TW201309519A - System and method for lane localization - Google Patents

System and method for lane localization Download PDF

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TW201309519A
TW201309519A TW100130908A TW100130908A TW201309519A TW 201309519 A TW201309519 A TW 201309519A TW 100130908 A TW100130908 A TW 100130908A TW 100130908 A TW100130908 A TW 100130908A TW 201309519 A TW201309519 A TW 201309519A
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lane
image
road marking
line
marking
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TW100130908A
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Chinese (zh)
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TWI451990B (en
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Yu-Chee Tseng
Lien-Wu Chen
Jen-Hsiang Cheng
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Univ Nat Chiao Tung
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Abstract

The present invention discloses a system and a method for lane localization for obtaining the location of a lane. The lane localization system includes an image retrieving unit, an image identifying unit, and a processing unit. The image retrieving unit is configured to capture a lane image which displays at least one lane line among a first lane line and a second lane line. The image identifying unit is configured to identify at least one marking among a first marking located on the first lane line and a second marking located on the second lane line, and the image identifying unit generates a lane location signal according to the first marking or the second marking. The processing unit is configured to determine the location of the lane according to the lane location signal. Therefore, the present invention can determine the location of the lane which is currently occupied by the user according to markings on the lane lines.

Description

車道定位系統與方法Lane positioning system and method

本發明係有關於一種車道定位系統與方法,特別是指一種利用路面標記判斷車道之位置的系統與方法。The present invention relates to a lane positioning system and method, and more particularly to a system and method for determining the position of a lane using road markings.

車載通訊網路近年來被廣泛的討論,其技術發展對於交通安全及交通管理有很大的幫助,且許多提出之車載資通訊方法或應用皆需要車輛所處之車道資訊。然而,由於定位系統無法準確定位車輛所處車道,限制了許多研究或應用的可行性。舉例來說,全球定位系統(Global Positioning System,GPS-based)所提供之定位結果會因大氣層條件變化(Atmospheric effects)與多重傳輸路徑效應(Multipath effects)產生十數公尺至數十公尺的誤差,故全球定位系統僅能大致定位車輛所在的路段,而無法更進一步定位出車輛所在的車道。另一方面,若使用基於影像(Image-based)的定位系統,則藉由辨識道路影像來得知車輛的車道資訊,由於需要比對前後道路的影像,因此易受鄰近車輛遮蔽車道線而發生誤判的現象。此外,所述基於影像的定位系統僅能判斷車輛是否保持在車道內,無法判斷車輛所處車道。The in-vehicle communication network has been widely discussed in recent years, and its technological development has greatly contributed to traffic safety and traffic management, and many of the proposed in-vehicle communication methods or applications require lane information of the vehicle. However, the feasibility of many studies or applications is limited by the inability of the positioning system to accurately locate the lane in which the vehicle is located. For example, the positioning results provided by the Global Positioning System (GPS-based) can generate from ten meters to several tens of meters due to Atmospheric effects and multiple path effects. The error, so the global positioning system can only roughly locate the road where the vehicle is located, and can not further locate the lane where the vehicle is located. On the other hand, if an image-based positioning system is used, the lane information of the vehicle is known by recognizing the road image. Since it is necessary to compare the images of the front and rear roads, it is susceptible to the misjudgment of the adjacent vehicle obscuring the lane line. The phenomenon. In addition, the image-based positioning system can only determine whether the vehicle is kept in the lane, and cannot determine the lane in which the vehicle is located.

因此,業界極需一種可以利用車道線上的路面標記,而直接判讀出車輛所處車道的技術,以輔助各種定位系統能夠準確定位出車輛所在的車道。Therefore, the industry is in great need of a technology that can directly use the road markings on the lane line to directly read out the lane in which the vehicle is located, to assist various positioning systems to accurately locate the lane in which the vehicle is located.

本發明實施例在於提供一種車道定位系統,所述車道定位系統可以利用車道線上的路面標記,而判斷出車輛所處車道之位置。An embodiment of the present invention provides a lane positioning system that can determine a position of a lane in which a vehicle is located by using a road marking on a lane line.

本發明實施例提供一種車道定位系統,其用於判斷車道之位置,所述車道定位系統包含影像擷取單元、影像識別單元以及處理單元。在此,影像擷取單元用於擷取車道之車道影像,而車道影像中至少包含車道兩旁之第一車道線與第二車道線其中之一。影像識別單元由車道影像至少辨識出第一車道線上的第一路面標記與第二車道線上的第二路面標記其中之一,並根據第一路面標記或第二路面標記產生車道位置信號。處理單元依據車道位置信號判斷車道之位置。An embodiment of the present invention provides a lane positioning system for determining a position of a lane. The lane positioning system includes an image capturing unit, an image recognition unit, and a processing unit. Here, the image capturing unit is configured to capture the lane image of the lane, and the lane image includes at least one of the first lane line and the second lane line on both sides of the lane. The image recognition unit recognizes at least one of the first road marking on the first lane line and the second road marking on the second lane line from the lane image, and generates a lane position signal according to the first road marking or the second road marking. The processing unit determines the position of the lane based on the lane position signal.

本發明實施例在於提供一種車道定位方法,所述車道定位方法可利用車道線上的路面標記,而判斷出車輛所處車道之位置。An embodiment of the present invention provides a lane positioning method that can determine a position of a lane in which a vehicle is located by using a road marking on a lane line.

本發明實施例提供一種車道定位方法,用於判斷車道之位置,步驟如下所述。首先,擷取車道之車道影像,其中車道影像至少用以顯示車道兩旁之第一車道線與第二車道線其中之一。接下來,由前述車道影像至少識別出第一車道線上的第一路面標記與第二車道線上的第二路面標記其中之一,並據以產生車道位置信號。最後,根據產生之車道位置信號判斷車道之位置。Embodiments of the present invention provide a lane positioning method for determining a position of a lane, and the steps are as follows. First, the lane image of the lane is captured, wherein the lane image is used to display at least one of the first lane line and the second lane line on both sides of the lane. Next, at least one of the first road marking on the first lane line and the second road marking on the second lane line is identified by the aforementioned lane image, and a lane position signal is generated accordingly. Finally, the position of the lane is determined based on the generated lane position signal.

