WO2018097595A1 - Procédé et dispositif permettant de fournir des informations de conduite à l'aide d'une image de caméra - Google Patents

Procédé et dispositif permettant de fournir des informations de conduite à l'aide d'une image de caméra Download PDF

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Publication number
WO2018097595A1
WO2018097595A1 PCT/KR2017/013347 KR2017013347W WO2018097595A1 WO 2018097595 A1 WO2018097595 A1 WO 2018097595A1 KR 2017013347 W KR2017013347 W KR 2017013347W WO 2018097595 A1 WO2018097595 A1 WO 2018097595A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
obstacle
driving
camera
image data
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/KR2017/013347
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English (en)
Korean (ko)
Inventor
기석철
이신재
윤형석
박태형
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Chungbuk National Univiversity CBNU
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Chungbuk National Univiversity CBNU
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Priority to CN201780025422.6A priority Critical patent/CN109070882B/zh
Publication of WO2018097595A1 publication Critical patent/WO2018097595A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/08—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • 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
    • B60W2050/0059—Signal noise suppression
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2420/403—Image sensing, e.g. optical 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision

Definitions

  • the present invention relates to a technology for providing driving information in a vehicle, and more particularly, to a driving information providing technology for recognizing an obstacle and detecting a possible obstacle area using an image through a camera mounted on a vehicle.
  • the vehicle approach obstacle detecting apparatus or system is configured to detect an obstacle at a very close distance to the vehicle and inform the driver through a sensor such as an ultrasonic wave or a laser.
  • Camera-based obstacle detection unlike ultrasonic or laser sensors, can provide detailed information about obstacles as well as detection of the presence of obstacles.
  • AVM around view monitoring
  • radiation distortion in which distortion is determined by the refractive index of the convex lens, inevitably occurs, and thus may cause serious errors in image recognition of the image processing apparatus as well as visual distortion of the display image.
  • an around-view monitoring system consists of four cameras, one installed at the front and rear of the vehicle and one under the left and right side mirrors.
  • the 4-channel AVM (Around View Monitoring) system which is used for car parking and narrow road driving, provides the driver with the function of simply showing the synthesized image.However, by analyzing the video of each input channel, an obstacle that is expected to crash while driving Recognizing this, it can provide a new safety function.
  • ADAS advanced driver assistance systems
  • the existing MOD function development method uses a method of detecting a motion region in an image, but it is difficult to recognize a single color, a simple pattern of a wall or a pillar, which is difficult to detect as a motion region, as an obstacle.
  • the present invention has been made to solve the above problems, it is possible to recognize a wall or pillar of a single color, a simple pattern that is difficult to classify as an obstacle as an obstacle, an object such as a lane, a manhole cover existing in the driving area It is an object of the present invention to provide a method and apparatus for providing driving information using a camera image, which improves a problem of causing a recognition error that is misinterpreted as a moving object.
  • the present invention provides a driving information providing method in a vehicle equipped with one or more cameras, the method comprising: detecting an obstacle by real-time image processing of external image data of a vehicle received from the camera, Predicting the risk of collision based on the detected position of the obstacle and the distance between the vehicle itself, and using the Free Space Detection (FSD) algorithm, processing the external image data of the vehicle received from the camera to detect the driving range And providing information about whether the vehicle is capable of traveling through the collision risk and the driving region.
  • FSD Free Space Detection
  • a result of performing the FSD algorithm on the external image data detects an object having no danger of collision in the obtained free space by using an image recognition method and includes it in the driveable area.
  • the image recognition method may detect an object including a lane and a manhole cover in the free area as an object without a collision risk.
  • the motion region is detected based on a motion history image (MHI) algorithm for the external image data of the vehicle received from the camera, and the obstacle is detected by real-time image processing on the detected motion region. Can be detected.
  • MHI motion history image
  • the position of the detected obstacle and the coordinates of the vehicle itself may be obtained using a distance transformation matrix, and the distance between the obstacle and the vehicle itself may be calculated using the obtained coordinate values.
  • the vehicle may be a vehicle to which an around view monitoring system or a camera mirror system is applied.
  • a driving information providing apparatus in a vehicle equipped with one or more cameras. Predicts the risk of collision based on the distance between the vehicle and the vehicle, and detects a driving range by processing external image data of the vehicle received from the camera using a free space detection (FSD) algorithm. And a control unit for providing driving availability information, a display unit for displaying driving availability information under the control of the controller, and an alarm unit for alarming the risk of collision under the control of the controller.
  • FSD free space detection
  • the controller may detect an object having no danger of collision in the obtained free space by using an image recognition method and include the same in the driving range.
  • the controller may detect an object including a lane and a manhole cover in the free area as an object without a collision risk by using the image recognition method.
  • the controller may detect a motion region based on a motion history image (MHI) algorithm with respect to the external image data of the vehicle received from the camera, and detect an obstacle by processing an image in real time on the detected motion region.
  • MHI motion history image
  • the controller may acquire the position of the detected obstacle and the coordinate value of the vehicle itself using the distance transformation matrix, and calculate the distance between the obstacle and the vehicle itself using the obtained coordinate value.
  • the vehicle may be a vehicle to which an around view monitoring system or a camera mirror system is applied.
  • an image processing speed is improved based on a motion history image (MHI) algorithm, thereby enabling real-time processing of 30 frames per second (FPS) or more.
