KR101225626B1 - 차선 인식 시스템 및 방법 - Google Patents

차선 인식 시스템 및 방법 Download PDF

Info

Publication number
KR101225626B1
KR101225626B1 KR1020100069537A KR20100069537A KR101225626B1 KR 101225626 B1 KR101225626 B1 KR 101225626B1 KR 1020100069537 A KR1020100069537 A KR 1020100069537A KR 20100069537 A KR20100069537 A KR 20100069537A KR 101225626 B1 KR101225626 B1 KR 101225626B1
Authority
KR
South Korea
Prior art keywords
lane
equation
point
candidate point
value
Prior art date
Application number
KR1020100069537A
Other languages
English (en)
Korean (ko)
Other versions
KR20120009590A (ko
Inventor
한영인
서용덕
송영기
최현철
오세영
Original Assignee
포항공과대학교 산학협력단
주식회사 이미지넥스트
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 포항공과대학교 산학협력단, 주식회사 이미지넥스트 filed Critical 포항공과대학교 산학협력단
Priority to KR1020100069537A priority Critical patent/KR101225626B1/ko
Priority to PCT/KR2011/005290 priority patent/WO2012011713A2/fr
Publication of KR20120009590A publication Critical patent/KR20120009590A/ko
Application granted granted Critical
Publication of KR101225626B1 publication Critical patent/KR101225626B1/ko

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G06F2218/02—Preprocessing
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Geometry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
KR1020100069537A 2010-07-19 2010-07-19 차선 인식 시스템 및 방법 KR101225626B1 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020100069537A KR101225626B1 (ko) 2010-07-19 2010-07-19 차선 인식 시스템 및 방법
PCT/KR2011/005290 WO2012011713A2 (fr) 2010-07-19 2011-07-19 Système et procédé de reconnaissance de voie de circulation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100069537A KR101225626B1 (ko) 2010-07-19 2010-07-19 차선 인식 시스템 및 방법

Publications (2)

Publication Number Publication Date
KR20120009590A KR20120009590A (ko) 2012-02-02
KR101225626B1 true KR101225626B1 (ko) 2013-01-24

Family

ID=45497281

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100069537A KR101225626B1 (ko) 2010-07-19 2010-07-19 차선 인식 시스템 및 방법

Country Status (2)

Country Link
KR (1) KR101225626B1 (fr)
WO (1) WO2012011713A2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101483742B1 (ko) 2013-06-21 2015-01-16 가천대학교 산학협력단 지능형 차량의 차선 검출방법
KR101878490B1 (ko) * 2017-03-10 2018-07-13 만도헬라일렉트로닉스(주) 차선 인식 시스템 및 방법
KR20190124113A (ko) * 2018-04-25 2019-11-04 연세대학교 산학협력단 자가 지도 학습을 이용한 딥러닝 기반 도로 영역 추정 장치 및 방법

