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公开(公告)号：KR1020120050199A
公开(公告)日：2012-05-18
申请号：KR1020100111587
申请日：2010-11-10
Applicant: 한국전자통신연구원
CPC classification number: B25J9/1664 , B25J9/1671
Abstract: PURPOSE: An apparatus and a method for autonomously traveling a mobile robot system are provided to enable a mobile robot to stably travel an intersection by recognizing the state information of the mobile robot through a traveling recognition sensor. CONSTITUTION: A method for autonomously traveling a mobile robot system is as follows. When a mobile robot system enters to an initial intersection, environment information around the initial intersection is recognized(S200,S202). The first position and posture information of the mobile robot system is detected depending on the recognized environment information and the initial position of the mobile robot system(S204). When the mobile robot system enters to a target intersection, environment information around the target intersection is recognized(S206,S208). The second position and posture information of the mobile robot system is detected depending on the environment information and the position of the mobile robot system(S210). The route information from the initial intersection to the target intersection is produced using the first position and posture information and the second position and posture information(S212).
Abstract translation: 目的：提供一种用于自主移动移动机器人系统的装置和方法，以使移动机器人能够通过行进识别传感器识别移动机器人的状态信息来稳定地行驶十字路口。 构成：移动机器人系统的自主移动方法如下。 当移动机器人系统进入初始交叉点时，识别出初始交叉口周围的环境信息（S200，S202）。 根据识别的环境信息和移动机器人系统的初始位置来检测移动机器人系统的第一位置和姿势信息（S204）。 当移动机器人系统进入目标交叉路口时，识别目标交叉口周围的环境信息（S206，S208）。 根据环境信息和移动机器人系统的位置来检测移动机器人系统的第二位置和姿势信息（S210）。 使用第一位置和姿势信息以及第二位置和姿势信息来生成从初始交叉点到目标交叉点的路线信息（S212）。
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公开(公告)号：KR1020100105126A
公开(公告)日：2010-09-29
申请号：KR1020090023988
申请日：2009-03-20
Applicant: 한국전자통신연구원
CPC classification number: G06K9/00798
Abstract: PURPOSE: An apparatus and a method for recognizing lane is provided to reduce a processing time by predict the location change of a vehicle based on an image coordinate system and minimize the searching region. CONSTITUTION: An apparatus for recognizing lane includes an image change part(10) and an image segmentation part(20). A lane recognition part(30) extracts each lane region based on segmented images. A expressing part(40) expresses a left lane equation and a right lane equation based on the extracted lane region. A current position is recognized based on the left lane equation and the right lane equation. A lane estimating part(60) predicts the change of lane based on the current position and the driving direction and speed.
Abstract translation: 目的：提供用于识别车道的装置和方法，以通过基于图像坐标系预测车辆的位置变化来减少处理时间，并使搜索区域最小化。 构成：用于识别车道的装置包括图像改变部分（10）和图像分割部分（20）。 车道识别部件（30）基于分割图像提取每个车道区域。 表达部分（40）基于提取的车道区域表示左车道方程和右车道方程。 基于左车道方程和右车道方程识别当前位置。 车道估计部（60）基于当前位置和驾驶方向和速度来预测车道的变化。
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公开(公告)号：KR1020100072386A
公开(公告)日：2010-07-01
申请号：KR1020080130779
申请日：2008-12-22
Applicant: 한국전자통신연구원
Abstract: PURPOSE: A method and apparatus for automatically parking vehicle are provided to resolve problems of automatic parking failure by error. CONSTITUTION: A method for automatically parking a vehicle comprises: a step of storing parking lot in a parking lot DB(30); a step of applying parking space by image processing method and communicating; a step of generating parking lot value corresponding to the available parking space; a step of controlling handle steering angle and speed based on the parking lot value.
Abstract translation: 目的：提供一种用于自动停车的方法和装置，以解决误差自动停车故障的问题。 构成：一种用于自动停放车辆的方法，包括：将停车场存储在停车场DB（30）中的步骤; 通过图像处理方法和通信应用停车位的步骤; 生成对应于可用停车位的停车场值的步骤; 基于停车场值控制手柄转向角和速度的步骤。
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公开(公告)号：KR1020100071208A
公开(公告)日：2010-06-29
申请号：KR1020080129841
申请日：2008-12-19
Applicant: 한국전자통신연구원
Abstract: PURPOSE: A steering and velocity control unit using a steering wheel of a vehicle and a method thereof are provided to improve operator convenience by processing various vehicle controls using a touch screen on the center of a steering wheel. CONSTITUTION: A steering and velocity control unit using a steering wheel of a vehicle comprises: a steering angle sensor part(200) which measures a steering angle of a steering wheel of a vehicles and creates a steering value; a velocity sensor part(100) which measures a tilting angle of a steering wheel of a vehicle and creates a tilting value; a control calculating part(300) which is proceed a control operation with the steering value and the tilting value and creates a steering control command and a velocity control command; a velocity controller(306) which controls the velocity of a vehicle with the velocity control command; and a steering controller(304) which controls the steering of a vehicle with the steering control command.