本發明實施例在於提供一種設置於路面的路面標記,其用來輔助所述車道定位系統與方法,而判斷出車輛所處位置。An embodiment of the present invention provides a road marking provided on a road surface for assisting the lane positioning system and method to determine a location of the vehicle.

本發明實施例提供一種路面標記,其設置於路面,所述路面具有至少一車道以及M條車道線,且每一車道線對應一個路面標記。每一個路面標記均包含光學識別部,設置於對應的車道線上,並暴露於對應之車道線之上表面,用以指示路面標記所對應的車道線。其中M條車道線中的第i條車道線與第i+1條車道線係分別具有相異的光學識別部,M、i皆為正整數,且i+1不大於M。Embodiments of the present invention provide a road marking that is disposed on a road surface having at least one lane and M lane lines, and each lane line corresponds to a road marking. Each of the pavement markings includes an optical identification portion disposed on the corresponding lane line and exposed to the upper surface of the corresponding lane line for indicating the lane line corresponding to the road marking. The i-th lane line and the i+1-th lane line in the M lane lines respectively have different optical identification parts, and M and i are both positive integers, and i+1 is not greater than M.

綜上所述,本發明實施例所提出之車道定位系通與方法,利用路面標記達到車道辨識的功效,並可搭配全球定位系統,以使車道位置更精確。且可以現有的路面稍作改變,即可達到本發明實施例所提供之路面標記,亦可降低成本。In summary, the lane positioning system and method proposed by the embodiments of the present invention use the road marking to achieve the lane recognition function, and can be matched with the global positioning system to make the lane position more accurate. Moreover, the road surface marking provided by the embodiment of the present invention can be achieved by slightly changing the existing road surface, and the cost can also be reduced.

為使能更進一步瞭解本發明之特徵及技術內容,請參閱以下有關本發明之詳細說明與附圖,但是此等說明與所附圖式僅係用來說明本發明,而非對本發明的權利範圍作任何的限制。The detailed description of the present invention and the accompanying drawings are to be understood by the claims The scope is subject to any restrictions.

[車道定位系統之實施例][Example of lane positioning system]

請一併參見圖1與圖2A,圖1係繪示根據本發明一示範實施例之車道定位系統的功能方塊圖。圖2A係繪示根據本發明一示範實施例之車道定位系統的操作示意圖。圖所示,車道定位系統1中具有影像擷取單元10、影像識別單元12、處理單元14以及影像處理單元16。影像處理單元16耦接於影像擷取單元10與影像識別單元12之間,而處理單元14耦接影像識別單元12。一般來說,車道定位系統1可搭載於交通工具上(例如汽車或者機車),當所述交通工具行駛於複數條車道20、22、24其中之一時,車道定位系統1可以準確定位出所述交通工具所行駛的車道。以下分別就車道定位系統1中的各部元件做詳細的說明。Referring to FIG. 1 and FIG. 2A together, FIG. 1 is a functional block diagram of a lane positioning system according to an exemplary embodiment of the present invention. 2A is a schematic diagram showing the operation of a lane positioning system according to an exemplary embodiment of the present invention. As shown in the figure, the lane positioning system 1 has an image capturing unit 10, an image recognition unit 12, a processing unit 14, and an image processing unit 16. The image processing unit 16 is coupled between the image capturing unit 10 and the image recognition unit 12, and the processing unit 14 is coupled to the image recognition unit 12. In general, the lane positioning system 1 can be mounted on a vehicle (such as a car or a locomotive), and when the vehicle travels on one of the plurality of lanes 20, 22, 24, the lane positioning system 1 can accurately locate the lane The lane in which the vehicle travels. The components of the lane positioning system 1 will be described in detail below.

當交通工具行駛於車道24時,影像擷取單元10用以擷取車道24之車道影像A,而車道影像A不僅可以顯示車道24內的影像,更可顯示車道24兩旁之第一車道線266與第二車道線268的影像。於實務上,影像擷取單元10可以是一種攝影機並裝設於所述交通工具的車頭處,用於監視所述交通工具所在車道24的道路狀況。在此,本發明並不限定影像擷取單元10的種類,舉例來說,影像擷取單元10可以是一個行車紀錄器、手機、手持式錄影機或者其他適當的攝影設備。換句話說,影像擷取單元10實際上可以連續拍攝所述交通工具所在車道24的道路狀況,而錄製出對應的視訊串流,而所述視訊串流中的至少一個訊框可包含車道影像A。When the vehicle travels in the lane 24, the image capturing unit 10 is used to capture the lane image A of the lane 24, and the lane image A can display not only the image in the lane 24 but also the first lane line 266 on both sides of the lane 24. An image with the second lane line 268. In practice, the image capture unit 10 can be a camera and mounted at the front of the vehicle for monitoring the road conditions of the lane 24 in which the vehicle is located. Here, the present invention does not limit the type of the image capturing unit 10. For example, the image capturing unit 10 may be a driving recorder, a mobile phone, a handheld video recorder, or other suitable photographic device. In other words, the image capturing unit 10 can actually continuously capture the road condition of the lane 24 in which the vehicle is located, and record a corresponding video stream, and at least one of the video streams can include a lane image. A.

此外,雖然圖1中繪示影像擷取單元10係用以擷取所述交通工具前方的車道影像A,但本發明不以此為限,影像擷取單元10更可以用以擷取所述交通工具後方或側面的道路狀況。因此,只要任何的攝影設備所擷取的車道影像A可以包括第一車道線266與第二車道線268的影像,即可符合本發明影像擷取單元10之範疇。In addition, although the image capturing unit 10 is used to capture the lane image A in front of the vehicle, the present invention is not limited thereto, and the image capturing unit 10 can be used to capture the image. Road conditions behind or on the side of the vehicle. Therefore, as long as the lane image A captured by any photographic apparatus can include images of the first lane line 266 and the second lane line 268, it can conform to the scope of the image capturing unit 10 of the present invention.

