JP5727356B2 - 物体検知装置 - Google Patents
物体検知装置 Download PDFInfo
- Publication number
- JP5727356B2 JP5727356B2 JP2011262666A JP2011262666A JP5727356B2 JP 5727356 B2 JP5727356 B2 JP 5727356B2 JP 2011262666 A JP2011262666 A JP 2011262666A JP 2011262666 A JP2011262666 A JP 2011262666A JP 5727356 B2 JP5727356 B2 JP 5727356B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- vehicle information
- distance
- information
- calculated
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims description 94
- 238000012545 processing Methods 0.000 claims description 94
- 230000001052 transient effect Effects 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 description 18
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 10
- 230000007704 transition Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 241000545442 Radix Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
- G01C3/085—Use of electric radiation detectors with electronic parallax measurement
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Description
102,103:撮像手段
104:ステレオ画像処理手段
105、107:検知手段
106:単眼画像処理手段
108:他車両情報取得手段
109:同定処理手段
110:選択処理手段
111:コントローラ
Claims (3)
- 複数の検知手段を有し、該複数の検知手段を用いて複数の他車両情報を取得する他車両情報取得手段と、
前記他車両情報取得手段の異なる検知手段によって取得された複数の他車両情報を所定の同定条件に基づいて同定処理する同定処理手段と、
前記同定処理手段で同一車両と判定された複数の他車両情報のうちのいずれかを前記検知手段の他車両情報検知精度に基づいて選択する情報選択手段と、を備える物体検知手段であって、
前記情報選択手段は、選択された他車両情報を、他車両との相対距離を相対速度で除して得られる衝突余裕時間に基づき設定される過渡時間で前記同定処理手段で同一車両と判定された他の他車両情報へ切り替えることを特徴とする物体検知装置。 - 前記同定処理手段は、他車両との相対速度及び/又は相対距離に応じて前記同定条件を変更することを特徴とする請求項1に記載の物体検知装置。
- 前記複数の検知手段は、少なくとも単眼カメラとステレオカメラから構成されていることを特徴とする請求項1又は2に記載の物体検知装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011262666A JP5727356B2 (ja) | 2011-11-30 | 2011-11-30 | 物体検知装置 |
US14/360,180 US9734415B2 (en) | 2011-11-30 | 2012-11-05 | Object detection system |
EP12854243.8A EP2787496B1 (en) | 2011-11-30 | 2012-11-05 | Object detection device |
PCT/JP2012/078559 WO2013080745A1 (ja) | 2011-11-30 | 2012-11-05 | 物体検知装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011262666A JP5727356B2 (ja) | 2011-11-30 | 2011-11-30 | 物体検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013114606A JP2013114606A (ja) | 2013-06-10 |
JP5727356B2 true JP5727356B2 (ja) | 2015-06-03 |
Family
ID=48535213
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011262666A Active JP5727356B2 (ja) | 2011-11-30 | 2011-11-30 | 物体検知装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9734415B2 (ja) |
EP (1) | EP2787496B1 (ja) |
JP (1) | JP5727356B2 (ja) |
WO (1) | WO2013080745A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5809653B2 (ja) * | 2013-02-28 | 2015-11-11 | 富士フイルム株式会社 | 車間距離算出装置およびその動作制御方法 |
JPWO2014192369A1 (ja) * | 2013-05-31 | 2017-02-23 | 日立オートモティブシステムズ株式会社 | 車両用危険報知制御装置 |
KR101480652B1 (ko) * | 2013-12-11 | 2015-01-09 | 현대자동차주식회사 | 차선 변경 제어 장치 및 그 변경 제어 방법 |
JP2015194895A (ja) * | 2014-03-31 | 2015-11-05 | 株式会社デンソー | 車載システム及び車載プログラム |
CN106255997A (zh) * | 2014-05-15 | 2016-12-21 | 本田技研工业株式会社 | 移动辅助装置 |
EP3193134B1 (en) * | 2014-09-11 | 2022-10-12 | Hitachi Astemo, Ltd. | Image processing device |
JP6084192B2 (ja) * | 2014-10-15 | 2017-02-22 | 本田技研工業株式会社 | 物体認識装置 |
US9886856B2 (en) * | 2014-12-04 | 2018-02-06 | Here Global B.V. | Near miss system |
JP6455292B2 (ja) * | 2015-04-15 | 2019-01-23 | 日産自動車株式会社 | 物体検出装置及び物体検出方法 |
JP6550887B2 (ja) * | 2015-04-21 | 2019-07-31 | 日産自動車株式会社 | 車両制御装置及び車両制御方法 |
WO2017130439A1 (ja) * | 2016-01-28 | 2017-08-03 | 鴻海精密工業股▲ふん▼有限公司 | 車両用画像表示システム及びその画像表示システムを搭載した車両 |
US11280606B2 (en) | 2016-03-04 | 2022-03-22 | Canon Kabushiki Kaisha | Moving object and ranging apparatus capable of acquiring image and high-accurately measuring distance |
US10690495B2 (en) | 2016-03-14 | 2020-06-23 | Canon Kabushiki Kaisha | Ranging apparatus and moving object capable of high-accuracy ranging |
JP7027279B2 (ja) * | 2018-08-07 | 2022-03-01 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04195600A (ja) * | 1990-11-28 | 1992-07-15 | Toyota Motor Corp | 車載用測距装置 |
