Three-dimensional object detection device and three-dimensional object detection method
First Claim
1. A three-dimensional object detection device comprising:
- an image capturing unit having a lens for capturing images of an area rearward of a host vehicle;
a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object in a predetermined detection area, based on the images captured by the image capturing unit, and programmed to calculate a traveling speed of the three-dimensional object;
a host vehicle speed detection unit programmed to detect the traveling speed of the host vehicle;
a light source detection unit programmed to detect a headlight light source corresponding to a headlight of another vehicle, within a predetermined light source detection area that includes the detection area; and
a controller programmed to compare the traveling speed of the three-dimensional object and the traveling speed of the host vehicle upon the headlight light source not being detected by the light source detection unit, and programmed to perform a control process to suppress detection of the three-dimensional object upon determining one of the traveling speed of the three-dimensional object being equal to or less than the traveling speed of the host vehicle, and a difference between the traveling speed of the three-dimensional object and the traveling speed of the host vehicle being less than a predetermined value.
1 Assignment
0 Petitions
Accused Products
Abstract
A three-dimensional object detection device has an image capturing unit, a three-dimensional object detection unit, a host vehicle speed detection unit, a light source detection unit and a controller. The image capturing unit captures images rearward of a vehicle. The three-dimensional object detection unit detects a presence of a three-dimensional object in a detection area, based on the captured images. The host vehicle speed detection unit detects a vehicle traveling speed. The light source detection unit detects a headlight light source of a headlight of another vehicle. The controller compares the traveling speeds of the object and the vehicle upon not detecting the headlight light source, and suppresses detection of the object upon determining one of the object traveling speed being equal to or less than the vehicle traveling speed, and a difference between the object and vehicle traveling speeds being less than a predetermined value.
-
Citations
14 Claims
-
1. A three-dimensional object detection device comprising:
-
an image capturing unit having a lens for capturing images of an area rearward of a host vehicle; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object in a predetermined detection area, based on the images captured by the image capturing unit, and programmed to calculate a traveling speed of the three-dimensional object; a host vehicle speed detection unit programmed to detect the traveling speed of the host vehicle; a light source detection unit programmed to detect a headlight light source corresponding to a headlight of another vehicle, within a predetermined light source detection area that includes the detection area; and a controller programmed to compare the traveling speed of the three-dimensional object and the traveling speed of the host vehicle upon the headlight light source not being detected by the light source detection unit, and programmed to perform a control process to suppress detection of the three-dimensional object upon determining one of the traveling speed of the three-dimensional object being equal to or less than the traveling speed of the host vehicle, and a difference between the traveling speed of the three-dimensional object and the traveling speed of the host vehicle being less than a predetermined value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A three-dimensional object detection method comprising:
-
performing viewpoint conversion to bird'"'"'s-eye view images of images captured by an image capturing unit of an area rearward of a host vehicle; generating differential waveform information from the bird'"'"'s-eye view images taken at different points in time; detecting a presence of a three-dimensional object in a predetermined detection area based on the differential waveform information; determining whether the three-dimensional object is another vehicle by calculating a traveling speed of the three-dimensional object from temporal change of a waveform of the differential waveform information; detecting a headlight light source corresponding to a headlight of the other vehicle in a predetermined light source detection area that includes the predetermined detection area; carrying out a darkness assessment process to access an existence of a darkness state, while making an assessment as to the existence of the darkness state, and in a case in which there is an assessment of the existence of the darkness state and additionally the headlight light source has not been detected, the traveling speed of the three-dimensional object and the traveling speed of the host vehicle are compared; and suppressing an action deciding that the three-dimensional object is the other vehicle upon determining one of the traveling speed of the three-dimensional object is equal to or less than the traveling speed of the host vehicle, and a difference between the traveling speed of the three-dimensional object and the traveling speed of the host vehicle is less than a predetermined value.
-
-
14. A three-dimensional object detection method comprising:
-
performing viewpoint conversion to bird'"'"'s-eye view images of images captured by an image capturing unit of an area rearward of a host vehicle; detecting edge information from the bird'"'"'s-eye view images; detecting a presence of a three-dimensional object in a predetermined detection area based on the edge information; determining whether the three-dimensional object is another vehicle by calculating a traveling speed of the three-dimensional object from temporal change of a waveform of the edge information to decide; detecting a headlight light source corresponding to a headlight of the other vehicle in a predetermined light source detection area that includes the predetermined detection area; carrying out a darkness assessment process to access an existence of a darkness state, while making an assessment as to the existence of the darkness state, and in a case in which there is an assessment of the existence of the darkness state and additionally the headlight light source has not been detected, the traveling speed of the three-dimensional object and the traveling speed of the host vehicle are compared; and suppressing an action deciding that the three-dimensional object is the other vehicle upon determining one of the traveling speed of the three-dimensional object is equal to or less than the traveling speed of the host vehicle, and a difference between the traveling speed of the three-dimensional object and the traveling speed of the host vehicle is less than a predetermined value.
-
Specification