Vehicle periphery monitoring device

• US 9,135,798 B2
• Filed: 09/01/2012
• Issued: 09/15/2015
• Est. Priority Date: 09/01/2012
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Sakagami, Yoshiaki, Goerick, Christian, Fritsch, Jan, Heisele, Bernd
• Primary Examiner(s): KOSTAK, VICTOR R
• Application Number:
  US13/602,130
• Publication Number:
  US 20140063248A1
• Time in Patent Office: 1,109 Days
• Field of Search: 340/901, 340/904, 340/937, 340/988, 340/436, 340/437, 701/23, 701/25, 701/26, 701/28, 701/300, 701/301, 348/118, 348/119, 348/148
• US Class Current: 1/1
• 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 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08B 13/22 Electrical actuation
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle periphery monitoring device 1 is equipped with a first recognizing unit 11 which recognizes a shape of a road in a traveling direction of a self vehicle C, a second recognizing unit 12 which recognizes a position of an object M existing in a periphery of the self vehicle C, an estimating unit 13 which estimates a moving direction of the object M from the position recognized by the second recognizing unit 12, and a contact avoiding process unit 15 which determines whether or not to perform an avoiding process for avoiding contact between the self vehicle C and the object M, on the basis of a relationship between the shape of the road recognized by the first recognizing unit 11 and the moving direction of the object M estimated by the estimating unit 13.

Claims

1. A vehicle periphery monitoring device which monitors an object existing in a periphery of a vehicle, comprising:

a first recognizing unit which recognizes a shape of a road in a traveling direction of the vehicle;

a second recognizing unit which recognizes a position of an object existing in a periphery of the vehicle;

an estimating unit which estimates a traveling direction of the object from the position recognized by the second recognizing unit;

an imaging device which captures an image of the periphery of the vehicle; and

a contact avoiding process unit which determines whether or not to perform an avoiding process for avoiding contact of the vehicle and the object, based on whether a relationship between the shape of the road recognized by the first recognizing unit, and the traveling direction of the object estimated by the estimating unit satisfies predetermined criteria or not;

wherein the second recognizing unit also recognizes an orientation of the object based on the image captured by the imaging device;

the estimating unit estimates the traveling direction of the object also based on the orientation of the object recognized by the second recognizing unit, when an amount of change of the position of the object at different times as recognized by the second recognizing unit, is equal to or less than a predetermined value; and

the estimating unit also estimates a change of direction of the position of the object at the different times as the traveling direction of the object, when the amount of change of the position of the object at the different time points is greater than the predetermined value.

2. The vehicle periphery monitoring device according to claim 1, wherein the contact avoiding process unit estimates a region in which the object moves according to the traveling direction of the object estimated by the estimating unit, and determines whether or not to perform the avoiding process, when the estimated region crosses a course of the vehicle estimated based on the shape of the road recognized by the first recognizing unit.

3. The vehicle periphery monitoring device according to claim 2, wherein the contact avoiding process unit determines not to perform the avoiding process, when the estimated region does not cross the estimated course of the vehicle.

4. The vehicle periphery monitoring device according to claim 1, wherein the contact avoiding process unit estimates a region in which the object moves according to the traveling direction of the object estimated by the estimating unit, and determines not to perform the avoiding process when the estimated region does not cross a course of the vehicle estimated based on the shape of the road recognized by the first recognizing unit.

5. The vehicle periphery monitoring device according to claim 2, wherein the contact avoiding process unit changes a content of the avoiding process, according to a level of contact possibility estimated based on the estimated course of the vehicle, the estimated region, a velocity of the vehicle, and a velocity of the object.

6. The vehicle periphery monitoring device according to claim 5, wherein the contact avoiding process unit performs a process of announcing by an announcing device equipped to the vehicle, as the avoiding process, when the level of contact possibility is equal to or more than a first predetermined level, and performs a process of braking the vehicle with a braking device equipped to the vehicle, as the avoiding process, when the level is equal to or more than a second predetermined level which is higher than the first predetermined level.

