JP3230642B2 - Vehicle ahead detection device - Google Patents
Vehicle ahead detection deviceInfo
- Publication number
- JP3230642B2 JP3230642B2 JP13029095A JP13029095A JP3230642B2 JP 3230642 B2 JP3230642 B2 JP 3230642B2 JP 13029095 A JP13029095 A JP 13029095A JP 13029095 A JP13029095 A JP 13029095A JP 3230642 B2 JP3230642 B2 JP 3230642B2
- Authority
- JP
- Japan
- Prior art keywords
- preceding vehicle
- vehicle
- camera
- area
- radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims description 10
- 238000012545 processing Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
Description
【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【０００１】[0001]
【産業上の利用分野】本発明は、例えば車両用自動走行
装置に用いられ、自車の前方を走行中の先行車を検出す
る先行車検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a preceding vehicle detecting device which is used, for example, in an automatic traveling device for a vehicle and detects a preceding vehicle traveling ahead of the own vehicle.
【０００２】[0002]
【従来の技術】従来、車両に用いられる自動走行装置に
は、自車の走行するレーン上の先行車の画像をカメラに
より入力し、このカメラ画像を画像処理することにより
先行車を捉えるようにした先行車検出装置を備えるもの
がある。2. Description of the Related Art Conventionally, an automatic traveling device used in a vehicle is configured to capture an image of a preceding vehicle on a lane in which the own vehicle is traveling by a camera and process the image of the camera to capture the preceding vehicle. Some vehicles include a preceding vehicle detection device.
【０００３】上記従来の先行車検出装置は、図５に示す
ように、自車３１に取り付けられたビデオカメラ３２に
より自車の前方を走行する先行車３３の画像データを入
力して、これを画像処理することにより先行車が存在す
るか否かを検出するようにしている。As shown in FIG. 5, the conventional preceding vehicle detection device inputs image data of a preceding vehicle 33 traveling in front of the own vehicle by a video camera 32 attached to the own vehicle 31 and converts the image data into the input image data. Image processing is performed to detect whether or not a preceding vehicle exists.
【０００４】詳細には、図６に示すように、上記画像デ
ータを読み込み（ステップＳ１１）、該データに対して
微分処理等を行うことにより線成分を検出し（ステップ
１２）、該検出された全ての線成分において、車両形状
として適当な矩形が検出された場合に先行車として認識
し（ステップＳ１３）、先行車が認識された場合には制
動装置の制御等の後処理が行われる（ステップＳ１
４）。More specifically, as shown in FIG. 6, the image data is read (step S11), and a line component is detected by performing a differentiation process or the like on the data (step 12). In all the line components, when an appropriate rectangle is detected as the vehicle shape, the vehicle is recognized as a preceding vehicle (step S13). When the preceding vehicle is recognized, post-processing such as control of a braking device is performed (step S13). S1
4).
【０００５】また、車両に取り付けられたレーザレーダ
より自車の前方にレーザ光を発信し、反射光が入射され
るまでの時間，反射光の入射方向等の反射データを受信
して、先行車の存在を認識するようにしたものもある。
この場合、上記レーザ光を発信してから反射光を受信す
るまでの時間に基づいて上記先行車までの距離を演算
し、反射光の入射方向に基づいて先行車の位置を演算す
る。Further, a laser radar mounted on the vehicle emits laser light in front of the own vehicle, and receives reflection data such as the time until reflected light is incident and the incident direction of the reflected light. Some recognize the existence of
In this case, the distance to the preceding vehicle is calculated based on the time from transmitting the laser light to receiving the reflected light, and the position of the preceding vehicle is calculated based on the incident direction of the reflected light.
【０００６】[0006]
【発明が解決しようとする課題】ところで、上記レーザ
レーダから得られた距離データとカメラ画像から得られ
た先行車認識結果とを照合することにより車両認識の信
頼度を向上できると考えられる。しかし従来レーザレー
ダで捉えられた車両の候補と画像処理によって捉えられ
た車両候補と照合するのに効果的な方法は提案されてい
ない。However, it is considered that the reliability of vehicle recognition can be improved by comparing the distance data obtained from the laser radar with the preceding vehicle recognition result obtained from the camera image. However, no effective method has conventionally been proposed for comparing a vehicle candidate captured by a laser radar with a vehicle candidate captured by image processing.
