KR102098407B1 - Lane recognition apparatus and method - Google Patents

Abstract

The present invention relates to a lane recognition apparatus and method, and when a plurality of lanes exist together at a branch road location where a road branches, such as an IC exit road, there is a problem of misrecognizing the branch lane as a lane of a lane in which the vehicle is driving. The main purpose is to provide a lane recognition apparatus and method that can be solved. In order to achieve the above object, a GPS receiver for receiving a GPS signal from the vehicle; A road information output unit configured to output location information as a branch from a current vehicle location detected from the GPS signal; A camera sensor for acquiring image information in front of the vehicle; And a lane recognition unit that recognizes a lane based on the branch road location information output from the road information output unit and the image information acquired by the camera sensor, and the lane recognition unit, according to the branch lane section lane recognition logic, A lane characterized by recognizing the inner lane as the lane of the driving lane based on the own vehicle among the diverging lanes in the image acquired by the camera sensor, when the current vehicle position is within a set distance from the divergent branch where the diverging road diverges. Disclosed is a recognition apparatus and a lane recognition method using the same.

Description

Lane recognition apparatus and method

The present invention relates to a lane recognition apparatus and method, and more specifically, when a plurality of lanes exist together at a branch road location where a road branches off, such as an IC exit road, the branch road lane is a lane of a lane in which the vehicle is driving. It relates to a lane recognition apparatus and method that can solve the problem of misrecognition.

Lane Keeping Assistance System (LKAS) is a technology that uses cameras to recognize lanes and automatically steer, which alerts the driver via an alert when the vehicle attempts to leave the lane regardless of the driver's will. In addition, it is a system that functions by actively controlling the vehicle to help the vehicle safely keep driving in the lane.

In the lane maintenance support system, the lane width, the lateral position of the vehicle on the lane, the distance to both lanes and the shape of the lane, and the curvature radius of the road are measured based on the image processing of the camera sensor. Control the vehicle using information on the road.

Therefore, the most important role for the function of the lane maintenance support system as described above is a camera sensor for measuring the distance between the lane and the vehicle, and the performance of the lane maintenance support system according to the reliability of the lane information obtained through the camera sensor And control performance is highly dependent.

The camera sensor is used to extract the lane information through an image processing technique by photographing a road image in front of the vehicle in real time, and based on the extracted lane information, the lane maintenance support system can calculate the lateral control amount of the vehicle. .

Prior arts for a method for recognizing lanes include Korean Patent Publication No. 10-2009-53412, Korean Patent Publication No. 10-2010-34409, US Patent No. 7,532,981, and US Patent No. 8055445.

On the other hand, in general, lanes on the road are mostly made of dotted lines rather than solid lines, and lane recognition and misrecognition due to guardrails, median separators, and guardrail shadows frequently occur.

In addition, there are many curved sections as well as straight lines on the actual road, and even in a straight section, the video signal cannot be stably input depending on the painted state of the lane on the road and the road conditions such as rainy weather.

In particular, there is a possibility of misrecognizing lanes in various situations such as shadows, road cracks, road junctions, toll-kates, tunnel entry and exit situations, etc. Since these lane misrecognitions directly lead to system malfunctions, research to increase system reliability and robustness This is a necessary situation.

1 is a view for explaining an example of a lane misrecognition that may occur in a branch road among conventional problems, and when using a video signal of a camera, the solid line tends to be recognized more clearly as a lane than the dotted line, and thus the IC advance route Lane misrecognition may occur, where the lane is misrecognized as a lane from the location where is.

That is, as shown in FIG. 1, among the lanes diverging from the location where the IC exit path exists, the outer lanes (solid lines, lanes of lanes) that are not originally recognized (dashed lines, lanes of driving lanes) are recognized. The phenomenon is occurring frequently.

As a prior patent document for reducing the lane misrecognition and unrecognized rate of the lane maintenance support system, Korean Patent Publication No. 10-2013-0136077 determines a lane misrecognition situation based on a mathematical expression referring to measurement values of vehicle speed and lane width. Technology is disclosed.

However, for the lane misrecognition situation in the IC entrance road as shown in FIG. 1, the difference in the lane width occurs within the lane width allowable range of the existing camera sensor (the lane width of each road varies up to 1 m). As, it has a problem that it is not possible to properly determine the lane misrecognition.

