公开(公告)号：US09208388B2

公开(公告)日：2015-12-08

申请号：US13390543

申请日：2010-09-24

申请人： Matthias Zobel

发明人： Matthias Zobel

IPC分类号： G08G1/16 ,  G06K9/00 ,  G08G1/0962

CPC分类号： G06K9/00798 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/167

摘要： The invention relates to a driver assistance system for a motor vehicle including a camera for detecting roadway marking. According to the invention a device is provided for detecting a parked or stopped mode of the vehicle. Furthermore, a control device receives image data of the surroundings of the vehicle from the camera in the parked or stopped mode and analyzes the image data with respect to roadway markings which indicate no-parking and/or no-stopping spots, wherein the control device controls a signaling device such that the signaling device outputs a warning message in the event that a roadway marking indicating a no-parking spot or a no-stopping spot is detected in the surroundings of the stopped or parked vehicle.

摘要翻译： 本发明涉及一种用于机动车辆的驾驶员辅助系统，其包括用于检测道路标记的照相机。 根据本发明，提供一种用于检测车辆的停放或停止模式的装置。 此外，控制装置在停放或停止模式下从摄像机接收车辆周边的图像数据，并且分析关于指示停车和/或停止点的道路标记的图像数据，其中控制装置 控制信令装置，使得信号装置在停止或停放的车辆的周围检测到指示停车点或不停止点的道路标记的情况下输出警告消息。

公开(公告)号：US20120245832A1

公开(公告)日：2012-09-27

申请号：US13514189

申请日：2010-12-07

申请人： Urban Meis ,  Christoph Wiedemann ,  Wladimir Klein ,  Axel Roth ,  Mari Joan Hilario ,  Steen Kristensen ,  Matthias Zobel

发明人： Urban Meis ,  Christoph Wiedemann ,  Wladimir Klein ,  Axel Roth ,  Mari Joan Hilario ,  Steen Kristensen ,  Matthias Zobel

IPC分类号： G08G1/0967

CPC分类号： G08G1/09623 ,  G06K9/00798 ,  G06K9/00818 ,  G06K2209/27

摘要： The invention relates to a method for supporting the driver of a road-bound vehicle in guiding the vehicle, in which the vehicle environment, in particular the markings that delimit the lanes of a road and traffic signs, are detected by means of an environment sensor system (1) and evaluated by means of an image evaluation system. According to the invention, the image data of the environment sensor system (1) are evaluated with regard to lane-relevant information, wherein the detected lane-relevant information is evaluated by means of data that are stored in a memory device (2a) and that indicate country-specific lane markings, and a first country estimation signal (S1) corresponding to the current location of the vehicle is generated, and/or the image data of the environment sensor system (1) are evaluated with regard to traffic-sign-relevant information, wherein the detected traffic-sign-relevant information is evaluated by means of data that are stored in a memory device (3a) and that indicate country-specific traffic signs, and a country estimation signal (S2) corresponding to the current location of the vehicle is generated, and/or the image data of the environment sensor system (1) are evaluated with regard to the recognition of license plates of motor vehicles (4) and a country estimation signal (S3) is generated by means of an analysis by frequency. A country signal (L) that indicates the current location of the vehicle is generated from one country estimation signal (S1, S2, S3) or from several country estimation signals (S1, S2, S3) by means of a microprocessor (5), wherein a driver information device (6) for outputting country-specific information regarding the longitudinal and transverse guidance of the vehicle is activated by means of the country signal (L) and/or the country signal (L) is fed to at least one driver assistance system (7) that supports the longitudinal and/or transverse guidance of the vehicle. The invention further relates to a device for performing the inventive method.

