WO2014017518A1

WO2014017518A1 - Three-dimensional object detection device and three-dimensional object detection method

Info

Publication number: WO2014017518A1
Application number: PCT/JP2013/070007
Authority: WO
Inventors: 修深田; 早川　泰久
Original assignee: 日産自動車株式会社
Priority date: 2012-07-27
Filing date: 2013-07-24
Publication date: 2014-01-30
Also published as: JP6003987B2; JPWO2014017518A1

Abstract

The present invention is provided with: three-dimensional object detection units (33, 37) that detect three-dimensional objects on the basis of image information rearwards from a vehicle from a camera (10); a still object determination unit (38) that determines whether or not a three-dimensional object is a still object (Q1) on the basis of the integration value of pixels having a brightness difference of at least a predetermined threshold extracted from a difference image between a current captured image and a past captured image that are not offset (not positioned) and pixel quantity (edge quantity) extracted from a difference image between the current captured image and the past captured image that are offset (positioned) on the basis of captured images of different times; and a control unit (39) that controls each process. The control unit (39) suppresses the determination that a detected three-dimensional object is another vehicle (VX) when it is determined that the three-dimensional object detected by the still object determination unit (38) is a still object (Q1).

Description

Three-dimensional object detection apparatus and three-dimensional object detection method

The present invention relates to a three-dimensional object detection device and a three-dimensional object detection method.
This application claims priority based on Japanese Patent Application No. 2012-166499 filed on Jul. 27, 2012. For designated countries that are allowed to be incorporated by reference, The contents described in the application are incorporated into the present application by reference and made a part of the description of the present application.

A detection device that includes a camera that captures the side of a vehicle and detects a stationary three-dimensional object such as an off-road implantation by matching an image captured by the camera with a previously stored pattern is known ( Patent Document 1).

JP 2006-315482 A

However, according to the conventional technology, for example, in order to detect stationary three-dimensional objects such as planting of grass existing outside the road and snow mixed with mud, various patterns of various planting and snow Must be created and stored, and at the time of determination, each of these many patterns must be matched with the captured image, resulting in a large processing load.

The problem to be solved by the present invention is to falsely detect an image of a stationary solid object outside the road shoulder or outside of the road reflected in the captured image as an image of another vehicle traveling in the adjacent lane adjacent to the traveling lane of the host vehicle. It is providing the solid-object detection apparatus and solid-object detection method which can detect other vehicles which drive | work an adjacent lane with high precision.

According to the present invention, the first integrated value of the first luminance distribution information generated by counting the number of pixels in which the luminance difference indicates a predetermined difference on the difference image of the images at different times that have been aligned and performing frequency distribution is obtained. The second integrated value of the second luminance distribution information generated by frequency distribution by counting the number of pixels in which the luminance difference shows a predetermined difference on the difference image of the images at different times without obtaining and positioning, 2 When the evaluation value according to the number of times that the integrated value is determined to be greater than the first integrated value is equal to or greater than a predetermined evaluation threshold, the detected three-dimensional object is determined to be a stationary object, thereby Solve the problem.

According to the present invention, it is possible to determine whether a three-dimensional object is a moving object or a stationary object based on features on the image extracted from images captured at different timings. As a result, it is possible to provide a three-dimensional object detection device and a three-dimensional object detection method that detect other vehicles traveling in the adjacent lane adjacent to the traveling lane of the host vehicle with high accuracy.

1 is a schematic configuration diagram of a vehicle according to an embodiment to which a three-dimensional object detection device of the present invention is applied. It is a top view (three-dimensional object detection by difference waveform information) which shows the driving state of the vehicle of FIG. It is a block diagram which shows the detail of the computer of FIG. 4A and 4B are diagrams for explaining the outline of processing of the alignment unit in FIG. 3, in which FIG. 3A is a plan view showing a moving state of the vehicle, and FIG. It is the schematic which shows the mode of the production | generation of the difference waveform by the solid-object detection part of FIG. It is a figure which shows the small area | region divided | segmented by the solid-object detection part of FIG. It is a figure which shows an example of the histogram obtained by the solid-object detection part of FIG. It is a figure which shows the weighting by the solid-object detection part of FIG. It is a figure which shows the process by the smear detection part of FIG. 3, and the calculation process of the difference waveform by it. It is a figure which shows the other example of the histogram obtained by the solid-object detection part of FIG. FIG. 4 is a flowchart (No. 1) illustrating a three-dimensional object detection method using differential waveform information executed by the viewpoint conversion unit, the alignment unit, the smear detection unit, and the three-dimensional object detection unit of FIG. 3. FIG. 4 is a flowchart (part 2) illustrating a three-dimensional object detection method using differential waveform information executed by the viewpoint conversion unit, the alignment unit, the smear detection unit, and the three-dimensional object detection unit of FIG. 3. It is a figure (three-dimensional object detection by edge information) which shows the running state of vehicles of Drawing 1, (a) is a top view showing the positional relationship of a detection field etc., and (b) shows the positional relationship of a detection field etc. in real space. It is a perspective view shown. 4A and 4B are diagrams for explaining the operation of the luminance difference calculation unit in FIG. 3, in which FIG. 3A is a diagram illustrating a positional relationship among attention lines, reference lines, attention points, and reference points in a bird's-eye view image, and FIG. It is a figure which shows the positional relationship of the attention line, reference line, attention point, and reference point. 4A and 4B are diagrams for explaining the detailed operation of the luminance difference calculation unit in FIG. 3, in which FIG. 3A is a diagram illustrating a detection region in a bird's-eye view image, and FIG. It is a figure which shows the positional relationship of a reference point. It is a figure which shows the luminance distribution on an edge line and an edge line, (a) is a figure which shows luminance distribution when a solid object (vehicle) exists in a detection area, (b) is a solid object in a detection area It is a figure which shows the luminance distribution when not doing. FIG. 4 is a flowchart (part 1) illustrating a three-dimensional object detection method using edge information executed by a viewpoint conversion unit, a luminance difference calculation unit, an edge line detection unit, and a three-dimensional object detection unit in FIG. 3; FIG. 4 is a flowchart (part 2) illustrating a three-dimensional object detection method using edge information executed by the viewpoint conversion unit, the luminance difference calculation unit, the edge line detection unit, and the three-dimensional object detection unit of FIG. 3. It is a figure which shows the example of an image for demonstrating edge detection operation | movement. It is a 1st figure for demonstrating the determination process of the stationary object of 2nd Embodiment. It is a 2nd figure for demonstrating the determination process of the stationary object of 2nd Embodiment. It is a 3rd figure for demonstrating the determination process of the stationary object of 2nd Embodiment. It is a flowchart of the other example which shows the control procedure of the other vehicle detection including the determination process of a stationary object. It is a flowchart which shows the determination process of a stationary object.

The three-dimensional object detection device 1 of the present embodiment will be described.
FIG. 1 is a schematic configuration diagram of a vehicle according to an embodiment to which a three-dimensional object detection device 1 of the present invention is applied. The three-dimensional object detection device 1 of the present example is careful when the driver of the host vehicle V is driving. Is a device that detects, as an obstacle, other vehicles that are likely to be contacted, for example, other vehicles that may be contacted when the host vehicle V changes lanes. In particular, the three-dimensional object detection device 1 of this example detects another vehicle that travels in an adjacent lane (hereinafter also simply referred to as an adjacent lane) adjacent to the lane in which the host vehicle travels. Further, the three-dimensional object detection device 1 of the present example can calculate the detected movement distance and movement speed of the other vehicle. For this reason, in the example described below, the three-dimensional object detection device 1 is mounted on the own vehicle V, and the three-dimensional object detected around the own vehicle travels in the adjacent lane next to the lane on which the own vehicle V travels. An example of detecting a vehicle will be shown. As shown in the figure, the three-dimensional object detection device 1 of the present example includes a camera 10, a vehicle speed sensor 20, and a calculator 30.

As shown in FIG. 1, the camera 10 is attached to the host vehicle V so that the optical axis is at an angle θ from the horizontal to the lower side at a height h at the rear of the host vehicle V. The camera 10 images a predetermined area in the surrounding environment of the host vehicle V from this position. In the present embodiment, there is one camera 1 provided for detecting a three-dimensional object behind the host vehicle V. However, for other purposes, for example, providing another camera for acquiring an image around the vehicle. You can also. The vehicle speed sensor 20 detects the traveling speed of the host vehicle V, and calculates the vehicle speed from the wheel speed detected by, for example, a wheel speed sensor that detects the rotational speed of the wheel. The computer 30 detects a three-dimensional object behind the vehicle, and calculates a moving distance and a moving speed for the three-dimensional object in this example.

FIG. 2 is a plan view showing a traveling state of the host vehicle V in FIG. As shown in the figure, the camera 10 images the vehicle rear side at a predetermined angle of view a. At this time, the angle of view a of the camera 10 is set to an angle of view at which the left and right lanes can be imaged in addition to the lane in which the host vehicle V travels. The area that can be imaged includes detection target areas A1 and A2 on the adjacent lane that is behind the host vehicle V and that is adjacent to the left and right of the travel lane of the host vehicle V. Note that the rear of the vehicle in this embodiment includes not only the rear of the vehicle but also the side of the rear of the vehicle. The area behind the imaged vehicle is set according to the angle of view of the camera 10. As an example, when the vehicle rearward direction along the vehicle length is set to zero degrees, the vehicle can be set to include an area of 0 degrees to 90 degrees, preferably 0 degrees to 70 degrees on the left and right sides from the right direction.

FIG. 3 is a block diagram showing details of the computer 30 of FIG. In FIG. 3, the camera 10 and the vehicle speed sensor 20 are also illustrated in order to clarify the connection relationship.

As shown in FIG. 3, the computer 30 includes a viewpoint conversion unit 31, a positioning unit 32, a three-dimensional object detection unit 33, a detection area setting unit 34, and a smear detection unit 40. The calculation unit 30 of the present embodiment has a configuration relating to a three-dimensional object detection block using differential waveform information. The calculation unit 30 of the present embodiment can also be configured with respect to a three-dimensional object detection block using edge information. In this case, in the configuration shown in FIG. 3, a block configuration A configured by the alignment unit 32 and the three-dimensional object detection unit 33 is surrounded by a broken line, a luminance difference calculation unit 35, an edge line detection unit 36, It can be configured by replacing the block configuration B configured by the three-dimensional object detection unit 37. Of course, both the block configuration A and the block configuration B can be provided, so that the solid object can be detected using the difference waveform information and the solid object can be detected using the edge information. When the block configuration A and the block configuration B are provided, either the block configuration A or the block configuration B can be operated according to environmental factors such as brightness. Each configuration will be described below.

<Detection of three-dimensional object by differential waveform information>
The three-dimensional object detection device 1 of the present embodiment exists in the detection area A1 of the right adjacent lane or the detection area A2 of the left adjacent lane behind the vehicle based on image information obtained by the monocular camera 1 that captures the rear of the vehicle. A three-dimensional object is detected. The detection area setting unit 34 sets detection areas A1 and A2 in the captured image information and on the right and left sides behind the host vehicle V, respectively. The positions of the detection areas A2 and A2 are not particularly limited, and can be set as appropriate according to the processing conditions.

Next, the viewpoint conversion unit will be described. The viewpoint conversion unit 31 inputs captured image data of a predetermined area obtained by imaging with the camera 10 and converts the input captured image data into a bird's-eye view image data in a bird's-eye view state. The state viewed from a bird's-eye view is a state viewed from the viewpoint of a virtual camera looking down from above, for example, vertically downward. This viewpoint conversion can be executed as described in, for example, Japanese Patent Application Laid-Open No. 2008-219063. The viewpoint conversion of captured image data to bird's-eye view image data is based on the principle that a vertical edge peculiar to a three-dimensional object is converted into a straight line group passing through a specific fixed point by viewpoint conversion to bird's-eye view image data. This is because a planar object and a three-dimensional object can be distinguished if used. Note that the result of the image conversion processing by the viewpoint conversion unit 31 is also used in detection of a three-dimensional object by edge information described later.

The alignment unit 32 sequentially inputs the bird's-eye view image data obtained by the viewpoint conversion of the viewpoint conversion unit 31 and aligns the positions of the inputted bird's-eye view image data at different times. 4A and 4B are diagrams for explaining the outline of the processing of the alignment unit 32, where FIG. 4A is a plan view showing the moving state of the host vehicle V, and FIG. 4B is an image showing the outline of the alignment.

As shown in FIG. 4A, it is assumed that the host vehicle V at the current time is located at V1, and the host vehicle V one hour before is located at V2. Further, the other vehicle VX is located in the rear direction of the own vehicle V and is in parallel with the own vehicle V, the other vehicle VX at the current time is located at V3, and the other vehicle VX one hour before is located at V4. Suppose you were. Furthermore, it is assumed that the host vehicle V has moved a distance d at one time. Note that “one hour before” may be a past time for a predetermined time (for example, one control cycle) from the current time, or may be a past time for an arbitrary time.

In this state, the bird's-eye view image PB _t at the current time is as shown in Figure 4 (b). In the bird's-eye view image PB _t, becomes a rectangular shape for the white line drawn on the road surface, but a relatively accurate is a plan view state, tilting occurs about the position of another vehicle VX at position V3. Similarly, in the bird's-eye view image PB _{t-1 one} hour before, the white line drawn on the road surface has a rectangular shape and is relatively accurately viewed in plan, but the other vehicle VX at the position V4 The fall will occur. As described above, the vertical edges of solid objects (including the edges that rise in the three-dimensional space from the road surface in addition to the vertical edges in the strict sense) are straight lines along the collapse direction by the viewpoint conversion processing to bird's-eye view image data. This is because the plane image on the road surface does not include a vertical edge, but such a fall does not occur even when the viewpoint is changed.

The alignment unit 32 performs alignment of the bird's-eye view images PB _t and PB _t−1 as described above on the data. At this time, the alignment unit 32 is offset a bird's-eye view image PB _t-1 before one unit time, to match the position and bird's-eye view image PB _t at the current time. The image on the left side and the center image in FIG. 4B show a state that is offset by the movement distance d ′. This offset amount d ′ is a movement amount on the bird's-eye view image data corresponding to the actual movement distance d of the host vehicle V shown in FIG. It is determined based on the time until the time.

Further, after the alignment, the alignment unit 32 takes the difference between the bird's-eye view images PB _t and PB _t−1 and generates data of the difference image PD _t . Here, the pixel value of the difference image PD _t may be an absolute value of the difference between the pixel values of the bird's-eye view images PB _t and PB _t−1 , and the absolute value may be used to cope with a change in illuminance environment. “1” may be set when a predetermined threshold value p is exceeded, and “0” may be set when the threshold value p is not exceeded. The image on the right side of FIG. 4B is the difference image PD _t .

Returning to FIG. 3, the three-dimensional object detection unit 33 detects a three-dimensional object based on the data of the difference image PD _t shown in FIG. At this time, the three-dimensional object detection unit 33 of this example also calculates the movement distance of the three-dimensional object in the real space. In detecting the three-dimensional object and calculating the movement distance, the three-dimensional object detection unit 33 first generates a differential waveform. Note that the moving distance of the three-dimensional object per time is used for calculating the moving speed of the three-dimensional object. The moving speed of the three-dimensional object can be used to determine whether or not the three-dimensional object is a vehicle.

