WO2015005001A1 - 物体認識装置 - Google Patents
物体認識装置 Download PDFInfo
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- WO2015005001A1 WO2015005001A1 PCT/JP2014/063593 JP2014063593W WO2015005001A1 WO 2015005001 A1 WO2015005001 A1 WO 2015005001A1 JP 2014063593 W JP2014063593 W JP 2014063593W WO 2015005001 A1 WO2015005001 A1 WO 2015005001A1
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/005—Prospecting or detecting by optical means operating with millimetre waves, e.g. measuring the black losey radiation
Definitions
- the present invention relates to an object recognition apparatus.
- Priority is claimed on Japanese Patent Application No. 2013-142770, filed July 8, 2013, the content of which is incorporated herein by reference.
- Patent Document 1 a device for detecting a pedestrian using a radar device and a camera mounted on a vehicle is known (see, for example, Patent Document 1).
- the aspect which concerns on this invention is made in view of the said situation, and it aims at providing the object recognition apparatus which can detect the object which exists in the external world of the own vehicle rapidly and exactly.
- An object recognition apparatus includes a radar that detects an object around a vehicle, a camera that captures an image of the periphery of the vehicle to detect an object, and the object detected by the radar And an identical object recognition unit that recognizes the objects as the same object when the objects detected by the camera mutually exist within a predetermined position range. If the detection by the radar or the camera is interrupted and detection is started again after that, the predetermined position range is reduced to determine whether the objects are identical to each other.
- the same object recognition means may gradually expand the predetermined position range.
- the same object recognition means mutually sets the object detected by the radar and the object detected by the camera within the predetermined position range for a predetermined time. If the detection is started again after the detection by the radar or the camera is interrupted, the predetermined time is shortened. It may be determined whether or not the objects are identical to each other.
- the same object recognition means gradually expands the predetermined position range and the predetermined position range
- the predetermined time may be changed to be extended along with the enlargement of.
- An object recognition apparatus includes a radar that detects an object around a vehicle, a camera that captures an image of the periphery of the vehicle to detect an object, and the object detected by the radar And the same object recognition unit that recognizes the objects as the same object when the objects detected by the camera are present within the predetermined position range for a predetermined time.
- the recognition means shortens the predetermined time and determines whether or not the objects are the same object.
- the detection is temporarily interrupted by the radar or the camera If detection is started again, it can be determined that the possibility of detecting the same object is high. As a result, the recognition accuracy can be ensured even if the predetermined position range for determining whether the object detected again is the same object or not is reduced, and the recognition processing can be performed quickly. Can be activated early.
- the same object can be recognized by gradually enlarging the reduced predetermined position range to a predetermined predetermined position range.
- the detection is temporarily interrupted by the radar or the camera Also, if the detection is started again, it can be determined that the possibility of detecting the same detection object is high. As a result, the recognition accuracy can be ensured even if the predetermined time for determining whether the object detected again is the same object or not is shortened, and the recognition processing can be performed quickly. Control can be activated early.
- the object recognition device 10 is mounted on, for example, a vehicle 1 and can recognize an object (for example, a pedestrian, another vehicle, a structure, etc.) existing in the outside of the vehicle 1.
- the object recognition device 10 includes a radar device 11, an imaging device 12, and a processing device 13.
- the radar device 11 divides the detection target area set in the outside of the vehicle 1 into a plurality of angle areas, and transmits the radar radio waves of the electromagnetic wave so as to scan each angle area. And each reflected wave receives the reflected wave which arose by being reflected by the object (for example, a pedestrian, other vehicles, etc.) of vehicles 1 outside.
- the radar device 11 detects detection signals corresponding to the transmission wave and the reflected wave, for example, the distance from the radar device 11 to an external object, the relative velocity of the external object by the Doppler effect, and the relative velocity of the external object to the radar device 11
- a detection signal relating to a specific position or orientation is generated, and the generated detection signal is output to the processing device 13. For example, if the radar device 11 is a millimeter wave radar, the radar device 11 outputs a beat signal obtained by mixing the transmission wave and the reflected wave as a detection signal.
- the imaging device 12 includes a camera and captures an imaging region set in the outside of the vehicle 1.
- the imaging device 12 generates image data by performing predetermined image processing on an image obtained by imaging, and outputs the generated image data to the processing device 13.
