Collision prediction device, method of predicting collision, and computer product
First Claim
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1. A collision prediction device mounted on a own vehicle, comprising:
- an image sensor unit that extracts an object on an image and detects a size and a position of an object on the image;
a millimeter-wave sensor unit that transmits a millimeter wave and detects a distance between the own vehicle and an object present in a sensing range;
a sensor matching unit that determines that the object detected by the image sensor unit is the same as the object detected by the millimeter-wave sensor when a change rate of a size of the object detected by the image sensor unit on the image is in disagreement with a change rate of a distance from the own vehicle to the object detected by the millimeter-wave sensor, and when the objects are determined as identical, defines the object as a prospective collision obstacle, and calculates a relative position of the collision obstacle and the own vehicle after a predetermined time, based on the position detected by the image sensor unit and the distance detected by the. millimeter-wave sensor unit; and
a collision prediction unit that predicts whether there is going to be a collision between the own vehicle and the collision obstacle from the position calculated by the sensor matching unit.
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Abstract
An image sensor section and a millimeter-wave sensor section separately detect objects. A sensor matching section determines whether the objects detected by the image sensor section and the millimeter-wave sensor section are one and the same object. If the objects are one and the same object, the sensor matching section estimates a position of the obstacle after a certain period. A collision prediction section determined whether there is going to be a collision between the vehicle and the object 50 from the position estimated by the sensor matching section.
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Citations
9 Claims
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1. A collision prediction device mounted on a own vehicle, comprising:
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an image sensor unit that extracts an object on an image and detects a size and a position of an object on the image;
a millimeter-wave sensor unit that transmits a millimeter wave and detects a distance between the own vehicle and an object present in a sensing range;
a sensor matching unit that determines that the object detected by the image sensor unit is the same as the object detected by the millimeter-wave sensor when a change rate of a size of the object detected by the image sensor unit on the image is in disagreement with a change rate of a distance from the own vehicle to the object detected by the millimeter-wave sensor, and when the objects are determined as identical, defines the object as a prospective collision obstacle, and calculates a relative position of the collision obstacle and the own vehicle after a predetermined time, based on the position detected by the image sensor unit and the distance detected by the. millimeter-wave sensor unit; and
a collision prediction unit that predicts whether there is going to be a collision between the own vehicle and the collision obstacle from the position calculated by the sensor matching unit. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of predicting collision between a vehicle and an obstacle, comprising:
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detecting an object on an image and detecting a size and a position of an object on the image;
detecting an object using a millimeter wave and detecting a distance between the vehicle and the object using the millimeter wave;
deciding whether the object detected on the image and the object detected using the millimeter wave are one and the same object when a change rate of a size of the object detected by the image sensor unit on the image is in disagreement with a change rate of a distance from the own vehicle to the object detected by the millimeter-wave sensor;
defining, when it is decided at the deciding that objects are one and the same object, the object as a prospective collision obstacle;
calculating a relative position of the collision obstacle and the vehicle after a predetermined time, based on the position detected on the image and the distance detected using the millimeter wave; and
predicting whether there is going to be a collision between the vehicle and the collision obstacle from the relative position calculated.
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9. A computer program for predicting collision between a vehicle and an obstacle using a computer, the computer program making the computer execute:
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detecting an object on an image and detecting a size and a position of an object on the image;
detecting an object using a millimeter wave and detecting a distance between the vehicle and the object using the millimeter wave;
deciding whether the object detected on the image and the object detected using the millimeter wave are one and the same object when a change rate of a size of the object detected by the image sensor unit on the image is in disagreement with a change rate of a distance from the own vehicle to the object detected by the millimeter-wave sensor;
defining, when it is decided at the deciding that objects are one and the same object, the object as a prospective collision obstacle;
calculating a relative position of the collision obstacle and the vehicle after a predetermined time, based on the position detected on the image and the distance detected using the millimeter wave; and
predicting whether there is going to be a collision between the vehicle and the collision obstacle from the relative position calculated.
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Specification