Object detection apparatus and object detection method

• US 10,527,719 B2
• Filed: 05/19/2016
• Issued: 01/07/2020
• Est. Priority Date: 05/19/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Tamura, Kei, Ito, Yosuke, Minemura, Akitoshi
• Primary Examiner(s): Bernardi, Brenda C
• Application Number:
  US15/575,314
• Publication Number:
  US 20180149740A1
• Time in Patent Office: 1,328 Days
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• 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 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G06F 18/251 of input or preprocessed data
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10044 Radar image
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 10/803 of input or preprocessed data
• 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: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An object detection apparatus includes a fusion target generation section that generates a fusion target by combining first target information, which is acquired as a reflected wave of a carrier wave, of an object present ahead of an own vehicle and second target information, which is acquired by image processing by an imaging unit, of the object present ahead of the own vehicle, and that detects the object by using the fusion target. The apparatus includes a first lateral position acquisition means that acquires a first lateral position indicating a position of the object with respect to a width direction of the own vehicle by using the fusion target, a second lateral position acquisition means that acquires a second lateral position indicating a position of the object with respect to the width direction of the own vehicle by using the second target information, and a lateral position selection means that selects, as a lateral position of the object, the lateral position closest to the own vehicle between the first lateral position and the second lateral position.

Claims

1. An object detection apparatus that includes a fusion target generation section that generates a fusion target by combining first target information, which is acquired as a reflected wave of a carrier wave, of an object present ahead of an own vehicle and second target information, which is acquired by image processing by an imaging unit, of the object present ahead of the own vehicle, and that detects the object by using the fusion target, the apparatus characterized by comprising:

a first lateral position acquisition means that acquires a first lateral position indicating a position of the object with respect to a width direction of the own vehicle by using the fusion target;

a second lateral position acquisition means that acquires a second lateral position indicating a position of the object with respect to the width direction of the own vehicle by using the second target information, the second lateral position comprising a left lateral position corresponding to a left side of a rear end portion of the object and a right lateral position corresponding to a right side of the rear end portion of the object; and

a lateral position selection means that selects, as a lateral position of the object, the lateral position closest to the own vehicle in the width direction of the own vehicle among the first lateral position, the left lateral position and the right lateral position.

2. The object detection apparatus according to claim 1, further comprising a target position determination means that determines whether the object is present on a left side or a right side with respect to the own vehicle, wherein

the lateral position selection means compares the first lateral position with the left lateral position if the object is present on the right side with respect to the own vehicle and compares the first lateral position with the right lateral position if the object is present on the left side with respect to the own vehicle, to select the lateral position closest to the own vehicle.

3. The object detection apparatus according to claim 1, further comprising an object type determination means that determines a type of the object specified by the fusion target, wherein

the lateral position selection means selects the first lateral position as a lateral position of the target if the object is determined to be a pedestrian.

4. The object detection apparatus according to claim 1, wherein

a first acquisition means that acquires the first target information and a second acquisition means that acquires the second target information are provided at different positions in a front-back direction of the own vehicle.

5. The object detection apparatus according to claim 1, further comprising a drive assist determination means that determines whether or not a drive assist for the target is performed, by using the lateral position selected by the lateral position selection means.

6. The object detection apparatus according to claim 1, wherein

a third lateral position of the object with respect to the own vehicle is acquired from the first target information, and

the lateral position selection means selects the lateral position closest to the own vehicle among the first lateral position, the second lateral position, and the third lateral position.

7. The object detection apparatus according to claim 1, further comprising:

a predicted course estimation means that estimates a curvature of a predicted course of the own vehicle; and

a lateral position correction means that corrects the lateral positions acquired by the first and second lateral position acquisition means based on the curvature estimated by the predicted course estimation means.

8. The object detection apparatus according to claim 7, wherein

the lateral position correction means does not correct the lateral position when the own vehicle is running in a straight line, in which a curve radius, which is a reciprocal of the curvature, is more than a predetermined threshold value.

9. The object detection apparatus according to claim 1, wherein

when the fusion target is not generated, the lateral position correction means selects the lateral position acquired by using the first target information or the second target information.

10. An object detection method characterized by comprising:

a step of generating a fusion target by combining first target information acquired as a reflected wave of a carrier wave and second target information acquired by image processing by an imaging unit;

a step of acquiring a first lateral position indicating a position of an object with respect to a width direction of an own vehicle by using the fusion target;

a step of acquiring a second lateral position indicating a position of the object with respect to the width direction of the own vehicle by using the second target information, the second lateral position comprising a left lateral position corresponding to a left side of a rear end portion of the object and a right lateral position corresponding to a right side of the rear end portion of the object; and

a step of selecting, as a lateral position of the object, the lateral position closest to the own vehicle in the width direction of the own vehicle among the first lateral position, the left lateral position and the right lateral position.

11. An object detection apparatus that includes a fusion target generation section that generates a fusion target by combining first target information, which is acquired as a reflected wave of a carrier wave, of an object present ahead of an own vehicle and second target information, which is acquired by image processing by an imaging unit, of the object present ahead of the own vehicle, and that detects the object by using the fusion target, the apparatus characterized by comprising:

a first lateral position acquisition means that acquires a first lateral position indicating a position of the object with respect to a width direction of the own vehicle by using the fusion target;

a second lateral position acquisition means that acquires a second lateral position indicating a position of the object with respect to the width direction of the own vehicle by using the second target information;

a lateral position selection means that selects, as a lateral position of the object, the lateral position closest to the own vehicle between the first lateral position and the second lateral position; and

an object type determination means that determines a type of the object specified by the fusion target, wherein

the lateral position selection means selects the first lateral position as a lateral position of the target if the object is determined to be a pedestrian.