KR101816034B1 - Apparatus and method for detecting road boundary line using camera and radar - Google Patents

Apparatus and method for detecting road boundary line using camera and radar Download PDF

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Publication number
KR101816034B1
KR101816034B1 KR1020150177293A KR20150177293A KR101816034B1 KR 101816034 B1 KR101816034 B1 KR 101816034B1 KR 1020150177293 A KR1020150177293 A KR 1020150177293A KR 20150177293 A KR20150177293 A KR 20150177293A KR 101816034 B1 KR101816034 B1 KR 101816034B1
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South Korea
Prior art keywords
radar
distance
road
road boundary
boundary
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KR1020150177293A
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Korean (ko)
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KR20170069719A (en
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이호원
김호준
박영순
이용환
장범순
정재우
조항복
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현대오트론 주식회사
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • G06K9/00798—

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to an apparatus and method for detecting a road boundary using a camera and a radar, and more particularly to a system and method for detecting a road image boundary in an image input through a camera during a vehicle running, Boundary candidate line selection; A distance detecting unit connected to the actuator for rotating the rotatable radar to the left or right according to a predetermined sensing angle and detecting the distance of the stationary target through the rotated radar; A boundary line selecting unit that synthesizes a distance between the selected road boundary candidate and the detected stationary target through distance matching and selects a road boundary candidate matching the detected distance of the stationary target with a road boundary line; And a range setting unit for setting a moving range of the vehicle by adding the distance between the selected road boundary line and the corresponding road boundary line to the input image.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and a method for detecting a road boundary using a camera and a radar,

The present invention relates to an apparatus and method for detecting a road boundary using a camera and a radar, and more particularly, to an apparatus and method for detecting a road boundary using a camera and a radar, Detection apparatus and method.

Generally, the driver is driving while paying attention so that the vehicle does not get out of the running road while the vehicle is running, that is, it keeps the running road without leaving the road boundary.

In this way, the driver keeps his or her attention so that the vehicle does not deviate from the road boundary while driving, in order to prevent a traffic accident that may occur when the road boundary is detached.

However, the driver can not recognize the departure from the road boundary when driving on an abnormal road section or driving while sleeping or sleeping in a bad weather condition, resulting in a large accident.

In order to solve the problem of the accident caused by the departure of the road, a road boundary recognition system has been developed and applied to help the driver recognize the road while driving and to prevent the driver from leaving the road.

A conventional system for detecting or recognizing road boundaries detects road boundaries using radar.

Since such a conventional road boundary detection system detects a road boundary only by using a radar, accuracy of a road boundary is deteriorated or a limited boundary is detected.

In addition, the technique of detecting the stationary object and estimating the boundary of the road greatly increases the uncertainty when the vehicle travels in the middle of both boundary lines during actual road driving.

On the other hand, the technique of estimating the boundary of the road can be applied only in the flat road condition, and the road boundary can not be detected in the ramp.

Korean Patent Publication No. 10-1999-0050649 (published May 5, 1999)

Embodiments of the present invention are directed to a road boundary detection device using a camera and a radar that can improve the accuracy of road boundary detection by detecting a road boundary by using a camera and a radar for road boundary detection and rotating a radar connected to the actuator And methods.

SUMMARY OF THE INVENTION Embodiments of the present invention provide an apparatus and method for detecting a road boundary using a camera and a radar that can easily set a movable range of a vehicle using the detected road boundary.

The embodiments of the present invention determine whether a vehicle enters or exits a ramp, and if it is determined that the vehicle is entering or exiting the ramp, the radar connected to the actuator is rotated up and down to detect the road boundary, And a method and apparatus for detecting a road boundary using a camera and a radar.

According to the first aspect of the present invention, a boundary candidate selecting unit for detecting a road image boundary in an image input through a camera while driving a vehicle and selecting the detected road image boundary as a road boundary candidate; A distance detecting unit connected to the actuator for rotating the rotatable radar to the left or right according to a predetermined sensing angle and detecting the distance of the stationary target through the rotated radar; A boundary line selecting unit that synthesizes a distance between the selected road boundary candidate and the detected stationary target through distance matching and selects a road boundary candidate matching the detected distance of the stationary target with a road boundary line; And a range setting unit for setting a moving range of the vehicle by adding the distance between the selected road boundary line and the corresponding road boundary line to the input image.

The apparatus further includes a ramp determining unit that rotates the radar upward or downward using an actuator connected to the radar when the vehicle is determined to enter or exit the ramp, The distance of the stationary target can be detected through the rotated radar.

