WO2019088595A1 - Système de surveillance de vue panoramique - Google Patents

Système de surveillance de vue panoramique Download PDF

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Publication number
WO2019088595A1
WO2019088595A1 PCT/KR2018/012838 KR2018012838W WO2019088595A1 WO 2019088595 A1 WO2019088595 A1 WO 2019088595A1 KR 2018012838 W KR2018012838 W KR 2018012838W WO 2019088595 A1 WO2019088595 A1 WO 2019088595A1
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WO
WIPO (PCT)
Prior art keywords
lane
image
surround view
straight line
recognition
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/KR2018/012838
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English (en)
Korean (ko)
Inventor
이정준
문준혁
김시욱
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.)
Chemtronics Co Ltd
Original Assignee
Chemtronics Co Ltd
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 Chemtronics Co Ltd filed Critical Chemtronics Co Ltd
Priority to CN201880057393.6A priority Critical patent/CN111133439B/zh
Publication of WO2019088595A1 publication Critical patent/WO2019088595A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • 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
    • 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
    • B60W30/18—Propelling 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/40—Image enhancement or restoration using histogram techniques
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction
    • 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
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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

Definitions

  • the present invention relates to a surround view monitoring system.
  • the Lane Departure Warning System (Lane Departure Warning System), which warns the lane departure by using a camera to prevent such accidents, is one of the factors that increase the number of contact accidents. Was developed.
  • the specifications of the camera lens are also different. Therefore, when both the lane departure warning system and the surround view monitoring system are to be installed in the vehicle, there is a problem that the number of cameras increases because the cameras necessary for each system are installed separately. In addition, there is a problem that cost increases due to an increased number of cameras. In addition, there is also a problem that a high-performance processor (for example, a CPU) is required to process all the images (i.e., images) captured by the cameras of the respective systems.
  • a high-performance processor for example, a CPU
  • a wide-angle lens is used in the camera of the surround-view monitoring system, and distorted images may occur in the photographed image. Therefore, it is judged whether or not the lane change is made by a method of extracting the position of the lane by performing the image processing after the distortion correction.
  • a camera for a surround view monitoring system installed in front of the vehicle i.e., a front camera
  • a license plate outside the vehicle There is a problem that the size difference between the far lane and the nearby lane increases.
  • an image taken by a camera installed at the front end of the vehicle is expressed as if the lane is too far away, so that the lane can not be recognized frequently.
  • the lane recognition rate can be improved.
  • the processor may need to be installed or it may not be able to process all image frames.
  • An object of the present invention is to provide a surround view monitoring system capable of improving the lane recognition rate while minimizing an increase in the number of image processing times.
  • a surround view monitoring system including a plurality of cameras installed on front, rear, left, and right sides of a vehicle for photographing a surrounding image of the vehicle, A first lane change recognition module for determining whether or not the lane change is made by using the forward image of the surrounding images, a second lane change recognition module for determining whether or not the lane change is made using the surround view image generated based on the surrounding image of the vehicle, The lane change recognition module, and the first and second lane change recognition modules, and generates a final result.
  • the first lane change recognition module includes a front image selection unit for selecting a front image among peripheral images of the vehicle photographed by each of the plurality of cameras, a front image selection unit for selecting a front image selected by the front image selection unit, A front image lane recognition unit for detecting a straight line in the lane recognition image converted by the front image processing unit and specifying a position of a straight line determined as a lane of the detected straight lines; And a front image lane change recognition unit that receives information on the position of the straight line and determines whether the lane change is based on the provided information.
  • the front image processing unit performs at least one of a lens distortion correction operation, a size adjustment operation, a histogram correction operation, and an edge extraction operation on the front image selected by the forward image selection unit, .
  • the front image lane recognition unit detects a straight line by performing a Hough transform operation on the image for lane recognition converted by the front image processing unit, determines whether the straight line detected through the first lane recognition filter corresponds to the lane, A position of a straight line determined as a lane among the detected straight lines is specified, noise included in a position of a straight line specified through the first Kalman filter is removed, and information on the position of the specified straight line is provided to the front image lane change recognition unit do.
  • the second lane change recognition module includes: a surround view image generation unit for generating a surround view image based on a surrounding image of the vehicle photographed by each of the plurality of cameras; a surround image generation unit for generating a surround view image generated by the surround view image generation unit, A surround view image lane recognition unit for detecting a straight line in the lane recognition image converted by the surround view image processing unit and specifying a position of a straight line determined as a lane among the detected straight lines, A view image lane recognizing unit that receives information on the position of a straight line specified for each frame and extracts at least one of a lane interval, a lane width, and a lane position based on the provided information, And a lane change recognition unit.
