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    • 47. 发明申请
    • Lane marker detection and fitting
    • 车道标记检测和装配
    • US20080109118A1
    • 2008-05-08
    • US11592824
    • 2006-11-03
    • David A. SchwartzJan K. SchiffmannLisa R. Hamilton
    • David A. SchwartzJan K. SchiffmannLisa R. Hamilton
    • G06F17/00
    • G06K9/4609G06K9/00798
    • A method of lane marker detection and lane fitting is provided for lane tracking. A lane marker is modeled and split into left and right steps. A filter response is calculated from a cumulative row sum, and normalized for filter pixel size, lane marker brightness and road brightness. A lane marker response is peak detected for positive and negative peaks and checked for having a magnitude above a threshold and being a local peak in a five point neighborhood. A Hough transform is extended to multiple planes to use lane marker features to determine a best line. Lane marker features include a mean and variance of lane marker brightness, lane marker width, lane marker parallelism to a host vehicle direction of travel, and consistence with a predicted lane marker characteristic. A closest lane marker line to a host vehicle is identified, and refitted to account for any curvature.
    • 提供车道跟踪检测方法和车道配合。 车道标记被建模并分为左右步骤。 从累积行和计算滤波器响应,并对滤波器像素大小,车道标记亮度和道路亮度进行归一化。 车道标记响应是正峰值和负峰值的峰值,并且检查幅度高于阈值,并且是五点邻域中的局部峰值。 霍夫变换扩展到多个平面以使用车道标记功能来确定最佳线。 车道标记特征包括道路标记亮度的平均值和方差,车道标记宽度,与主车辆行驶方向的车道标记平行度,以及预测车道标记特征的一致性。 识别到主车辆的最近的车道标记线,并且重新设计以考虑任何曲率。