JP7431623B2 - 車外環境認識装置 - Google Patents
車外環境認識装置 Download PDFInfo
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- JP7431623B2 JP7431623B2 JP2020041648A JP2020041648A JP7431623B2 JP 7431623 B2 JP7431623 B2 JP 7431623B2 JP 2020041648 A JP2020041648 A JP 2020041648A JP 2020041648 A JP2020041648 A JP 2020041648A JP 7431623 B2 JP7431623 B2 JP 7431623B2
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- 238000003384 imaging method Methods 0.000 claims description 40
- 238000009795 derivation Methods 0.000 claims description 39
- 239000000203 mixture Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 16
- 230000008859 change Effects 0.000 description 11
- 238000012545 processing Methods 0.000 description 11
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- 239000004065 semiconductor Substances 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/774—Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
-
- 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
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- Engineering & Computer Science (AREA)
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- Multimedia (AREA)
- General Physics & Mathematics (AREA)
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- Artificial Intelligence (AREA)
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- Databases & Information Systems (AREA)
- Psychiatry (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- General Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Description
V=(Ws×Vs+Wm×Vm+Wp×Vp)/(Ws+Wm+Wp) ・・・(1)
V=(Ws×Vs+Wm×Vm+Wp×Vp)/(Ws+Wm+Wp) ・・・(1)
Ws=(ステレオ信頼値)2 ・・・(2)
Wm=(単眼信頼値)2 ・・・(3)
Wp=(ステレオ不信頼値)×(単眼不信頼値) ・・・(4)
(ステレオ不信頼値)=
Rsmax-min(Rsmax、(Rs+Bs)) ・・・(5)
(単眼不信頼値)=
Rmmax-min(Rmmax、(Rm+Bm)) ・・・(6)
120 車外環境認識装置
126 輝度画像
128 距離画像
160 ステレオ速度導出部
162 単眼速度導出部
164 予測速度導出部
166 混合比率導出部
168 物体速度導出部
170 ステレオ重み導出部
172 単眼重み導出部
174 予測重み導出部
Claims (5)
- 2個の撮像装置の輝度画像から導出された距離画像に基づいて抽出された所定の立体物の速度を示すステレオ速度を導出するステレオ速度導出部と、
1個の前記撮像装置の輝度画像に基づいて抽出された前記立体物の速度を示す単眼速度を導出する単眼速度導出部と、
前記立体物の過去の速度に基づいて予測された前記立体物の現在の速度を示す予測速度を導出する予測速度導出部と、
前記ステレオ速度、前記単眼速度および前記予測速度の混合比率を導出する混合比率導出部と、
前記混合比率に基づいて、前記ステレオ速度、前記単眼速度および前記予測速度を混合して、前記立体物の速度を示す物体速度を導出する物体速度導出部と、
を備える車外環境認識装置。 - 前記混合比率導出部は、
前記ステレオ速度の割合を示すステレオ重みを導出するステレオ重み導出部と、
前記単眼速度の割合を示す単眼重みを導出する単眼重み導出部と、
前記予測速度の割合を示す予測重みを導出する予測重み導出部と、
を有し、
前記物体速度導出部は、前記ステレオ速度をVs、前記単眼速度をVm、前記予測速度をVp、前記ステレオ重みをWs、前記単眼重みをWm、前記予測重みをWp、前記物体速度をVとした場合、以下の式(1)によって前記物体速度を導出する請求項1に記載の車外環境認識装置。
V=(Ws×Vs+Wm×Vm+Wp×Vp)/(Ws+Wm+Wp) ・・・(1) - 前記ステレオ重み導出部は、前記距離画像の信頼値に従って前記ステレオ重みを導出する請求項2に記載の車外環境認識装置。
- 前記単眼重み導出部は、1個の前記撮像装置の輝度画像の信頼値に従って前記単眼重みを導出する請求項2または3に記載の車外環境認識装置。
- 前記予測重み導出部は、前記距離画像の不信頼値、および、1個の前記撮像装置の輝度画像の不信頼値に従って、前記予測重みを導出する請求項2から4のいずれか1項に記載の車外環境認識装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020041648A JP7431623B2 (ja) | 2020-03-11 | 2020-03-11 | 車外環境認識装置 |
CN202110046634.0A CN113392691A (zh) | 2020-03-11 | 2021-01-14 | 车外环境识别装置 |
US17/154,734 US11748967B2 (en) | 2020-03-11 | 2021-01-21 | Vehicle exterior environment recognition apparatus |
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JP2020041648A JP7431623B2 (ja) | 2020-03-11 | 2020-03-11 | 車外環境認識装置 |