- the processing device 13 detects an object present around the vehicle 1 using the detection signal output from the radar device 11 and the image data output from the imaging device 12.
- the processing device 13 recognizes an object on the image data by performing predetermined recognition processing on the image data output from the imaging device 12. More specifically, the processing device 13 recognizes the attributes of the object, and identifies pedestrians, other vehicles, structures, etc. as objects around the vehicle 1, for example.
- the processing device 13 calculates the relative position, velocity, acceleration and the like of the recognized object with respect to the imaging device 12.
- the processing device 13 detects each other when the object detected by the radar device 11 and the object detected by the imaging device 12 are within a predetermined position range (matching range) for a predetermined time (determination time). To be the same object. For example, as shown in FIG. 2A, the processing device 13 may execute the processing within the first matching range MA of the predetermined size over the number of continuous processings (that is, corresponding to the determination time) of the predetermined first number When it is detected that the object P0 detected by the radar device 11 and the object Q0 detected by the imaging device 12 exist, the objects P0 and Q0 are recognized as the same object. For example, as shown in FIG. 2B, the processing device 13 matches the objects P0 and Q0 with each other by correcting the positions of the objects P0 and Q0 which are recognized to be the same object so as to coincide with each other.
- the processing device 13 may set the position of the matching range on the basis of the position of the object detected by the radar device 11 or the position of the object detected by the imaging device 12 or by the radar device 11 and the imaging device 12 You may set suitably so that the position of the detected each other object may be included.
- the processing device 13 may use the position of either one of the objects as a reference, but preferably the radar device 11
- the position of the object detected by the imaging device 12 is corrected based on the position of the detected object.
- the processing device 13 When the processing device 13 recognizes that the objects detected by the radar device 11 and the imaging device 12 are the same object and determines the matching, for example, the distance of the object detected by the radar device 11
- the information such as the attribute recognized for the object detected by the imaging device 12 may be added to the information such as the position, the velocity, and the acceleration.
- the processing device 13 can execute various control operations (for example, contact avoidance with an object, automatic follow-up with a preceding vehicle, and the like) of the vehicle 1 based on various types of information associated with the object for which matching has been determined. .
- the processing device 13 reduces the matching range and determines whether or not the objects are the same object. For example, as shown in FIG. 2C, when the detection is started again after the detection by the radar device 11 is interrupted, the processing device 13 sets the first matching range MA of the predetermined size to the smaller second matching range MB. Make it smaller. The processing device 13 reduces the predetermined first determined number NA to a smaller second determined number NB in accordance with the reduction of the first matching range MA of the predetermined size to the second matching range MB. The processing device 13 detects the object P1 newly detected by the radar device 11 within the second matching range MB and the object detected by the imaging device 12 over the number of continued processing times that have been reduced the second determined number NB or more. It is determined whether or not Q0 exists.
- the processing device 13 decreases the predetermined first determined number NA to a smaller second determined number NB, the detection by the radar device 11 or the imaging device 12 is interrupted (that is, the detection is continued).
- the current position of the object may be estimated by position estimation based on the position, velocity, and history of the object in time period).
- the processing device 13 reduces the second determined number NB smaller as the current position of the estimated object is closer to the position of the object newly detected by the radar device 11 when the detection is started again. Good.
- the processing device 13 performs the second process if the same object does not exist in the second matching range MB.
- the matching range MB is gradually expanded to a larger third matching range MC.
- the processing device 13 changes the second determined number NB to a larger third determined number NC in an increasing tendency as the second matching range MB is gradually expanded to a larger third matching range MC.
- the processing device 13 detects the object P2 newly detected by the radar device 11 within the third matching range MC and the object detected by the imaging device 12 over the number of continued processing times that have been increased the third determined number NC or more. It is determined whether or not Q0 exists.
- the processing by the radar device 11 or the imaging device 12 causes the processing device 13 to interrupt the position of the matching range when the detection is started again after the detection by the radar device 11 or the imaging device 12 is temporarily interrupted. It is set by position estimation based on the history of object position, velocity, and acceleration in the front (that is, a period during which detection is continued). Furthermore, the processing device 13 may set the position of the matching range by position estimation based on an attribute (for example, a moving speed or the like different between a pedestrian and another vehicle) recognized for the object in the image data.
