MX354764B - Dispositivo de deteccion de semaforo y metodo de deteccion de semaforo. - Google Patents

Dispositivo de deteccion de semaforo y metodo de deteccion de semaforo.

Info

Publication number
MX354764B
MX354764B MX2017000063A MX2017000063A MX354764B MX 354764 B MX354764 B MX 354764B MX 2017000063 A MX2017000063 A MX 2017000063A MX 2017000063 A MX2017000063 A MX 2017000063A MX 354764 B MX354764 B MX 354764B
Authority
MX
Mexico
Prior art keywords
traffic signal
traffic
signal detection
search area
vehicle
Prior art date
Application number
MX2017000063A
Other languages
English (en)
Other versions
MX2017000063A (es
Inventor
Yamanoi Daiki
MATSUO Haruo
Oki Takahiko
Original Assignee
Nissan Motor
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 Nissan Motor filed Critical Nissan Motor
Publication of MX2017000063A publication Critical patent/MX2017000063A/es
Publication of MX354764B publication Critical patent/MX354764B/es

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • 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
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B60Y2400/3015—Optical cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Abstract

Se proporciona un dispositivo de detección de semáforo capaz de seleccionar apropiadamente un semáforo para un objetivo de detección dependiendo de un estado de obstrucción del semáforo. Un dispositivo (10) de detección de semáforo incluye: una unidad (31) de captura de imágenes que se monta en un vehículo y captura una imagen de los alrededores; una unidad (11) de detección de la ubicación del vehículo que detecta una ubicación del vehículo; una unidad (12) de información de mapa que almacena la información de mapa; una unidad (13) de estimación de la ubicación del semáforo que estima una ubicación de un semáforo alrededor del vehículo con referencia a la ubicación del vehículo y la información de mapa, y establece un área de búsqueda de semáforo en la cual se estima que el semáforo está presente; una unidad (32) de detección de semáforo que detecta el semáforo inspeccionando el área de búsqueda de semáforo en la imagen; y una unidad (22) de estimación de la obstrucción que estima si un estado de obstrucción continua donde una vista del semáforo está continuamente obstruida tiene lugar en el área de búsqueda de semáforo. Cuando la unidad (22) de estimación de la obstrucción estima que tiene lugar un estado de obstrucción continua, la unidad (13) de estimación de la ubicación del semáforo selecciona el área de búsqueda de semáforo con base en el estado de obstrucción continua.
MX2017000063A 2014-07-08 2014-07-08 Dispositivo de deteccion de semaforo y metodo de deteccion de semaforo. MX354764B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/068105 WO2016006029A1 (ja) 2014-07-08 2014-07-08 信号機検出装置及び信号機検出方法

Publications (2)

Publication Number Publication Date
MX2017000063A MX2017000063A (es) 2017-04-27
MX354764B true MX354764B (es) 2018-03-21

Family

ID=55063706

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2017000063A MX354764B (es) 2014-07-08 2014-07-08 Dispositivo de deteccion de semaforo y metodo de deteccion de semaforo.

Country Status (7)

Country Link
US (1) US9922259B2 (es)
EP (1) EP3168823B1 (es)
JP (1) JP6256611B2 (es)
CN (1) CN106663374B (es)
MX (1) MX354764B (es)
RU (1) RU2634852C1 (es)
WO (1) WO2016006029A1 (es)

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* Cited by examiner, † Cited by third party
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JP6447722B2 (ja) * 2015-06-05 2019-01-09 日産自動車株式会社 信号機検出装置及び信号機検出方法
DE102015224112A1 (de) * 2015-12-02 2017-06-08 Bayerische Motoren Werke Aktiengesellschaft System zur Beeinflussung von Fahrzeugsystemen durch Berücksichtigung relevanter Signalgeber
US10124804B2 (en) * 2017-04-12 2018-11-13 GM Global Technology Operations LLC Method and apparatus for traffic control device detection optimization
DE102017212034A1 (de) * 2017-07-13 2019-01-17 Bayerische Motoren Werke Aktiengesellschaft System und Verfahren zur automatisierten Längsführung eines Kraftfahrzeugs bis in den Stillstand
EP3723064A4 (en) * 2017-12-05 2020-12-16 Nissan Motor Co., Ltd. VEHICLE CONTROL PROCESS AND CONTROL DEVICE
JP7067067B2 (ja) * 2018-01-11 2022-05-16 トヨタ自動車株式会社 信号機認識装置、及び自動運転システム
US11760280B2 (en) 2018-01-12 2023-09-19 Uatc, Llc Systems and methods for streaming processing for autonomous vehicles
JP7003735B2 (ja) * 2018-02-28 2022-01-21 トヨタ自動車株式会社 運転支援装置
US10884424B2 (en) 2018-09-07 2021-01-05 GM Global Technology Operations LLC Traffic light occlusion detection for autonomous vehicle
CN109035831B (zh) 2018-09-07 2021-07-27 百度在线网络技术（北京）有限公司 交通指示灯的识别方法、装置、设备、存储介质及车辆
JP2020106961A (ja) * 2018-12-26 2020-07-09 トヨタ自動車株式会社 信号機判定装置
JP7347193B2 (ja) * 2019-12-18 2023-09-20 トヨタ自動車株式会社 運転支援装置
US20210211568A1 (en) * 2020-01-07 2021-07-08 Motional Ad Llc Systems and methods for traffic light detection
JPWO2021153051A1 (es) * 2020-01-29 2021-08-05
JP7409257B2 (ja) 2020-08-07 2024-01-09 株式会社デンソー 信号機認識装置、信号機認識方法、車両制御装置
CN112141176B (zh) * 2020-09-30 2022-07-22 青岛海信微联信号有限公司 一种可移动设备搜索的方法及设备
US11681780B2 (en) 2020-09-30 2023-06-20 Nissan North America, Inc. Annotation and mapping for vehicle operation in low-confidence object detection conditions
CN112699773B (zh) * 2020-12-28 2023-09-01 阿波罗智联(北京)科技有限公司 交通灯识别方法、装置及电子设备
KR102652486B1 (ko) * 2021-09-24 2024-03-29 (주)오토노머스에이투지 라이다를 이용한 신호등 정보 예측 방법 및 이를 이용한 서버
CN116071945A (zh) * 2021-10-29 2023-05-05 通用汽车环球科技运作有限责任公司 交通灯可见性检测和增强显示

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Also Published As

Publication number Publication date
US20180012088A1 (en) 2018-01-11
CN106663374B (zh) 2018-08-28
WO2016006029A1 (ja) 2016-01-14
US9922259B2 (en) 2018-03-20
EP3168823A4 (en) 2018-01-03
RU2634852C1 (ru) 2017-11-07
EP3168823B1 (en) 2020-05-13
MX2017000063A (es) 2017-04-27
CN106663374A (zh) 2017-05-10
EP3168823A1 (en) 2017-05-17
JPWO2016006029A1 (ja) 2017-05-25
BR112017000267A2 (pt) 2017-10-31
JP6256611B2 (ja) 2018-01-10

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