[go: up one dir, main page]

FR3062944B1 - Procede de detection de faux-positifs relatifs a un feu de signalisation - Google Patents

Procede de detection de faux-positifs relatifs a un feu de signalisation Download PDF

Info

Publication number
FR3062944B1
FR3062944B1 FR1751127A FR1751127A FR3062944B1 FR 3062944 B1 FR3062944 B1 FR 3062944B1 FR 1751127 A FR1751127 A FR 1751127A FR 1751127 A FR1751127 A FR 1751127A FR 3062944 B1 FR3062944 B1 FR 3062944B1
Authority
FR
France
Prior art keywords
traffic light
false
images
detection procedure
positive detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1751127A
Other languages
English (en)
Other versions
FR3062944A1 (fr
Inventor
Thibault Caron
Sophie Rony
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Continental Automotive GmbH
Continental Automotive France SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive GmbH, Continental Automotive France SAS filed Critical Continental Automotive GmbH
Priority to FR1751127A priority Critical patent/FR3062944B1/fr
Priority to PCT/FR2018/050241 priority patent/WO2018146400A1/fr
Priority to US16/483,073 priority patent/US11126874B2/en
Priority to DE112018000768.5T priority patent/DE112018000768T5/de
Priority to JP2019543226A priority patent/JP7004731B2/ja
Priority to CN201880011090.0A priority patent/CN110249338B/zh
Publication of FR3062944A1 publication Critical patent/FR3062944A1/fr
Application granted granted Critical
Publication of FR3062944B1 publication Critical patent/FR3062944B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30236—Traffic on road, railway or crossing

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Fire-Detection Mechanisms (AREA)

Abstract

La présente invention a pour objet un procédé de détection de faux-positifs relatifs à un feu de signalisation à partir d'un flux vidéo d'images capturées par une caméra embarquée dans un véhicule automobile, ledit feu de signalisation étant configuré pour basculer entre plusieurs états, chaque état étant caractérisé par au moins une zone colorée représentative d'une signalisation. Le procédé comprend une étape de filtrage (E4) des images, selon une liste prédéterminée de critères de filtrage relatifs aux états du feu de signalisation, à partir d'un historique prédéterminé de la couleur des pixels de la zone colorée représentant un objet lumineux détecté dans le flux vidéo d'images afin de détecter les faux-positifs.
FR1751127A 2017-02-10 2017-02-10 Procede de detection de faux-positifs relatifs a un feu de signalisation Active FR3062944B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
FR1751127A FR3062944B1 (fr) 2017-02-10 2017-02-10 Procede de detection de faux-positifs relatifs a un feu de signalisation
PCT/FR2018/050241 WO2018146400A1 (fr) 2017-02-10 2018-02-01 Procédé de détection de faux-positifs relatifs à un feu de signalisation
US16/483,073 US11126874B2 (en) 2017-02-10 2018-02-01 Method for detecting false positives relating to a traffic light
DE112018000768.5T DE112018000768T5 (de) 2017-02-10 2018-02-01 Verfahren zum Erkennen von falsch-positiven Ereignissen in Bezug auf eine Ampel
JP2019543226A JP7004731B2 (ja) 2017-02-10 2018-02-01 交通信号機に関する誤判定を検出するための方法
CN201880011090.0A CN110249338B (zh) 2017-02-10 2018-02-01 用于检测与交通信号灯相关的假阳性误报的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1751127 2017-02-10
FR1751127A FR3062944B1 (fr) 2017-02-10 2017-02-10 Procede de detection de faux-positifs relatifs a un feu de signalisation

Publications (2)

Publication Number Publication Date
FR3062944A1 FR3062944A1 (fr) 2018-08-17
FR3062944B1 true FR3062944B1 (fr) 2021-05-14

Family

ID=58547710

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1751127A Active FR3062944B1 (fr) 2017-02-10 2017-02-10 Procede de detection de faux-positifs relatifs a un feu de signalisation

Country Status (6)