【０００７】本発明は、上記従来の実情に鑑みてなされ
たもので、先行車認識の信頼度を向上できる先行車検出
装置を提供することを目的としている。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional circumstances, and has as its object to provide a preceding vehicle detecting device capable of improving the reliability of preceding vehicle recognition.
【０００８】[0008]
【課題を解決するための手段】本発明は、図４に示すよ
うに、自車の前方に位置する先行車を検出する先行車検
出装置１において、先行車の画像データを入力するカメ
ラ２と、先行車の反射データを入力するレーザレーダ３
と、上記入力された画像データに基づいて先行車の存在
領域を求めるカメラ側存在領域演算手段２１と、上記入
力された反射データと仮想車両幅とに基づいて先行車の
存在領域を求めるレーダ側存在領域演算手段２２と、上
記カメラ側存在領域演算手段２１で求められた存在領域
と、上記レーダ側存在領域演算手段２２で求められた存
在領域との水平方向における重なり比を演算する重なり
比演算手段２３と、該重なり比演算手段２３で求められ
た重なり比が所定値以上のとき上記重なり領域を車両存
在領域とする存在領域決定手段２４とを備えたことを特
徴としている。According to the present invention, as shown in FIG. 4, a camera 2 for inputting image data of a preceding vehicle is provided in a preceding vehicle detecting device 1 for detecting a preceding vehicle located in front of the own vehicle. Radar to input the reflection data of the preceding vehicle
A camera-side presence area calculating means 21 for determining the presence area of the preceding vehicle based on the input image data; and a radar side for determining the presence area of the preceding vehicle based on the input reflection data and the virtual vehicle width. Existence area calculation means 22 and existence area obtained by the camera-side existence area calculation means 21
And the presence calculated by the above-mentioned radar-side presence area calculation means 22.
And the overlap ratio calculating means 23 for calculating the overlapping ratio in the horizontal direction between the standing area, determined in heavy becomes ratio calculating means 23
And a presence area determining unit that sets the overlap area as a vehicle presence area when the overlap ratio is equal to or more than a predetermined value.
【０００９】[0009]
【作用】本発明の先行車検出装置１によれば、カメラ
２，及びレーザレーダ３により、車両前方の画像デー
タ，及び反射データがそれぞれ入力される。According to the preceding vehicle detecting device 1 of the present invention, the camera 2 and the laser radar 3 input image data and reflection data in front of the vehicle.
【００１０】次に、カメラ側存在領域演算手段２１によ
り上記入力された画像データを画像処理することによっ
て先行車の存在領域（先行車の画像処理上の候補）が求
められるとともに、レーダ側存在領域演算手段２２によ
り上記入力された反射データと仮想車幅とによって先行
車の存在領域（先行車のレーザ反射像上の候補）が求め
られる。Next, by performing image processing on the input image data by the camera-side presence area calculating means 21, the presence area of the preceding vehicle (candidate for image processing of the preceding vehicle) is obtained, and the radar-side presence area is obtained. The existence area of the preceding vehicle (a candidate on the laser reflection image of the preceding vehicle) is determined by the calculating means 22 based on the input reflection data and the virtual vehicle width.
【００１１】そして、重なり比演算手段２３によって上
記２つの先行車存在領域（先行車候補）の水平方向の重
なり比が演算され、さらに存在領域決定手段２４によっ
て上記重なり比が所定値以上のとき先行車の存在が認識
される。The overlap ratio calculating means 23 calculates the horizontal overlap ratio of the two preceding vehicle existence areas (preceding vehicle candidates), and furthermore, the existence area determination means 24 determines when the overlap ratio is a predetermined value or more. The presence of the car is recognized.
【００１２】このように、レーダ反射データに基づく先
行車存在領域と、カメラ画像データに基づく先行車存在
領域との重なり領域が所定値以上のとき先行車の存在を
認識するようにしたので、画像処理において先行車まで
の距離を演算する必要がなく、それだけ計算量を減少で
きるとともに、上記先行車の検出の信頼度を向上でき
る。As described above, the presence of the preceding vehicle is recognized when the overlapping area of the preceding vehicle existing area based on the radar reflection data and the preceding vehicle existing area based on the camera image data is equal to or larger than a predetermined value. It is not necessary to calculate the distance to the preceding vehicle in the processing, so that the amount of calculation can be reduced accordingly and the reliability of the detection of the preceding vehicle can be improved.