  • the surround-view image generator generates surround-view image matching information based on the surrounding images of the vehicles photographed by each of the plurality of cameras, reflects the surround-view image matching information on the surrounding images of the vehicles photographed by the plurality of cameras, Create a view image.
  • the surround view image processing unit performs at least one of a size adjustment operation, a noise removal operation, and an edge extraction operation on the surround view image selected by the surround view image selection unit, and then converts the surround view image into an image for lane recognition.
  • the surround view image lane recognition unit detects a straight line by performing a Hough transform operation on the image for lane recognition that has been converted by the surround view image processing unit and determines whether the straight line detected through the second lane recognition filter corresponds to the lane And the information about the position of the specified straight line is detected by the surround view image lane change recognition To the Department.
  • warning display module for generating warning information based on the final result generated in the result integration module, wherein the warning display module outputs warning information to the driver when the lane is changed.
  • the plurality of cameras include a first camera installed at a front end of the vehicle for photographing a front image of the vehicle, a second camera installed at the left side of the vehicle for photographing a left side image of the vehicle, A third camera for photographing the right image, and a fourth camera installed at the rear end of the vehicle for photographing the rear image of the vehicle.
  • the present invention it is possible to improve the lane recognition rate while minimizing the increase in the number of image processing times by determining whether the lane change is completed by integrating the lane change determination result using the front image and the lane change determination result using the surround view image.
  • the lane recognition rate can be improved while minimizing the increase in image processing frequency, there is no need to install a high-cost, high-performance processor.
  • FIG. 1 is a block diagram illustrating a surround view monitoring system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram illustrating the first lane change recognition module of FIG. 1.
  • FIG. 3 is a block diagram illustrating the second lane change recognition module of FIG. 1.
  • FIG. 4 is a schematic view illustrating a surround view image generated by the surround view image generating unit of FIG. 3;
  • FIG. 5 is a view for explaining a lane departure warning of the surround view monitoring system of FIG. 1.
  • FIG. 1 a surround view monitoring system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5.
  • FIG. 1
  • FIG. 1 is a block diagram illustrating a surround view monitoring system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram illustrating the first lane change recognition module of FIG. 1.
  • FIG. 3 is a block diagram illustrating the second lane change recognition module of FIG. 1.
  • FIG. 4 is a schematic view illustrating a surround view image generated by the surround view image generating unit of FIG. 3;
  • FIG. 5 is a view for explaining a lane departure warning of the surround view monitoring system of FIG. 1.
  • FIG. 2 is a block diagram illustrating the first lane change recognition module of FIG. 1.
  • FIG. 3 is a block diagram illustrating the second lane change recognition module of FIG. 1.
  • FIG. 4 is a schematic view illustrating a surround view image generated by the surround view image generating unit of FIG. 3;
  • FIG. 5 is a view for explaining a lane departure warning of the surround view monitoring system of FIG. 1.
  • FIG. 1 is a block diagram illustrating a surround view monitoring system according to an
  • a surround view monitoring system 1 may be installed in a vehicle and includes a plurality of cameras 100, a first lane change recognition module 200, A recognition module 300, a result integration module 400, and a warning display module 500.
  • the plurality of cameras 100 can be installed on the front, rear, left, and right sides of the vehicle, respectively, so as to take an image of the surroundings of the vehicle.
  • the plurality of cameras 100 are installed at the front end of the vehicle, and include a first camera 100a for photographing the front image of the vehicle, a second camera 100b installed at the left side of the vehicle for photographing the left image of the vehicle, A third camera 100c installed on the right side of the vehicle for photographing the right side image of the vehicle and a fourth camera 100d provided on the rear side of the vehicle for photographing the rear side image of the vehicle.
  • peripheral images i.e., images
  • the peripheral images may be provided to the first lane change recognition module 200 and the second lane change recognition module 300, respectively.
  • a wide angle lens may be used for the plurality of cameras 100, but the present invention is not limited thereto.
  • the first lane change recognition module 200 may determine whether to change the lane by using the front image among the peripheral images of the vehicle photographed by the plurality of cameras 100, respectively.
  • the first lane change recognition module 200 may include a front image selection unit 210, a front image processing unit 230, a front image lane recognition unit 250, and a front image lane change recognition unit 270 have.
  • the forward image selection unit 210 can select the forward image among the peripheral images of the vehicle photographed by the plurality of cameras 100. [ The forward image selection unit 210 may provide the selected forward image to the forward image processing unit 230.
  • the forward image processing unit 230 may convert the forward image selected by the forward image selecting unit 210 into an image for lane recognition.
  • the forward image processing unit 230 can receive a forward image from the forward image selection unit 210, and performs a lens distortion correction operation, a noise removal operation, a size adjustment operation, a histogram, After performing at least one of the correction operation and the edge extraction operation, the front image can be converted into the lane recognition image.