US7983802B2 (en) * | 1997-10-22 | 2011-07-19 | Intelligent Technologies International, Inc. | Vehicular environment scanning techniques |
JP2002032899A (ja) * | 2000-07-17 | 2002-01-31 | Honda Motor Co Ltd | 移動体用の物体検知装置 |
JP2003061075A (ja) * | 2001-08-09 | 2003-02-28 | Matsushita Electric Ind Co Ltd | 物体追跡装置、物体追跡方法および侵入者監視システム |
JP3915746B2 (ja) * | 2003-07-01 | 2007-05-16 | 日産自動車株式会社 | 車両用外界認識装置 |
GB0321560D0 (en) * | 2003-09-15 | 2003-10-15 | Trw Ltd | Target detection apparatus for vehicles |
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 |
JP4425669B2 (ja) * | 2004-03-09 | 2010-03-03 | 富士重工業株式会社 | 車両用運転支援装置 |
JP2007034477A (ja) * | 2005-07-25 | 2007-02-08 | Mazda Motor Corp | 車両用走行支援装置 |
JP4779704B2 (ja) * | 2006-02-27 | 2011-09-28 | トヨタ自動車株式会社 | 物標検出装置および物標検出方法 |
US8213685B2 (en) * | 2007-01-05 | 2012-07-03 | American Traffic Solutions, Inc. | Video speed detection system |
JP4337929B2 (ja) * | 2007-12-25 | 2009-09-30 | トヨタ自動車株式会社 | 移動状態推定装置 |
JP5066478B2 (ja) * | 2008-04-22 | 2012-11-07 | 富士重工業株式会社 | 車両の運転支援装置 |
JP4678611B2 (ja) * | 2008-06-05 | 2011-04-27 | トヨタ自動車株式会社 | 障害物検出装置および障害物検出システム |
JP4680294B2 (ja) * | 2008-12-26 | 2011-05-11 | 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 |
DE102009016580A1 (de) * | 2009-04-06 | 2010-10-07 | Hella Kgaa Hueck & Co. | Datenverarbeitungssystem und Verfahren zum Bereitstellen mindestens einer Fahrerassistenzfunktion |
WO2010128537A1 (ja) * | 2009-05-07 | 2010-11-11 | トヨタ自動車株式会社 | 距離検出装置、及び、衝突判定装置 |
JP4883248B2 (ja) * | 2009-06-02 | 2012-02-22 | トヨタ自動車株式会社 | 車両用周辺監視装置 |
US8305254B2 (en) * | 2009-09-28 | 2012-11-06 | Toyota Jidosha Kabushiki Kaisha | Object detecting apparatus |
-
2011
- 2011-11-30 JP JP2011262666A patent/JP5727356B2/ja active Active
-
2012
- 2012-11-05 WO PCT/JP2012/078559 patent/WO2013080745A1/ja active Application Filing
- 2012-11-05 EP EP12854243.8A patent/EP2787496B1/en active Active
- 2012-11-05 US US14/360,180 patent/US9734415B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2787496A4 (en) | 2015-06-17 |
EP2787496B1 (en) | 2017-06-14 |
US20150092988A1 (en) | 2015-04-02 |
US9734415B2 (en) | 2017-08-15 |
EP2787496A1 (en) | 2014-10-08 |
JP2013114606A (ja) | 2013-06-10 |
WO2013080745A1 (ja) | 2013-06-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5727356B2 (ja) | 物体検知装置 | |
US9457809B2 (en) | Collision possibility determination apparatus, drive assist apparatus, collision possibility determination method, and collision possibility determination program | |
JP6208244B2 (ja) | 物体検知装置 | |
JP6363519B2 (ja) | 車両制御装置 | |
JP6313198B2 (ja) | 車両制御装置 | |
US11003924B2 (en) | System and method for detecting close cut-in vehicle based on free space signal | |
JP6622584B2 (ja) | 運転支援装置及び運転支援方法 | |
JP6694067B2 (ja) | 物体検知装置及びそれを備えた車両制御システム | |
JP2016085633A (ja) | 対象物識別装置、運転支援システム、車両および対象物識別方法 | |
KR102304851B1 (ko) | Ecu, 상기 ecu를 포함하는 무인 자율 주행 차량, 및 이의 주변 차량 인지 방법 | |
JP2013054399A (ja) | 車両周辺監視装置 | |
EP3217357B1 (en) | Estimation of movement of a target object | |
US11615627B2 (en) | Object recognition apparatus, vehicle control apparatus, object recognition method, and vehicle control method | |
JP6834020B2 (ja) | 物体認識装置および物体認識方法 | |
JP7146433B2 (ja) | 衝突判定装置 | |
JP2021009487A (ja) | 情報処理装置及び車載システム | |
US20230004169A1 (en) | Apparatus and Method for Controlling Mobile Body | |
JP7236556B2 (ja) | 物体検知装置および物体検知プログラム | |
JP7322576B2 (ja) | 情報処理装置、撮像装置および移動体 | |
WO2023013110A1 (ja) | 外界認識装置 | |
JP6877636B2 (ja) | 車載カメラ装置 | |
JP2018185763A (ja) | 注視領域推定装置 | |
JP2020177457A (ja) | 物標検出装置、物標検出方法、及び運転支援システム | |
JP2021064158A (ja) | 物体検知装置、物体検知方法、および物体検知プログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20140130 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20150203 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20150219 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20150317 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20150402 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5727356 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |