Object detection apparatus

• US 9,798,002 B2
• Filed: 11/21/2013
• Issued: 10/24/2017
• Est. Priority Date: 11/22/2012
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Baba, Takahiro
• Primary Examiner(s): Windrich, Marcus
• Application Number:
  US14/086,405
• Publication Number:
  US 20140139369A1
• Time in Patent Office: 1,433 Days
• Field of Search: 342118, 342139, 342 70- 72
• CPC Class Codes: G01S 13/50 Systems of measurement based on relative movement of target
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles

Abstract

An object detection apparatus mounted in a vehicle, includes a first domain definition unit, a second domain definition unit, and a determination unit. The first domain definition unit defines a first object domain including a first detection point which is indicative of a position of a first object detected by using a vehicle-mounted radar. The second domain definition unit defines a second object domain including a second detection point which is indicative of a position of a second object detected on the basis of an image captured by a vehicle-mounted monocular camera. The determination unit determines whether or not an overlapping domain of the first and second object domains is present, and when it is determined that an overlapping domain of the first and second object domains is present, then determines that the first and second objects are the same.

Claims

1. An object detection apparatus mounted in a vehicle, comprising:

a first domain definition unit configured to define a first object domain that is an error domain centered at a first detection point having a first predetermined size based on characteristics of a vehicle-mounted radar, the first detection point being indicative of a position of a first object detected based on detection information acquired using the vehicle-mounted radar relative to a reference point on an XY-plane, the reference point being a position of the vehicle-mounted radar, an X-axis direction of the XY-plane being a vehicle widthwise direction, and a Y-axis direction of the XY-plane being a vehicle lengthwise direction;

a second domain definition unit configured to define a second object domain that is an error domain centered at a second detection point having a second predetermined size based on characteristics of a vehicle-mounted monocular camera, the second detection point being indicative of a position of a second object detected based on an image captured by the vehicle-mounted monocular camera relative to the reference point on the XY-plane, the second object domain being defined by at least an azimuth angle range centered at an azimuth angle of the second detection point, the azimuth angle of the second detection point being an angle between a direction from the reference point to the second detection point and the vehicle lengthwise direction and being determined by a distance from a focus of expansion to a vertical line passing through a center of the second object in the image; and

a determination unit configured to determine whether or not an overlapping domain of the first and second object domains is present on the XY-plane, and if it is determined that an overlapping domain of the first and second object domains is present on the XY-plane, then determine that the first and second objects are the same object.

2. The apparatus of claim 1, wherein the second domain definition unit is configured to determine whether the second object is a pedestrian or a vehicle via matching processing, and if it is determined that the second object is a pedestrian, then extend the azimuth angle range of the second object domain as compared to when it is determined that the second object is a vehicle.

3. The apparatus of claim 1, wherein the second domain definition unit is configured to determine whether the second object is a pedestrian moving in a first direction along the X-axis or in a second direction opposite to the first direction, and if it is determined that the second object is a pedestrian is moving in the first direction, then extend a half of the azimuth angle range of the second object domain on the first direction side of the second detection point to be greater than the other half of the azimuth angle range on the second direction side of the second detection point.

4. The apparatus of claim 1, wherein the second object domain is defined by the azimuth angle range and a Y-coordinate range centered at a Y-coordinate of the second detection point on the XY-plane.

5. The apparatus of claim 4, wherein the second domain definition unit is configured to extend the Y-coordinate range of the second object domain with an increasing Y-coordinate of the second detection point on the XY-plane.

6. The apparatus of claim 4, wherein the second domain definition unit is configured to determine whether the second object is a pedestrian or a vehicle via matching processing, and if it is determined that the second object is a vehicle, then extend the Y-coordinate range of the second object domain as compared to when it is determined that the second object is a pedestrian.

7. The apparatus of claim 1, wherein the second object domain is defined by the azimuth angle range and a linear distance range centered at a linear distance of the second detection point that is a linear distance from the reference point to the second detection point on the XY-plane.

8. The apparatus of claim 7, wherein the second domain definition unit is configured to extend the linear distance range of the second object domain with an increasing linear distance from the reference point to the second detection point.

9. The apparatus of claim 7, wherein the second domain definition unit is configured to, if the linear distance from the reference point to the second detection point is less than a predetermined value, then extend the azimuth angle range of the second object domain as compared to when the linear distance from the reference point to the second detection point is equal to or greater than the predetermined value.

10. The apparatus of claim 1, wherein the first object domain is defined by an azimuth angle range centered at an azimuth angle of the first detection point, the azimuth angle of the first detection point being an angle between a direction from the reference point to the first detection point and the vehicle lengthwise direction.

11. The apparatus of claim 10, wherein the first object domain is defined by the azimuth angle range and a linear distance range centered at a linear distance of the first detection point that is a linear distance from the reference point to the first detection point on the XY-plane.