- an attribute for example, a moving speed or the like different between a pedestrian and another vehicle
- the object recognition device 10 has the above-described configuration. Next, the operation of the object recognition device 10 will be described.
- step S01 the processing device 13 detects the position, the velocity, the acceleration, and the like of the object detected by the radar device 11.
- step S02 the processing device 13 performs recognition processing of the object detected by the imaging device 12, and detects the position, velocity, acceleration, and the like of the object.
- step S03 the processing device 13 determines whether or not the state in which the matching of the objects detected by the radar device 11 and the imaging device 12 is determined is continuing. If the determination result is "YES", the process proceeds to the end. On the other hand, if the determination result is "NO", the process proceeds to step S04.
- step S04 the processing device 13 determines whether or not there is a history of matching of the objects detected by the radar device 11 and the imaging device 12. If the determination result is "YES”, the process proceeds to step S05. On the other hand, if the determination result is "NO”, the process proceeds to step S08 described later. Then, in step S05, the processing device 13 searches for an electromagnetic wave in the first matching range MA as shown in FIG. 4, for example.
- step S06 the processing device 13 determines whether the matching between the objects detected by the radar device 11 and the imaging device 12 has continued for the predetermined first determined number of times NA. If the determination result is "NO”, the process proceeds to the end. On the other hand, if the determination result is "YES”, the process proceeds to step S07, in which the matching of the objects detected by the radar device 11 and the imaging device 12 is determined, and the process proceeds to the end.
- step S08 the processing device 13 sets the second matching range MB to which the second determined number NB, which is smaller than the first matching range MA and smaller than the first determined number NA of the first matching range MA, is associated. Search for electromagnetic waves.
- step S09 the processing device 13 determines whether or not there is a matchable object in the second matching range MB. If the determination result is "NO”, the process proceeds to step S10. On the other hand, if the determination result is "YES", the process proceeds to step S12 described later.
- step S10 the processing device 13 determines whether the matching between the objects detected by the radar device 11 and the imaging device 12 has continued for the second determined number NB. If the determination result is "NO”, the process proceeds to the end. On the other hand, if the determination result is "YES”, the process proceeds to step S11. In this step S11, the matching of the objects detected by the radar device 11 and the imaging device 12 is determined, and the process proceeds to the end.
- step S12 the processing device 13 associates a third determination number NC smaller than the first determination number NA and larger than the second determination number NB, and further smaller than the first matching range MA, And the electromagnetic wave of the 3rd matching range MC larger than the 2nd matching range MB is searched.
- step S13 the processing device 13 determines whether the matching between the objects detected by the radar device 11 and the imaging device 12 has continued for the third determined number NC. If the determination result is "NO”, the process proceeds to the end. On the other hand, if the determination result is "YES”, the process proceeds to step S14. In this step S14, the matching between the objects detected by the radar device 11 and the imaging device 12 is determined, and the process proceeds to the end.
- the object recognition device 10 As described above, according to the object recognition device 10 according to the present embodiment, the state in which the objects recognized in the past by the radar device 11 and the imaging device 12 are recognized as the same object continues. Thus, even if detection is temporarily interrupted by the radar device 11 or the imaging device 12, it is possible to determine that the possibility of detecting the same object is high if the detection is started again. As a result, the recognition accuracy can be ensured even if the predetermined position range for determining whether the object detected again is the same object or not is reduced, and the recognition processing can be performed quickly. Can be activated early. Furthermore, the recognition accuracy can be ensured even if the predetermined time for determining whether the object detected again is the same object or not is shortened, the recognition processing can be performed quickly, and the vehicle behavior is controlled. Etc.
- the reduced predetermined position range is gradually expanded to a predetermined predetermined position range, and the shortened predetermined time is changed to an extended tendency, thereby the same object Can be accurately recognized.
- the processing device 13 determines the matching range and the determination in the case where the detection by the radar device 11 or the imaging device 12 is temporarily interrupted, and in the case where the same object does not exist after the detection is started again. Although the number of times is changed, it is not limited thereto. For example, the processing device 13 may change only the matching range or the number of determinations.
- the present embodiment described above shows an example for carrying out the present invention, and the present invention is not construed as being limited to the above-described embodiment.
