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KR20140085848A - Detecting system of traffic signal based on vehicle position, and detecting method using the system - Google Patents

Detecting system of traffic signal based on vehicle position, and detecting method using the system Download PDF

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Publication number
KR20140085848A
KR20140085848A KR1020120155638A KR20120155638A KR20140085848A KR 20140085848 A KR20140085848 A KR 20140085848A KR 1020120155638 A KR1020120155638 A KR 1020120155638A KR 20120155638 A KR20120155638 A KR 20120155638A KR 20140085848 A KR20140085848 A KR 20140085848A
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South Korea
Prior art keywords
information
traffic
traffic signal
module
vehicle
Prior art date
Application number
KR1020120155638A
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Korean (ko)
Inventor
김정현
석수영
박용완
Original Assignee
재단법인 경북아이티융합 산업기술원
영남대학교 산학협력단
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Application filed by 재단법인 경북아이티융합 산업기술원, 영남대학교 산학협력단 filed Critical 재단법인 경북아이티융합 산업기술원
Priority to KR1020120155638A priority Critical patent/KR20140085848A/en
Publication of KR20140085848A publication Critical patent/KR20140085848A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/097—Supervising of traffic control systems, e.g. by giving an alarm if two crossing streets have green light simultaneously

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a vehicle location-based traffic signal detection system and a traffic signal detection method using the same. More specifically, the vehicle location-based traffic signal detection system comprises a photographing module (100) with a camera for obtaining image information around a road for a vehicle; a location information generating module (200) with a global positioning system (210) for obtaining current location information of the vehicle; a database storing information in traffic facilities; a traffic facilities information search module (400) searching for information of the traffic facilities existing in an area where the vehicle is placed based on the location information generated from the location information generating module (200) and receiving the information of the traffic facilities; a traffic signal recognition module (500) recognizing a traffic signal from the image information obtained from the photographing module (100) by using the information of the traffic facilities searched from the traffic facilities information search module (400); and an output module providing a recognized result of the traffic signal provided from the traffic signal recognition module (500) to a driver.

Description

TECHNICAL FIELD [0001] The present invention relates to a vehicle position-based traffic signal detection system and a traffic signal detection method using the same. BACKGROUND OF THE INVENTION [0002]

The present invention relates to a traffic signal detection system and method, and more particularly, to a traffic signal detection system and method for detecting a traffic signal based on a vehicle location, using a database storing information on traffic facilities, System and a traffic signal detection method using the same.

Generally, it is important to understand the surrounding situation, that is, the flow of the road, the nearby vehicle or the pedestrian, but it is very important to check the state of the traffic light indicating the direction of the vehicle. If the driver fails to recognize the traffic light accurately and quickly by selling a sight for a short time or carelessly, it can lead to traffic accidents, which can cause not only a car but also a big human injury.

Therefore, in recent years, a variety of researches have been conducted on a driving assist system that helps a driver to operate a vehicle. Particularly, research is being conducted to recognize a traffic signal such as a traffic light using an image obtained from a camera have. However, the conventional research has a problem that the recognition performance is poor in various environmental conditions. More specifically, FIG. 1 to FIG. 3 illustrate a case where a traffic signal is erroneously recognized in the conventional image data.

As shown in FIGS. 1 to 3, in the conventional system or method, when a traffic light is not found in an environment having a complicated background behind a traffic light, if a traffic light is set and recognized as an area of interest, The traffic information display panel does not know what information is actually needed, the traffic lights that are not to be actually recognized among the plurality of traffic lights are unknown, .

As a result, development of a traffic signal recognition system and method capable of correctly and quickly recognizing a traffic signal, that is, a traffic light, in various environmental conditions and solving the problems of the conventional system or method has become an important task. (See Korean Patent Laid-Open Publication No. 10-2007-0074913).

The present invention has been proposed in order to solve the above-mentioned problems of the previously proposed methods and includes a photographing module 100, a location information generating module 200, a database 300, a traffic facility information search module 400, By using the database 300 in which the information about the traffic facilities is stored based on the current position of the vehicle under running by including the signal recognition module 500 and the output module 600, That is, it is an object of the present invention to provide a vehicle location-based traffic signal detection system capable of accurately and quickly recognizing a traffic light.

