Obstacle detection apparatus

• US 7,894,631 B2
• Filed: 05/30/2006
• Issued: 02/22/2011
• Est. Priority Date: 06/27/2005
• Status: Expired due to Fees

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: Kakinami, Toshiaki
• Primary Examiner(s): Tucker; Wesley
• Assistant Examiner(s): Bitar; Nancy
• Application Number:
  US11/993,104
• Publication Number:
  US 20100045448A1
• Time in Patent Office: 1,729 Days
• Field of Search: 382/103, 382/154, 382/106, 382/100, 701/36, 701/41, 340/988, 340/932.2, 340/439, 348/148
• US Class Current: 382/103
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• 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
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: G06V 2201/08 Detecting or categorising vehicles
• CPC Class Codes: G08G 1/143 inside the vehicles
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

There is provided an obstacle detection apparatus for detecting an obstacle based on an image of periphery of a vehicle and a distance to an obstacle present in the vehicle'"'"'s periphery.

The apparatus includes distance determining means 3 for determining, in association with traveling of the vehicle along a direction, a distance to the obstacle present in a direction perpendicular to the vehicle traveling direction, image inputting means 2 for obtaining a peripheral image having a view angle including the obstacle, subject-vehicle position specifying means 4 for sequentially specifying a present position of the vehicle which changes in association the traveling of the vehicle, first-plane setting means 5 for setting, as a first plane, a face of the obstacle which extends perpendicular to the horizontal plane and extends, at the same time, along the traveling direction of the vehicle, plane-edge estimating means 6 for estimating an edge of the first plane relative to the vehicle moving direction, based on the distance and the position of the vehicle, image recognition area setting means 7 for setting, as an image recognition area, an area included in the peripheral image and including the plane edge, image recognizing means 8 for image-recognizing a shape characteristics of the obstacle in the image recognition area from the peripheral image, and three-dimensional shape recognizing means 9 for recognizing the obstacle three-dimensionally, based on the first plane and result of the image recognition made by the image recognizing means 8.

Claims

1. An obstacle detection apparatus for detecting an obstacle based on an image of periphery of a vehicle and a distance to an obstacle present in the vehicle'"'"'s periphery, the apparatus comprising:

distance determining means for determining, in association with traveling of the vehicle along a direction, a distance to the obstacle present in a direction perpendicular to the vehicle traveling direction;

image inputting means for obtaining a peripheral image having a view angle including the obstacle, in association with the traveling of the vehicle;

subject-vehicle position specifying means for sequentially specifying a present position of the vehicle which changes in association the traveling of the vehicle;

first-plane setting means for setting, as a first plane and based on said distance and said subject-vehicle position, a face of the obstacle which extends perpendicular to the horizontal plane and extends, at the same time, along the traveling direction of the vehicle;

plane-edge estimating means for estimating a plane edge of said first plane relative to the vehicle moving direction, based on said distance and said position of the vehicle;

image recognition area setting means for setting, as an image recognition area, an area included in the peripheral image and including said plane edge;

image recognizing means for image-recognizing a shape characteristics of the obstacle in the image recognition area from the peripheral image; and

three-dimensional shape recognizing means for recognizing the obstacle three-dimensionally, based on said first plane and result of the image recognition made by said image recognizing means.

2. The obstacle detection apparatus according to claim 1, wherein said image recognizing means recognizes a curve shape of the obstacle, by effecting the image recognition of the shape characteristics of the obstacle in the image recognition area, and said three-dimensional shape recognizing means recognizes the obstacle three-dimensionally, based on said first plane and said curve shape.

3. The obstacle detection apparatus according to claim 1, wherein said distance determining means is mounted to a lateral face of the vehicle to be oriented laterally;

said image inputting means is mounted to be oriented toward at least one of the front side and the rear side of the vehicle;

said image inputting means includes temporary storage means for temporarily storing the peripheral image obtained; and

said shape recognizing means effects the image recognition of the shape characteristics from the peripheral image stored in said temporary storage means.

4. The obstacle detection apparatus according to claim 1, wherein said distance determining means is mounted ahead of the image inputting means in the vehicle moving direction and mounted to a lateral face of the vehicle to be oriented laterally;

whereas said image inputting means is mounted to be oriented to the rear side in the vehicle moving direction.

5. The obstacle detection apparatus according to claim 1, wherein said image recognizing means detects another vehicle parked in the periphery of the subject vehicle, as said obstacle.

6. The obstacle detection apparatus according to claim 5, wherein said image recognizing means recognizes a curve shape of the parked vehicle based on an occlusion contour thereof.

7. The obstacle detection apparatus according to claim 6, wherein said image recognizing means recognizes a corner portion of the parked vehicle.