- the present invention is not limited to this, and the same measures can be taken even when detection by the imaging device 12 is interrupted.
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Abstract
Description
本願は、2013年7月8日に出願された日本国特願2013-142770号に基づき優先権を主張し、その内容をここに援用する。
(1)本発明に係る一態様の物体認識装置は、車両の周辺の物体を検知するレーダと、前記車両の周辺を撮像して物体を検知するカメラと、前記レーダにより検知された前記物体と前記カメラにより検知された前記物体とが互いに所定位置範囲内に存在する場合に、互いの前記物体を同一物体であると認識する同一物体認識手段と、を備え、前記同一物体認識手段は、前記レーダまたは前記カメラによる検知が途切れ、その後に再度検知が開始された場合には、前記所定位置範囲を小さくして互いの前記物体が同一物体であるか否かを判定する。
本実施形態による物体認識装置10は、例えば車両1に搭載され、車両1の外界に存在する物体(例えば、歩行者、他車両、および構造物など)を認識可能である。物体認識装置10、図1に示すように、レーダ装置11と、撮像装置12と、処理装置13と、を備えている。
また、処理装置13は、レーダ装置11および撮像装置12により検知された互いの物体をマッチングさせる場合に、互いの物体の何れか一方の位置を基準としてもよいが、好ましくは、レーダ装置11により検知された物体の位置を基準として、撮像装置12により検知された物体の位置を補正する。
先ず、例えば図3に示すステップS01において、処理装置13は、レーダ装置11によって検知された物体の位置、速度、および加速度などを検出する。
次に、ステップS02において、処理装置13は、撮像装置12によって検知された物体の認識処理を行なうとともに、物体の位置、速度、および加速度などを検出する。
次に、ステップS03において、処理装置13は、レーダ装置11および撮像装置12により検知された互いの物体のマッチングが確定した状態が継続中であるか否かを判定する。
この判定結果が「YES」の場合には、エンドに進む。
一方、この判定結果が「NO」の場合には、ステップS04に進む。
この判定結果が「YES」の場合には、ステップS05に進む。
一方、この判定結果が「NO」の場合には、後述するステップS08に進む。
そして、ステップS05において、処理装置13は、例えば図4に示すような第1マッチング範囲MAの電磁波を検索する。
この判定結果が「NO」の場合には、エンドに進む。
一方、この判定結果が「YES」の場合には、ステップS07に進み、このステップS07においては、レーダ装置11および撮像装置12により検知された互いの物体のマッチングを確定させ、エンドに進む。
次に、ステップS09において、処理装置13は、第2マッチング範囲MBにおいてマッチング可能な物体が存在するか否かを判定する。
この判定結果が「NO」の場合には、ステップS10に進む。
一方、この判定結果が「YES」の場合には、後述するステップS12に進む。
この判定結果が「NO」の場合には、エンドに進む。
一方、この判定結果が「YES」の場合には、ステップS11に進み、このステップS11においては、レーダ装置11および撮像装置12により検知された互いの物体のマッチングを確定させ、エンドに進む。
そして、ステップS13において、処理装置13は、レーダ装置11および撮像装置12により検知された互いの物体のマッチングが第3確定回数NCに亘って継続したか否かを判定する。
この判定結果が「NO」の場合には、エンドに進む。
一方、この判定結果が「YES」の場合には、ステップS14に進み、このステップS14においては、レーダ装置11および撮像装置12により検知された互いの物体のマッチングを確定させ、エンドに進む。
さらに、再度検知された物体に対して同一物体か否かを判定するための所定時間を短くしても認識精度を確保することができ、認識処理を迅速に行なうことができ、車両挙動の制御などを早期に作動させることができる。
さらに、再度検知が開始された後に同一物体が存在しない場合において、小さくした所定位置範囲を既定の所定位置範囲まで徐々に拡大するとともに、短縮した所定時間を延長傾向に変化させることにより、同一物体を的確に認識可能である。
なお、上述した実施形態において、処理装置13は、レーダ装置11および撮像装置12により検知された互いの物体が所定時間(確定時間)に亘って互いに所定位置範囲(マッチング範囲)内に存在する場合に互いの物体を同一物体であると認識するとしたが、これに限定されない。例えば、処理装置13は、レーダ装置11および撮像装置12により検知された互いの物体が所定位置範囲内に存在する場合に互いの物体を同一物体であると認識してもよい。
