Vehicle-installation intersection judgment apparatus and program

• US 9,390,624 B2
• Filed: 03/27/2014
• Issued: 07/12/2016
• Est. Priority Date: 03/29/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation, Nippon Soken, Inc.
• Original Assignee: DENSO Corporation, Nippon Soken, Inc.
• Inventors: Minemura, Akitoshi, Ogata, Yoshihisa, Yokoyama, Takahisa
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): SHUDY, ANGELINA M
• Application Number:
  US14/227,371
• Publication Number:
  US 20140297171A1
• Time in Patent Office: 838 Days
• Field of Search: 701/300, 701/301, 701/302, 342/70, 340/435, 340/436, 348/148
• US Class Current: 1/1
• CPC Class Codes: B60R 21/34 Protecting non-occupants of a vehicle, e.g. pedestrians B60R19/02 takes precedence
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle-installation intersection judgment apparatus determines whether a target object such as a pedestrian is located ahead and to one side of the vehicle, and if so, judges whether the object is moving laterally to intersect with the advancement of the vehicle. Successive amounts of lateral displacement of the object are periodically derived, each amount is compared with a displacement threshold, a count is made of the number of times that the displacement threshold is exceeded, and the count is compared with a predetermined count threshold. The judgment concerning the target object is made based upon whether the count threshold is attained.

Claims

1. An intersection judgement apparatus incorporated in a PCS (pre-crash system) of a host vehicle for assisting the PCS to calculate a TTC (time to collision) with a target object, the intersection judgement apparatus comprising

distance measurement circuitry configured for receiving target object detection information from target object detection means, and for periodically calculating updated values of a relative distance between the host vehicle and a target object based on the target object information, the target object information relating to an object positioned within an external region located ahead of the host vehicle and to one side of a longitudinal motion direction of the host vehicle;

direction angle measurement circuitry configured for periodically calculating updated values of a direction angle of the target object relative to the host vehicle, based on the target object detection information,

displacement amount calculation circuitry configured for periodically calculating updated amounts of lateral displacement of the target object based upon respective values of the calculated relative distance and calculated direction angle of the target object, each lateral displacement amount being measured along a lateral direction which is at right angles to longitudinal motion direction of the host vehicle, and

intersection judgement circuitry configured for applying the periodically calculated lateral displacement amounts in judgement processing for judging whether the target object is moving substantially continuously along the lateral direction;

wherein;

the intersection judgement circuitry is configured to;

execute the judgement processing based on utilizing a plurality of threshold condition groups, each threshold condition group comprising a combination of a corresponding lower displacement threshold and a corresponding count threshold having respectively predetermined values, the corresponding lower displacement thresholds of the threshold condition groups being respectively different and the corresponding count thresholds of the threshold condition groups being respectively different;

apply each of the threshold condition groups in an operation of counting a number of times that sequential ones of the lateral displacement amounts exceed the corresponding lower displacement threshold of the threshold condition group, and make a determination that the threshold condition group changes from a non-satisfied status to a satisfied status when the counted number attains the corresponding count threshold of the threshold condition group; and

,

judge whether the target object is moving laterally towards intersection with the longitudinal motion direction of the host vehicle, based upon evaluating the respective statuses of the plurality of threshold condition groups, with results of the judgement being supplied to the PCS for use in calculating the time to collision with the target object.

2. The intersection judgement apparatus as claimed in claim 1 wherein, only when all of the plurality of threshold condition groups become satisfied, the intersection judgement circuitry judges that the target object is moving laterally towards intersection with the longitudinal motion direction of the host vehicle.

3. The intersection judgement apparatus as claimed in claim 1 wherein, when at least one of the plurality of threshold condition groups becomes satisfied, the intersection judgement circuitry judges that the target object is moving laterally towards intersection with the advancement of the host vehicle.

4. The intersection judgement apparatus as claimed in claim 1 wherein the respective count threshold values assigned to the threshold condition groups vary in inverse proportion to the respective displacement threshold values assigned to the threshold condition groups.