請繼續參見圖1與圖2A,影像識別單元12接收影像擷取單元10所拍攝的車道影像A之後,可由車道影像A之中識別出第一車道線266上的第一路面標記266a與第二車道線268上的第二路面標記268a,並依據第一路面標記266a與第二路面標記268a產生車道位置信號。一般來說,交通工具應會行駛在車道24的中央,第一車道線266係位於交通工具的左側,而第二車道線268係位於交通工具的右側。當影像識別單元12判斷影像擷取單元10所拍攝的車道影像A於畫面左側出現了第一路面標記266a,而車道影像A於畫面右側出現了第二路面標記268a時,則影像識別單元12可據以輸出對應的車道位置信號。換句話說,所述車道位置信號即用以指示第一路面標記266a與第二路面標記268a中央的車道24。1 and FIG. 2A, after the image recognition unit 12 receives the lane image A captured by the image capturing unit 10, the first road marking 266a and the second lane on the first lane line 266 can be identified from the lane image A. A second pavement marking 268a on lane line 268 and a lane position signal is generated in accordance with first pavement marking 266a and second pavement marking 268a. In general, the vehicle should travel in the center of the lane 24, with the first lane line 266 on the left side of the vehicle and the second lane line 268 on the right side of the vehicle. When the image recognition unit 12 determines that the lane image A captured by the image capturing unit 10 has the first road marking 266a on the left side of the screen, and the lane image A has the second road marking 268a on the right side of the screen, the image recognition unit 12 may According to the output of the corresponding lane position signal. In other words, the lane position signal is the lane 24 for indicating the first road marking 266a and the second road marking 268a.

請注意,本發明並不限制影像擷取單元10所拍攝的車道影像A必須同時包含第一車道線266上的第一路面標記266a與第二車道線268上的第二路面標記268a,車道影像A可以僅顯示第一路面標記266a與第二路面標記268a其中之一。在此,當影像識別單元12判斷第一路面標記266a位於車道影像A右側時,不論車道影像A左側是否有拍攝到第二路面標記268a,影像識別單元12也可以直接判斷交通工具係位於車道24內。同樣地,當影像識別單元12判斷第二路面標記268a位於車道影像A左側時,不論車道影像A右側是否有拍攝到第一路面標記266a,影像識別單元12同樣可以直接判斷交通工具係位於車道24內。Please note that the present invention does not limit the lane image A captured by the image capturing unit 10 to include both the first road marking 266a on the first lane line 266 and the second road marking 268a on the second lane line 268. A may display only one of the first pavement marking 266a and the second pavement marking 268a. Here, when the image recognition unit 12 determines that the first road marking 266a is located on the right side of the lane image A, the image recognition unit 12 may directly determine that the vehicle is located in the lane 24 regardless of whether the second road marking 268a is photographed on the left side of the lane image A. Inside. Similarly, when the image recognition unit 12 determines that the second road marking 268a is located on the left side of the lane image A, the image recognition unit 12 can directly determine that the vehicle is located in the lane 24 regardless of whether the first road marking 266a is captured on the right side of the lane image A. Inside.

另一方面,若影像識別單元12判斷第一路面標記266a與第二路面標記268a皆未出現於車道影像A時,除了可以等待影像擷取單元10重新擷取新的車道影像之外,實際上也可以逕行判斷交通工具係位於單一車道中。在此,本實施例雖以兩個路面標記來決定所在車道,但由上述可知本發明並不以此為限,而僅是為了方便所屬技術領域者更清楚的了解本發明而舉的例子。On the other hand, if the image recognition unit 12 determines that the first road marking 266a and the second road marking 268a are not present in the lane image A, in addition to waiting for the image capturing unit 10 to retrieve a new lane image, actually It can also be judged that the vehicle is in a single lane. Here, although the present embodiment uses two road markings to determine the lane in which it is located, it is to be understood that the present invention is not limited thereto, but merely for the purpose of facilitating a clear understanding of the present invention by those skilled in the art.

另一方面,影像識別單元12於實務上係以計算機圖學原理來識別第一路面標記266a與第二路面標記268a,且影像識別單元12可為一種可程式化的晶片,使用者可以自行設定影像識別單元12所要辨識的路面標記之種類。舉例來說,若某一路段的路面標記是一特定圖樣,只要使用者預先將所述特定圖樣提供給影像識別單元12,當交通工具行駛過所述路段時,影像識別單元12同樣可輕易辨識所述路段上的路面標記。換句話說,影像識別單元12可內建一儲存元件(未繪示),且所述儲存單元中係具有可擴充的路面標記之資料庫。因此,不論路面標記是圖樣、顏色或者記號,使用者都可以自行擴充路面標記之資料庫,使得影像識別單元12能辨識各種的路面標記。On the other hand, the image recognition unit 12 recognizes the first road marking 266a and the second road marking 268a by computer graphics, and the image recognition unit 12 can be a programmable chip, which can be set by the user. The type of road marking to be recognized by the image recognition unit 12. For example, if the road marking of a certain road segment is a specific pattern, as long as the user provides the specific pattern to the image recognition unit 12 in advance, the image recognition unit 12 can also be easily recognized when the vehicle travels through the road segment. The pavement marking on the road segment. In other words, the image recognition unit 12 can have a storage component (not shown) built in, and the storage unit has a database of expandable road markings. Therefore, regardless of whether the road marking is a pattern, a color or a mark, the user can expand the database of the road markings by himself, so that the image recognition unit 12 can recognize various road markings.