Three-dimensional object detection unit 33 of the present embodiment when generating the differential waveform sets a detection area in the difference image PD _t. The three-dimensional object detection device 1 of the present example is another vehicle that the driver of the host vehicle V pays attention to, in particular, the lane in which the host vehicle V that may be contacted when the host vehicle V changes lanes travels. Another vehicle traveling in the adjacent lane is detected as a detection target. For this reason, in this example which detects a solid object based on image information, two detection areas are set on the right side and the left side of the host vehicle V in the image obtained by the camera 1. Specifically, in the present embodiment, rectangular detection areas A1 and A2 are set on the left and right sides behind the host vehicle V as shown in FIG. The other vehicle detected in the detection areas A1 and A2 is detected as an obstacle traveling in the adjacent lane adjacent to the lane in which the host vehicle V is traveling. Such detection areas A1 and A2 may be set from a relative position with respect to the host vehicle V, or may be set based on the position of the white line. When setting the position of the white line as a reference, the movement distance detection device 1 may use, for example, an existing white line recognition technique.

Further, the three-dimensional object detection unit 33 recognizes the sides (sides along the traveling direction) of the set detection areas A1 and A2 on the own vehicle V side as the ground lines L1 and L2 (FIG. 2). In general, the ground line means a line in which the three-dimensional object contacts the ground. However, in the present embodiment, the ground line is set as described above, not a line in contact with the ground. Even in this case, from experience, the difference between the ground line according to the present embodiment and the ground line obtained from the position of the other vehicle VX is not too large, and there is no problem in practical use.

FIG. 5 is a schematic diagram illustrating how a differential waveform is generated by the three-dimensional object detection unit 33 illustrated in FIG. 3. As shown in FIG. 5, the three-dimensional object detection unit 33 calculates a differential waveform from a portion corresponding to the detection areas A 1 and A 2 in the difference image PD _t (right diagram in FIG. 4B) calculated by the alignment unit 32. DW _t is generated. At this time, the three-dimensional object detection unit 33 generates a differential waveform DW _t along the direction in which the three-dimensional object falls by viewpoint conversion. In the example shown in FIG. 5, only the detection area A1 is described for convenience, but the difference waveform DW _t is generated for the detection area A2 in the same procedure.

More specifically, the three-dimensional object detection unit 33 defines a line La in the direction in which the three-dimensional object falls on the data of the difference image DW _t . Then, the three-dimensional object detection unit 33 counts the number of difference pixels DP indicating a predetermined difference on the line La. Here, the difference pixel DP indicating the predetermined difference is a predetermined threshold value when the pixel value of the difference image DW _t is an absolute value of the difference between the pixel values of the bird's-eye view images PB _t and PB _t−1. When the pixel value of the difference image DW _t is expressed by “0” and “1”, the pixel indicates “1”.

The three-dimensional object detection unit 33 counts the number of difference pixels DP and then obtains an intersection point CP between the line La and the ground line L1. Then, the three-dimensional object detection unit 33 associates the intersection CP with the count number, determines the horizontal axis position based on the position of the intersection CP, that is, the position on the vertical axis in the right diagram of FIG. The axis position, that is, the position on the right and left axis in the right diagram of FIG.

Similarly, the three-dimensional object detection unit 33 defines lines Lb, Lc... In the direction in which the three-dimensional object falls, counts the number of difference pixels DP, and determines the horizontal axis position based on the position of each intersection CP. Then, the vertical axis position is determined from the count number (number of difference pixels DP) and plotted. The three-dimensional object detection unit 33 generates the differential waveform DW _t as shown in the right diagram of FIG.

As shown in the left diagram of FIG. 5, the line La and the line Lb in the direction in which the three-dimensional object collapses have different distances overlapping the detection area A1. For this reason, if the detection area A1 is filled with the difference pixels DP, the number of difference pixels DP is larger on the line La than on the line Lb. For this reason, when the three-dimensional object detection unit 33 determines the vertical axis position from the count number of the difference pixels DP, the three-dimensional object detection unit 33 is normalized based on the distance at which the lines La and Lb in the direction in which the three-dimensional object falls and the detection area A1 overlap. Turn into. As a specific example, in the left diagram of FIG. 5, there are six difference pixels DP on the line La, and there are five difference pixels DP on the line Lb. For this reason, in determining the vertical axis position from the count number in FIG. 5, the three-dimensional object detection unit 33 normalizes the count number by dividing it by the overlap distance. Thus, as shown in the difference waveform DW _t, the line La on the direction the three-dimensional object collapses, the value of the differential waveform DW _t corresponding to Lb is substantially the same.

After the generation of the differential waveform DW _t , the three-dimensional object detection unit 33 calculates the movement distance by comparison with the differential waveform DW _t−1 one time before. That is, the three-dimensional object detection unit 33 calculates the movement distance from the time change of the difference waveforms DW _t and DW _t−1 .

Specifically, as shown in FIG. 6, the three-dimensional object detection unit 33 divides the differential waveform DW _t into a plurality of small areas DW _t1 to DW _tn (n is an arbitrary integer equal to or greater than 2). FIG. 6 is a diagram illustrating the small areas DW _t1 to DW _tn divided by the three-dimensional object detection unit 33. The small areas DW _t1 to DW _tn are divided so as to overlap each other, for example, as shown in FIG. For example, the small area DW _t1 and the small area DW _t2 overlap, and the small area DW _t2 and the small area DW _t3 overlap.

Next, the three-dimensional object detection unit 33 obtains an offset amount (amount of movement of the differential waveform in the horizontal axis direction (vertical direction in FIG. 6)) for each of the small areas DW _t1 to DW _tn . Here, the offset amount is determined from the difference between the differential waveform DW _t in the difference waveform DW _t-1 and the current time before one unit time (distance in the horizontal axis direction). At this time, three-dimensional object detection unit 33, for each small area _DW t1 ~ _{DW tn,} when moving the differential waveform _{DW t1} before one unit time in the horizontal axis direction, the differential waveform DW _t at the current time The position where the error is minimized (the position in the horizontal axis direction) is determined, and the amount of movement in the horizontal axis between the original position of the differential waveform DW _t−1 and the position where the error is minimized is obtained as an offset amount. Then, the three-dimensional object detection unit 33 counts the offset amount obtained for each of the small areas DW _t1 to DW _{tn and forms} a histogram.

FIG. 7 is a diagram illustrating an example of a histogram obtained by the three-dimensional object detection unit 33. As shown in FIG. 7, the offset amount, which is the amount of movement that minimizes the error between each of the small areas DW _t1 to DW _tn and the differential waveform DW _t−1 one time before, has some variation. For this reason, the three-dimensional object detection unit 33 forms a histogram of offset amounts including variations, and calculates a movement distance from the histogram. At this time, the three-dimensional object detection unit 33 calculates the moving distance of the three-dimensional object from the maximum value of the histogram. That is, in the example illustrated in FIG. 7, the three-dimensional object detection unit 33 calculates the offset amount indicating the maximum value of the histogram as the movement distance τ ^* . The moving distance τ ^* is a relative moving distance of the other vehicle VX with respect to the host vehicle V. For this reason, when calculating the absolute movement distance, the three-dimensional object detection unit 33 calculates the absolute movement distance based on the obtained movement distance τ ^* and the signal from the vehicle speed sensor 20. The relative speed can be obtained based on the relative movement distance of the other vehicle VX with respect to the host vehicle V.

Note that the three-dimensional object detection unit 33 weights each of the plurality of small areas DW _t1 to DW _{tn and forms} a histogram by counting the offset amount obtained for each of the small areas DW _t1 to DW _tn according to the weight. May be. FIG. 8 is a diagram illustrating weighting by the three-dimensional object detection unit 33.

As shown in FIG. 8, the small area DW _m (m is an integer of 1 to n−1) is flat. That is, in the small area DW _m , the difference between the maximum value and the minimum value of the number of pixels indicating a predetermined difference is small. Three-dimensional object detection unit 33 to reduce the weight for such small area DW _m. This is because the flat small area DW _m has no characteristics and is likely to have a large error in calculating the offset amount.

On the other hand, the small region DW _{m + k} (k is an integer equal to or less than nm) is rich in undulations. That is, in the small area DW _m , the difference between the maximum value and the minimum value of the number of pixels indicating a predetermined difference is large. Three-dimensional object detection unit 33 increases the weight for such small area DW _m. This is because the small region DW _{m + k} rich in undulations is characteristic and there is a high possibility that the offset amount can be accurately calculated. By weighting in this way, the calculation accuracy of the movement distance can be improved.

In the above embodiment, the differential waveform DW _t is divided into a plurality of small areas DW _t1 to DW _tn in order to improve the calculation accuracy of the movement distance. However, when the calculation accuracy of the movement distance is not so required, the small area DW _t1 is divided. It is not necessary to divide into ~ DW _tn . In this case, the three-dimensional object detection unit 33 calculates the moving distance from the offset amount of the differential waveform DW _t when the error between the differential waveform DW _t and the differential waveform DW _t−1 is minimized. That is, the method for obtaining the offset amount of the difference waveform DW _t in the difference waveform DW _t-1 and the current time before one unit time is not limited to the above disclosure.

Returning to FIG. 3, the computer 30 includes a smear detection unit 40. The smear detection unit 40 detects a smear generation region from data of a captured image obtained by imaging with the camera 10. Since smear is a whiteout phenomenon that occurs in a CCD image sensor or the like, the smear detection unit 40 may be omitted when the camera 10 using a CMOS image sensor or the like that does not generate such smear is employed.

FIG. 9 is an image diagram for explaining the processing by the smear detection unit 40 and the calculation processing of the differential waveform DW _t thereby. First, it is assumed that data of the captured image P in which the smear S exists is input to the smear detection unit 40. At this time, the smear detection unit 40 detects the smear S from the captured image P. There are various methods for detecting the smear S. For example, in the case of a general CCD (Charge-Coupled Device) camera, the smear S is generated only in the downward direction of the image from the light source. For this reason, in this embodiment, a region having a luminance value equal to or higher than a predetermined value from the lower side of the image to the upper side of the image and continuous in the vertical direction is searched, and this is identified as a smear S generation region.

In addition, the smear detection unit 40 generates smear image SP data in which the pixel value is set to “1” for the place where the smear S occurs and the other place is set to “0”. After the generation, the smear detection unit 40 transmits the data of the smear image SP to the viewpoint conversion unit 31. In addition, the viewpoint conversion unit 31 to which the data of the smear image SP is input converts the viewpoint into a state of bird's-eye view. Thereby, the viewpoint conversion unit 31 generates data of the smear bird's-eye view image SB _t . After the generation, the viewpoint conversion unit 31 transmits the data of the smear bird's-eye view image SB _t to the alignment unit 33. Further, the viewpoint conversion unit 31 transmits the data of the smear bird's-eye view image SB _{t−1 one} hour before to the alignment unit 33.

The alignment unit 32 performs alignment of the smear bird's-eye view images SB _t and SB _t−1 on the data. The specific alignment is the same as the case where the alignment of the bird's-eye view images PB _t and PB _t−1 is executed on the data. In addition, after the alignment, the alignment unit 32 performs a logical sum on the smear S generation region of each smear bird's-eye view image SB _t , SB _t−1 . Thereby, the alignment part 32 produces | generates the data of mask image MP. After the generation, the alignment unit 32 transmits the data of the mask image MP to the three-dimensional object detection unit 33.

The three-dimensional object detection unit 33 sets the count number of the frequency distribution to zero for the portion corresponding to the smear S generation region in the mask image MP. That is, when the differential waveform DW _t as shown in FIG. 9 is generated, the three-dimensional object detection unit 33 sets the count number SC by the smear S to zero and generates a corrected differential waveform DW _t ′. Become.

In the present embodiment, the three-dimensional object detection unit 33 obtains the moving speed of the vehicle V (camera 10), and obtains the offset amount for the stationary object from the obtained moving speed. After obtaining the offset amount of the stationary object, the three-dimensional object detection unit 33 calculates the moving distance of the three-dimensional object after ignoring the offset amount corresponding to the stationary object among the maximum values of the histogram.

FIG. 10 is a diagram illustrating another example of a histogram obtained by the three-dimensional object detection unit 33. When a stationary object exists in addition to the other vehicle VX within the angle of view of the camera 10, two maximum values τ1 and τ2 appear in the obtained histogram. In this case, one of the two maximum values τ1, τ2 is the offset amount of the stationary object. For this reason, the three-dimensional object detection unit 33 calculates the offset amount for the stationary object from the moving speed, ignores the maximum value corresponding to the offset amount, and calculates the moving distance of the three-dimensional object using the remaining maximum value. To do.

Even if the offset amount corresponding to the stationary object is ignored, if there are a plurality of maximum values, it is assumed that there are a plurality of other vehicles VX within the angle of view of the camera 10. However, it is very rare that a plurality of other vehicles VX exist in the detection areas A1 and A2. For this reason, the three-dimensional object detection unit 33 stops calculating the movement distance.

Next, a solid object detection procedure based on differential waveform information will be described. 11 and 12 are flowcharts showing the three-dimensional object detection procedure of this embodiment. As shown in FIG. 11, first in step S0, the computer 30 sets a detection area based on a predetermined rule. This detection area setting method will be described in detail later. Then, the computer 30 receives data of the image P captured by the camera 10 and generates a smear image SP by the smear detection unit 40 (S1). Next, the viewpoint conversion unit 31 generates data of the bird's-eye view image PB _t from the data of the captured image P from the camera 10, and also generates data of the smear bird's-eye view image SB _t from the data of the smear image SP (S2). .

Then, the alignment unit 33 aligns the data of the bird's-eye view image PB _{t and} the data of the bird's-eye view image PB _{t−1 one} hour ago, and the data of the smear bird's-eye view image SB _t one hour ago. And the data of the smear bird's-eye view image SB _t-1 are aligned (S3). After this alignment, the alignment unit 33 generates data for the difference image PD _t and also generates data for the mask image MP (S4). Then, three-dimensional object detection unit 33, the data of the difference image PD _t, and a one unit time before the difference image _{PD t-1} of the data, generates a difference waveform DW _t (S5). After generating the differential waveform DW _t , the three-dimensional object detection unit 33 sets the count number corresponding to the generation area of the smear S in the differential waveform DW _t to zero, and suppresses the influence of the smear S (S6).

Thereafter, the three-dimensional object detection unit 33 determines whether or not the peak of the differential waveform DW _t is greater than or _equal to the first threshold value α (S7). Here, when the peak of the difference waveform DW _t is not equal to or greater than the first threshold value α, that is, when there is almost no difference, it is considered that there is no three-dimensional object in the captured image P. For this reason, when it is determined that the peak of the differential waveform DW _t is not equal to or greater than the first threshold value α (S7: NO), the three-dimensional object detection unit 33 does not have a three-dimensional object and has another vehicle as an obstacle. It is determined not to do so (FIG. 12: S16). Then, the processes shown in FIGS. 11 and 12 are terminated.

On the other hand, when it is determined that the peak of the difference waveform DW _t is equal to or greater than the first threshold value α (S7: YES), the three-dimensional object detection unit 33 determines that a three-dimensional object exists, and sets the difference waveform DW _t to a plurality of difference waveforms DW _t . The area is divided into small areas DW _t1 to DW _tn (S8). Next, the three-dimensional object detection unit 33 performs weighting for each of the small areas DW _t1 to DW _tn (S9). Thereafter, the three-dimensional object detection unit 33 calculates an offset amount for each of the small areas DW _t1 to DW _tn (S10), and generates a histogram with weights added (S11).

Then, the three-dimensional object detection unit 33 calculates a relative movement distance that is a movement distance of the three-dimensional object with respect to the host vehicle V based on the histogram (S12). Next, the three-dimensional object detection unit 33 calculates the absolute movement speed of the three-dimensional object from the relative movement distance (S13). At this time, the three-dimensional object detection unit 33 calculates the relative movement speed by differentiating the relative movement distance with respect to time, and adds the own vehicle speed detected by the vehicle speed sensor 20 to calculate the absolute movement speed.

