본 발명은 저속 주행시 곡선차로 내 적용 가능한 개선된 자율주행을 위한 차선검출 방법에 관한 것으로서, 특히 학습기반 어프로치와 영상인식을 융합하여 차선의 오검출이 적은 자율주행을 위한 차선검출 방법에 관한 것이다. 본 발명은 차선 검출 알고리즘에 있어서, 주행 중인 차량의 입력 영상을 전처리한 후 영상의 시점을 하늘에서 보는 아이피앰(IPM : Inverse Perspective Mapping) 영상으로 변환하여 입력 영상을 실시간으로 데이터화하는 제1 단계; 차량의 운전자가 기 설정된 주기 동안 주행하여 수집된 학습 정보와 아이피앰 영상을 비교하여 학습기반 차선 후보 영역을 검출하는 제2 단계; 및 학습기반 차선 후보 영역에서 노이즈를 제거하고 DA(Different Accumulation)를 적용하여 영상기반 차선 후보 영역을 검출하는 제3 단계;를 포함하는 자율주행을 위한 차선검출 방법을 제공한다. 본 발명에 따르면, 학습기반 어프로치와 영상기반 어프로치를 융합하여 적용함으로써 노면 상태에 강인한 차선 검출이 가능한 이점이 있다.

    The present invention relates to a method of detecting a traffic lane for autonomous driving, which can be applied to a curved lane in low-speed driving, and more particularly, to a method of detecting a traffic lane for autonomous driving, reducing capable of reducing erroneous detection of a traffic lane by combining the learning-based approach with image recognition. In a traffic lane detection algorithm, the present invention provides a method of detecting a traffic lane for autonomous driving, which includes: a first step of preprocessing an input image of a driving vehicle and then converting a viewpoint of the image into an IPM (Inverse Perspective Mapping) image viewed from the sky to convert the input image into data in real time; a second step of detecting a learning-based lane candidate region by comparing learning information collected by a driver of the vehicle for a predetermined period of time with an IPM image; and a third step of detecting an image-based lane candidate region by removing noise from the learning-based lane candidate region and applying DA (Different Accumulation). According to the present invention, a lane detection based on a road state is possible by combining the learning-based approach and the image-based approach.


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    Titel :

    .METHOD OF DETECTING TRAFFIC LANE FOR AUTOMATED DRIVING


    Weitere Titelangaben:

    자율주행을 위한 차선검출 방법.


    Erscheinungsdatum :

    2022-10-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    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 / G06K Erkennen von Daten , RECOGNITION OF DATA



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