US 11,852,497 B2
Method for detecting false positives of an image-processing device of a camera
Thibault Rohrbach, Boulogne Billancourt (FR)
Assigned to Renault s.a.s., Boulogne-Billancourt (FR); and NISSAN MOTOR CO., LTD., Yokohama (JP)
Appl. No. 17/273,605
Filed by Renault s.a.s., Boulogne-Billancourt (FR); and NISSAN MOTOR CO., LTD., Yokohama (JP)
PCT Filed Jul. 8, 2019, PCT No. PCT/EP2019/068261
§ 371(c)(1), (2) Date Mar. 4, 2021,
PCT Pub. No. WO2020/048659, PCT Pub. Date Mar. 12, 2020.
Claims priority of application No. 18 70996 (FR), filed on Sep. 6, 2018.
Prior Publication US 2021/0256275 A1, Aug. 19, 2021
Int. Cl. G06K 9/00 (2022.01); G01C 21/36 (2006.01); B60W 30/12 (2020.01); B60W 50/14 (2020.01); G06V 20/56 (2022.01); G06V 10/98 (2022.01)
CPC G01C 21/3602 (2013.01) [B60W 30/12 (2013.01); B60W 50/14 (2013.01); G06V 10/98 (2022.01); G06V 20/588 (2022.01); B60W 2420/42 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for detecting false positives of an image-processing device of a camera located on-board a vehicle, said image-processing device being configured to deliver modelling data of a marking line of a lane of the vehicle in a frame of reference that is tied to the vehicle, the method for detecting false positives comprising:
determining, from the modelling data of the marking line, a first distance of the vehicle to the marking line at a first instant in time;
determining, from the modelling data of the marking line, a second distance of the vehicle to the marking line at a second instant in time;
computing an initial discontinuity, the initial discontinuity being equal to an absolute value of the difference between the first distance and the second distance; and
detecting a false initial-discontinuity positive, in which the initial discontinuity is compared to a preset low initial threshold, a false initial-discontinuity positive being detected when the initial discontinuity is larger than the low initial threshold, the low initial threshold being equal to a value comprised between 0.1 meters and 0.3 meters, the time difference between the first instant and the second instant being smaller than or equal to the quotient of the low initial threshold divided by a lateral speed substantially equal to two meters per second, the time difference being larger than one millisecond.