  • MHI motion history image
  • the obstacle detection function can be implemented in a camera mirror system that is expected to be commercialized in the future.
  • FIG. 1 is a block diagram illustrating an internal configuration of a driving information providing apparatus in a vehicle according to an embodiment of the present invention.
  • FIG. 2 is a flowchart illustrating a driving information providing method in a vehicle according to an exemplary embodiment of the present invention.
  • FIG. 3 is a diagram illustrating an image for explaining an obstacle detection process based on an MHI algorithm according to an embodiment of the present invention.
  • FIG. 4 is a view showing an image for explaining a collision risk according to an embodiment of the present invention.
  • FIG. 5 is a diagram illustrating an image for explaining a process of detecting a driving possible region using an FSD algorithm according to an embodiment of the present invention.
  • a driving information providing method for a vehicle equipped with one or more cameras Estimating the risk of collision based on the distance with the user; detecting external driving data by processing external image data of the vehicle received from the camera using a free space detection (FSD) algorithm; And providing information about whether the vehicle can be driven through the driving area.
  • FSD free space detection
  • the present invention relates to an apparatus and method for providing driving information in a vehicle equipped with one or more cameras.
  • the present invention may be implemented for a vehicle to which an around view monitoring system or a camera mirror system is applied.
  • FIG. 1 is a block diagram illustrating an internal configuration of a driving information providing apparatus in a vehicle according to an embodiment of the present invention.
  • a driving information providing apparatus in a vehicle includes one or more cameras 110, a control unit 120, a display unit 130, and an alarm unit 140.
  • the controller 120 performs image processing on the external image data of the vehicle received from the camera 110 in real time to detect an obstacle. Then, the collision risk is predicted based on the detected position of the obstacle and the distance between the vehicle itself. In addition, by using the Free Space Detection (FSD) algorithm, the external image data of the vehicle received from the camera 110 is processed to detect a driveable area, and provide driving possibility information through a collision risk and a driveable area. .
  • FSD Free Space Detection
  • the display unit 130 serves to display driving availability information under the control of the controller 120.
  • the alarm unit 140 serves to alert the risk of collision under the control of the controller 130.
  • the controller 120 detects an object having no danger of collision in the obtained free space by using an image recognition method and includes it in the driving range.
  • the controller 120 may detect an object including a lane and a manhole cover as a non-collision risk object in a free area by an image recognition method.
  • the controller 120 detects a motion region of the vehicle's external image data received from the camera 110 based on a motion history image (MHI) algorithm, and processes an image in real time on the detected motion region to detect an obstacle. do.
  • MHI motion history image
  • control unit 120 may obtain the position of the detected obstacle and the coordinate value of the vehicle itself using the distance transformation matrix, and calculate the distance between the obstacle and the vehicle itself using the obtained coordinate value.
  • FIG. 2 is a flowchart illustrating a driving information providing method in a vehicle according to an exemplary embodiment of the present invention.
  • the controller 120 performs image processing on the external image data of the vehicle received from the camera 110 in real time to detect an obstacle (S210).
  • the collision risk is predicted based on the detected position of the obstacle and the distance between the vehicle itself (S220).
  • the controller 120 detects a driving possible region by processing external image data of the vehicle received from the camera 110 using a free space detection (FSD) algorithm (S230).
  • FSD free space detection
  • an object having no danger of collision is detected in the obtained free space using an image recognition method and included in the driving region.
  • an image recognition method may detect an object including a lane and a manhole cover in a free area as an object without a collision risk.
  • the motion region is detected based on a motion history image (MHI) algorithm for the external image data of the vehicle received from the camera 110, and the image is detected in real time with respect to the detected motion region.
  • MHI motion history image
  • the obstacle can be detected by processing.
  • the collision risk may be predicted by using the distance transformation matrix to obtain the position of the detected obstacle and the coordinates of the vehicle and calculate the distance between the obstacle and the vehicle using the obtained coordinate value. Can be.
  • FIG. 3 is a diagram illustrating an image for explaining an obstacle detection process based on an MHI algorithm according to an embodiment of the present invention.
  • the area marked in red is a motion area in which motion is detected.
  • the obstacle is detected by performing a high speed image processing on a near obstacle such as a moving parking vehicle in real time.
  • FIG. 4 is a view showing an image for explaining a collision risk according to an embodiment of the present invention.
  • a distance transformation matrix is illustrated in FIG. 4 (a). As described above, in the present invention, a coordinate value of a distance between the red region shown in FIG. 4 (b) and the vehicle itself is obtained using the distance transformation matrix.
  • FIG. 5 is a diagram illustrating an image for explaining a process of detecting a driving possible region using an FSD algorithm according to an embodiment of the present invention.
  • a MeanShift algorithm is applied to bind regions having similar color pixel values in an original image obtained from the camera 110.
  • the patch area is set in the area immediately before the vehicle body, and this part includes the road area.
  • the Flood Fill algorithm is applied to cluster color values similar to the patch area. At this time, only the patch area is displayed in the Flood Fill algorithm.
  • the existing problem can be solved by performing the FSD algorithm and detecting an object without a collision risk, such as a lane and a manhole cover, existing in the FSD region through an image recognition method.
  • the manhole cover can be implemented by applying a learning-based algorithm.
  • a wall of a simple color or a simple pattern that is not recognized as an obstacle having a collision risk may be recognized as an obstacle.
  • the obstacle recognition using the MHI-based algorithm and the driving region using the FSD algorithm are used, it is possible to determine whether driving is possible by real-time processing the video received by the front camera when driving forward.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

