WO2014071939A1 - Verfahren und vorrichtung zur erkennung von verkehrszeichen für ein fahrzeug - Google Patents

Verfahren und vorrichtung zur erkennung von verkehrszeichen für ein fahrzeug Download PDF

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Publication number
WO2014071939A1
WO2014071939A1 PCT/DE2013/200238 DE2013200238W WO2014071939A1 WO 2014071939 A1 WO2014071939 A1 WO 2014071939A1 DE 2013200238 W DE2013200238 W DE 2013200238W WO 2014071939 A1 WO2014071939 A1 WO 2014071939A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
traffic sign
data
traffic
radar
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/DE2013/200238
Other languages
German (de)
English (en)
French (fr)
Inventor
Marc Fischer
Peter Van Der Vegte
Ulrich Möller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aumovio Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic GmbH
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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Priority to US14/427,427 priority Critical patent/US10223600B2/en
Priority to EP13795994.6A priority patent/EP2917759A1/de
Priority to DE112013005299.7T priority patent/DE112013005299A5/de
Priority to JP2015540048A priority patent/JP6469013B2/ja
Publication of WO2014071939A1 publication Critical patent/WO2014071939A1/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/254—Fusion techniques of classification results, e.g. of results related to same input data
    • G06F18/256—Fusion techniques of classification results, e.g. of results related to same input data of results relating to different input data, e.g. multimodal recognition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/809—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data
    • G06V10/811—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data the classifiers operating on different input data, e.g. multi-modal recognition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders

Definitions

  • Radio-based systems for traffic sign recognition are state of the art.
  • a traffic sign transmits its meaning and possibly its position via radio to a radio receiver in the vehicle.
  • Traffic signs are detected by a camera sensor system in the vehicle. Such systems can be supported by a navigation system with electronic map.
  • the traffic sign recognition (VZE) with a camera system is based on two essential steps. Step 1 is the search for circular (e.g., for speed limits) or rectangular structures (e.g., location signs). If suitable candidates are recognized, they are classified in a further step. There are e.g. detected with the help of pattern recognition numbers.
  • An essential idea of the invention is to support the traffic sign recognition based on a camera system by information from a radar or Lidarsensorsystems.
  • a radar or Lidarsensorsystems For this purpose, in particular sensor systems can be used, which are used for an ACC function or an emergency brake function.
  • Based on the data of a radar sensor or Lidarsensors at least one of following information
  • the at least one information from radar or lidar data is used to check the plausibility of data from the camera sensor. This applies in particular to one of the information a) -e) according to
  • a traffic sign or a potential traffic sign is detected by radar, this can be communicated to the VZE. There, the information (presence, distance, size, direction, etc.) can be used for plausibility.
  • an image processing for the evaluation of camera data is provided such that in a region in which an information according to a) -e) is present, a targeted search is made for traffic signs; through a more detailed evaluation of the
  • the country information can by a navigation device or a radio information (c2x, radio, traffic, ...) or by a Envelope detection sensor can be provided.
  • the latter for example, by a camera sensor, the
  • image processing for evaluating camera data is provided in such a way that traffic signs are searched only in a region in which information according to a) -e) exists. This procedure saves computing time when processing the image data of a camera system or because the computing time for
  • Scope evaluated for a traffic sign This is especially true in a multi-vehicle environment
  • Traffic signs can be spatially assigned to these structures. This can be particularly characteristic of a
  • Plausibilmaschine serve to discard or confirm potential traffic signs, depending on the location of the potential traffic signs to the track-limiting structures.
  • the distance or position information can be used for an assignment.
  • position of the traffic sign is decisive for the assignment to the lane, street etc. Knowing the location of the traffic sign so you can relate this with your own lane. For example, distant signs can be discarded if they are not assigned to their own lane.
  • an image processing for the evaluation of camera data is such
  • the presence of a traffic sign based on data from a radar or lidar system in
  • Position information with navigation data are correlated.
  • Position information with navigation data are correlated.
  • the strength of the radiation reflected on an object or quantities which can be deduced therefrom e.g.
  • Radar or lidar backscatter cross section; road sign are due to their nature (usually metal) good reflectors, ie for the recognition can be exploited that the remindstreuquerrough or the strength of the reflection must exceed a predetermined threshold or must be within a predetermined range of values
  • traffic signs are stationary objects, so that can be used for the recognition that the relative speed of
  • Relative speed to other stationary objects e.g. Crash barriers, must be zero.
  • the predetermined range of values may in particular be derived from further information, e.g. the position of the object
  • Gantries static objects that have a relatively large extent and that are located above the carriageway are located above the carriageway.
  • Probability value assigned which indicates the probability with which the corresponding object
  • Traffic sign could be.
  • information about the position of an object is additionally provided with information of a
  • Navigation system correlates. Especially near intersections, there is an increased probability for

