Object detection system

• US 6,683,969 B1
• Filed: 05/10/2000
• Issued: 01/27/2004
• Est. Priority Date: 05/27/1999
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Saka, Masakazu, Nishigaki, Morimichi
• Primary Examiner(s): Chang, Jon
• Assistant Examiner(s): KIM, CHONG R
• Application Number:
  US09/568,447
• Time in Patent Office: 1,357 Days
• Field of Search: 382/103, 382/104, 382/209, 382/106, 382/107, 340/937, 340/901, 340/903, 340/904, 340/933, 340/938, 340/425.5, 340/435, 340/436, 340/438, 701/93, 701/300, 701/301, 180/167, 180/169, 348/161, 367/909
• US Class Current: 382/104
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: G06V 10/22 by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or 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: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An object detection system comprises a physical object recognition unit which recognizes physical objects outside the vehicle, and a physical object memory which stores information concerning the physical objects. A controller recognizes presence of a physical object when the physical object is sensed by one or more sensors a predetermined number of times, which is larger for a central portion of the detecting area than for a peripheral portion of the detecting area. The system includes a memory for storing information about the physical objects. The controller holds the physical object stored in the memory indicating that the physical object is existent until the controller fails to recognize presence of the corresponding physical object a predetermined number of recognition cycles.

Claims

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

at least one sensor for sensing a physical object in a predetermined detecting area; and

a controller for recognizing presence of a physical object when the physical object is sensed by said sensor a predetermined number of times, said predetermined number of times being larger for a central portion of the detecting area than for a peripheral portion of the detecting area.

2. The system of claim 1, wherein said at least one sensor comprises two image sensors for capturing image of the detecting area.

3. The system of claim 2, wherein said controller determines road area based on brightness values of respective windows of the captured image.

4. The system of claim 3, wherein said controller progressively compares brightness values of respective windows using a window corresponding to an area near the vehicle as a reference window, said reference window being progressively replaced by a window that is newly identified as belonging to the road area.

5. The system of claim 4, wherein said controller identifies a window whose brightness value differs from that of progressively replaced reference window by more than a predetermined value as belonging to a physical object or a mark on the road.

10. The system of claim 1, wherein said predetermined detecting area comprises a plurality of regions having a plurality of shapes.

6. A method for recognizing an object from a moving vehicle, comprising the steps of:

capturing an image of a predetermined detecting area;

processing the image to distinguish a physical object from a road area; and

recognizing presence of a physical object when the physical object is detected a predetermined number of times, said predetermined number of times being larger for a central portion of the detecting area than for a peripheral portion of the detecting area.

7. The method of claim 6, wherein the physical object is distinguished from the road area based on brightness values of respective windows of the captured image.

8. The method of claim 6, wherein the step of processing includes the step of progressively comparing brightness values of respective windows using a window corresponding to an area near the vehicle as a reference window, said reference window being progressively replaced by a window that is newly identified as belonging to the road area.

9. The method of claim 8, wherein the step of processing includes the step of identifying a window whose brightness value differs from that of the progressively replaced reference window by more than a predetermined value as belonging to a physical object or a mark on the road.

11. The method of claim 6, wherein said predetermined detecting area comprises a plurality of regions having a plurality of shapes.