Object detecting device

• US 8,897,497 B2
• Filed: 05/18/2010
• Issued: 11/25/2014
• Est. Priority Date: 05/19/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Shiraishi, Tatsuya, Nanami, Takeshi, Uchida, Naohide, Goto, Hiroki, Nishijima, Masakazu
• Primary Examiner(s): Chen, Wenpeng
• Application Number:
  US13/259,583
• Publication Number:
  US 20120106786A1
• Time in Patent Office: 1,652 Days
• Field of Search: None
• US Class Current: 382/104
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

An object detecting device includes a camera ECU that detects an object from image data for a predetermined area has been captured by a monocular camera, a fusion processing portion that calculates the pre-correction horizontal width of the detected object, a numerical value calculating portion that estimates the length in the image depth direction of the calculated pre-correction horizontal width, and a collision determining portion that corrects the pre-correction horizontal width calculated by the fusion processing portion, based on the estimated length in the image depth direction.

Claims

1. An object detecting device comprising:

image detecting portion that detects an object from image data for a predetermined area that has been captured;

calculating portion that calculates a horizontal width of the object detected by the image detecting portion;

estimating portion that estimates a length in an image depth direction of the object detected by the image detecting portion;

correcting portion that corrects the horizontal width of the object calculated by the calculating portion, based on the length in the image depth direction estimated by the estimating portion;

inclination obtaining portion that obtains an inclination of an object region occupied by the object in the image data of the object detected by the image detecting portion, wherein the estimating portion estimates the length in the image depth direction of the object based on the inclination of the object region obtained by the obtaining portion; and

determining portion that determines whether the inclination of the object region is greater than a predetermined value;

wherein

the inclination of the object region is an angle between a longitudinal direction of the object region in the image data and a horizontal direction of the image data; and

the correcting portion is inhibited from correcting the horizontal width of the object calculated by the calculating portion if it is determined by the determining portion that the inclination of the object region is equal to or less than the predetermined value.

2. The object detecting device according to claim 1, further comprising radar detecting portion that emits electromagnetic waves within the predetermined area and obtains a detection point of an object in a direction in which the electromagnetic waves are emitted, wherein the image detecting portion detects the object from the image data based on the detection point obtained by the radar detecting portion.

3. The object detecting device according to claim 2, wherein a plurality of the detection points are obtained by the radar detecting portion;

the estimating portion estimates the length in the image depth direction of the object based on a difference between a first distance to a first detection point and a second distance to a second detection point obtained by the radar detecting portion; and

the first detection point and the second detection point are within the range of the horizontal width of the object.

4. The object detecting device according to claim 3, wherein the determining portion is adapted to determine whether the object detected by the image detecting portion is a vehicle, wherein the correcting portion is inhibited from correcting the calculation result of the horizontal width if it is determined by the determining portion that the object is a vehicle.

5. The object detecting device according to claim 4, wherein the determining portion determines whether the obtained difference between the first distance to the first detection point and the second distance to the second detection point is equal to or greater than a fixed difference;

and the correcting portion is inhibited from correcting the horizontal width if it is determined by the determining portion that the object is a vehicle and it is not determined that the distance is equal to or greater than a fixed difference.

6. The object detecting device according to claim 2, wherein the predetermined area is set based on the detection point obtained by the radar detecting portion.

7. The object detecting device according to claim 1, wherein the image depth direction is a direction from the image detecting portion to the object.

8. The object detecting device according to claim 7, wherein the horizontal direction is a direction orthogonal to the direction from the image detecting portion to the object.

9. The object detecting device according to claim 1, wherein the object is within the predetermined area.