公开(公告)号：US09063548B1

公开(公告)日：2015-06-23

申请号：US13719279

申请日：2012-12-19

Applicant: Google Inc.

Inventor： David Ian Ferguson ,  Turgay Senlet

IPC: B60W40/00 ,  G05D1/02

CPC classification number: G05D1/0231 ,  B60W30/12 ,  B60W40/06 ,  B60W2420/52 ,  B60W2520/10 ,  G06K9/00798

Abstract: Methods and systems for use of previous detections to improve lane marker detection are described. A computing device may be configured to receive lane information generated at previous time periods, and relates to detection of a lane boundary on a road of travel of a vehicle. The computing device may be configured to estimate, based on the lane information, a projection of a respective lane boundary ahead of the vehicle on the road. The computing device may further be configured to determine, based on a speed of the vehicle and geometry of the road, a level of confidence for the projection of the respective lane boundary. The computing device may also be configured to provide instructions to control the vehicle based on the projection and the level of confidence.

Abstract translation: 描述了用于先前检测以改善车道标记检测的方法和系统。 计算设备可以被配置为接收在先前时间段生成的车道信息，并且涉及在车辆行驶道路上的车道边界的检测。 计算设备可以被配置为基于车道信息来估计在道路上的车辆前方的相应车道边界的投影。 计算设备还可以被配置为基于车辆的速度和道路的几何形状来确定投影相应车道边界的置信度。 计算设备还可以被配置为基于投影和置信水平来提供控制车辆的指令。

公开(公告)号：US09081385B1

公开(公告)日：2015-07-14

申请号：US13723358

申请日：2012-12-21

Applicant: Google Inc.

Inventor： David Ian Ferguson ,  Turgay Senlet

IPC: G01C22/00 ,  G05D1/02

CPC classification number: G05D1/0246 ,  G06K9/00798

Abstract: Methods and systems for lane boundary detection using images are described. A computing device may be configured to receive, from an image-capture device coupled to a vehicle, an image of a road of travel of the vehicle. The computing device may be configured to identify a pixel in the image based on an intensity of the pixel and a comparison of the intensity of the pixel to respective intensities of neighboring pixels. Based on the intensity of the pixel and the comparison, the computing device may be configured to determine a likelihood that the pixel belongs to a portion of the image depicting a lane marker on the road. Based at least on the likelihood, the computing device may be configured to and provide instructions to control the vehicle.

Abstract translation: 描述使用图像进行车道边界检测的方法和系统。 计算设备可以被配置为从耦合到车辆的图像捕获设备接收车辆行驶道路的图像。 计算设备可以被配置为基于像素的强度和像素的强度与相邻像素的相应强度的比较来识别图像中的像素。 基于像素的强度和比较，计算设备可以被配置为确定像素属于描绘道路上的车道标记的图像的一部分的可能性。 至少基于可能性，计算设备可以被配置为并提供控制车辆的指令。