12. The apparatus of claim 11, wherein the first domain definition unit is configured to extend the linear distance range of the first object domain with an increasing linear distance from the reference point to the first detection point.

13. The apparatus of claim 11, wherein the first domain definition unit is configured to, if the linear distance from the reference point to the first detection point is less than a predetermined value, then extend the azimuth angle range of the first object domain as compared to when the linear distance from the reference point to the first detection point is equal to or greater than the predetermined value.

14. The apparatus of claim 10, wherein the first domain definition unit is configured to, if the azimuth angle of the first detection point is equal to or greater than a predetermined value, then extend the azimuth angle range of the first object domain as compared to when the azimuth angle of the first object relative to the reference point is less than the predetermined value.

15. The apparatus of claim 1, wherein

the first object domain is defined by an X-coordinate range centered at an X-coordinate of the first detection point on the XY-plane, and

the first domain definition unit is configured to determine whether the first object is a pedestrian or a vehicle via matching processing, and if it is determined that the first object is a vehicle, then extend the X-coordinate range of the first object domain as compared to when it is determined that the first object is a pedestrian.

16. The apparatus of claim 1, further comprising a degree-of-confidence calculation unit configured to, if it is determined by the determination unit that the first and second objects are the same object, then calculate a degree of confidence in determination that the first and second objects are the same object.

17. The apparatus of claim 16, wherein the degree of confidence is increased with a decreasing angle difference between an azimuth angle of the first detection point from the vehicle lengthwise direction and the azimuth angle of the second detection point from the vehicle lengthwise direction.

18. The apparatus of claim 16, wherein the degree of confidence is increased with an increasing area of the overlapping domain of the first and second object domains.

19. The apparatus of claim 1, wherein the determination unit is configured to, if it is determined that the first and second objects are the same object, then define a position of the object determined the same on the XY-plane by a Y-coordinate of the first detection point and the azimuth angle of the second detection point from the vehicle lengthwise direction.

20. An object detection apparatus mounted in a vehicle, comprising:

a first domain definition unit configured to define a first object domain that is an error domain centered at a first detection point having a first predetermined size based on characteristics of a vehicle-mounted radar, the first detection point being indicative of a position of a first object detected based on detection information acquired using the vehicle-mounted radar relative to a reference point on an XY-plane, the reference point being a position of the vehicle-mounted radar, an X-axis direction of the XY-plane being a vehicle widthwise direction, and a Y-axis direction of the XY-plane being a vehicle lengthwise direction;

a second domain definition unit configured to define a second object domain that is an error domain centered at a second detection point having a second predetermined size based on characteristics of a vehicle-mounted monocular camera, the second detection point being indicative of a position of a second object detected based on an image captured by the vehicle-mounted monocular camera relative to the reference point on the XY-plane, the second object domain being defined by at least an azimuth angle range centered at an azimuth angle of the second detection point, the azimuth angle of the second detection point being an angle between a direction from the reference point to the second detection point and the vehicle lengthwise direction and being determined by a distance from a focus of expansion to a vertical line passing through a center of the second object in the image, the second domain definition unit being configured to, based on the image captured by the vehicle-mounted monocular camera, determine whether the second object is a pedestrian or a vehicle via matching processing, and if it is determined that the second object is a pedestrian, then extend the azimuth angle range of the second object domain as compared to when it is determined that the second object is a vehicle; and

a determination unit configured to determine whether or not an overlapping domain of the first and second object domains is present on the XY-plane, and if it is determined that an overlapping domain of the first and second object domains is present on the XY-plane, then determine that the first and second objects are the same object.

21. An object detection apparatus mounted in a vehicle, comprising:

a first domain definition unit configured to define a first object domain that is an error domain centered at a first detection point and having a first predetermined size based on characteristics of a vehicle-mounted radar, the first detection point being indicative of a position of a first object detected based on detection information acquired using the vehicle-mounted radar relative to a reference point on an XY-plane, the reference point being a position of the vehicle-mounted radar, an X-axis direction of the XY-plane being a vehicle widthwise direction, and a Y-axis direction of the XY-plane being a vehicle lengthwise direction;

a second domain definition unit configured to define a second object domain that is an error domain centered at a second detection point and having a second predetermined size based on characteristics of a vehicle-mounted monocular camera, the second detection point being indicative of a position of a second object detected based on an image captured by the vehicle-mounted monocular camera relative to the reference point on the XY-plane, the second object domain being defined by an azimuth angle range and a linear distance range, the azimuth angle range being centered at an azimuth angle of the second detection point, the azimuth angle of the second detection point being an angle between a direction from the reference point to the second detection point and the vehicle lengthwise direction and being determined by a distance from a focus of expansion to a vertical line passing through a center of the second object in the image, the linear distance range being centered at a linear distance of the second detection point that is a linear distance from the reference point to the second detection point on the XY-plane; and

a determination unit configured to determine whether or not an overlapping domain of the first and second object domains is present on the XY-plane, and if it is determined that an overlapping domain of the first and second object domains is present on the XY-plane, then determine that the first and second objects are the same object.