Thereafter, the three-dimensional object detection unit 33 determines whether the absolute movement speed of the three-dimensional object is 10 km / h or more and the relative movement speed of the three-dimensional object with respect to the host vehicle V is +60 km / h or less (S14). When both are satisfied (S14: YES), the three-dimensional object detection unit 33 determines that the three-dimensional object is the other vehicle VX (S15). Then, the processes shown in FIGS. 11 and 12 are terminated. On the other hand, when either one is not satisfied (S14: NO), the three-dimensional object detection unit 33 determines that there is no other vehicle (S16). Then, the processes shown in FIGS. 11 and 12 are terminated.

In the present embodiment, the rear side of the host vehicle V is set as the detection areas A1 and A2, and the vehicle V travels in the adjacent lane that travels next to the travel lane of the host vehicle to which attention should be paid while traveling. Emphasis is placed on detecting the vehicle VX, and in particular, whether or not there is a possibility of contact when the host vehicle V changes lanes. This is to determine whether or not there is a possibility of contact with another vehicle VX traveling in the adjacent lane adjacent to the traveling lane of the own vehicle when the own vehicle V changes lanes. For this reason, the process of step S14 is performed. That is, assuming that the system according to this embodiment is operated on a highway, if the speed of a three-dimensional object is less than 10 km / h, even if another vehicle VX exists, Since it is located far behind the vehicle V, there are few problems. Similarly, when the relative moving speed of the three-dimensional object with respect to the own vehicle V exceeds +60 km / h (that is, when the three-dimensional object is moving at a speed higher than 60 km / h than the speed of the own vehicle V), the lane is changed. In some cases, since the vehicle is moving in front of the host vehicle V, there is little problem. For this reason, it can be said that the other vehicle VX which becomes a problem at the time of lane change is judged in step S14.

In step S14, it is determined whether the absolute moving speed of the three-dimensional object is 10 km / h or more and the relative moving speed of the three-dimensional object with respect to the vehicle V is +60 km / h or less. For example, depending on the mounting error of the camera 10, the absolute moving speed of the stationary object may be detected to be several km / h. Therefore, by determining whether the speed is 10 km / h or more, it is possible to reduce the possibility of determining that the stationary object is the other vehicle VX. Further, depending on the noise, the relative speed of the three-dimensional object with respect to the host vehicle V may be detected at a speed exceeding +60 km / h. Therefore, the possibility of erroneous detection due to noise can be reduced by determining whether the relative speed is +60 km / h or less.

Furthermore, instead of the process of step S14, it may be determined that the absolute movement speed is not negative or not 0 km / h. Further, in the present embodiment, since emphasis is placed on whether or not there is a possibility of contact when the host vehicle V changes lanes, when another vehicle VX is detected in step S15, the driver of the host vehicle is notified. A warning sound may be emitted or a display corresponding to a warning may be performed by a predetermined display device.

Thus, according to the detection procedure of the three-dimensional object based on the difference waveform information of this example, the number of pixels indicating a predetermined difference is counted on the data of the difference image PD _t along the direction in which the three-dimensional object falls by viewpoint conversion. The difference waveform DW _t is generated by frequency distribution. Here, the pixel indicating the predetermined difference on the data of the difference image PD _t is a pixel that has changed in an image at a different time, in other words, a place where a three-dimensional object exists. For this reason, the difference waveform DW _t is generated by counting the number of pixels along the direction in which the three-dimensional object collapses and performing frequency distribution at the location where the three-dimensional object exists. In particular, since the number of pixels is counted along the direction in which the three-dimensional object falls, the differential waveform DW _t is generated from the information in the height direction for the three-dimensional object. Then, the moving distance of the three-dimensional object is calculated from the time change of the differential waveform DW _t including the information in the height direction. For this reason, compared with the case where only one point of movement is focused on, the detection location before the time change and the detection location after the time change are specified including information in the height direction. The same location is likely to be obtained, and the movement distance is calculated from the time change of the same location, so that the calculation accuracy of the movement distance can be improved.

In addition, the count number of the frequency distribution is set to zero for the portion corresponding to the smear S generation region in the differential waveform DW _t . As a result, the waveform portion generated by the smear S in the differential waveform DW _t is removed, and a situation in which the smear S is mistaken as a three-dimensional object can be prevented.

Further, the moving distance of the three-dimensional object is calculated from the offset amount of the differential waveform DW _t when the error of the differential waveform DW _t generated at different times is minimized. For this reason, the movement distance is calculated from the offset amount of the one-dimensional information called the waveform, and the calculation cost can be suppressed in calculating the movement distance.

Further, the differential waveform DW _t generated at different times is divided into a plurality of small regions DW _t1 to DW _tn . Thus, by dividing into a plurality of small areas DW _t1 to DW _tn , a plurality of waveforms representing respective portions of the three-dimensional object are obtained. Also, determine the offset amount when the error of each waveform for each small area _DW t1 ~ _{DW tn} is minimized by histogram by counting the offset amount determined for each small area _DW t1 ~ _{DW tn,} The moving distance of the three-dimensional object is calculated. For this reason, the offset amount is obtained for each part of the three-dimensional object, and the movement distance is obtained from a plurality of offset amounts, so that the calculation accuracy of the movement distance can be improved.

Further, weighting is performed for each of the plurality of small areas DW _t1 to DW _tn , and the offset amount obtained for each of the small areas DW _t1 to DW _tn is counted according to the weight to form a histogram. For this reason, the moving distance can be calculated more appropriately by increasing the weight for the characteristic area and decreasing the weight for the non-characteristic area. Therefore, the calculation accuracy of the moving distance can be further improved.

For each of the small areas DW _t1 to DW _tn of the differential waveform DW _t , the weight is increased as the difference between the maximum value and the minimum value of the number of pixels indicating a predetermined difference increases. For this reason, the characteristic undulation region having a large difference between the maximum value and the minimum value has a larger weight, and the flat region having a small undulation has a smaller weight. Here, since it is easier to obtain the offset amount more accurately in the shape of the undulating area than in the flat area, the moving distance is calculated by increasing the weight in the area where the difference between the maximum value and the minimum value is large. The accuracy can be further improved.

Further, the moving distance of the three-dimensional object is calculated from the maximum value of the histogram obtained by counting the offset amount obtained for each of the small areas DW _t1 to DW _tn . For this reason, even if there is a variation in the offset amount, a more accurate movement distance can be calculated from the maximum value.

Also, since the offset amount for a stationary object is obtained and this offset amount is ignored, it is possible to prevent a situation in which the calculation accuracy of the moving distance of the three-dimensional object is lowered due to the stationary object. In addition, if there are a plurality of maximum values after ignoring the offset amount corresponding to the stationary object, the calculation of the moving distance of the three-dimensional object is stopped. For this reason, it is possible to prevent a situation in which an erroneous movement distance having a plurality of maximum values is calculated.

In the above embodiment, the vehicle speed of the host vehicle V is determined based on a signal from the vehicle speed sensor 20, but the present invention is not limited to this, and the speed may be estimated from a plurality of images at different times. In this case, a vehicle speed sensor becomes unnecessary, and the configuration can be simplified.

In the above-described embodiment, the captured image at the current time and the image one hour before are converted into a bird's-eye view, the converted bird's-eye view is aligned, the difference image PD _t is generated, and the generated difference image PD _{Although t} is evaluated along the falling direction (the falling direction of the three-dimensional object when the captured image is converted into a bird's eye view), the differential waveform DW _t is generated, but the present invention is not limited to this. For example, only the image one hour before is converted into a bird's-eye view, the converted bird's-eye view is converted into an equivalent to the image captured again, a difference image is generated between this image and the current time image, and the generated difference image The differential waveform DW _t may be generated by evaluating along the direction corresponding to the falling direction (that is, the direction in which the falling direction is converted into the direction on the captured image). That is, the three-dimensional object when the image of the current time and the image of one hour before are aligned, the difference image PD _t is generated from the difference between the two images subjected to the alignment, and the difference image PD _t is converted into a bird's eye view The bird's-eye view does not necessarily have to be clearly generated as long as the evaluation can be performed along the direction in which the user falls.

《Detection of solid objects by edge information》
Next, it is possible to operate instead of the block A shown in FIG. 3 to detect a three-dimensional object using edge information configured by a luminance difference calculation unit 35, an edge line detection unit 36, and a three-dimensional object detection unit 37. The block B will be described. FIGS. 13A and 13B are diagrams illustrating an imaging range and the like of the camera 10 in FIG. 3. FIG. 13A is a plan view, and FIG. 13B is a perspective view in real space on the rear side from the host vehicle V. Show. As shown in FIG. 13A, the camera 10 has a predetermined angle of view a, and images the rear side from the host vehicle V included in the predetermined angle of view a. Similarly to the case shown in FIG. 2, the angle of view “a” of the camera 10 is set so that the imaging range of the camera 10 includes the adjacent lane in addition to the lane in which the host vehicle V travels.

The detection areas A1 and A2 in this example are trapezoidal in a plan view (when viewed from a bird's eye), and the positions, sizes, and shapes of the detection areas A1 and A2 are determined based on the distances d ₁ to d _4. Is done. The detection areas A1 and A2 in the example shown in the figure are not limited to a trapezoidal shape, and may be other shapes such as a rectangle when viewed from a bird's eye view as shown in FIG. Note that the detection area setting unit 34 in the present embodiment can also set the detection areas A1 and A2 by the method described above.

Here, the distance d1 is a distance from the host vehicle V to the ground lines L1 and L2. The ground lines L1 and L2 mean lines on which a three-dimensional object existing in the lane adjacent to the lane in which the host vehicle V travels contacts the ground. The purpose of the present embodiment is to detect other vehicles VX and the like (including two-wheeled vehicles) traveling in the left and right lanes adjacent to the lane of the host vehicle V on the rear side of the host vehicle V. For this reason, a distance d1 which is a position to be the ground lines L1 and L2 of the other vehicle VX is obtained from a distance d11 from the own vehicle V to the white line W and a distance d12 from the white line W to a position where the other vehicle VX is predicted to travel. It can be determined substantially fixedly.

Further, the distance d1 is not limited to being fixedly determined, and may be variable. In this case, the computer 30 recognizes the position of the white line W with respect to the host vehicle V by a technique such as white line recognition, and determines the distance d11 based on the recognized position of the white line W. Thereby, the distance d1 is variably set using the determined distance d11. In the following embodiment, since the position where the other vehicle VX travels (distance d12 from the white line W) and the position where the host vehicle V travels (distance d11 from the white line W) are roughly determined, the distance d1 is It shall be fixedly determined.

The distance d2 is a distance extending from the rear end portion of the host vehicle V in the vehicle traveling direction. The distance d2 is determined so that the detection areas A1 and A2 are at least within the angle of view a of the camera 10. In particular, in the present embodiment, the distance d2 is set so as to be in contact with the range divided into the angle of view a. The distance d3 is a distance indicating the length of the detection areas A1, A2 in the vehicle traveling direction. This distance d3 is determined based on the size of the three-dimensional object to be detected. In the present embodiment, since the detection target is the other vehicle VX or the like, the distance d3 is set to a length including the other vehicle VX.

As shown in FIG. 13B, the distance d4 is a distance indicating a height set so as to include a tire such as the other vehicle VX in the real space. The distance d4 is a length shown in FIG. 13A in the bird's-eye view image. The distance d4 may be a length that does not include a lane that is further adjacent to the left and right adjacent lanes in the bird's-eye view image (that is, a lane that is adjacent to two lanes). If the lane adjacent to the two lanes is included from the lane of the own vehicle V, there is another vehicle VX in the adjacent lane on the left and right of the own lane that is the lane in which the own vehicle V is traveling, or in the lane adjacent to the two lanes This is because it becomes impossible to distinguish whether there is another vehicle VX.

As described above, the distances d1 to d4 are determined, and thereby the positions, sizes, and shapes of the detection areas A1 and A2 are determined. More specifically, the position of the upper side b1 of the detection areas A1 and A2 forming a trapezoid is determined by the distance d1. The starting point position C1 of the upper side b1 is determined by the distance d2. The end point position C2 of the upper side b1 is determined by the distance d3. The side b2 of the detection areas A1 and A2 having a trapezoidal shape is determined by a straight line L3 extending from the camera 10 toward the starting point position C1. Similarly, a side b3 of trapezoidal detection areas A1 and A2 is determined by a straight line L4 extending from the camera 10 toward the end position C2. The position of the lower side b4 of the detection areas A1 and A2 having a trapezoidal shape is determined by the distance d4. Thus, the areas surrounded by the sides b1 to b4 are set as the detection areas A1 and A2. As shown in FIG. 13B, the detection areas A 1 and A 2 are true squares (rectangles) in the real space behind the host vehicle V.

Returning to FIG. 3, the viewpoint conversion unit 31 inputs captured image data of a predetermined area obtained by imaging with the camera 10. The viewpoint conversion unit 31 performs viewpoint conversion processing on the bird's-eye view image data in a bird's-eye view state on the input captured image data. The bird's-eye view is a state seen from the viewpoint of a virtual camera looking down from above, for example, vertically downward (or slightly obliquely downward). This viewpoint conversion process can be realized by a technique described in, for example, Japanese Patent Application Laid-Open No. 2008-219063.

The luminance difference calculation unit 35 calculates a luminance difference with respect to the bird's-eye view image data subjected to viewpoint conversion by the viewpoint conversion unit 31 in order to detect the edge of the three-dimensional object included in the bird's-eye view image. For each of a plurality of positions along a vertical imaginary line extending in the vertical direction in the real space, the brightness difference calculating unit 35 calculates a brightness difference between two pixels in the vicinity of each position. The luminance difference calculation unit 35 can calculate the luminance difference by either a method of setting only one vertical virtual line extending in the vertical direction in the real space or a method of setting two vertical virtual lines.

A specific method for setting two vertical virtual lines will be described. The brightness difference calculation unit 35 applies a first vertical imaginary line corresponding to a line segment extending in the vertical direction in the real space and a vertical direction in the real space different from the first vertical imaginary line with respect to the bird's-eye view image that has undergone viewpoint conversion. A second vertical imaginary line corresponding to the extending line segment is set. The luminance difference calculation unit 35 continuously obtains a luminance difference between a point on the first vertical imaginary line and a point on the second vertical imaginary line along the first vertical imaginary line and the second vertical imaginary line. Hereinafter, the operation of the luminance difference calculation unit 35 will be described in detail.

As shown in FIG. 14A, the luminance difference calculation unit 35 corresponds to a line segment extending in the vertical direction in the real space and passes through the detection area A1 (hereinafter referred to as the attention line La). Set). In addition, unlike the attention line La, the luminance difference calculation unit 35 corresponds to a line segment extending in the vertical direction in the real space and also passes through the second vertical virtual line Lr (hereinafter referred to as a reference line Lr) passing through the detection area A1. Set. Here, the reference line Lr is set at a position separated from the attention line La by a predetermined distance in the real space. Note that the line corresponding to the line segment extending in the vertical direction in the real space is a line that spreads radially from the position Ps of the camera 10 in the bird's-eye view image. This radially extending line is a line along the direction in which the three-dimensional object falls when converted to bird's-eye view.

The luminance difference calculation unit 35 sets the attention point Pa (point on the first vertical imaginary line) on the attention line La. In addition, the luminance difference calculation unit 35 sets a reference point Pr (a point on the second vertical plate) on the reference line Lr. The attention line La, the attention point Pa, the reference line Lr, and the reference point Pr have the relationship shown in FIG. 14B in the real space. As is clear from FIG. 14B, the attention line La and the reference line Lr are lines extending in the vertical direction in the real space, and the attention point Pa and the reference point Pr are substantially the same height in the real space. This is the point that is set. Note that the attention point Pa and the reference point Pr do not necessarily have the same height, and an error that allows the attention point Pa and the reference point Pr to be regarded as the same height is allowed.