In a normal lane maintenance support system, various image information of tens of frames per second is acquired through a camera sensor, and lane information is extracted in real time.

In this process, logic to select lanes that are more likely to be lanes is applied to filter out patterns that are not lanes such as shadows, road cracks, and skid marks, but are easily misrecognized as lanes.

In this logic, if the weight is too wide or too narrow compared to the previously entered road width information, the weight is lowered and not selected as a lane, and the weight is given to a relatively clear and continuous pattern (for example, a solid line) rather than a blurry or sparse pattern. Is given and the probability of being selected as the lane increases.

The problem is that when the dotted line and the solid line are branched together at the branch road location as described above, the camera assigns weights to the solid line and recognizes them as lanes, so there is a probability of incorrectly recognizing lanes in a specific situation where the road diverges. Will increase.

Therefore, the present invention was created to solve the above problems, and when a plurality of lanes exist together at a branching point where roads diverge, such as an IC exit route, a lane of a lane in which a vehicle is driving a branching lane. The purpose of the present invention is to provide a lane recognition apparatus and method that can solve the problem of misrecognition.

In order to achieve the above object, according to an aspect of the present invention, a GPS receiver for receiving a GPS signal in a vehicle; A road information output unit configured to output location information as a branch from a current vehicle location detected from the GPS signal; A camera sensor for acquiring image information in front of the vehicle; And a lane recognition unit that recognizes a lane based on the branch road location information output from the road information output unit and the image information acquired by the camera sensor, and the lane recognition unit, according to the branch lane section lane recognition logic, A lane characterized by recognizing the inner lane as the lane of the driving lane based on the own vehicle among the diverging lanes in the image acquired by the camera sensor, when the current vehicle position is within a set distance from the divergent branch where the diverging road diverges. Provide a recognition device.

In addition, according to another aspect of the present invention, while driving the vehicle, the road information output unit detects the current vehicle location from the GPS signal received through the GPS receiver and outputs location information as a branch from the current vehicle location; Obtaining image information in front of the vehicle by a camera sensor while driving the vehicle; And recognizing a lane based on the branch road position information output from the road information output unit and the image information acquired by the camera sensor, and the lane recognition unit, according to the branch road section lane recognition logic, A lane characterized by recognizing the inner lane as the lane of the driving lane based on the own vehicle among the diverging lanes in the image acquired by the camera sensor when the current vehicle position is within a set distance from the divergent branch where the diverging road diverges. Provide a method of recognition.

In this way, according to the lane recognition apparatus and method according to the present invention, when the vehicle reaches the location near the branch road during driving, logic that recognizes the inner lane as the lane of the driving lane is executed among the two lanes that are diverged. The problem of misrecognizing the lane as a lane of a driving lane can be improved, and it is possible to greatly contribute to improving the recognition rate of the lane and stabilizing the performance of the lane maintenance support system.

1 is a view for explaining lane misrecognition in a branch road in the prior art.
2 is a block diagram showing the configuration of a lane recognition apparatus according to the present invention.
3 is a view for explaining the road information output by the road information output unit in the present invention.
4 and 5 are diagrams for explaining the lane recognition logic according to the present invention.
6 is a view for explaining the application of the lane recognition logic according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily practice.

The present invention provides a lane recognition apparatus and method for solving a problem of misrecognizing a lane as a lane of a lane in which a vehicle is driving when a plurality of lanes exist together at a branching location where a road diverges, such as an IC exit road. Is to provide.

As shown in FIG. 1, when a branch road such as an IC (Interchange) exit or a JC (Junction) exit is located in a lane on which the vehicle is driving (hereinafter referred to as a 'driving lane'), the right lane of the driving lane ( The inner lane) and the right lane (outer lane) of the branch road exist together, so the camera sensor of the lane keeping support system photographs a plurality of lanes.

Therefore, it is necessary to clearly distinguish and recognize the lane of the driving lane among the plurality of lanes described above from the image information photographed by the camera sensor. Referring to FIG. 1, when the driver does not exit through the branch road, The lane (right lane) becomes the inner lane among the lanes branching from each other regardless of the dotted line or the solid line, and the lane (right lane) to the branch road becomes the outer lane.

Of course, the driver may have the intention to exit through the branch road at the point where the branch road exists, such as the IC exit or JC exit, and in this case, the driver can maintain the lane by operating the steering wheel or turning signal lamp. Since the operation of the system is stopped, it can be said that the situation is independent of the lane recognition of the present invention.

