Vehicle exterior environment recognition apparatus

• US 10,643,083 B2
• Filed: 04/24/2018
• Issued: 05/05/2020
• Est. Priority Date: 05/17/2017
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Kanno, Aito
• Primary Examiner(s): Johns, Andrew W
• Application Number:
  US15/961,772
• Publication Number:
  US 20180336422A1
• Time in Patent Office: 742 Days
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: G06T 2207/20061 Hough transform
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/62 of area, perimeter, diameter or volume
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• 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

Abstract

A vehicle exterior environment recognition apparatus includes a three-dimensional object region identifier, a wheel region identifier, and a wheel determiner. The three-dimensional object region identifier is configured to identify a three-dimensional object region out of a screen. The three-dimensional object region includes a three-dimensional object. The wheel region identifier is configured to identify a wheel region out of the three-dimensional object region. The wheel region includes a presumed wheel that seems to correspond to a wheel of a bicycle. The wheel determiner is configured to determine whether or not an area ratio is smaller than a predetermined value. The area ratio is a ratio of area of a segment of the wheel region to area of the wheel region, with a relative distance from the segment to an own vehicle falling within a predetermined range.

Claims

1. A vehicle exterior environment recognition apparatus, comprising:

a three-dimensional object region identifier configured to identify a three-dimensional object region out of a screen, the three-dimensional object region including a three-dimensional object;

a wheel region identifier configured to identify a wheel region out of the three-dimensional object region, the wheel region including a presumed wheel that seems to correspond to a wheel of a bicycle; and

a wheel determiner configured to determine whether or not an area ratio is smaller than a predetermined value, the area ratio being a ratio of area of a segment of the wheel region to area of the wheel region, with a relative distance from the segment to an own vehicle falling within a predetermined range.

2. The vehicle exterior environment recognition apparatus according to claim 1, wherein the wheel determiner

extracts, as the segment, a presumed axle and a presumed tire of the presumed wheel, and

obtains the area ratio of the extracted segment.

3. The vehicle exterior environment recognition apparatus according to claim 2, wherein the wheel determiner

derives a radius Rc of the presumed axle of the presumed wheel, an internal radius Rin of the presumed tire of the presumed wheel, and an external radius Rout of the presumed tire of the presumed wheel, and

gives the area ratio by (π

(Rc)²+π

(Rout²−

Rin²))/(2×

Rout)².

4. The vehicle exterior environment recognition apparatus according to claim 3, wherein the wheel region identifier

derives, by Hough transform, a center of the presumed wheel included in the wheel region, and

re-identifies the wheel region on a basis of the center of the presumed wheel.

5. A vehicle exterior environment recognition apparatus, comprising circuitry configured to

identify a three-dimensional object region out of a screen, the three-dimensional object region including a three-dimensional object,

identify a wheel region out of the three-dimensional object region, the wheel region including a presumed wheel that seems to correspond to a wheel of a bicycle, and

determine whether or not an area ratio is smaller than a predetermined value, the area ratio being a ratio of area of a segment of the wheel region to area of the wheel region, with a relative distance from the segment to an own vehicle falling within a predetermined range.