The luminance difference calculation unit 35 obtains a luminance difference between the attention point Pa and the reference point Pr. If the luminance difference between the attention point Pa and the reference point Pr is large, it is considered that an edge exists between the attention point Pa and the reference point Pr. Therefore, the edge line detection unit 36 shown in FIG. 3 detects an edge line based on the luminance difference between the attention point Pa and the reference point Pr.

This point will be explained in more detail. FIG. 15 is a diagram illustrating a detailed operation of the luminance difference calculation unit 35, in which FIG. 15 (a) shows a bird's-eye view image in a bird's-eye view state, and FIG. 15 (b) is shown in FIG. 15 (a). It is the figure which expanded a part B1 of the bird's-eye view image. Although only the detection area A1 is illustrated and described in FIG. 15, the luminance difference is calculated in the same procedure for the detection area A2.

When the other vehicle VX is reflected in the captured image captured by the camera 10, the other vehicle VX appears in the detection area A1 in the bird's-eye view image as shown in FIG. As shown in the enlarged view of the area B1 in FIG. 15A in FIG. 15B, it is assumed that the attention line La is set on the rubber part of the tire of the other vehicle VX on the bird's-eye view image. In this state, the luminance difference calculation unit 35 first sets the reference line Lr. The reference line Lr is set along the vertical direction at a position away from the attention line La by a predetermined distance in the real space. Specifically, in the three-dimensional object detection device 1 according to the present embodiment, the reference line Lr is set at a position separated from the attention line La by 10 cm in real space. Thereby, the reference line Lr is set on the wheel of the tire of the other vehicle VX that is separated from the rubber of the tire of the other vehicle VX by, for example, 10 cm on the bird's eye view image.

Next, the luminance difference calculation unit 35 sets a plurality of attention points Pa1 to PaN on the attention line La. In FIG. 15B, for the convenience of explanation, six attention points Pa1 to Pa6 (hereinafter simply referred to as attention point Pai when an arbitrary point is indicated) are set. Note that the number of attention points Pa set on the attention line La may be arbitrary. In the following description, it is assumed that N attention points Pa are set on the attention line La.

Next, the luminance difference calculation unit 35 sets the reference points Pr1 to PrN so as to be the same height as the attention points Pa1 to PaN in the real space. Then, the luminance difference calculation unit 35 calculates the luminance difference between the attention point Pa and the reference point Pr having the same height. Thereby, the luminance difference calculation unit 35 calculates the luminance difference between the two pixels for each of a plurality of positions (1 to N) along the vertical imaginary line extending in the vertical direction in the real space. For example, the luminance difference calculating unit 35 calculates a luminance difference between the first attention point Pa1 and the first reference point Pr1, and the second difference between the second attention point Pa2 and the second reference point Pr2. Will be calculated. Thereby, the luminance difference calculation unit 35 continuously calculates the luminance difference along the attention line La and the reference line Lr. That is, the luminance difference calculation unit 35 sequentially obtains the luminance difference between the third to Nth attention points Pa3 to PaN and the third to Nth reference points Pr3 to PrN.

The luminance difference calculation unit 35 repeatedly executes the above-described processing such as setting the reference line Lr, setting the attention point Pa and the reference point Pr, and calculating the luminance difference while shifting the attention line La in the detection area A1. That is, the luminance difference calculation unit 35 repeatedly executes the above processing while changing the position of each of the attention line La and the reference line Lr by the same distance in the presence direction of the ground line L1 in the real space. For example, the luminance difference calculation unit 35 sets the reference line Lr as the reference line Lr in the previous processing, sets the reference line Lr for the attention line La, and sequentially obtains the luminance difference. It will be.

3, the edge line detection unit 36 detects an edge line from the continuous luminance difference calculated by the luminance difference calculation unit 35. For example, in the case illustrated in FIG. 15B, the first attention point Pa 1 and the first reference point Pr 1 are located in the same tire portion, and thus the luminance difference is small. On the other hand, the second to sixth attention points Pa2 to Pa6 are located in the rubber part of the tire, and the second to sixth reference points Pr2 to Pr6 are located in the wheel part of the tire. Therefore, the luminance difference between the second to sixth attention points Pa2 to Pa6 and the second to sixth reference points Pr2 to Pr6 becomes large. Therefore, the edge line detection unit 36 may detect that an edge line exists between the second to sixth attention points Pa2 to Pa6 and the second to sixth reference points Pr2 to Pr6 having a large luminance difference. it can.

Specifically, when detecting the edge line, the edge line detection unit 36 firstly follows the following Equation 1 to determine the i-th attention point Pai (coordinate (xi, yi)) and the i-th reference point Pri (coordinate ( xi ′, yi ′)) and the i th attention point Pai are attributed.
[Equation 1]
When I (xi, yi)> I (xi ′, yi ′) + t s (xi, yi) = 1
When I (xi, yi) <I (xi ′, yi ′) − t s (xi, yi) = − 1
Otherwise s (xi, yi) = 0

In Equation 1, t represents a threshold value, I (xi, yi) represents the luminance value of the i-th attention point Pai, and I (xi ′, yi ′) represents the luminance value of the i-th reference point Pri. . According to Equation 1, when the luminance value of the attention point Pai is higher than the luminance value obtained by adding the threshold value t to the reference point Pri, the attribute s (xi, yi) of the attention point Pai is “1”. Become. On the other hand, when the luminance value of the attention point Pai is lower than the luminance value obtained by subtracting the threshold value t from the reference point Pri, the attribute s (xi, yi) of the attention point Pai is “−1”. When the luminance value of the attention point Pai and the luminance value of the reference point Pri are in other relationships, the attribute s (xi, yi) of the attention point Pai is “0”.

Next, the edge line detection unit 36 determines whether or not the attention line La is an edge line from the continuity c (xi, yi) of the attribute s along the attention line La based on Equation 2 below.
[Equation 2]
When s (xi, yi) = s (xi + 1, yi + 1) (and excluding 0 = 0),
c (xi, yi) = 1
Other than the above
c (xi, yi) = 0

When the attribute s (xi, yi) of the attention point Pai and the attribute s (xi + 1, yi + 1) of the adjacent attention point Pai + 1 are the same, the continuity c (xi, yi) is “1”. When the attribute s (xi, yi) of the attention point Pai is not the same as the attribute s (xi + 1, yi + 1) of the adjacent attention point Pai + 1, the continuity c (xi, yi) is “0”.

Next, the edge line detection unit 36 obtains the sum for the continuity c of all the points of interest Pa on the line of interest La. The edge line detection unit 36 normalizes the continuity c by dividing the obtained sum of continuity c by the number N of points of interest Pa. The edge line detection unit 36 determines that the attention line La is an edge line when the normalized value exceeds the threshold θ. The threshold value θ is a value set in advance through experiments or the like.

That is, the edge line detection unit 36 determines whether or not the attention line La is an edge line based on Equation 3 below. Then, the edge line detection unit 36 determines whether or not all the attention lines La drawn on the detection area A1 are edge lines.
[Equation 3]
Σc (xi, yi) / N> θ

3, the three-dimensional object detection unit 37 detects a three-dimensional object based on the amount of edge lines detected by the edge line detection unit 36. As described above, the three-dimensional object detection device 1 according to the present embodiment detects an edge line extending in the vertical direction in real space. The fact that many edge lines extending in the vertical direction are detected means that there is a high possibility that a three-dimensional object exists in the detection areas A1 and A2. For this reason, the three-dimensional object detection unit 37 detects a three-dimensional object based on the amount of edge lines detected by the edge line detection unit 36. Furthermore, prior to detecting the three-dimensional object, the three-dimensional object detection unit 37 determines whether or not the edge line detected by the edge line detection unit 36 is correct. The three-dimensional object detection unit 37 determines whether or not the luminance change along the edge line of the bird's-eye view image on the edge line is larger than a predetermined threshold value. When the luminance change of the bird's-eye view image on the edge line is larger than the threshold value, it is determined that the edge line is detected by erroneous determination. On the other hand, when the luminance change of the bird's-eye view image on the edge line is not larger than the threshold value, it is determined that the edge line is correct. This threshold value is a value set in advance by experiments or the like.

FIG. 16 is a diagram illustrating the luminance distribution of the edge line. FIG. 16A illustrates the edge line and the luminance distribution when another vehicle VX as a three-dimensional object exists in the detection area A1, and FIG. Indicates an edge line and a luminance distribution when there is no solid object in the detection area A1.

As shown in FIG. 16A, it is assumed that the attention line La set in the tire rubber portion of the other vehicle VX is determined to be an edge line in the bird's-eye view image. In this case, the luminance change of the bird's-eye view image on the attention line La is gentle. This is because the tire of the other vehicle VX is extended in the bird's-eye view image by converting the image captured by the camera 10 into a bird's-eye view image. On the other hand, as shown in FIG. 16B, it is assumed that the attention line La set in the white character portion “50” drawn on the road surface in the bird's-eye view image is erroneously determined as an edge line. In this case, the brightness change of the bird's-eye view image on the attention line La has a large undulation. This is because a portion with high brightness in white characters and a portion with low brightness such as a road surface are mixed on the edge line.

Based on the difference in luminance distribution on the attention line La as described above, the three-dimensional object detection unit 37 determines whether or not the edge line is detected by erroneous determination. When the luminance change along the edge line is larger than a predetermined threshold, the three-dimensional object detection unit 37 determines that the edge line is detected by erroneous determination. And the said edge line is not used for the detection of a solid object. Thereby, white characters such as “50” on the road surface, weeds on the road shoulder, and the like are determined as edge lines, and the detection accuracy of the three-dimensional object is prevented from being lowered.

Specifically, the three-dimensional object detection unit 37 calculates the luminance change of the edge line by any one of the following

mathematical formulas

4 and 5. The luminance change of the edge line corresponds to the evaluation value in the vertical direction in the real space. Equation 4 below evaluates the luminance distribution by the sum of the squares of the differences between the i-th luminance value I (xi, yi) on the attention line La and the adjacent i + 1-th luminance value I (xi + 1, yi + 1). . Equation 5 below evaluates the luminance distribution by the sum of the absolute values of the differences between the i-th luminance value I (xi, yi) on the attention line La and the adjacent i + 1-th luminance value I (xi + 1, yi + 1). To do.
[Equation 4]
Evaluation value in the vertical equivalent direction = Σ [{I (xi, yi) −I (xi + 1, yi + 1)} ² ]
[Equation 5]
Evaluation value in the vertical equivalent direction = Σ | I (xi, yi) −I (xi + 1, yi + 1) |

In addition, not only Formula 5 but also Formula 6 below, the threshold value t2 is used to binarize the attribute b of the adjacent luminance value, and the binarized attribute b is summed for all the attention points Pa. Also good.
[Equation 6]
Evaluation value in the vertical equivalent direction = Σb (xi, yi)
However, when | I (xi, yi) −I (xi + 1, yi + 1) |> t2,
b (xi, yi) = 1
Other than the above
b (xi, yi) = 0

When the absolute value of the luminance difference between the luminance value of the attention point Pai and the luminance value of the reference point Pri is larger than the threshold value t2, the attribute b (xi, yi) of the attention point Pa (xi, yi) is “1”. Become. If the relationship is other than that, the attribute b (xi, yi) of the attention point Pai is '0'. This threshold value t2 is set in advance by an experiment or the like in order to determine that the attention line La is not on the same three-dimensional object. Then, the three-dimensional object detection unit 37 sums up the attributes b for all the attention points Pa on the attention line La, obtains an evaluation value in the vertical equivalent direction, and determines whether the edge line is correct.

Next, a three-dimensional object detection method using edge information according to the present embodiment will be described. 17 and 18 are flowcharts showing details of the three-dimensional object detection method according to the present embodiment. In FIG. 17 and FIG. 18, for the sake of convenience, the processing for the detection area A1 will be described, but the same processing is executed for the detection area A2.

As shown in FIG. 17, first, in step S20, the computer 30 sets a detection area based on a predetermined rule. This detection area setting method will be described in detail later. In step S21, the camera 10 captures an image of a predetermined area specified by the angle of view a and the attachment position. Next, in step S22, the viewpoint conversion unit 31 inputs the captured image data captured by the camera 10 in step S21, performs viewpoint conversion, and generates bird's-eye view image data.

Next, in step S23, the luminance difference calculation unit 35 sets the attention line La on the detection area A1. At this time, the luminance difference calculation unit 35 sets a line corresponding to a line extending in the vertical direction in the real space as the attention line La. Next, the brightness | luminance difference calculation part 35 sets the reference line Lr on detection area | region A1 in step S24. At this time, the luminance difference calculation unit 35 sets a reference line Lr that corresponds to a line segment extending in the vertical direction in the real space and is separated from the attention line La by a predetermined distance in the real space.

Next, in step S25, the luminance difference calculation unit 35 sets a plurality of attention points Pa on the attention line La. At this time, the luminance difference calculation unit 35 sets the attention points Pa as many as not causing a problem at the time of edge detection by the edge line detection unit 36. In step S26, the luminance difference calculation unit 35 sets the reference point Pr so that the attention point Pa and the reference point Pr are substantially the same height in the real space. Thereby, the attention point Pa and the reference point Pr are arranged in a substantially horizontal direction, and it becomes easy to detect an edge line extending in the vertical direction in the real space.

Next, in step S27, the luminance difference calculation unit 35 calculates the luminance difference between the attention point Pa and the reference point Pr that have the same height in the real space. Next, the edge line detection unit 36 calculates the attribute s of each attention point Pa in accordance with Equation 1 above. Next, in step S28, the edge line detection unit 36 calculates the continuity c of the attribute s of each attention point Pa in accordance with Equation 2 above. Next, in step S29, the edge line detection unit 36 determines whether or not the value obtained by normalizing the total sum of continuity c is greater than the threshold value θ according to the above formula 3. When it is determined that the normalized value is larger than the threshold θ (S29: YES), the edge line detection unit 36 detects the attention line La as an edge line in step S30. Then, the process proceeds to step S31. When it is determined that the normalized value is not larger than the threshold θ (S29: NO), the edge line detection unit 36 does not detect the attention line La as an edge line, and the process proceeds to step S31.

In step S31, the computer 30 determines whether or not the processing in steps S23 to S30 has been executed for all the attention lines La that can be set on the detection area A1. If it is determined that the above processing has not been performed for all the attention lines La (S31: NO), the processing returns to step S23, a new attention line La is set, and the processing up to step S31 is repeated. On the other hand, when it is determined that the above process has been performed for all the attention lines La (S31: YES), the process proceeds to step S32 in FIG.

In step S32 of FIG. 18, the three-dimensional object detection unit 37 calculates a luminance change along the edge line for each edge line detected in step S30 of FIG. The three-dimensional object detection unit 37 calculates the luminance change of the edge line according to any one of the

above formulas

4, 5, and 6. Next, in step S33, the three-dimensional object detection unit 37 excludes edge lines whose luminance change is larger than a predetermined threshold from the edge lines. That is, it is determined that an edge line having a large luminance change is not a correct edge line, and the edge line is not used for detecting a three-dimensional object. As described above, this is to prevent characters on the road surface, roadside weeds, and the like included in the detection area A1 from being detected as edge lines. Therefore, the predetermined threshold value is a value set based on a luminance change generated by characters on the road surface, weeds on the road shoulder, or the like obtained in advance by experiments or the like.