On the other hand, if the driver wants to keep the lane that was driving without exiting through the branch road, the lane of the branch road should not be recognized as a lane in the situation where the lane maintenance support system is operating, and the lane of the branch road In this solid line, whether the lane of the driving lane is a dotted line or a solid line, the lane of the driving lane must be correctly recognized.

In the related art, when the inside dotted line (lane of the own vehicle) and the outside solid line (lane of the branch road) exist together at the branch road position, a weight is given to the solid line, and thus there is a problem of misrecognizing the solid line as the lane.

Accordingly, the present invention is to reduce the lane misrecognition rate of the lane maintenance support system as described above, a road situation in which a plurality of lanes exist together in the image information of the camera sensor (a road diverging from a driving lane, that is, a branch road exists) Situation) improves the conventional technique of recognizing a solid line as a lane by assigning a weight to the solid line, and when checking the location of the branch road, it is configured to recognize the inner lane of the diverging lane as the lane of the driving lane.

To this end, the lane recognition apparatus of the present invention, as shown in Figure 2, a GPS receiver 11 for receiving a GPS (Global Positioning System) signal from the vehicle, the road information according to the vehicle position detected from the GPS signal The road information output unit 12 outputs, a camera sensor 13 for acquiring image information in front of the vehicle, and a road information output from the road information output unit 12 and an image acquired by the camera sensor 13 And a lane recognition unit 20 for recognizing lanes based on the information.

The road information output unit 12 outputs road information according to the vehicle location using a map of a navigation device pre-loaded in a vehicle or a map of an ADAS (Advanced Driver Assistance System). 11) The vehicle location is detected from the GPS signal received through and a road information according to the current vehicle location is output using a map of a navigation device or a map of ADAS.

At this time, the road information output unit 12 provides branch road location information such as an IC exit road, and in particular, periodically provides distance information from a current vehicle location to a set branch location where the branch road branches.

In this process, the road information output unit 12 extracts a branch location where a branch road branches from a map of a navigation device or a map of ADAS, and calculates and outputs a distance from the current vehicle location detected from the GPS signal to the branch location. Is done.

In addition, the lane recognition unit 20 is a branch road section when it is determined that a branch road exists in front of the branch road location information (location information from the current vehicle position to the branch position) output by the road information output unit 12. You will enter the lane recognition logic.

Subsequently, in the state in which the lane recognition logic of the branch road section is executed, the lane recognition unit 20 weights the inner lane among the plurality of lanes in the image information acquired by the camera sensor 13 to turn the inner lane into the lane of the driving lane Will recognize.

Of course, if the driver operates the steering wheel or turns signal lamp to exit through the branch road, the lane keeping support system stops working and the branch road is selected as the lane of the driving lane by weighting the inner lane. The section lane recognition logic ends.

3 is a view for explaining road information output by the road information output unit in the present invention, a vehicle equipped with a road information output unit and a lane maintenance support device (LKAS) for outputting road information with reference to a navigation map or an ADAS map In the above, the road information output unit 12 determines that a branch road exists while driving the vehicle, and calculates and outputs a distance from the current vehicle location to the branch location using the vehicle location information detected from the GPS signal.

The distance information is transmitted to the lane recognition unit 20, and the lane recognition unit 20 executes the lane recognition logic for the branch lane based on the distance information periodically output by the road information output unit 12.

In order to solve the problem frequently occurring in the lane maintenance support system (LKAS), that is, the lane misrecognition and the lane maintenance malfunction problem occurring in the branch road such as the IC exit route, the distance information provided by the road information output unit 12 may be solved. On the basis of this, when the vehicle reaches the vicinity of the branch road, the logic for recognizing the Anjok lane as the lane of the driving lane should be executed by weighting the inner lane.

If, in all cases, the inside lane is recognized as the lane of the driving lane by the lane recognition logic of the lane, the misrecognition rate can be increased. It is necessary to minimize the erroneous recognition rate by allowing the lane recognition logic to be executed and the lane recognition logic for the branch road section to be stopped when passing through the branch road.

This logic will be described in more detail with reference to FIGS. 4 and 5.

