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    Method To Determine Distance Of An Object From An Automated Vehicle With A Monocular Device
    1.
    发明申请
    Method To Determine Distance Of An Object From An Automated Vehicle With A Monocular Device 有权
    用于确定来自具有单眼装置的自动车辆的物体的距离的方法

    公开(公告)号：US20160180531A1

    公开(公告)日：2016-06-23

    申请号：US14953848

    申请日：2015-11-30

    Applicant: Delphi Technologies, Inc.

    Inventor： Stephanie Lessmann ,  Mirko Meuter ,  Dennis Mueller

    IPC: G06T7/00 ,  B60R1/00 ,  G06K9/00 ,  G06T7/20 ,  H04N5/225

    CPC classification number: B60R1/00 ,  B60R2300/8033 ,  B60R2300/804 ,  G06K9/00805 ,  G06K9/3241 ,  G06K9/6278 ,  G06T7/246 ,  G06T7/73 ,  H04N5/225

    Abstract: A method of determining the distance of an object from an automated vehicle based on images taken by a monocular image acquiring device. The object is recognized with an object-class by means of an image processing system. Respective position data are determined from the images using a pinhole camera model based on the object-class. Position data indicating in world coordinates the position of a reference point of the object with respect to the plane of the road is used with a scaling factor of the pinhole camera model estimated by means of a Bayes estimator using the position data as observations and under the assumption that the reference point of the object is located on the plane of the road with a predefined probability. The distance of the object from the automated vehicle is calculated from the estimated scaling factor using the pinhole camera model.

    Abstract translation: 根据单眼图像获取装置拍摄的图像确定物体与自动车辆的距离的方法。 通过图像处理系统用对象类识别对象。 使用基于对象类的针孔相机模型从图像确定相应的位置数据。 使用以世界坐标表示对象相对于道路平面的参考点的位置的位置数据，其中使用通过使用位置数据作为观测值的Bayes估计器估计的针孔相机模型的缩放因子，并且在 假设对象的参考点以预定的概率位于道路的平面上。 使用针孔照相机模型，根据估计的比例因子计算物体与自动车辆的距离。

    Method for lane detection
    2.
    发明授权
    Method for lane detection 有权

    公开(公告)号：US10115026B2

    公开(公告)日：2018-10-30

    申请号：US15303385

    申请日：2015-03-27

    Applicant: DELPHI TECHNOLOGIES, INC.

    Inventor： Mirko Mueter ,  Kun Zhao ,  Lech J. Szumilas ,  Dennis Mueller ,  Christian Nunn

    IPC: G06K9/00 ,  G06T7/20 ,  H04N7/18

    Abstract: A method for lane detection for a camera-based driver assistance system includes the following steps: image regions in images that are recorded by a camera are identified as detected lane markings if the image regions meet a specified detection criterion. At least two detected lane markings are subjected to a tracking process as lane markings to be tracked. By means of a recursive state estimator, separate progressions are estimated for at least two of the lane markings to be tracked. Furthermore, for each of a plurality of the detected lane markings, a particular offset value is determined, which indicates a transverse offset of the detected lane marking in relation to a reference axis. By means of an additional estimation method, the determined offset values are each associated with one of the separate progressions of the lane markings to be tracked.

    Method for the detection and tracking of lane markings
    5.
    发明授权
    Method for the detection and tracking of lane markings 有权
    检测和跟踪车道标记的方法

    公开(公告)号：US09047518B2

    公开(公告)日：2015-06-02

    申请号：US13650182

    申请日：2012-10-12

    Applicant: DELPHI TECHNOLOGIES, INC.

    Inventor： Christian Nunn ,  Mirko Meuter ,  Dennis Mueller ,  Steffen Goermer

    IPC: G06K9/00 ,  G06K9/32

    CPC classification number: G06K9/00798 ,  G06K2009/3291

    Abstract: In a method for the detection and tracking of lane markings from a motor vehicle, an image of a space located in front of the vehicle is captured by means of an image capture device at regular intervals. The picture elements that meet a predetermined detection criterion are identified as detected lane markings in the captured image. At least one detected lane marking as a lane marking to be tracked is subjected to a tracking process. At least one test zone is defined for each detected lane marking. With the aid of intensity values of the picture elements associated with the test zone, at least one parameter is determined. The detected lane marking is assigned to one of several lane marking categories, depending on the parameter.

    Abstract translation: 在用于检测和跟踪来自机动车辆的车道标记的方法中，通过图像捕获装置以规则的间隔捕获位于车辆前方的空间的图像。 符合预定检测标准的图像元素被识别为所捕获图像中检测到的车道标记。 至少一个检测到的车道标记作为要跟踪的车道标记被进行跟踪处理。 为每个检测到的车道标记定义至少一个测试区域。 借助于与测试区域相关联的图像元素的强度值，确定至少一个参数。 根据参数，检测到的车道标记被分配到几个车道标记类别之一。

    METHOD FOR LANE DETECTION
    7.
    发明申请
    METHOD FOR LANE DETECTION 审中-公开
    路线检测方法

    公开(公告)号：US20170068862A1

    公开(公告)日：2017-03-09

    申请号：US15303385

    申请日：2015-03-27

    Applicant: DELPHI TECHNOLOGIES, INC.

    Inventor： Mirko Mueter ,  Kun Zhao ,  Lech J. Szumilas ,  Dennis Mueller ,  Christian Nunn

    IPC: G06K9/00 ,  G06T7/20 ,  H04N7/18

    CPC classification number: G06K9/00798 ,  G06T7/277 ,  H04N7/181

    Abstract: A method for lane detection for a camera-based driver assistance system includes the following steps: image regions in images that are recorded by a camera are identified as detected lane markings if the image regions meet a specified detection criterion. At least two detected lane markings are subjected to a tracking process as lane markings to be tracked. By means of a recursive state estimator, separate progressions are estimated for at least two of the lane markings to be tracked. Furthermore, for each of a plurality of the detected lane markings, a particular offset value is determined, which indicates a transverse offset of the detected lane marking in relation to a reference axis. By means of an additional estimation method, the determined offset values are each associated with one of the separate progressions of the lane markings to be tracked.

    Abstract translation: 用于基于照相机的驾驶员辅助系统的车道检测方法包括以下步骤：如果图像区域满足指定的检测标准，则由相机记录的图像中的图像区域被识别为检测到的车道标记。 将至少两个检测到的车道标记作为要跟踪的车道标记进行跟踪处理。 通过递归状态估计器，对要跟踪的至少两条车道标记估计单独的进度。 此外，对于多个检测到的车道标记中的每一个，确定特定偏移值，其指示检测到的车道标记相对于参考轴线的横向偏移。 通过附加估计方法，所确定的偏移值各自与要跟踪的车道标记的单独进度之一相关联。

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