Method and apparatus for detecting position of object present in a surrounding detection zone of automotive vehicle

• US 6,828,903 B2
• Filed: 10/11/2001
• Issued: 12/07/2004
• Est. Priority Date: 10/12/2000
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Satoh, Yoshihiro, Takahashi, Hiroshi, Watanabe, Seigo
• Primary Examiner(s): GOINS, DAVETTA WOODS
• Application Number:
  US09/973,718
• Publication Number:
  US 20020044048A1
• Time in Patent Office: 1,153 Days
• Field of Search: 340/435, 340/436, 340/903, 340/555, 340/437, 340/937, 180/167, 180/169, 701/300, 701/301, 701/205, 348/118, 348/148
• US Class Current: 340/435
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 2015/934 for measuring the depth, i.e. width, not length, of the parking space
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
• CPC Class Codes: G01S 2015/936 for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction
• 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 20/586 of parking space

Abstract

In method and apparatus for detecting a position of an object present in a surrounding detection zone of an automotive vehicle, a distance of the vehicle to the object is measured, the surrounding detection zone of the vehicle is photographed, the photographed surrounding detection zone to extract is image processed at least one longitudinal edge from the photographed surrounding detection zone of the vehicle, and the position of the object to the vehicle is detected on the basis of a direction of the extracted longitudinal edge and a measured value of the distance to the object.

Claims

1. A method for detecting a position of an object present in a surrounding detection zone of an automotive vehicle, comprising:

measuring a distance of the vehicle to a longitudinal edge of the object using detection beams;

photographing the surrounding detection zone of the vehicle;

image processing the photographed surrounding detection zone to extract at least one longitudinal edge from the photographed surrounding detection zone of the vehicle, wherein the longitudinal edge obtained by the image processing is the longitudinal edge of the object to which the distance from the vehicle has been measured, and wherein a direction of the longitudinal edge of the object is detected through the image processing; and

detecting the position of the object relative to the vehicle from the direction of the extracted longitudinal edge and a measured value of the distance to the object.

2. A method for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 1, further comprising:

estimating a direction of the object to the vehicle on the basis of a variation in the measured value of the distance involved in a movement of the vehicle; and

determining that an image region processed under an image processing within the photographed surrounding detection zone is carried out on the basis of the estimated direction of the object and wherein, when image processing the photographed surrounding detection zone of the vehicle, the longitudinal edge is extracted from the determined image region processed under the image processing within the photographed surrounding detection zone of the vehicle.

3. A method for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 2, wherein, when estimating the direction of the object, a direction of the movement of the vehicle is taken into consideration.

4. A method for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 2, wherein, when determining the image region processed under an image processing, the image region is limited in accordance with a movement direction of the vehicle.

5. A method for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 2, further comprising detecting a vehicular velocity and wherein, when determining the image region processed under the image processing, the image region becomes wider as a magnitude of the detected vehicular velocity becomes larger.

6. A method for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 2, wherein, when determining the range of the image processing, as the measured value of the distance becomes smaller, the image region processed under the image processing becomes wider.

7. A method for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 2, wherein the extracted longitudinal edge is plural and further comprising selecting a longitudinal edge corresponding to an end portion of the object present in the surrounding detection zone of the vehicle from among the extracted longitudinal edges on the basis of the estimated direction of the object and an edge strength and wherein, the position of the object is detected on the basis of a direction of the selected longitudinal edge to the vehicle and the measured value of the distance.

8. A method for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 1, further composing:

detecting a vehicular behavior; and

correcting the measured value of the distance on the basis of a detected value of the vehicular behavior.

9. A method for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 2, wherein a measurement range of the distance measurement when measuring the distance to the object is approximately made coincident with a photographing range of photographing the surrounding detection zone of the vehicle when photographing the surrounding detection zone of the vehicle.