First, it is important to select the section in which the lane recognition logic of the branch road section is executed. The lane misrecognition and malfunction of the lane maintenance support system mainly occur from the front branch point where the right lane of the branch road starts to branch from the right lane of the driving lane.

Accordingly, in consideration of the error of the GPS signal from the starting position of the deceleration lane, which is the location where the lane of the branch road branches, the position before the preset GPS error distance is determined as the starting point of the logic operation.

That is, the lane recognition logic of the branch road section from the previous position equal to the GPS error distance from the starting position of the deceleration car, which is the location where the lane of the IC exit road (branch road) branches, recognizes the inner lane as the lane based on the own vehicle in the image information ).

Normally, on the road where the IC exit road is located, a deceleration lane corresponding to a set distance section is set from a position where the lane of the exit road (branch road) branches, and the distance of the deceleration lane section is different for each road, and accordingly, in the present invention, the structure of the road The starting position is set as the deceleration lane assuming the longest situation with reference to Article 35 of the Rules on Facility Standards.

In other words, the 222m with the longest deceleration lane is applied as the deceleration lane section distance, and the GPS error distance set thereto is added, for example, by adding the GPS error distance 20m to the 222m deceleration lane section distance, the previous position of 242m is set as the location of the logic execution. To put.

In summary, in FIGS. 3 to 5, the logic is executed when the distance from the branch position to the current vehicle position reaches the 'deceleration lane section distance (d) + GPS error distance (s1)', and the deceleration lane is executed. When the vehicle arrives at a position equal to the ending set distance s2 from the ending branch position, the logic is stopped so that the existing lane recognition logic is executed.

As described above, the reason for applying the GPS error distance in addition to applying the longest section distance of the decelerating lane is to prevent lane misrecognition and maintain lanes when the lane section recognition logic is executed after the vehicle passes the branch point where the lane branches. This is because the effect of preventing the malfunction of the support system cannot be expected.

In addition, the logic for recognizing the inner lane as the lane based on the own vehicle (driving lane) at the position before the ending set distance s2 from the branch position, that is, the execution of the section lane recognition logic for the above branch is stopped and the existing lane recognition Only when switching to logic, it is possible to prevent another lane misrecognition due to the application of the lane recognition logic to the branch road section.

In the present invention, the branch position is defined as a position at which the deceleration lane ends, as illustrated in FIG. 5, that is, a rear branch point where the left lane from the right lane to the branch of the driving lane starts to branch.

6 is for explaining the application of the lane recognition logic according to the present invention, in the above description, the execution time and the end time of the branch lane section lane recognition logic have been described. As shown, the branch lane section lane recognition logic Exists in the form included in the existing lane recognition logic.

First, in the state where the road information output unit 12 is mounted on the vehicle, the road information output by the road information output unit 12, that is, the distance from the branch location at which the branch road branches off to the current vehicle location is the entry setting distance. If it is less than (eg, 500m), it enters the ready state of the lane recognition logic of the branch road section.

In this standby state, the result of the existing lane recognition logic is followed.

Next, when the vehicle continues to travel and the distance from the branch position to the current vehicle position is within the starting set distance (d + s1) (eg, 222m + 20m = 242m), execution of the lane recognition logic of the branch lane section starts. do.

When the logic is executed, the inner lane is selected and recognized as a lane by weighting the inner lane based on the own vehicle (driving lane).

Then, when the vehicle reaches the position of the ending set distance s2 (eg, 50m) from the branch position, the branch lane recognition logic is terminated, and the existing lane recognition logic is executed thereafter.

In addition, if the road information output unit 12 fails to output proper information due to an internal fail or communication (CAN communication) abnormality from when the standby state of the lane recognition logic of the branch road section enters to the end of execution. The branch lane recognition logic of the branch road of the invention ends immediately.

Hereinafter, an example to which the lane recognition method of the present invention is applied will be described.

In a vehicle running at the end lane of a three-lane highway (i.e., three lanes) at 80 km / h, the driver finds a sign that the IC exit is 1 km, but since the driver has no intention to exit the highway, the vehicle continues to move on the highway without changing lanes. Drive.

Subsequently, in the lane recognition logic of the lane maintenance support system (lane recognition unit) at the point where the IC entry route (branch location) remains 500 m, which is the entry setting distance, the branch road is based on the distance information 500 m output by the road information output unit 12. Transition to the ready state of the section lane recognition logic.