【００１３】[0013]
【実施例】以下、本発明の実施例を図に基づいて説明す
る。図１〜３は本発明の一実施例による先行車検出装置
を説明するための図であり、図１は本実施例装置を示す
構成図、図２は本実施例装置の画像データの例を示す
図、図３は本実施例装置のレーダ側存在領域の求め方を
示す図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 to 3 are diagrams for explaining a preceding vehicle detection device according to an embodiment of the present invention. FIG. 1 is a configuration diagram showing the embodiment device, and FIG. 2 is an example of image data of the embodiment device. FIG. 3 is a diagram illustrating a method of obtaining a radar-side presence area of the apparatus according to the present embodiment.
【００１４】図において、１は先行車検出装置を示し、
該装置１は、車両（不図示）に取り付けられて、該車両
前方の走行路の画像データを入力するカメラ２，及び先
行車の反射データを入力するレーザレーダ３と、該カメ
ラ２，及びレーザレーダ３により取り込まれたデータを
２値化してデジタルデータに変換するＡ／Ｄ変換器４
と、該変換されたデータをフレーム毎に記憶するフレー
ムメモリ５と、該記憶された画像データ及び反射データ
より先行車の検出処理等を行うＥＣＵ６とを備えてい
る。なお、上記ＥＣＵ６には、上記処理結果等に基づい
て作動されるオートドライブ等７が接続されている。In the drawing, reference numeral 1 denotes a preceding vehicle detecting device,
The apparatus 1 is mounted on a vehicle (not shown) and has a camera 2 for inputting image data of a traveling road ahead of the vehicle and a laser radar 3 for inputting reflection data of a preceding vehicle, and the camera 2 and a laser. A / D converter 4 for binarizing data taken in by radar 3 and converting it into digital data
And a frame memory 5 for storing the converted data for each frame, and an ECU 6 for performing processing for detecting a preceding vehicle from the stored image data and reflection data. Note that the ECU 6 is connected to an auto drive or the like 7 that is operated based on the processing results and the like.
【００１５】上記ＥＣＵ６は、入力された画像データに
基づいて先行車の存在領域を求めるカメラ側存在領域演
算手段として、入力された反射データと仮想車両幅とに
基づいて先行車の存在領域を求めるレーダ側存在領域演
算手段として、またカメラ側，レーダ側存在領域の水平
方向における重なり比を求める重なり比演算手段とし
て、さらには重なり比が所定値以上のとき上記重なり領
域を車両存在領域と認識する存在領域決定手段として機
能する。The ECU 6 as a camera-side presence area calculating means for determining the presence area of the preceding vehicle based on the input image data determines the presence area of the preceding vehicle based on the input reflection data and the virtual vehicle width. The radar-side presence area calculation means, the overlap ratio calculation means for calculating the overlap ratio of the camera-side and radar-side presence areas in the horizontal direction, and the overlap area is recognized as the vehicle presence area when the overlap ratio is a predetermined value or more. Functions as an existence area determination unit.
【００１６】次に、上記先行車検出装置１の動作を説明
する。まず、上記カメラ２より車両前方の走行路の画像
データが入力され、また、上記レーザレーダ３からレー
ザ光が発信され、これの反射光が入射されるまでの時
間，入射方向等が先行車の反射データとして入力され
る。Next, the operation of the preceding vehicle detecting device 1 will be described. First, image data of a traveling road ahead of the vehicle is input from the camera 2 and a laser beam is transmitted from the laser radar 3 and the time until the reflected light is incident, the incident direction, and the like of the preceding vehicle are determined. Input as reflection data.
【００１７】そして、上記入力された画像データ，反射
データが、Ａ／Ｄ変換器４により２値化処理され、画像
８として上記フレームメモリ５に記憶される。なお、上
記Ａ／Ｄ変換器４における２値化処理のしきい値は、上
記読み込まれた画像データの下部領域に対して行われる
いわゆる判別分析法により、路面のレーンマークの存在
しない部分の明度の分散値と、レーンマーク部分の明度
の分散値との明度差が最大になるように設定される。The input image data and reflection data are binarized by the A / D converter 4 and stored as an image 8 in the frame memory 5. Note that the threshold value of the binarization processing in the A / D converter 4 is determined by the so-called discriminant analysis method performed on the lower region of the read image data, by the brightness of a portion of the road surface where no lane mark exists. And the variance value of the lightness of the lane mark portion are set to be maximum.