Next, in step S34, the three-dimensional object detection unit 37 determines whether or not the amount of the edge line is equal to or larger than the second threshold value β. For example, when a four-wheeled vehicle is set as the three-dimensional object to be detected, the second threshold value β is set based on the number of edge lines of the four-wheeled vehicle that have appeared in the detection region A1 in advance through experiments or the like. When it is determined that the amount of the edge line is equal to or larger than the second threshold value β (S34: YES), the three-dimensional object detection unit 37 detects that a three-dimensional object exists in the detection area A1 in step S35. On the other hand, when it is determined that the amount of the edge line is not equal to or larger than the second threshold value β (S34: NO), the three-dimensional object detection unit 37 determines that there is no three-dimensional object in the detection area A1. Thereafter, the processing illustrated in FIGS. 17 and 18 ends. The detected three-dimensional object may be determined to be another vehicle VX that travels in the adjacent lane adjacent to the lane in which the host vehicle V travels, and the relative speed of the detected three-dimensional object with respect to the host vehicle V is taken into consideration. It may be determined whether the vehicle is another vehicle VX traveling in the adjacent lane.

As described above, according to the three-dimensional object detection method using the edge information of the present embodiment, in order to detect the three-dimensional object existing in the detection areas A1 and A2, the vertical direction in the real space with respect to the bird's-eye view image A vertical imaginary line is set as a line segment extending to. Then, for each of a plurality of positions along the vertical imaginary line, a luminance difference between two pixels in the vicinity of each position can be calculated, and the presence or absence of a three-dimensional object can be determined based on the continuity of the luminance difference.

Specifically, the attention line La corresponding to the line segment extending in the vertical direction in the real space and the reference line Lr different from the attention line La are set for the detection areas A1 and A2 in the bird's-eye view image. Then, a luminance difference between the attention point Pa on the attention line La and the reference point Pr on the reference line Lr is continuously obtained along the attention line La and the reference line La. In this way, the luminance difference between the attention line La and the reference line Lr is obtained by continuously obtaining the luminance difference between the points. In the case where the luminance difference between the attention line La and the reference line Lr is high, there is a high possibility that there is an edge of the three-dimensional object at the set position of the attention line La. Thereby, a three-dimensional object can be detected based on a continuous luminance difference. In particular, in order to compare brightness with vertical virtual lines extending in the vertical direction in real space, even if the three-dimensional object is stretched according to the height from the road surface by converting it to a bird's-eye view image, This detection process is not affected. Therefore, according to the method of this example, the detection accuracy of a three-dimensional object can be improved.

Also, in this example, the luminance difference between two points of approximately the same height near the vertical imaginary line is obtained. Specifically, the luminance difference is obtained from the attention point Pa on the attention line La and the reference point Pr on the reference line Lr, which are substantially the same height in the real space, and thus the luminance when there is an edge extending in the vertical direction. The difference can be detected clearly.

Furthermore, in this example, the attention point Pa is attributed based on the luminance difference between the attention point Pa on the attention line La and the reference point Pr on the reference line Lr, and attribute continuity c along the attention line La is obtained. Therefore, it is determined whether the attention line La is an edge line. Therefore, the boundary between the high luminance area and the low luminance area is detected as an edge line, and edge detection is performed in accordance with a natural human sense. Can do. This effect will be described in detail. FIG. 19 is a diagram illustrating an example of an image for explaining the processing of the edge line detection unit 36. In this image example, a first striped pattern 101 showing a striped pattern in which a high brightness area and a low brightness area are repeated, and a second striped pattern showing a striped pattern in which a low brightness area and a high brightness area are repeated. 102 is an adjacent image. Further, in this image example, a region where the brightness of the first striped pattern 101 is high and a region where the brightness of the second striped pattern 102 is low are adjacent to each other, and a region where the brightness of the first striped pattern 101 is low and the second striped pattern 102. Is adjacent to a region with high brightness. The portion 103 located at the boundary between the first striped pattern 101 and the second striped pattern 102 tends not to be perceived as an edge depending on human senses.

On the other hand, since the low luminance region and the high luminance region are adjacent to each other, if the edge is detected only by the luminance difference, the portion 103 is recognized as an edge. However, since the edge line detection unit 36 determines the part 103 as an edge line only when there is continuity in the attribute of the luminance difference in addition to the luminance difference in the part 103, the edge line detection unit 36 An erroneous determination of recognizing a part 103 that is not recognized as an edge line as a sensation as an edge line can be suppressed, and edge detection according to a human sense can be performed.

Furthermore, in this example, when the luminance change of the edge line detected by the edge line detection unit 36 is larger than a predetermined threshold value, it is determined that the edge line has been detected by erroneous determination. When the captured image acquired by the camera 10 is converted into a bird's-eye view image, the three-dimensional object included in the captured image tends to appear in the bird's-eye view image in a stretched state. For example, as described above, when the tire of the other vehicle VX is stretched, since one portion of the tire is stretched, the luminance change of the bird's-eye view image in the stretched direction tends to be small. On the other hand, when a character or the like drawn on the road surface is erroneously determined as an edge line, the bird's-eye view image includes a high luminance region such as a character portion and a low luminance region such as a road surface portion. In this case, the brightness change in the stretched direction tends to increase in the bird's-eye view image. Therefore, by determining the luminance change of the bird's-eye view image along the edge line as in this example, the edge line detected by the erroneous determination can be recognized, and the detection accuracy of the three-dimensional object can be improved.

Furthermore, in this example, when the luminance change of the edge line detected by the edge line detection unit 36 is larger than a predetermined threshold value, it is determined that the edge line has been detected by erroneous determination. When the captured image acquired by the camera 10 is converted into a bird's-eye view image, the three-dimensional object included in the captured image tends to appear in the bird's-eye view image in a stretched state. For example, as described above, when the tire of the other vehicle VX is stretched, since one portion of the tire is stretched, the luminance change of the bird's-eye view image in the stretched direction tends to be small. On the other hand, when a character or the like drawn on the road surface is erroneously determined as an edge line, the bird's-eye view image includes a high luminance region such as a character portion and a low luminance region such as a road surface portion. In this case, the brightness change in the stretched direction tends to increase in the bird's-eye view image. Therefore, by determining the luminance change of the bird's-eye view image along the edge line as in this example, the edge line detected by the erroneous determination can be recognized, and the detection accuracy of the three-dimensional object can be improved. The three-dimensional

object detection units

33 and 37 can also send detection results to an external vehicle controller for notification to the occupant and vehicle control.

《Final judgment of solid object》
Returning to FIG. 3, the three-dimensional object detection device 1 of this example includes the two three-dimensional object detection units 33 (or the three-dimensional object detection unit 37), the three-dimensional object determination unit 34, the stationary object determination unit 38, and the control unit. 39. Based on the detection result by the three-dimensional object detection unit 33 (or the three-dimensional object detection unit 37), the three-dimensional object determination unit 34 determines whether or not the detected three-dimensional object is the other vehicle VX existing in the detection areas A1 and A2. Judgment finally. The three-dimensional object detection unit 33 (or three-dimensional object detection unit 37) detects a three-dimensional object reflecting the determination result of the stationary object determination unit 38. The stationary object determination unit 38 determines whether the three-dimensional object detected by the three-dimensional object detection unit 33 (or the three-dimensional object detection unit 37) is a stationary object.

The stationary object determination unit 38 of the present embodiment is used to plant trees such as vegetation planted on road separation zones and road shoulders, vegetation that grows naturally on grasslands and forests on roads, or snow that accumulates on road separation zones and road shoulders, or It detects natural objects such as snow walls mixed with snow and mud, artificial objects such as guardrails, semi-artificial objects such as planted trees and fake trees, and other stationary objects such as objects that are stationary on the roadside. A stationary object in this specification is an object that does not include a drive source that moves by itself.

The stationary object determination unit 38 performs a process of determining a stationary object based on the differential waveform information or a process of determining a stationary object based on the edge information. In the following description, a stationary object determination method using the stationary part determination unit 38 as a subject of processing will be described. However, the stationary object determination unit 38 may be an alignment unit 32, a three-dimensional object detection unit 33, or a luminance difference calculation unit. 35, the edge line detection unit 36 or the three-dimensional object detection unit 37 can perform a part of the processing, obtain the processing result, and finally determine irregularity.

The stationary object determination unit 38 of the three-dimensional object detection device 1 according to the present embodiment detects the three-dimensional object detected from the captured image based on the difference in the characteristics of the moving object image and the stationary object image in the images captured at different times. Is a moving object or a stationary object. The images used when the stationary object determination unit 38 in the present embodiment determines whether the object is a stationary object include a bird's eye view image that has undergone viewpoint conversion and an image that has not undergone viewpoint conversion. In other words, the three-dimensional object detection device 1 according to the present embodiment can determine whether or not the object is a stationary object based on images (first image and second image) that have not undergone viewpoint conversion. When determining whether or not the object is a stationary object based on images that have not been subjected to viewpoint conversion (first image and second image), the three-dimensional object detection device 1 may not include the viewpoint conversion unit 31. Good.

Specifically, the stationary object determination unit 38 includes the position of the first bird's-eye view image (including the first image) obtained at the first time when the three-dimensional object is detected, and the second after the first time. The position of the second bird's-eye view image (including the second image) obtained at this time is aligned on the bird's-eye view according to the moving distance (movement speed) of the host vehicle V, and this position is aligned. A first integrated value of first difference waveform information generated by counting the number of pixels indicating a predetermined difference and performing frequency distribution on the difference image of the bird's eye view image (including the image) is obtained. The stationary object determination unit 38 acquires an offset difference image in consideration of the movement amount of the host vehicle V. The offset amount d ′ is a movement amount on the bird's-eye view image data corresponding to the actual movement distance of the host vehicle V shown in FIG. 4A, and the signal from the vehicle speed sensor 20 and the current time from one hour before. It is determined based on the time until. The first integrated value is the entire value plotted as the first differential waveform information, the entire predetermined area, or the total value of the predetermined area.

Subsequently, the stationary object determination unit 38 obtains the first bird's-eye view image (first image) obtained at the first time and the second bird's-eye view image obtained at the second time after the first time. A second integrated value of the second differential waveform information generated by counting the number of pixels indicating a predetermined difference on the difference image from the (second image) and generating a frequency distribution is obtained. That is, the stationary object determination unit 38 acquires a difference image that is not offset. The second integrated value is all of the values plotted as the second differential waveform information or the total value of the predetermined area.

Then, when the evaluation value corresponding to the number of times that the second integrated value is determined to be greater than the first integrated value is greater than or equal to a predetermined evaluation threshold, the stationary object determination unit 38 detects the solid object detection unit 33. The determined three-dimensional object is determined to be a stationary object.

The inventors have a large amount of pixels corresponding to the feature point of the moving object in the difference image obtained by offsetting (aligned) the captured images at different timings, and do not offset the captured images at different timings (no alignment) ) Focusing on the fact that the pixel amount corresponding to the feature point of the stationary object appears large in the difference image, and in the present invention, the pixel value (edge amount) of the difference image of the captured image that is offset (aligned) at different timings. By comparing pixel values (edge amounts) of difference images of captured images with different timings that are not offset (not aligned), it is determined whether the three-dimensional object is a stationary object or a moving object.

As shown in FIG. 20A, a solid object image Q (T0) is detected in the detection areas A1 and A2 at the past timing T0, and the detection area A1 at the current timing T1 after the timing of T0. , A2 when the three-dimensional object image Q (T1) is detected, the subject vehicle V, which is the detection subject, moves along the direction B, so that the three-dimensional object detected at the past timing T0 on the image. The image Q (T0) moves to the position of the image Q (T1) of the three-dimensional object on the upper side in the drawing of the detection areas A1 and A2.

Then, as shown in FIG. 20B, the stationary object determination unit 38 detects the distribution of the pixels or edge components of the three-dimensional object image Q (T1) detected at the current timing T1 and the past timing T0. Distribution of pixels or edge components of the three-dimensional object image Q (T0), which has been offset (positioned) by a predetermined amount, and the past timing It is possible to obtain a pixel or edge component distribution of the three-dimensional object image Q (T0B) which is the image of the three-dimensional object detected at T0 and is not offset (not aligned).

As shown in FIG. 20B, when the image T1 is compared with the offset (aligned) image T0A, the three-dimensional object image Q (T1) in the image T1 and the three-dimensional object image Q ( The position (a position along the moving direction B of the host vehicle V) with T0A) is almost common. On the other hand, as shown in the figure, when comparing the image T1 and the image T0B that is not offset (not aligned), the solid object image Q (T1) in the image T1 and the solid object image Q (T0B) in the image T0B The position (position along the moving direction B of the host vehicle V) is different. That is, when the difference image between T1 and T0A is obtained, the common part is not subtracted and remains, so the number of pixels extracted as features is small, and when the difference image between T1 and T0B is obtained, different parts are found. Since it remains, the number of pixels extracted as a feature is relatively large.

Next, the point of interest shown in FIG. 20 will be described in consideration of whether the three-dimensional object is a moving object or a stationary object. A case where the three-dimensional object is a moving object will be described based on FIG. 21, and a case where the three-dimensional object is a stationary object will be described based on FIG.

As shown in FIG. 21A, when the detected three-dimensional object is another vehicle VX that moves, both the host vehicle V and the other vehicle VX move, and therefore the host vehicle V and the other vehicle VX are different from each other. There is a tendency to maintain a predetermined positional relationship. That is, when the captured image is offset, the position of the other vehicle VX tends to be shifted, and many pixels (edges) that can be characteristic are detected in the difference image PDt. On the other hand, as shown in FIG. 21B, when the captured image is not offset (not aligned), the positions of the host vehicle V and the other vehicle VX tend to approach each other, and the difference image PDt is characteristic. Fewer pixels (edges) are detected. If the number of pixels (edges) in the difference image PDt is large, the integrated value tends to be high. If the number of pixels (edges) in the difference image PDt is small, the integrated value in the difference waveform information tends to be low.

Further, as shown in FIG. 22A, when the detected three-dimensional object is a stationary stationary object Q1, the own vehicle V moves while the stationary object Q1 is stationary. And the stationary object Q1 tend to be separated. That is, when the captured image is offset, the positions of the host vehicle V and the stationary object Q1 tend to approach, and a small number of pixels (edges) that can be characteristic are detected in the difference image PDt. On the other hand, as shown in FIG. 22B, if the captured image is not offset, the position of the stationary object Q1 tends to be different from the previous captured image as the host vehicle V moves, and the difference image PDt is characteristic. Many possible pixels (edges) are detected. If there are many pixels (edges) in the difference image PDt, the integrated value in the luminance distribution information tends to be high, and if there are few pixels (edges) in the difference image PDt, the integrated value in the luminance distribution information tends to be low.

The above-described concept can be similarly applied to the case where edge information is used.
That is, the stationary object detection unit 38 obtains the position of the first bird's-eye view image obtained at the first time T0 when the three-dimensional object is detected and the second time T1 obtained after the first time. The position of the two bird's-eye view images is aligned on the bird's-eye view, and on the difference image of the aligned bird's-eye view images, the number of pixels in which the brightness difference between adjacent image areas is equal to or greater than a predetermined threshold is counted. A first integrated value of the first luminance distribution information generated by frequency distribution is obtained. In other words, an offset (positioned) difference image is generated in consideration of the movement amount of the host vehicle V. The offset amount d ′ corresponds to the movement amount on the bird's-eye view image data corresponding to the actual movement distance of the host vehicle V shown in FIG. 4A, and the signal from the vehicle speed sensor 20 and the current amount from one hour before. It is determined based on the time until the time. The first integrated value is the total of values plotted as the first luminance distribution information or a predetermined area.

Subsequently, the stationary object determination unit 38 calculates the first bird's-eye view image obtained at the first time T0 and the second bird's-eye view image obtained at the second time T1 after the first time T0. On the difference image, the second integrated value of the second luminance distribution information generated by counting the number of pixels in which the luminance difference between adjacent image areas is equal to or greater than a predetermined threshold and generating the frequency distribution is obtained. That is, a difference image that is not offset is generated, and its integrated value (second integrated value) is calculated. The second integrated value is all of the values plotted as the second luminance distribution information or the total value of the predetermined area.

