CN110573905B - 障碍物检知装置 - Google Patents

障碍物检知装置 Download PDF

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Publication number
CN110573905B
CN110573905B CN201880027990.4A CN201880027990A CN110573905B CN 110573905 B CN110573905 B CN 110573905B CN 201880027990 A CN201880027990 A CN 201880027990A CN 110573905 B CN110573905 B CN 110573905B
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China
Prior art keywords
obstacle
distance
wave
vehicle
sensor
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Active
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CN201880027990.4A
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English (en)
Chinese (zh)
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CN110573905A (zh
Inventor
松浦充保
原田岳人
前田优
柳川博彦
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Denso Corp
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Denso Corp
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Geometry (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Image Analysis (AREA)
CN201880027990.4A 2017-04-28 2018-03-15 障碍物检知装置 Active CN110573905B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2017089962A JP6790998B2 (ja) 2017-04-28 2017-04-28 障害物検知装置および制御装置
JP2017-089962 2017-04-28
PCT/JP2018/010273 WO2018198574A1 (ja) 2017-04-28 2018-03-15 障害物検知装置

Publications (2)

Publication Number Publication Date
CN110573905A CN110573905A (zh) 2019-12-13
CN110573905B true CN110573905B (zh) 2023-05-02

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Family Applications (1)

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CN201880027990.4A Active CN110573905B (zh) 2017-04-28 2018-03-15 障碍物检知装置

Country Status (5)

Country Link
US (1) US20200057897A1 (enExample)
JP (1) JP6790998B2 (enExample)
CN (1) CN110573905B (enExample)
DE (1) DE112018002247B4 (enExample)
WO (1) WO2018198574A1 (enExample)

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EP3776128B1 (en) * 2018-03-26 2024-02-21 Jabil Inc. Apparatus, system, and method of using depth assessment for autonomous robot navigation
JP6930512B2 (ja) * 2018-10-19 2021-09-01 株式会社デンソー 物体検知装置、物体検知方法およびプログラム
JP2020095623A (ja) * 2018-12-14 2020-06-18 株式会社デンソーテン 画像処理装置および画像処理方法
JP7220358B2 (ja) * 2018-12-21 2023-02-10 株式会社タダノ 作業車
JP7205368B2 (ja) * 2019-04-23 2023-01-17 株式会社Soken 物体検知装置
JP6945776B2 (ja) * 2019-08-07 2021-10-06 三菱電機株式会社 障害物検出装置
JP7078587B2 (ja) * 2019-09-30 2022-05-31 本田技研工業株式会社 走行支援システム、走行支援方法およびプログラム
JP7406350B2 (ja) * 2019-11-15 2023-12-27 日本信号株式会社 物体検知装置及び物体検知プログラム
KR102333240B1 (ko) * 2019-12-18 2021-12-01 현대모비스 주식회사 차량용 물체 인식 장치 및 방법
CN111198385A (zh) * 2019-12-26 2020-05-26 北京旷视机器人技术有限公司 障碍物检测方法、装置、计算机设备和存储介质
JP7243674B2 (ja) * 2020-04-28 2023-03-22 株式会社デンソー 車載構造
JP7600549B2 (ja) * 2020-06-12 2024-12-17 株式会社アイシン 運転支援装置
JP2022014975A (ja) * 2020-07-08 2022-01-21 トヨタ自動車株式会社 車両周辺監視装置
US12259470B2 (en) * 2021-03-30 2025-03-25 Panasonic Automotive Systems Co., Ltd. Object detection device, vehicle, method of setting wave receiving period in object detection device, and method of setting detection sensitivity in object detection device
JP7567724B2 (ja) * 2021-08-31 2024-10-16 株式会社デンソー 物体検知装置、物体検知方法
DE102021213034A1 (de) 2021-11-19 2023-05-25 Robert Bosch Gesellschaft mit beschränkter Haftung Korrektur von ultraschallbasierten Messungen mittels Winkelinformationen
CN114771408A (zh) * 2022-03-28 2022-07-22 海尔(深圳)研发有限责任公司 用于车辆的置顶式空调器及其控制方法
CN116400362B (zh) * 2023-06-08 2023-08-08 广汽埃安新能源汽车股份有限公司 一种行车边界检测方法、装置、存储介质及设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08278368A (ja) * 1995-04-03 1996-10-22 Mazda Motor Corp 障害物検知装置
CN1255624A (zh) * 1998-11-26 2000-06-07 松下电器产业株式会社 车辆用单摄像机的三维观测系统
JP2010249613A (ja) * 2009-04-14 2010-11-04 Toyota Motor Corp 障害物認識装置及び車両制御装置
CN103359034A (zh) * 2012-03-28 2013-10-23 本田技研工业株式会社 道口挡道器判断装置与车辆
CN104021388A (zh) * 2014-05-14 2014-09-03 西安理工大学 基于双目视觉的倒车障碍物自动检测及预警方法
CN106600681A (zh) * 2016-11-02 2017-04-26 上海航天设备制造总厂 一种有障碍物曲面的打磨方法