Abstract translation: 目的：提供使用车辆方向盘的转向和速度控制单元及其方法，以通过使用方向盘中心的触摸屏处理各种车辆控制来提高操作者的便利性。 构成：使用车辆的方向盘的转向和速度控制单元包括：转向角传感器部（200），其测量车辆的方向盘的转向角并产生转向值; 速度传感器部件，其测量车辆的方向盘的倾斜角度并产生倾斜值; 控制计算部（300），其进行具有转向值和倾斜值的控制操作，并生成转向控制命令和速度控制指令; 用速度控制指令控制车辆速度的速度控制器（306）; 以及转向控制器（304），其通过转向控制命令来控制车辆的转向。
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公开(公告)号：KR101881101B1
公开(公告)日：2018-07-24
申请号：KR1020150041727
申请日：2015-03-25
Applicant: 한국전자통신연구원
Abstract: 본발명은실제사용자가차량을주행할때 정확한연비의측정값을제공하기위한것으로서측정조건획득부, 주행제어부, 주행정보획득부, 주행연비산출부, 통계모델생성부를포함할수 있으며, 실제시험도로환경에서의연비측정을반복하는것이가능하도록무인차량을이용하여다양한환경에서주행테스트를반복적으로수행하여연비를측정하고, 측정된연비를이용하여연비에대한통계모델을생성하여사용자에게제공하는데그 목적이있다.
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Patent Agency Ranking
公开(公告)号：KR1020170104287A
公开(公告)日：2017-09-15
申请号：KR1020160027152
申请日：2016-03-07
Applicant: 한국전자통신연구원
Inventor： 변재민
Abstract: 본발명은주행가능영역인식장치에관한것이다. 본발명의주행가능영역인식장치는차량의주행방향에대한 3차원점군데이터를생성하는센서, 3차원점군데이터로부터획득된특징벡터를이용하여지면을분류하는지면분류모듈, 및분류된지면분류정보를이진화하고, 이진화된정보를그룹화하여차선의기하학적모델링을통해차선을인식하는차선인식모듈을포함을포함한다.
Abstract translation: 可行驶区域识别装置本发明涉及可行驶区域识别装置。 当通过使用从传感器获得的特征向量进行分类地，本发明的行驶区域识别装置被分类，分类时的三维点群数据，以生成三维点群数据与车辆模块的运行方向，以及分类 以及车道识别模块，用于对二值化信息进行分组，并通过车道的几何建模来识别车道。
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公开(公告)号：KR1020150037317A
公开(公告)日：2015-04-08
申请号：KR1020130116833
申请日：2013-09-30
Applicant: 한국전자통신연구원
IPC: B60W50/02 , B60W50/029 , B60W50/04 , B60W30/00
Abstract: 본발명은자동제어차량의오류복구장치및 그방법에관한것이다. 자동제어차량의오류복구방법은자동제어차량을기준으로설정범위내 위치하는주변차량의정보를상시기록하는단계, 자동제어차량의상태를모니터링하여오류가발생하는지를감지하는단계, 자동제어차량의오류를감지한경우, 기록한주변차량의정보를토대로자동제어차량주변에차량이나동적장애물이존재하는지확인하는단계및 확인한결과를토대로자동제어차량의오류를복구하는방법을결정하고, 결정한방법에따라자동제어차량의오류를복구하는단계를포함한다.
Abstract translation: 本发明涉及一种自动控制车辆的误差恢复装置及其方法。 一种用于自动控制车辆的错误恢复方法包括：在位于自动控制车辆周围的设定范围内的邻近车辆上定期记录信息的步骤; 通过监视自动控制车辆的状态来检测是否发生错误的步骤; 当检测到自动控制车辆的错误时，基于相邻车辆的记录信息，检查在自动控制车辆周围是否存在车辆或主动障碍物的步骤; 以及根据检查结果确定自动控制车辆的误差的恢复方法的步骤，并且根据所确定的方式恢复自动控制车辆的错误。
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公开(公告)号：KR1020140054763A
公开(公告)日：2014-05-09
申请号：KR1020120120657
申请日：2012-10-29
Applicant: 한국전자통신연구원
CPC classification number: G06N99/005 , G06T17/05 , G06T7/00 , G06T17/00 , G06T17/005 , G06T17/30
Abstract: Disclosed are a device and a method for mapping probability distribution based on object and system properties. The device for mapping the probability distribution includes: a sensor information collection unit collecting sensor information from multiple sensors; an object recognition unit recognizing an object by combining and deducting the sensor information, and obtaining object information, which is information of the object; and a probability distribution generation unit determining whether an object property model, which includes at least one of kinematic properties, physical properties, and probability properties, is applied to correspond to the object information, and generating the probability distribution based on object properties by obtaining the object properties corresponding to the object information.