【００１８】次に、ＥＣＵ６のカメラ側存在領域演算機
能により上記入力された画像データを後述の画像処理す
ることにより先行車９の存在領域を示す矩形１０が求め
られる。またＥＣＵ６のレーダ側存在領域演算機能によ
り、上記入力されたレーダ反射データと仮想車幅とに基
づいて先行車９の存在領域を示す矩形１１が求められ
る。なお、一般にレーザは水平ライン上において車両の
前方に照射されるため、上記矩形１１の上下方向の長さ
は上記先行車９の高さ寸法より相当大きいものとなる。Next, a rectangle 10 indicating the area where the preceding vehicle 9 is located is obtained by subjecting the input image data to image processing, which will be described later, by the camera-side presence area calculation function of the ECU 6. The rectangle 11 indicating the existence area of the preceding vehicle 9 is obtained by the radar-side existence area calculation function of the ECU 6 based on the input radar reflection data and the virtual vehicle width. In general, the laser is irradiated on the horizontal line in front of the vehicle, so that the length of the rectangle 11 in the vertical direction is considerably larger than the height of the preceding vehicle 9.
【００１９】そして、ＥＣＵ６の重なり比演算機能によ
り上記画像８上において、上記矩形１０と１１との水平
方向における位置関係を示す評価値（重なり比）が演算
され、さらにＥＣＵ６の存在領域決定機能により、上記
評価値が所定値以上であれば上記矩形１０と１１とが重
なる領域Ｄが先行車９の存在領域として認識される。こ
の場合、両矩形の水平方向における重なり領域を＋と
し、重ならない領域を−とし、両領域の合計値が＋の場
合に先行車が存在するとされる。本実施例では、図２に
示すように、上記矩形１０と１１とが重なる部分Ａは＋
０．７であり、また、重ならない部分Ｂ，Ｃはそれぞれ
−０．１，−０．２であるので、上記合計が＋０．４と
なり、先行車が存在すると認識される。Then, an evaluation value (overlap ratio) indicating the positional relationship between the rectangles 10 and 11 in the horizontal direction is calculated on the image 8 by the overlap ratio calculation function of the ECU 6, and further, the existence area determination function of the ECU 6 is used. If the evaluation value is equal to or larger than a predetermined value, the area D where the rectangles 10 and 11 overlap is recognized as the area where the preceding vehicle 9 exists. In this case, the overlapping area in the horizontal direction of both rectangles is defined as +, the area not overlapping is defined as −, and when the total value of both areas is +, it is determined that the preceding vehicle exists. In the present embodiment, as shown in FIG. 2, the portion A where the rectangles 10 and 11 overlap is +
0.7, and the non-overlapping portions B and C are -0.1 and -0.2, respectively. Therefore, the sum is +0.4, and it is recognized that the preceding vehicle exists.
【００２０】上記カメラ側存在領域の演算は、具体的に
は、上記画像データに対して微分処理を行うことにより
線成分を検出し、該検出された全ての線成分において、
車両形状として適切な矩形が検出された場合、該矩形領
域をカメラ側先行車存在領域（カメラ側先行車候補）と
される。In the calculation of the camera-side existence area, specifically, a line component is detected by performing a differentiation process on the image data, and for all the detected line components,
When an appropriate rectangle is detected as the vehicle shape, the rectangular area is set as a camera-side preceding vehicle existing area (camera-side preceding vehicle candidate).
【００２１】また、上記レーザレーダ３による矩形１１
の形成は以下のように行われる。上記レーザレーダ３か
ら発信されたレーザ光が、上記先行車９によって反射
し、この反射光が受信されると、レーザ座標系の座標
（Ｘｃ，Ｚｃ）に車両中心Ｃが位置しているものと仮定
し、予め設定された車幅の基準値Ｗｖに基づいて、車両
の左端Ｌの座標を（Ｘｃ−Ｗｖ／２，Ｚｃ）、右端Ｒの
座標を（Ｘｃ＋Ｗｖ／２，Ｚｃ）とし、上記受信座標
（Ｘｃ，Ｚｃ）を中心に上記矩形１１が形成される。こ
の場合、上記基準値Ｗｖは、軽自動車の車幅１．４ｍと
大型車の車幅２．５ｍとの中間の１．９５ｍに設定され
ている。Further, the rectangle 11 by the laser radar 3 is used.
