Object detection apparatus

• US 10,431,088 B2
• Filed: 09/15/2015
• Issued: 10/01/2019
• Est. Priority Date: 09/24/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Baba, Takahiro
• Primary Examiner(s): Do, Truc M
• Application Number:
  US15/513,717
• Publication Number:
  US 20170294124A1
• Time in Patent Office: 1,477 Days
• Field of Search: None
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/06 Systems determining the position data of a target
• CPC Class Codes: G01S 15/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S15/46
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

In an object detection apparatus, a first region definition unit defines a first object region including a first detection point representing a relative position of a first object detected based on detection information from the radar. A second region definition unit defines a second object region including a second detection point representing a relative position of a second object detected based on a captured image from a monocular camera. A learning status acquisition unit acquires a learning progress status to estimate a position of FOE on the captured image. If there is an overlap of the first and second object regions, a determination unit determines that these objects are the same object. The second region definition unit sets a length of the second object region in a depthwise or vehicle-lengthwise direction representing a direction of the second detection point with respect to the reference point depending on the learning progress status.

Claims

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

a first region definition unit configured to define, using a processor, 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 (or lateral) direction and a Y-axis direction of the XY-plane being a vehicle lengthwise (or longitudinal) direction, where the first object is an object detected based on detection information acquired from a millimeter-wave radar;

a second region definition unit configured to define, using the processor, a second object region including a second detection point representing a relative position of a second object with respect to the reference point in the XY-plane, where the second object is an object detected based on a captured image acquired from a monocular camera;

a learning status acquisition unit configured to acquire, using the processor, a learning progress status to estimate a position of a focus of expansion (FOE) on the captured image;

a determination unit configured to, if there is an overlap of the first and second object regions in the XY-plane, determine, using the processor, that the first object and the second object are the same object,

wherein the second region definition unit is configured to set a length of the second object region in a depthwise or vehicle-lengthwise direction representing a direction of the second detection point of the second region with respect to the reference point depending on the learning progress status.

2. The apparatus according to claim 1, wherein the second region definition unit is configured to set a sum of a value set based on the learning progress status and a value based on an estimated detection error in the position of the second object, as the depthwise or vehicle-lengthwise length of the second object region.

3. The apparatus according to claim 1, wherein the second region definition unit is configured to increase the depthwise or vehicle-lengthwise length of the second object region as a distance to the second object increases.

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

a positional difference acquisition unit configured to acquire, using the processor, a difference of the position of the FOE from a predetermined reference position on the captured image; and

a region shift unit configured to shift the position of the second region in the XY-plane depending on the difference of the position of the FOE from the predetermined reference position.

5. The apparatus according to claim 4, wherein

the positional difference acquisition unit is configured to acquire a vertical difference of the position of the FOE from the reference position on the captured image, and

the region shift unit is configured to, if upward displacement of the FOE from the reference position is occurring, shift the second object region towards a far side with respect to the second detection point as viewed from the reference point or in a Y direction of the XY-plane, and if downward displacement of the FOE from the reference position is occurring, shift the second object region towards a near side with respect to the second detection point as viewed from the reference point or in a -Y direction of the XY-plane.

6. A method for performing object detection apparatus by a vehicle, comprising:

defining 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 (or lateral) direction and a Y-axis direction of the XY-plane being a vehicle lengthwise (or longitudinal) direction, where the first object is an object detected based on detection information acquired from a millimeter-wave radar;

defining a second object region including a second detection point representing a relative position of a second object with respect to the reference point in the XY-plane, where the second object is an object detected based on a captured image acquired from a monocular camera;

acquiring a learning progress status to estimate a position of a focus of expansion (FOE) on the captured image;

determining, if there is an overlap of the first and second object regions in the XY-plane, that the first object and the second object are the same object,

setting a length of the second object region in a depthwise or vehicle-lengthwise direction representing a direction of the second detection point of the second region with respect to the reference point depending on the learning progress status.

7. The method according to claim 6, further comprising:

setting a sum of a value set based on the learning progress status and a value based on an estimated detection error in the position of the second object, as the depthwise or vehicle-lengthwise length of the second object region.

8. The method according to claim 6, further comprising:

increasing the depthwise or vehicle-lengthwise length of the second object region as a distance to the second object increases.

9. The method according to claim 6, further comprising:

acquiring a difference of the position of the FOE from a predetermined reference position on the captured image; and

shifting the position of the second region in the XY-plane depending on the difference of the position of the FOE from the predetermined reference position.

10. The method according to claim 9, further comprising:

acquiring a vertical difference of the position of the FOE from the reference position on the captured image, and

shifting, if upward displacement of the FOE from the reference position is occurring, the second object region towards a far side with respect to the second detection point as viewed from the reference point or in a Y direction of the XY-plane, and if downward displacement of the FOE from the reference position is occurring, shift the second object region towards a near side with respect to the second detection point as viewed from the reference point or in a -Y direction of the XY-plane.