OBJECT DETECTION APPARATUS AND DRIVING ASSISTANCE APPARATUS

• US 20150298621A1
• Filed: 12/14/2012
• Published: 10/22/2015
• Est. Priority Date: 08/09/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: KATOH, Masayuki
• Granted Patent: US 10,246,030 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/10 characterised by the type of camera system used
• 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 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An object of the present invention is to provide an object detection apparatus and a driving assistance apparatus in which movement information of a target object can be obtained with high accuracy. In the present invention, the object detection apparatus is an apparatus that detects a target object from a predetermined mounting position (a vehicle and the like); performs an object detection from a predetermined mounting position; in a case where a target object is detected, acquires the position of the target object; obtains a feature amount of a fixed object existing around the target object and detects a position of a fixed object; sets the position of the fixed object as a reference point; and calculates movement information of the target object from the position of the target object with the reference point as a reference.

Claims

1. An object detection apparatus that detects a target object from a predetermined mounting position, comprising:

an object detection unit configured to perform an object detection from the predetermined mounting position, and in a case where a target object is detected, acquires the position of the target object;

a feature amount acquisition unit configured to acquire a feature amount on the road surface around the position of the target object detected by the object detection unit from the predetermined mounting position, in a case where the target object is detected by the object detection unit;

a reference point setting unit configured to set the reference point on the road surface based on the feature amount on the road surface acquired by the feature amount acquisition unit; and

a movement information calculation unit configured to calculates movement information of the target object from the position of the target object acquired by the object detection unit with the reference point set by the reference point setting unit as a reference, in a case where the target object is detected by the object detection unit.

2. The object detection apparatus according to claim 1,

wherein, in a case where the target object is detected by the object detection unit, the movement information calculation unit calculates the movement information of the target object from changes in position of a target object acquired at different points in time by the object detection unit with the reference point set by the reference point setting unit as the reference.

5. The object detection apparatus according to claim 1,

wherein, at the position around the target object detected by the object detection unit, the feature amount acquisition unit acquires a pattern information that matches pattern information of a fixed object installed on the road or the roadside, and

wherein the reference point setting unit sets the position of the fixed object having the pattern acquired by the feature amount acquisition unit as a reference point.

6. The object detection apparatus according to claim 1,

wherein, at the position around the target object detected by the object detection unit, the feature amount acquisition unit acquires a dimension of the fixed object that is within a dimension threshold value range which is set from dimension information of the fixed object installed on the road or the roadside, and

wherein the reference point setting unit sets the position of the fixed object having the dimension acquired by the feature amount acquisition unit as a reference point.

7. The object detection apparatus according to claim 1,

wherein the movement information calculation unit calculates movement information of the target object based on relative information between the reference point set by the reference point setting unit and the position of the target object acquired at previous time by the object detection unit and relative information between the reference point set by the reference point setting unit and the position of the target object acquired at this time by the object detection unit.

8. The object detection apparatus according to claim 1,

wherein the reference point setting unit sets a reference point from the position surrounding a lateral direction from adding 0 to 1 times a movement amount in the lateral direction of the target object detected by the object detection unit to the lateral movement direction side, from the position in the lateral direction of the target object acquired by the object detection unit.

9. The object detection apparatus according to claim 1,

wherein the reference point setting unit sets a reference point from the position surrounding a distance direction from adding 1 to 2 times a movement amount a movement amount in the distance direction of the target object detected by the object detection unit to the predetermined mounting position in the distance direction side, from the position in the distance direction of the target object acquired by the object detection unit.

10. The object detection apparatus according to claim 8, further comprising:

a movement information acquisition unit configured to acquire movement information of the predetermined mounting position,

wherein the reference point setting unit sets a new reference point around the position to which the set reference point is moved based on the movement information acquired by the movement information acquisition unit.

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

a determination unit that determines whether the target object detected by the object detection unit is a moving object or a static object based on the movement information calculated by the movement information calculation unit.

12. A driving assistance apparatus that performs an assist for avoiding a collision between a host vehicle and the target object,

wherein an object detection apparatus according to claim 1, is mounted, and

wherein the collision avoidance assist is performed based on the detection result of the object detection apparatus.

3. (canceled)

4. (canceled)