JP6493280B2 - 物体検知装置、物体検知方法 - Google Patents
物体検知装置、物体検知方法 Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims description 24
- 238000003384 imaging method Methods 0.000 claims description 22
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- 238000000034 method Methods 0.000 description 7
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- 238000004891 communication Methods 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- 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
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- 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
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- 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
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- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- G01S2013/9323—Alternative operation using light waves
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- G—PHYSICS
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Geometry (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Image Processing (AREA)
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Description
図1は、物体検知装置、及び物体検知方法を適用したプリクラッシュセーフティシステム(以下、PCSS:Pre-crash safety systemと記載する。)100を示している。PCSS100は、例えば、車両に搭載される車両システムの一例であり、車両前方に位置する物体を検出し、検出した物体と車両とが衝突する恐れがある場合、物体に対する自車両の衝突の回避動作、又は衝突の緩和動作を実施する。以下では、このPCSS100が搭載された車両を自車両CSと記載し、検出対象となる物体を物標Obと記載する。
ラップ率RR=WO/Wcda … (1)
なお、衝突判定領域CDAの撮像軸方向D1を基準とする傾きは、物標Obの移動軌跡に基づいて設定される。
DVr=|Xmr−Xr|
DVl=|Xml−Xl| … (2)
ここで、DVr,DVlは、それぞれ横位置Xの左右のずれ量を示している。また、この実施形態では、Xr,Xlは、今回の横位置XCである。Xmr,Xmlは、取得履歴に記録された最大の物体幅WOにおける横位置Xである。
この第2実施形態では、運転支援ECU20は、取得履歴に記録された物体幅WOの最大値を推定横位置XEとして用いることに代えて、取得履歴に記録された前回の物体幅WOを推定横位置XEとして使用する。
カメラセンサ31が物標Obの横位置Xや方位角θを算出する代わりに、運転支援ECU20が物標Obの横位置Xや方位角θを算出するものであってもよい。この場合、カメラセンサ31は、図1に示す、撮像ユニット32とECUI/F36とを備え、運転支援ECU20は、物体認識部34と位置情報算出部35とを機能的に備える。そして、カメラセンサ31から出力された撮像画像に基づいて、運転支援ECU20は、物標Obの横位置Xや方位角θを算出する。
Claims (6)
- 撮像手段(32)により撮像された画像に基づいて、車両周囲に存在する物体を検知する物体検知装置(20)であって、
前記画像から前記撮像手段の撮像方向に対する横方向での前記物体の大きさを横幅として取得する横幅取得部(21)と、
前記横幅取得部により取得された今回の横幅を、前回以前の横幅と比較し、前記今回の横幅が前回以前の横幅よりも小さいか否かを判定する判定部(23)と、
前記今回の横幅が前回以前の横幅よりも小さい場合に、物体の左右の両端位置のずれ量のうち小さい方のずれ量に基づいて、前記今回の横幅の左右の両端位置を補正する補正部(24)と、を備える物体検知装置。 - 前記判定部は、前記前回以前の横幅として、最大の横幅を用いて前記判定を行う、請求項1に記載の物体検知装置。
- 前記補正部は、前記前回以前の横幅の前記左右の両端位置を前記小さい方のずれ量に基づく量だけ前記横方向にずらした位置を、補正後の前記左右の両端位置とする、請求項1又は請求項2に記載の物体検知装置。
- 前記補正部は、前記前回以前の横幅として、前記横幅取得部により取得された前回の横幅を用いて前記補正を行う、請求項3に記載の物体検知装置。
- 前記補正部は、前記物体の左右の両端位置が左右同じ方向にずれる場合、前記小さい方のずれ量に基づいて前記左右の両端位置を前記ずれが生じている同じ方向に補正する、請求項1から請求項4のいずれか一項に記載の物体検知装置。
- 撮像手段により撮像された画像に基づいて、車両周囲に存在する物体を検知する物体検知方法であって、
前記画像から前記撮像手段の撮像方向に対する横方向での前記物体の大きさを横幅として取得する横幅取得工程と、
前記横幅取得工程で取得された今回の横幅を、前回以前の横幅と比較し、前記今回の横幅が前回以前の横幅よりも小さいか否かを判定する判定工程と、
前記今回の横幅が前回以前の横幅よりも小さい場合に、物体の左右の両端位置のずれ量のうち小さい方のずれ量に基づいて、前記今回の横幅の左右の両端位置を補正する補正工程と、を備える物体検知方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2016074643A JP6493280B2 (ja) | 2016-04-01 | 2016-04-01 | 物体検知装置、物体検知方法 |
US16/088,728 US10775497B2 (en) | 2016-04-01 | 2017-03-31 | Object detection device and object detection method |
PCT/JP2017/013835 WO2017171083A1 (ja) | 2016-04-01 | 2017-03-31 | 物体検知装置、物体検知方法 |
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JP6493280B2 true JP6493280B2 (ja) | 2019-04-03 |
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JP6462630B2 (ja) * | 2016-05-24 | 2019-01-30 | 株式会社デンソー | 物標検出装置 |
JP7216695B2 (ja) * | 2020-11-04 | 2023-02-01 | 本田技研工業株式会社 | 周囲車両監視装置及び周囲車両監視方法 |
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JP4719996B2 (ja) * | 2001-03-30 | 2011-07-06 | 日産自動車株式会社 | 物体検知装置 |
JP3997837B2 (ja) * | 2002-05-27 | 2007-10-24 | 株式会社デンソー | 車載レーダ装置、プログラム |
JP2003346163A (ja) * | 2002-05-27 | 2003-12-05 | Nissan Motor Co Ltd | 車両用走行路認識装置 |
JP3757936B2 (ja) * | 2002-11-29 | 2006-03-22 | 株式会社デンソー | 車両用障害物認識装置 |
JP4534846B2 (ja) | 2005-04-13 | 2010-09-01 | トヨタ自動車株式会社 | 物体検出装置 |
JP2009265925A (ja) * | 2008-04-24 | 2009-11-12 | Canon Inc | 画像処理装置及びその方法 |
JP5929870B2 (ja) * | 2013-10-17 | 2016-06-08 | 株式会社デンソー | 物標検出装置 |
JP2015132553A (ja) | 2014-01-14 | 2015-07-23 | トヨタ自動車株式会社 | 物体検出装置 |
JP5969534B2 (ja) * | 2014-04-21 | 2016-08-17 | 株式会社デンソー | 走行支援装置 |
JP6095605B2 (ja) * | 2014-04-24 | 2017-03-15 | 本田技研工業株式会社 | 車両認識装置 |
JP6384446B2 (ja) * | 2015-10-14 | 2018-09-05 | 株式会社デンソー | 車両制御装置、車両制御方法 |
JP6673178B2 (ja) * | 2016-12-14 | 2020-03-25 | 株式会社デンソー | 車両制御装置、車両制御方法 |
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US10775497B2 (en) | 2020-09-15 |
US20190113615A1 (en) | 2019-04-18 |
WO2017171083A1 (ja) | 2017-10-05 |
JP2017187865A (ja) | 2017-10-12 |
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