5. The intersection judgement apparatus as claimed in claim 1, wherein for each of the threshold condition groups, the intersection judgement circuitry judges that the threshold condition group is satisfied when the counted number attains the corresponding count threshold within a predetermined count range (M), the count range comprising a predetermined number of consecutive timings at which respective lateral displacement amounts are calculated.

6. The intersection judgement apparatus as claimed in claim 5, wherein an identical count range is applied for each of the plurality of threshold condition groups.

7. The intersection judgement apparatus as claimed in claim 1, wherein the target object detection means comprises

a radar apparatus configured to transmit radar waves within a first external region located ahead of the host vehicle and receive resultant reflected radar waves, and to produce radar information based on the received reflected waves, and

a camera apparatus configured to capture successive images of contents of a second external region located ahead of the host vehicle and to produce image information based on the captured images, said second external region at least partially overlapping said first external region;

wherein the distance measurement circuitry measures the distance of the target object based on the radar information and the direction angle measurement circuitry measures the direction of the target object based on the image information,

and wherein, a No. 1 lateral displacement amount is calculated based on a distance value derived from the radar information and a direction value derived from the image information, the intersection judgement circuitry evaluates the statuses of the threshold condition groups with respect to sequentially calculated values of the No. 1 lateral displacement amount.

8. The intersection judgement apparatus as claimed in claim 7, wherein the distance measurement circuitry is further configured to calculate the distance of the target object relative to the host vehicle based upon the image information, and the direction angle measurement circuitry is further configured to calculate the direction of the target object relative to the host vehicle based upon the radar information, and wherein the displacement amount calculation circuitry is configured to:

calculate a first position error region by adding predetermined estimated image measurement error amounts to a first obtained position of the target object, the first obtained position being expressed by values of relative distance and relative direction of the target object respectively derived from the image information;

calculate a second position error region by adding predetermined estimated radar measurement error amounts to a second obtained position for the target object, the second obtained position being expressed by values of relative distance and relative direction of the target object derived from the radar information; and

calculate the No. 1 displacement amount, by employing the image information and the radar information, only under condition that at least some degree of overlap exists between the first position error region and the second position error region.

9. The intersection judgement apparatus as claimed in claim 7, wherein the distance measurement circuitry is further configured to calculate the distance of the target object from the host vehicle based upon the image information, and the direction angle measurement circuitry is further configured to calculate the direction angle of the target object relative to the host vehicle based upon the radar information;

and wherein the displacement amount calculation circuitry is configured to

calculate a position difference as a distance between a first obtained position of the target object and a second obtained position of the target object, the first obtained position being expressed by values of distance and direction calculated based on the image information, and the second obtained position being expressed by values of distance and direction calculated based on the radar information, and

calculate the No. 1 displacement amount, by employing the image information and the radar information, only under condition that the position difference amount is within a predetermined error range.

10. The intersection judgement apparatus as claimed in claim 7, wherein a No. 2 lateral displacement amount is calculated based on a value of the distance of the target object obtained based on the radar information and on a value of the direction of the target object obtained based on the radar information, the intersection judgement circuitry:

evaluates a first plurality of threshold condition groups with respect to sequentially calculated values of the No. 1 lateral displacement amount and evaluates a second plurality of threshold condition groups with respect to sequentially calculated values of the No. 2 lateral displacement amount; and

when it is judged that all of the first plurality of threshold condition groups are satisfied by values of the No. 1 lateral displacement amount while also all of the second plurality of threshold condition groups are satisfied by values of the No. 2 lateral displacement amount, judges that the target object is moving laterally towards intersection with the longitudinal motion direction of the host vehicle.

11. The intersection judgement apparatus as claimed in claim 1, wherein

a value of a displacement limit threshold is predetermined, higher than each of the values of the lower displacement thresholds respectively corresponding to the plurality of threshold condition groups, and

for each of the threshold condition groups, when a displacement amount exceeds the lower displacement threshold corresponding to the threshold condition group and also exceeds the displacement limit threshold, the intersection judgement circuitry omits to increment the count number accordingly.

