According to an embodiment of the present invention, a method of estimating a front obstacle detection distance includes the following steps of: detecting an obstacle from a front image of a vehicle; extracting coordinates of a lower end portion of a detection box of the detected obstacle; calculating a projected line on real world coordinates based on the extracted coordinates of the lower end portion; searching for a point or a line through which the projected line passes on a detailed map; and calculating a distance to the point or the line through which the projected line passes on the detailed map from a position of the vehicle. The method is configured to increase estimation accuracy of a front obstacle detection distance.
본 발명의 일 실시예에 따른 전방 장애물 검출 거리 추정 방법은 차량의 전방 영상에서 장애물을 검출하는 단계; 상기 검출한 장애물 검출박스의 하단부 좌표를 추출하는 단계; 상기 추출한 하단부 좌표에 기초하여 실세계 좌표에서의 투영선을 계산하는 단계; 상기 투영선이 정밀지도 상에서 통과하는 점 또는 선분을 검색하는 단계; 및 상기 차량의 위치에서 상기 정밀지도 상에 통과하는 점 또는 선분까지의 거리를 계산하는 단계를 포함할 수 있다.
Method and Apparatus for Estimating Frontal Obstacle Detection Distance
전방 장애물 검출 거리 추정 방법 및 장치
2020-06-25
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06K Erkennen von Daten , RECOGNITION OF DATA |
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