值得一提的是,第一路面標記266a與第二路面標記268a除了可以是圖1與圖2A所繪示之條碼型狀之外,更可以將每條車道線配置不同的顏色做為路面標記,使得路面標記更容易被辨識出來。舉例來說,圖2B係繪示根據本發明另一示範實施例之車道定位系統的操作示意圖。在此,每個車道線262’、264’、266’、268’可以是不同顏色,使得影像識別單元12判斷車道影像A於畫面左側出現了具有第一顏色的車道線266’,而車道影像A於畫面右側出現了具有第二顏色的車道線268’時,則影像識別單元12可據以輸出對應車道24的車道位置信號。It is worth mentioning that, in addition to the bar code shape illustrated in FIG. 1 and FIG. 2A, the first road marking 266a and the second road marking 268a may be configured with different colors for each lane line as pavement markings. This makes the pavement markings easier to identify. For example, FIG. 2B is a schematic diagram showing the operation of a lane positioning system according to another exemplary embodiment of the present invention. Here, each lane line 262', 264', 266', 268' may be a different color, such that the image recognition unit 12 determines that the lane image A has a lane line 266' having a first color on the left side of the screen, and the lane image When the lane line 268' having the second color appears on the right side of the screen, the image recognition unit 12 can output the lane position signal corresponding to the lane 24.

從實際應用的角度來說,第一路面標記266a不僅僅可用以指示對應車道的車道位置信號,更可以用以指示對應車道的路況資訊、地理位置(經緯度資訊)、休息站資訊或者其他輔助使用者駕駛交通工具之資訊,本發明在此不加以限制。換句話說,相對於單純用於指示車道位置的條碼,若第一路面標記266a具有較為複雜的圖樣時,第一路面標記266a當然也可以記載有更多的訊息。在此,所述複雜的圖樣可以是文字、二維條碼或者其他適當的圖案,於所屬技術領域具有通常知識者可以自行變換。From a practical point of view, the first road marking 266a can be used not only to indicate the lane position signal of the corresponding lane, but also to indicate road condition information, geographic location (latitude and longitude information), rest station information or other auxiliary use of the corresponding lane. The invention is not limited herein. In other words, the first road marking 266a may of course have more information to be recorded if the first road marking 266a has a more complicated pattern than the bar code used to indicate the lane position. Here, the complex pattern may be a text, a two-dimensional barcode or other suitable pattern, which can be changed by a person having ordinary knowledge in the technical field.

此外,第一路面標記266a除了可以供影像識別單元12以計算機圖學原理來識別之外,更可以由未駕駛交通工具的行人直接透過肉眼辨識。舉例來說,當第一路面標記266a為文字時,行人可以直接觀察車道線上的第一路面標記266a,以確定自己所在的地理位置(經緯度資訊)或者取得各種用路資訊。另一方面,當第一路面標記266a為二維條碼或其他複雜的圖樣時,行人可以利用智慧型手機擷取第一路面標記266a的影像,並可透過智慧型手機分析第一路面標記266a,以準確定位自己所在的地理位置。進一步地,使用者更可藉由智慧型手機中的應用程式,以獲得目前所在地週邊的餐廳、景點、商店、醫院等資訊。請注意,本發明在此雖以智慧型手機為例,但不以此為限,於所屬技術領域具有通常知識者更可選擇平板電腦或者其他具備攝影鏡頭的電子計算器以實現相同的功能。In addition, the first pavement marking 266a can be directly recognized by the naked eye of the pedestrian of the undriving vehicle, in addition to being recognized by the image recognition unit 12 by computer graphics. For example, when the first pavement marking 266a is a character, the pedestrian can directly observe the first pavement marking 266a on the lane line to determine the geographic location (latitude and longitude information) where he is located or obtain various usage information. On the other hand, when the first pavement mark 266a is a two-dimensional barcode or other complicated pattern, the pedestrian can use the smart phone to capture the image of the first pavement mark 266a, and analyze the first pavement mark 266a through the smart phone. To accurately locate your location. Further, the user can use the application in the smart phone to obtain information about restaurants, attractions, shops, hospitals and the like around the current location. Please note that the present invention is exemplified by a smart phone here, but it is not limited thereto, and those having ordinary knowledge in the art can select a tablet computer or other electronic calculator with a photographic lens to achieve the same function.

處理單元14接收了所述車道位置信號之後,依據車道位置信號判斷出車道24之位置。於實務上,處理單元14更可整合了交通工具的導航系統,使得處理單元14可以提供交通工具在車道之資訊,進而擴充導航系統之功能。一般來說,由於傳統的導航系統僅能大致定位交通工具所在之路段,而無法準確定位交通工具所在之車道,因此無法依據交通工具所在之車道給予最適當的建議。After receiving the lane position signal, the processing unit 14 determines the position of the lane 24 based on the lane position signal. In practice, the processing unit 14 can further integrate the navigation system of the vehicle, so that the processing unit 14 can provide information of the vehicle in the lane, thereby expanding the function of the navigation system. In general, since the conventional navigation system can only roughly locate the road section where the vehicle is located, and cannot accurately locate the lane in which the vehicle is located, it is not possible to give the most appropriate advice based on the lane in which the vehicle is located.

換句話說,本發明之車道定位系統1可以大幅提升市售導航系統的定位能力,並且於定位交通工具時,可以準確定位交通工具所在之車道。舉例來說,當使用者的目的地需要向右轉,而使用者駕駛的交通工具卻仍在最內道時,本發明之處理單元14判斷出交通工具所在之車道後,市售導航系統可以預先利用語音通知使用者靠向外側車道以準備右轉。或者是在需要左轉前,市售導航系統利用語音通知使用者靠向內側車道,以輔助交通工具行駛的路線更順暢。當然,車道定位系統1更可以搭配市售導航系統原本就有的路程規劃、路徑計算或者其他用於導航的功能,本發明在此不加以限制。In other words, the lane positioning system 1 of the present invention can greatly enhance the positioning capability of the commercially available navigation system, and can accurately locate the lane in which the vehicle is located when positioning the vehicle. For example, when the destination of the user needs to turn to the right and the vehicle driven by the user is still in the innermost lane, after the processing unit 14 of the present invention determines the lane in which the vehicle is located, the commercially available navigation system can The user is notified in advance by the voice to lean to the outer lane to prepare for a right turn. Or before the left turn is needed, the commercially available navigation system uses the voice to inform the user to lean toward the inner lane to make the route for assisting the vehicle smoother. Of course, the lane positioning system 1 can be further matched with the route planning, path calculation or other functions for navigation that the commercially available navigation system originally has, and the present invention is not limited thereto.