The ramp determining unit may determine the rotation angle of the radar according to a traveling state including the steering angle or the lateral acceleration of the vehicle, and may rotate the radar up or down by the determined rotation angle.

The ramp determining unit may determine the rotation angle of the radar through image analysis of the input image, and may rotate the radar up or down by the determined rotation angle.

The ramp determining unit may synchronize the radar sensing and signal processing timings to rotate the radar using the actuator within a predetermined time.

According to a second aspect of the present invention, there is provided a method of detecting a road image, comprising the steps of: detecting a road image boundary on an input image during driving; Selecting the road image boundary as a road boundary candidate; Detecting the distance of the stationary target by rotating the radar to the left or right according to a predetermined sensing angle; Selecting a road boundary candidate as a road boundary line by synthesizing a distance between the selected road boundary candidate and the detected stationary state target through distance matching and matching the distance of the detected stationary state target; And adding a distance between the selected road boundary line and the corresponding road boundary line to the input image to set a movable range of the vehicle.

The method includes: determining whether the vehicle enters or exits a ramp; Rotating the radar up or down using an actuator connected to the radar when the vehicle enters or exits the ramp; And detecting a distance of the stationary target through the upward or downward rotated radar.

The step of rotating the radar upside or downside may determine the rotation angle of the radar according to a traveling state including the steering angle or the lateral acceleration of the vehicle and rotate the radar up or down by the determined rotation angle .

The step of rotating the radar up or down may determine the rotation angle of the radar through image analysis of the input image and rotate the radar up or down by the determined rotation angle.

The step of rotating the radar upside or downside may rotate the radar using the actuator within a predetermined time in synchronism with the radar sensing and signal processing timings.

Embodiments of the present invention can improve the accuracy of road boundary detection by detecting a road boundary by using a camera and a radar for road boundary detection and rotating a radar connected to the actuator.

Embodiments of the present invention can easily set the movable range of the vehicle using the detected road boundary line.

The embodiments of the present invention determine whether a vehicle enters or exits a ramp, and if it is determined that the vehicle is entering or exiting the ramp, the radar connected to the actuator is rotated up and down to detect the road boundary, have.

1 is a block diagram of a road boundary detection apparatus using a camera and a radar according to an embodiment of the present invention.
FIG. 2 is an explanatory view of a rotating operation of a radar connected to an actuator according to an embodiment of the present invention. FIG.
3 is a flowchart of a road boundary detection method using a camera and a radar according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present specification. In describing the embodiments of the present invention, description of technical contents which are well known in the technical field to which the present invention belongs and which are not directly related to the present specification will be omitted. This is for the sake of clarity without omitting the unnecessary explanation and without giving the gist of the present invention.

In describing the components of the present specification, the same reference numerals may be given to components having the same name, and the same reference numerals may be given to different drawings. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that it has the same function in different embodiments, and the function of each component is different from that of the corresponding embodiment Based on the description of each component in FIG.

1 is a block diagram of a road boundary detection apparatus using a camera and a radar according to an embodiment of the present invention.

1, a camera and a radar-based road boundary detection apparatus 100 according to an embodiment of the present invention includes a boundary candidate selection unit 110, a distance detection unit 120, a boundary line selection unit 130, And a range setting unit 140. Here, the road boundary detecting apparatus 100 may further include a slope determining unit 150. The boundary candidate selecting unit 110 is connected to the camera 111 and the distance detecting unit 120 is connected to the radar 121 and the actuator 122.

The specific configuration and operation of each component of the road boundary detection apparatus 100 using the camera and the radar of FIG. 1 will be described below.

The boundary candidate selection unit 110 is connected to a camera 111 that photographs a road image while the vehicle is running. The boundary candidate selection unit 110 detects a road image boundary from the image input through the camera 111 while driving the vehicle. The boundary candidate selection unit 110 selects the detected road image boundary as a road boundary candidate. Here, the camera 111 captures an image of the front lane and the road boundary, and transmits the image to the boundary candidate selecting unit 110. [ Then, the boundary candidate selection unit 110 detects a road image boundary through the transmitted image and selects a boundary candidate.

The distance detecting unit 120 rotates the radar 121 to the left or right according to a predetermined sensing angle through an actuator 122 connected to the rotatable radar 121, As shown in FIG. To this end, the distance detector 120 is connected to the radar 121. Here, the radar 121 is connected to the actuator 122 and is rotatable. For example, the radar 121 is connected to an actuator 122 such as a stepping motor and rotates up and down or right and left.

