A method for detecting a narrow road includes calculating relative heights of points from a distance measuring sensor to a ground based on distance information. A left boundary point and a right boundary point, at which a difference in relative heights from adjacent points becomes maximal, are acquired. A road boundary line of a driving road is acquired based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle when a difference in relative heights at the left boundary point and the right boundary point is more than or equal to a reference value. A road width of the driving road is calculated based on the road boundary line. It is detected whether the driving road of the vehicle is a narrow road based on the road width.
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0. 21. A method for detecting road boundaries, comprising:
receiving, from a distance measuring sensor, distance information of points on a ground line at which a vertical surface in a driving direction of a vehicle meets a ground;
calculating a relative height of the points from the distance measuring sensor to the ground based on the distance information;
acquiring a left boundary point and a right boundary point at which a difference in relative heights from adjacent points among the points becomes maximal; and
acquiring a road boundary line of a driving road of the vehicle based on the left boundary point and the right boundary point depending on a movement trajectory of the, vehicle when a difference in relative heights at the left boundary point and the right boundary point is more than or equal to a reference value,
wherein the left boundary point and the right boundary point are points that divides the driving road from a region out of the driving road,
wherein the reference value is a reference determining whether the driving road protrudes, and
wherein the acquiring of the road boundary line includes:
transforming coordinates of the left boundary point and the right boundary point in a local coordinate system into coordinates in a global coordinate system based on the position of the vehicle depending on the movement trajectory of the vehicle; and
generating the road boundary line by connecting the coordinates of the left boundary point and connecting the coordinates of the right boundary point in the global coordinate system.
0. 28. An apparatus for detecting a narrow road, comprising:
a processor; and
a memory in which at least one instruction to be executed by the processor is stored,
wherein, when the at least one instruction is executed by the processor, the processor is configured to:
calculate relative heights of points from a distance measuring sensor to a ground based on distance information of the points on a ground line at which a vertical surface in a driving direction of a vehicle received from the distance measuring sensor meets the ground;
acquire a left boundary point and a right boundary point at which a difference in relative heights from adjacent points among the points is maximal and determine whether the difference in the relative heights at the left boundary point and the right boundary point is more than or equal to a reference value; and
acquire a road boundary line of a driving road of the vehicle based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle,
wherein the left boundary point and the right boundary point are points that divide the driving road from a region out of the driving road, and
wherein the reference value is a reference determining whether the driving road protrudes, and
wherein the processor is configured to transform coordinates of the left boundary point and the right boundary point in a local coordinate system into coordinates in a global coordinate system based on the position of the vehicle depending on the movement trajectory of the vehicle and generate the road boundary line in the global coordinate system.
1. A method for detecting a narrow road, comprising:
receiving, from a distance measuring sensor, distance information of points on a ground line at which a vertical surface in a driving direction of vehicle meets a ground;
calculating a relative height of the points from the distance measuring sensor to the ground based on the distance information;
acquiring a plurality of left boundary point points and a plurality of right boundary point points at which a difference in relative heights from adjacent points among the points becomes maximal;
acquiring a road boundary line lines of a driving road of the vehicle based on the left boundary point points and the right boundary point points depending on a movement trajectory of the vehicle when a difference in relative heights at one of the left boundary point points and one of the right boundary point points is more than or equal to a reference value;
calculating a road width of the driving road based on the acquired road boundary line lines of the driving road; and
determining that the driving road of the vehicle is a narrow road when the road width of the driving road is less than or equal to a reference road width,
wherein the acquiring of the road boundary lines includes:
transforming coordinates of the left boundary points and the right boundary points in a local coordinate system into coordinates in a global coordinate system based on the position of the vehicle depending on the movement trajectory of the vehicle; and
generating the road boundary lines by connecting the coordinates of the left boundary points and connecting the coordinates of the right boundary points in the global coordinate system.