10. An apparatus for detecting a position of an object present in a surrounding detection zone of an automotive vehicle, comprising:

a distance measurement unit adapted to measure a distance of the vehicle to a longitudinal edge of the object using detection beams;

a photograph device adapted to photograph the surrounding detection zone of the vehicle;

an image processing section adapted to perform image processing of the photographed surrounding detection zone to extract at least one longitudinal edge from the photographed surrounding detection zone image, wherein the longitudinal edge obtained by the image processing is the longitudinal edge of the object to which the distance from the vehicle has been measured, the image processing section being further adapted to detect a direction of the longitudinal edge of the object through the image processing; and

a position detecting section adapted to detect the position of the object to the vehicle from the direction of the extracted longitudinal edge and a measured value of the distance to the object.

11. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 10, further comprising:

object direction detecting section that estimates a direction of the object to the vehicle on the basis of a variation in the measured value of the distance involved in a movement of the vehicle; and

an image region determining section that determines an image region to be processed under an image processing within the photographed surrounding detection zone that is carried out on the basis of the estimated direction of the object and wherein, image processing section extracts the longitudinal edge from the determined image region processed under the image processing within the photographed surrounding detection zone image of the vehicle.

12. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 11, wherein, when estimating the direction of the object by the object direction estimating section, a direction of the movement of the vehicle is taken into consideration.

13. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 11, wherein, when the image region determining section determines the image region processed under the image processing, the image region is limited in accordance with a movement direction of the vehicle.

14. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 11, further comprising a vehicular velocity detector to detect a vehicular velocity and wherein, when the image region determining section determines the image region processed under the image processing, the image region becomes wider as a magnitude of the detected vehicular velocity becomes larger.

15. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 11, wherein, when the image region determining section determines the image region processed under the image processing, as the measured value of the distance becomes smaller, the image region processed under the image processing becomes wider.

16. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 11, wherein the extracted longitudinal edge is plural and further comprising a longitudinal edge selecting section that selects a longitudinal edge corresponding to an end portion of the object present in the surrounding detection zone of the vehicle from among the extracted longitudinal edges on the basis of the estimated direction of the object and an edge strength and wherein, object position detecting section detects the position of the object on the basis of a direction of the selected longitudinal edge to the vehicle and the measured value of the distance.

17. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 10, further comprising:

a vehicular behavior detector to detect a vehicular behavior*j and a correcting section that corrects the measured value of the distance on the basis of a detected value of the vehicular behavior.

18. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 11, wherein a measurement range of the distance measurement by the distance measurement unit is approximately made coincident with a photographing range of photographing the surrounding detection zone of the vehicle by the photograph device.

19. An apparatus for detecting a position of an object present surrounding an automotive vehicle as claimed in claim 10, wherein the distance measurement unit comprises a plurality of radars installed on respective side edges of vehicular front and rear ends and the photograph device comprises a plurality of cameras located adjacent to the respective radars.

20. An apparatus for detecting a position of an object present in a surrounding detection zone of an automotive vehicle, comprising:

distance measurement means for measuring a distance of the vehicle to a longitudinal edge of the object using detection beams;

photographing means for photographing the surrounding detection zone of the vehicle;

image processing means for performing an image processing for the photographed surrounding detection zone to extract at least one longitudinal edge from the photographed surrounding detection zone image, wherein the longitudinal edge obtained by the image processing means is the longitudinal edge of the object to which the distance from the vehicle has been measured, and for detecting a direction of the longitudinal edge of the object through the image processing; and

position detecting means for detecting the position of the object to the vehicle from the direction of the extracted longitudinal edge and a measured value of the distance to the object.

21. A method for detecting a position of an object present in a surrounding detection zone of an automotive vehicle, comprising:

measuring a distance of the vehicle to the object using detection beams;

photographing the surrounding detection zone of the vehicle to obtain an image;

estimating a direction (θ

e) of the object as viewed from a distance measurement device;

determining an optimum image processing range (±

Δ

θ

);

performing a longitudinal edge extracting processing for the image within a range in which the direction of the object is present to detect a longitudinal edge E(θ

) through image processing corresponding to an edge portion of a vehicular surrounding obstacle; and

selecting the longitudinal edge detected through image processing corresponding to the edge portion of the vehicular surrounding obstacle on the basis of estimated direction (θ

e) and edge intensity, wherein the position of the object present in the surrounding detection zone of the vehicle is detected from the selected longitudinal edge detected through image processing and the measured value of the distance.