公开(公告)号：US20120128210A1

公开(公告)日：2012-05-24

申请号：US13388095

申请日：2010-09-24

申请人： Matthias Zobel

发明人： Matthias Zobel

IPC分类号： G06K9/62

CPC分类号： G06K9/00818 ,  G06K9/42

摘要： The invention relates to a method for traffic sign recognition that analyzes and classifies the image data of a sensor (1) in an information processing unit, wherein at least one image detail (10) that sufficiently probably contains an object that is a traffic sign belonging to a particular class of traffic signs is determined on the basis of the results of an analysis in a first procedure step, and this image detail (10) is submitted, in a second procedure step, to a classificator (5) that recognizes a traffic sign belonging to the particular class on the basis of the selected image detail (10) by means of a learning-based algorithm; according to the invention a class-specific feature (11) is identified in the image detail (10) in the first procedure step, a modified image detail (12) with the class-specific feature (11) in the image center thereof is generated, wherein the image regions (13, 14, 15) created by shifting the class-specific feature (11) to the image center are padded with suitable pixels, and the modified image detail (12) is submitted to the classificator (5).

摘要翻译： 本发明涉及一种用于交通标志识别的方法，其分析和分类信息处理单元中的传感器（1）的图像数据，其中至少一个图像细节（10）可充分地包含作为交通标志属性的对象 基于第一过程步骤中的分析结果来确定特定类别的交通标志，并且该图像细节（10）在第二过程步骤中被提交给识别交通的分类器（5） 基于基于学习的算法，基于所选择的图像细节（10）属于所述特定类的符号; 根据本发明，在第一过程步骤中，在图像细节（10）中识别类特定特征（11），生成在图像中心具有类别特征（11）的修改图像细节（12） ，其中通过将所述类别特征（11）移动到图像中心而创建的图像区域（13,14,15）用适当的像素填充，并且所述修改的图像细节（12）被提交给所述分类器（5）。

公开(公告)号：US09257045B2

公开(公告)日：2016-02-09

申请号：US14234485

申请日：2012-07-06

申请人： Matthias Zobel ,  Stefan Heinrich ,  Wladimir Klein

发明人： Matthias Zobel ,  Stefan Heinrich ,  Wladimir Klein

IPC分类号： B60Q1/00 ,  G08G1/16 ,  G06K9/00

CPC分类号： G08G1/167 ,  G06K9/00798

摘要： A method of detecting a roadway edge and/or a traffic lane on a roadway includes: acquiring at least one image of surroundings of a vehicle with a camera; detecting a driving corridor from the at least one image; and performing a structure detection on the at least one image while taking the determined driving corridor into consideration in order to determine a course of a roadway edge from the at least one image.

摘要翻译： 一种在道路上检测道路边缘和/或行车道的方法包括：用摄像机获取车辆的周围环境的至少一个图像; 从所述至少一个图像检测驾驶走廊; 并且在考虑确定的驾驶走廊的同时对所述至少一个图像执行结构检测，以便从所述至少一个图像确定道路边缘的路线。

公开(公告)号：US20090046148A1

公开(公告)日：2009-02-19

申请号：US11989349

申请日：2006-02-21

申请人： Michael Walter ,  Matthias Zobel

发明人： Michael Walter ,  Matthias Zobel

IPC分类号： H04N7/18

CPC分类号： B60S1/0822 ,  B60S1/0844 ,  G01N2021/8887 ,  G06K9/00791 ,  G06K9/036

摘要： Camera for identifying soiling on a protective screen. The camera is focused on a scene behind the protective screen and can be used to identify soiling and for other applications, e.g. to identify driving lanes and/or to identify objects. Soiling is identified merely by evaluating frames recorded in succession, artificial reference frames or reference objects are not required. A prerequisite for a successful measurement is that the relative speed vrel of the camera and of at least one recorded object in the surroundings is not equal to zero and its trajectory is predicted in the depiction. By comparing the relevant frame sections, possible soiling on subregions of the protective screen is identified.