0. 27. A non-transitory computer readable recording medium, comprising computer executable instructions which, when executed by a processor, cause the processor to perform a method comprising:
receiving, from a distance measuring sensor, distance information of points on a ground line at which a vertical surface in a driving direction of a vehicle meets a ground;
calculating a relative height of the points from the distance measuring sensor to the ground based on the distance information;
acquiring a left boundary point and a right boundary point at which a difference in relative heights from adjacent points among the points becomes maximal; and
acquiring a road boundary line of a driving road of the vehicle based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle when a difference in relative heights at the left boundary point and the right boundary point is more than or equal to a reference value,
wherein the left boundary point and the right boundary point are points that divides the driving road from a region out of the driving road, and
wherein the reference value is a reference determining whether the driving road protrudes,
wherein the acquiring of the road boundary line includes:
transforming coordinates of the left boundary point and the right boundary point in a local coordinate system into coordinates in a global coordinate system based on the position of the vehicle depending on the movement trajectory of the vehicle; and
generating the road boundary line by connecting the coordinates of the left boundary point and connecting the coordinates of the right boundary point in the global coordinate system.
10. An apparatus for detecting a narrow road, comprising:
a processor; and
a memory in which at least one instruction to be executed by the processor is stored,
wherein, when the at least one instruction is executed by the processor, the processor is configured to:
a relative height calculation unit configured to calculate relative heights of points from a distance measuring sensor to a ground based on distance information of the points on a ground line at which a vertical surface in a driving direction of a vehicle received from the distance measuring sensor meets the ground;
a protruding determination unit configured to acquire a left boundary point and a right boundary point at which a difference in relative heights from adjacent points among the points is maximal and determine whether the difference in the relative heights at the left boundary point and the right boundary point is more than or equal to a reference value;
a road boundary line acquisition unit configured to acquire a road boundary line of a driving road of the vehicle based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle;
a road width calculation unit configured to calculate a road width of the driving road based on the acquired road boundary line of the driving road; and
a narrow road detection unit configured to determine whether the road width of the driving road is less than or equal to a reference road width and detect that the driving road of the vehicle is a narrow road when the road width of the driving road is less than or equal to the reference road width,
wherein the processor is further configured to transform coordinates of the left boundary point and the right boundary point in a local coordinate system into coordinates in a global coordinate system based on the position of the vehicle depending on the movement trajectory of the vehicle and generate the road boundary line in the global coordinate system.
2. The method of
receiving a moving speed of the vehicle and steering information of the vehicle; and
calculating the movement trajectory of the vehicle based on the moving speed of the vehicle and the steering information of the vehicle.
3. The method of
acquiring a position and a heading angle of the vehicle over time, based on the moving speed of the vehicle and the steering information of the vehicle; and
calculating the movement trajectory of the vehicle based on the position and heading angle of the vehicle over time.
4. The method of
0. 5. The method of
transforming coordinates of the left boundary point and the right boundary point in a local coordinate system into coordinates in a global coordinate system based on the position of the vehicle depending on the movement trajectory of the vehicle; and
generating the road boundary line by connecting the coordinates of the left boundary point and connecting the coordinates of the right boundary point in the global coordinate system.
6. The method of
7. The method of
informing a driver of the vehicle that a driving section is a narrow road section, when the narrow road is detected.
8. The method of
displaying a road shape of the detected narrow driving road of the vehicle based on the road boundary line lines, when the driving road of the vehicle is determined as the narrow road is detected.