此外,車道定位系統1更可進一步包含影像處理單元16,對影像擷取單元10擷取之車道影像A進行影像處理程序,其中影像處理程序可包含對車道影像做灰階化運算、降低雜訊運算或影像二值化運算,用以輔助影像識別單元12分析經影像處理後之車道影像A,以識別出第一路面標記266a與第二路面標記268a之影像。於實務上,前述灰階化運算、降低雜訊運算或影像二值化運算係利用開放原始碼的函式庫ARToolKit作處理。本發明在此並不限制所述影像處理程序僅為灰階化運算、降低雜訊運算或影像二值化運算,於本發明所屬技術領域具有通常知識者可視需要自行決定如何更清晰的表現車道影像A。當然,若影像擷取單元10所擷取之車道影像A已經夠清晰時,本發明亦可以不需使用影像處理單元16,而直接將影像擷取單元10In addition, the lane positioning system 1 further includes an image processing unit 16 for performing image processing on the lane image A captured by the image capturing unit 10, wherein the image processing program may include grayscale calculation of the lane image and reduce noise. The operation or image binarization operation is used to assist the image recognition unit 12 to analyze the image processed lane image A to identify the image of the first road marking 266a and the second road marking 268a. In practice, the grayscale operation, the noise reduction operation, or the image binarization operation are processed by the open source function library ARToolKit. The present invention does not limit the image processing program to grayscale processing, noise reduction, or image binarization. In the technical field to which the present invention pertains, the general knowledge person can decide how to express the lane more clearly. Image A. Of course, if the lane image A captured by the image capturing unit 10 is clear enough, the present invention can also directly use the image capturing unit 10 without using the image processing unit 16.

以下將本發明前述之車道定位系統搭配本發明之車道定位方法做更進一步地說明。請一併參見,圖1、圖2A與圖3,圖3係繪示根據本發明一示範實施例之車道定位方法的流程圖。值得注意的是,圖3係說明當本發明之車道定位系統1不需影像處理單元16時,車道定位系統1中各部元件的作動方式。如圖所示,於步驟S301中,影像擷取單元10用以擷取車道24之車道影像A,並將車道影像A傳輸給影像識別單元12。於步驟S303中,影像識別單元12首先會判斷車道影像A中是否存在可辨識的車道線。若步驟S303的判斷結果為否,表示影像擷取單元10所擷取到的車道影像A不包括第一車道線266與第二車道線268,則需要回到步驟S301,使得影像擷取單元10重新擷取一張新的車道影像A’。The foregoing lane positioning system of the present invention will be further described in conjunction with the lane positioning method of the present invention. Please refer to FIG. 1, FIG. 2A and FIG. 3 together. FIG. 3 is a flow chart showing a lane positioning method according to an exemplary embodiment of the present invention. It is to be noted that FIG. 3 illustrates the manner in which the various components of the lane positioning system 1 operate when the lane positioning system 1 of the present invention does not require the image processing unit 16. As shown in the figure, in step S301, the image capturing unit 10 captures the lane image A of the lane 24 and transmits the lane image A to the image recognition unit 12. In step S303, the image recognition unit 12 first determines whether there is an identifiable lane line in the lane image A. If the result of the determination in step S303 is NO, it indicates that the lane image A captured by the image capturing unit 10 does not include the first lane line 266 and the second lane line 268, and then the process returns to step S301 to cause the image capturing unit 10 to Retake a new lane image A'.

若步驟S303的判斷結果為是,表示影像擷取單元10所擷取到的車道影像A具有可辨識的第一車道線266與第二車道線268,則繼續步驟S305,由影像識別單元12進一步辨識第一車道線266上是否有第一路面標記266a與第二車道線268上是否有第二路面標記268a。若步驟S305的判斷結果為否,表示影像擷取單元10所擷取到的車道影像A雖然有第一車道線266與第二車道線268,但未拍攝到第一車道線266上的第一路面標記266a與第二車道線268上的第二路面標記268a,則需要回到步驟S301,使得影像擷取單元10重新擷取一張新的車道影像A’。If the result of the determination in step S303 is YES, it indicates that the lane image A captured by the image capturing unit 10 has the identifiable first lane line 266 and the second lane line 268, then the process proceeds to step S305, and the image recognition unit 12 further It is identified whether there is a second pavement marking 268a on the first lane marking 266 and the second lane marking 268a on the first lane line 266. If the result of the determination in step S305 is NO, it indicates that the lane image A captured by the image capturing unit 10 has the first lane line 266 and the second lane line 268, but the first lane line 266 is not captured. The road marking 266a and the second road marking 268a on the second lane line 268 need to return to step S301, so that the image capturing unit 10 retrieves a new lane image A'.

若步驟S305的判斷結果為是,表示影像擷取單元10所擷取到的車道影像A具有可辨識的第一路面標記266a與第二路面標記268a,則繼續步驟S307。於步驟S307中,影像識別單元12依據第一路面標記266a與第二路面標記268a以產生車道位置信號。於步驟S309中,處理單元14自影像識別單元12接收車道位置信號,並依據車道位置信號判斷車道24之位置。If the result of the determination in step S305 is YES, it indicates that the lane image A captured by the image capturing unit 10 has the identifiable first road marking 266a and the second road marking 268a, and then proceeds to step S307. In step S307, the image recognition unit 12 generates a lane position signal according to the first road marking 266a and the second road marking 268a. In step S309, the processing unit 14 receives the lane position signal from the image recognition unit 12, and determines the position of the lane 24 based on the lane position signal.