Is formed as follows. The laser beam emitted from the laser radar 3 is reflected by the preceding vehicle 9 and when the reflected light is received, the vehicle center C is located at the coordinates (Xc, Zc) in the laser coordinate system. Assuming that the coordinates of the left end L of the vehicle are (Xc−Wv / 2, Zc) and the coordinates of the right end R are (Xc + Wv / 2, Zc) based on a preset vehicle width reference value Wv, The rectangle 11 is formed around the coordinates (Xc, Zc). In this case, the reference value Wv is set to 1.95 m, which is between the vehicle width of 1.4 m of the mini vehicle and the vehicle width of 2.5 m.
【００２２】なお、上記評価値の合計値が＋の場合に、
この合計値が増加するように上記基準値Ｗｖを変化させ
ることにより上記先行車９の車幅をより正確に検出する
ことができる。When the total value of the above evaluation values is +,
By changing the reference value Wv so that the total value increases, the vehicle width of the preceding vehicle 9 can be detected more accurately.
【００２３】このように、上記カメラ２からの画像デー
タを画像処理して得られたカメラ側先行車候補とレーザ
レーダ３からの反射データと仮想車幅とから得られたレ
ーダ側先行車候補との重なり比によって先行車９を検出
するようにしたので、上記画像処理装置側において先行
車までの距離を演算する必要がなく、それだけ計算量を
減少できるとともに、先行車検出の信頼度を向上でき
る。As described above, a camera-side preceding vehicle candidate obtained by performing image processing on the image data from the camera 2 and a radar-side preceding vehicle candidate obtained from the reflection data from the laser radar 3 and the virtual vehicle width. Since the preceding vehicle 9 is detected based on the overlapping ratio of the preceding vehicle, it is not necessary to calculate the distance to the preceding vehicle on the image processing apparatus side, the amount of calculation can be reduced accordingly, and the reliability of detecting the preceding vehicle can be improved. .
【００２４】[0024]
【発明の効果】以上のように本発明に係る先行車検出装
置によれば、レーダ反射データに基づく先行車存在領域
と、カメラ画像データに基づく先行車存在領域との重な
り領域が所定値以上のとき先行車の存在を認識するよう
にしたので、画像処理において先行車までの距離を演算
する必要がなく、それだけ計算量を減少できるととも
に、上記先行車の検出の信頼度を向上できる効果があ
る。As described above, according to the preceding vehicle detecting device of the present invention, the overlapping region between the preceding vehicle existing region based on the radar reflection data and the preceding vehicle existing region based on the camera image data is equal to or larger than a predetermined value. Since the presence of the preceding vehicle is recognized at the time, there is no need to calculate the distance to the preceding vehicle in the image processing, so that the amount of calculation can be reduced accordingly and the reliability of the detection of the preceding vehicle can be improved. .
【図１】本発明の一実施例による先行車検出装置を示す
構成図である。FIG. 1 is a configuration diagram showing a preceding vehicle detection device according to an embodiment of the present invention.
【図２】上記実施例装置の画像の例を示す図である。FIG. 2 is a diagram showing an example of an image of the embodiment device.
【図３】上記実施例装置のレーザ側存在領域の求め方を
示す模式図である。FIG. 3 is a schematic diagram showing a method for obtaining a laser-side existence area of the apparatus of the embodiment.
【図４】本発明のクレーム構成図である。FIG. 4 is a diagram illustrating the configuration of the claims of the present invention.
【図５】一般的な先行車検出装置を説明するための模式
図である。FIG. 5 is a schematic diagram for explaining a general preceding vehicle detection device.
【図６】従来装置の動作を示すフローチャート図であ
る。FIG. 6 is a flowchart showing the operation of the conventional device.
