Obstacle detection apparatus and method for automotive vehicle

• US 20050004762A1
• Filed: 06/29/2004
• Published: 01/06/2005
• Est. Priority Date: 07/01/2003
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kimura, Takeshi, Takahama, Taku
• Granted Patent: US 7,266,454 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

In obstacle detection apparatus and method for an automotive vehicle, an image fetching section fetches a situation of a forward detection zone in a form of an image, a noticeable object outputting section outputs a positional information of an object to be noticeable for the vehicle, and an image processing section performs an image processing for a region of the image fetching section on the basis of an output of the noticeable object outputting section to detect the object, the image processing section including a first technique mainly to detect the position of the object and a second technique mainly to track the object, the second technique detecting the object when the object detection by means of the first technique becomes not enabled to be carried out.

Claims

1. An obstacle detection apparatus for an automotive vehicle, comprising:

an image fetching section that fetches a situation of a forward detection zone in a form of an image;

a noticeable object outputting section that outputs a positional information of an object to be noticeable for the vehicle; and

an image processing section that performs an image processing for a region of the image fetching section on the basis of an output of the noticeable object outputting section to detect the object, the image processing section including a first technique mainly to detect the position of the object and a second technique mainly to track the object, the second technique detecting the object when the object detection by means of the first technique becomes not enabled to be carried out.

2. An obstacle detection apparatus for an automotive vehicle as claimed in claim 1, wherein the second technique is a pattern matching that performs a tracking of the object from a correlation between a previously stored reference pattern and an output of the image fetching section and wherein the image processing section updates the reference pattern when the output detection by means of the first technique has succeeded.

3. An obstacle detection apparatus for an automotive vehicle as claimed in claim 2, wherein the second technique is a pattern matching that performs a tracking of the object from a correlation between a previously stored reference pattern and an output of the image fetching section and wherein the image processing section updates the reference pattern when the object detection by means of the first technique has succeeded.

4. An obstacle detection apparatus for an automotive vehicle as claimed in claim 2, wherein the image processing section limits a size of the reference pattern updated when the object detection by means of the first technique is possible in accordance with an approaching distance between the vehicle and the object.

5. An obstacle detection apparatus for an automotive vehicle as claimed in claim 1, wherein the image processing section stops the object detection by means of the second technique when the object is detected by means of the second technique and when a positional variation of the detected position is equal to or larger than a predetermined value.

6. An obstacle detection apparatus for an automotive vehicle as claimed in claim 1, wherein the image processing section sets a search region of the object in the object detection by means of the first technique over a range wider than an ordinary time at which the object is continuously detected by means of the first technique.

7. An obstacle detection apparatus for an automotive vehicle as claimed in claim 1, wherein the image processing section selects a characterizing quantity located at a lowest position on an image screen when the object detection by means of the first technique is continuously carried out and when characterizing quantities to be extracted are present in plural.

8. An obstacle detection apparatus for an automotive vehicle as claimed in claim 1, wherein the image processing section corrects the region to be image processed according to a vehicular motion when the region based on the output of the noticeable object outputting section is image processed and when the noticeable object is a stopped object.

9. An obstacle detection apparatus for an automotive vehicle as claimed in claim 1, wherein the image processing section outputs an information of a present image processing situation which is changed according to cases where the object detection is possible by means of the first technique, the object detection is possible by means of the second technique, and where the object detection by means of neither of the techniques is possible.

10. An obstacle detection apparatus for an automotive vehicle as claimed in claim 1, wherein the image processing section stops the object detection by means of the second technique when the object read out from the noticeable object outputting section is different from that detected by the image processing section, when the object is continuously detected by means of the second technique for a predetermined time or longer, and when the detected position of the object by means of the second technique is approaching to the vehicle.

11. An obstacle detection apparatus for an automotive vehicle as claimed in claim 1, wherein the image processing section stops the object detection by means of the second technique when a variation of the detected position of the object by means of the second technique is equal to or larger than a threshold value calculated on the basis of a vehicle speed of the vehicle.

12. An obstacle detection apparatus for an automotive vehicle, comprising:

image fetching means for fetching a situation of a forward detection zone in a form of an image;

noticeable object outputting means for outputting a positional information of an object to be noticeable for the vehicle; and

image processing means for performing an image processing for a region of the image fetching means on the basis of an output of the noticeable object outputting means to detect the object, the image processing means including a first technique mainly to detect the position of the object and a second technique mainly to track the object, the second technique detecting the object when the object detection by means of the first technique becomes not enabled to be carried out.

13. An obstacle detection method for an automotive vehicle, comprising:

fetching a situation of a forward detection zone in a form of an image;

outputting a positional information of an object to be noticeable for the vehicle; and

performing an image processing for a region of the image fetching section on the basis of an output of the noticeable object outputting section to detect the object, at the image processing, a first technique mainly to detect the position of the object and a second technique mainly to track the object are included, the second technique detecting the object when the object detection by means of the first technique becomes not enabled to be carried out.