The boundary line selection unit 130 synthesizes the distance between the road boundary candidate selected by the boundary candidate selection unit 110 and the stationary state target detected by the distance detection unit 120 through distance matching. The boundary line selection unit 130 selects a road boundary candidate matching the distance of the detected stationary target as a road boundary line. That is, the boundary line selection unit 130 can estimate the boundary line by fusing the distance information of the stationary state target to the selected road boundary candidate (road boundary candidate group) through the image input from the boundary candidate selection unit 110. [

The movement range setting unit 140 sets the moving range of the vehicle by adding the distance between the road boundary selected by the boundary line selection unit 130 and the road boundary line to the image input through the camera 111. [ Through this, the driver can visually confirm the extent to which the vehicle can move through the range of movement of the vehicle added to the image.

On the other hand, the ramp determining unit 150 included in the road boundary detecting apparatus 100 monitors whether the vehicle enters or exits the ramp. The ramp determining unit 150 rotates the radar 121 upward or downward by using the actuator 122 connected to the radar 121 when it is determined that the vehicle enters or exits the ramp. This is because the radar 121, which does not rotate upward or downward when the vehicle enters the ramp or exits the ramp, can not obtain the remote information. Therefore, the ramp determining unit 150 rotates the radar 121 up or down using the actuator 122 to detect the distance of the stationary target on the road. At this time, the slope determining unit 150 can directly transmit the slope determination result to the distance detecting unit 120 without rotating the actuator 122 directly. Then, the distance detecting unit 120 can detect the distance of the stopped state target on the road by rotating the radar 121 upward or downward according to the determination result of the inclination.

Here, the ramp determining unit 150 may determine the rotation angle of the radar 121 based on the steering angle of the vehicle or the moving state including the lateral acceleration. The ramp determining unit 150 rotates the radar 121 upward or downward by the determined rotation angle.

The ramp determining unit 150 may determine the rotation angle of the radar 121 through image analysis of the image input through the camera 111. [ The ramp determining unit 150 rotates the radar 121 upward or downward by the determined rotation angle.

The ramp determining unit 150 rotates the radar 121 using the actuator 122 within a predetermined time in synchronization with the sensing and signal processing timings of the radar 121.

Then, the distance detecting unit 120 detects the distance of the stationary state target through the radar 121 rotated upward or downward.

FIG. 2 is an explanatory view of a rotating operation of a radar connected to an actuator according to an embodiment of the present invention. FIG.

As shown in FIG. 2, the radar 121 provided in the vehicle rotates according to a predetermined field of view (FOV) to detect the distance of the stationary target. Here, the predetermined sensing angle FOV may be a sensing angle narrower than the sensing angle of a general radar 121, and may be suitable for road boundary detection.

For example, an area that can be detected through the radar 121 having such a detection angle FOV is divided into first to third sensing areas TX1, TX2, and TX3. Here, the area that can be detected through the radar 121 is not limited to the three sensing areas, and the sensing angle FOV can be adjusted to the driving situation of each road.

When the vehicle enters the curved road and travels, the first sensing area TX1 detected by the radar 121 detects the road boundary corresponding to the left area of the curved road. In addition, the second sensing area TX2 detected by the radar 121 detects the road boundary corresponding to the center area of the curved road. Also, the third sensing area TX3 detected by the radar 121 detects the road boundary corresponding to the right area of the curved road.

Then, the distance detecting unit 120 detects the distance of the left or right stationary target through the radar 121 rotated through the actuator 122.

3 is a flowchart of a road boundary detection method using a camera and a radar according to an embodiment of the present invention.

The boundary candidate selection unit 110 receives the image photographed through the camera 111 while driving the vehicle (S302).

Then, the boundary candidate selecting unit 110 detects the road image boundary in the input image during the driving of the vehicle (S304).

Then, the boundary candidate selecting unit 110 confirms whether the road boundary candidate is selected using the detected road image boundary (S306).

If the road boundary candidate is selected using the road image boundary, the distance detection unit 120 rotates the radar 121 to the left or right according to a predetermined sensing angle (S308).

On the other hand, if the road boundary candidate is not selected using the road image boundary (S306), the boundary candidate selection unit 110 performs the process again from S302, which is taken through the camera 111. [

The distance detection unit 120 detects the distance of the stationary target according to the distance sensed by the radar 121 (S310).