Then, when the evaluation value corresponding to the number of times that the second integrated value is determined to be greater than the first integrated value is greater than or equal to a predetermined evaluation threshold, the three-dimensional object determination unit 34 detects the solid object detection unit 33. The determined three-dimensional object is determined to be a “moving object”. Although the calculation method of the evaluation value is not limited, in this embodiment, every time it is determined that the second integrated value is larger than the first integrated value in the process repeatedly executed at a predetermined cycle, the evaluation point is counted up. The total value is obtained as an “evaluation value”.

In this way, the pixel amount (edge amount) extracted from the difference image between the past captured image that has been offset (aligned) based on the captured images at different times and the current captured image is not offset ( (Does not align) Based on the magnitude relationship between the pixel amount (edge amount) extracted from the difference image between the past captured image and the current captured image, the image transition feature of the moving object and the image transition feature of the stationary object Can be determined with high accuracy whether the three-dimensional object is a moving object or a stationary object.

In the stationary object detection unit 38 of the present embodiment, the second integrated value of the pixels (edge amount) indicating a predetermined difference in the difference image from the image that is not offset (not aligned) is offset (alignment). If it is determined that the difference image from the image is larger than the first integrated value of the pixels (edge amount) indicating the predetermined difference, the first count value is added to calculate the evaluation value. That is, as the determination that the second integrated value is larger than the first integrated value is accumulated, the evaluation value is increased. When the evaluation value is equal to or greater than a predetermined evaluation threshold, it is determined that the three-dimensional object detected by the three-dimensional

object detection units

33 and 37 is a stationary object.

In this process, when the determination that the second integrated value is larger than the first integrated value continues, the stationary object detection unit 38 sets the first count value higher as the number of consecutive determinations increases. To do. As described above, when the determination that the second integrated value is larger than the first integrated value continues, it is determined that there is an increased possibility that the detected three-dimensional object is a stationary object, and the evaluation value becomes larger. Since the first count value is increased as described above, it is possible to determine with high accuracy whether or not the three-dimensional object is a moving object based on the continuous observation result.

The stationary object detection unit 38 adds the first count value when it is determined that the second integrated value is greater than the first integrated value, and determines that the second integrated value is smaller than the first integrated value. In this case, the evaluation value may be calculated by subtracting the second count value. In this case, the stationary object detection unit 38 determines that the second integrated value is smaller than the first integrated value after determining that the second integrated value is larger than the first integrated value. Further, after that, when it is determined that the second integrated value is larger than the first integrated value, the first count value is set high.

As described above, when the determination that the second integrated value is greater than the first integrated value and the determination that the first integrated value is greater than the second integrated value occur interchangeably, the detected three-dimensional object is a stationary object. Since it is determined that there is a high possibility, and the first count value is increased so that the evaluation value is increased, it is possible to determine a stationary object with high accuracy based on the continuous observation result. Incidentally, the detection state of the feature of the moving object tends to be observed stably. If the detection result is unstable and the determination result that the three-dimensional object is a stationary object is discretely detected, it can be determined that the detected three-dimensional object is likely to be a stationary object. It is.

When it is determined that the second integrated value is smaller than the first integrated value, the stationary object detection unit 38 calculates an evaluation value by subtracting the second count value. In this case, the stationary object detection unit 38 sets the second count value higher when the determination that the second integrated value is smaller than the first integrated value continues for a predetermined number of times.

Thus, when it is determined that the second integrated value is smaller than the first integrated value, it is determined that the detected three-dimensional object is likely to be a moving object (another vehicle VX), and a stationary object is determined. The second count value related to the subtraction is increased so that the evaluation value for performing the reduction becomes smaller, so that the stationary object can be determined with high accuracy based on the continuous observation result.

Subsequently, the control unit 39 will be described. In the previous process, the control unit 39 according to the present embodiment includes a stationary object such as grass / snow, planting, or guardrail in the captured image, and the image Q1 of the stationary object is reflected in the detection areas A1 and A2. If it is determined by the stationary object determination unit 38, any of the three-dimensional

object detection units

33 and 37, the three-dimensional object determination unit 34, the stationary object determination unit 38, or the control unit 39 that is itself in the next process. A control command to be executed in one or more units can be generated.

The control command of the present embodiment is a command for controlling the operation of each unit so that it is suppressed that the detected three-dimensional object is the other vehicle VX. When an image of a stationary object is reflected in the detection areas A1 and A2, it is highly possible that the detected three-dimensional object is an image of a stationary object such as grass / snow, planting, or guardrail. This is to prevent the other vehicle VX from being determined. Since the computer 30 of the present embodiment is a computer, control commands for the three-dimensional object detection process, the three-dimensional object determination process, and the stationary object determination process may be incorporated in advance in the program of each process, or may be transmitted at the time of execution. The control command of the present embodiment may be a command for reducing sensitivity when detecting a three-dimensional object based on differential waveform information, or a command for decreasing sensitivity when detecting a three-dimensional object based on edge information. In addition, when suppressing the determination that the three-dimensional object is the other vehicle VX, the control command stops the process of determining the detected three-dimensional object as the other vehicle, It may be a command for a result that makes it be judged that the vehicle is not a vehicle.

When it is determined that the three-dimensional object detected by the stationary object determination unit 38 is likely to be an image of a stationary object, the control unit 39 according to the present embodiment detects the three-dimensional object, and the detected three-dimensional object. A control command for suppressing the object from being determined to be another vehicle VX is sent to the three-dimensional

object detection units

33 and 37 or the three-dimensional object determination unit 34. This makes it difficult for the three-dimensional

object detection units

33 and 37 to detect the three-dimensional object. Further, it is difficult for the three-dimensional object determination unit 34 to determine that the detected three-dimensional object is the other vehicle VX existing in the detection area A.

In addition, when it is determined that there is a high possibility that the solid object detected by the stationary object determination unit 38 is an image of a stationary object, the control unit 39 issues a control command with a content for canceling the detection process of the three-dimensional object. It may be generated and output to the three-dimensional

object detection units

33 and 37, or a control command for canceling the determination process for the three-dimensional object or a control command for determining that the detected three-dimensional object is not another vehicle is generated. Then, it may be output to the three-dimensional object determination unit 34. Thereby, the effect similar to the above can be obtained.

Hereinafter, specific control commands output by the control unit 39 will be described.
When the control unit 39 determines in the previous process that the three-dimensional object detected by the stationary object determination unit 38 is highly likely to be a stationary object, an image of the stationary object appears in the detection areas A1 and A2. It is determined that there is a high possibility that an error will occur in the processing based on the image information. If the three-dimensional object is detected in the same manner as usual, the three-dimensional object detected based on the image of the stationary object Q1 reflected in the detection areas A1 and A2 may be erroneously determined as the other vehicle VX. For this reason, in the next process, the control unit 39 according to the present embodiment suppresses that the three-dimensional object detected based on the image of the stationary object Q1 is erroneously determined as the other vehicle VX. The threshold value regarding the difference between the pixel values when generating information is changed to be high. As described above, when the stationary object Q1 is reflected in the detection areas A1 and A2, detection of a three-dimensional object or determination of the other vehicle VX is suppressed by changing the determination threshold value higher. It is possible to prevent erroneous detection due to the image of the stationary object Q1.

First, a control command for detecting a three-dimensional object based on differential waveform information will be described. As described above, the three-dimensional object detection unit 33 detects a three-dimensional object based on the difference waveform information and the first threshold value α. Then, the control unit 39 of the present embodiment makes it difficult to detect the three-dimensional object when it is determined that the three-dimensional object detected by the stationary object determination unit 38 is likely to be an image of a stationary object. Then, a control command for increasing the first threshold value α is generated and output to the three-dimensional object detection unit 33. The first threshold value α is the first threshold value α for determining the peak of the differential waveform DWt in step S7 of FIG. 11 (see FIG. 5). In addition, the control unit 39 can output a control command for increasing or decreasing the threshold value p regarding the difference between pixel values in the difference waveform information to the three-dimensional object detection unit 33.

In addition, when it is determined that there is a high possibility that the three-dimensional object detected by the stationary object determination unit 38 is an image of a stationary object, the control unit 39 according to the present embodiment performs predetermined processing on the difference image of the bird's eye view image. A control command that counts the number of pixels indicating the difference between the two and outputs a low frequency distribution value can be output to the three-dimensional object detection unit 33. The value obtained by counting the number of pixels showing a predetermined difference on the difference image of the bird's-eye view image and performing frequency distribution is the value on the vertical axis of the difference waveform DWt generated in step S5 of FIG. If the control unit 39 determines that the three-dimensional object detected in the previous process is likely to be an image of a stationary object, the control unit 39 is based on the image Q1 of the stationary object reflected in the detection areas A1 and A2. It is determined that there is a high possibility of misdetecting the other vehicle VX. For this reason, in the next process, the frequency-distributed value of the differential waveform DWt is changed to a low value so that it is difficult to detect the three-dimensional object or the other vehicle VX in the detection areas A1 and A2. In this way, when it is determined that the detected three-dimensional object is likely to be an image of a stationary object, the output value is lowered to reduce the vehicle VX of the other vehicle VX traveling next to the traveling lane of the host vehicle V. Since the detection sensitivity is adjusted, erroneous detection of the other vehicle VX due to the stationary object Q1 reflected in the detection areas A1 and A2 can be prevented.

Next, a control command for detecting a three-dimensional object based on edge information will be described. Similar to the processing based on the differential waveform information described above, the control unit 39 determines that the three-dimensional object detected in the previous processing is highly likely to be an image of a stationary object, and the detection areas A1, A2 It is determined that there is a high possibility of misdetecting the other vehicle VX based on the stationary object Q1 reflected in the.
For this reason, the control unit 39 of the present embodiment detects the three-dimensional object by the three-dimensional

object detection units

33 and 37 when it is determined that the detected three-dimensional object is likely to be an image of a stationary object. In order to suppress that the three-dimensional object is determined to be another vehicle by the three-dimensional object determination unit 37, the control unit 39 increases each threshold value used for each process (so that it is difficult to detect). The output value compared with each threshold value is changed to be low (so that it is difficult to detect).

In order to suppress that the three-dimensional object is detected by the three-dimensional

object detection units

33 and 37 or that the three-dimensional object determination unit 37 determines that the three-dimensional object is another vehicle, the control unit 39 is used for each process. The threshold value is changed higher than the initial value, the standard value, or other set values (so that detection is difficult), or the output value compared with each threshold value is changed low (so that detection is difficult). In addition, when the control part 39 performs a promotion process, a promotion process becomes control of a suppression process and judgment.

The details of the processing are as follows.

When the three-dimensional object detection unit 33 that detects the three-dimensional object using the difference waveform information detects the three-dimensional object when the difference waveform information is equal to or greater than the predetermined first threshold value α, the control unit 39 performs the previous process. When it is determined that the detected three-dimensional object is a stationary object, a control command for changing the first threshold value α so as to make it difficult to detect the three-dimensional object is generated, and this control command is sent to the three-dimensional object detection unit 33. Output.

Similarly, when the three-dimensional object detection unit 33 detects a three-dimensional object when the differential waveform information is greater than or equal to the predetermined first threshold value α, the control unit 39 determines that the three-dimensional object detected in the previous process is a stationary object. If it is determined that there is a control command that counts the number of pixels indicating a predetermined difference on the difference image of the bird's eye view image and generates a low-frequency-distributed value and outputs it, this control command Is output to the three-dimensional object detection unit 38.

In addition, when the three-dimensional object detection unit 33 that detects a three-dimensional object using the difference waveform information extracts the number of pixels indicating a pixel value equal to or greater than the threshold value p as the number of pixels indicating a predetermined difference, the control unit 39 When it is determined that the three-dimensional object detected in the processing is a stationary object, a control command for changing the threshold value p so that the three-dimensional object is difficult to detect is generated, and this control command is used as the three-dimensional object detection hand unit 38. Output to.

Similarly, when the three-dimensional object detection unit 33 extracts the number of pixels indicating a pixel value equal to or greater than the threshold p as the number of pixels indicating a predetermined difference, the control unit 39 determines that the three-dimensional object detected in the previous process is a stationary object. If it is determined that there is a control command to be output by changing the number of pixels extracted on the difference image to be lower along the direction in which the three-dimensional object falls when the viewpoint of the bird's eye view image is converted, The control command is output to the three-dimensional object detection unit 38. For example, the control unit 39 determines that the three-dimensional object is detected by the three-dimensional object detection unit 33 (or the three-dimensional object detection unit 37) or that the three-dimensional object is finally the other vehicle VX by the three-dimensional object determination unit 34. In order to prevent the result from being obtained, the detection areas A1 and A2 are partially masked, or the threshold value and output value used for detection and determination are adjusted.

When the three-dimensional object detection unit 37 that detects a three-dimensional object using edge information extracts an edge line based on a pixel indicating a luminance difference equal to or greater than a predetermined threshold t, the control unit 39 detects the three-dimensional object detected in the previous process. When it is determined that the object is a stationary object, a control command for changing the predetermined threshold value t so as to make it difficult to detect the three-dimensional object is generated, and this control command is output to the three-dimensional object detection unit 37.

Similarly, when the three-dimensional object detection unit 37 that detects a three-dimensional object using edge information extracts an edge line based on a pixel indicating a luminance difference equal to or greater than a predetermined threshold value t, the control unit 39 is detected in the previous process. If it is determined that the three-dimensional object is a stationary object, a control command for changing the luminance value of the pixel to a low value is generated, and the control command is output to the three-dimensional object detection unit 37.

When the three-dimensional object detection unit 37 that detects a three-dimensional object using edge information detects a three-dimensional object based on an edge line having a length equal to or greater than the threshold value θ included in the edge information, the control unit 39 performs the previous process. When it is determined that the three-dimensional object detected in step 3 is a stationary object, a control command for changing the threshold θ to be high so that the three-dimensional object is difficult to detect is generated, and this control command is output to the three-dimensional object detection unit 37. To do.

Similarly, when the three-dimensional object detection unit 37 that detects a three-dimensional object using edge information detects a three-dimensional object based on an edge line having a length equal to or longer than the threshold θ included in the edge information, the control unit 39 If it is determined that the three-dimensional object detected in the process of (2) is a stationary object, a control command is generated to change the edge line length value of the detected edge information to a low value and output the control command. Output to the three-dimensional object detection unit 37.

The number of edge lines having a length equal to or greater than a predetermined length included in the edge information, for example, the number of edge lines having a length equal to or greater than the threshold θ is included in the edge information by the three-dimensional object detection unit 37 that detects the solid object using the edge information is equal to or greater than the second threshold β. In the case of detecting a three-dimensional object based on whether or not the three-dimensional object is detected, the control unit 39 is unlikely to detect the three-dimensional object when it is determined that the three-dimensional object detected in the previous process is a stationary object. A control command for changing the second threshold value β to a high value is generated, and this control command is output to the three-dimensional object detection unit 37.

The number of edge lines having a length equal to or greater than a predetermined length included in the edge information, for example, the number of edge lines having a length equal to or greater than the threshold θ is included in the edge information by the three-dimensional object detection unit 37 that detects the solid object using the edge information is equal to or greater than the second threshold β. In the case of detecting a three-dimensional object based on whether or not the three-dimensional object is detected, the control unit 39 determines that the three-dimensional object detected in the previous process is a stationary object, the detected predetermined length or more. A control command that outputs a low number of edge lines is generated, and this control command is output to the three-dimensional object detection unit 37.