Publications (2)
Publication Number | Publication Date |
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JP2021144389A JP2021144389A (ja) | 2021-09-24 |
JP7431623B2 true JP7431623B2 (ja) | 2024-02-15 |
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US (1) | US11748967B2 (ja) |
JP (1) | JP7431623B2 (ja) |
CN (1) | CN113392691A (ja) |
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CN114755444B (zh) * | 2022-06-14 | 2022-10-21 | 天津所托瑞安汽车科技有限公司 | 目标速度测定方法、装置、电子设备及存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006016445A1 (ja) | 2004-08-10 | 2006-02-16 | Murata Manufacturing Co., Ltd. | レーダ |
JP2014006123A (ja) | 2012-06-22 | 2014-01-16 | Toyota Motor Corp | 物体検出装置、情報処理装置、物体検出方法 |
JP2019125354A (ja) | 2018-01-12 | 2019-07-25 | キヤノン株式会社 | 情報処理装置、システム、方法、およびプログラム |
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JP3255360B2 (ja) * | 1999-09-22 | 2002-02-12 | 富士重工業株式会社 | 距離データの検査方法およびその検査装置 |
JP2008151659A (ja) * | 2006-12-18 | 2008-07-03 | Fuji Heavy Ind Ltd | 物体検出装置 |
US9457810B2 (en) * | 2009-10-21 | 2016-10-04 | Berthold K. P. Horn | Method and apparatus for reducing motor vehicle traffic flow instabilities and increasing vehicle throughput |
JP5592308B2 (ja) * | 2011-05-19 | 2014-09-17 | 富士重工業株式会社 | 環境認識装置 |
JP5612621B2 (ja) * | 2012-02-28 | 2014-10-22 | 富士重工業株式会社 | 車外環境認識装置 |
US10140717B2 (en) * | 2013-02-27 | 2018-11-27 | Hitachi Automotive Systems, Ltd. | Imaging apparatus and vehicle controller |
JP6648411B2 (ja) * | 2014-05-19 | 2020-02-14 | 株式会社リコー | 処理装置、処理システム、処理プログラム及び処理方法 |
JP6764378B2 (ja) * | 2017-07-26 | 2020-09-30 | 株式会社Subaru | 車外環境認識装置 |
JP6944308B2 (ja) * | 2017-08-18 | 2021-10-06 | ソニーセミコンダクタソリューションズ株式会社 | 制御装置、制御システム、および制御方法 |
DE102018212318B4 (de) * | 2018-07-24 | 2023-09-28 | Denso Corporation | Adaptive geschwindigkeitsregelung |
US20210197720A1 (en) * | 2019-12-27 | 2021-07-01 | Lyft, Inc. | Systems and methods for incident detection using inference models |
CA3168740C (en) * | 2020-02-21 | 2023-08-01 | Joel Pazhayampallil | Method for object avoidance during autonomous navigation |
US12013457B2 (en) * | 2020-03-05 | 2024-06-18 | Uatc, Llc | Systems and methods for integrating radar data for improved object detection in autonomous vehicles |
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- 2020-03-11 JP JP2020041648A patent/JP7431623B2/ja active Active
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2021
- 2021-01-14 CN CN202110046634.0A patent/CN113392691A/zh active Pending
- 2021-01-21 US US17/154,734 patent/US11748967B2/en active Active
Patent Citations (3)
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---|---|---|---|---|
WO2006016445A1 (ja) | 2004-08-10 | 2006-02-16 | Murata Manufacturing Co., Ltd. | レーダ |
JP2014006123A (ja) | 2012-06-22 | 2014-01-16 | Toyota Motor Corp | 物体検出装置、情報処理装置、物体検出方法 |
JP2019125354A (ja) | 2018-01-12 | 2019-07-25 | キヤノン株式会社 | 情報処理装置、システム、方法、およびプログラム |
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US11748967B2 (en) | 2023-09-05 |
JP2021144389A (ja) | 2021-09-24 |
US20210284151A1 (en) | 2021-09-16 |
CN113392691A (zh) | 2021-09-14 |
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