WO2015081955A1 - Verfahren zur erkennung von wenigstens einer fahrspurmarkierung einer einem fahrzeug vorausliegenden fahrspur - Google Patents
Verfahren zur erkennung von wenigstens einer fahrspurmarkierung einer einem fahrzeug vorausliegenden fahrspur Download PDFInfo
- Publication number
- WO2015081955A1 WO2015081955A1 PCT/DE2014/200671 DE2014200671W WO2015081955A1 WO 2015081955 A1 WO2015081955 A1 WO 2015081955A1 DE 2014200671 W DE2014200671 W DE 2014200671W WO 2015081955 A1 WO2015081955 A1 WO 2015081955A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- road
- data
- lane
- vehicle
- evaluation unit
- Prior art date
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Classifications
-
- 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
Definitions
- the invention relates to a method for detecting at least one lane marking of a lane ahead of a vehicle according to the preamble of patent claim 1.
- an optical lane recognition device For the automatic control of a longitudinal and / or transverse movement of a vehicle, for example in the context of a camera-based distance control or a camera-based lane departure warning, an optical lane recognition device is known to be used.
- a lane recognition device generally comprises an image acquisition system, for example a monocamera and a downstream image processing system, to which the image data generated by the monocamera is fed to detect lane markings on the roadway.
- the detection of such Fahrbahnmarkierun gene by evaluation of gray scale images of a monocamera au based on edge detection.
- special filters different types of road markings, such as interrupted or solid L jossmarkie ⁇ ments, such as middle or marginal lines of the road recognized who the.
- DE 10 2009 053 748 AI proposes a method for tracking a vehicle in which ruts are used as lane information and these ruts by means of a sensor and / or camera and / or
- Scanner device detected and / or scanned. However, it can not generally be assumed that all lanes have such ruts.
- Such a method for detecting at least one lane marking of a lane ahead of a vehicle, in which the image data generated by a 3D camera are fed to the roadway ahead of the vehicle to an evaluation unit for evaluation, according to the invention is characterized in that
- a road height profile is generated transversely to the travel direction of the vehicle by means of the evaluation unit,
- a lane marking of the roadway is detected by comparing the values of the geometry data of the at least one survey with stored in the evaluation geomet- rie poems.
- the height of the road surface can be measured accurately down to a few millimeters. Since lane markings always represent a survey with a few millimeters, regardless of their degree of contamination or age, they are certainly recognizable by the method according to the invention. By storing geometric data from different lane markings in the evaluation unit, the detected lane markings can thereby also be specified.
- the profiling of the at least one elevation is determined transversely to the direction of travel of the vehicle and the lane marking is detected by comparing the Pro ⁇ filing with profiling stored in the evaluation profiling.
- longitudinal strips such as center strips, which have a rectangular cross-section, can be reliably differentiated from other road markings having profiled surfaces, such as, for example, spot dots, which have a curved upper side.
- a further embodiment of the invention is characterized in that the length of the detected survey and / or the distance between successive surveys in the longitudinal direction is additionally determined in the direction of travel as a further geometric data of at least one survey and By comparing the further geometric data of the survey in the direction of travel with a further geometry data stored in the evaluation unit, a lane marking is determined.
- a lane marking not only a lane marking, but also the type can be seen on the basis of the geometry in the direction of travel of the vehicle, such as in the direction of travel of the vehicle solid or broken lane markings.
- the profiling of the at least one elevation in the direction of travel can be determined and the lane marking can be detected by comparing the profiling with further profiling data stored in the evaluation unit.
- longitudinally structured roadway markings such as, for example, arrows and / or other surface markings can be detected.
- geometry data and further geometric data of longitudinal markings of the roadway are stored in the evaluation unit.
- the detection reliability it may be ⁇ höht in Detek ⁇ tion of road studs which have a curved surface in the direction of travel.
- geometry data and other geometry data data of cross-markings of the road in the evaluation unit is stored chert.
- road markings stop lines or pedestrian crossings can be detected.
- the lane detection of the vehicle generates a gray value image or a color image by means of an environmental sensor from the road ahead of the vehicle and the detected lane of the vehicle with the at least one he ⁇ knew road mark is plausibility.
- a stereo camera is used, wherein an image sensor of this stereo camera can be used as a monocamera for the detection of lane markings by means of edge detection.
