WO2012011713A3 - Système et procédé de reconnaissance de voie de circulation - Google Patents

Système et procédé de reconnaissance de voie de circulation Download PDF

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Publication number
WO2012011713A3
WO2012011713A3 PCT/KR2011/005290 KR2011005290W WO2012011713A3 WO 2012011713 A3 WO2012011713 A3 WO 2012011713A3 KR 2011005290 W KR2011005290 W KR 2011005290W WO 2012011713 A3 WO2012011713 A3 WO 2012011713A3
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WO
WIPO (PCT)
Prior art keywords
traffic lane
lane candidate
coordinates
equation
pair
Prior art date
Application number
PCT/KR2011/005290
Other languages
English (en)
Korean (ko)
Other versions
WO2012011713A2 (fr
Inventor
한영인
서용덕
송영기
최현철
오세영
Original Assignee
주식회사 이미지넥스트
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Publication date
Application filed by 주식회사 이미지넥스트 filed Critical 주식회사 이미지넥스트
Publication of WO2012011713A2 publication Critical patent/WO2012011713A2/fr
Publication of WO2012011713A3 publication Critical patent/WO2012011713A3/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G06F2218/02—Preprocessing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Geometry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

La présente invention concerne un procédé et un système de reconnaissance de voie de circulation qui comportent les étapes suivantes : le traitement préalable d'une image avant de véhicule obtenue par un module de caméra attaché à un véhicule afin d'obtenir une image intégrale ; l'extraction d'un point de voie de circulation candidate par convolution de l'image intégrale et d'un modèle de point de voie de circulation candidate lorsqu'une équation de voie de circulation précédente n'existe pas ; la découverte d'une équation de voie de circulation primaire d'un groupe de voies de circulation candidates, qui est obtenu par conversion des coordonnées des points de voie de circulation candidate extraits en coordonnées d'un système de coordonnées à distance vraie et ensuite par regroupement, et la sélection, parmi les groupes potentiels de voie de circulation trouvés, une paire de groupes de voie de circulation candidate qui satisfait les conditions prédéterminées à titre de paire de voies de circulation initialement détectées.
PCT/KR2011/005290 2010-07-19 2011-07-19 Système et procédé de reconnaissance de voie de circulation WO2012011713A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2010-0069537 2010-07-19
KR1020100069537A KR101225626B1 (ko) 2010-07-19 2010-07-19 차선 인식 시스템 및 방법

Publications (2)

Publication Number Publication Date
WO2012011713A2 WO2012011713A2 (fr) 2012-01-26
WO2012011713A3 true WO2012011713A3 (fr) 2012-05-10

Family

ID=45497281

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/005290 WO2012011713A2 (fr) 2010-07-19 2011-07-19 Système et procédé de reconnaissance de voie de circulation

Country Status (2)

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

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KR101428165B1 (ko) 2012-06-29 2014-08-07 엘지이노텍 주식회사 차선이탈 경고 시스템 및 차선이탈 경고 방법
KR101382902B1 (ko) * 2012-06-29 2014-04-23 엘지이노텍 주식회사 차선이탈 경고 시스템 및 차선이탈 경고 방법
JP5921983B2 (ja) * 2012-08-03 2016-05-24 クラリオン株式会社 車載撮像装置
CN103057470B (zh) * 2012-12-06 2015-09-16 重庆交通大学 一种车辆违章压线预先提示装置及其提示方法
CN103150337B (zh) * 2013-02-04 2016-09-21 北京航空航天大学 一种基于Bézier曲线的车道线重构方法
KR101338347B1 (ko) * 2013-04-02 2014-01-03 라온피플 주식회사 차선 이탈 경고 시스템 및 방법
KR101483742B1 (ko) 2013-06-21 2015-01-16 가천대학교 산학협력단 지능형 차량의 차선 검출방법
KR102016549B1 (ko) * 2014-01-13 2019-08-30 한화디펜스 주식회사 차량 및 차선 위치 검출 시스템 및 방법
KR102170689B1 (ko) 2014-01-14 2020-10-27 한화테크윈 주식회사 영상 정합을 위한 특징점 샘플링 방법
KR102456626B1 (ko) 2016-01-15 2022-10-18 현대자동차주식회사 자율 주행 차량의 차선 인지 방법 및 장치
CN106778605B (zh) * 2016-12-14 2020-05-05 武汉大学 导航数据辅助下的遥感影像道路网自动提取方法
KR101878490B1 (ko) * 2017-03-10 2018-07-13 만도헬라일렉트로닉스(주) 차선 인식 시스템 및 방법
CN109084782B (zh) * 2017-06-13 2024-03-12 蔚来(安徽)控股有限公司 基于摄像头传感器的车道线地图构建方法以及构建系统
KR102499398B1 (ko) 2017-08-09 2023-02-13 삼성전자 주식회사 차선 검출 방법 및 장치
CN110248861B (zh) 2018-01-07 2023-05-30 辉达公司 在车辆操纵过程中使用机器学习模型来引导车辆
WO2019152888A1 (fr) 2018-02-02 2019-08-08 Nvidia Corporation Analyse de procédure de sécurité pour évitement d'obstacle dans un véhicule autonome
CN111133447B (zh) 2018-02-18 2024-03-19 辉达公司 适于自主驾驶的对象检测和检测置信度的方法和系统
WO2019168869A1 (fr) * 2018-02-27 2019-09-06 Nvidia Corporation Détection en temps réel de voies et de limites par des véhicules autonomes
DE102018202970A1 (de) * 2018-02-28 2019-08-29 Robert Bosch Gmbh Verfahren zum Ermitteln einer topologischen Information einer Straßenkreuzung
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KR102097869B1 (ko) * 2018-04-25 2020-04-06 연세대학교 산학협력단 자가 지도 학습을 이용한 딥러닝 기반 도로 영역 추정 장치 및 방법
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CN112818804B (zh) * 2021-01-26 2024-02-20 重庆长安汽车股份有限公司 目标级车道线的平行处理方法、系统、车辆及存储介质
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KR102629639B1 (ko) * 2021-04-21 2024-01-29 계명대학교 산학협력단 차량용 듀얼 카메라 장착 위치 결정 장치 및 방법
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Also Published As

Publication number Publication date
KR101225626B1 (ko) 2013-01-24
KR20120009590A (ko) 2012-02-02
WO2012011713A2 (fr) 2012-01-26

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