In addition, when the three-dimensional object determination unit 34 determines that the three-dimensional object is another vehicle when the movement speed of the detected three-dimensional object is equal to or higher than a predetermined speed, the control unit 39 If it is determined that the three-dimensional object detected in the process is a stationary object, the predetermined speed that is the lower limit when determining that the three-dimensional object is another vehicle is changed so that the three-dimensional object is difficult to detect. A control command is generated, and this control command is output to the three-dimensional object determination unit 34.

Similarly, when the three-dimensional object determination unit 34 determines that the three-dimensional object is another vehicle when the movement speed of the detected three-dimensional object is equal to or higher than a predetermined speed, the control unit 39 If it is determined that the three-dimensional object detected in the process is a stationary object, the moving speed of the three-dimensional object is changed to be lower than the predetermined speed that is the lower limit when determining that the three-dimensional object is another vehicle. The control command to be output is generated, and the control command is output to the three-dimensional object determination unit 34.

When the three-dimensional object determination unit 34 determines that the three-dimensional object is another vehicle when the movement speed of the detected three-dimensional object is less than a preset predetermined speed, the control unit 39 If it is determined that the three-dimensional object detected in the process is a stationary object, a control command is generated to change the predetermined speed, which is the upper limit when determining that the three-dimensional object is another vehicle, and this control is performed. The command is output to the three-dimensional object determination unit 34.

Similarly, when determining that the three-dimensional object is another vehicle when the movement speed of the three-dimensional object detected by the three-dimensional object determination unit 34 is less than a predetermined speed set in advance, the control unit 39 performs the previous process. When it is determined that the detected three-dimensional object is a stationary object, a control command that changes the moving speed of the three-dimensional object to be higher than the predetermined speed that is the upper limit when determining that the three-dimensional object is another vehicle. And outputs this control command to the three-dimensional object determination unit 34.

Here, the “movement speed” includes the absolute speed of the three-dimensional object and the relative speed of the three-dimensional object with respect to the host vehicle. The absolute speed of the three-dimensional object may be calculated from the relative speed of the three-dimensional object, and the relative speed of the three-dimensional object may be calculated from the absolute speed of the three-dimensional object.

Incidentally, the first threshold value α is for determining the peak of the differential waveform DWt in step S7 of FIG. The threshold value p is a threshold value for extracting a pixel having a predetermined pixel value. The predetermined threshold value t is a threshold value for extracting pixels or edge components having a predetermined luminance difference. The threshold value θ is a threshold value for determining a value (edge length) obtained by normalizing the sum of the continuity c of the attribute of each attention point Pa in step S29 of FIG. 17, and the second threshold value β is the step of FIG. 34 is a threshold value for evaluating the amount (number) of edge lines. As described above, the detection sensitivity is adjusted so that the other vehicle VX traveling next to the traveling lane of the host vehicle V is difficult to be detected by changing the determination threshold to be higher. It is possible to prevent erroneous detection as VX.

The control unit 39 of the present embodiment outputs a control command for counting the number of pixels indicating a predetermined difference on the difference image of the bird's-eye view image and outputting a low frequency distribution value to the three-dimensional object detection unit 33. The value obtained by counting the number of pixels showing a predetermined difference on the difference image of the bird's-eye view image and performing frequency distribution is the value on the vertical axis of the difference waveform DWt generated in step S5 of FIG.

Also, the control unit 39 of the present embodiment outputs a control command for outputting the detected edge information to the three-dimensional object detection unit 37. The detected edge information includes the length of the edge line that is a value obtained by normalizing the sum of the continuity c of the attribute of each attention point Pa in step S29 in FIG. 17, and the amount of edge line in step 34 in FIG. It is. When it is determined that the three-dimensional object detected in the previous process is a stationary object, the control unit 39 does not detect the three-dimensional object in the next process so that the three-dimensional object is not detected as a three-dimensional object. Further, the value obtained by normalizing the sum of the continuity c of the attribute of each attention point Pa or the amount of the edge line is changed to be low. As described above, when it is determined that the detected three-dimensional object is likely to be an image of a stationary object, the three-dimensional object is detected or the other vehicle VX is determined by changing the determination threshold value to be high. Therefore, it is possible to prevent erroneous detection due to the still object image Q1 reflected in the detection areas A1 and A2.

Hereinafter, based on FIG. 23, the operation of the three-dimensional object detection device 1 of the present embodiment, in particular, the operation of the three-dimensional object determination unit 34 and the three-dimensional

object detection units

33 and 37 that have acquired the control unit 39 and the control command will be described. The process illustrated in FIG. 23 is the current three-dimensional object detection process performed using the result of the previous process after the previous three-dimensional object detection process.

First, in step S41 shown in FIG. 23, the stationary object determination unit 38 determines whether the three-dimensional object is a stationary object or a moving object based on the difference waveform information or the edge information.

FIG. 24 is a flowchart showing the control procedure of the stationary object determination process of the present embodiment. As shown in FIG. 24, first, in step S81, the three-dimensional object determination unit 34 acquires an image at a past timing T0. Next, in step S82, the three-dimensional object determination unit 34 obtains an offset image T0A at the past timing T0 and a non-offset image T0B at the past timing T0. Each image may be a captured image or a bird's-eye view image whose viewpoint has been changed.

In step S83, the three-dimensional object determination unit 34 acquires the image T1 at the current timing T1. In subsequent step S84, the three-dimensional object determination unit 34 obtains a difference image PDtA between the image T1 at the current timing T1 and the offset image T0A at the past timing T0, and the past image T1 at the current timing T1 and the past A difference image PDtB from the non-offset image T0B at the timing T0 is acquired.

In step S85, the three-dimensional object determination unit 34 extracts pixels having a pixel value greater than or equal to a predetermined difference and pixels having a luminance difference greater than or equal to a predetermined value from the difference image PDtA, and obtains a pixel distribution for each position. Similarly, the three-dimensional object determination unit 34 extracts pixels having a pixel value equal to or larger than a predetermined difference and pixels having a luminance difference equal to or larger than a predetermined value in the difference image PDtB, and obtains a pixel distribution for each position. In subsequent step S86, the three-dimensional object determination unit 34 obtains the integrated value PA of the pixel amount in the difference image PDtA and obtains the integrated value PB of the pixel amount in the difference image PDtB. Instead of the integrated values PA and PB, the total pixel amount may be obtained.

In step S87, the three-dimensional object determination unit 34 compares the first integrated value PA and the second integrated value PB. If the first integrated value PA is smaller than the second integrated value PB, that is, the offset past image T0A. The pixel amount of the difference image between the current image T1 and the first integrated value PA is more than the pixel amount or the second integrated value PB of the difference image between the past image T0B and the current image T1 that is not offset (not aligned). If it is smaller, the process proceeds to step S88, where it is determined that the detected three-dimensional object is a stationary object, and the process proceeds to step S51 in FIG. At this time, it may be determined that the three-dimensional object is not another vehicle, and the process may proceed to steps S46 and S47 in FIG. On the other hand, if the first integrated value PA is greater than or equal to the second integrated value PB in step S87, the three-dimensional object is a moving object, so the process proceeds to step S43 in FIG. 23 and normal other vehicle detection is performed.

23, in step S42, the stationary object determination unit 38 determines whether or not the three-dimensional object is a stationary object. If it is determined that the detected three-dimensional object is a moving object, the process proceeds to step S43. If it is determined that the detected three-dimensional object is a stationary object, the process proceeds to step S51.

In step S51, when the stationary object determining unit 38 determines that the three-dimensional object detected in the previous process is the image Q1 of the stationary object, the control unit 39 displays the stationary image reflected in the detection areas A1 and A2. Based on the object image Q1, it is determined that there is a high possibility that the other vehicle VX is erroneously detected, and the three-dimensional object is detected in the next processing, and it is suppressed that the three-dimensional object is determined to be the other vehicle VX. As described above, control is performed such that the threshold value used in the three-dimensional object detection process and the three-dimensional object determination process is set high, or the output value compared with the threshold value is output low. Specifically, the threshold p for pixel value difference when generating the difference waveform information, the first threshold α used when determining the three-dimensional object from the difference waveform information, and the edge so that detection of the three-dimensional object is suppressed A control command for changing any one or more of the threshold value θ for generating information and the second threshold value β used for determining the solid object from the edge information to the three-dimensional

object detection units

33 and 37 is sent. Note that, instead of increasing the threshold value, the control unit 39 may generate a control command for decreasing the output value evaluated by the threshold value and output the control command to the three-dimensional

object detection units

33 and 37. As described above, the first threshold value α is a threshold value for determining the peak of the differential waveform DWt in step S7 of FIG. The threshold value θ is a threshold value for determining a value obtained by normalizing the sum of the continuity c of the attribute of each target point Pa in step S29 in FIG. 17, and the second threshold value β is the amount of the edge line in step 34 in FIG. Is a threshold value for evaluating.

When the output value is lowered, the control unit 39 detects a three-dimensional object by outputting a control command that counts the number of pixels indicating a predetermined difference on the difference image of the bird's eye view image and outputs the frequency distribution value lower. To the unit 33. The value obtained by counting the number of pixels showing a predetermined difference on the difference image of the bird's-eye view image and performing frequency distribution is the value on the vertical axis of the difference waveform DWt generated in step S5 of FIG. Similarly, the control unit 39 can output a control command for outputting a low amount of detected edge information to the three-dimensional object detection unit 37. The detected amount of edge information is a value obtained by normalizing the sum of the continuity c of the attributes of each point of interest Pa in step S29 in FIG. 17 or the amount of edge lines in step 34 in FIG. When it is determined that the light environment changes suddenly in the previous process, the control unit 39 normalizes the sum of the continuity c of the attribute of each attention point Pa so that a solid object is difficult to detect in the next process. A control command for changing the value or the amount of the edge line to be low can be output to the three-dimensional object detection unit 37.

After changing each threshold value or each output value, the process proceeds to step S43, where a three-dimensional object is detected based on the difference waveform information or edge information, and it is determined whether the detected three-dimensional object is another vehicle VX. If a three-dimensional object is detected in step S44 and the detected three-dimensional object is another vehicle VX, a determination result indicating that another vehicle is present is output in step S45, otherwise, in step S46. The determination result that there is no other vehicle is output. The processes in step S45 and step S46 are the detection process of the other vehicle VX based on the differential waveform information described in FIGS. 11 and 12, and the detection process of the other vehicle VX based on the edge information described in FIGS. Common.

On the other hand, if the three-dimensional object is not detected in step S42, the process proceeds to step S46, and it may be determined that the detected three-dimensional object is not the other vehicle VX, and there is no other vehicle VX, or step S47. The process of detecting a three-dimensional object may be stopped.

According to the three-dimensional object detection device 1 according to this embodiment of the present invention configured and operating as described above, the following effects are obtained.
(1) According to the three-dimensional object detection device 1 of the present embodiment, the pixel amount (edge amount) extracted from the difference image between the past captured image and the current captured image that are offset based on the captured images at different times. ) And the image transition characteristics of the moving object based on the magnitude relationship between the pixel amount (edge amount) extracted from the difference image between the past captured image and the current captured image that are not offset (not aligned) The feature of the image transition of the stationary object is identified, and it can be determined with high accuracy whether the three-dimensional object is a moving object or a stationary object. Even if the processing is based on the difference waveform information or the processing based on the edge information, the same operations and effects are obtained.

(2) According to the three-dimensional object detection device 1 of the present embodiment, when the determination that the second integrated value is greater than the first integrated value continues, the first as the number of consecutive determinations increases. Set the count value higher. Thus, when the determination that the second integrated value is larger than the first integrated value continues, it is determined that the possibility that the detected three-dimensional object is a stationary object has increased, and the evaluation value is larger. Since the first count value is increased as described above, it is possible to determine with high accuracy whether or not the three-dimensional object is a moving object based on the continuous observation result.

(3) According to the three-dimensional object detection device 1 of the present embodiment, the determination that the second integrated value is greater than the first integrated value and the determination that the first integrated value is greater than the second integrated value are interchanged. In this case, it is determined that the detected three-dimensional object is likely to be a stationary object, and the first count value is increased so as to increase the evaluation value. Judgment can be made with high accuracy.

(4) According to the three-dimensional object detection device 1 of the present embodiment, when it is determined that the second integrated value is smaller than the first integrated value, the detected three-dimensional object is a moving object (another vehicle VX). Since the second count value related to subtraction is increased so that the evaluation value for determining a stationary object is determined to be small, the stationary object is highly accurate based on the observation results over time. Can be judged.

(5) According to the three-dimensional object detection device 1 of the present embodiment, when it is determined that the three-dimensional object detected in the previous process is an image of a stationary object, the first threshold value α is changed to a high value. Since the detection sensitivity can be adjusted so that the other vehicle VX traveling next to the traveling lane of the own vehicle V is difficult to be detected, the image of the stationary object Q1 is prevented from being erroneously detected as the other vehicle VX traveling in the adjacent lane. can do.

(6) If it is determined that the three-dimensional object detected in the previous process is an image of a stationary object, the output value when generating the differential waveform information is lowered, so that the travel lane of the host vehicle V is reduced. Since the detection sensitivity can be adjusted so that the other vehicle VX traveling next is hard to be detected, it is possible to prevent erroneous detection of the image of the stationary object Q1 as the other vehicle VX traveling in the adjacent lane.

(7) When it is determined that the three-dimensional object detected in the previous process is an image of a stationary object, the driving lane of the host vehicle V is increased by changing the determination threshold when generating edge information to a higher value. Since the detection sensitivity can be adjusted so that the other vehicle VX traveling next to the vehicle is difficult to be detected, it is possible to prevent erroneous detection of the image of the stationary object Q1 as the other vehicle VX traveling in the adjacent lane.

(8) If it is determined that the three-dimensional object detected in the previous process is an image of a stationary object, the output value when generating edge information is lowered, so that the next to the traveling lane of the host vehicle V Since the detection sensitivity can be adjusted so that the other vehicle VX traveling on the vehicle is difficult to be detected, it is possible to prevent erroneous detection of the image of the stationary object Q1 as the other vehicle VX traveling in the adjacent lane.

Note that the three-dimensional object detection device 1 of the present embodiment is the same whether the other vehicle VX is detected by the process based on the difference waveform information or the other vehicle VX is detected by the process based on the edge information. The effects and effects of

The camera 10 corresponds to an imaging unit according to the present invention, the viewpoint conversion unit 31 corresponds to an image conversion unit according to the present invention, and the alignment unit 32 and the three-dimensional object detection unit 33 include a three-dimensional object detection according to the present invention. The brightness difference calculation unit 35, the edge line detection unit 36, and the three-dimensional object detection unit 37 correspond to a three-dimensional object detection unit according to the present invention, and the three-dimensional object determination unit 34 corresponds to a three-dimensional object determination unit. The stationary object determination unit 38 corresponds to a stationary object determination unit, the control unit 39 corresponds to a control unit, and the vehicle speed sensor 20 corresponds to a vehicle speed sensor.

In the present invention, “luminance distribution information”, “first luminance distribution information”, and “second luminance distribution information” include at least “difference waveform information” and “edge information” in the present embodiment.

The alignment unit 21 in the present embodiment aligns the positions of the bird's-eye view images at different times on the bird's-eye view, and obtains the aligned bird's-eye view image. This can be performed with accuracy according to the type and required detection accuracy. It may be a strict alignment process such as aligning positions based on the same time and the same position, or may be a loose alignment process that grasps the coordinates of each bird's-eye view image.

DESCRIPTION OF SYMBOLS 1 ... Three-dimensional object detection apparatus 10 ... Camera 20 ... Vehicle speed sensor 30 ... Computer 31 ... Viewpoint conversion part 32 ...