9. A non-transitory computer readable recording medium, comprising computer executable instructions which control, when exeucted by a processor, cause the processor to perform the a method of
receiving, from a distance measuring sensor, distance information of points on a ground line at which a vertical surface in a driving direction of a vehicle meets a ground;
calculating a relative height of the points from the distance measuring sensor to the ground based on the distance information;
acquiring a plurality of left boundary points and a plurality of right boundary points at which a difference in relative heights from adjacent points among the points becomes maximal;
acquiring road boundary lines of a driving road of the vehicle based on the left boundary points and the right boundary points depending on a movement trajectory of the vehicle when a difference in relative heights at one of the left boundary points and one of the right boundary points is more than or equal to a reference value;
calculating a road width of the driving road based on the acquired road boundary lines of the driving road; and
determining that the driving road of the vehicle is a narrow road when the road width of the driving road is less than or equal to a reference road width,
wherein the acquiring of the road boundary lines includes:
transforming coordinates of the left boundary points and the right boundary points in a local coordinate system into coordinates in a global coordinate system based on the position of the vehicle depending on the movement trajectory of the vehicle; and
generating the road boundary lines by connecting the coordinates of the left boundary points and connecting the coordinates of the right boundary points in the global coordinate system.
11. The apparatus of
a movement trajectory modeling unit configured to calculate the movement trajectory of the vehicle based on a moving speed of the vehicle and steering information of the vehicle, and
wherein the movement trajectory modeling unit calculates calculate the movement trajectory of the vehicle when the difference in the relative heights at the left boundary point and the right boundary point is more than or equal to a reference value.
12. The apparatus of
13. The apparatus of
0. 14. The apparatus of
15. The apparatus of
16. The apparatus of
17. The apparatus of
0. 18. A system for detecting a narrow road, comprising:
a speed output apparatus configured to output a moving speed of a vehicle;
a steering information output apparatus configured to output steering information of the vehicle;
a distance measuring sensor configured to output distance information of points on a ground line at which a vertical surface in a driving direction of the vehicle meets a ground; and
an apparatus for detecting a narrow road configured to receive the distance information of the points from the distance measuring sensor, calculate relative heights of the points from the distance measuring sensor to the ground based on the distance information, acquire a left boundary point and a right boundary point at which a difference in relative heights from adjacent points among the points becomes maximal, acquire a road boundary line of a driving road of the vehicle based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle when the difference in relative heights at the left boundary point and the right boundary point is more than or equal to a reference value, calculate a road width of the driving road based on the acquired road boundary line of the driving road, and detect that the driving road of the vehicle is a narrow road when the road width of the driving road is less than or equal to a reference road width.
19. The method of
20. The apparatus of
0. 22. The method of claim 21, further comprising:
receiving a moving speed of the vehicle and steering information of the vehicle; and
calculating the movement trajectory of the vehicle based on the moving speed of the vehicle and the steering information of the vehicle.
0. 23. The method of claim 22, wherein the calculating of the movement trajectory of the vehicle includes:
acquiring a position and a heading angle of the vehicle over time, based on the moving speed of the vehicle and the steering information of the vehicle; and
calculating the movement trajectory of the vehicle based on the position and heading angle of the vehicle over time.
0. 24. The method of claim 21, wherein the calculating of the relative height includes calculating the relative height of the points from the distance measuring sensor to the ground based on a mounting height and a mounting angle of the distance measuring sensor and the distance information.
0. 25. The method of claim 21, wherein the reference value is a maximum height which allows a vehicle to go up and down without damaging the vehicle.
0. 26. The method of claim 21, wherein the reference value is calculated based on the heights of components of the vehicle.
0. 29. The apparatus of claim 28, wherein the processor is further configured to:
calculate the movement trajectory of the vehicle based on a moving speed of the vehicle and steering information of the vehicle, and
calculate the movement trajectory of the vehicle when the difference in the relative heights at the left boundary point and the right boundary point is more than or equal to a reference value.
0. 30. The apparatus of claim 29, wherein the processor is further configured to receive the moving speed of the vehicle and the steering information of the vehicle from a speed detection apparatus and a steering information detection apparatus, acquire a position and a heading angle of the vehicle over time based on the moving speed and the steering information, and calculate the movement trajectory of the vehicle based on the position and heading angle of the vehicle over time.
0. 31. The apparatus of claim 28, wherein the processor is further configured to calculate the relative height of the points from the distance measuring sensor to the ground based on a mounting height and a mounting angle of the distance measuring sensor and the distance information.
