Object recognition device

• US 10,302,754 B1
• Filed: 09/24/2018
• Issued: 05/28/2019
• Est. Priority Date: 11/24/2017
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Komori, Terumoto
• Primary Examiner(s): Swarthout, Brent
• Application Number:
  US16/139,237
• Publication Number:
  US 20190162837A1
• Time in Patent Office: 246 Days
• Field of Search: 340435, 340903, 701301
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 13/50 Systems of measurement based on relative movement of target
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/73 using feature-based methods
• 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 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

The solid object fusion portion includes a lane slope estimation portion, a grouping area set portion and an identity determination portion. The lane slope estimation portion performs estimate processing to estimate a lane slope angle θ in a detecting position of a solid object detected by an autonomous recognition sensor. The grouping area set portion performs setting processing to set a grouping area GA used in determination processing in the identity determination portion. Based on the grouping area GA, the identity determination portion determines whether or not the solid object detected by a certain autonomous recognition sensor is identical to the solid object detected by an autonomous recognition sensor which is different from the certain autonomous recognition sensor.

Claims

1. An object recognition device comprising:

a first detection device which is configured to detect information on a first object around an own vehicle as first information;

a second detection device which is configured to detect information on a second object around the own vehicle as second information; and

a object fusion portion which is configured to perform determination processing on whether or not the first object and the second object are the same object based on the first information and the second information,

wherein the object recognition device further comprising a map database containing information on lanes regarding shape and position of lanes,

wherein the object fusion portion includes;

a lane slope angle estimation portion which is configured to perform estimate processing of a slope angle of a lane to a travel direction of the own vehicle; and

a determination area set portion which is configured to perform setting processing of a determination area which is used for the determination processing,

wherein the estimate processing is at least one of the following processing;

processing to estimate a first slope angle of the lane to the travel direction at the detecting position of the first object based on the information on lanes and the detecting position of the first object obtained from the first information; and

processing to estimate a second slope angle of the lane to the travel direction at the detecting position of the second object based on the information on lanes and the detecting position of the second object obtained from the second information,

wherein the setting processing is processing to set the determination area by rotating a first predetermined range including the detecting position of the first object and a second predetermined range including the detecting position of the second object,

wherein, when the first or second slope angle is estimated, the rotation angles of the first and second predetermined ranges are set to the same angle as the first slope angle or the second slope angle,

wherein, when the first and the second slope angles are estimated, the rotation angle of the first predetermined range is set to the same as the first slope angle while the rotation angle of the second predetermined range is set to the same angle as the second slope angle.

2. The object recognition device according to claim 1,

wherein the map database further includes information on roadside objects,

wherein the object recognition device further comprising a roadside object determining portion which is configured to determine whether or not a roadside object exists on a side strip adjacent to a lane on which the own vehicle travels, based on the position of the own vehicle and the information on roadside objects,

wherein the determination area set portion is further configured to, when it is determined that the roadside object exists on the adjacent side strip, reduce each width of the first and second predetermined ranges on a side close to the adjacent side strip before rotating the first and second predetermined ranges in the setting processing.

3. The object recognition device according to claim 1,

wherein the first slope angle is an angle which is formed by a center line of the lane, obtained from the information on lanes, on which the own vehicle travels and a first tangent line of a first lane compartment line nearest to the detecting position of the first object, wherein a tangent point of the first tangent line is a projection position at which distance from the detecting position of the first object is shortest when the same detecting position is projected onto the first lane compartment line,

wherein the second slope angle is an angle which is formed by the center line of the lane and a second tangent line of a second lane compartment line nearest to the detecting position of the second object, wherein a tangent point of the second tangent line is a projection position at which distance from the detecting position of the second object is shortest when the same detecting position is projected onto the second lane compartment line.