Method for determining object type of reflective object on track
First Claim
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1. A method for determining an object type of a reflective object on a track, comprising:
- a reflective point detecting step of detecting a plurality of reflective points in front of one'"'"'s vehicle in a traveling direction, including scanning ahead of one'"'"'s vehicle in a traveling direction by a predetermined detection wave output device, detecting reflective points reflecting detection waves outputted by the detection wave output device, and measuring relative positions of the reflective points with respect to one'"'"'s vehicle;
a first detecting step of grouping the plurality of reflective points detected in the reflective point detecting step by a predetermined standard and regarding the grouped reflective points as detection objects, including detecting the detection objects by determining reflective points detected at relative positions proximal to one another among the reflective points to be points on the same detection object;
a relative speed measuring step of measuring relative speeds of the detection objects detected by the first detecting step with respect to one'"'"'s vehicle;
a first labeling step of giving the same labels to detection objects existing within a first predetermined distance among the detection objects;
a first determining step of determining types of the detection objects based on the relative speeds detected in the relative speed measuring step, and determining a set of the detection objects being given the same labels in the first labeling step to be any of a group of objects belonging to the same object and a group of the same type of objects;
a first data storing step of identifiably storing first data including labeling results by the first labeling step for each of the detection objects detected by the first detecting step after performing steps up to the first labeling step prior to performing the first determining step;
a second detecting step of further performing steps up to the first detecting step;
a second labeling step of attaching the same labels to detection objects existing within the first predetermined distance among detection objects detected by the second detecting step;
a comparing step of mutually comparing the labeling results for a set of the detection objects being given the same labels by the second labeling step; and
a third labeling step of giving the same labels again to the detection objects which are given the same labels by the first labeling step and deleting labels being given to detection objects which are given no labels by the first labeling step among the set of the detection objects, in a case of determining that the labeling results are not entirely the same based on a comparison result by the comparing step.
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Abstract
A plurality of reflective points in front of one'"'"'s vehicle in a traveling direction are detected by a radar device. The plurality of detected reflective points are grouped based on a predetermined standard, and the grouped reflective points are regarded as detection objects. Relative speeds of the detected detection objects are measured with respect to one'"'"'s vehicle. Types of the detection objects are determined based on the measured relative speeds.
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Citations
11 Claims
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1. A method for determining an object type of a reflective object on a track, comprising:
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a reflective point detecting step of detecting a plurality of reflective points in front of one'"'"'s vehicle in a traveling direction, including scanning ahead of one'"'"'s vehicle in a traveling direction by a predetermined detection wave output device, detecting reflective points reflecting detection waves outputted by the detection wave output device, and measuring relative positions of the reflective points with respect to one'"'"'s vehicle;
a first detecting step of grouping the plurality of reflective points detected in the reflective point detecting step by a predetermined standard and regarding the grouped reflective points as detection objects, including detecting the detection objects by determining reflective points detected at relative positions proximal to one another among the reflective points to be points on the same detection object;
a relative speed measuring step of measuring relative speeds of the detection objects detected by the first detecting step with respect to one'"'"'s vehicle;
a first labeling step of giving the same labels to detection objects existing within a first predetermined distance among the detection objects;
a first determining step of determining types of the detection objects based on the relative speeds detected in the relative speed measuring step, and determining a set of the detection objects being given the same labels in the first labeling step to be any of a group of objects belonging to the same object and a group of the same type of objects;
a first data storing step of identifiably storing first data including labeling results by the first labeling step for each of the detection objects detected by the first detecting step after performing steps up to the first labeling step prior to performing the first determining step;
a second detecting step of further performing steps up to the first detecting step;
a second labeling step of attaching the same labels to detection objects existing within the first predetermined distance among detection objects detected by the second detecting step;
a comparing step of mutually comparing the labeling results for a set of the detection objects being given the same labels by the second labeling step; and
a third labeling step of giving the same labels again to the detection objects which are given the same labels by the first labeling step and deleting labels being given to detection objects which are given no labels by the first labeling step among the set of the detection objects, in a case of determining that the labeling results are not entirely the same based on a comparison result by the comparing step.