12. The intersection judgement apparatus as claimed in claim 11, wherein the displacement limit threshold is predetermined in accordance with a type of target object required to be judged.

13. The intersection judgement apparatus as claimed in claim 1, wherein

a lower limit value of speed is predetermined in accordance with a type of target object which is required to be judged,

the intersection judgement circuitry calculates a motion speed of a target object as an average value, and

when an average value calculated by the intersection judgement circuitry does not attain the lower limit value of speed, the intersection judgement circuitry judges that the target object will not intersect with the advancement of the host vehicle, irrespective of respective statuses of the plurality of threshold condition groups.

14. The intersection judgement apparatus as claimed in claim 1, wherein the intersection judgement apparatus includes a computer incorporating a non-volatile storage apparatus having a computer program stored therein, wherein respective functions of the displacement amount calculation circuitry, the intersection judgement circuitry, the distance measurement circuitry and the direction angle measurement circuitry, are implemented by the computer in executing the stored program.

15. An intersection judgement apparatus incorporated in a PCS (pre-crash system) of a host vehicle for assisting the PCS to calculate a TTC (time to collision) with a target object, the intersection judgement apparatus comprising

distance measurement circuitry configured for receiving target object detection information from target object detection means, and for periodically calculating updated values of a relative distance between the host vehicle and a target object based on the target object information, the target object information relating to an object positioned within an external region, located ahead of the host vehicle and to one side of a longitudinal motion direction of the host vehicle;

direction angle measurement circuitry configured for periodically calculating updated values of a direction angle of the target object relative to the host vehicle, based on the target object information,

displacement amount calculation circuitry configured for periodically calculating updated amounts of lateral displacement of the target object based upon currently calculated values of the relative distance and the relative direction angle of the target object, each lateral displacement amount being measured along a direction which is at right angles to the longitudinal motion direction of the host vehicle, and

intersection judgement circuitry configured for applying the periodically calculated lateral displacement amounts in judgement processing for determining whether the target object is moving to laterally intersect with the longitudinal motion direction of the host vehicle;

wherein a displacement limit threshold is predetermined as corresponding to a specific class of target object, based on an estimated maximum value of motion speed of objects within the specific class,

and wherein the intersection judgement circuitry is configured to;

execute the judgement processing based upon counting a number of calculation timings for which sequential ones of the calculated lateral displacement amounts are each within a displacement range extending between the displacement limit threshold and a predetermined lower displacement threshold, the displacement limit threshold being higher than the lower displacement threshold, and

judge that the target object is moving to laterally intersect with the longitudinal motion direction of the host vehicle when a result of counting the number of calculation timings attains a predetermined count threshold, with results of the judgement being used by the PCS in calculating the TTC with the target object.

16. The intersection judgement apparatus as claimed in claim 15, wherein the intersection judgement circuitry judges that the target object is moving laterally towards intersection with the longitudinal motion direction of the host vehicle under condition that the result of counting the number of calculation timings attains the predetermined count threshold within a predetermined count range, the count range comprising a fixed number of consecutive calculation timings.

17. The intersection judgement apparatus as claimed in claim 15, wherein the intersection judgement apparatus includes a computer incorporating a non-volatile storage apparatus having a computer program stored therein, wherein respective functions of the displacement amount calculation circuitry, the intersection judgement circuitry, the distance measurement circuitry and the direction angle measurement circuitry, are implemented by the computer in executing the stored program.

18. The intersection judgement apparatus as claimed in claim 15, wherein the displacement limit threshold is established based on a maximum value of motion speed attainable by a person not in a motor vehicle.

19. The intersection judgement apparatus as claimed in claim 15, wherein the displacement limit threshold is established based on a maximum value of motion speed attainable by a pedestrian.

