METHOD AND APPARATUS FOR DETECTING DRIVING INFORMATION OF AUTONOMOUS DRIVING SYSTEM

• US 20120166033A1
• Filed: 12/22/2011
• Published: 06/28/2012
• Est. Priority Date: 12/23/2010
• Status: Abandoned Application

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: BYUN, Jaemin, ROH, Myung Chan, SUNG, Junyong, KIM, Sung Hoon
• Application Number:
  US13/334,671
• Publication Number:
  US 20120166033A1
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driving information detection apparatus of a vehicle includes: an image photographing unit for take a photograph of an image of a driving road; a lane information detecting unit; a road environment information detecting unit; a coordinate converting unit for converting a camera coordinates system of a detection result of the lane information detecting unit and the road environment detecting unit into a world coordinates system. The apparatus further includes a driving information detecting unit for applying an one dimensional straight line modeling to a converted result of the coordinate converting unit and detecting an driving information according to a result of the modeling.

Claims

1. A driving information detection apparatus of an autonomous driving system, comprising:

an image photographing unit for take a photograph of an image of a driving road;

a lane information detecting unit for detecting lane information from the image of the image photographing unit;

a road environment information detecting unit for detecting road environment information from the image of the image photographing unit;

a coordinate converting unit for converting a camera coordinates system of a detection result of the lane information detecting unit and the road environment detecting unit into a world coordinates system; and

a driving information detecting unit for applying an one dimensional straight line modeling to a converted result of the coordinate converting unit and detecting an driving information according to a result of the modeling.

2. The apparatus of claim 1, further comprising a location detecting unit for detecting a location of the autonomous driving system and providing the driving information detecting unit with a location detection result.

3. The apparatus of claim 2, wherein the driving information detecting unit calculates a distance between a road sign and the autonomous driving system based on the location detection result provided from the location detecting unit, detects and outputs driving information according to the calculation a result of the distance and the result of the modeling.

4. The apparatus of claim 1, wherein the image photographing unit includes:

a first image photographing unit for taking a photograph of a left image of the driving road;

a second image photographing unit for taking a photograph of a right image of the driving road; and

a third image photographing unit for taking a photograph of a center image of the driving road.

5. The apparatus of claim 1, wherein the lane information includes a left lane and a right lane of the driving road.

6. The apparatus of claim 1, wherein the road environment information includes at least one of road surface information, road sign information and lane information.

7. The apparatus of claim 1, wherein the lane information detecting unit converts the image of the image photographing unit into two channels and determines a interest region for the converted two channels.

8. The apparatus of claim 7, wherein the two channels includes a gray channel and a YUV channel.

9. The apparatus of claim 8, wherein the lane information detecting unit detects an edge point of a lane shape based on an image information of the gray channel.

10. The apparatus of claim 9, wherein the lane information detecting unit performs a line fitting process based on the edge point by using a Hough transform.

11. A method for driving information of an autonomous driving system, comprising:

obtaining a left photograph and a right photograph of a driving road;

detecting left lane information and right lane information from the left photograph and the right photograph;

detecting road environment information from a center image of the driving road;

converting a camera coordinates system of the left lane information, the right lane information and a detected result of the road environment into a world coordinates system; and

applying an one dimensional straight line modeling to a converted result of the world coordinates system and detecting driving information according to a result of the modeling.

12. The method of claim 11, further comprising:

obtaining a location detection information on a map of the driving road;

calculating a distance between a road sign and the autonomous driving system based on the obtained location detection information; and

detecting the driving information based on the result of the modeling and the calculated distance.

13. The method of claim 11, wherein the detecting the left lane information and the right lane information includes

converting an inputted image information into two channels;

determining an interest region for the converted two channels;

extracting an edge point of an lane shape by detecting an edge based an image information of one channel of the two channels; and

performing an line fitting process based on the edge point.

14. The method of claim 13, wherein the two channels includes a gray channel and a YUV channel.

15. The method of claim 14, wherein the one channel is the gray channel.

16. The method of claim 13, wherein the converting the inputted image is for detecting a color and a shape of a road surface information.

17. The method of claim 13, wherein the determining the interest region includes removing a noise.

18. The method of claim 13, wherein performing the line fitting process uses a Hough transform.

19. The method of claim 11, wherein the road environment information includes at least one of road surface information, road sign information and lane information.

20. The method of claim 11, further comprising updating the detected driving information through a probability method.