본 발명은 전방 차량의 후방 램프를 기준으로 전전방 차량의 후방 램프를 검출할 수 있는 전방 차량 또는 전전방 차량을 인식하는 방법으로써, 차량의 후방 램프를 강건하게 검출하고 인식함으로써 교통 혼잡 시에도 후방 차량에 다양한 전방 교통 정보를 제공할 수 있는 전방 또는 전전방 차량을 인식하는 방법을 제공한다. 본 발명의 일실시예에 따른 전방 차량을 인식하는 방법은 자차량이 영상 센서 또는 거리 센서를 이용하여 전방 차량의 영상을 획득하는 단계, 획득된 상기 전방 차량의 영상에서 후방 램프의 후보를 추출하기 위하여 블럽 추출(Blob extraction)을 실시하는 단계, 추출된 상기 후방 램프 후보를 분석하는 단계, 분석된 상기 후방 램프 후보 중에서 ROI를 추출하는 단계, 추출된 ROI 중에서 상기 후방 램프 후보 간에 대칭성 분석을 하는 단계, 상기 대칭성이 분석된 상기 후방 램프 후보 중에서 상기 전방 차량의 상기 후방 램프를 검출하는 단계 및 검출된 상기 후방 램프를 기준으로 하여 상기 전방 차량을 추적하는 단계를 포함한다.
The present invention relates to a method to recognize a front vehicle or a vehicle in front of the front vehicle, capable of providing a variety of front traffic information to a rear vehicle even in traffic congestion by firmly detecting and recognizing a rear lamp of a vehicle, as a method to recognize a front vehicle or a vehicle in front of the front vehicle, capable of detecting a rear lamp of the vehicle in front of the front vehicle with respect to a rear lamp of the front vehicle. According to an embodiment of the present invention, the method includes: a step of allowing a vehicle to obtain an image of a front vehicle by using an image sensor or a distance sensor; a step of performing blob extraction to extract candidates for a rear lamp from the obtained image of the front vehicle; a step of analyzing the extracted candidates for the rear lamp; a step of extracting ROI from the analyzed candidates; a step of analyzing symmetry between the candidates in the extracted ROI; a step of detecting the rear lamp of the front vehicle from the candidates of which symmetry is analyzed; and a step of tracking the front vehicle based on the detected rear lamp.
Method for recognizing front vehicle or vehicle in front of front vehicle
전방 또는 전전방 차량을 인식하는 방법
2021-06-09
Patent
Electronic Resource
Korean
IPC: | G06K Erkennen von Daten , RECOGNITION OF DATA / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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