20. An intersection judgement apparatus incorporated in a PCS (pre-crash system) of a host vehicle for assisting the PCS to calculate a TTC (time to collision) with a target object, comprising

a radar apparatus configured to transmit radar waves within a first external region located ahead of the host vehicle and receive resultant reflected radar waves, and to produce radar information based on the received reflected waves, and a camera apparatus configured to capture successive images of contents of a second external region located ahead of the host vehicle and to produce image information based on the captured images, the second external region at least partially overlapping the first external region;

wherein the intersection judgement apparatus comprises;

distance measurement circuitry configured for periodically calculating updated values of a relative distance of a target object from the host vehicle based on the radar information and updated values of the relative distance of the target object based on the image information,

direction angle measurement circuitry configured for periodically calculating updated values of a relative direction angle of the target object with respect to the host vehicle based on the radar information and updated values of the relative direction angle of the target object based on the image information,

displacement amount calculation circuitry configured for periodically calculating updated amounts of lateral displacement of the target object based upon the relative distance values and relative direction angle values of the target object, each lateral displacement amount being measured along an intersection direction oriented towards and at right angles to a longitudinal motion direction of the host vehicle, and

intersection judgement circuitry configured for applying the periodically calculated lateral displacement amounts in judgement processing for judging whether the target object is moving substantially continuously along the intersection direction;

wherein the intersection judgement circuitry is configured to;

execute the judgement processing based on utilizing a plurality of threshold condition groups, each threshold condition group comprising a combination of a corresponding lower displacement threshold and a corresponding count threshold having respectively predetermined values, the corresponding lower displacement thresholds being respectively different and the corresponding count thresholds being respectively different,

consecutively apply each of the threshold condition groups in a count operation of counting a number of times that each of sequential ones of the lateral displacement amounts exceeds the corresponding lower displacement threshold of the threshold condition group, and of judging that the threshold condition group changes from a non-satisfied status to a satisfied status when the counted number attains the corresponding count threshold of the threshold condition group, and

judge whether the target object is moving laterally towards intersection with the longitudinal motion direction of the host vehicle, based upon evaluating respective statuses of the plurality of threshold condition groups, with results of the judgement being used by the PCS in calculating the TTC with the target object;

wherein designating a No. 1 lateral displacement amount as an amount of lateral displacement of the target object calculated based on a relative distance value derived from the radar information and on a relative direction angle value derived from the image information, the displacement amount calculation circuitry is configured to;

calculate a first position error region by adding predetermined estimated image measurement error amounts to a first obtained position of the target object, the first obtained position being expressed by the values of relative distance and relative direction angle calculated based on the image information;

calculate a second position error region by adding predetermined estimated radar measurement error amounts to a second obtained position for the target object, the second obtained position being expressed by the values of relative distance and relative direction angle calculated based on the radar information; and

calculate the No. 1 displacement amount, by employing the image information and the radar information, only under condition that at least some degree of overlap exists between the first position error region and the second position error region.

21. The intersection judgement apparatus according to claim 20, wherein the displacement amount calculation circuitry is configured to:

apply the second obtained position for the target object in calculating a lateral displacement amount of the target object, and apply a resultant calculated lateral displacement amount in the count operation, when no degree of overlap exists between the first position error region and the second position error region, and

apply the No. 1 lateral displacement amount as the lateral displacement amount in the count operation, when at least some degree of overlap exists between the first position error region and the second position error region.

22. The intersection judgement apparatus according to claim 20, wherein the displacement amount calculation circuitry is configured to:

apply the second obtained position for the target object in calculating a lateral displacement amount of the target object, and apply a resultant calculated lateral displacement amount in the count operation, when an amount of separation between the first obtained position and the second obtained position exceeds a predetermined error amount, and

apply the No. 1 lateral displacement amount as the lateral displacement amount in the count operation, when at least some degree of overlap exists between the first position error region and the second position error region or an amount of separation between the first obtained position and the second obtained position does not exceed a predetermined error amount.