另一方面,當本發明之車道定位系統1具有影像處理單元16時,車道定位系統1中各部元件的作動方式可如圖4的步驟。請一併參見,圖1、圖2A與圖4,圖4係繪示根據本發明另一示範實施例之車道定位方法的流程圖。如圖所示,於步驟S401中,影像擷取單元10用以擷取車道影像A。接著於步驟S403中,影像處理單元16先將車道影像作灰階化運算,用以簡化車道影像A所包含之資訊,以輔助後續之影像處理。而於步驟S405中,影像處理單元16更將車道影像A進行降低雜訊之運算,用以試著將第一車道線266與第二車道線268之影像分隔出來。On the other hand, when the lane positioning system 1 of the present invention has the image processing unit 16, the operation of each component in the lane positioning system 1 can be as shown in FIG. Please refer to FIG. 1, FIG. 2A and FIG. 4 together. FIG. 4 is a flow chart showing a lane positioning method according to another exemplary embodiment of the present invention. As shown in the figure, in step S401, the image capturing unit 10 is configured to capture the lane image A. Next, in step S403, the image processing unit 16 first grayscales the lane image to simplify the information contained in the lane image A to assist subsequent image processing. In step S405, the image processing unit 16 further performs a noise reduction operation on the lane image A to try to separate the image of the first lane line 266 from the second lane line 268.

於步驟S409中,影像識別單元12接收了降低雜訊運算後之車道影像A,據以判斷降低雜訊運算後之車道影像A是否存在可以辨識之車道線。若步驟S409的判斷結果為是,表示影像處理後之車道影像A具有可辨識的第一車道線266與第二車道線268,則繼續步驟S411。於步驟S411中,影像識別單元12更進一步指示影像處理單元16進行影像二值化運算,將步驟S405中降低雜訊運算後之車道影像A繼續轉換成以黑、白顯示的影像。接著,於步驟S413中,影像識別單元12更自影像二值化運算後之車道影像A中區隔出第一路面標記266a與第二路面標記268a。In step S409, the image recognition unit 12 receives the lane image A after the noise reduction operation, and determines whether there is an identifiable lane line in the lane image A after the noise reduction operation. If the result of the determination in step S409 is YES, it indicates that the lane image A after the image processing has the identifiable first lane line 266 and the second lane line 268, and then step S411 is continued. In step S411, the image recognition unit 12 further instructs the image processing unit 16 to perform image binarization calculation, and continues to convert the lane image A after the noise reduction in step S405 into an image displayed in black and white. Next, in step S413, the image recognition unit 12 further separates the first road surface mark 266a and the second road surface mark 268a from the lane image A after the image binarization operation.

於步驟S415中,影像識別單元12進一步判斷了進行影像二值化運算後之車道影像A中,是否存在可識別的路面標記。若步驟S415的判斷結果為否,表示影像二值化運算後之車道影像A雖然有第一車道線266與第二車道線268,但未拍攝到第一車道線266上的第一路面標記266a與第二車道線268上的第二路面標記268a,則需要回到步驟S401,使得影像擷取單元10重新擷取一張新的車道影像A’。In step S415, the image recognition unit 12 further determines whether or not there is an identifiable road surface marker in the lane image A after the image binarization operation. If the result of the determination in step S415 is NO, the lane image A after the image binarization operation has the first lane line 266 and the second lane line 268, but the first road marking 266a on the first lane line 266 is not captured. With the second road marking 268a on the second lane line 268, it is necessary to return to step S401, so that the image capturing unit 10 retrieves a new lane image A'.

若步驟S415的判斷結果為是,表示影像二值化運算後之車道影像A具有可辨識的第一路面標記266a與第二路面標記268a,則繼續步驟S417。於步驟S417中,影像識別單元12依據第一路面標記266a與第二路面標記268a以產生車道位置信號。於步驟S419中,處理單元14自影像識別單元12接收車道位置信號,並依據車道位置信號判斷車道24之位置。If the result of the determination in step S415 is YES, the lane image A after the image binarization operation has the identifiable first road marking 266a and the second road marking 268a, and the process proceeds to step S417. In step S417, the image recognition unit 12 generates a lane position signal according to the first road marking 266a and the second road marking 268a. In step S419, the processing unit 14 receives the lane position signal from the image recognition unit 12, and determines the position of the lane 24 based on the lane position signal.

[路面標記之實施例][Example of pavement marking]

詳細來說,本發明之每個路面標記更可具有可供肉眼或攝影機直接辨識的特徵,請一併參見圖1、圖2A、圖5A與圖5B,圖5A係繪示根據本發明一示範實施例之路面標記的示意圖。圖5B係繪示根據本發明另一示範實施例之路面標記的示意圖。如圖所示,於圖1中的路面標記266a係設置於一路面之車道線266上,而每個路面標記係具有一個可供肉眼或攝影機直接辨識的光學識別部。舉例來說,圖1中的路面標記266a的光學識別部可以是一條碼,所述條碼形成在車道線266之一端頭處。In detail, each of the pavement markings of the present invention may have features that can be directly recognized by the naked eye or the camera. Please refer to FIG. 1 , FIG. 2A , FIG. 5A and FIG. 5B together, and FIG. 5A illustrates an exemplary embodiment of the present invention. A schematic representation of a pavement marking of an embodiment. FIG. 5B is a schematic diagram showing a pavement marking according to another exemplary embodiment of the present invention. As shown, the pavement markings 266a in Figure 1 are disposed on a roadway lane 266, and each pavement marking has an optical identification portion that is directly recognizable to the naked eye or camera. For example, the optical identification portion of the pavement marking 266a in FIG. 1 can be a code that is formed at one end of the lane line 266.

於實務上,除了可以直接在車道線266的上表面附著不同顏色以形成所述條碼之外,更可以刮除車道線266端頭處的部分車道線。由於車道線與路面的顏色不同,如圖5A所示,刮除車道線266端頭處的部分車道線之後,車道線266之端頭處形成不連續的圖樣而成條碼狀,使得路面標記266a的光學識別部可視為所述條碼。In practice, in addition to directly attaching different colors to the upper surface of the lane line 266 to form the bar code, a portion of the lane line at the end of the lane line 266 can be scraped off. Since the lane line and the road surface are different in color, as shown in FIG. 5A, after scraping off part of the lane line at the end of the lane line 266, a discontinuous pattern is formed at the end of the lane line 266 to form a bar code, so that the road marking 266a The optical recognition portion can be regarded as the barcode.