The present invention further provides the vehicle location-based traffic signal detection system including the update module 700 so that the database 300 can be updated in real time according to the signal light recognition result to continuously improve the recognition performance For other purposes.

Further, according to the present invention, by using the database 300 in which information on the transportation facilities is stored, it is possible to display not only the traffic light recognition function in the domestic and the overseas but also the road information indicator and the road information It is another object of the present invention to provide a vehicle position-based traffic signal detection system which can easily change the specifications that can be recognized and detected.

According to an aspect of the present invention, there is provided a system for detecting a vehicle location based traffic signal,

A photographing module (100) having a camera for acquiring image information about a traveling road of a vehicle;

A position information generation module 200 having a satellite navigation device 210 for acquiring current position information of the vehicle;

A database 300 for storing information on transportation facilities;

A transportation facility information search module 400 for searching the database 300 for information on the transportation facilities existing in the area where the current vehicle is located based on the location information generated from the location information generation module 200 and receiving the information;

A traffic signal recognition module 500 for recognizing a traffic signal from the image information acquired from the photographing module 100 using the information of the traffic facility searched from the traffic facility information search module 400; And

And an output module 600 for providing the driver with recognition results of the traffic signal provided from the traffic signal recognition module 500.

Preferably,

And an update module 700 for performing an update of the database 300 according to the traffic signal recognition result provided by the traffic signal recognition module 500.

Preferably, the database (300)

Traffic light location information, traffic light color arrangement information, sign location information, and lane information.

According to another aspect of the present invention, there is provided a vehicle position based traffic signal detection method,

(1) storing information on a transportation facility in a database;

(2) acquiring image information about the periphery of the vehicle driving road using a camera;

(3) acquiring current position information of the vehicle using a satellite navigation device;

(4) searching the database for information on the traffic facilities existing in the area where the current vehicle is located based on the obtained location information, and receiving the information;

(5) recognizing a traffic signal from the acquired image information using the information of the traffic facility; And

(6) providing the driver with the recognition result of the traffic signal.

Preferably,

(7) performing the update of the database according to the traffic signal recognition result.

Preferably, in said step (1)

The information about the traffic facilities may include a traffic light location, a traffic light color arrangement, a sign location, and lane information.

According to the vehicle position based traffic signal detection system proposed in the present invention, the photographing module 100, the location information generation module 200, the database 300, the traffic facility information search module 400, the traffic signal recognition module 500 ) And the output module 600, the database 300 storing information on the traffic facilities based on the current position of the vehicle under running is used, so that traffic signals, i.e., traffic lights, And it is possible to recognize quickly.

In addition, according to the present invention, it is possible to continuously improve the recognition performance by updating the database 300 in real time according to the signal light recognition result, by further including the update module 700. [

Furthermore, by using the database 300 in which the information on the traffic facilities is stored, the traffic information recognition function, as well as the road information indicator and the road information-related big data, can be obtained in accordance with the type of information stored in the date base 300 It is easy to change the specifications that can be recognized and detected.

Figs. 1 to 3 illustrate a case in which a traffic signal is erroneously recognized from acquired image data. Fig.
4 is a block diagram showing a configuration of a vehicle location-based traffic signal detection system 10 according to an embodiment of the present invention.
5 is a flowchart of a vehicle position based traffic signal detection method according to an embodiment of the present invention.
6 is a flowchart illustrating a method of detecting a vehicle location-based traffic signal according to an exemplary embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order that those skilled in the art can easily carry out the present invention. In the following detailed description of the preferred embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In the drawings, like reference numerals are used throughout the drawings.

In addition, in the entire specification, when a part is referred to as being 'connected' to another part, it may be referred to as 'indirectly connected' not only with 'directly connected' . Also, to "include" an element means that it may include other elements, rather than excluding other elements, unless specifically stated otherwise.

4 is a block diagram showing the configuration of a vehicle location-based traffic signal detection system 10 according to an embodiment of the present invention. 4, the vehicle location-based traffic signal detection system 10 according to an exemplary embodiment of the present invention includes an imaging module 100, a location information generation module 200, a database 300, Module 400, a traffic signal recognition module 500, and an output module 600, and may further include an update module 700. [

The photographing module 100 is a structure for acquiring image information about the vicinity of a traveling road of a vehicle using the vehicle location-based traffic signal detecting system 10 according to an embodiment of the present invention. More specifically, Thereby obtaining image information about traffic lights, traffic signs, and other facilities located in the vicinity of the vehicle. The camera provided in the photographing module 100 preferably uses a stereo camera so as to obtain more stereoscopic image information about the surrounding area, but the present invention is not limited thereto.