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2. A method for determining an object of a reflective object on a track, comprising:
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a reflective point detecting step of detecting a plurality of reflective points in front of one'"'"'s vehicle in a traveling direction, including scanning ahead of one'"'"'s vehicle in a traveling direction by a predetermined detection wave output device, detecting reflective points reflecting detection waves outputted by the detection wave output device, and measuring relative positions of the reflective points with respect to one'"'"'s vehicle;
a first detecting step of grouping the plurality of reflective points detected in the reflective point detecting step by a predetermined standard and regarding the grouped reflective points as detection objects, including detecting the detection objects by determining reflective points detected at relative positions proximal to one another among the reflective points to be points on the same detection object;
a relative speed measuring step of measuring relative speeds of the detection objects detected by the first detecting step with respect to one'"'"'s vehicle;
a first labeling step of giving the same labels to detection objects existing within a first predetermined distance among the detection objects;
a shape detecting step of detecting a relative position of a reference line provided on a lane in front of one'"'"'s vehicle with respect to one'"'"'s vehicle; and
a first determining step of determining types of the detection objects based on the relative speeds detected in the relative speed measuring step, and determining a set of the detection objects being given the same labels in the first labeling step to be any of a group of objects belonging to the same object and a group of the same types of objects, wherein in the first determining step, distances from respective sets of the detection objects being given the same labels to the reference line provided on the lane in front of one'"'"'s vehicle are measured and a variance value of the distances is measured based on a detection result by the shape detecting step, and the sets of the detection objects are determined to be groups of road signs in a case where the variance value is smaller than a predetermined value and the sets of the detection objects are detected at relative positions out of the lane in front of one'"'"'s vehicle by the first detecting step. - View Dependent Claims (3)
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4. A method for determining an object type of a reflective object on a track, comprising:
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a reflective point detecting step of detecting a plurality of reflective points in front of one'"'"'s vehicle in a traveling direction, including scanning ahead of one'"'"'s vehicle in a traveling direction by a predetermined detection wave output device, detecting reflective points reflecting detection waves outputted by the detection wave output device, and measuring relative positions of the reflective points with respect to one'"'"'s vehicle;
a first detecting step of grouping the plurality of reflective points detected in the reflective point detecting step by a predetermined standard and regarding the grouped reflective points as detection objects, including detecting the detection objects by determining reflective points detected at relative positions proximal to one another among the reflective points to be points on the same detection object;
a relative speed measuring step of measuring relative speeds of the detection objects detected by the first detecting step with respect to one'"'"'s vehicle;
a size measuring step of measuring sizes of the detection objects detected by the first detecting step;
a first labeling step of giving the same labels to detection objects existing within a first predetermined distance among the detection objects; and
a first determining step of determining types of the detection objects based on the relative speeds detected in the relative speed measuring step, and determining a set of the detection objects being given the same labels in the first labeling step to be any of a group of objects belonging to the same object and a group of the same type of objects, wherein in the first determining step, the set of the detection objects is determined to be a group of objects belonging to the same vehicle in a case where detection objects larger than a predetermined size are included in the set of the detection objects which are given the same labels by the first labeling step, wherein the size measuring step is performed prior to the first labeling step, and wherein in the first labeling step, a second detection object, which is larger than a predetermined size, is detected by the first detecting step, and further, the same label as those of the second detection objects is given to the third detection object in a case where the third detection object is detected within a range located deeper comparing the second detection object seeing the traveling direction of the detection wave from the detection wave output device and within a third predetermined distance longer than the first predetermined distance from the second detection object, and further, the same label as those of the second detection objects is given to a fourth detection object in a case where the fourth detection object exists within the third predetermined distance from any of the second detection object and the third detection object. - View Dependent Claims (5)
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6. A method for determining an object type of a reflective object on a track, comprising:
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a reflective point detecting step of detecting a plurality of reflective points in front of one'"'"'s vehicle in a traveling direction;
a first detecting step of grouping the plurality of reflective points detected in the reflective point detecting step by a predetermined standard and regarding the grouped reflective points as detection objects, including grouping in time series groups of reflective points existing proximally to one another among the reflective points detected by the reflective point detecting step;
a relative speed measuring step of measuring relative speeds of the detection objects detected by the first detecting step with respect to one'"'"'s vehicle, including regarding the grouped groups of the reflective points as the detection objects, and obtaining relative speeds of one'"'"'s vehicle with respect to the detection objects based on time-serial distance data between the detection objects and one'"'"'s vehicle;
a first determining step of determining types of the detection objects based on the relative speeds detected in the relative speed measuring step;
a third determining step of determining whether or not the detection objects detected by the first detecting step have a possibility of being road relating structural objects based on sizes thereof obtained from types determined for the detection objects and a grouping result in the past;
a fourth determining step of determining a degree at which the reflective points relating to the detection objects determined to have the possibility of being the road relating structural objects are crowded in a depth direction with respect to one'"'"'s vehicle in the third determining step;
a first setting step of setting a region for the detection objects determined to have high crowdedness in the fourth determining step;
a fifth determining step of determining that the detection objects corresponding to the region where the crowdedness of the detection objects is high in the first setting step are the road relating structural objects irrespective of relative speeds thereof; and
a sixth determining step of determining types of detection objects other than the detection objects determined to be the road relating structural objects in the fifth determining step based on relative speeds and positions of the detection objects and types thereof detected in the past. - View Dependent Claims (7, 8, 9, 10, 11)
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Specification