  • the histogram may be, for example, a graph showing how many pixels are distributed in the brightness by dividing the degree of exposure (i.e. brightness) of the image taken by the camera, and the exposure may be, for example, It can mean the light and darkness of the image according to the amount of light incident on the sensor.
  • the edge can also be extracted, for example, to find the point where the line segments intersect when pre-segmenting the image taken by the camera.
  • the forward image processing unit 230 can provide the converted lane recognition image to the front image lane recognition unit 250.
  • the front image lane recognizing unit 250 can detect a straight line in the image for lane recognition converted by the front image processing unit 230 and specify the position of the straight line determined as the lane of the detected straight line.
  • the front image lane recognition unit 250 performs a Hough transformation operation on the image for lane recognition, which has been converted by the front image processing unit 230, to detect a straight line, and a first lane recognition filter (That is, the actual lane). Further, the front image lane recognizing unit 250 specifies the position of the straight line determined as the lane of the detected straight line, removes the noise included in the position of the straight line specified through the first Kalman filter (not shown) And provides the front image lane change recognition unit 270 with information regarding the position of the specified straight line.
  • the forward image lane recognizing unit 250 may perform a line segment extraction operation other than the Huff Conversion operation during the straight line detection.
  • a line segment extraction operation other than the Huff Conversion operation during the straight line detection.
  • the front image lane recognizing unit 250 In order to determine whether the detected straight line corresponds to a lane (i.e., an actual lane), the front image lane recognizing unit 250 first designates a lane disappearing point, and determines a straight line detected around the designated lane disappearing point as a left straight line And the right line. Next, the front image lane recognizing section 250 can detect a straight line belonging to a predetermined angle around the left lane vanishing point in the left straight line, and detect a straight line belonging to a predetermined angle around the lane vanishing point in the right straight line. A straight line having a predetermined lane width and a small error between the two straight lines among the straight lines detected through the above process can be determined as an actual lane.
  • the actual lane distinguishing method may be performed using a first lane recognition filter.
  • the front image lane recognizing unit 250 may use a filter other than the Kalman filter to remove the noise included in the specified straight line position.
  • the Kalman filter is used to remove the noise included in the position of the specified straight line.
  • the first lane recognition filter and the first Kalman filter can be used in the front image lane recognition unit 250, for example, in the form of an algorithm.
  • the front image lane change recognition unit 270 is provided with information on the position of a straight line specified for each frame from the front image lane recognition unit 250 and can determine whether to change the lane on the basis of the provided information.
  • the front image lane change recognition unit 270 stores information on the position of the specified straight line provided from the front image lane recognition unit 250 for each frame, and determines the position of the specified straight line based on the stored information (i.e., Lane position) of the lane change can be identified.
  • the front image lane change recognition unit 270 may recognize the straight line spacing (i.e., the lane interval; the interval between each lane located on both sides of the vehicle) or the linear width (i.e., the lane width; The width of the lane in which the lane changes, and the like.
  • the forward image lane change recognition unit 270 can provide the determination result to the result integration module (400 in FIG. 1).
  • the second lane change recognition module 300 may determine whether to change lanes by using the surround view image generated based on the surrounding image of the vehicle photographed by each of the plurality of cameras .
  • the second lane change recognition module 300 includes a surround view image generation unit 310, a surround view image processing unit 330, a surround view image lane recognition unit 350, a surround view image lane change recognition unit 370, . ≪ / RTI >
  • the surround view image generating unit 310 may generate a surround view image based on the surrounding images of the vehicles photographed by the plurality of cameras 100, respectively.
  • the surround-view image generating unit 310 generates surround-view image matching information based on the surrounding images of the vehicles photographed by each of the plurality of cameras 100,
  • the surround view image can be generated by reflecting the surround view image registration information to the surrounding image.
  • the surround-view image generating unit 310 generates a surround-view image based on the front image FI, the rear image RI, and the right image RSI of the vehicle C photographed by the plurality of cameras 100, ) And a left image (LSI), thereby generating a surround view image (SVI).
  • the surround view image matching information may include, for example, information for stitching an image photographed from each of the plurality of cameras 100 based on the tolerance parameter information, May include parameter information for correcting the inter-camera tolerance due to the installation position, angle difference, etc. of each of the cameras 100.
  • the surround view image generation unit 310 may provide the generated surround view image to the surround view image processing unit 330.
  • the surround view image processing unit 330 may convert the surround view image generated by the surround view image generating unit 310 into an image for lane recognition.
  • the surround view image processing unit 330 can receive a surround view image from the surround view image generating unit 310, and performs a lens distortion correction operation, a histogram correction operation, a size adjustment operation,
