Mobile object control apparatus and target object detecting apparatus

• US 9,607,230 B2
• Filed: 04/13/2015
• Issued: 03/28/2017
• Est. Priority Date: 04/16/2014
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kijima, Yoshitaka
• Primary Examiner(s): Anwari, Maceeh
• Application Number:
  US14/684,514
• Publication Number:
  US 20150302260A1
• Time in Patent Office: 715 Days
• Field of Search: 701/70
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60Y 2302/05 Leading to automatic stopping of the vehicle
• CPC Class Codes: G06T 2207/20061 Hough transform
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/251 involving models
• 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 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A mobile object control apparatus includes a movement predictor and a mobile object controller. If a specific object having at least one tire is detected, the movement predictor starts to predict a movement of the specific object. The mobile object controller controls the behavior of a mobile object in view of the movement of the specific object that is predicted by the movement predictor.

Claims

1. A mobile object control apparatus comprising:

an image capturing unit configured to acquire a captured image representing an area around the periphery of a mobile object, the captured image being captured while the mobile object is moving;

an object detecting unit configured to detect a specific object having a tire as a target object based on the captured image acquired by the image capturing unit;

a movement predicting unit configured to start to predict a movement of the specific object if the object detecting unit detects the specific object having at least one tire; and

a mobile object control unit configured to control a behavior of the mobile object in view of the movement of the specific object that is predicted by the movement predicting unit,

wherein the object detecting unit comprises;

a tire profile recognizer configured to recognize a tire profile, which represents a shape of the tire, from within profile information of the captured image;

an end recognizer configured to recognize an end profile, which represents a shape of a horizontal end of the specific object that is positioned near the tire profile; and

a type determiner configured to classify the tire profile, which was recognized by the tire profile recognizer, and the end profile, which was recognized by the end recognizer, into a profile group, and determine a number of tires that the specific object has based on a horizontal symmetry of each member of the profile group.

2. The mobile object control apparatus according to claim 1, wherein:

the movement predicting unit predicts whether or not a possibility exists for the specific object to contact the mobile object; and

the mobile object control unit performs a decelerating/stopping control process for decelerating or stopping the mobile object if the movement predicting unit predicts that a possibility exists for the specific object to contact the mobile object.

3. The mobile object control apparatus according to claim 2, wherein the mobile object control unit performs the decelerating/stopping control process if the movement predicting unit predicts that a possibility exists for the specific object, which has at least two tires, to contact the mobile object.

4. The mobile object control apparatus according to claim 2, wherein the mobile object control unit performs the decelerating/stopping control process if the specific object is positioned near another target object having at least two tires, and the movement predicting unit predicts that a possibility exists for the specific object to contact the mobile object.

5. The mobile object control apparatus according to claim 3, wherein the mobile object control unit performs the decelerating/stopping control process if the specific object is positioned near another target object having at least two tires, and the movement predicting unit predicts that a possibility exists for the specific object to contact the mobile object.

6. The mobile object control apparatus according to claim 2, wherein the mobile object control unit performs the decelerating/stopping control process if the specific object having at least one tire moves near a stationary object as another target object, and the movement predicting unit predicts that a possibility exists for the specific object to contact the mobile object.

7. An object detecting apparatus comprising:

a profile extracting unit configured to acquire a profile image by performing a profile extracting process on a captured image in which a mobile object having a tire is included;

a tire profile recognizing unit configured to recognize a tire profile, which represents a shape of the tire, from within the profile image acquired by the profile extracting unit;

a mobile object end recognizing unit configured to recognize an end profile, which represents a horizontal end of a mobile object positioned near the tire profile that was recognized by the tire profile recognizing unit; and

a mobile object control unit configured to control a behavior of the mobile object in view of the movement of the specific object that is predicted by the movement predicting unit,

wherein the mobile object end recognizing unit further comprises;

a first search range establisher configured to establish a first search range for searching for the end profile, at a position spaced from the position of the tire profile by a horizontal distance that is equal to or less than a threshold value, and which is spaced upwardly vertically from the position of the tire profile; and

the mobile object end recognizing unit determines whether or not at least a portion of the end profile exists within the first search range, thereby recognizing the end profile.

8. The object detecting apparatus according to claim 7, wherein the mobile object end recognizing unit searches within the first search range for a segmental component, which extends in one direction, and thereafter searches for a first vertical component, which extends downwardly along a vertical direction or a direction inclined within an allowable range to the vertical direction, from a lower endpoint of the segmental component, thereby recognizing the end profile.

9. The object detecting apparatus according to claim 7, wherein the mobile object end recognizing unit further comprises:

a second search range establisher configured to establish a second search range for searching for the end profile, at a position spaced from the position of the tire profile by a horizontal distance that is greater than the threshold value; and

if the mobile object end recognizing unit fails to recognize the end profile that was searched for within the first search range, the mobile object end recognizing unit determines whether or not at least a portion of the end profile exists within the second search range established by the second search range establisher, thereby recognizing the end profile.

10. The object detecting apparatus according to claim 9, wherein the mobile object end recognizing unit searches within the second search range for a second vertical component, which extends downwardly along a vertical direction or a direction inclined within an allowable range to the vertical direction, thereby recognizing the end profile.

11. The object detecting apparatus according to claim 9, further comprising:

a type determiner configured to determine a type of the mobile object depending on whether the mobile object end recognizing unit has searched for the end profile in the first search range or in the second search range.