Method and device for recognizing traffic signs for a vehicle
First Claim
1. A method for recognizing traffic signs by a sensor system for recording the surrounding environment for a vehicle, which comprises a processor in the vehicle, at least one camera sensor in the vehicle and one radar sensor or LiDAR sensor in the vehicle, the method comprising:
- detecting, by the at least one radar sensor or LiDAR sensor, at least one of the following;
a) the presence of a traffic sign,b) the size of a traffic sign,c) position of a traffic sign,d) distance and/or orientation of a traffic sign,e) bridge-like structure,f) position or type of the vehicle ahead,g) position of lane delimiting structures;
allocating, by the processor, a probability to the presence of a traffic sign detected by the at least one radar sensor or LiDAR sensor, the probability being determined by correlating at least one of a)-g) with roadway location information provided by a navigation system;
capturing, by the at least one camera sensor, an image of the traffic sign;
determining, by the processor, plausibility of the traffic sign captured in the image being relevant to a roadway that the vehicle is traveling on based on the allocated probability of the information detected by the at least one radar sensor or LiDAR sensor;
determining a roadway to which the traffic sign belongs;
using, by the processor, the traffic sign when controlling the vehicle, when the processor determines that the roadway that the vehicle is traveling is the same as the roadway to which the traffic sign belongs; and
disregarding, by the processor, the traffic sign when controlling the vehicle, when the processor determines that the roadway that the vehicle is traveling is different from the roadway to which the traffic sign belongs.
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Accused Products
Abstract
The invention provides a method and a device for recognizing traffic signs by a sensor system for recording the surrounding environment for a vehicle, which includes at least one camera sensor and one radar sensor or LiDAR sensor. Based on the data of the at least one radar sensor or LiDAR sensor, at least one element of the presence of a traffic sign, or the size of a traffic sign, position of a traffic sign, distance and/or orientation of a traffic sign, bridge-like structure, position and/or type of the vehicle ahead, position of lane delimiting structures is obtained and used for traffic sign recognition.
14 Citations
11 Claims
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1. A method for recognizing traffic signs by a sensor system for recording the surrounding environment for a vehicle, which comprises a processor in the vehicle, at least one camera sensor in the vehicle and one radar sensor or LiDAR sensor in the vehicle, the method comprising:
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detecting, by the at least one radar sensor or LiDAR sensor, at least one of the following; a) the presence of a traffic sign, b) the size of a traffic sign, c) position of a traffic sign, d) distance and/or orientation of a traffic sign, e) bridge-like structure, f) position or type of the vehicle ahead, g) position of lane delimiting structures; allocating, by the processor, a probability to the presence of a traffic sign detected by the at least one radar sensor or LiDAR sensor, the probability being determined by correlating at least one of a)-g) with roadway location information provided by a navigation system; capturing, by the at least one camera sensor, an image of the traffic sign; determining, by the processor, plausibility of the traffic sign captured in the image being relevant to a roadway that the vehicle is traveling on based on the allocated probability of the information detected by the at least one radar sensor or LiDAR sensor; determining a roadway to which the traffic sign belongs; using, by the processor, the traffic sign when controlling the vehicle, when the processor determines that the roadway that the vehicle is traveling is the same as the roadway to which the traffic sign belongs; and disregarding, by the processor, the traffic sign when controlling the vehicle, when the processor determines that the roadway that the vehicle is traveling is different from the roadway to which the traffic sign belongs. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A device for a vehicle for recognizing traffic signs, comprising:
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a radar or LiDAR sensor system; a camera sensor system; and a processor, wherein the radar sensor or LiDAR sensor is configured to detect at least one of the following; a) the presence of a traffic sign, b) the size of a traffic sign, c) position of a traffic sign, d) distance and/or orientation of a traffic sign, e) bridge-like structure, f) position or type of the vehicle ahead, g) position of lane delimiting structures, wherein the camera sensor is configured to capture an image of the traffic sign, and wherein the processor is configured to; allocate a probability to the presence of a traffic sign detected by the radar sensor or LiDAR sensor, the probability being determined by correlating at least one of a)-g) with roadway location information provided by a navigation system, and determine a plausibility of the traffic sign captured in the image being relevant to a roadway that the vehicle is traveling on based on the allocated probability of the information detected by the radar sensor or LiDAR sensor; determine a roadway to which the traffic sign belongs; use the traffic sign when controlling the vehicle, when the processor determines that the roadway that the vehicle is traveling is the same as the roadway to which the traffic sign belongs; and disregard the traffic sign when controlling the vehicle, when the processor determines that the roadway that the vehicle is traveling is different from the roadway to which the traffic sign belongs.
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Specification