0. 32. The apparatus of claim 28, wherein the reference value is a maximum height which allows a vehicle to go up and down without damaging the vehicle.
0. 33. The apparatus of claim 28, wherein the reference value is calculated based on the heights of components of the vehicle.
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In the above Equation 1, hi represents the relative heights of the points on the ground detected by the distance measuring sensor 210, ri represents the distance from the distance measuring sensor 210 to the points on the ground line, θi represents an angle between the line segment connecting the distance measuring sensor 210 to the points on the ground line and the reference line of the distance measuring sensor 210, and α represents the mounting angle of the distance measuring sensor 210 which is mounted in the vehicle 10.
As described above, the relative height calculation unit 110 may calculate the relative height hi of the points on the ground line based on the distance information (ri, θi) of the points on the ground line detected by the distance measuring sensor 210.
Based on the distance information, the relative height calculation unit 110 may calculate the relative heights of the points on the ground line as hk+1, hk, . . . , hi, . . . , hj, hj+1 . . . . In this case, h0 represents the mounting height h0 of the distance measuring sensor 210.
Compared with the relative heights of the points on the ground line, the points may have a constant height in the driving road which is portion protruding as hk+1, hk, . . . , hi, . . . , hj, hj+1 . . . and the difference in relative heights of the adjacent points at the boundary point of hk+1 and hk and the boundary point of hj and hj+1 may become maximal. Therefore, the protruding determination unit 130 may acquire the left boundary point 41 and the right boundary point 42 at which the relative heights from the adjacent points among the points on the ground line become maximal.
The protruding determination unit 120 may determine whether the difference in the relative height at the left boundary point and the right boundary point is more than or equal to the reference value. That is, when the difference between the hk+1 and hk and the difference between hj and hj+1 are larger than the reference value hc, the apparatus 100 for detecting a narrow road continuously may detect the narrow road. On the other hand, when the difference between the hk+1 and hk and the difference between hj and hj+1 is less than the reference value hc, the apparatus 100 for detecting a narrow road may end the detection of the narrow road.
At t=k, the position of the vehicle may be represented by Xk=[Xk, Yk, θk] in the global coordinate system. At t=k+1, the position of the vehicle may be represented by Xk+1=[Xk+1, Yk+1, θk+1] in the global coordinate system. As such, the movement trajectory of the vehicle may be represented by the global coordinate system. However, the coordinates of the left boundary point 41 and the right boundary point 42 acquired by the distance measuring sensor 210 may be coordinates of the local coordinate system and therefore there is a need to transform the coordinates of the left boundary point 41 and the right boundary point 42 in the local coordinate system into coordinates in the global coordinate system depending on the movement trajectory of the vehicle.
Therefore, the road boundary line acquisition unit 130 may acquire the coordinates of the left boundary point 41 and the right boundary point 42 in the local coordinate system as (Xl, Yl)k, (Xr, Yr)k and (Xl, Yl)k+1, (Xr, Yr)k+1 which are coordinates in the global coordinate system, based on the movement trajectory of the vehicle.
The road boundary line acquisition unit 130 may transform the coordinates of the left boundary point 41 and the right boundary point 42 into coordinates in the global coordinate system based on the movement trajectory of the vehicle over time and as illustrated in
The road width calculation unit 140 may calculate the road width of the driving road which is a minimum distance between a left boundary line 51 and a right boundary line 52 of the road boundary line, based on the road boundary line of the driving road.
In step 610, the apparatus 100 for detecting a narrow road may receive from the distance measuring sensor 210 the distance information of the points on the ground line at which the vertical surface in the driving direction of the vehicle meets the ground. For example, the distance information may include the distance r from the distance measuring sensor 210 to the points on the ground line and the angle θ between the line segment connecting the distance measuring sensor 210 and the points on the ground line and the reference line of the distance measuring sensor 210.
