FR3128304B1 - Procédé de détection d'une limite d'une voie de circulation - Google Patents

Procédé de détection d'une limite d'une voie de circulation Download PDF

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Publication number
FR3128304B1
FR3128304B1 FR2110938A FR2110938A FR3128304B1 FR 3128304 B1 FR3128304 B1 FR 3128304B1 FR 2110938 A FR2110938 A FR 2110938A FR 2110938 A FR2110938 A FR 2110938A FR 3128304 B1 FR3128304 B1 FR 3128304B1
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France
Prior art keywords
limit
detecting
traffic lane
vector
function
Prior art date
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Active
Application number
FR2110938A
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English (en)
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FR3128304A1 (fr
Inventor
Federico Camarda
Veronique Cherfaoui
Franck Davoine
Bruno Durand
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.)
De Technologie De Compiegne Utc, University of
Centre National de la Recherche Scientifique CNRS
Universite de Technologie de Compiegne UTC
Renault SAS
Original Assignee
De Technologie De Compiegne Utc, University of
Centre National de la Recherche Scientifique CNRS
Universite de Technologie de Compiegne UTC
Renault SAS
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
Priority to FR2110938A priority Critical patent/FR3128304B1/fr
Application filed by De Technologie De Compiegne Utc, University of, Centre National de la Recherche Scientifique CNRS, Universite de Technologie de Compiegne UTC, Renault SAS filed Critical De Technologie De Compiegne Utc, University of
Priority to KR1020247016107A priority patent/KR20240117534A/ko
Priority to US18/701,299 priority patent/US20240426624A1/en
Priority to PCT/EP2022/078053 priority patent/WO2023061915A1/fr
Priority to EP22801084.9A priority patent/EP4416703A1/fr
Priority to JP2024523123A priority patent/JP2024539056A/ja
Priority to CN202280077561.4A priority patent/CN118475966A/zh
Publication of FR3128304A1 publication Critical patent/FR3128304A1/fr
Application granted granted Critical
Publication of FR3128304B1 publication Critical patent/FR3128304B1/fr
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Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
    • G06V10/469—Contour-based spatial representations, e.g. vector-coding
    • 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
    • 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
    • G06V20/588—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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • 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
    • G06V10/803—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of input or preprocessed data

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Artificial Intelligence (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Transportation (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Traffic Control Systems (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)

Abstract

Titre : Procédé de détection d'une limite d'une voie de circulation Procédé (P1) de détection d'une limite (L1, L2, L3) d'une voie de circulation (VC1, VC2) pour un véhicule (1) automobile, caractérisé en ce qu'il comprend :- une étape (E1) de détection de ladite limite par un moyen de détection (3) de l'environnement du véhicule, la limite étant définie par une fonction, notamment une fonction polynomiale,- une étape (E4) de détermination d'une pluralité de premiers vecteurs (MXi) caractérisant ladite limite, sur la base de données cartographiques et sur la base de données sur la position et l'orientation courante du véhicule,- une étape (E6) de détermination d'une pluralité de deuxièmes vecteurs (Fj) caractérisant ladite limite, chaque deuxième vecteur étant déterminé par une projection orthogonale d'un premier vecteur sur ladite fonction,- une étape (E8) de calcul de distances de Mahalanobis entre chaque premier vecteur et chaque deuxième. Figure à publier avec l’abrégé : Figure 2
FR2110938A 2021-10-14 2021-10-14 Procédé de détection d'une limite d'une voie de circulation Active FR3128304B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR2110938A FR3128304B1 (fr) 2021-10-14 2021-10-14 Procédé de détection d'une limite d'une voie de circulation
US18/701,299 US20240426624A1 (en) 2021-10-14 2022-10-10 Method for detecting a boundary of a traffic lane
PCT/EP2022/078053 WO2023061915A1 (fr) 2021-10-14 2022-10-10 Procédé de détection d'une limite d'une voie de circulation
EP22801084.9A EP4416703A1 (fr) 2021-10-14 2022-10-10 Procédé de détection d'une limite d'une voie de circulation
KR1020247016107A KR20240117534A (ko) 2021-10-14 2022-10-10 차로 경계 감지 방법
JP2024523123A JP2024539056A (ja) 2021-10-14 2022-10-10 車線の境界を検出するための方法
CN202280077561.4A CN118475966A (zh) 2021-10-14 2022-10-10 行车道界限的检测方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2110938 2021-10-14
FR2110938A FR3128304B1 (fr) 2021-10-14 2021-10-14 Procédé de détection d'une limite d'une voie de circulation

Publications (2)

Publication Number Publication Date
FR3128304A1 FR3128304A1 (fr) 2023-04-21
FR3128304B1 true FR3128304B1 (fr) 2023-12-01

Family

ID=79270106

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2110938A Active FR3128304B1 (fr) 2021-10-14 2021-10-14 Procédé de détection d'une limite d'une voie de circulation

Country Status (7)

Country Link
US (1) US20240426624A1 (fr)
EP (1) EP4416703A1 (fr)
JP (1) JP2024539056A (fr)
KR (1) KR20240117534A (fr)
CN (1) CN118475966A (fr)
FR (1) FR3128304B1 (fr)
WO (1) WO2023061915A1 (fr)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3078398B1 (fr) * 2018-02-27 2020-08-07 Renault Sas Procede d’estimation de la position d’un vehicule sur une carte
US11774250B2 (en) 2019-07-05 2023-10-03 Nvidia Corporation Using high definition maps for generating synthetic sensor data for autonomous vehicles

Also Published As

Publication number Publication date
CN118475966A (zh) 2024-08-09
JP2024539056A (ja) 2024-10-28
WO2023061915A1 (fr) 2023-04-20
FR3128304A1 (fr) 2023-04-21
EP4416703A1 (fr) 2024-08-21
US20240426624A1 (en) 2024-12-26
KR20240117534A (ko) 2024-08-01

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