At this time, the logic does not perform any special operation, and the standby or the IC advance path (branch position) is set as the standby state unless a failure or communication error of the road information output unit 12 occurs. From the remaining point of 242m, s1), the state transitions from the standby state to the weighting state.

When the transition to the weighting state is performed, the existing lane information extraction logic is ignored and the inner lane is weighted unconditionally within the image information of the camera sensor 13 to recognize the inner lane as a lane.

This condition is stopped after the IC advance route (branch position) continues to the point remaining 50m, which is the end set distance (s2).

For another example, the driver intends to exit the highway through the IC exit road, and the logic for lane recognition in the branch road section operates from the point where the IC exit road (branch position) remains 500 m, which is the entry setting distance.

However, immediately after that, if the driver attempts to change the lane by operating the right turn signal lamp, the lane keeping support system stops the control logic by itself.

The embodiments of the present invention have been described in detail above, but the scope of rights of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention as defined in the following claims. The form is also included in the scope of the present invention.

11: GPS receiver
12: Road information output unit
13: camera sensor
20: lane recognition department

Claims (16)

GPS receiver for receiving a GPS signal in the vehicle;
A road information output unit configured to output location information as a branch from a current vehicle location detected from the GPS signal;
A camera sensor for acquiring image information in front of the vehicle; And
And a lane recognition unit that recognizes a lane based on branch road location information output from the road information output unit and image information acquired by the camera sensor,
The lane recognition unit,
According to the lane recognition logic of the branch road section, if the current vehicle position is within a set distance from the branch position where the branch road branches, the inner lane of the driving lane based on the own vehicle among the diverging lanes in the image acquired by the camera sensor Recognized as lane,
The set distance is set to the distance of the decelerated lane section plus the preset GPS error distance,
The distance of the deceleration lane section is the distance from the front branch to the branch position where the right lane of the branch road starts to diverge from the right lane of the driving lane,
The branch position is a rear branch point where the left lane of the branch road starts to diverge from the right lane of the driving lane,
The lane recognition logic of the branch road section is terminated when a vehicle arrives at a position previous to the preset end set distance from the branch position.
The method according to claim 1,
The road information output unit,
A lane recognition apparatus characterized by periodically outputting distance information from a current vehicle position detected from a GPS signal to a branch position where the branch road branches off as the branch road position information.
The method according to claim 2,
The road information output unit,
A lane recognition apparatus characterized by extracting a branch location at which the branch road branches from a map including road information, and calculating and outputting a distance from the current vehicle location to the branch location.
The method according to claim 3,
The map is a lane recognition device, characterized in that the map of the navigation device or a map of the ADAS (Advanced Driver Assistance System).
delete delete delete delete During the vehicle driving, the road information output unit detects the current vehicle location from the GPS signal received through the GPS receiver and outputs location information as a branch from the current vehicle location;
Obtaining image information in front of the vehicle by a camera sensor while driving the vehicle; And
The lane recognition unit includes a step of recognizing the lane based on the branch road location information output from the road information output unit and the image information acquired by the camera sensor,
The lane recognition unit,
According to the lane recognition logic of the branch road section, if the current vehicle position is within a set distance from the branch position at which the branch road branches, the inner lane based on the own vehicle among the diverging lanes in the image acquired by the camera sensor may be transferred to the driving lane. Recognized as lane,
The set distance is set to the distance of the decelerated lane section plus the preset GPS error distance,
The distance of the deceleration lane section is the distance from the front branch to the branch position where the right lane of the branch road starts to diverge from the right lane of the driving lane,
The branch position is a rear branch point where the left lane of the branch road starts to diverge from the right lane of the driving lane,
The lane recognition logic of the branch road section is terminated when a vehicle reaches a previous position of a predetermined ending set distance from the branch position.
The method according to claim 9,
The road information output unit,
A lane recognition method characterized by periodically outputting distance information from a current vehicle position detected from a GPS signal to a branch position where the branch road branches off as the branch road position information.
The method according to claim 9,
The road information output unit,
A lane recognition method characterized by extracting a branch location at which the branch road branches from a map including road information, and calculating and outputting a distance from the current vehicle location to the branch location.
The method according to claim 11,
The lane recognition method is characterized in that the map is a map of a navigation device or a map of an ADAS (Advanced Driver Assistance System).
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