另一方面,光學識別部除了可以是一條碼之外,更可以是具有顏色的凸塊。舉例來說,路面標記266b的光學識別部可以是透出第一顏色的貓眼石或反射鏡,而相鄰車道線上的路面標記可分別具有相異的顏色。在此,所述第一顏色可利用路面標記266b中設置不同色度之LED燈266c來實現。此外,本發明之路面標記可有多種方式設置於車道線上,例如擺設路面標記於車道線一端頭、兩端頭或車道線上任何位置,本發明在此不加以限制。On the other hand, the optical recognition portion may be a bump having a color in addition to a single code. For example, the optical identification portion of the pavement marking 266b may be an opal or mirror that reveals the first color, while the pavement markings on adjacent lane lines may each have a different color. Here, the first color can be realized by using LED lamps 266c of different chromaticity in the road markings 266b. In addition, the pavement markings of the present invention can be disposed on the lane line in a plurality of manners, for example, the pavement markings are marked at one end of the lane line, at both ends, or at any position on the lane line, and the present invention is not limited thereto.

綜上所述,本發明實施例所提出之車道定位系通與方法,利用路面標記達到車道辨識的功效,並可搭配全球定位系統,以使車道位置更精確。且可以現有的路面稍作改變,即可達到本發明實施例所提供之路面標記,亦可降低成本。In summary, the lane positioning system and method proposed by the embodiments of the present invention use the road marking to achieve the lane recognition function, and can be matched with the global positioning system to make the lane position more accurate. Moreover, the road surface marking provided by the embodiment of the present invention can be achieved by slightly changing the existing road surface, and the cost can also be reduced.

為使能更進一步瞭解本發明的特徵及技術內容,請參閱以下有關本發明的詳細說明與附圖,但是此等說明與所附圖式僅係用來說明本發明,而非對本發明的權利範圍作任何的限制。For a better understanding of the features and technical aspects of the present invention, reference should be made to the accompanying drawings The scope is subject to any restrictions.

1...車道定位系統1. . . Lane positioning system

10...影像擷取單元10. . . Image capture unit

12...影像識別單元12. . . Image recognition unit

14...處理單元14. . . Processing unit

16...影像處理單元16. . . Image processing unit

20、22、24...車道20, 22, 24. . . Lane

262、264、266、268...車道線262, 264, 266, 268. . . Lane line

262’、264’、266’、268’...車道線262', 264', 266', 268'. . . Lane line

266a、266b、268a...路面標記266a, 266b, 268a. . . Pavement marking

266c...LED燈266c. . . LED light

S301~S309、S401~S419...流程步驟S301~S309, S401~S419. . . Process step

圖1係繪示根據本發明一示範實施例之車道定位系統的功能方塊圖。1 is a functional block diagram of a lane positioning system in accordance with an exemplary embodiment of the present invention.

圖2A係繪示根據本發明一示範實施例之車道定位系統的操作示意圖。2A is a schematic diagram showing the operation of a lane positioning system according to an exemplary embodiment of the present invention.

圖2B係繪示根據本發明另一示範實施例之車道定位系統的操作示意圖。2B is a schematic diagram showing the operation of a lane positioning system according to another exemplary embodiment of the present invention.

圖3係繪示根據本發明一示範實施例之車道定位方法的流程圖。3 is a flow chart showing a lane positioning method according to an exemplary embodiment of the present invention.

圖4係繪示根據本發明另一示範實施例之車道定位方法的流程圖。4 is a flow chart showing a lane positioning method according to another exemplary embodiment of the present invention.

圖5A係繪示根據本發明一示範實施例之路面標記的示意圖。5A is a schematic view of a pavement marking in accordance with an exemplary embodiment of the present invention.

圖5B係繪示根據本發明另一示範實施例之路面標記的示意圖。FIG. 5B is a schematic diagram showing a pavement marking according to another exemplary embodiment of the present invention.

1...車道定位系統1. . . Lane positioning system

10...影像擷取單元10. . . Image capture unit

12...影像識別單元12. . . Image recognition unit

14...處理單元14. . . Processing unit

16...影像處理單元16. . . Image processing unit

266a、268a...路面標記266a, 268a. . . Pavement marking

Claims (12)

