Apparatus and method for recognizing current position of vehicle using internal network of the vehicle and image sensor

• US 9,208,389 B2
• Filed: 08/27/2012
• Issued: 12/08/2015
• Est. Priority Date: 12/22/2011
• Status: Active Grant

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: Sung, Kyung-Bok, An, Kyoung-Hwan, Kwak, Dong-Yong
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Testardi, David
• Application Number:
  US13/595,637
• Publication Number:
  US 20130162824A1
• Time in Patent Office: 1,198 Days
• Field of Search: 701/523
• US Class Current: 1/1
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• 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

Abstract

An apparatus and method for recognizing a current position of a vehicle are disclosed. The apparatus receive information about an initial position of a vehicle from an external input, and receive an image signal from an image sensor to take a picture of an identifiable object and extract image signal information corresponding to the identifiable object from the image signal, and connect to an internal network of the vehicle of the vehicle and receive information about a traveling state of the vehicle, and calculate the current position of the vehicle based on the information obtained.

Claims

1. An apparatus for recognizing a current position of a vehicle, comprising at least one processor and storage device configured to implement:

an initial position-receiving unit configured to receive information about an initial position of the vehicle from an external input;

an image data processing unit configured to receive an image signal from an image sensor that is equipped to the vehicle to take a picture of an identifiable object which is stationary near the vehicle, and extract image signal information corresponding to the identifiable object from the image signal;

a database unit including geographic information and information about the identifiable object corresponding to the current position of the vehicle;

an internal network of the vehicle connection unit configured to connect to an internal network of the vehicle, and receive information about a traveling state of the vehicle; and

a position calculation unit configured to calculate the current position of the vehicle based on the information received from the initial position-receiving unit, the image data processing unit, the database unit and the internal network of the vehicle connection unit;

wherein the position calculation unit includes

a map-matching section configured to perform map matching on the image signal information about the identifiable object, which is extracted from the image data processing unit, and the information about the identifiable object corresponding to the information about the current position of the vehicle received from the database unit, and correct the information about the current position of the vehicle; and

a calculation section configured to calculate the current position of the vehicle using the corrected information about the current position of the vehicle and the information about the traveling state of the vehicle.

2. The apparatus for recognizing the current position of the vehicle of claim 1, wherein the position calculation unit further includes:

a positioning-recording section configured to record the information about the current position of the vehicle in real time.

3. The apparatus for recognizing the current position of the vehicle of claim 2, wherein when the information about the initial position of the vehicle is input from the initial position-receiving unit, the positioning-recording section recognizes the information about the initial position as information about the current position of the vehicle.

4. The apparatus for recognizing the current position of the vehicle of claim 3, wherein when there is no result from the map matching performed by the map-matching section, the current position of the vehicle is calculated using the position information recorded in the positioning-recording section prior to the correction and the information about the traveling state of the vehicle received via the internal network of the vehicle connection unit.

5. The apparatus for recognizing the current position of the vehicle of claim 2, wherein when the apparatus restarts after a shutdown, the positioning-recording section recognizes information about a final position of the vehicle which is stored in the position-recording unit at the shutdown of the apparatus as the information about the current position of the vehicle.

6. The apparatus for recognizing the current position of the vehicle of claim 1, wherein the initial position-receiving unit receives the information about the initial position of the vehicle through direction input of a driver or an input from a sensor equipped to the vehicle or an external network system.

7. The apparatus for recognizing the current position of the vehicle of claim 1, wherein the image data processing unit analyzes data corresponding to the road among the image signal received from the image sensor, and extracts the information about the identifiable object displayed on the road on which the vehicle is traveling.

8. The apparatus for recognizing the current position of the vehicle of claim 7, wherein the information about the identifiable object displayed on the road on which the vehicle is traveling includes general road information about a road shape and a road curve, and location information for all road markings of a stop line, a crosswalk, an arrow for indicating the direction, and information letters.

9. The apparatus for recognizing the current position of the vehicle of claim 1, wherein the internal network of the vehicle connection unit receives detection information about a traveling state of the vehicle, which is detected by a sensor equipped to the vehicle, via an internal network of the vehicle.

10. A method for recognizing a current position of a vehicle, comprising:

receiving information about an initial position of the vehicle from an external input;

taking a picture with an image sensor equipped to the vehicle of an identifiable object displayed on a road on which the vehicle is traveling, and generating an image signal;

receiving geographic information and information about the identifiable object displayed on the road in the geographic information from a database, analyzing data corresponding to the road among the image signal and the information about the identifiable object displayed on the road, extracting the information about the identifiable object, and performing map matching on the image signal information about the identifiable object and the information about the identifiable object corresponding to the current position of the vehicle;

correcting the information about the current position of the vehicle using a result obtained from the map matching;

connecting to an internal network of the vehicle and collecting information about a traveling state of the vehicle from the internal network of the vehicle; and

calculating the current position of the vehicle using the corrected information about the position of the vehicle and the information about the traveling state of the vehicle.

11. The method for recognizing the current position of the vehicle of claim 10, wherein the collecting of the information about the traveling state of the vehicle is performed based on the information detected by at least one of a handle angle sensor, a wheel speed sensor, and a radar sensor which are equipped to the vehicle.

12. The method for recognizing the current position of the vehicle of claim 10, wherein when there is no result from the map matching performed at the map matching, calculating the current position of the vehicle calculates the current position of the vehicle using the information about the current position of the vehicle and the information about the traveling state of the vehicle.