La présente invention concerne un procédé permettant de fournir des informations de conduite d'un véhicule ayant une ou plusieurs caméras montées en son sein, ledit procédé comprenant les étapes consistant : à détecter un obstacle par traitement, en images en temps réel, de données d'image externe de véhicule reçues en provenance des caméras ; à prédire un risque de collision en fonction de la distance entre une position de l'obstacle détecté et le véhicule lui-même ; à détecter, au moyen d'un algorithme de détection d'espace libre (FSD), une zone permettant la conduite par traitement des données d'image externe de véhicule reçues en provenance des caméras ; et à fournir des informations de manœuvrabilité par l'intermédiaire du risque de collision et de la zone permettant la conduite. Selon la présente invention, une seule couleur et un motif simple d'une paroi ou d'un pilier, qui sont difficiles à classifier comme des obstacles, peuvent être reconnus en tant qu'obstacles.
PCT/KR2017/013347 2016-11-28 2017-11-22 Procédé et dispositif permettant de fournir des informations de conduite à l'aide d'une image de caméra Ceased WO2018097595A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201780025422.6A CN109070882B (zh) 2016-11-28 2017-11-22 利用摄像头影像的行驶信息提供方法及装置

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KR10-2016-0159235 2016-11-28
KR1020160159235A KR101749873B1 (ko) 2016-11-28 2016-11-28 카메라 영상을 이용한 주행 정보 제공 방법 및 장치

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CN112149460A (zh) * 2019-06-27 2020-12-29 华为技术有限公司 一种障碍物检测方法及装置
CN110834645B (zh) * 2019-10-30 2021-06-29 中国第一汽车股份有限公司 车辆的自由空间确定方法、装置、存储介质及车辆
US11281915B2 (en) * 2019-12-06 2022-03-22 Black Sesame Technologies Inc. Partial frame perception
KR102704057B1 (ko) * 2019-12-12 2024-09-09 현대자동차주식회사 차량 및 그 제어방법
EP3855205A1 (fr) * 2020-01-22 2021-07-28 Zenuity AB Évaluation des performances de perception d'un système adas ou ads de véhicule
KR102323483B1 (ko) 2020-04-13 2021-11-10 주식회사 만도모빌리티솔루션즈 스마트 순항 제어 시스템 및 그 제어 방법
KR102241116B1 (ko) * 2020-09-08 2021-04-16 포티투닷 주식회사 인공신경망을 이용한 주행 차량의 차로 판단 방법과 장치 및 이를 포함하는 내비게이션 장치

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KR101749873B1 (ko) 2017-06-22
CN109070882A (zh) 2018-12-21

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