  • the surround view image can be converted into the lane recognition image after performing at least one of the removal operation and the edge extraction operation.
  • the surround view image processing unit 330 may provide the converted lane recognition image to the surround view image lane recognition unit 350.
  • the surround view image lane recognition unit 350 can detect a straight line in the converted lane recognition image in the surround view image processing unit 330 and specify the position of the straight line determined as the lane of the detected straight line.
  • the surround view image lane recognition unit 350 performs a Hough transform operation on the image for lane recognition, which is converted by the surround view image processing unit 330, to detect a straight line, and outputs a second lane recognition filter (not shown) It is possible to determine whether the detected straight line corresponds to a lane (i.e., an actual lane). Further, the surround view image lane recognizing unit 350 specifies the position of the straight line determined as the lane of the detected straight line, removes the noise included in the position of the straight line specified through the second Kalman filter (not shown) It is possible to provide the surround view image lane change recognition unit 370 with information on the position of the straight line.
  • the surround view image lane recognition unit 350 may perform a line segment extraction operation other than the Huff Conversion operation during straight line detection. However, in the embodiment of the present invention, 350 performs a Huff Conversion operation upon detecting a straight line.
  • the surround view image lane recognition unit 350 first recognizes the detected straight line in the vertical direction (i.e., the direction parallel to the running direction) to determine whether the detected straight line corresponds to the lane (i.e., the actual lane)
  • a straight line extending at a near slope can be selected and a straight line having a predetermined lane width and a small error in the interval between two straight lines among the selected straight lines can be determined as an actual lane.
  • the actual lane distinguishing method may be performed using a second lane recognition filter.
  • the surround view image lane recognition unit 350 can also determine an actual lane among the detected straight lines in the same manner as the actual lane determination method of the front image lane recognition unit 250.
  • the surround view image lane recognizing unit 350 may use a filter other than the Kalman filter to remove the noise included in the specified straight line position.
  • the recognition unit 350 uses a Kalman filter to remove noise included in a specified straight line.
  • the second lane recognition filter and the second Kalman filter can be used in the surround view image lane recognition section 350, for example, in the form of an algorithm.
  • the surround view image lane change recognizing unit 370 receives information on the position of a straight line specified for each frame from the surround view image lane recognizing unit 350 and receives at least one of the lane spacing, One change can be extracted to determine whether or not the lane change has been made.
  • the surround view image lane change recognizing unit 370 stores information on the position of the specified straight line provided from the surround view image lane recognizing unit 350 for each frame, and generates a lane marking (for example, , The interval between the lanes located on both sides of the vehicle), the lane width (for example, the lateral width of the lane itself), and the lane position.
  • a lane marking for example, , The interval between the lanes located on both sides of the vehicle
  • the lane width for example, the lateral width of the lane itself
  • the surround view image lane change recognition unit 370 can provide the determination result to the result integration module (400 in FIG. 1).
  • the second lane change recognition module 300 determines the lane change through the surround view image, thereby determining the lane recognition accuracy of the first lane change recognition module 200, Can be supplemented.
  • the result integration module 400 synthesizes the information regarding the lane change discrimination (i.e., the discrimination result) discriminated by the first and second lane change recognition modules 200 and 300, Can be generated.
  • the result integration module 400 synthesizes the lane information recognized by the first lane change recognition module 200 and the error information between the lane information recognized by the second lane change recognition module 300, And the final result can be generated based on the result of the discrimination.
  • the result integration module 400 may also provide the generated final result to the warning display module 500.
  • the warning display module 500 can generate warning information based on the final result generated in the result integration module 400.
  • the warning display module 500 can generate warning information based on the final result generated in the result integration module 400, and can output warning information to the driver when the final result indicates that the lane has been changed.
  • the warning display module 500 can provide the warning information to a display device (not shown) mounted on the vehicle, and the display device can display the provided warning information.
  • warning information A is displayed on a display device mounted on a vehicle.
  • the display device displays the warning information A on the left side of the vehicle C at the same time that the vehicle C leaves the left lane L so that the driver immediately recognizes that the driver has left the left lane L .
  • the warning display module 500 may output the warning information in a voice form through a speaker (not shown) mounted on the vehicle.
  • the lane change determination result using the front image and the lane change determination result using the surround view image are combined to finally determine whether the lane change is made,
  • the lane recognition rate can be improved while minimizing the increase. Also, since the lane recognition rate can be improved without increasing the number of image processing, there is no need to install a high-cost, high-performance processor. Further, it is possible to reduce the number of cameras to be installed in the vehicle and the installation cost by determining whether or not the lane departure is possible without a lane departure warning system.

