Three-dimensional object detection device

• US 9,239,960 B2
• Filed: 02/26/2013
• Issued: 01/19/2016
• Est. Priority Date: 03/02/2012
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Fukata, Osamu, Hayakawa, Yasuhisa
• Primary Examiner(s): GORADIA, SHEFALI DINESH
• Application Number:
  US14/373,064
• Publication Number:
  US 20150016681A1
• Time in Patent Office: 1,057 Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/802 for monitoring and displaying vehicle exterior blind spot views
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/20048 Transform domain processing
• CPC Class Codes: G06T 2207/20064 Wavelet transform [DWT]
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/262 using transform domain methods, e.g. Fourier domain methods
• 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: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a movement speed calculation unit, a three-dimensional object assessment unit, a non-detection-object assessment unit and a control unit. The image conversion unit converts a viewpoint of the images to create bird'"'"'s-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the predetermined detection area based on difference waveform information. The movement speed calculation unit calculates a movement speed of the three-dimensional object. The non-detection-object assessment unit detect san amount of variability in the movement speed of the three-dimensional object, and assesses whether the three-dimensional object is a non-detection object based on the amount of variability. The control unit inhibits the three-dimensional object assessment unit from assessing that the three-dimensional object is the another vehicle based on the assessment results.

Claims

1. A three-dimensional object detection device comprising:

an image capturing unit arranged to capture images of a predetermined detection area rearward of a host vehicle equipped with the three-dimensional object detection device;

an image conversion unit programmed to convert a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images;

a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the predetermined detection area in which the bird'"'"'s-eye view images obtained at different times by the image conversion unit are aligned, and difference waveform information is generated by counting and creating a frequency distribution of a number of pixels that indicate a predetermined difference in a difference image of the bird'"'"'s-eye view images that were aligned to detect the presence of the three-dimensional object within the predetermined detection area;

a movement speed calculation unit programmed to calculate a movement speed of the three-dimensional object based on the difference waveform information;

a three-dimensional object assessment unit programmed to assess whether the three-dimensional object detected by the three-dimensional object detection unit is another vehicle present in the predetermined detection area based on the difference waveform information;

a non-detection-object assessment unit programmed to repeatedly calculate an amount of change in time of the movement speed of the three-dimensional object to thereby detect an amount of variability in the movement speed of the three-dimensional object, and to determine that the three-dimensional object has a greater possibility of being a non-detection object that is different from the another vehicle as the amount of variability becomes higher; and

a control unit programmed to inhibit the three-dimensional object assessment unit from assessing that the three-dimensional object is the another vehicle based on an assessment results of the non-detection-object assessment unit.

2. The three-dimensional object detection device according to claim 1, wherein

the non-detection-object assessment unit increases a predetermined count value by an increase amount when the amount of variability is at a predetermined first assessment value or greater, and decreases the predetermined count value by an decrease amount when the amount of variability is at a second assessment value or less, which is less than the first assessment value, to thereby increase or decrease the predetermined count value based on the amount of variability and to assess whether the three-dimensional object is the non-detection object based on an increased/decreased count value of the predetermined count value that has been increased or decreased.

3. The three-dimensional object detection device according to claim 2, wherein

the non-detection-object assessment unit assesses that the three-dimensional object is the non-detection object when the predetermined count value has become a predetermined first threshold value or greater as a result of the predetermined count value having been increased or decreased based on the amount of variability.

4. The three-dimensional object detection device according to claim 3, wherein

the non-detection-object assessment unit assesses that the three-dimensional object is not the non-detection object when the predetermined count value has become less than a predetermined second threshold value, which is less than the first threshold value, after the predetermined count value having become the first threshold value or greater.

5. The three-dimensional object detection device according to claim 2, wherein

the three-dimensional-object assessment unit further detects a brightness of the predetermined detection area,

the non-detection-object assessment unit reduces the increase amount or the decrease amount based on the amount of variability when the brightness of the predetermined detection area is less than a predetermined value in comparison with when the brightness of the predetermined detection area is at the predetermined value or greater.

6. The three-dimensional object detection device according to claim 1, wherein

the three-dimensional object detection unit counts a number of pixels that show a predetermined difference in the difference image along a direction in which the three-dimensional object collapses when a conversion in viewpoint to the bird'"'"'s-eye view images is carried out, to form the frequency distribution and thereby generate one-dimensional difference waveform information.

