OBJECT RECOGNITION APPARATUS

• US 20150324652A1
• Filed: 05/07/2015
• Published: 11/12/2015
• Est. Priority Date: 05/09/2014
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: MIZUTANI, Katsuya
• Granted Patent: US 9,778,352 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06T 7/74 involving reference images or patches
• 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

In an object recognition apparatus mounted on a vehicle, comprising: a plurality of recognizers each adapted to conduct object recognition ahead of the vehicle at intervals; and an object continuity determiner adapted to conduct object continuity determination based on a result of the object recognition conducted by the recognizers; the object continuity determiner determines that, when a first object recognized by any of the object recognizers at time (N) is present at a position within a predetermined area defined by a position of a second object recognized by other of the object recognizers at time (N−1) earlier than the time (N), the first object and the second object are identical to each other to be one object which is kept recognized continuously for a time period ranging from at least the time (N−1) to the time (N).

Claims

1. An object recognition apparatus mounted on a vehicle, comprising:

a plurality of recognizers each adapted to conduct object recognition ahead of the vehicle at intervals; and

an object continuity determiner adapted to conduct object continuity determination based on a result of the object recognition conducted by the recognizers;

wherein;

the object continuity determiner determines that, when a first object recognized by any of the object recognizers at time (N) is present at a position within a predetermined area defined by a position of a second object recognized by other of the object recognizers at time (N−

1) earlier than the time (N), the first object and the second object are identical to each other to be one object which is kept recognized continuously for a time period ranging from at least the time (N−

1) to the time (N).

2. The apparatus according to claim 1, wherein the object continuity determiner includes:

a common identification number assigner adapted to assign a common identification number to the first object and the second object.

3. The apparatus according to claim 2, wherein the object continuity determiner includes:

an individual identification number assigner adapted to assign an individual identification number to the first object and the second object (S102, S202);

and the common identification number assigner changes the common identification number assigned to the first object, when the individual identification number assigned to the first object is identical to the individual identification number assigned to the second object, but the common identification number assigned to the first object is not identical to the common identification number assigned to the second object.

4. The apparatus according to claim 2, wherein the common identification number assigner changes the common identification number assigned to the first object, when the common identification number assigned to the first object is identical to the common identification number assigned to the second and a relative speed of the first object to the second object is equal to or greater than a predetermined value.

5. The apparatus according to claim 2, wherein the common identification number assigner changes the common identification number assigned to the first object, when the common identification number assigned to the first object is identical to the common identification number assigned to the second object and a relative speed difference between a relative speed of the first object to the vehicle and a relative speed of the second object to the vehicle is equal to or greater than a prescribed value.

6. The apparatus according to claim 5, wherein the common identification number assigner includes:

a relative speed calculator that calculates a relative speed of the first object to the second; and

a relative distance corrector that corrects a relative distance of the first object to the second object based on the relative speed calculated by the relative speed calculator.

7. The apparatus according to claim 6, wherein the object continuity determiner includes:

an individual identification number assigner adapted to assign an individual identification number to the first object and the second object;

and the common identification number assigner changes the common identification number assigned to the first object based on the relative distance corrected by the relative distance corrector, when the individual identification number and the common identification number assigned to the first object and the individual identification number and the common identification number assigned to the second object are not identical to each other.

8. The apparatus according to claim 1, wherein the object continuity determiner defines the predetermined area based on a characteristic of any of the recognizers that recognizes the first object or the second object.

9. The apparatus according to claim 1, wherein

the recognizers includes a first recognizer comprising a radar and a second recognizer comprising an imaging device, and

the object continuity determiner enlarges the predetermined area in an advance direction in which the vehicle advances when the other that recognizes the second object is the first recognizer and any of the recognizers that recognizes the first object is the second recognizer, while enlarging the predetermined area in a direction lateral to the advance direction when the other that recognizes the second object is the second recognizer and any of the recognizers that recognizes the first object is the first recognizer.

10. An object recognition method of a vehicle having a plurality of recognizers each adapted to conduct object recognition ahead of the vehicle at intervals, comprising the steps of:

determining object continuity based on a result of the object recognition conducted by the recognizers;

wherein;

the step of object continuity determining determines that, when a first object recognized by any of the object recognizers at time (N) is present at a position within a predetermined area defined by a position of a second object recognized by other of the object recognizers at time (N−

1) earlier than the time (N), the first object and the second object are identical to each other to be one object which is kept recognized continuously for a time period ranging from at least the time (N−

1) to the time (N).

11. The method according to claim 10, wherein the step of object continuity determining includes the steps of:

assigning a common identification number to the first object and the second object.

12. The method according to claim 11, wherein the step of object continuity determining includes the steps of:

assigning an individual identification number to the first object and the second object (S302);

and the step of common identification number assigning changes the common identification number assigned to the first object, when the individual identification number assigned to the first object is identical to the individual identification number assigned to the second object, but the common identification number assigned to the first object is not identical to the common identification number assigned to the second object.

13. The method according to claim 11, wherein the step of common identification number assigning changes the common identification number assigned to the first object, when the common identification number assigned to the first object is identical to the common identification number assigned to the second and a relative speed of the first object to the second object is equal to or greater than a predetermined value.

14. The method according to claim 11, wherein the step of common identification number assigning changes the common identification number assigned to the first object, when the common identification number assigned to the first object is identical to the common identification number assigned to the second object and a relative speed difference between a relative speed of the first object to the vehicle and a relative speed of the second object to the vehicle is equal to or greater than a prescribed value.

15. The method according to claim 14, wherein the step of common identification number assigning includes the steps of:

calculating a relative speed of the first object to the second; and

correcting a relative distance of the first object to the second object based on the relative speed calculated by the step of relative speed calculating (S310).

16. The method according to claim 15, wherein the step of object continuity determining includes the steps of:

assigning an individual identification number to the first object and the second object;

and the step of common identification number assigning changes the common identification number assigned to the first object based on the relative distance corrected by the step of relative distance correcting, when the individual identification number and the common identification number assigned to the first object and the individual identification number and the common identification number assigned to the second object are not identical to each other.

17. The method according to claim 10, wherein the step of object continuity determining defines the predetermined area based on a characteristic of any of the recognizers that recognizes the first object or the second object.

18. The method according to claim 10, wherein

the recognizers includes a first recognizer comprising a radar and a second recognizer comprising an imaging device, and

the step of object continuity determining enlarges the predetermined area in an advance direction in which the vehicle advances when the other that recognizes the second object is the first recognizer and any of the recognizers that recognizes the first object is the second recognizer, while enlarging the predetermined area in a direction lateral to the advance direction when the other that recognizes the second object is the second recognizer and any of the recognizers that recognizes the first object is the first recognizer.