The boundary line selection unit 130 determines whether the distance candidate matches the boundary image candidate with the boundary image candidate in the boundary candidate selection unit 110 (S312).

If the distance between the road boundary candidate and the boundary image is matched, the boundary line selecting unit 130 selects a road boundary candidate matching the distance of the stationary target as a road boundary (S314). That is, the boundary line selecting unit 130 can estimate the road boundary line by fusing the distance information of the stationary state target to the road boundary candidate group.

The movement range setting unit 140 sets the movable range of the vehicle by adding the distance between the selected road boundary line and the corresponding road boundary line to the input image in step S314 (S316).

If the distance between the road boundary candidate and the boundary image is not matched, the slope determining unit 150 determines whether the vehicle enters or exits the ramp (S318).

If it is determined that the vehicle enters or exits the ramp, the ramp determining unit 150 rotates the radar 121 upward or downward using the actuator 122 connected to the radar 121 (S320).

On the other hand, if it is not determined that the vehicle enters or exits the ramp, the road boundary detecting apparatus 100 performs the process from step S304 to detect the road image boundary again.

The distance detecting unit 120 detects the distance of the stationary state target through the radar 121 rotated upward or downward (S322).

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: Road boundary detection device
110: boundary candidate selection unit
111: camera
120:
121: Radar
122: Actuator
130: Boundary line selection
140: Moving range setting unit
150:

Claims (10)

A boundary candidate selecting unit that detects a road image boundary in an image input through a camera while the vehicle is running and selects the detected road image boundary as a road boundary candidate;
A distance detector which rotates the radar connected to the actuator and rotates to the left or right according to a predetermined detection angle and detects the distance of the stationary target through the left or right radar;
A ramp determining unit for rotating the radar up or down using the actuator if it is determined that the vehicle enters or exits the ramp;
A boundary line selecting unit that synthesizes a distance between the selected road boundary candidate and the detected stationary target through distance matching and selects a road boundary candidate matching the detected distance of the stationary target with a road boundary line; And
And a range setting unit for setting a moving range of the vehicle by adding the distance between the selected road boundary line and the corresponding road boundary line to the input image,
Wherein the distance detecting unit detects the distance of the stationary target through the upper or lower radar if it is determined that the vehicle enters or exits the ramp. delete The method according to claim 1,
The ramp-
Determining a rotation angle of the radar according to a traveling state including a steering angle or a lateral acceleration of the vehicle and rotating the radar up or down by the determined rotation angle. The method according to claim 1,
The ramp-
Determining a rotation angle of the radar through image analysis of the input image, and rotating the radar up or down by the determined rotation angle. The method according to claim 1,
The ramp-
And the radar is rotated using the actuator within a predetermined time in synchronism with the sensing and signal processing timings of the radar. Detecting a road image boundary on an input image during a vehicle running;
Selecting the road image boundary as a road boundary candidate;
Detecting the distance of the stationary target by rotating the radar to the left or right according to a predetermined sensing angle;
Determining whether the vehicle enters or exits a ramp;
Rotating the radar up or down using an actuator connected to the radar when the vehicle enters or exits the ramp;
Detecting a distance of the stationary target through the upward or downward rotated radar;
Selecting a road boundary candidate as a road boundary line by synthesizing a distance between the selected road boundary candidate and the detected stationary state target through distance matching and matching the distance of the detected stationary state target; And
And adding a distance between the selected road boundary line and the corresponding road boundary line to the input image to set a movable range of the vehicle. delete The method according to claim 6,
The step of rotating the radar up or down
Determining a rotation angle of the radar according to a traveling state including the steering angle or the lateral acceleration of the vehicle and rotating the radar upward or downward by the determined rotation angle. The method according to claim 6,
The step of rotating the radar up or down
Determining a rotation angle of the radar through image analysis of the input image, and rotating the radar upward or downward by the determined rotation angle. The method according to claim 6,
The step of rotating the radar up or down
And the radar is rotated using the actuator within a predetermined time in synchronism with the sensing and signal processing timings of the radar.
KR1020150177293A 2015-12-11 2015-12-11 Apparatus and method for detecting road boundary line using camera and radar KR101816034B1 (en)

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Citations (1)

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JP2012225806A (en) * 2011-04-20 2012-11-15 Toyota Central R&D Labs Inc Road gradient estimation device and program

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012225806A (en) * 2011-04-20 2012-11-15 Toyota Central R&D Labs Inc Road gradient estimation device and program

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