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Abstract

La présente invention concerne un système de surveillance de vue panoramique. Plus particulièrement, la présente invention concerne un système de surveillance de vue panoramique comprenant : une pluralité de caméras qui sont respectivement disposées sur les côtés avant, arrière, gauche et droit d'un véhicule et sont destinées à capturer des images périphériques pour le véhicule ; un premier module de reconnaissance de changement de voie de circulation qui est destiné à déterminer s'il existe ou non un changement de voie de circulation au moyen d'une image de la scène en avant du véhicule, parmi les images périphériques du véhicule capturées respectivement au moyen de la pluralité de caméras ; un second module de reconnaissance de changement de voie de circulation qui est destiné à déterminer s'il existe ou non un changement de voie de circulation au moyen d'une image de vue panoramique générée sur la base des images périphériques du véhicule capturées respectivement au moyen de la pluralité de caméras ; et un module de synthèse de résultat qui est destiné à synthétiser des informations indiquant s'il existe ou non un changement de voie de circulation respectivement distingué au moyen des premier et second modules de reconnaissance de changement de voie de circulation, et générant ainsi un résultat final.
PCT/KR2018/012838 2017-10-31 2018-10-26 Système de surveillance de vue panoramique Ceased WO2019088595A1 (fr)

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CN201880057393.6A CN111133439B (zh) 2017-10-31 2018-10-26 全景监视系统

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KR10-2017-0143112 2017-10-31
KR1020170143112A KR101982091B1 (ko) 2017-10-31 2017-10-31 서라운드 뷰 모니터링 시스템

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KR20220085339A (ko) * 2020-12-15 2022-06-22 현대모비스 주식회사 차량의 후측방 감지 시스템 및 방법

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