Object detection apparatus

• US 10,049,577 B2
• Filed: 09/11/2015
• Issued: 08/14/2018
• Est. Priority Date: 09/24/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Baba, Takahiro
• Primary Examiner(s): Coleman, Stephen
• Application Number:
  US15/513,528
• Publication Number:
  US 20170309180A1
• Time in Patent Office: 1,068 Days
• Field of Search: None
• CPC Class Codes: B60R 21/00 Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

In an object detection apparatus, a proximity determination unit determines whether or not a first object and a second object are in close proximity to each other, where the first object is an object detected based on detection information acquired from a radar and the second object is an object detected based on a captured image acquired from a monocular camera. A sameness determination unit determines that the first object and the second object are the same object, if it is determined that the first object and the second object are in close proximity to each other and if a difference between a first collision time with the first object and a second collision time with the second object is less than a reference value.

Claims

1. An object detection apparatus mounted in a vehicle, comprising:

a proximity determination unit configured to determine whether or not a first object and a second object are in close proximity to each other, the first object being an object detected based on detection information acquired from a radar, the second object being an object detected based on a captured image acquired from a monocular camera;

an object type acquisition unit configured to acquire a type of the second object;

a collision time acquisition unit configured to acquire a first collision time with the first object and a second collision time with the second object; and

a sameness determination unit configured to, if it is determined that the first object and the second object are in close proximity to each other and if a difference between the first collision time with the first object and the second collision time with the second object is less than a reference value, determine that the first object and the second object are a same object,

wherein the collision time acquisition unit is configured to, if the type of the second object is a pedestrian, acquire the second collision time with the second object based on a height of the pedestrian.

2. The apparatus according to claim 1, further comprising:

a first region definition unit configured to define a first object region including a first detection point representing a relative position of the first object with respect to a reference point in an XY-plane with an X-axis direction of the XY-plane being a vehicle widthwise direction and a Y-axis direction of the XY-plane being a vehicle lengthwise direction; and

a second region definition unit configured to define a second object region including a second detection point representing a relative position of the second object with respect to the reference point in the XY-plane,

wherein the proximity determination unit is configured to, if there is an overlap of the first object region and the second object region in the XY-plane, determine that the object region and the second object region are in close proximity to each other.

3. The apparatus according to claim 1, wherein the collision time acquisition unit is configured to, if the type of the second object is a vehicle, acquire the second collision time with the second object based on a width of the vehicle.

4. The apparatus according to claim 1, further comprising a second collision time calculation unit configured to calculate the second collision time based on a ratio of change in the size of the second object in the captured image,

wherein the collision time acquisition unit is configured to acquire the second collision time calculated based on the ratio of change in the size of the second object.

5. The apparatus according to claim 4, wherein

the second collision time calculation unit is configured to calculate the second collision time TTC according to an equation:

TTC=A/(B−

A)*(t2−

t1)

with A being a length of the object in the captured image acquired at time t1 and B being a length of the object in the captured image acquired at time t2 which is after the time t1.

6. The apparatus according to claim 4, further comprising

a measurement method selection unit configured to select a measurement method for measuring the size of the second object, depending on the type of the second object,

wherein the second collision time calculation unit is configured to measure the size of the object using the measurement method selected by the measurement method selection unit.