Object detection system

• US 20040022417A1
• Filed: 07/30/2003
• Published: 02/05/2004
• Est. Priority Date: 05/27/1999
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Saka, Masakazu, Nishigaki, Morimichi
• Granted Patent: US 6,987,864 B2
• Time in Patent Office: Days
• US Class Current: 382/104
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: G06V 10/22 by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
• 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 system comprises a physical object recognition unit which recognizes physical objects outside the vehicle, and a physical object memory which stores information concerning the physical objects.

A controller recognizes presence of a physical object when the physical object is sensed by one or more sensors a predetermined number of times, which is larger for a central portion of the detecting area than for a peripheral portion of the detecting area. The system includes a memory for storing information about the physical objects. The controller holds the physical object stored in the memory indicating that the physical object is existent until the controller fails to recognize presence of the corresponding physical object a predetermined number of recognition cycles.

Claims

1. An object detection system mounted on a vehicle, comprising

at least one sensor for sensing a physical object in a predetermined detecting area;

a controller for recognizing presence of a physical object based on output from said sensor; and

a memory for storing information about the physical object recognized by the controller;

wherein said controller holds the physical object stored in the memory indicating that the physical object is present until the controller fails to recognize presence of the corresponding physical object a predetermined number of recognition cycles.

2. The system of claim 1, wherein the predetermined number of recognition cycles is larger for a physical object located in a central portion of the detection area than for a physical object located in a peripheral portion of the detection area.

3. The system of claim 2, wherein the detection area is partitioned into a plurality of blocks and each block is assigned with said predetermined number of recognition cycles and wherein information about the recognized physical object is stored in said memory in relation with the block where the physical object is recognized.

4. The system of claim 1, wherein said controller progressively compares brightness values of respective windows using a window corresponding to an area near the vehicle as a reference window, said reference window being progressively replaced by a window that is newly identified as belonging to the road area.

5. The system of claim 4, wherein said controller identifies a window whose brightness value differs from that of progressively replaced reference window by more than a predetermined value as belonging to a physical object or a mark on the road.

6. A method for detecting an object from a moving vehicle, comprising the steps of:

capturing an image of a predetermined detecting area;

processing the captured image to distinguish a physical object from a road area;

storing information about the distinguished physical object in a memory; and

holding the physical object stored in the memory indicating that the physical object is existent until the physical object fails to be detected a predetermined number of detection cycles.

7. The method of claim 6, wherein the predetermined number of detection cycles is larger for a central portion of the detection area than for a peripheral portion of the detection area.

8. The method of claim 7, wherein the detection area is partitioned into a plurality of blocks and each block is assigned with said predetermined number of detection cycles and wherein information about the detected physical object is stored in said memory in relation with the block where the physical object is detected.

9. The method of claim 6, wherein the step of processing includes the step of progressively comparing brightness values of respective windows using a window corresponding to an area near the vehicle as a reference window, said reference window being progressively replaced by a window that is newly identified as belonging to the road area.

10. The method of claim 9, wherein the step of processing includes the step of identifying a window whose brightness value differs from that of progressively replaced reference window by more than a predetermined value as belonging to a physical object or a mark on the road.