The location information generation module 200 is a structure for generating information on the current position of the traveling vehicle. More specifically, as shown in FIG. 4, a GPS (Global Positioning System) 210 So that the current position of the vehicle can be grasped. That is, the GPS (Global Positioning System) 210 is a method for determining the position of a satellite on a trajectory in real time, receiving the time of arrival to the GPS receiver and a satellite signal, and determining the position through triangulation, The current position of the vehicle can be grasped by receiving information indicating latitude, longitude, altitude, speed, etc. from the satellite.

The database 300 is a structure for storing information in a traffic facility. More specifically, the database 300 includes traffic light location information, traffic light color arrangement information, signpost location information and lane information, road marking information, Limited traffic signal) information, and the like. The traffic light position information may include information on the installation position of the longitude, the latitude or the traffic light, for example, the distance and the height at the right and left road ends, and the traffic light color arrangement information may include information such as red / green, red / / Yellow / green arrow, and the like. In addition, the database 300 may further include information on a background around a traffic light or information on location of a traffic light detection area, location information of a vehicle, or the like in image information that may cause a false recognition.

Meanwhile, the vehicle location-based traffic signal detection system 10 according to an embodiment of the present invention recognizes a traffic signal using information stored in the database 300. The system detects traffic signals based on information stored in the database 300, It is also possible to form a road information indicator or big data related to road information, so that it is very easy to change specifications that can be recognized and detected.

The traffic facility information search module 400 is configured to receive only information on necessary traffic facilities from information on the traffic facilities stored in the database 300 and receive the information. More specifically, when a vehicle enters a certain area, the traffic facility information search module 400 searches the traffic information of all the traffic (e.g., traffic) in the zone where the current vehicle is located based on the position information generated from the position information generation module 200 The information of the facilities is retrieved from the database 300 and the corresponding information is received.

The traffic signal recognition module 500 is configured to recognize the traffic signal from the image information obtained from the photographing module 100. More specifically, the traffic signal recognition module 500 uses the information of the traffic facility searched from the traffic facility information search module 400 The traffic signal can be recognized from the image information obtained from the photographing module 100. [ In other words, traffic facility information stored in the database 300 and retrieved and transmitted from the traffic facility information retrieval module 400, such as traffic signal location information, traffic light color arrangement information, and erroneously detectable background information, Even if there are various environmental conditions in the image information obtained from the photographing module 100, the traffic signal, that is, the traffic light, can be accurately detected.

The output module 600 is a structure for providing the driver with the recognition result of the traffic signal provided from the traffic signal recognition module 500. The output module 600 is preferably implemented as a display for outputting the recognition result of the traffic signal to the driver as time information. However, the present invention is not limited thereto, As shown in FIG.

The update module 700 performs updating of the database 300 according to the traffic signal recognition result provided by the traffic signal recognition module 500. [ That is, when a traffic signal, more specifically, a traffic light is successfully detected through the traffic signal recognition module 500, not only the recognition result but also the location of the signal light region detected in the image and the vehicle location information obtained at this time can be updated. The recognition performance can be continuously improved. Meanwhile, the updated information may be collectively updated in the database 300, and updated information may be shared with other users.

FIG. 5 is a flowchart illustrating a method of detecting a vehicle location-based traffic signal according to an exemplary embodiment of the present invention, and FIG. 6 is a flowchart illustrating a method of detecting a vehicle location-based traffic signal according to an exemplary embodiment of the present invention. 5 and 6, a vehicle location-based traffic signal detecting method according to an embodiment of the present invention includes storing information on a traffic facility in a database (S100) (S300) of acquiring current position information of the vehicle using the satellite navigation apparatus (S300), acquiring image information about the surrounding (S200), acquiring current position information of the vehicle using the satellite navigation apparatus (S500) of recognizing a traffic signal in the image information obtained by using the information of the transmitted traffic facility (S500), and providing the recognition result of the traffic signal to the driver (S600), and performing the update of the database according to the recognition result of the traffic signal (S700).

The present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics of the invention.