摘要翻译： 用于识别污染在防护屏幕上的相机。 相机聚焦在保护屏幕后面的场景中，并且可以用于识别污物和其他应用，例如。 识别驾驶车道和/或识别物体。 仅通过评估连续记录的帧来识别污染，不需要人造参考帧或参考对象。 成功测量的先决条件是摄像机和周围环境中至少一个记录物体的相对速度vrel不等于零，并且在描绘中预测其轨迹。 通过比较相关框架部分，识别出防护屏幕的子区域上的可能污染。

公开(公告)号：US09436879B2

公开(公告)日：2016-09-06

申请号：US14126098

申请日：2012-07-10

申请人： Matthias Zobel

发明人： Matthias Zobel

IPC分类号： G06K9/00 ,  G08G1/0962

CPC分类号： G06K9/00818 ,  G06K9/00536 ,  G08G1/09623

摘要： For recognizing traffic signs that include a main sign and an associated additional sign, a method involves using a camera to record image data of an environment outside a vehicle, evaluating the image data to detect the presence and the class of the main sign and to detect the presence and partially classify the content of the additional sign by pattern recognition, performing text recognition to read and interpret text of the additional sign, and comparing the recognized text with actual current situational information to determine whether the main sign is currently applicable.

摘要翻译： 为了识别包括主标志和相关附加标志的交通标志，一种方法涉及使用摄像机来记录车辆外部的环境的图像数据，评估图像数据以检测主符号的存在和类别并检测 存在并通过模式识别对附加符号的内容进行部分分类，执行文本识别以读取和解释附加符号的文本，并将识别的文本与实际的当前情境信息进行比较，以确定主符号当前是否适用。

公开(公告)号：US09418303B2

公开(公告)日：2016-08-16

申请号：US13388095

申请日：2010-09-24

申请人： Matthias Zobel

发明人： Matthias Zobel

IPC分类号： G06K9/00 ,  G06K9/42

CPC分类号： G06K9/00818 ,  G06K9/42

摘要： A traffic sign recognition method analyzes and classifies image data of a sensor in an information processing unit. The image data is analyzed to select an image portion judged to contain a traffic sign of a particular sign class. A class-specific feature is identified in the image portion. A modified image portion is created, in which the class-specific feature has been shifted to a center of the modified image portion. Then the modified image portion is evaluated by a learning-based algorithm to recognize the traffic sign of the particular sign class.

摘要翻译： 交通标志识别方法在信息处理单元中分析和分类传感器的图像数据。 分析图像数据以选择被判断为包含特定符号类别的交通标志的图像部分。 在图像部分中识别类别特征。 创建修改后的图像部分，其中类别特征已被移位到修改图像部分的中心。 然后，通过基于学习的算法来评估修改的图像部分以识别特定符号类的交通标志。

公开(公告)号：US08953842B2

公开(公告)日：2015-02-10

申请号：US13696851

申请日：2011-04-28

申请人： Matthias Zobel

发明人： Matthias Zobel

IPC分类号： G06K9/00 ,  G06K9/50

CPC分类号： G06K9/50 ,  G06K9/00818

摘要： For recognizing road signs, a camera captures image data of the surroundings of a vehicle. The image data are analyzed to determine a region that contains a potential road sign. The image region is evaluated by a first classification unit to identify a road sign belonging to a particular class based on a recognized class-specific feature. Then, the brightness or color intensity of at least a portion of the road sign is analyzed along radially extending scanning beams, to determine potential contour points of an information-bearing part of the road sign, which is then extracted and semantically interpreted in a second classification unit to determine the information content thereof.

