JP2016045903A - 物体認識装置及び車両制御システム - Google Patents
物体認識装置及び車両制御システム Download PDFInfo
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Abstract
【解決手段】本発明の物体認識装置は、自車の周囲の対象物を認識する物体認識装置であって、自車301から物体303までの距離情報を利用して物体303が対象物であるか否かを判定する距離情報利用対象物判定部106と、自車301から物体303を撮像した画像情報を利用して物体303が対象物であるか否かを判定する画像情報利用対象物判定部107と、距離情報と画像情報を用いて対象物の検出信頼度を算出する対象物検出信頼度算出部108とを有する。
【選択図】図1
Description
本実施形態では、本発明の物体認識装置を、車両に搭載されたステレオカメラの映像を用いて、駐車車両の陰からの飛び出しが予測される歩行者に対する衝突回避動作を行う車両制御システムに適用した場合の説明をする。
図1は、本実施形態における車両制御システムを実現するブロック図である。車両制御システムは、自車の周囲の対象物を認識して車両制御もしくは警報制御を行うものであり、ステレオカメラ100と、速度制御装置111と、警報制御装置112を有している。
点1201と右の撮像部102との関係から d3 : f = (d-x) : D
次に、本発明の第2実施形態について図13を用いて説明する。図13は、第2実施形態における車両制御システムの構成を示す図である。なお、第1実施形態と同様の構成要素には同じ名称を付することでその詳細な説明を省略する。
距離情報利用歩行者判定部206は、距離算出部203で求めた距離情報を利用して、自車前方に検出対象となる歩行者が存在するかどうか、換言すると、前方に存在する対象物が歩行者であるか否かを判定する。
101 左撮像部
102 右撮像部
103 視差算出部
104 駐車車両検出部
105 歩行者候補検出部
106 視差情報利用歩行者判定部(距離情報利用対象物判定部)
107 画像情報利用歩行者判定部(画像情報利用対象物判定部)
108 歩行者検出信頼度算出部(対象物検出信頼度算出部)
110 警報・車両制御種類選択部(車両制御種類選択部、警報制御種類選択部)
111 速度制御装置(車両制御装置)
112 警報制御装置
Claims (8)
- 自車の周囲の対象物を認識する物体認識装置であって、
前記自車から物体までの距離情報を利用して前記物体が対象物であるか否かを判定する距離情報利用対象物判定部と、
前記自車から前記物体を撮像した画像情報を利用して前記物体が前記対象物であるか否かを判定する画像情報利用対象物判定部と、
前記距離情報と前記画像情報を用いて前記対象物の検出信頼度を算出する対象物検出信頼度算出部と、
を有することを特徴とする物体認識装置。 - 自車前方を撮像する左右一対の撮像部と、該撮像部で撮像した画像情報に基づいて前記物体の視差情報を算出する視差算出部と、を備えており、
前記距離情報利用対象物判定部は、前記視差情報を前記距離情報として用いて自車前方の物体が前記対象物である歩行者であるか否かを判定し、
前記画像情報利用対象物判定部は、前記距離情報を用いて自車前方の駐車車両を検出し、前記画像情報を用いて前記駐車車両近傍の歩行者候補を検出し、前記画像情報と前記距離情報を用いて前記歩行者候補が歩行者であるか否かを判定し、
前記対象物検出信頼度算出部は、前記距離情報利用対象物判定部の判定結果と、前記画像情報利用対象物判定部の判定結果を用いて、前記歩行者の検出信頼度を算出することを特徴とする請求項1に記載の物体認識装置。 - 前記対象物検出信頼度算出部は、
前記距離情報利用対象物判定部により前記自車前方の物体が前記歩行者であると判定され、かつ、前記画像情報利用対象物判定部により前記歩行者候補が前記歩行者であると判定された場合に信頼度が高いと判定し、
前記距離情報利用対象物判定部により前記自車前方の物体が前記歩行者ではないと判定され、かつ、前記画像情報利用対象物判定部により前記歩行者候補が前記歩行者であると判定された場合に信頼度が低いと判定し、
前記距離情報利用対象物判定部により前記自車前方の物体が前記歩行者であると判定され、前記画像情報利用対象物判定部により前記歩行者候補が前記歩行者ではないと判定された場合に信頼度が中間と判定することを特徴とする請求項2に記載の物体認識装置。 - 前記対象物検出信頼度算出部により算出された前記歩行者の検出信頼度に基づいて自車の車両制御の種類を選択する車両制御種類選択部を有することを特徴とする請求項3に記載の物体認識装置。
- 前記対象物検出信頼度算出部により算出された前記歩行者の検出信頼度に基づいて自車の警報制御の種類を選択する警報制御種類選択部を有することを特徴とする請求項3に記載の物体認識装置。
- 請求項4に記載の物体認識装置と、該物体認識装置の前記車両制御種類選択部により選択された車両制御を実行する車両制御装置とを有することを特徴とする車両制御システム。
- 請求項5に記載の物体認識装置と、該物体認識装置の前記警報制御種類選択部により選択された警報制御を実行する警報制御装置とを有することを特徴とする車両制御システム。
- 自車前方の物体を検出するレーダと、
自車前方を撮像する一つの撮像部と、
前記レーダで検出した物体までの距離情報を算出する距離算出部と、
を備えており、
前記距離情報利用対象物判定部は、前記距離情報を用いて自車前方の物体が前記対象物である歩行者であるか否かを判定し、
前記画像情報利用対象物判定部は、前記距離情報を用いて自車前方の駐車車両を検出し、前記画像情報を用いて前記駐車車両近傍の歩行者候補を検出し、前記画像情報と前記距離情報を用いて前記歩行者候補が歩行者であるか否かを判定し、
前記対象物検出信頼度算出部は、前記距離情報利用対象物判定部の判定結果と、前記画像情報利用対象物判定部の判定結果を用いて、前記歩行者の検出信頼度を算出することを特徴とする請求項1に記載の物体認識装置。
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JP2014172090A JP6407626B2 (ja) | 2014-08-26 | 2014-08-26 | 物体認識装置及び車両制御システム |
PCT/JP2015/072439 WO2016031523A1 (ja) | 2014-08-26 | 2015-08-07 | 物体認識装置及び車両制御システム |
US15/501,015 US10246038B2 (en) | 2014-08-26 | 2015-08-07 | Object recognition device and vehicle control system |
EP15836656.7A EP3188156B1 (en) | 2014-08-26 | 2015-08-07 | Object recognition device and vehicle control system |
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JP7489231B2 (ja) | 2020-05-15 | 2024-05-23 | 日立Astemo株式会社 | 物体検知装置 |
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JP6556563B2 (ja) * | 2015-08-31 | 2019-08-07 | 株式会社東芝 | 検出装置、検出方法、検出プログラムおよび情報処理システム |
DE102015121952A1 (de) * | 2015-12-16 | 2017-06-22 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Identifizieren eines Objektes in einem Umgebungsbereich eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug |
JP6668151B2 (ja) * | 2016-04-12 | 2020-03-18 | 日立オートモティブシステムズ株式会社 | 車載光学装置および車載光学システム |
JP6418407B2 (ja) * | 2016-05-06 | 2018-11-07 | トヨタ自動車株式会社 | 車両のブレーキ制御装置 |
JP6547785B2 (ja) * | 2016-07-29 | 2019-07-24 | 株式会社デンソー | 物標検出装置 |
WO2018105037A1 (ja) * | 2016-12-06 | 2018-06-14 | 本田技研工業株式会社 | 車両用制御装置 |
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