10: vehicle position based traffic signal detection system according to an embodiment of the present invention
100: photographing module 200: position information generating module
210: Satellite navigation device 300: Database
400: Traffic facility information search module 500: Traffic signal recognition module
600: output module 700: update module
S100: Step of storing information on the transportation facilities in the database
S200: acquiring image information about the periphery of the vehicle driving road using a camera
S300: acquiring the current position information of the vehicle using the satellite navigation apparatus
S400: searching the database for information on the traffic facilities existing in the area where the current vehicle is located based on the obtained location information, and receiving the information
S500: Recognizing the traffic signal from the image information obtained using the information of the transmitted traffic facility
S600: Providing the driver with the recognition result of the traffic signal
S700: Performing update of the database according to the result of the traffic signal recognition

Claims (6)

A photographing module (100) having a camera for acquiring image information about a traveling road of a vehicle;
A position information generation module 200 having a satellite navigation device 210 for acquiring current position information of the vehicle;
A database 300 for storing information on transportation facilities;
A transportation facility information search module 400 for searching the database 300 for information on the transportation facilities existing in the area where the current vehicle is located based on the location information generated from the location information generation module 200 and receiving the information;
A traffic signal recognition module 500 for recognizing a traffic signal from the image information acquired from the photographing module 100 using the information of the traffic facility searched from the traffic facility information search module 400; And
And an output module (600) for providing the driver with recognition results of the traffic signal provided from the traffic signal recognition module (500).
The method according to claim 1,
Further comprising an update module (700) for performing an update of the database (300) according to the traffic signal recognition result provided by the traffic signal recognition module (500).
The method of claim 1, wherein the database (300)
The traffic light position information, the traffic light color arrangement information, the sign position information, and the lane information.
(1) storing information on a transportation facility in a database;
(2) acquiring image information about the periphery of the vehicle driving road using a camera;
(3) acquiring current position information of the vehicle using a satellite navigation device;
(4) searching the database for information on the traffic facilities existing in the area where the current vehicle is located based on the obtained location information, and receiving the information;
(5) recognizing a traffic signal from the acquired image information using the information of the traffic facility; And
(6) providing a recognition result of the traffic signal to the driver.
5. The method of claim 4,
(7) performing the update of the database in accordance with the recognition result of the traffic signal.
5. The method according to claim 4, wherein in the step (1)
Wherein the information on the traffic facility includes a traffic light location, a traffic light color arrangement, a sign location, and lane information.
KR1020120155638A 2012-12-28 2012-12-28 Detecting system of traffic signal based on vehicle position, and detecting method using the system KR20140085848A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160149564A (en) * 2015-06-18 2016-12-28 현대자동차주식회사 Apparatus and method for recognizing traffic mark based on image
CN106652527A (en) * 2017-02-10 2017-05-10 青岛海信网络科技股份有限公司 Fault diagnosis method and system of traffic signal controller
KR20190064220A (en) * 2017-11-30 2019-06-10 현대엠엔소프트 주식회사 Traffic light location storage apparatus and method
CN110853180A (en) * 2019-10-21 2020-02-28 中国第一汽车股份有限公司 Driving recording method and system for recognizing change of traffic sign board
CN112384760A (en) * 2018-05-15 2021-02-19 御眼视觉技术有限公司 System and method for autonomous vehicle navigation

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160149564A (en) * 2015-06-18 2016-12-28 현대자동차주식회사 Apparatus and method for recognizing traffic mark based on image
CN106652527A (en) * 2017-02-10 2017-05-10 青岛海信网络科技股份有限公司 Fault diagnosis method and system of traffic signal controller
CN106652527B (en) * 2017-02-10 2019-09-06 青岛海信网络科技股份有限公司 A kind of method for diagnosing faults and system of traffic signal control
KR20190064220A (en) * 2017-11-30 2019-06-10 현대엠엔소프트 주식회사 Traffic light location storage apparatus and method
CN112384760A (en) * 2018-05-15 2021-02-19 御眼视觉技术有限公司 System and method for autonomous vehicle navigation
CN110853180A (en) * 2019-10-21 2020-02-28 中国第一汽车股份有限公司 Driving recording method and system for recognizing change of traffic sign board
CN110853180B (en) * 2019-10-21 2021-11-09 中国第一汽车股份有限公司 Driving recording method and system for recognizing change of traffic sign board

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