22. An object detection apparatus mounted in a vehicle, comprising:

a first domain definition unit configured to define a first object domain that is an error domain centered at a first detection point having a first predetermined size based on characteristics of a vehicle-mounted radar, the first detection point being indicative of a position of a first object detected based on detection information acquired using the vehicle-mounted radar relative to a reference point on an XY-plane, the reference point being a position of the vehicle-mounted radar, an X-axis direction of the XY-plane being a vehicle widthwise direction, and a Y-axis direction of the XY-plane being a vehicle lengthwise direction;

a second domain definition unit configured to define a second object domain that is an error domain centered at a second detection point having a second predetermined size based on characteristics of a vehicle-mounted monocular camera, the second detection point being indicative of a position of a second object detected based on an image captured by the vehicle-mounted monocular camera relative to the reference point on the XY-plane, the second object domain being defined by at least an azimuth angle range centered at an azimuth angle of the second detection point, the azimuth angle of the second detection point being an angle between a direction from the reference point to the second detection point and the vehicle lengthwise direction and being determined by a distance from a focus of expansion to a vertical line passing through a center of the second object in the image;

a determination unit configured to determine whether or not an overlapping domain of the first and second object domains is present on the XY-plane, and if it is determined that an overlapping domain of the first and second object domains is present on the XY-plane, then determine that the first and second objects are the same object; and

a degree-of-confidence calculation unit configured to, if it is determined by the determination unit that the first and second objects are the same object, then calculate a degree of confidence in determination that the first and second objects are the same object, the degree of confidence being increased with a decreasing angle difference between an azimuth angle of the first detection point from the vehicle lengthwise direction and the azimuth angle of the second detection point from the vehicle lengthwise direction.

23. An object detection apparatus mounted in a vehicle, comprising:

a first domain definition unit configured to define a first object domain that is an error domain centered at a first detection point having a first predetermined size based on characteristics of a vehicle-mounted radar, the first detection point being indicative of a position of a first object detected based on detection information acquired using the vehicle-mounted radar relative to a reference point on an XY-plane, the reference point being a position of the vehicle-mounted radar, an X-axis direction of the XY-plane being a vehicle widthwise direction, and a Y-axis direction of the XY-plane being a vehicle lengthwise direction;

a second domain definition unit configured to define a second object domain that is an error domain centered at a second detection point having a second predetermined size based on characteristics of a vehicle-mounted monocular camera, the second detection point being indicative of a position of a second object detected based on an image captured by the vehicle-mounted monocular camera relative to the reference point on the XY-plane, the second object domain being defined by at least an azimuth angle range centered at an azimuth angle of the second detection point, the azimuth angle of the second detection point being an angle between a direction from the reference point to the second detection point and the vehicle lengthwise direction and being determined by a distance from a focus of expansion to a vertical line passing through a center of the second object in the image;

a determination unit configured to determine whether or not an overlapping domain of the first and second object domains is present on the XY-plane, and if it is determined that an overlapping domain of the first and second object domains is present on the XY-plane, then determine that the first and second objects are the same object; and

a degree-of-confidence calculation unit configured to, if it is determined by the determination unit that the first and second objects are the same object, then calculate a degree of confidence in determination that the first and second objects are the same object, the degree of confidence being increased with an increasing area of the overlapping domain of the of the first and second object domains.

24. An object detection apparatus mounted in a vehicle, comprising:

a first domain definition unit configured to define a first object domain that is an error domain centered at a first detection point having a first predetermined size based on characteristics of a vehicle-mounted radar, the first detection point being indicative of a position of a first object detected based on detection information acquired using the vehicle-mounted radar relative to a reference point on an XY-plane, the reference point being a position of the vehicle-mounted radar, an X-axis direction of the XY-plane being a vehicle widthwise direction, and a Y-axis direction of the XY-plane being a vehicle lengthwise direction;

a second domain definition unit configured to define a second object domain that is an error domain centered at a second detection point having a second predetermined size based on characteristics of a vehicle-mounted monocular camera, the second detection point being indicative of a position of a second object detected based on an image captured by the vehicle-mounted monocular camera relative to the reference point on the XY-plane, the second object domain being defined by at least an azimuth angle range centered at an azimuth angle of the second detection point, the azimuth angle of the second detection point being an angle between a direction from the reference point to the second detection point and the vehicle lengthwise direction and being determined by a distance from a focus of expansion to a vertical line passing through a center of the second object in the image; and

a determination unit configured to determine whether or not an overlapping domain of the first and second object domains is present on the XY-plane, and if it is determined that an overlapping domain of the first and second object domains is present on the XY-plane, then determine that the first and second objects are the same object, the determination unit being configured to, if it is determined that the first and second objects are the same object, then define a position of the object determined the same on the XY-plane by a Y-coordinate of the first detection point and the azimuth angle of the second detection point from the vehicle lengthwise direction.