公开(公告)号：KR1020140050424A

公开(公告)日：2014-04-29

申请号：KR1020120116819

申请日：2012-10-19

Applicant: 현대자동차주식회사

Inventor： 오영철 ,  권수림

IPC: B60W40/06 ,  B60W30/08

CPC classification number: G01S13/867 ,  B60Q9/006 ,  B60Q2300/335 ,  G01S13/345 ,  G01S13/536 ,  G01S13/862 ,  G01S13/931 ,  G01S15/931 ,  G01S2013/9378 ,  G01S2015/937 ,  G06K9/00798 ,  G06K9/6293 ,  G08G1/167

Abstract: Disclosed are a method and a system for recognizing a space of a road shoulder using an ultrasonic wave sensor, a radar and an imaging device. The method includes: controlling the radar to transmit a radar beam within a preset range based on the vehicle location; detecting a fixed object located within the preset range using a reflective wave of the radar beam received by the radar; calculating a distance between the fixed object and the vehicle using the radar when the fixed object is located within the preset range; detecting a solid line lane marking in a front image of a travel lane obtained from the imaging device; and recognizing the calculated distance between the fixed object and the vehicle as a space width of the road shoulder when the solid line lane is in the front image of the travel lane. [Reference numerals] (AA) Start; (BB,DD,FF,HH) No; (CC,EE,GG,II) Yes; (II) Yes; (JJ) End; (S110) Radar transmits radar beam within preset range; (S120) Reflective wave of radar beam received?; (S130) The fixed object is located within the preset range; (S140) Reflect ultrasonic wave signal from fixed object; (S150) Calculate distance between the fixed object and vehicle based on the ultrasonic wave signal; (S160) Determine whether distance between the fixed object and the vehicle maintains for a preset time or greater?; (S170) Determine the fixed object as guard rail; (S180) Determine the fixed object as an obstacle; (S210) Receive vehicle line image of a front direction of travel line; (S220) Determine whether solid line lane is included in the lane?; (S230) Notify change of lane to right lane; (S310) Recognize calculated distance between the guard rail and the vehicle as a width of space of shoulder of road; (S320) Determine whether width of space is a space available by vehicle?; (S330) Notify capability of the space of the shoulder of road

Abstract translation: 公开了一种使用超声波传感器，雷达和成像装置识别路肩的空间的方法和系统。 该方法包括：基于车辆位置控制雷达在预设范围内发射雷达波束; 使用由雷达接收的雷达波束的反射波检测位于预设范围内的固定物体; 当固定物体位于预设范围内时，使用雷达计算固定物体与车辆之间的距离; 检测从所述成像装置获得的行进车道的前方图像中的实线车道标记; 并且当实线车道处于行驶车道的前方图像时，将所计算的固定物体与车辆之间的距离识别为道路肩部的空间宽度。 （附图标记）（AA）开始; （BB，DD，FF，HH）否; （CC，EE，GG，II）是的; （二）是; （JJ）结束; （S110）雷达在预设范围内发射雷达; （S120）雷达波束的反射波接收？ （S130）固定对象位于预设范围内; （S140）反射来自固定物体的超声波信号; （S150）基于超声波信号计算固定物体与车辆的距离; （S160）确定固定物体与车辆之间的距离是否保持预设时间或更长时间？ （S170）确定固定物体作为护栏; （S180）确定固定物体为障碍物; （S210）接收行驶线前方的车线图像; （S220）确定车道中是否包括实线车道？ （S230）车道右车道通知通知; （S310）确定护栏和车辆之间的计算距离作为道路肩部宽度; （S320）确定空间宽度是否是车辆可用的空间？ （S330）通知道路肩部空间的能力