| 摘要 |
A distance between a road-vehicle 403 and a traffic-controlling object (e.g. a traffic light 407, signal or sign) is determined by capturing an image of the vehicles surroundings; determining an image dimension of a traffic-controlling object therein; and determining the distance based on the image dimension and a physical dimension of the object (e.g. using Thales theorem). The object may be classified and the distance calculated based on a standard dimension of the object class. A search region may be defined relative to the momentary path of the vehicle such that the region of interest includes positions where traffic controlling objects are expected. The distance may be added to a known offset between the traffic light and stop line 409 such that the vehicle may be guided to a halt at the stop line if the light is red. |