Country Link
US (1) US11126874B2 (fr)
JP (1) JP7004731B2 (fr)
CN (1) CN110249338B (fr)
DE (1) DE112018000768T5 (fr)
FR (1) FR3062944B1 (fr)
WO (1) WO2018146400A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10836393B2 (en) * 2017-12-10 2020-11-17 Anatoly S. Weiser Smart traffic control devices and beacons, methods of their operation, and use by vehicles of information provided by the devices and beacons
US11866046B2 (en) * 2017-12-10 2024-01-09 Anatoly S. Weiser Smart traffic control devices and beacons, methods of their operation, and use by vehicles of information provided by the devices and beacons
US11436842B2 (en) * 2020-03-13 2022-09-06 Argo AI, LLC Bulb mask representation for traffic light classification
CN112699834B (zh) * 2021-01-12 2022-06-17 腾讯科技（深圳）有限公司 交通标识检测方法、装置、计算机设备和存储介质
DE102022200746A1 (de) 2022-01-24 2023-07-27 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zur Ermittlung eines Signalzustandes einer Lichtsignalanlage
CN114822058B (zh) * 2022-05-11 2023-03-03 深圳智慧车联科技有限公司 一种基于信号灯路口的行车规范驾驶提示监测方法、系统、车载终端及存储介质

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000353292A (ja) * 1999-06-11 2000-12-19 Toshiba Corp 信号識別装置及びその方法
JP2005301519A (ja) * 2004-04-08 2005-10-27 Toyota Motor Corp 信号機検出装置および信号機検出方法
TWI236901B (en) * 2004-06-11 2005-08-01 Oriental Inst Technology An apparatus and method for identifying surrounding environment by means of image processing and for outputting the resutls
US7495579B2 (en) * 2005-06-13 2009-02-24 Sirota J Marcos Traffic light status remote sensor system
JP4577153B2 (ja) * 2005-08-24 2010-11-10 株式会社デンソー 環境認識装置
US7804980B2 (en) 2005-08-24 2010-09-28 Denso Corporation Environment recognition device
EP2172873B1 (fr) * 2008-10-06 2018-08-15 Mobileye Vision Technologies Ltd. Groupage de systèmes d'assistance au conducteur
JP5162485B2 (ja) 2009-02-02 2013-03-13 公益財団法人鉄道総合技術研究所 鉄道信号機の視認可否を確認する方法及び装置
US9070305B1 (en) * 2010-01-22 2015-06-30 Google Inc. Traffic light detecting system and method
JP5273099B2 (ja) * 2010-06-17 2013-08-28 株式会社デンソー 運転支援車載装置及び路車間通信システム
US8831849B2 (en) * 2012-02-13 2014-09-09 Toyota Motor Engineering & Manufacturing North America, Inc. System and method for traffic signal recognition
DE102012108861A1 (de) * 2012-09-20 2014-05-28 Continental Teves Ag & Co. Ohg Verfahren zur Kalibrierung einer farbauflösenden Fahrzeugkamera
JP6062214B2 (ja) * 2012-11-06 2017-01-18 株式会社小糸製作所 路車間通信システムおよび送受信装置
US9975482B2 (en) * 2013-02-01 2018-05-22 Eric Sinclair Systems and methods for traffic event detection for vehicles using rolling averages
JP6085522B2 (ja) 2013-05-29 2017-02-22 富士重工業株式会社 画像処理装置
EP3036730B1 (fr) * 2013-08-20 2019-12-18 Harman International Industries, Incorporated Détection de feux de circulation
US9248832B2 (en) * 2014-01-30 2016-02-02 Mobileye Vision Technologies Ltd. Systems and methods for detecting traffic signal details
EP3108264A2 (fr) * 2014-02-20 2016-12-28 Mobileye Vision Technologies Ltd. Aide à la conduite automobile basée sur une imagerie visuelle avec des repères de radar
JP6228492B2 (ja) 2014-03-10 2017-11-08 株式会社Ｓｕｂａｒｕ 車外環境認識装置
US9275286B2 (en) * 2014-05-15 2016-03-01 Xerox Corporation Short-time stopping detection from red light camera videos
JP6270624B2 (ja) * 2014-05-22 2018-01-31 株式会社Ｓｕｂａｒｕ 車外環境認識装置
CN104050447A (zh) * 2014-06-05 2014-09-17 奇瑞汽车股份有限公司 一种交通信号灯识别方法和装置
US9373046B2 (en) * 2014-09-10 2016-06-21 Continental Automotive Systems, Inc. Detection system for color blind drivers
US9245333B1 (en) * 2014-12-10 2016-01-26 Semiconductor Components Industries, Llc Systems and methods for detecting obstructions within the field-of-view of an image sensor
US20170043717A1 (en) * 2015-08-10 2017-02-16 Arie Heiman System and Apparatus that Alert Car Drivers Approaching Obstacles in the Road
EP3144918B1 (fr) * 2015-09-21 2018-01-10 Urban Software Institute GmbH Système informatique et procédé de surveillance d'un système de trafic
CN105608417B (zh) * 2015-12-15 2018-11-06 福州华鹰重工机械有限公司 交通信号灯检测方法及装置
US20170228606A1 (en) * 2016-02-09 2017-08-10 Haike Guan Information processing apparatus, information processing method, and recording medium
US9977975B2 (en) * 2016-08-18 2018-05-22 Toyota Motor Engineering & Manufacturing North America, Inc. Traffic light detection using multiple regions of interest and confidence scores
CN110657820A (zh) * 2017-01-12 2020-01-07 御眼视觉技术有限公司 基于车辆活动的导航
US10699142B2 (en) * 2017-04-20 2020-06-30 GM Global Technology Operations LLC Systems and methods for traffic signal light detection