一種車道定位系統,用於判斷一車道之位置,包含:一影像擷取單元,擷取該車道之一車道影像,該車道影像至少用以顯示該車道兩旁之一第一車道線與一第二車道線其中之一;一影像識別單元,耦接該影像擷取單元,該影像識別單元由該車道影像至少識別出該第一車道線上的一第一路面標記與該第二車道線上的一第二路面標記其中之一後,依據該第一路面標記或該第二路面標記以產生一車道位置信號;以及一處理單元,耦接該影像識別單元,依據該車道位置信號判斷該車道之位置。A lane positioning system for determining a position of a lane, comprising: an image capturing unit, capturing a lane image of the lane, the lane image being used to display at least one of the first lane line and the second lane on both sides of the lane One of the lane lines; an image recognition unit coupled to the image capturing unit, the image recognition unit identifying at least a first road marking on the first lane line and a first lane line on the second lane line by the lane image After the one of the two road markings, the first road marking or the second road marking is used to generate a lane position signal; and a processing unit is coupled to the image recognition unit to determine the position of the lane based on the lane position signal. 如申請專利範圍第1項之車道定位系統,更包含:一影像處理單元,耦接於該影像擷取單元與該影像識別單元之間,用以對該車道影像進行一影像處理程序;其中該影像識別單元係接收影像處理後之該車道影像,並自影像處理後之該車道影像中至少識別出該第一路面標記與該第二路面標記其中之一。The lane positioning system of claim 1, further comprising: an image processing unit coupled between the image capturing unit and the image recognition unit for performing an image processing program on the lane image; The image recognition unit receives the image of the lane after the image processing, and identifies at least one of the first road marking and the second road marking from the image of the lane after the image processing. 如申請專利範圍第2項之車道定位系統,其中該影像處理程序係對該車道影像進行一灰階化運算、一降低雜訊運算或一影像二值化運算,用以輔助該影像識別單元自該影像處理後之該車道影像中,至少識別出該第一路面標記與第二路面標記之影像其中之一。For example, in the lane positioning system of claim 2, the image processing program performs a grayscale operation, a noise reduction operation or an image binarization operation on the lane image to assist the image recognition unit. In the image of the lane after the image processing, at least one of the images of the first road marking and the second road marking is recognized. 如申請專利範圍第1項之車道定位系統,其中該處理單元更接收一全球定位系統信號,並依據該全球定位系統信號與該車道位置信號判斷該車道之位置。The lane positioning system of claim 1, wherein the processing unit further receives a global positioning system signal, and determines the position of the lane according to the global positioning system signal and the lane position signal. 如申請專利範圍第1項之車道定位系統,其中該車道定位系統為一手持式行動裝置,該手持式行動裝置更擷取該第一路面標記或該第二路面標記所包含的經緯度資訊,對應提供使用者目前所在地週邊的地理資訊。The lane positioning system of claim 1, wherein the lane positioning system is a handheld mobile device, and the handheld mobile device further captures latitude and longitude information included in the first pavement marking or the second pavement marking, corresponding to Provide geographic information about the user's current location. 一種車道定位方法,用於判斷一車道之位置,包含以下步驟:擷取該車道之一車道影像,該車道影像至少用以顯示該車道兩旁之一第一車道線與一第二車道線其中之一;由該車道影像至少識別出該第一車道線上的一第一路面標記與該第二車道線上的一第二路面標記其中之一,據以產生一車道位置信號;以及依據該車道位置信號判斷該車道之位置。A lane positioning method for determining a position of a lane includes the following steps: capturing a lane image of the lane, the lane image being used to display at least one of the first lane line and the second lane line on both sides of the lane Forming, by the lane image, at least one of a first road marking on the first lane line and a second road marking on the second lane line, thereby generating a lane position signal; and according to the lane position signal Determine the location of the lane. 如申請專利範圍第6項之車道定位方法,其中於擷取該車道之該車道影像之後,更包含以下步驟:將該車道影像做灰階化運算;進行一降低雜訊運算,以消除灰階化運算後之該車道影像中之雜訊;進行一影像二值化運算,將該降低雜訊運算後之該車道影像轉換成以黑、白顯示的影像;以及自影像二值化運算之該車道影像中至少區隔出該第一路面標記與該第二路面標記其中之一。For example, in the lane positioning method of claim 6, wherein after capturing the lane image of the lane, the method further comprises the steps of: performing grayscale calculation on the lane image; performing a noise reduction operation to eliminate gray scale The noise in the lane image after the calculation; performing an image binarization operation, converting the lane image after the noise reduction operation into an image displayed in black and white; and the image binarization operation At least one of the first pavement marking and the second pavement marking is separated from the lane image. 如申請專利範圍第6項之車道定位方法,其中於依據該車道位置信號判斷該車道之位置的步驟中,更依據一全球定位系統信號與該車道位置信號判斷該車道之位置。For example, in the lane positioning method of claim 6, wherein the step of determining the position of the lane based on the lane position signal further determines the position of the lane based on a global positioning system signal and the lane position signal. 如申請專利範圍第8項之車道定位方法,其中該車道定位方法更包括:擷取該第一路面標記或該第二路面標記所包含的經緯度資訊,對應提供使用者目前所在地週邊的地理資訊。The lane positioning method of claim 8 , wherein the lane positioning method further comprises: capturing the latitude and longitude information included in the first pavement marking or the second pavement marking, and correspondingly providing geographic information about the current location of the user. 一種路面標記,設置於一路面,該路面具有至少一車道以及M條車道線,每一該車道線對應一個該路面標記,該路面標記包含:一光學識別部,設置於對應之該車道線上,並暴露於對應之該車道線之上表面,用以指示該路面標記所對應之該車道線;其中該M條車道線中的第i條車道線與第i+1條車道線係分別具有相異之該光學識別部,M、i為正整數,且i+1不大於M。A road marking is disposed on a road surface having at least one lane and M lane lines, each lane line corresponding to the road marking, the road marking comprises: an optical identification portion disposed on the corresponding lane line, And exposing to the corresponding upper surface of the lane line for indicating the lane line corresponding to the road marking; wherein the i-th lane line of the M lane lines and the i+1th lane line respectively have phases In the optical recognition unit, M and i are positive integers, and i+1 is not greater than M. 如申請專利範圍第10項之路面標記,其中該光學識別部係以條碼指示該路面標記所對應之該車道線,且該第i條車道線與該第i+1條車道線之該光學識別部分別具有一第一條碼與一第二條碼,且該光學識別部設置於對應之該車道線之至少一端頭。The road marking according to claim 10, wherein the optical identification unit indicates the lane line corresponding to the road marking by a bar code, and the optical identification of the ith lane line and the (i+1) lane line The portions respectively have a first barcode and a second barcode, and the optical identification portion is disposed at at least one end of the corresponding lane line. 如申請專利範圍第10項之路面標記,其中該光學識別部係以顏色指示該路面標記所對應之該車道線,且該第i條車道線與該第i+1條車道線之該光學識別部分別具有一第一顏色與一第二顏色。The road marking according to claim 10, wherein the optical identification unit indicates the lane line corresponding to the road marking by color, and the optical identification of the ith lane line and the (i+1) lane line The portions have a first color and a second color, respectively.
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TWI723679B (en) * 2019-12-13 2021-04-01 宏碁股份有限公司 Lane positioning system and lane positioning method
CN113128317A (en) * 2020-01-15 2021-07-16 宏碁股份有限公司 Lane positioning system and lane positioning method
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