JP2016181072A5 - - Google Patents

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JP2016181072A5
JP2016181072A5 JP2015060304A JP2015060304A JP2016181072A5 JP 2016181072 A5 JP2016181072 A5 JP 2016181072A5 JP 2015060304 A JP2015060304 A JP 2015060304A JP 2015060304 A JP2015060304 A JP 2015060304A JP 2016181072 A5 JP2016181072 A5 JP 2016181072A5
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vehicle
processing load
recognition
processing
unit
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JP2015060304A
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JP6496585B2 (en
JP2016181072A (en
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Priority to PCT/JP2016/058640 priority patent/WO2016152755A1/en
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Claims (9)

車両の外部情報を取得する車両外部情報取得部と、
前記車両の外部情報に基づいて車両外部に存在する物体を検出する物体検出部と、
前記物体検出部で検出された物体に対する認識処理を行う認識処理部と、
前記物体検出部での検出結果に基づいて前記認識処理部における処理負荷を算出する処理負荷算出部と、
前記処理負荷に基づいて前記車両の速度を変更する車両制御内容決定部と、を備え、
前記処理負荷は、前記認識処理に要する処理時間であり、
前記車両制御内容決定部は、前記速度が前記処理時間に基づいて得られた速度より速い場合、前記車両を減速させる物体認識装置。 A vehicle external information acquisition unit for acquiring external information of the vehicle;
An object detection unit for detecting an object existing outside the vehicle based on the external information of the vehicle;
A recognition processing unit for performing recognition processing on the object detected by the object detection unit;
A processing load calculation unit that calculates a processing load in the recognition processing unit based on a detection result in the object detection unit;
A vehicle control content determination unit that changes the speed of the vehicle based on the processing load ,
The processing load is a processing time required for the recognition processing,
The vehicle control content determination unit is an object recognition device that decelerates the vehicle when the speed is faster than a speed obtained based on the processing time . 前記検出結果は、前記物体検出部で検出された物体の大きさ、数、種別の少なくとも一つである請求項１に記載の物体認識装置。   The object recognition apparatus according to claim 1, wherein the detection result is at least one of a size, a number, and a type of an object detected by the object detection unit. 前記車両外部情報取得部は、撮像装置によって撮影された画像を取得するように構成され、
前記処理負荷は、前記画像中の前記物体に対して設定される処理領域の大きさに応じて決定される請求項１に記載の物体認識装置。 The vehicle external information acquisition unit is configured to acquire an image captured by an imaging device,
The object recognition apparatus according to claim 1, wherein the processing load is determined according to a size of a processing region set for the object in the image . 前記車両制御内容決定部は、前記認識処理に許容される許容処理負荷を記憶し、前記処理負荷が前記許容処理負荷に収まるように前記車両の速度を変更し、The vehicle control content determination unit stores an allowable processing load allowed for the recognition process, and changes the speed of the vehicle so that the processing load falls within the allowable processing load.
前記許容処理負荷は、前記物体との距離及び相対速度の少なくとも一つに基づいて算出される請求項３に記載の物体認識装置。The object recognition apparatus according to claim 3, wherein the allowable processing load is calculated based on at least one of a distance from the object and a relative speed. 前記処理負荷算出部は、前記認識処理の対象となる物体が複数検出された場合、前記認識処理の対象となる物体毎の処理負荷を合計して前記処理負荷を算出する請求項１に記載の物体認識装置。2. The processing load calculation unit according to claim 1, wherein, when a plurality of objects that are targets of the recognition process are detected, the processing load calculation unit calculates the processing load by summing up the processing loads for each object that is the target of the recognition process. Object recognition device. 前記物体検出部は、車両外部に存在する物体が複数検出された場合、最も相対速度が大きい物体を少なくとも前記認識処理の対象となる物体として検出する請求項１に記載の物体認識装置。The object recognition device according to claim 1, wherein when a plurality of objects existing outside the vehicle are detected, the object detection unit detects an object having the highest relative speed as at least an object to be subjected to the recognition process. 前記物体検出部は、前記物体が複数存在する場合、最も距離が近い物体を少なくとも前記認識処理の対象となる物体として検出する請求項１に記載の物体認識装置。The object recognition apparatus according to claim 1, wherein when there are a plurality of the objects, the object detection unit detects an object having the closest distance as at least an object to be subjected to the recognition process. 車両の挙動情報を取得するセンサ出力取得部を備え、A sensor output acquisition unit for acquiring vehicle behavior information;
前記物体検出部は、前記車両の挙動情報を用いて前記車両の移動をキャンセルし、車両外部に存在する物体を検出する請求項１に記載の物体認識装置。The object recognition apparatus according to claim 1, wherein the object detection unit cancels the movement of the vehicle using the behavior information of the vehicle and detects an object existing outside the vehicle. 前記処理負荷算出部は、前記認識処理部における所定の優先度より高い物体に対する処理負荷を算出する請求項１に記載の物体認識装置。The object recognition apparatus according to claim 1, wherein the processing load calculation unit calculates a processing load for an object having a higher priority than a predetermined priority in the recognition processing unit.
JP2015060304A 2015-03-24 2015-03-24 Object recognition device Active JP6496585B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2015060304A JP6496585B2 (en) 2015-03-24 2015-03-24 Object recognition device
PCT/JP2016/058640 WO2016152755A1 (en) 2015-03-24 2016-03-18 Object recognition device

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JP2015060304A JP6496585B2 (en) 2015-03-24 2015-03-24 Object recognition device

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JP2016181072A JP2016181072A (en) 2016-10-13
JP2016181072A5 true JP2016181072A5 (en) 2018-06-07
JP6496585B2 JP6496585B2 (en) 2019-04-03

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WO2018106752A1 (en) * 2016-12-06 2018-06-14 Nissan North America, Inc. Bandwidth constrained image processing for autonomous vehicles
DE102017202363A1 (en) * 2017-02-15 2018-08-16 Robert Bosch Gmbh Method and device for determining a maximum speed for a vehicle and automated driving system
JP2018136803A (en) * 2017-02-23 2018-08-30 株式会社日立製作所 Image recognition system
JP2019012915A (en) * 2017-06-30 2019-01-24 クラリオン株式会社 Image processing device and image conversion method
WO2022074701A1 (en) * 2020-10-05 2022-04-14 日本電気株式会社 Information processing device, information processing system, and information processing method
WO2022074700A1 (en) * 2020-10-05 2022-04-14 日本電気株式会社 Information processing device, information processing system, and information processing method

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JP5191916B2 (en) * 2009-01-30 2013-05-08 積水樹脂株式会社 Stop distance estimation system and method for calculating and estimating stop distance using the stop distance estimation system
JP5441626B2 (en) * 2009-11-06 2014-03-12 日立オートモティブシステムズ株式会社 In-vehicle multi-app execution device
JP5848948B2 (en) * 2011-10-27 2016-01-27 クラリオン株式会社 Vehicle periphery monitoring device
JP5977059B2 (en) * 2012-03-29 2016-08-24 富士通テン株式会社 Radar apparatus and signal processing method

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