the image of the current location photographed based on (201).

Next, the vehicle location estimating apparatus compares the recognized traffic facilities with previously stored traffic facility information to determine the type of traffic facility, and extracts the pixel size and location of the traffic facility on the image (202).

Thereafter, the vehicle location estimating apparatus estimates the distance between the traffic facility and the vehicle by comparing the extracted pixel size of the traffic facility with previously stored pixel size versus distance information of the traffic facility.

The vehicle location estimating apparatus compares the location of the extracted traffic facility (traffic light and traffic sign, etc.) with pre-stored driving lane information for each pixel location (X * Y quadrant versus distance information), and changes the lane at the comparison moment. The lane is corrected based on the information about 204.

Subsequently, the vehicle position estimating apparatus estimates the position of the vehicle by reflecting the estimated distance information between the traffic facility and the vehicle and the corrected lane information to the satellite reception state of the vehicle and the driving information of the vehicle provided through the GPS 111. (205).

3 is an exemplary explanatory diagram of a method for building a pixel size versus distance database according to the present invention.

As shown in FIG. 3, the database builder measures the pixel size of the traffic light recognized in the image and stores actual distance information according to the measured pixel size of the traffic light in the distance information table.

Here, when the resolution of the camera when the distance information table is constructed and the resolution of the video camera attached to the vehicle (the image capturing unit 112) attached to the vehicle while driving the vehicle are not the same, it may be corrected by a proportional expression or the like. Accordingly, the present invention can apply the distance information table constructed in the pixel size vs. distance database 161 to commercial vehicle cameras.

That is, the present invention recognizes the pixel size of the traffic facility from the image taken by the video camera of the vehicle (the image capturing unit 112), and uses the corresponding pixel size as the distance constructed in the pixel size versus distance database 161. By matching the information in the information table, the actual distance to the traffic facility can be calculated.

FIG. 4 is a diagram for explaining a method of constructing a driving lane information (X * Y quadrant versus distance information) database for each pixel position according to an exemplary embodiment of the present invention.

As shown in FIG. 4, the database builder divides the image at the time of initial construction of the database into X * Y quadrants to define the lane correction relationship between the traffic facility recognized in the image and the driving vehicle.

5 is a diagram for explaining a lane change recognition method for a vehicle according to an exemplary embodiment of the present invention.

As illustrated in FIG. 5, the lane correction unit 17 determines a lane on which a vehicle is currently driving based on a center lane, a driving lane, and a road boundary recognized by the lane recognizing unit 15 to display lane information of a road. By correcting the position of the vehicle through matching with the reflected navigation map 122, and detecting a change in the angle formed between the vehicle and the lane, if it is less than a predetermined angle it is determined to change the lane and immediately reflected in the vehicle driving information.

6 is a diagram illustrating an embodiment of a traffic facility according to a distance difference between the traffic facility and the vehicle according to the present invention.

As shown in FIG. 6, the traffic facilities appearing in the image photographed by the image capturing unit 112 (such as a video camera mounted on the vehicle) of the information acquisition unit 11 are more closely related to the traffic facilities. The facility appears to be rapidly leaving the left / right quadrant.

As described above, the method of the present invention may be implemented as a program and stored in a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.) in a computer-readable form. Since this process can be easily implemented by those skilled in the art will not be described in more detail.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

 The present invention as described above has the effect of providing a more accurate and convenient vehicle navigation service to the driver by supplementing the inaccuracy of the GPS signal through the map matching to the lane unit.

Claims (7)

  1. A vehicle position estimation apparatus in a navigation system having a location information receiver, a camera, and a navigation map including traffic facility information and information providing means for providing a driving route,
    A database for storing distance information for each pixel size of the traffic facility and driving lane information for each pixel location;
    Traffic facility information providing means for providing information of traffic facilities present at the current vehicle location on the navigation map based on location information;
    Traffic facility recognition means for recognizing a traffic facility from an image input from the camera by using the traffic facility information provided by the traffic facility information providing means, and extracting a pixel size and a location of an image of the recognized traffic facility;
    Distance extracting means for extracting an actual distance between the traffic facility on the image and the vehicle by using the pixel size and location on the image of the traffic facility recognized by the traffic facility recognition means and the distance information for each pixel size of the traffic facility in the database; And
    Vehicle location estimation means for estimating the location of the vehicle by reflecting the distance information between the traffic facility and the vehicle extracted by the distance extraction means in the image of the current location
    Vehicle location estimation device comprising a.
  2. The method of claim 1,
    The distance extraction means,
    A vehicle location estimating device comprising extracting the actual distance between the traffic facility and the vehicle on the image by comparing the pixel size versus distance information of the traffic facility stored in the database and the pixel size of the traffic facility recognized by the traffic facility recognition means. .
  3. The method of claim 1,
    Lane recognition means for recognizing a lane and a change of lane in an image input from the camera; And
    Lane correction means for correcting the lane based on the driving lane information for each pixel location of the traffic facilities stored in the database and the change information of the lane recognized by the lane recognition means,
    The vehicle position estimation means,
    Vehicle position, characterized in that for estimating the position of the vehicle by reflecting the distance information between the traffic facilities and the vehicle extracted by the distance extraction means and the lane information corrected by the lane correction means to the image of the current position input from the information providing means Estimation device.
  4. The method of claim 3, wherein
    The lane recognition means,
    And determining the change of the angle formed by the vehicle and the lane to recognize the change of the lane.
  5. The method of claim 3, wherein
    The lane correction means,
    The driving lane information for each pixel location of the traffic facility stored in the database is compared with the location of the traffic facility on the image extracted by the traffic facility recognition unit, and the lane is based on the lane change information received from the lane recognition unit. Vehicle position estimation device, characterized in that for correcting.
  6. In the vehicle position estimation method using the pixel size and position of the traffic facilities on the image,
    Photographing an image of a current location through a video camera mounted on a vehicle, and recognizing a traffic facility in the captured current location image;
    Comparing the recognized traffic facilities with previously stored traffic facility information to determine a type of traffic facility, and extracting a pixel size and a location of the traffic facility on the image;
    Extracting a distance between the traffic facility and the vehicle by comparing the extracted pixel size of the traffic facility with previously stored pixel size vs. distance information of the traffic facility; And
    Location estimation step of estimating the location of the vehicle by reflecting the extracted distance between the traffic facility and the vehicle in the satellite reception state of the vehicle and the driving information of the vehicle
    Vehicle location estimation method comprising a.
  7. The method of claim 6,
    Comparing the location of the extracted traffic facilities with the pre-stored driving lane information for each pixel position, and correcting the lane based on the information on the lane change at the moment of comparison,
    The location estimation step,
    And estimating the location of the vehicle by reflecting the extracted traffic facility and distance information of the vehicle and the corrected lane information to the satellite reception state of the vehicle and driving information of the vehicle.
KR1020060121758A 2006-12-04 2006-12-04 Vehicle location estimation device and method using pixel size and location of traffic facilities on image KR100873474B1 (en)

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KR1020060121758A KR100873474B1 (en) 2006-12-04 2006-12-04 Vehicle location estimation device and method using pixel size and location of traffic facilities on image
CN2007103061971A CN101221049B (en) 2006-12-04 2007-12-04 Vehicle position estimation device and its method

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CN101221049B (en) 2011-12-21
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