摘要翻译： 为了识别路标，摄像机捕获车辆周围的图像数据。 分析图像数据以确定包含潜在路标的区域。 通过第一分类单元评估图像区域，以基于识别的类别特征来识别属于特定类别的道路标志。 然后，沿着径向延伸的扫描光束分析道路标志的至少一部分的亮度或颜色强度，以确定道路标志的信息承载部分的潜在轮廓点，然后将其提取并语义地解释为第二 分类单位确定其信息内容。

公开(公告)号：US20140119605A1

公开(公告)日：2014-05-01

申请号：US14126098

申请日：2012-07-10

申请人： Matthias Zobel

发明人： Matthias Zobel

IPC分类号： G06K9/00

CPC分类号： G06K9/00818 ,  G06K9/00536 ,  G08G1/09623

摘要： The invention relates to a method for the recognition of traffic signs that at least include one main sign and one assigned additional sign, and to a respective device. A method according to the invention comprises the following steps:A camera records at least one image of the vehicle environment.The presence and class of one or several main traffic signs is recognized from the data of the image recorded by the camera.The presence of one or several additional sign(s) assigned to the main sign is recognized.The additional sign(s) is/are classified to the extent possible using a pattern recognition method.If classification was not or not completely possible using the pattern recognition method, a text recognition method reads and interprets the text of the additional sign to determine its information content.In a further step, a relevance assessment is performed in which the recognized text is compared with situational information such as time of day, weekday, distance the vehicle has traveled since passing the traffic sign and additional sign that were recognized, weight of the vehicle, whether the road is wet, outside temperature, position of the lane the vehicle is in, activation of the turn signal and/or a recommended turn from an active route planning feature.

摘要翻译： 本发明涉及用于识别交通标志的方法，所述交通标志至少包括一个主要标志和一个分配的附加标志，以及相应的装置。 根据本发明的方法包括以下步骤：摄像机记录车辆环境的至少一个图像。 根据由相​​机记录的图像的数据识别一个或多个主要交通标志的存在和等级。 识别分配给主符号的一个或几个附加符号的存在。 使用模式识别方法可以将可能的附加符号分类。 如果使用模式识别方法不是或不完全分类，则文本识别方法读取和解释附加符号的文本以确定其信息内容。 在进一步的步骤中，进行相关性评估，其中将识别的文本与情境信息进行比较，例如一天中的时间，工作日，车辆从通过交通标志以来已经行进的距离以及被识别的附加符号，车辆的重量， 道路是否潮湿，室外温度，车辆所在车道的位置，转弯信号的启动和/或主动路线规划功能的推荐转弯。

公开(公告)号：US08639433B2

公开(公告)日：2014-01-28

申请号：US13514189

申请日：2010-12-07

申请人： Urban Meis ,  Christoph Wiedemann ,  Wladimir Klein ,  Axel Roth ,  Mari Joan Hilario ,  Steen Kristensen ,  Matthias Zobel

发明人： Urban Meis ,  Christoph Wiedemann ,  Wladimir Klein ,  Axel Roth ,  Mari Joan Hilario ,  Steen Kristensen ,  Matthias Zobel

IPC分类号： G06F19/00

CPC分类号： G08G1/09623 ,  G06K9/00798 ,  G06K9/00818 ,  G06K2209/27

摘要： To support a driver in guiding a road vehicle, the lane markings of the road, traffic signs and/or vehicle license plates are detected by an environment sensor system, which produces corresponding image data, which is evaluated by an image evaluation system by comparison to stored country-specific data. From that evaluation, at least one country estimation signal is generated in an image processor, and then a country signal indicating the current location of the vehicle is generated from the at least one country estimation signal by a microprocessor. The country signal correspondingly activates a driver information device outputting country-specific information for guidance of the vehicle and/or the country signal is fed to a driver assistance system that supports the guidance of the vehicle.

摘要翻译： 为了支持驾驶员引导道路车辆，道路，交通标志牌和/或车牌照的道路标记由环境传感器系统检测到，该环境传感器系统产生相应的图像数据，其通过图像评估系统与 存储的国家/地区数据。 从该评估中，在图像处理器中生成至少一个国家估计信号，然后由微处理器从至少一个国家估计信号产生指示车辆的当前位置的国家信号。 国家信号相应地激活输出用于引导车辆的国家特定信息的驾驶员信息装置和/或国家信号被馈送到支持车辆引导的驾驶员辅助系统。