Traffic line detection method and apparatus using movement path of moving object, and computer readable storage medium storing instructions to perform traffic line detection method
AssigneeVueron Technology Co., Ltd
InventorsJae Wook Hwang, Chang Hwan Chun
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Abstract
A traffic line detection method includes obtaining a plurality of points at which at least one moving object is detected in a plurality of image frames, detecting a traffic lane using the plurality of points, and detecting a traffic line using the traffic lane.
Claims18
A traffic line detection method of an autonomous driving vehicle for collision avoidance to be performed by a traffic line detection apparatus of the autonomous driving vehicle including a memory storing one or more instructions and a processor executing the one or more instructions stored in the memory, the method comprising:
- obtaining a plurality of points at which at least one moving object is detected in a plurality of image frames generated by an imaging device;
- detecting, using a moving object detection device, a traffic lane based on the plurality of points,
- wherein the detecting the traffic lane comprises:
- determining a first traffic lane from a movement path estimated using the plurality of points;
- and
- estimating a second traffic lane by moving the first traffic lane in parallel;
- and
- detecting a traffic line using the traffic lane;
- and
- prompting the autonomous driving vehicle, upon determination of lane change by the at least one moving object, to avoid a collision with the at least one moving object by accelerating, decelerating or changing a lane of the autonomous driving vehicle across the traffic line.
A traffic line detection apparatus of an autonomous driving vehicle for collision avoidance, the apparatus comprising:
- a memory configured to store one or more instructions and a plurality of points at which at least one moving object is detected in a plurality of image frames generated by an imaging device;
- and
- a processor executing the one or more instructions stored in the memory, wherein the instructions, when executed by the processor, cause the processor to:
- detect, using a moving object detection device, a traffic lane based on the plurality of points,
- wherein the traffic lane is detected by:
- determining a first traffic lane from a movement path estimated using the plurality of points, and
- estimating a second traffic lane by moving the first traffic lane in parallel, and
- detect a traffic line using the traffic lane;
- and
- prompt the autonomous driving vehicle, upon determination of lane change by the at least one moving object, to avoid a collision with the at least one moving object by accelerating, decelerating or changing a lane of the autonomous driving vehicle across the traffic line.
A non-transitory computer readable storage medium storing computer executable instructions, wherein the instructions, when executed by a processor, cause the processor to perform a traffic line detection method of an autonomous driving vehicle for collision avoidance, the method comprising:
- obtaining a plurality of points at which at least one moving object is detected in a plurality of image frames generated by an imaging device;
- detecting, using a moving object detection device, a traffic lane based on the plurality of points,
- wherein the detecting the traffic lane comprises:
- determining a first traffic lane from a movement path estimated using the plurality of points;
- and
- estimating a second traffic lane by moving the first traffic lane in parallel;
- and
- detecting a traffic line using the traffic lane;
- and
- prompting the autonomous driving vehicle, upon determination of lane change by the at least one moving object, to avoid a collision with the at least one moving object by accelerating, decelerating or changing a lane of the autonomous driving vehicle across the traffic line.
Dependencies are inferred from the claim text.