STEREOSCOPIC OBJECT DETECTION DEVICE AND STEREOSCOPIC OBJECT DETECTION METHOD

• US 20160307026A1
• Filed: 04/11/2016
• Published: 10/20/2016
• Est. Priority Date: 04/17/2015
• Status: Abandoned Application

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: NISHIJIMA, Masakazu
• Application Number:
  US15/095,240
• Publication Number:
  US 20160307026A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G01S 13/04 Systems determining presence of a target based on relative movement of target G01S13/56
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G06F 18/25 Fusion techniques
• CPC Class Codes: G06F 18/256 of results relating to different input data, e.g. multimodal recognition
• CPC Class Codes: G06V 10/80 Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level multimodal speaker identification or verification G10L17/10
• CPC Class Codes: G06V 10/811 the classifiers operating on different input data, e.g. multi-modal 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: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: G06V 2201/121 using special illumination
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence

Abstract

A stereoscopic object detection device including a first detection unit configured to detect a road surface and a stereoscopic object; a second detection unit configured to detect the stereoscopic object by a millimeter-wave radar; and a detection control unit configured to detect the stereoscopic object based on the detection result of at least one of the first detection unit and the second detection unit. The detection control unit is configured to detect the stereoscopic object based on the detection result of the first detection unit when the stereoscopic object is within a range where the road surface is detectable by the first detection unit. The detection control unit is configured to detect the stereoscopic object based on the detection results of the first detection unit and the second detection unit when the stereoscopic object is outside of the range where the road surface is detectable by the first detection unit.

Claims

1. A stereoscopic object detection device comprising:

a first detection unit configured to detect a road surface and a stereoscopic object in surroundings of a vehicle based on image data representing a plurality of images having parallax acquired by imaging the surroundings of the vehicle with an in-vehicle camera from different points of view;

a second detection unit configured to detect the stereoscopic object by a millimeter-wave radar; and

a detection control unit configured to detect the stereoscopic object based on the detection result of at least one of the first detection unit and the second detection unit,

wherein the detection control unit is configured to detect the stereoscopic object based on the detection result of the first detection unit when the stereoscopic object is within a range where the road surface is detectable by the first detection unit, and

the detection control unit is configured to detect the stereoscopic object based on the detection results of the first detection unit and the second detection unit when the stereoscopic object is outside of the range where the road surface is detectable by the first detection unit.

2. The stereoscopic object detection device according to claim 1, wherein, in response to the stereoscopic object not being detected by the first detection unit outside of the range where the road surface is detectable within a time set in advance and being continuously detected by the first detection unit within the range where the road surface is detectable by the first detection unit at a frequency that exceeds a threshold value, the detection control unit detects the stereoscopic object based on the detection result of the first detection unit, and

in response to the stereoscopic object not being detected by the first detection unit outside of the range where the road is detectable within the time set in advance and being continuously detected by the first detection unit within the range where the road surface is detectable by the first detection unit at a frequency that is less than or equal to the threshold value, the detection control unit detects the stereoscopic object based on the detection results of the first detection unit and the second detection unit.

3. The stereoscopic object detection device according to claim 1, further comprising:

a vehicle control unit configured to execute vehicle control for controlling at least one of acceleration, deceleration, and steering of the vehicle according to the stereoscopic object detected by the detection control unit.

4. The stereoscopic object detection device according to claim 2, further comprising:

a vehicle control unit configured to execute vehicle control for controlling at least one of acceleration, deceleration, and steering of the vehicle according to the stereoscopic object detected by the detection control unit.

5. The stereoscopic object detection device according to claim 1, wherein in response to the stereoscopic object being within the range where the road surface is detectable by the first detection unit, the stereoscopic object is detected without using the second detection unit.

6. A stereoscopic object detection method comprising:

detecting, using a first detection unit of a stereoscopic object detection device, a road surface and a stereoscopic object based on image data representing a plurality of images having parallax acquired by imaging the surroundings of a vehicle with an in-vehicle camera from different points of view;

detecting, using a millimeter-wave radar of a second detection unit of the stereoscopic object detection device, the stereoscopic object; and

outputting a control signal based on information from the first detection unit, in response to the stereoscopic object being detected within a range where the road surface is detectable by the first detection unit, and

outputting a control signal based on information from the first detection unit and the second detection unit, in response to the stereoscopic object being detected beyond the range where the road surface is detectable by the first detection unit.

7. The stereoscopic object detection method according to claim 6, further comprising:

detecting the stereoscopic object based on the detection result of the first detection unit, in response to the stereoscopic object not being detected by the first detection unit outside of the range where the road surface is detectable within a time set in advance and continuously detected by the first detection unit within the range where the road surface is detectable by the first detection unit at a frequency that exceeds a threshold value; and

detecting the stereoscopic object based on the detection result of the first detection unit and the second detection unit, in response to the stereoscopic object not being detected by the first detection unit outside of the range where the road is detectable within the time set in advance and being continuously detected by the first detection unit within the range where the road surface is detectable by the first detection unit at a frequency that is less than or equal to the threshold value.

8. The stereoscopic object detection method according to claim 6, further comprising:

executing vehicle control for controlling at least one of acceleration, deceleration, and steering of the vehicle according to the stereoscopic object detected by the detection control unit by a vehicle control unit of the stereoscopic object detection device.

9. The stereoscopic object detection method according to claim 7, further comprising:

executing vehicle control for controlling at least one of acceleration, deceleration, and steering of the vehicle according to the stereoscopic object detected by the detection control unit by a vehicle control unit of the stereoscopic object detection device.

10. The stereoscopic object detection method according to claim 6, further comprising detecting the stereoscopic object without using the second detection unit, in response to the stereoscopic object being within the range where the road surface is detectable by the first detection unit.