DEVICE AND METHOD FOR DETECTING A CURBSTONE IN AN ENVIRONMENT OF A VEHICLE AND SYSTEM FOR CURBSTONE CONTROL FOR A VEHICLE

• US 20170220878A1
• Filed: 01/13/2017
• Published: 08/03/2017
• Est. Priority Date: 01/28/2016
• Status: Active Application

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Lakatos, Peter, Pozsegovics, Peter
• Granted Patent: US 10,275,665 B2
• Time in Patent Office: Days
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 10/44 Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
• 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 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

A method for detecting a curbstone in an environment of a vehicle. The method includes recognizing at least one line segment that belongs to the curbstone with the aid of image data that are read in by an interface to a camera device of the vehicle. The line segment is projected onto a ground plane of the environment in order to generate a projected line segment. A subset of a plurality of three-dimensionally triangulated points in the environment of the vehicle is assigned to the line segment as a function of a position of the points relative to a position of the camera device, relative to a starting point of the projected line segment, and relative to an end point of the projected line segment. A flank plane of the curbstone is ascertained with the aid of the assigned points.

Claims

1. A method for detecting a curbstone in an environment of a vehicle, the method comprising:

detecting at least one line segment belonging to the curbstone with the aid of image data that are read in by an interface to at least one camera device of the vehicle, the image data representing the environment of the vehicle;

projecting the at least one line segment onto a ground plane of the environment in order to generate a projected line segment;

assigning at least one subset of a plurality of three-dimensionally triangulated points in the environment of the vehicle to the at least one line segment as a function of a position of the points relative to a position of the camera device, relative to a starting point of the projected line segment, and relative to an end point of the projected line segment, the three-dimensionally triangulated points corresponding to object points in the environment of the vehicle; and

ascertaining a flank plane of the curbstone with the aid of the assigned points.

2. The method as recited in claim 1, wherein the assigning step includes checking whether the three-dimensionally triangulated points are maximally situated at a predefined distance from a separation plane, the separation plane being defined by the position of the camera device, the starting point of the projected line segment and the end point of the projected line segment.

3. The method as recited in claim 1, wherein the assigning step includes checking whether the three-dimensionally triangulated points when projected into a projection plane that is defined by the position of the camera device, the starting point of the projected line segment, and the end point of the projected line segment, are situated within a triangle that is defined by the position of the camera device, the starting point of the projected line segment, and the end point of the projected line segment.

4. The method as recited in claim 1, wherein the ascertaining step includes ascertaining the flank plane as a function of whether the assigned points are situated at a predefined distance interval from the ground plane of the environment.

5. The method as recited in claim 1, wherein the ascertaining step ascertaining the flank plane as a function of whether a predefined minimum number of points was assigned in the assigning step.

6. The method as recited in claim 1, wherein the ascertaining step includes ascertaining the flank plane of the curbstone with the aid of a calculated center point of mass of the assigned points.

7. The method as recited in claim 1, wherein a first coordinate system is used in the detecting step, and a second coordinate system is used in at least one of the projecting step, the assigning step, and the ascertaining step, the first coordinate system having image coordinates and the second coordinate system having world coordinates.

8. The method as recited in claim 1, further comprising:

calculating a distance between the vehicle and the flank plane of the curbstone ascertained in the ascertaining step.

9. The method as recited in claim 8, further comprising:

providing a warning signal if the distance calculated in the calculating step lies below a predefined safety distance.

10. The method as recited in claim 1, further comprising:

tracking at least one of the at least one line segment, the assigned points, and the flank plane, the tracking being at least one of tracking over the time and in response to a movement of the vehicle.

11. The method as recited in claim 1, further comprising:

ascertaining the plurality of three-dimensionally triangulated points in the environment of the vehicle, the three-dimensionally triangulated points corresponding to object points in the environment of the vehicle.

12. A device designed to detect a curbstone in an environment of a vehicle, the device designed to:

detect at least one line segment belonging to the curbstone with the aid of image data that are read in by an interface to at least one camera device of the vehicle, the image data representing the environment of the vehicle;

project the at least one line segment onto a ground plane of the environment in order to generate a projected line segment;

assign at least one subset of a plurality of three-dimensionally triangulated points in the environment of the vehicle to the at least one line segment as a function of a position of the points relative to a position of the camera device, relative to a starting point of the projected line segment, and relative to an end point of the projected line segment, the three-dimensionally triangulated points corresponding to object points in the environment of the vehicle; and

ascertain a flank plane of the curbstone with the aid of the assigned points.

13. A system for curbstone control for a vehicle, the system comprising:

at least one camera device to for provide image data of an environment of the vehicle; and

a device able to be connected or is connected to the at least one camera device in a manner that allows a data transmission, the device designed to detect a curbstone in the environment of a vehicle, the device designed to detect at least one line segment belonging to the curbstone with the aid of the image data from the at least one camera device of the vehicle, the image data representing the environment of the vehicle, the device designed to project the at least one line segment onto a ground plane of the environment in order to generate a projected line segment, the device further designed to assign at least one subset of a plurality of three-dimensionally triangulated points in the environment of the vehicle to the at least one line segment as a function of a position of the points relative to a position of the camera device, relative to a starting point of the projected line segment, and relative to an end point of the projected line segment, the three-dimensionally triangulated points corresponding to object points in the environment of the vehicle, and the device designed to ascertain a flank plane of the curbstone with the aid of the assigned points.

14. A non-transitory machine-readable storage medium on is stored a computer program for detecting a curbstone in an environment of a vehicle, the computer program, when executed by a processor, causing the processor to perform:

detecting at least one line segment belonging to the curbstone with the aid of image data that are read in by an interface to at least one camera device of the vehicle, the image data representing the environment of the vehicle;

projecting the at least one line segment onto a ground plane of the environment in order to generate a projected line segment;

assigning at least one subset of a plurality of three-dimensionally triangulated points in the environment of the vehicle to the at least one line segment as a function of a position of the points relative to a position of the camera device, relative to a starting point of the projected line segment, and relative to an end point of the projected line segment, the three-dimensionally triangulated points corresponding to object points in the environment of the vehicle; and

ascertaining a flank plane of the curbstone with the aid of the assigned points.