Abstract translation: 公开了一种基于对象和系统属性映射概率分布的设备和方法。 用于映射概率分布的装置包括：从多个传感器收集传感器信息的传感器信息收集单元; 对象识别单元，通过组合和减去传感器信息来识别对象，获得作为对象的信息的对象信息; 以及概率分布生成单元，确定是否应用包含运动特性，物理特性和概率属性中的至少一个的对象属性模型来对应于所述对象信息，并且基于对象属性生成所述概率分布， 对象属性对应于对象信息。
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公开(公告)号：KR1020140040983A
公开(公告)日：2014-04-04
申请号：KR1020120107729
申请日：2012-09-27
Applicant: 한국전자통신연구원
CPC classification number: B60R1/00 , B60G2400/41 , B60G2400/824 , B60G2401/142 , B60G2800/24 , B60T2201/08 , B60T2201/089 , B60W10/20 , B60W30/12 , B60W2510/20 , B60W2540/18 , B60W2550/146 , B60W2710/20 , B62D1/28 , B62D6/00 , B62D15/025 , G05D1/0246 , G06T2207/30256 , G08G1/167
Abstract: Disclosed are a lane tracking device using a camera direction control and a method thereof. The lane tracking device using a camera direction control according to the present invention includes a lane recognition unit which obtains lane information from an image filmed by a camera, a road curvature calculation unit for calculating a road curvature using the lane information, and a camera angle control unit which controls camera angles considering the road curvature. [Reference numerals] (110) Lane recognition unit; (120) Road curvature calculation unit; (130) Camera angle control unit; (140) Vehicle steering angle sensor unit; (150) Road recognition unit; (160) Vehicle steering angle correction unit
Abstract translation: 公开了使用照相机方向控制的车道跟踪装置及其方法。 使用根据本发明的照相机方向控制的车道跟踪装置包括车道识别单元，其从由照相机拍摄的图像获取车道信息，路面曲率计算单元，用于使用车道信息计算道路曲率，以及相机角度 控制单元，其考虑道路曲率来控制摄像机角度。 （附图标记）（110）车道识别单元; （120）道路曲率计算单位; （130）相机角度控制单元; （140）车辆转向角传感器单元; （150）道路识别单位; （160）车辆转向角修正单元
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公开(公告)号：KR1020130051681A
公开(公告)日：2013-05-21
申请号：KR1020110116970
申请日：2011-11-10
Applicant: 한국전자통신연구원
CPC classification number: H04N7/18 , G06K9/00798 , G06K9/6289
Abstract: PURPOSE: A street sign recognizing system and a method thereof are provided to show a high recognition rate of street signs and credibility by not being influenced by changes of circumstance. CONSTITUTION: A street sign recognizing system comprises: a sensing unit for outputting distance information, video information from front side and the amount of reflections; a recognizing unit for identifying street signs from the front side based on the information from the sensing unit; and an output unit for sending the information of the street signs identified from the recognizing unit. The interior configuration of the street sign recognizing system comprises: a sensing unit(200), a recognizing unit(220) and an output unit(240). The sensing unit comprises: a camera(202) for watching the front side, and a laser scanner(204) for outputting the distance and the color of the street as a grey value, in other words, the amount of reflections. The camera of the sensing unit provides the video information of the front side to the recognizing unit, the laser scanner provides the distance information and the amount of reflections to the recognizing unit. A recognizing method of the street signs comprises the following steps: sensing the video information of the front side, the distance information and the amount of reflections; recognizing the street signs of the front side based on the sensed information; and outputting the information of the sense information. [Reference numerals] (202) Camera; (204) Laser scanner; (222) Reverse; (224) Noise filter unit; (226) Histogram processing unit; (228) Normalization processing unit; (230) Map generation unit; (232) ROI determination unit; (234) Road surface target recognition determination unit; (240) Output unit; (AA) Image information; (BB) Reflectivity information; (CC) Distance information
Abstract translation: 目的：提供街道识别系统及其方法，不受环境变化的影响，显示出路牌识别率高，信誉度高。 构成：街道识别系统包括：用于输出距离信息的感测单元，来自前方的视频信息和反射量; 识别单元，用于基于来自感测单元的信息从前侧识别街道标志; 以及输出单元，用于发送从识别单元识别的街道信号的信息。 路标识别系统的内部结构包括：感测单元（200），识别单元（220）和输出单元（240）。 感测单元包括：用于观看前侧的照相机（202）和用于将街道的距离和颜色输出为灰度的激光扫描器（204），换句话说，反射量。 感测单元的照相机将前侧的视频信息提供给识别单元，激光扫描器向识别单元提供距离信息和反射量。 路牌的识别方法包括以下步骤：感测前侧的视频信息，距离信息和反射量; 基于感知到的信息识别前方的路牌; 并输出感测信息的信息。 （附图标记）（202）相机; （204）激光扫描仪; （222）反向; （224）噪声滤波器单元; （226）直方图处理单元; （228）归一化处理单元; （230）地图生成单元; （232）ROI确定单元; （234）路面识别确定单位; （240）输出单元; （AA）图像信息; （BB）反射率信息; （CC）距离信息
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