In step 620, the relative height calculation unit 110 may calculate the relative heights of the points on the ground line based on the distance information. The relative height represents the distance from the distance measuring sensor 210 to the ground.
In step 630, the protruding determination unit 120 may acquire the left boundary point and the right boundary point at which the difference in the relative height from the adjacent points among the points on the ground line becomes maximal. In this case, the left boundary point and the right boundary point may be the boundary point which divides the driving road from the region out of the driving road.
In step 640, the protruding determination unit 120 may determine whether the difference in the relative heights at the left boundary point and the right boundary point is more than or equal to the reference value. The reference value may be a value which is a reference determining whether a driving road protrudes and the reference value may be calculated based on the heights of components of a vehicle or may be acquired based on an experiment. For example, the reference value may be the maximum height which may allow a vehicle to go up and down without damaging the vehicle.
The protruding determination unit 120 may compare the difference in the relative heights at the left boundary point and the right boundary point with the reference value to proceed to step 650 when the difference in the relative heights is more than or equal to the reference value and end the detection of the narrow road when the difference in the relative heights is less than the reference value.
In step 650, the road boundary line acquisition unit 130 may acquire the road boundary line of the driving road of the vehicle based on the left boundary point and the right boundary point depending on the movement trajectory of the vehicle.
According to an exemplary embodiment of the present inventive concept, the movement trajectory of the vehicle may be received from external apparatuses. According to another exemplary embodiment of the present inventive concept, the movement trajectory of the vehicle may be calculated by the apparatus 100 for detecting a narrow road based on the position of the vehicle.
In step 660, the road width calculation unit 140 may calculate the road width of the driving road based on the road boundary line of the driving road. In this case, the road width may be the minimum distance between the left boundary line and the right boundary line of the road boundary line.
In step 670, the narrow road detection unit 150 may determine whether the road width of the driving road is less than or equal to the reference road width. The narrow road detection unit 150 may compare the road width of the driving road with the reference road width to proceed to step 680 when the road width of the driving road is less than or equal to the reference road width and end the detection of the narrow road when the road width of the driving road exceeds the reference road width.
In step 680, the narrow road detection unit 150 may detect that the driving road of the vehicle is the narrow road. According to an exemplary embodiment of the present inventive concept, when the narrow road is detected, the narrow road detection unit 150 may inform the driver of the vehicle that the driving section is the narrow road section. According to another exemplary embodiment of the present inventive concept, the narrow road detection unit 150 may further display a road shape of the detected narrow road while informing the narrow road section, when the narrow road is detected.
According to the method, apparatus, and system for detecting a narrow road according to exemplary embodiments of the present inventive concept, it is possible to detect the protruding narrow road by using the distance measuring sensor detecting the distance to the ground in front of the vehicle and assure the driver's safety and improve the driver's convenience by informing the narrow road of the user. Therefore, it is possible to reduce the risk of accidents due to the narrow road.
In the present disclosure, ‘one embodiment’ of principles of the present inventive concept and various changes of the expression means that specific features, structures, characteristics, and the like, associated with the embodiment are included in at lease one embodiment of the principle of the present inventive concept. Therefore, the expression ‘one embodiment’ and any other modification examples disclosed throughout the present disclosure do not necessarily mean the same embodiment.
All the embodiments and conditional examples disclosed in the present disclosure are described to help a person having ordinary skilled in the art to which the present inventive concept pertains to understand the principle and concept of the present inventive concept and those skilled in the art may be understood that the present inventive concept may be implemented in a modified form within a range which does not deviating from the essential characteristics of the present inventive concept. Therefore, the Examples described above should be considered in view of illustration rather than limitation. It should be interpreted that the scope of the present inventive concept is defined by the following claims rather than the above-mentioned detailed description and all of differences within a scope equivalent thereto are included in the appended claims of the present inventive concept.
Lee, Chang Jae, Shin, Ki Cheol, Jung, Ee Suk
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