7. The vehicle periphery monitoring device according to claim 1, further comprising a third recognizing unit which recognizes whether or not the object recognized by the second recognizing unit is a human, and

wherein the contact avoiding process unit performs a process of making an irradiating direction of a headlight equipped to the vehicle to a direction in which the human is irradiated, as the avoiding process, when the object is recognized as the human by the third recognizing unit.

8. The vehicle periphery monitoring device according to claim 4, wherein the contact avoiding process unit changes a content of the avoiding process, according to a level of contact possibility estimated based on the estimated course of the vehicle, the estimated region, a velocity of the vehicle, and a velocity of the object.

9. The vehicle periphery monitoring device according to claim 8, wherein the contact avoiding process unit performs a process of announcing by an announcing device equipped to the vehicle, as the avoiding process, when the level of contact possibility is equal to or more than a first predetermined level, and performs a process of braking the vehicle with a braking device equipped to the vehicle, as the avoiding process, when the level is equal to or more than a second predetermined level which is higher than the first predetermined level.

10. The vehicle periphery monitoring device according to claim 2,

wherein the contact avoiding process unit estimates the region in which the object moves primarily based on the position of the object, the traveling direction of the object estimated by the estimating unit and the shape of the road in the travelling direction.

11. The vehicle periphery monitoring device according to claim 3,

wherein the contact avoiding process unit estimates the region in which the object moves primarily based on the position of the object, the traveling direction of the object estimated by the estimating unit and the shape of the road in the travelling direction.

12. A vehicle periphery monitoring device which monitors an object existing in a periphery of a vehicle, comprising:

a first recognizing unit which recognizes a shape of a road in a traveling direction of the vehicle;

a second recognizing unit which recognizes a position of an object existing in a periphery of the vehicle;

an estimating unit which estimates a traveling direction of the object from the position recognized by the second recognizing unit; and

a contact avoiding process unit which determines whether or not to perform an avoiding process for avoiding contact of the vehicle and the object, based on whether a relationship between the shape of the road recognized by the first recognizing unit, and the traveling direction of the object estimated by the estimating unit satisfies predetermined criteria or not;

wherein the contact avoiding process unit estimates a region in which the object moves according to the traveling direction of the object estimated by the estimating unit, and determines whether or not to perform the avoiding process, when the estimated region crosses a course of the vehicle estimated based on the shape of the road recognized by the first recognizing unit; and

wherein the region estimated by the contact avoiding process unit is substantially fan shaped, extends from the object to an intersection point of a line of the estimated traveling direction of the object and a main axis of the road, and increases in width from the object to the intersection point.

13. The vehicle periphery monitoring device according to claim 12, wherein the contact avoiding process does not estimate the region when the line of the estimated traveling direction of the object does not intersect the main axis of the road.

14. A vehicle periphery monitoring device which monitors an object existing in a periphery of a vehicle, comprising:

a first recognizing unit which recognizes a shape of a road in a traveling direction of the vehicle;

a second recognizing unit which recognizes a position of an object existing in a periphery of the vehicle;

an estimating unit which estimates a traveling direction of the object from the position recognized by the second recognizing unit; and

a contact avoiding process unit which determines whether or not to perform an avoiding process for avoiding contact of the vehicle and the object, based on whether a relationship between the shape of the road recognized by the first recognizing unit, and the traveling direction of the object estimated by the estimating unit satisfies predetermined criteria or not;

wherein the contact avoiding process unit estimates a region in which the object moves according to the traveling direction of the object estimated by the estimating unit, and determines not to perform the avoiding process when the estimated region does not cross a course of the vehicle estimated based on the shape of the road recognized by the first recognizing unit; and

wherein the region estimated by the contact avoiding process unit is substantially fan shaped, extends from the object to an intersection point of a line of the estimated traveling direction of the object and a main axis of the road, and increases in width from the object to the intersection point.

15. The vehicle periphery monitoring device according to claim 14, wherein the contact avoiding process does not estimate the region when the line of the estimated traveling direction of the object does not intersect the main axis of the road.