１ 先行車検出装置 ２ カメラ ３ レーザレーダ ２１ カメラ側存在領域演算手段 ２２ レーダ側存在領域演算手段 ２３ 重なり比演算手段 ２４ 存在領域決定手段 DESCRIPTION OF REFERENCE NUMERALS 1 preceding vehicle detection device 2 camera 3 laser radar 21 camera-side presence area calculation means 22 radar-side presence area calculation means 23 overlap ratio calculation means 24 presence area determination means
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) G08G 1/16 B60R 1/00 B60R 21/00 621 G06T 1/00 ──────────────────────────────────────────────────続 き Continued on the front page (58) Fields investigated (Int. Cl. 7 , DB name) G08G 1/16 B60R 1/00 B60R 21/00 621 G06T 1/00
Claims (1)
先行車検出装置において、先行車の画像データを入力す
るカメラと、先行車の反射データを入力するレーザレー
ダと、上記入力された画像データに基づいて先行車の存
在領域を求めるカメラ側存在領域演算手段と、上記入力
された反射データと仮想車両幅とに基づいて先行車の存
在領域を求めるレーダ側存在領域演算手段と、上記カメ
ラ側存在領域演算手段で求められた存在領域と、上記レ
ーダ側存在領域演算手段で求められた存在領域との水平
方向における重なり比を演算する重なり比演算手段と、
該重なり比演算手段で求められた重なり比が所定値以上
のとき上記重なり領域を車両存在領域とする存在領域決
定手段とを備えたことを特徴とする先行車検出装置。1. A preceding vehicle detecting device for detecting a preceding vehicle located in front of a host vehicle, a camera for inputting image data of the preceding vehicle, a laser radar for inputting reflection data of the preceding vehicle, and a laser radar for inputting reflection data of the preceding vehicle. A camera-side presence area calculation unit that determines a presence area of a preceding vehicle based on image data; a radar-side presence area calculation unit that determines a presence area of a preceding vehicle based on the input reflection data and the virtual vehicle width; The existence area obtained by the camera-side existence area calculation means and the above
Overlap ratio calculation means for calculating an overlap ratio in the horizontal direction with the presence area calculated by the presence area calculation means on the radar side ;
A preceding-vehicle detection device, comprising: an existence region determining unit that sets the overlapping region as a vehicle existing region when the overlap ratio calculated by the overlap ratio calculation unit is equal to or more than a predetermined value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13029095A JP3230642B2 (en) | 1995-05-29 | 1995-05-29 | Vehicle ahead detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13029095A JP3230642B2 (en) | 1995-05-29 | 1995-05-29 | Vehicle ahead detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08329393A JPH08329393A (en) | 1996-12-13 |
| JP3230642B2 true JP3230642B2 (en) | 2001-11-19 |
Family
ID=15030785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13029095A Expired - Fee Related JP3230642B2 (en) | 1995-05-29 | 1995-05-29 | Vehicle ahead detection device |
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| Country | Link |
|---|---|
| JP (1) | JP3230642B2 (en) |
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| JP4255398B2 (en) * | 2004-03-31 | 2009-04-15 | ダイハツ工業株式会社 | Obstacle detection method and obstacle detection device |
| JP4426436B2 (en) * | 2004-12-27 | 2010-03-03 | 株式会社日立製作所 | Vehicle detection device |
| JP4518978B2 (en) * | 2005-03-02 | 2010-08-04 | ダイハツ工業株式会社 | Vehicle object recognition device and object recognition method |
| JP4905648B2 (en) * | 2006-02-21 | 2012-03-28 | 学校法人東京理科大学 | Stimulus presentation device for vehicle and stimulus presentation method |
| JP5083172B2 (en) * | 2008-10-29 | 2012-11-28 | トヨタ自動車株式会社 | Collision prediction device |
| FR2947656B1 (en) * | 2009-07-06 | 2016-05-27 | Valeo Vision | METHOD FOR DETECTING AN OBSTACLE FOR A MOTOR VEHICLE |
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| WO2018220745A1 (en) * | 2017-05-31 | 2018-12-06 | 三菱電機株式会社 | Monitoring device |
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| JP3070277B2 (en) * | 1992-08-04 | 2000-07-31 | 日産自動車株式会社 | Preceding vehicle detection device |
| JP3367170B2 (en) * | 1993-11-05 | 2003-01-14 | 株式会社豊田中央研究所 | Obstacle detection device |
| JP3125550B2 (en) * | 1993-12-24 | 2001-01-22 | 日産自動車株式会社 | Vehicle forward recognition device and vehicle travel control device |
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|---|---|---|---|---|
| CN106908783A (en) * | 2017-02-23 | 2017-06-30 | 苏州大学 | Obstacle detection method based on multi-sensor information fusion |
| CN106908783B (en) * | 2017-02-23 | 2019-10-01 | 苏州大学 | Based on obstacle detection method combined of multi-sensor information |
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| Publication number | Publication date |
|---|---|
| JPH08329393A (en) | 1996-12-13 |
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