7. A three-dimensional object detection device comprising:

an image capturing unit arranged to capture an image of a predetermined detection area rearward of a host vehicle equipped with the three-dimensional object detection device;

an image conversion unit programmed to convert a viewpoint of the image obtained by the image capturing unit to create a bird'"'"'s-eye view image;

a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the predetermined detection area based on edge information from the bird'"'"'s-eye view image obtained from the image conversion unit;

a movement speed calculation unit programmed to calculate a movement speed of the three-dimensional object based on the edge information;

a three-dimensional object assessment unit programmed to assess whether the three-dimensional object detected by the three-dimensional object detection unit is another vehicle present in the predetermined detection area based on the edge information;

a non-detection-object assessment unit programmed to repeatedly calculate an amount of change in time of the movement speed of the three-dimensional object to thereby detect an amount of variability in the movement speed of the three-dimensional object, and to determine that the three-dimensional object has a greater possibility of being a non-detection object that is different from the another vehicle as the amount of variability becomes higher; and

a control unit programmed to inhibit the three-dimensional object assessment unit from assessing that the three-dimensional object is the another vehicle based on an assessment results of the non-detection-object assessment unit.

8. The three-dimensional object detection device according to claim 7, wherein

the three-dimensional object detection unit detects the edge information along a direction in which the three-dimensional object collapses when a conversion in viewpoint to the bird'"'"'s-eye view image is carried out.

9. The three-dimensional object detection device according to claim 7, wherein

the non-detection-object assessment unit increases a predetermined count value by an increase amount when the amount of variability is at a predetermined first assessment value or greater, and decreases the predetermined count value by an decrease amount when the amount of variability is at a second assessment value or less, which is less than the first assessment value, to thereby increase or decrease the predetermined count value based on the amount of variability and to assess whether the three-dimensional object is the non-detection object based on an increased/decreased count value of the predetermined count value that has been increased or decreased.

10. The three-dimensional object detection device according to claim 9, wherein

the non-detection-object assessment unit assesses that the three-dimensional object is the non-detection object when the predetermined count value has become a predetermined first threshold value or greater as a result of the predetermined count value having been increased or decreased based on the amount of variability.

11. The three-dimensional object detection device according to claim 10, wherein

the non-detection-object assessment unit assesses that the three-dimensional object is not the non-detection object when the predetermined count value has become less than a predetermined second threshold value, which is less than the first threshold value, after the predetermined count value having become the first threshold value or greater.

12. The three-dimensional object detection device according to claim 11, wherein

the three-dimensional-object assessment unit further detects a brightness of the predetermined detection area,

the non-detection-object assessment unit reduces the increase amount or the decrease amount based on the amount of variability when the brightness of the predetermined detection area is less than a predetermined value in comparison with when the brightness of the predetermined detection area is at the predetermined value or greater.

13. The three-dimensional object detection device according to claim 10, wherein

the three-dimensional-object assessment unit further detects a brightness of the predetermined detection area,

the non-detection-object assessment unit reduces the increase amount or the decrease amount based on the amount of variability when the brightness of the predetermined detection area is less than a predetermined value in comparison with when the brightness of the predetermined detection area is at the predetermined value or greater.

14. The three-dimensional object detection device according to claim 9, wherein

the three-dimensional-object assessment unit further detects a brightness of the predetermined detection area,

the non-detection-object assessment unit reduces the increase amount or the decrease amount based on the amount of variability when the brightness of the predetermined detection area is less than a predetermined value in comparison with when the brightness of the predetermined detection area is at the predetermined value or greater.

15. A three-dimensional object detection device comprising:

an image capturing unit arranged to capture an image of a predetermined detection area rearward of a host vehicle equipped with the three-dimensional object detection device;

an image conversion unit programmed to convert a viewpoint of the image obtained by the image capturing unit to create a bird'"'"'s-eye view image;

a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object based on a distribution information of pixels having a luminance difference of a predetermined threshold value or greater in a direction in which the three-dimensional object collapses when a conversion in viewpoint to a bird'"'"'s-eye view image is carried out on the bird'"'"'s-eye view image obtained from the image conversion unit;

a movement speed calculation unit programmed to calculate a movement speed of the three-dimensional object based on an amount of change in time of the distribution information of pixels;

a three-dimensional object assessment unit programmed to assess whether the three-dimensional object detected by the three-dimensional object detection unit is another vehicle present in the predetermined detection area based on the distribution information of pixels;

a non-detection-object assessment unit programmed to repeatedly calculate an amount of change in time of the movement speed of the three-dimensional object to thereby detect an amount of variability in the movement speed of the three-dimensional object, and to determine that the three-dimensional object has a high possibility of being the another vehicle when the amount of variability is less than a predetermined value; and

a control unit programmed to facilitate assessment by the three-dimensional object assessment unit that the three-dimensional object is the another vehicle when the possibility that the three-dimensional object is the another vehicle has been assessed to be high by the non-detection-object assessment unit.