METHOD AND SYSTEM FOR RECOGNIZING SPACE OF SHOULDER OF ROAD
First Claim
1. A method of recognizing a space of a road shoulder using a distance measuring module, a radar, and an imaging device disposed on a vehicle, the method comprising:
- controlling, by a controller, the radar to transmit a radar beam within a preset range based on the vehicle location;
detecting, by the controller, a fixed object located within the preset range using a reflective wave of the radar beam received by the radar;
calculating, by the controller, a distance between the fixed object and the vehicle using the radar when the fixed object is located within the preset range;
detecting, by the controller, a solid line lane marking in a front image of a travel lane obtained from the imaging device; and
recognizing, by the controller, the calculated distance between the fixed object and the vehicle as a space width of the road shoulder when the solid line lane marking is in the front image of the travel lane.
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Accused Products
Abstract
Disclosed herein are a method and a system for recognizing a space of a road shoulder using an ultrasonic wave sensor, a radar and an imaging device. The method includes: controlling the radar to transmit a radar beam within a preset range based on the vehicle location; detecting a fixed object located within the preset range using a reflective wave of the radar beam received by the radar; calculating a distance between the fixed object and the vehicle using the radar when the fixed object is located within the preset range; detecting a solid line lane marking in a front image of a travel lane obtained from the imaging device; and recognizing the calculated distance between the fixed object and the vehicle as a space width of the road shoulder when the solid line lane is in the front image of the travel lane.
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Citations
18 Claims
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1. A method of recognizing a space of a road shoulder using a distance measuring module, a radar, and an imaging device disposed on a vehicle, the method comprising:
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controlling, by a controller, the radar to transmit a radar beam within a preset range based on the vehicle location; detecting, by the controller, a fixed object located within the preset range using a reflective wave of the radar beam received by the radar; calculating, by the controller, a distance between the fixed object and the vehicle using the radar when the fixed object is located within the preset range; detecting, by the controller, a solid line lane marking in a front image of a travel lane obtained from the imaging device; and recognizing, by the controller, the calculated distance between the fixed object and the vehicle as a space width of the road shoulder when the solid line lane marking is in the front image of the travel lane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for recognizing a space of a road shoulder, the system comprising:
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a radar disposed on a vehicle configured to transceive a signal; an ultrasonic sensor disposed on the vehicle configured to transceive the signal; an imaging device disposed on the vehicle configured to photograph a surface image of the road; and a controller configured to; control the radar to transmit a radar beam within a preset range based on the vehicle location; detect a fixed object located within the preset range using a reflective wave of the radar beam received by the radar; calculate a distance between the fixed object and the vehicle using the radar and the ultrasonic sensor when the fixed object is located within the preset range; detect a solid line lane marking in a front image of a travel lane obtained from the imaging device; and recognize the calculated distance between the fixed object and the vehicle as a space width of the road shoulder when the solid line lane marking is in the front image of the travel lane. - View Dependent Claims (10, 11, 12, 13)
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14. A non-transitory computer readable medium containing program instructions executed by a processor or controller, the computer readable medium comprising:
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program instructions that control a radar to transceive a signal; program instructions that control an ultrasonic sensor to transceive the signal; program instructions that control an imaging device to photograph a surface image of the road; program instructions that control the radar to transmit a radar beam within a preset range based on the vehicle location; program instructions that detect a fixed object located within the preset range using a reflective wave of the radar beam received by the radar; program instructions that calculate a distance between the fixed object and the vehicle using the radar and the ultrasonic sensor when the fixed object is located within the preset range; program instructions that detect a solid line lane marking in a front image of a travel lane obtained from the imaging device; and program instructions that recognize the calculated distance between the fixed object and the vehicle as a space width of the road shoulder when the solid line lane marking is in the front image of the travel lane. - View Dependent Claims (15, 16, 17, 18)
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Specification