- FIG. 1 shows a schematic block diagram of a vehicle with a road scene recorded by a 3D camera to explain the method according to the invention
- FIG. 2 shows a representation of a road height profile in the region of a center line as a lane marking of a roadway
- FIG. 1 shows a schematic block diagram of a vehicle with a road scene recorded by a 3D camera to explain the method according to the invention
- FIG. 2 shows a representation of a road height profile in the region of a center line as a lane marking of a roadway
- FIG. 2 shows a representation of a road height profile in the region of a center line as a lane marking of a roadway
- Figure 3 is a representation of a street height profile in the loading reaching a marker base as Fahrbahnmarkie ⁇ tion a roadway.
- the vehicle 10 shown schematically in FIG. 1 comprises a 3D camera designed as a stereo camera 11, which generates image data from the road scene Z lying in front of the vehicle 10.
- This road scene Z shows a roadway 20 with two by a broken center line 1 as Fahrbahnmarkierun ⁇ gene separate lanes 21 and 22, wherein the vehicle 10 moves on the right lane 21 in the direction of travel F.
- the roadway 20 is bounded by a right and left solid edge line 2.1 or 2.2 as lane boundary. To the right and left edge lines 2.1 and 2.2 as roadway Marking is followed in each case by an edge strip 21.1 and 22.1 of the roadway 20.
- the image data taken by the stereo camera 11 are fed to their evaluation to an image processing unit 12, which generates a road height profile PI along a line L through a strip 1.1 of the center line 1 transversely to the direction of travel F thereof.
- This road height profile PI is shown in FIG. 2, which is supplied for evaluation to an evaluation unit 13.
- the evaluation by means of the evaluation unit 13 starts with the fact that from the course of the road height profile PI an elevation 1 relative to the road level of the road 20 indicating height jumps Sil and S12 are detected.
- the evaluation unit 13 comprises a memory device in which geometry data of lane markings, in particular of longitudinal markings, such as center lines and boundary lines of a roadway are stored. By comparison of the values bi and hi of the detected geometry data of the survey 1.1 with geometry data stored in the evaluation unit 13, this survey 1.1 is detected as a traffic lane marking 1 of the lane 20 if it matches.
- the associated road height profiles are created by the image processing unit 12 and evaluated by the evaluation unit 13 for a plurality of further lines L 1 and L 2 running transversely to the direction of travel F.
- a road height profile running in the direction of travel F can also be created. From such a running in the direction of travel F road height profile can be the value of the length of the strip 1.1 of the center line 1 determine.
- Longitudinal mark 1 can be detected as a broken center line, the values of the length of longitudinal markers are stored as further geometry data in the memory device of the evaluation unit 13.
- the distance between two successive strips 1.1 of the center line 1 can be detected and its value can be determined. By comparing this value of the distance between two successive strips 1.1 with values stored in the memory device of the evaluation unit 13, the type of longitudinal marking can also be concluded.
- a road height profile is generated over the entire width of the roadway 20, which also encompasses the boundary lines 2.1 and 2.2, these elevations can be detected as continuous edge lines 2.1 and 2.2 on the basis of the further geometry data in the memory device of the evaluation unit 13.
- These data with regard to the detected lane markings 1, 2.1 and 2.2 are transmitted to a driver assistance system 14, for example a lane-guided distance control or a lane departure warning system. haltisssistenten supplied to realize a lane recognition for the vehicle 10 with these data.
- a grayscale image from which by means of edge detection pavement markings, such as, the longitudinal markings (dashed or solid center line, solid Randli ⁇ nien, etc.) to be detected is generated by one of the two cameras of the stereo camera 11.
- the lane markings detected from such a gray scale image are plausiblized with the lane markers 1, 2.1 2.2 detected according to the invention.
- Marking buttons which have a curved surface instead of a flat surface are also used as lane markings.
- FIG. 3 a profile of such a road height profile P2 is shown in FIG. 3 with a projection 3 above the roadway surface of the roadway 20.
- a survey 3 is also as above be ⁇ already set forth with reference to two height differences S21 and S22 de ⁇ tektiert and the value of the distance B2 b2 of the two heights ⁇ cracks S21 and S22 and the value h.2 the height H2 is determined that height jumps.
- the profiling so the curved surface of this survey 3 across the
- a road height profile in the direction of travel can be created, from which the geometric data of detected surveys and their profiling in the direction of travel detected and their values or their profiling with stored in the memory device of the evaluation unit 13 further geometry data and other profiling data be compared in order to improve the detection reliability of such Markie ⁇ tion buttons 3.