Also Published As

Publication number Publication date
DE112018000768T5 (de) 2020-01-16
WO2018146400A1 (fr) 2018-08-16
US11126874B2 (en) 2021-09-21
CN110249338A (zh) 2019-09-17
JP7004731B2 (ja) 2022-01-21
CN110249338B (zh) 2023-10-31
US20200012870A1 (en) 2020-01-09
FR3062944A1 (fr) 2018-08-17
JP2020509479A (ja) 2020-03-26

Similar Documents

Publication Publication Date Title
FR3062944B1 (fr) Procede de detection de faux-positifs relatifs a un feu de signalisation
MX2017014779A (es) Deteccion de luz de freno.
US20180060660A1 (en) Blindman navigation method and blindman navigation apparatus
WO2007095160A3 (fr) Appareil et procédé de détection de fumée
JP2012155612A (ja) 車線検出装置
KR101655839B1 (ko) 어안렌즈 카메라를 이용한 주차 관제 시스템 및 방법
JP2019053619A5 (fr)
FR3047451B1 (fr) Procede, dispositif et systeme de detection de defaut(s) d’un pantographe d’un vehicule en mouvement sur une voie ferree
CN101739809A (zh) 行人闯红灯自动报警监控系统
FR3007172B1 (fr) Procede et systeme d'identification d'un degat cause a un vehicule
RU2016147944A (ru) Выявление сигнала поворота транспортного средства
FR3049689B1 (fr) Dispositif d'eclairage et/ou de signalisation arriere pour vehicule automobile, et feu arriere d'eclairage et/ou de signalisation muni d'un tel dispositif
RU2017102886A (ru) Переключение между камерами электронного устройства
JP6200673B2 (ja) 信号機判別装置
ATE431951T1 (de) Videobild-gleisüberwachungssystem
KR101498975B1 (ko) 차선 이탈 경보 시스템
FR3063557B1 (fr) Dispositif de determination de l'etat d'attention d'un conducteur de vehicule, systeme embarque comportant un tel dispositif, et procede associe
FR3026848B1 (fr) Procede d'analyse d'un cable, basee sur une correlation auto-adaptative, pour la detection de defauts non francs
JP2018167594A (ja) 車両ドア監視システムおよび車両ドア監視方法
FR3087041B1 (fr) Procede de localisation d'un emplacement de stationnement d'un vehicule dans un parking
JP6385710B2 (ja) 信号制御システム
KR20190123720A (ko) 차량용 신호등 위상을 감지하기 위한 장치 및 방법
JP2020509479A5 (fr)
EP3994428A4 (fr) Système de surveillance de force et d'inclinaison avec reconnaissance de position automatique
JP2016517103A (ja) カメラを用いて制動灯の光を検出した際にドライバー・アシスタント機能を作動させるための方法

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20180817

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7

TQ Partial transmission of property

Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE

Effective date: 20230424

Owner name: CONTINENTAL AUTOMOTIVE FRANCE, FR

Effective date: 20230424

PLFP Fee payment

Year of fee payment: 8

TP Transmission of property

Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE

Effective date: 20241011

PLFP Fee payment

Year of fee payment: 9