Object recognition apparatus

• US 10,422,878 B2
• Filed: 02/22/2017
• Issued: 09/24/2019
• Est. Priority Date: 02/23/2016
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Suzuki, Yasuhiro
• Primary Examiner(s): Bolda, Eric L
• Application Number:
  US15/439,310
• Publication Number:
  US 20170242125A1
• Time in Patent Office: 944 Days
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

In an object recognition unit, a high-illuminance direction acquisition unit acquires, as a high-illuminance direction range, a range of at least one high-illuminance direction. The at least one high-illuminance direction is a direction in which an intensity of light received by a light-receiving unit when reflected waves are not being received by the light-receiving unit is equal to or greater than a predetermined threshold value. A correction unit corrects a recognition region of an object such that, as viewed from a vehicle, a corrected recognition region of the object includes at least part of the high-illuminance direction range on condition that the recognition region of the object and the high-illuminance direction range have a predetermined positional relationship therebetween.

Claims

1. An object recognition apparatus mountable to a vehicle, the object recognition apparatus comprising:

a light-emitting unit for emitting laser light;

a light-receiving unit for receiving reflected waves, the reflected waves being based on reflection of the laser light from corresponding distance measurement points of an object to be recognized;

a distance calculation unit that calculates a distance to each of the distance measurement points, based on a corresponding one of the reflected waves;

a direction estimating unit that estimates a direction of each of the distance measurement point with respect to the vehicle, based on the reflected waves;

an object recognition unit that recognizes a predetermined recognition region of the object to be recognized, based on the distance measurement points;

a high-illuminance direction acquisition unit that acquires, as a high-illuminance direction range, a range of at least one high-illuminance direction, the at least one high-illuminance direction being a direction in which an intensity of light received by the light-receiving unit is equal to or greater than a predetermined threshold value without the reflected waves being received by the light-receiving unit; and

a correction unit that performs a correction task to correct the recognition region of the object such that, as viewed from the vehicle, a corrected recognition region of the object includes at least part of the high-illuminance direction range on condition that;

the recognition region of the object and the high-illuminance direction range have a predetermined positional relationship therebetween.

2. The object recognition apparatus according to claim 1, wherein:

the recognition region of the object has first and second edges in a direction parallel to a longitudinal direction of the vehicle, the first edge being closer to the high-illuminance direction range than the second edge; and

an angle formed between the first edge of the recognition region of the object and the high-illuminance direction range is smaller than a predetermined threshold angle.

3. The object recognition apparatus according to claim 1, wherein:

the recognition region of the object has first and second edges in a direction parallel to a longitudinal direction of the vehicle, the first edge being closer to the high-illuminance direction range than the second edge;

the at least one high-illuminance direction comprises a plurality of high-illuminance directions, the plurality of high-illuminance directions having first and second edge directions in the direction parallel to the longitudinal direction of the vehicle, the first edge direction being closer to the recognition region of the object than the second edge direction; and

an angle formed between the first edge of the recognition region of the object and the first edge direction of the high-illuminance direction range is smaller than a predetermined threshold angle.

4. The object recognition apparatus according to claim 1, further comprising:

an illuminance acquisition unit that acquires an ambient illuminance of the vehicle,

wherein the correction unit performs the correction task on condition that the illuminance acquired by the illuminance acquisition unit is less than a predetermined threshold value.

5. The object recognition apparatus according to claim 1, further comprising a lateral determination unit that:

determines whether a first condition and a second condition are satisfied,

the first condition being that the recognition region of the object is positioned laterally with respect to the vehicle,

the second condition being that the high-illuminance direction range is farther than the recognition region of the object along a travel direction of the vehicle; and

determines that the recognition region of the object recognized by the object recognition unit corresponds to a lateral vehicle with respect to the vehicle upon determining that the first and second conditions are satisfied.

6. The object recognition apparatus according to claim 5, wherein:

the correction unit is configured to enlarge, as the correction task, the recognition region of the object in at least one of the travel direction of the vehicle and a width direction of the vehicle when the lateral determination unit determines that the recognition region of the object recognized by the object recognition unit corresponds to the lateral vehicle.

7. The object recognition apparatus according to claim 6, wherein:

the correction unit is configured to enlarge the recognition range of the object in at least one of the travel direction and the width direction such that an enlarged amount of the recognized object region is equal to or smaller than a predetermined upper limit.

8. The object recognition apparatus according to claim 1, further comprising:

an object estimation unit that estimates that the object to be recognized exists in at least part of the high-illuminance direction range when the object recognition unit does not recognize the recognition region of the object to be recognized and the high-illuminance direction acquisition unit acquires the high-illuminance direction range.

9. An object recognition method comprising:

emitting laser light using a light-emitting unit;

receiving reflected waves, the reflected waves being based on reflection of the laser light from corresponding distance measurement points of an object to be recognized;

calculating a distance to each of the distance measurement points, based on a corresponding one of the reflected waves;

estimating a direction of each of the distance measurement point with respect to the vehicle, based on the reflected waves;

recognizing a predetermined recognition region of the object to be recognized, based on the distance measurement points;

acquiring, as a high-illuminance direction range, a range of at least one high-illuminance direction, the at least one high-illuminance direction being a direction in which an intensity of light received by the light-receiving unit without the reflected waves being received by the light-receiving unit is equal to or greater than a predetermined threshold value; and

correcting the recognition region of the object such that, as viewed from the vehicle, a corrected recognition region of the object includes at least part of the high-illuminance direction range on condition that;

the recognition region of the object and the high-illuminance direction range have a predetermined positional relationship therebetween.