Families Citing this family (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101327348B1 (ko) * 2012-06-15 2013-11-11 재단법인 경북아이티융합 산업기술원 주행도로 영상에 정의된 마스크를 이용한 자기 차로 인식 시스템
KR101428165B1 (ko) 2012-06-29 2014-08-07 엘지이노텍 주식회사 차선이탈 경고 시스템 및 차선이탈 경고 방법
KR101382902B1 (ko) * 2012-06-29 2014-04-23 엘지이노텍 주식회사 차선이탈 경고 시스템 및 차선이탈 경고 방법
JP5921983B2 (ja) * 2012-08-03 2016-05-24 クラリオン株式会社 車載撮像装置
CN103057470B (zh) * 2012-12-06 2015-09-16 重庆交通大学 一种车辆违章压线预先提示装置及其提示方法
CN103150337B (zh) * 2013-02-04 2016-09-21 北京航空航天大学 一种基于Bézier曲线的车道线重构方法
KR101338347B1 (ko) * 2013-04-02 2014-01-03 라온피플 주식회사 차선 이탈 경고 시스템 및 방법
KR101498975B1 (ko) * 2013-11-29 2015-03-05 현대모비스(주) 차선 이탈 경보 시스템
KR102016549B1 (ko) * 2014-01-13 2019-08-30 한화디펜스 주식회사 차량 및 차선 위치 검출 시스템 및 방법
KR102170689B1 (ko) 2014-01-14 2020-10-27 한화테크윈 주식회사 영상 정합을 위한 특징점 샘플링 방법
KR102456626B1 (ko) 2016-01-15 2022-10-18 현대자동차주식회사 자율 주행 차량의 차선 인지 방법 및 장치
CN106778605B (zh) * 2016-12-14 2020-05-05 武汉大学 导航数据辅助下的遥感影像道路网自动提取方法
CN109084782B (zh) * 2017-06-13 2024-03-12 蔚来(安徽)控股有限公司 基于摄像头传感器的车道线地图构建方法以及构建系统
KR102499398B1 (ko) 2017-08-09 2023-02-13 삼성전자 주식회사 차선 검출 방법 및 장치
CN110248861B (zh) 2018-01-07 2023-05-30 辉达公司 在车辆操纵过程中使用机器学习模型来引导车辆
WO2019152888A1 (fr) 2018-02-02 2019-08-08 Nvidia Corporation Analyse de procédure de sécurité pour évitement d'obstacle dans un véhicule autonome
CN111133447B (zh) 2018-02-18 2024-03-19 辉达公司 适于自主驾驶的对象检测和检测置信度的方法和系统
WO2019168869A1 (fr) * 2018-02-27 2019-09-06 Nvidia Corporation Détection en temps réel de voies et de limites par des véhicules autonomes
DE102018202970A1 (de) * 2018-02-28 2019-08-29 Robert Bosch Gmbh Verfahren zum Ermitteln einer topologischen Information einer Straßenkreuzung
US11537139B2 (en) 2018-03-15 2022-12-27 Nvidia Corporation Determining drivable free-space for autonomous vehicles
WO2019182974A2 (fr) 2018-03-21 2019-09-26 Nvidia Corporation Estimation de profondeur stéréo à l'aide de réseaux neuronaux profonds
WO2019191306A1 (fr) 2018-03-27 2019-10-03 Nvidia Corporation Apprentissage, test et vérification de machines autonomes à l'aide d'environnements simulés
US11966838B2 (en) 2018-06-19 2024-04-23 Nvidia Corporation Behavior-guided path planning in autonomous machine applications
US10262214B1 (en) * 2018-09-05 2019-04-16 StradVision, Inc. Learning method, learning device for detecting lane by using CNN and testing method, testing device using the same
US10275667B1 (en) * 2018-09-05 2019-04-30 StradVision, Inc. Learning method, learning device for detecting lane through lane model and testing method, testing device using the same
US10311338B1 (en) * 2018-09-15 2019-06-04 StradVision, Inc. Learning method, learning device for detecting lanes on the basis of CNN and testing method, testing device using the same
KR102475042B1 (ko) * 2018-09-28 2022-12-06 현대오토에버 주식회사 정밀 지도 구축 장치 및 방법
US11610115B2 (en) 2018-11-16 2023-03-21 Nvidia Corporation Learning to generate synthetic datasets for training neural networks
WO2020140049A1 (fr) 2018-12-28 2020-07-02 Nvidia Corporation Détection de la distance séparant d'un obstacle dans des applications de machine autonome
DE112019006468T5 (de) 2018-12-28 2021-10-14 Nvidia Corporation Erkennung des abstands zu hindernissen bei anwendungen mit autonomen maschinen
US11170299B2 (en) 2018-12-28 2021-11-09 Nvidia Corporation Distance estimation to objects and free-space boundaries in autonomous machine applications
US10373004B1 (en) * 2019-01-31 2019-08-06 StradVision, Inc. Method and device for detecting lane elements to plan the drive path of autonomous vehicle by using a horizontal filter mask, wherein the lane elements are unit regions including pixels of lanes in an input image
WO2020163390A1 (fr) 2019-02-05 2020-08-13 Nvidia Corporation Diversité et redondance de perception de voie de circulation dans des applications de conduite autonome
US11648945B2 (en) 2019-03-11 2023-05-16 Nvidia Corporation Intersection detection and classification in autonomous machine applications
CN110222658A (zh) * 2019-06-11 2019-09-10 腾讯科技（深圳）有限公司 道路灭点位置的获取方法及装置
DE112020004139T5 (de) 2019-08-31 2022-05-12 Nvidia Corporation Erstellung von karten und lokalisierung für anwendungen im bereich des autonomen fahrens
CN111008600B (zh) * 2019-12-06 2023-04-07 中国科学技术大学 一种车道线检测方法
CN111401251B (zh) * 2020-03-17 2023-12-26 北京百度网讯科技有限公司 车道线提取方法、装置、电子设备及计算机可读存储介质
US11978266B2 (en) 2020-10-21 2024-05-07 Nvidia Corporation Occupant attentiveness and cognitive load monitoring for autonomous and semi-autonomous driving applications
CN112285734B (zh) * 2020-10-30 2023-06-23 北京斯年智驾科技有限公司 基于道钉的港口无人集卡高精度对准方法及其对准系统
CN112613344B (zh) * 2020-12-01 2024-04-16 浙江华锐捷技术有限公司 车辆占道检测方法、装置、计算机设备和可读存储介质
CN112597846B (zh) * 2020-12-14 2022-11-11 合肥英睿系统技术有限公司 车道线检测方法、装置、计算机设备和存储介质
CN112818804B (zh) * 2021-01-26 2024-02-20 重庆长安汽车股份有限公司 目标级车道线的平行处理方法、系统、车辆及存储介质
CN116997940A (zh) * 2021-03-29 2023-11-03 华为技术有限公司 一种车道线检测方法及装置
CN113239733B (zh) * 2021-04-14 2023-05-12 重庆利龙中宝智能技术有限公司 一种多车道车道线检测方法
KR102629639B1 (ko) * 2021-04-21 2024-01-29 계명대학교 산학협력단 차량용 듀얼 카메라 장착 위치 결정 장치 및 방법
CN114120258B (zh) * 2022-01-26 2022-05-03 深圳佑驾创新科技有限公司 一种车道线识别方法、装置及存储介质
CN114889606B (zh) * 2022-04-28 2023-04-07 吉林大学 一种基于多传感融合的低成本高精定位方法
CN116630928B (zh) * 2023-07-25 2023-11-17 广汽埃安新能源汽车股份有限公司 一种车道线优化方法、装置及电子设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009037541A (ja) 2007-08-03 2009-02-19 Nissan Motor Co Ltd レーンマーカ認識装置及びその方法、並びに車線逸脱防止装置
JP2009237706A (ja) 2008-03-26 2009-10-15 Honda Motor Co Ltd 車両用車線認識装置、車両、及び車両用車線認識プログラム
US20100002911A1 (en) 2008-07-06 2010-01-07 Jui-Hung Wu Method for detecting lane departure and apparatus thereof
US20100110193A1 (en) 2007-01-12 2010-05-06 Sachio Kobayashi Lane recognition device, vehicle, lane recognition method, and lane recognition program

