公开(公告)号：US07684945B2

公开(公告)日：2010-03-23

申请号：US12226704

申请日：2007-04-19

申请人： Michael Walter ,  Matthias Zobel ,  Johannes Hoer

发明人： Michael Walter ,  Matthias Zobel ,  Johannes Hoer

IPC分类号： G01C17/38

CPC分类号： B60T8/172 ,  B60T2250/062 ,  G01C21/06 ,  G01C25/00

摘要： In a method for the calibration of a yaw rate measurement in a motor vehicle, the motor vehicle features at least one device for determining the yaw rate, a camera system which is oriented in the forward direction, and, if applicable, a steering angle sensor or a lateral acceleration sensor. At least one initial calibration is carried out at a standstill and at least one second calibration is carried out when the motor vehicle is moving. The second calibration uses image data of the camera system, which detects the environment in front of the motor vehicle, to predict the course of the roadway lane on which the vehicle is driving, from which the yaw rate is estimated.

摘要翻译： 在用于校准机动车辆中的偏航率测量的方法中，机动车辆具有用于确定横摆率的至少一个装置，朝向前方的方向的照相机系统，以及适用时的转向角传感器 或横向加速度传感器。 在停止时进行至少一次初始校准，并且当机动车辆移动时执行至少一次第二校准。 第二校准使用摄像机系统的图像数据，其检测机动车辆前方的环境，以预测车辆正在行驶的道路车道的路线，从其估计偏航率。

公开(公告)号：US20090089002A1

公开(公告)日：2009-04-02

申请号：US12226704

申请日：2007-04-19

申请人： Michael Walter ,  Matthias Zobel ,  Johannes Hoer

发明人： Michael Walter ,  Matthias Zobel ,  Johannes Hoer

IPC分类号： G01P21/00

CPC分类号： B60T8/172 ,  B60T2250/062 ,  G01C21/06 ,  G01C25/00

摘要： The invention relates to a method for the calibration of yaw rate measurement in a motor vehicle, wherein the motor vehicle features at least one device for determining the yaw rate, a camera system which is in the forward-position, and, if applicable, a steering angle sensor. At least one initial calibration is carried out at a standstill and at least one second calibration is carried out when the motor vehicle is moving.

摘要翻译： 本发明涉及一种用于校准机动车辆中的偏航率测量的方法，其中所述机动车辆具有至少一个用于确定横摆率的装置，处于向前位置的相机系统以及如果适用的话 转向角传感器 在停止时进行至少一次初始校准，并且当机动车辆移动时执行至少一次第二校准。

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：US08274562B2

公开(公告)日：2012-09-25

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： A camera for identifying soiling on a protective screen, such as a vehicle windscreen, is focused on a scene through the protective screen and can be used to identify soiling and for other applications, e.g. to identify driving lanes and/or objects in the scene. Soiling is identified merely by evaluating successively recorded image frames, and artificial reference frames or reference objects are not required. A prerequisite is that the relative speed vrel between the camera and at least one recorded object in the scene is not equal to zero and its trajectory in the image is predicted. By comparing the relevant image frame sections, possible soiling on subregions of the protective screen is identified.

摘要翻译： 用于在保护屏幕（例如车辆挡风玻璃）上识别污物的照相机通过保护屏幕聚焦在场景上，并且可以用于识别污物和用于其它应用，例如， 以识别场景中的驾驶车道和/或物体。 仅通过评估连续记录的图像帧来识别污染，并且不需要人造参考帧或参考对象。 先决条件是相机与场景中至少一个记录对象之间的相对速度vrel不等于零，并且其图像中的轨迹被预测。 通过比较相关的图像帧部分，识别出防护屏幕的子区域上的可能的污染。

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：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。