본 발명은 다중필터를 이용한 차선인식 방법에서 차등 가중치를 적용하여 차선의 인식률을 향상시킨 차등가중치 적용 차선 인식 방법 및 장치와 이를 이용한 차선유지보조시스템 제어 방법 및 장치이다. 본 발명에 따른 차등가중치 적용 차선 인식 장치는 다중필터를 이용한 차선인식 방법에서 차등가중치를 적용한 차선 인식 장치에 있어서, 좌측 및 우측 차선을 인식하여 상기 좌측 및 우측 차선의 옵셋과 신뢰도를 산출하는 영상인식부; 및 상기 인식된 좌측 및 우측 차선 정보 중 미인식 또는 오인식된 정보의 존재 여부를 판단하는 인식판단부; 및 상기 미인식 또는 오인식인지 여부의 판단에 기반하여 복수개의 로우패스필터(LPF, Low Pass Filter)의 가중치를 변경하고, 상기 변경된 가중치가 적용된 상기 로우패스필터를 통과한 신호를 이용하여 보정된 차선을 생성하는 마스터필터부를 포함하는 것을 특징으로 한다.
The present inventions are a method and an apparatus for recognizing traffic lane to help drivers to easily recognize the traffic lane by applying differential weighted values in the method for recognizing the traffic lane using a multi-filter, a method and an apparatus for controlling a support system for lane keeping using same. According to the invention, the apparatus for recognizing the traffic lane by applying the differential weighted values using the multi-filter comprises an image recognizing unit, a recognition determining unit, and a master filter unit. The image recognizing unit outputs reliability and offset of left and right traffic lanes by recognizing the left and right traffic lanes. The recognition determining unit determines whether or not unconfirmed or wrong information exists among the information on the recognized left and right traffic lanes. The master filter unit changes the weighted values on a plurality of low pass filters (LPF) based on the determination whether or not the unconfirmed or wrong information exists. The master filter unit generates corrected traffic lanes using signals passing through the low pass filters which are applied with the changed weighted values. [Reference numerals] (200) Apparatus for recognizing a traffic lane applying with differential weighted values;(210) Image recognizing unit;(212) Unit for outputting the reliability on a right traffic lane;(214) Unit for outputting the reliability on a left traffic lane;(216) Unit for outputting the offset on a right traffic lane;(218) Unit for outputting the offset on a right traffic lane;(222) Unit for determining the recognition of a traffic lane;(222a) Unit for determining the nonrecognition of a traffic lane;(222c) Unit for determining the misrecognition of a traffic lane;(224) Low pass filter;(224a) First LPF 4;(224c) Second LPF 4;(224e) Third LPF 4;(224g) Fourth LPF 4;(226) Master filter unit;(226a) First master filter;(226c) Second master filter
Method and Appartus for Recogniting Lane Using Difference Weight Method and Appartus for Controlling Lane Keeping Assist System Using the Same
차등가중치 적용 차선 인식 방법 및 장치와 이를 이용한 차선유지보조시스템 제어 방법 및 장치
2018-08-24
Patent
Electronic Resource
Korean
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 |
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