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100110193A1 (en) 2007-01-12 2010-05-06 Sachio Kobayashi Lane recognition device, vehicle, lane recognition method, and lane recognition program
JP2009037541A (ja) 2007-08-03 2009-02-19 Nissan Motor Co Ltd レーンマーカ認識装置及びその方法、並びに車線逸脱防止装置
JP2009237706A (ja) 2008-03-26 2009-10-15 Honda Motor Co Ltd 車両用車線認識装置、車両、及び車両用車線認識プログラム
US20100002911A1 (en) 2008-07-06 2010-01-07 Jui-Hung Wu Method for detecting lane departure and apparatus thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101483742B1 (ko) 2013-06-21 2015-01-16 가천대학교 산학협력단 지능형 차량의 차선 검출방법
KR101878490B1 (ko) * 2017-03-10 2018-07-13 만도헬라일렉트로닉스(주) 차선 인식 시스템 및 방법
US10460179B2 (en) 2017-03-10 2019-10-29 Mando Hella Electronics Corporation System and method for recognizing a lane
KR20190124113A (ko) * 2018-04-25 2019-11-04 연세대학교 산학협력단 자가 지도 학습을 이용한 딥러닝 기반 도로 영역 추정 장치 및 방법
KR102097869B1 (ko) 2018-04-25 2020-04-06 연세대학교 산학협력단 자가 지도 학습을 이용한 딥러닝 기반 도로 영역 추정 장치 및 방법

Also Published As

Publication number Publication date
KR20120009590A (ko) 2012-02-02
WO2012011713A3 (fr) 2012-05-10
WO2012011713A2 (fr) 2012-01-26

Similar Documents

Publication Publication Date Title
KR101225626B1 (ko) 차선 인식 시스템 및 방법
Bilal et al. Real-time lane detection and tracking for advanced driver assistance systems
Jung et al. A lane departure warning system using lateral offset with uncalibrated camera
US10074020B2 (en) Vehicular lane line data processing method, apparatus, storage medium, and device
US9245188B2 (en) Lane detection system and method
Berriel et al. Ego-lane analysis system (elas): Dataset and algorithms
Gomez et al. Traffic lights detection and state estimation using hidden markov models
Du et al. Vision-based approach towards lane line detection and vehicle localization
CN111753797B (zh) 一种基于视频分析的车辆测速方法
WO2018101526A1 (fr) Procédé de détection de zone de route et de voie à l'aide de données lidar, et système associé
CN108280840B (zh) 一种基于三维激光雷达的道路实时分割方法
Guo et al. Lane detection method based on improved RANSAC algorithm
Huang et al. Lane detection based on inverse perspective transformation and Kalman filter
JP2017223511A (ja) 道路構造化装置、道路構造化方法、及び道路構造化プログラム
Dong et al. A completely non-contact recognition system for bridge unit influence line using portable cameras and computer vision
CN102592454A (zh) 一种基于车辆侧面与路面交线检测的交叉口车辆运动参数测量方法
KR20110001427A (ko) 관심영역 추출에 의한 차선 고속검출 방법
KR101178508B1 (ko) 차량 충돌 경보 시스템 및 방법
Khan et al. Lane detection using lane boundary marker network with road geometry constraints
CN113835102A (zh) 车道线生成方法和装置
US20200193184A1 (en) Image processing device and image processing method
Xuan et al. Robust lane-mark extraction for autonomous driving under complex real conditions
CN111488762A (zh) 一种车道级定位方法、装置及定位设备
KR101910256B1 (ko) 카메라 기반 도로 곡률 추정을 위한 차선 검출 방법 및 시스템
Liu et al. Notice of retraction: Sharp curve lane detection for autonomous driving

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E90F Notification of reason for final refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20170103

Year of fee payment: 5

FPAY Annual fee payment

Payment date: 20180108

Year of fee payment: 6

FPAY Annual fee payment

Payment date: 20190103

Year of fee payment: 7

FPAY Annual fee payment

Payment date: 20200103

Year of fee payment: 8