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Medical Informatics (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Software Systems (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Mechanical Engineering (AREA)
PCT/DE2013/200238 2012-11-06 2013-10-21 Verfahren und vorrichtung zur erkennung von verkehrszeichen für ein fahrzeug Ceased WO2014071939A1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US14/427,427 US10223600B2 (en) 2012-11-06 2013-10-21 Method and device for recognizing traffic signs for a vehicle
EP13795994.6A EP2917759A1 (de) 2012-11-06 2013-10-21 Verfahren und vorrichtung zur erkennung von verkehrszeichen für ein fahrzeug
DE112013005299.7T DE112013005299A5 (de) 2012-11-06 2013-10-21 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug
JP2015540048A JP6469013B2 (ja) 2012-11-06 2013-10-21 自動車用の交通標識を認識するための方法及び装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012110595.2 2012-11-06
DE102012110595.2A DE102012110595A1 (de) 2012-11-06 2012-11-06 Verfahren und Vorrichtung zur Erkennung von Verkehrszeichen für ein Fahrzeug

Publications (1)

Publication Number Publication Date
WO2014071939A1 true WO2014071939A1 (de) 2014-05-15

Family

ID=49674106

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Application Number Title Priority Date Filing Date
PCT/DE2013/200238 Ceased WO2014071939A1 (de) 2012-11-06 2013-10-21 Verfahren und vorrichtung zur erkennung von verkehrszeichen für ein fahrzeug

Country Status (5)

Country Link
US (1) US10223600B2 (https=)
EP (1) EP2917759A1 (https=)
JP (1) JP6469013B2 (https=)
DE (2) DE102012110595A1 (https=)
WO (1) WO2014071939A1 (https=)

Cited By (3)

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US11334089B1 (en) 2019-07-26 2022-05-17 Jeffrey W. Bryce Infrastructure markers for autonomous vehicles
JP2022111187A (ja) * 2014-11-19 2022-07-29 エイディシーテクノロジー株式会社 自動運転制御装置及び車両
WO2022189246A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gmbh Verfahren zur erkennung eines verkehrszeichens mittels eines lidar-systems

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US9530313B2 (en) 2014-10-27 2016-12-27 Here Global B.V. Negative image for sign placement detection
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DE102016118538A1 (de) * 2016-09-29 2018-03-29 Valeo Schalter Und Sensoren Gmbh Verfahren zum Klassifizieren eines Verkehrszeichens in einem Umgebungsbereich eines Kraftfahrzeugs, Rechenvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
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KR20180106417A (ko) * 2017-03-20 2018-10-01 현대자동차주식회사 차량의 위치 인식 시스템 및 방법
DE102017218192A1 (de) * 2017-10-12 2019-04-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Verkehrsschilderkennung
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US11334089B1 (en) 2019-07-26 2022-05-17 Jeffrey W. Bryce Infrastructure markers for autonomous vehicles
WO2022189246A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gmbh Verfahren zur erkennung eines verkehrszeichens mittels eines lidar-systems
DE102021202232A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Erkennung eines Verkehrszeichens mittels eines LiDAR-Systems

Also Published As

Publication number Publication date
US20150220795A1 (en) 2015-08-06
JP6469013B2 (ja) 2019-02-13
JP2016502178A (ja) 2016-01-21
EP2917759A1 (de) 2015-09-16
DE102012110595A1 (de) 2014-05-08
DE112013005299A5 (de) 2015-07-16
US10223600B2 (en) 2019-03-05

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