- cross marks and area markings can also be identified as lane markings using the method according to the invention as described above, by geometric data and further geometric data of such cross markings and area markings of the lane 20 from the corresponding road height profiles in the transverse direction of the travel direction F and possibly also in the direction of travel F be stored in the evaluation unit 13.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112014003284.0T DE112014003284A5 (de) | 2013-12-03 | 2014-12-01 | Verfahren zur Erkennung von wenigstens einer Fahrspurmarkierung einer einem Fahrzeug vorausliegenden Fahrspur |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013224791.5 | 2013-12-03 | ||
DE102013224791.5A DE102013224791A1 (de) | 2013-12-03 | 2013-12-03 | Verfahren zur Erkennung von wenigstens einer Fahrspurmarkierung einer einem Fahrzeug vorausliegenden Fahrspur |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015081955A1 true WO2015081955A1 (de) | 2015-06-11 |
Family
ID=52349911
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/DE2014/200671 WO2015081955A1 (de) | 2013-12-03 | 2014-12-01 | Verfahren zur erkennung von wenigstens einer fahrspurmarkierung einer einem fahrzeug vorausliegenden fahrspur |
Country Status (2)
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DE (2) | DE102013224791A1 (de) |
WO (1) | WO2015081955A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6583252B2 (ja) * | 2016-12-27 | 2019-10-02 | トヨタ自動車株式会社 | 運転支援装置 |
DE102018220410A1 (de) * | 2018-11-28 | 2020-05-28 | Zf Friedrichshafen Ag | Selbsttätiges Lenken einer landwirtschaftlichen Maschine auf einer landwirtschaftlichen Fläche |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005044981A1 (de) * | 2005-09-20 | 2007-03-22 | Adc Automotive Distance Control Systems Gmbh | Verfahren zur Erkennung von Fahrspurmarkierungen |
EP2000979A2 (de) * | 2006-03-28 | 2008-12-10 | PASCO Corporation | Strassenvideobildanalysevorrichtung und strassenvideobildanalysierverfahren |
DE102009053748A1 (de) | 2009-11-18 | 2011-05-19 | Man Nutzfahrzeuge Ag | Verfahren zur Spurführung eines Fahrzeugs, insbesondere eines Nutzfahrzeuges, sowie Spurführungssystem |
DE102012101085A1 (de) * | 2012-02-10 | 2013-08-14 | Conti Temic Microelectronic Gmbh | Bestimmung einer Beschaffenheit einer Fahrbahnoberfläche mittels einer 3D-Kamera |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004003850A1 (de) * | 2004-01-26 | 2005-08-18 | Ibeo Automobile Sensor Gmbh | Verfahren zur Erkennung von Markierungen auf einer Fahrbahn |
DE102004061998A1 (de) * | 2004-12-23 | 2006-07-06 | Robert Bosch Gmbh | Stereokamera für ein Kraftfahrzeug |
DE102009033219A1 (de) * | 2009-01-23 | 2010-07-29 | Daimler Ag | Verfahren zur Ermittlung eines Fahrzeug vorausliegenden Straßenprofils einer Fahrspur |
DE102011056671A1 (de) * | 2011-12-20 | 2013-06-20 | Conti Temic Microelectronic Gmbh | Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera |
-
2013
- 2013-12-03 DE DE102013224791.5A patent/DE102013224791A1/de not_active Withdrawn
-
2014
- 2014-12-01 WO PCT/DE2014/200671 patent/WO2015081955A1/de active Application Filing
- 2014-12-01 DE DE112014003284.0T patent/DE112014003284A5/de active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005044981A1 (de) * | 2005-09-20 | 2007-03-22 | Adc Automotive Distance Control Systems Gmbh | Verfahren zur Erkennung von Fahrspurmarkierungen |
EP2000979A2 (de) * | 2006-03-28 | 2008-12-10 | PASCO Corporation | Strassenvideobildanalysevorrichtung und strassenvideobildanalysierverfahren |
DE102009053748A1 (de) | 2009-11-18 | 2011-05-19 | Man Nutzfahrzeuge Ag | Verfahren zur Spurführung eines Fahrzeugs, insbesondere eines Nutzfahrzeuges, sowie Spurführungssystem |
DE102012101085A1 (de) * | 2012-02-10 | 2013-08-14 | Conti Temic Microelectronic Gmbh | Bestimmung einer Beschaffenheit einer Fahrbahnoberfläche mittels einer 3D-Kamera |
Also Published As
Publication number | Publication date |
---|---|
DE102013224791A1 (de) | 2015-06-03 |
DE112014003284A5 (de) | 2016-04-14 |
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