なお、上述した実施形態において、処理装置13は、レーダ装置11または撮像装置12による検知が一時的に途切れた前後、および再度検知が開始された後に同一物体が存在しない場合において、マッチング範囲および確定回数を変化させるとしたが、これに限定されない。例えば、処理装置13は、マッチング範囲または確定回数のみを変化させてもよい。
例えば、上述した実施の形態では、レーダ装置11による検知が途切れた場合について説明したが、これに限定されず、撮像装置12による検知が途切れ場合についても、同様の対応が可能である。
Claims (5)
- 車両の周辺の物体を検知するレーダと、
前記車両の周辺を撮像して物体を検知するカメラと、
前記レーダにより検知された前記物体と前記カメラにより検知された前記物体とが互いに所定位置範囲内に存在する場合に、互いの前記物体を同一物体であると認識する同一物体認識手段と、を備え、
前記同一物体認識手段は、前記レーダまたは前記カメラによる検知が途切れ、その後に再度検知が開始された場合には、前記所定位置範囲を小さくして互いの前記物体が同一物体であるか否かを判定する、ことを特徴とする物体認識装置。 - 前記同一物体認識手段は、前記所定位置範囲を小さくした後に前記同一物体が存在しない場合は、徐々に前記所定位置範囲を拡大する、ことを特徴とする請求項1に記載の物体認識装置。
- 前記同一物体認識手段は、前記レーダにより検知された前記物体と前記カメラにより検知された前記物体とが互いに前記所定位置範囲内に所定時間に亘って存在する場合には、互いの前記物体を同一物体であると認識し、前記レーダまたは前記カメラによる検知が途切れた後に再度検知が開始された場合には、前記所定時間を短くして互いの前記物体が同一物体であるか否かを判定する、ことを特徴とする請求項1または請求項2に記載の物体認識装置。
- 前記同一物体認識手段は、前記所定位置範囲を小さくした後に前記同一物体が存在しない場合は、徐々に前記所定位置範囲を拡大するとともに、前記所定位置範囲の拡大に伴って前記所定時間を延長傾向に変化させる、ことを特徴とする請求項3に記載の物体認識装置。
- 車両の周辺の物体を検知するレーダと、
前記車両の周辺を撮像して物体を検知するカメラと、
前記レーダにより検知された前記物体と前記カメラにより検知された前記物体とが互いに所定位置範囲内に所定時間に亘って存在する場合に、互いの前記物体を同一物体であると認識する同一物体認識手段と、を備え、
前記同一物体認識手段は、前記レーダまたは前記カメラによる検知が途切れ、その後に再度検知が開始された場合には、前記所定時間を短くして互いの前記物体が同一物体であるか否かを判定する、ことを特徴とする物体認識装置。
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BR112015031832A BR112015031832A2 (pt) | 2013-07-08 | 2014-05-22 | dispositivo de reconhecimento de objeto |
CN201480031947.7A CN105264587B (zh) | 2013-07-08 | 2014-05-22 | 物体识别装置 |
DE112014003177.1T DE112014003177T5 (de) | 2013-07-08 | 2014-05-22 | Objekterkennungsvorrichtung |
US14/897,083 US9582886B2 (en) | 2013-07-08 | 2014-05-22 | Object recognition device |
JP2015526202A JP5974178B2 (ja) | 2013-07-08 | 2014-05-22 | 物体認識装置 |
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WO (1) | WO2015005001A1 (ja) |
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DE112017008157T5 (de) * | 2017-11-20 | 2020-09-10 | Mitsubishi Electric Corporation | Hinderniserkennungsvorrichtung und Hinderniserkennungsverfahren |
CN111409584A (zh) * | 2020-02-27 | 2020-07-14 | 广汽蔚来新能源汽车科技有限公司 | 行人保护方法、装置、计算机设备和存储介质 |
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JP5974178B2 (ja) | 2016-08-23 |
JPWO2015005001A1 (ja) | 2017-03-02 |
CN105264587B (zh) | 2017-04-26 |
BR112015031832A2 (pt) | 2017-07-25 |
CN105264587A (zh) | 2016-01-20 |
DE112014003177T5 (de) | 2016-03-31 |
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