Position alignment part

33, 37 ... Three-dimensional object detection part 34 ... Three-dimensional object judgment part 35 ... Luminance difference calculation part 36 ... Edge detection part 38 ... stationary determining unit 40 ... smear detection unit A1, A2 ... detection area CP ... intersection DP ... differential pixel _DW _t, _DW t _'... differential waveform _{_{_{DW t1 ~ DW m, DW m}}} + k ~ DW tn ... small regions L1, L2 ... ground line La, Lb ... three-dimensional object line on direction collapses the P ... captured image PB t _... bird's-eye view image PD t _... difference image MP ... mask image S ... smear SP ... smear image SB t _... smear bird's-eye view image V ... Vehicle VX ... Other vehicle

Claims

Imaging means for imaging the rear of the vehicle;
A three-dimensional object detection means for detecting a three-dimensional object existing behind the vehicle based on an image acquired by the imaging means;
The position of the first image obtained at the first time and the position of the second image obtained at the second time after the first time are aligned, and the position of the aligned image On the difference image, the first integrated value of the first luminance distribution information generated by counting the number of pixels in which the luminance difference indicates a predetermined difference and performing frequency distribution is obtained, and the first obtained at the first time is obtained. On the difference image between the image and the second image obtained at the second time after the first time, the number of pixels whose luminance difference indicates a predetermined difference is counted and generated by frequency distribution. When the second integrated value of the two luminance distribution information is obtained and the evaluation value corresponding to the number of times that the second integrated value is determined to be larger than the first integrated value is greater than or equal to a predetermined evaluation threshold, the three-dimensional The solid object detected by the object detection means is a stationary object. A stationary determining means for determining that that,
A three-dimensional object judging means for judging whether or not the three-dimensional object detected by the three-dimensional object detecting means is another vehicle existing in the detection area;
When the detected three-dimensional object is determined to be a stationary object by the stationary object determination unit, it is suppressed that the detected three-dimensional object is determined to be another vehicle by the three-dimensional object determination unit. A three-dimensional object detection apparatus comprising:
Further comprising image conversion means for converting the image obtained by the imaging means into a bird's-eye view image,
The position of the bird's-eye view image at different times obtained by the image conversion means is aligned on the bird's-eye view, and the number of pixels indicating a predetermined difference is counted on the difference image of the aligned bird's-eye view image. Further comprising differential waveform information generating means for generating differential waveform information by distributing,
The three-dimensional object detection means counts as being the number of pixels indicating a predetermined difference on the difference image along a direction in which the three-dimensional object falls when the bird's-eye view image is subjected to viewpoint conversion, when included in the difference waveform information. Based on the frequency that has been detected to detect a three-dimensional object present in the detection area set on each of the right and left sides behind the vehicle,
The stationary object judging means obtains the position of the first bird's-eye view image obtained at the first time and the position of the second bird's-eye view image obtained at the second time after the first time. The first integrated value of the first differential waveform information generated by performing frequency distribution by counting the number of pixels indicating a predetermined difference on the difference image of the aligned bird's-eye view image is aligned in bird's-eye view. And obtaining a predetermined difference on a difference image between a first bird's-eye view image obtained at the first time and a second bird's-eye view image obtained at a second time after the first time. A second integrated value of the second differential waveform information generated by counting the number of pixels shown and frequency distribution is obtained, and an evaluation value according to the number of times that the second integrated value is determined to be larger than the first integrated value Is greater than or equal to a predetermined evaluation threshold, Three-dimensional object detection apparatus according to claim 1, the three-dimensional object detected by the detecting means and determines that a stationary object.
Further comprising image conversion means for converting the image obtained by the imaging means into a bird's-eye view image,
In the bird's-eye view image obtained by the image conversion unit, the image processing device further includes an edge information generation unit that extracts pixels whose luminance difference between adjacent image regions is equal to or greater than a predetermined threshold and generates edge information based on the pixels. ,
The three-dimensional object detection means is included in the edge information, extracted along a direction in which the three-dimensional object falls when the viewpoint is converted into the bird's-eye view image, and a luminance difference between adjacent image areas is equal to or greater than a predetermined threshold value. Detecting a three-dimensional object existing in detection areas set on the right side and the left side of the vehicle rear based on edge information including a certain pixel,
The stationary object judging means is configured to view the position of the first bird's-eye view image obtained at the first time and the position of the second bird's-eye view image obtained at the second time after the first time. A first luminance distribution generated by performing frequency distribution by counting the number of pixels in which the luminance difference between adjacent image areas is equal to or greater than a predetermined threshold on the difference image of the aligned bird's-eye view image. While obtaining the first integrated value of information, the difference between the first bird's-eye view image obtained at the first time and the second bird's-eye view image obtained at a second time after the first time On the image, the second integrated value of the second luminance distribution information generated by counting the number of pixels in which the luminance difference between adjacent image areas is equal to or greater than a predetermined threshold and generating the frequency distribution is obtained, and the second integrated value is Determined to be greater than the first integrated value The three-dimensional object according to claim 1, wherein when the evaluation value corresponding to the number is equal to or greater than a predetermined evaluation threshold value, the three-dimensional object detected by the three-dimensional object detection unit is determined to be a stationary object. Detection device.
The stationary object judging means, when it is judged that the second integrated value is larger than the first integrated value, calculates the evaluation value by adding a first count value,
When the determination that the second integrated value is larger than the first integrated value continues, the first count value is set higher as the number of continuous determinations increases. The three-dimensional object detection device according to any one of 1 to 3.
The stationary object judging means includes:
When it is determined that the second integrated value is greater than the first integrated value, the first count value is added, and when the second integrated value is determined to be smaller than the first integrated value. Calculates the evaluation value by subtracting the second count value,
After the determination that the second integrated value is larger than the first integrated value, the content is determined that the second integrated value is smaller than the first integrated value. The first count value is set to be high when it is determined that the content of 2 integrated values is larger than the first integrated value. Solid object detection device.
The stationary object judging means includes:
When it is determined that the second integrated value is smaller than the first integrated value, the evaluation value is calculated by subtracting a second count value;
4. The second count value is set to be high when the determination that the second integrated value is smaller than the first integrated value continues for a predetermined number of times or more. The three-dimensional object detection device according to one item.
The three-dimensional object detection means detects a three-dimensional object when the difference waveform information is a predetermined first threshold value α or more,
When it is determined that the detected three-dimensional object is a stationary object, the control unit generates a control command to change the first threshold value α so that the three-dimensional object is difficult to detect, and The three-dimensional object detection device according to any one of claims 4 to 6, wherein the object detection means outputs the object to the object detection means.
The three-dimensional object detection means detects a three-dimensional object when the difference waveform information is a predetermined first threshold value α or more,
The control means, when it is determined that the detected three-dimensional object is a stationary object, counts the number of pixels indicating a predetermined difference on the difference image of the bird's eye view image and is a frequency distribution value The control instruction according to any one of claims 4 to 6, wherein a control instruction for lowering the output is generated and the control instruction is output to the three-dimensional object detection means. Object detection device.
The three-dimensional object detection means extracts the number of pixels indicating a pixel value equal to or greater than a threshold value p as the number of pixels indicating the predetermined difference,
When it is determined that the detected three-dimensional object is a stationary object, the control unit generates a control command for changing the threshold value p so that the three-dimensional object is difficult to detect, and detects the three-dimensional object. The three-dimensional object detection apparatus according to any one of claims 4 to 8, wherein the output to the means is performed.
The three-dimensional object detection means extracts the number of pixels indicating a pixel value equal to or greater than a threshold value p as the number of pixels indicating the predetermined difference,
When the control unit determines that the detected three-dimensional object is a stationary object, the control unit performs predetermined processing on the difference image along a direction in which the three-dimensional object falls when the viewpoint of the bird's-eye view image is converted. 9. The control command for generating a control command for reducing the number of pixels indicating the difference and outputting the control command to the three-dimensional object detection means. The three-dimensional object detection device according to item.
The three-dimensional object detection means extracts an edge line based on a pixel indicating a luminance difference equal to or greater than a predetermined threshold t,
When it is determined that the detected three-dimensional object is a stationary object, the control unit generates a control command for changing the predetermined threshold t to be high so that the three-dimensional object is not easily detected, and the three-dimensional object The three-dimensional object detection apparatus according to any one of claims 4 to 6, wherein the three-dimensional object detection apparatus outputs the detection means to the detection means.
The three-dimensional object detection means extracts an edge line based on a pixel indicating a luminance difference equal to or greater than a predetermined threshold t,
When it is determined that the detected three-dimensional object is a stationary object, the control unit generates a control command for decreasing the luminance value of the pixel, and outputs the control command to the three-dimensional object detection unit. The three-dimensional object detection device according to any one of claims 4 to 6, wherein the three-dimensional object is cited.
The three-dimensional object detection means detects a three-dimensional object based on the edge line having a length greater than or equal to a threshold θ included in the edge information,
When it is determined that the detected three-dimensional object is a stationary object, the control unit generates a control command for changing the threshold θ to be high so that the three-dimensional object is difficult to detect, and detects the three-dimensional object. The three-dimensional object detection apparatus according to any one of claims 4 to 6, 11 and 12, which is output to the means.
The three-dimensional object detection means detects a three-dimensional object based on the edge line having a length greater than or equal to a threshold θ included in the edge information,
The control means, when it is determined that the detected three-dimensional object is a stationary object, outputs a control command for outputting the detected edge information low to the three-dimensional object detection means. The three-dimensional object detection device according to any one of claims 4 to 6, 11, and 12, wherein the item 3 or the item 3 is cited.
The three-dimensional object detection means detects a three-dimensional object based on a determination as to whether or not the number of the edge lines having a length equal to or greater than a threshold θ included in the edge information is equal to or greater than a second threshold β.
When it is determined that the detected three-dimensional object is a stationary object, the control unit generates a control command for changing the second threshold β to be high so that the three-dimensional object is difficult to detect, and The three-dimensional object detection device according to any one of claims 4 to 6, 11 and 12, which outputs the object detection means to claim 3 or claim 3.
The three-dimensional object detection means detects a three-dimensional object based on a determination as to whether or not the number of the edge lines having a length equal to or greater than a threshold θ included in the edge information is equal to or greater than a second threshold β.
When it is determined that the detected three-dimensional object is a stationary object, the control means outputs a control command for outputting a low number of the detected edge lines to the three-dimensional object detection means. The three-dimensional object detection apparatus according to any one of claims 4 to 6, 11, and 12, which cites claim 3 or claim 3.
The three-dimensional object determination means determines that the three-dimensional object is another vehicle when a relative speed of the detected three-dimensional object with respect to the host vehicle is equal to or higher than a predetermined speed set in advance.
When it is determined that the detected three-dimensional object is a stationary object, the control means detects the three-dimensional object at the predetermined speed that is a lower limit when determining that the three-dimensional object is another vehicle. The three-dimensional object detection device according to any one of claims 1 to 16, wherein a control command for changing the height to be difficult is generated and output to the three-dimensional object determination means.
The three-dimensional object determination means determines that the three-dimensional object is the other vehicle when a relative speed of the detected three-dimensional object with respect to the host vehicle is equal to or higher than a predetermined speed set in advance.
When it is determined that the detected three-dimensional object is a stationary object, the control unit compares the three-dimensional object with the predetermined speed that is a lower limit when determining that the three-dimensional object is another vehicle. The three-dimensional object detection device according to any one of claims 1 to 16, wherein a control command for changing a relative speed of the vehicle to a low value is output to the three-dimensional object determination means.
The three-dimensional object determination means determines that the three-dimensional object is another vehicle when the relative speed of the detected three-dimensional object with respect to the host vehicle is less than a predetermined speed set in advance.
When it is determined that the detected three-dimensional object is a stationary object, the control means sets the predetermined speed to be the upper limit when the three-dimensional object is determined to be another vehicle. The three-dimensional object detection device according to any one of claims 1 to 18, wherein a control command for changing the value so that an object is difficult to detect is generated and output to the three-dimensional object determination means.
The three-dimensional object determining means determines that the three-dimensional object is the other vehicle when the relative speed of the detected three-dimensional object with respect to the host vehicle is less than a predetermined speed set in advance.
When it is determined that the detected three-dimensional object is a stationary object, the control unit compares the three-dimensional object with the predetermined speed that is an upper limit when determining that the three-dimensional object is another vehicle. The three-dimensional object detection device according to any one of claims 1 to 18, wherein a control command for changing a relative speed of the vehicle to a higher value is output to the three-dimensional object determination means.
A step of converting the image obtained by the imaging means mounted on the vehicle and imaging the rear of the vehicle into a bird's eye view image;
The positions of the obtained bird's-eye view images at different times are aligned in bird's-eye view, and the number of pixels indicating a predetermined difference is counted on the difference image of the aligned bird's-eye view images to form a frequency distribution. Generating differential waveform information with:
Based on the frequency counted as being the number of pixels indicating a predetermined difference on the difference image along the direction in which the three-dimensional object falls when the bird's eye view image is converted to the viewpoint when included in the difference waveform information, Detecting solid objects present in detection areas set on the right and left sides of the vehicle rear, and
The position of the first bird's eye view image obtained at the first time and the position of the second bird's eye view image obtained at the second time after the first time are aligned on the bird's eye view. The first integrated value of the first difference waveform information generated by counting the number of pixels indicating a predetermined difference and performing frequency distribution on the difference image of the aligned bird's-eye view image is obtained, and the first The number of pixels indicating a predetermined difference is counted on the difference image between the first bird's-eye view image obtained at the time and the second bird's-eye view image obtained at the second time after the first time. A second integrated value of the second differential waveform information generated by frequency distribution is obtained, and an evaluation value corresponding to the number of times that the second integrated value is determined to be greater than the first integrated value is greater than or equal to a predetermined evaluation threshold value. In some cases, the detected solid object is a stationary object. And determining the door,
Determining whether the detected three-dimensional object is another vehicle existing in the detection area;
And a step of suppressing the detected three-dimensional object from being determined as another vehicle when it is determined that the detected three-dimensional object is a stationary object.
A step of converting the image obtained by the imaging means mounted on the vehicle and imaging the rear of the vehicle into a bird's eye view image;
In the obtained bird's-eye view image, extracting pixels whose luminance difference between adjacent image regions is a predetermined threshold or more, and generating edge information based on the pixels;
Edge information including pixels that are included in the edge information, extracted along the direction in which the three-dimensional object falls when the viewpoint is converted into the bird's-eye view image, and whose luminance difference between adjacent image areas is equal to or greater than a predetermined threshold. Detecting a three-dimensional object existing in detection areas set on the right and left sides of the vehicle rear,
The position of the first bird's-eye view image obtained at the first time and the position of the second bird's-eye view image obtained at the second time after the first time are aligned on the bird's-eye view, The first integrated value of the first luminance distribution information generated by counting the number of pixels in which the luminance difference between adjacent image areas is equal to or greater than a predetermined threshold on the difference image of the aligned bird's-eye view image and generating a frequency distribution On the difference image between the first bird's-eye view image obtained at the first time and the second bird's-eye view image obtained at the second time after the first time. The second integrated value of the second luminance distribution information generated by counting the number of pixels in which the luminance difference of the image area to be performed is equal to or greater than a predetermined threshold and generating the frequency distribution is obtained, and the second integrated value is greater than the first integrated value. Evaluation value according to the number of times judged to be large If it is more than the predetermined evaluation threshold, the steps of the detected three-dimensional object is determined to be stationary object,
Determining whether the detected three-dimensional object is another vehicle existing in the detection area;
When the detected three-dimensional object is determined to be a stationary object, the three-dimensional object is detected and the step of suppressing the determination of the three-dimensional object as the other vehicle is provided. Detection method.