JP2010061567A - 物体検出装置 - Google Patents
物体検出装置 Download PDFInfo
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- JP2010061567A JP2010061567A JP2008228812A JP2008228812A JP2010061567A JP 2010061567 A JP2010061567 A JP 2010061567A JP 2008228812 A JP2008228812 A JP 2008228812A JP 2008228812 A JP2008228812 A JP 2008228812A JP 2010061567 A JP2010061567 A JP 2010061567A
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- 238000001514 detection method Methods 0.000 claims abstract description 294
- 238000000605 extraction Methods 0.000 claims abstract description 16
- 238000003384 imaging method Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 15
- 230000004927 fusion Effects 0.000 description 5
- 230000002265 prevention Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/426—Scanning radar, e.g. 3D radar
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
Abstract
【解決手段】 物体検出装置1の物体検出部10は、レーダ検出部により検出された検出点データを参照して画像撮像部12により撮像された画像データを探索して、検出対象物体に対応する画像部分を検出する画像部分探索手段22と、レーダ検出部14により検出された検出点データから検出対象物体に対応する検出点データを抽出する検出点抽出手段24と、検出点抽出手段により抽出された検出点データに合わせて、画像部分探索手段により検出された画像部分の位置を補正する画像部分補正手段26とを有する。
【選択図】 図1
Description
Claims (6)
- 所定範囲を撮像して画像データを得る画像撮像部と、
前記所定範囲内の複数の異なる方向に電磁波を照射して、当該電磁波が照射された方向の夫々について、当該方向に存在する物体までの距離データを含む検出点データを得るレーダ検出部と、
前記画像撮像部により撮像された画像データと前記レーダ検出部により検出された検出点データとに基づいて所定の検出対象物体を検出する物体検出部と、
を備え、
前記物体検出部は、
前記レーダ検出部により検出された検出点データを参照して前記画像撮像部により撮像された画像データを探索して、前記検出対象物体に対応する画像部分を検出する画像部分探索手段と、
前記レーダ検出部により検出された検出点データから前記検出対象物体に対応する検出点データを抽出する検出点抽出手段と、
前記検出点抽出手段により抽出された前記検出点データに合わせて、前記画像部分探索手段により検出された前記画像部分の位置を補正する画像部分補正手段と、
を有することを特徴とする物体検出装置。 - 前記画像部分補正手段は、前記検出点抽出手段により抽出された前記検出点データから成る領域の端部に前記画像部分の端部が一致するように、前記画像部分の位置を補正することを特徴とする、請求項1に記載の物体検出装置。
- 前記画像部分補正手段は、前記検出点抽出手段により抽出された前記検出点データが前記画像部分の外側にある場合に前記画像部分の位置を補正することを特徴とする、請求項1又は2に記載の物体検出装置。
- 前記画像部分補正手段において用いる検出点データは、前記画像部分探索手段において用いる画像データの撮像よりも後に検出された検出点データであることを特徴とする、請求項1〜3に記載の物体検出装置。
- 前記物体検出部は、前記検出点抽出手段により抽出された前記検出点データと前記画像部分補正手段により位置を補正された画像部分とから、前記検出対象物体に関する情報を演算する物体情報演算手段を更に有することを特徴とする、請求項1〜4に記載の物体検出装置。
- 前記検出対象物体は車両であることを特徴とする、請求項1〜5に記載の物体検出装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008228812A JP4434296B1 (ja) | 2008-09-05 | 2008-09-05 | 物体検出装置 |
PCT/JP2009/065251 WO2010026959A1 (ja) | 2008-09-05 | 2009-09-01 | 物体検出装置 |
DE112009001686T DE112009001686T5 (de) | 2008-09-05 | 2009-09-01 | Objekterfassungsvorrichtung |
CN200980112554.8A CN102084408B (zh) | 2008-09-05 | 2009-09-01 | 物体检测装置 |
US12/988,941 US8466827B2 (en) | 2008-09-05 | 2009-09-01 | Object detecting device |
Applications Claiming Priority (1)
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JP2008228812A JP4434296B1 (ja) | 2008-09-05 | 2008-09-05 | 物体検出装置 |
Publications (2)
Publication Number | Publication Date |
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JP4434296B1 JP4434296B1 (ja) | 2010-03-17 |
JP2010061567A true JP2010061567A (ja) | 2010-03-18 |
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JP2008228812A Expired - Fee Related JP4434296B1 (ja) | 2008-09-05 | 2008-09-05 | 物体検出装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8466827B2 (ja) |
JP (1) | JP4434296B1 (ja) |
CN (1) | CN102084408B (ja) |
DE (1) | DE112009001686T5 (ja) |
WO (1) | WO2010026959A1 (ja) |
Cited By (10)
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JP2011227029A (ja) * | 2010-04-23 | 2011-11-10 | Honda Motor Co Ltd | 車両の周辺監視装置 |
JP2011232139A (ja) * | 2010-04-27 | 2011-11-17 | Honda Motor Co Ltd | 車両の周辺監視装置 |
JP2013057541A (ja) * | 2011-09-07 | 2013-03-28 | Ihi Corp | 対象物との相対位置計測方法と装置 |
US9798002B2 (en) | 2012-11-22 | 2017-10-24 | Denso Corporation | Object detection apparatus |
KR20180040012A (ko) * | 2016-10-11 | 2018-04-19 | 주식회사 만도 | 전방감시장치, 전방감시장치를 이용한 운전지원장치 및 운전지원방법 |
JP2018097688A (ja) * | 2016-12-14 | 2018-06-21 | 株式会社デンソー | 物体検出装置、物体検出方法 |
CN108363060A (zh) * | 2018-01-19 | 2018-08-03 | 上海思岚科技有限公司 | 一种动态障碍物检测方法及设备 |
WO2019097731A1 (ja) * | 2017-11-20 | 2019-05-23 | 三菱電機株式会社 | 障害物認識装置および障害物認識方法 |
JP2021099275A (ja) * | 2019-12-23 | 2021-07-01 | 株式会社デンソー | 自己位置推定装置、方法及びプログラム |
KR20210116186A (ko) * | 2020-03-11 | 2021-09-27 | 베이징 바이두 넷컴 사이언스 앤 테크놀로지 코., 엘티디. | 장애물 검출 방법, 장치, 전자 기기 및 저장 매체 |
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JP2011227029A (ja) * | 2010-04-23 | 2011-11-10 | Honda Motor Co Ltd | 車両の周辺監視装置 |
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KR102407504B1 (ko) * | 2020-03-11 | 2022-06-13 | 아폴로 인텔리전트 드라이빙 테크놀로지(베이징) 컴퍼니 리미티드 | 장애물 검출 방법, 장치, 전자 기기 및 저장 매체 |
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JP4434296B1 (ja) | 2010-03-17 |
US8466827B2 (en) | 2013-06-18 |
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US20110050482A1 (en) | 2011-03-03 |
CN102084408B (zh) | 2015-11-25 |
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CN102084408A (zh) | 2011-06-01 |
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