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JPH0845000A (ja) * 1994-07-28 1996-02-16 Fuji Heavy Ind Ltd 車間距離制御装置
JP4042579B2 (ja) * 2002-01-28 2008-02-06 松下電工株式会社 車両用障害物検出警報システム
JP4193765B2 (ja) * 2004-01-28 2008-12-10 トヨタ自動車株式会社 車両用走行支援装置
JP4179285B2 (ja) 2005-01-12 2008-11-12 トヨタ自動車株式会社 駐車支援装置
JP4123259B2 (ja) 2005-09-02 2008-07-23 トヨタ自動車株式会社 物体検出装置および物体検出方法
JP2007131092A (ja) * 2005-11-09 2007-05-31 Toyota Motor Corp 障害物検出装置及びこれを含む車両制動システム
JP4814669B2 (ja) 2006-03-28 2011-11-16 株式会社デンソーアイティーラボラトリ ３次元座標取得装置
JP2007263657A (ja) 2006-03-28 2007-10-11 Denso It Laboratory Inc ３次元座標取得装置
JP4386083B2 (ja) 2007-02-27 2009-12-16 トヨタ自動車株式会社 駐車支援装置
JP2009096306A (ja) * 2007-10-16 2009-05-07 Hiroshima Industrial Promotion Organization 駐車支援方法
JP5831415B2 (ja) 2012-09-18 2015-12-09 アイシン精機株式会社 駐車支援装置
JP6251951B2 (ja) * 2012-11-27 2017-12-27 日産自動車株式会社 障害物検出装置、加速抑制制御装置、障害物検出方法
JP5918689B2 (ja) * 2012-12-14 2016-05-18 株式会社日本自動車部品総合研究所 駐車支援装置
JP5891188B2 (ja) * 2013-02-19 2016-03-22 株式会社日本自動車部品総合研究所 駐車空間検知装置
JP2015004562A (ja) * 2013-06-20 2015-01-08 株式会社デンソー 障害物検知装置
JP5870985B2 (ja) * 2013-10-23 2016-03-01 トヨタ自動車株式会社 運転支援装置
JP6189815B2 (ja) * 2014-10-29 2017-08-30 株式会社Ｓｏｋｅｎ 走行区画線認識システム
JP6559545B2 (ja) 2015-11-09 2019-08-14 リンナイ株式会社 換気装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08278368A (ja) * 1995-04-03 1996-10-22 Mazda Motor Corp 障害物検知装置
CN1255624A (zh) * 1998-11-26 2000-06-07 松下电器产业株式会社 车辆用单摄像机的三维观测系统
JP2010249613A (ja) * 2009-04-14 2010-11-04 Toyota Motor Corp 障害物認識装置及び車両制御装置
CN103359034A (zh) * 2012-03-28 2013-10-23 本田技研工业株式会社 道口挡道器判断装置与车辆
CN104021388A (zh) * 2014-05-14 2014-09-03 西安理工大学 基于双目视觉的倒车障碍物自动检测及预警方法
CN106600681A (zh) * 2016-11-02 2017-04-26 上海航天设备制造总厂 一种有障碍物曲面的打磨方法

Also Published As

Publication number Publication date
JP2018189422A (ja) 2018-11-29
CN110573905A (zh) 2019-12-13
US20200057897A1 (en) 2020-02-20
JP6790998B2 (ja) 2020-11-25
DE112018002247B4 (de) 2023-07-06
DE112018002247T5 (de) 2020-01-16
WO2018198574A1 (ja) 2018-11-01

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