Object detection device for area around vehicle

• US 9,367,751 B2
• Filed: 06/13/2013
• Issued: 06/14/2016
• Est. Priority Date: 06/19/2012
• Status: Active Grant

• Current Assignee: Misato Industries Company Limited (Samvardhana Motherson International Ltd.)
• Original Assignee: Ichikoh Industries Limited (Valeo SE)
• Inventors: Kurimoto, Hideto, Honda, Keisuke
• Primary Examiner(s): Lu, Tom Y
• Application Number:
  US14/409,288
• Publication Number:
  US 20150169969A1
• Time in Patent Office: 1,097 Days
• Field of Search: 382/103, 382/104, 382/107
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/20021 Dividing image into blocks, subimages or windows
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06V 10/22 by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
• CPC Class Codes: G06V 10/25 Determination of region of interest [ROI] or a volume of interest [VOI]
• 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: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

This object detection device for the area around a vehicle is provided with an imaging device and an image processing device. The image processing device is configured from a detection area setting unit, three area processing units, and an integration processing unit. The detection area setting unit sets a trio of small, medium, and large detection areas within a one-frame image captured by the imaging device. Detection processing for the presence of objects within the trio of small, medium, and large detection areas is carried out for each detection area simultaneously and in parallel by the three area processing units using pattern matching. The integration processing unit integrates the plurality of detection results resulting from detection processing by the plurality of area processing units and outputs the result. As a result, the present invention makes it possible to reduce the amount of time required for detection processing.

Claims

1. An object detection device for an area around a vehicle, comprising:

an imaging device to capture a periphery of the vehicle as an image; and

an image processing device to process an image of the periphery of the vehicle which is captured by the imaging device and then output a detection result, wherein

the image processing device is comprised of;

a detection area setting unit to set a plurality of detection areas of different sizes in the image of one frame;

a plurality of area processing units to respectively carry out detection processing operations as to whether the object is present or absent simultaneously in parallel to each other by way of pattern matching in the plurality of the detection areas of different sizes that are set by the detection area setting unit;

an integration processing unit to integrate and output a plurality of detection results that are respectively processed to be detected by the plurality of the area processing units, wherein;

the plurality of detection areas of different sizes comprises a detection area of a large size and a detection area of a small size, and the detection area of the large size includes the detection area of the small size; and

a white line detection processing unit to carry out detection processing of a white line of a road,

wherein the detection area setting unit is configured to set the detection area of the large size and to set the detection area of the small size, according to the white line that is processed to be detected at the white line detection processing unit.

2. The object detection device for the area around the vehicle, according to claim 1, wherein the detection area that is set by the detection area setting unit is made of:

the detection area of a large size;

the detection area of a small size; and

one or a plurality of intermediate detection areas which is or are set between the detection area of the large size and the detection area of the small size.

3. An object detection device for an area around a vehicle, comprising:

an imaging device to capture a periphery of the vehicle as an image; and

an image processing device to process an image of the periphery of the vehicle which is captured by the imaging device and then output a detection result, wherein

the image processing device is comprised of;

a detection area setting unit to set a plurality of detection areas of different sizes in the image of one frame;

a plurality of area processing units to respectively carry out detection processing operations as to whether the object is present or absent simultaneously in parallel to each other by way of pattern matching in the plurality of the detection areas of different sizes that are set by the detection area setting unit; and

an integration processing unit to integrate and output a plurality of detection results that are respectively processed to be detected by the plurality of the area processing units,

wherein;

the plurality of detection areas of different sizes comprises a detection area of a large size and a detection area of a small size

the detection area of a large size is a proximal area of the vehicle,

the detection area of a small size is a distal area of the vehicle, and

the detection area of the large size includes the detection area of the small size.

4. An object detection device for an area around a vehicle, comprising:

an imaging device to capture a periphery of the vehicle as an image;

a detection device to detect vehicle information; and

an image processing device to process an image of the periphery of the vehicle which is captured by the imaging device and then output a detection result, wherein

the image processing device is comprised of;

a detection area setting unit to set a plurality of detection areas of different sizes in the image of one frame;

a plurality of area processing units to respectively carry out detection processing operations as to whether the object is present or absent simultaneously in parallel to each other by way of pattern matching in the plurality of the detection areas of different sizes that are set by the detection area setting unit;

an integration processing unit to integrate and output a plurality of detection results that are respectively processed to be detected by the plurality of the area processing units, wherein;

the plurality of detection areas of different sizes comprises a detection area of a large size and a detection area of a small size, and the detection area of the large size includes the detection area of the small size; and

a travel path estimation unit to estimate a travel path o he vehicle, based on the vehicle information from the detection device,

wherein the detection area setting unit is configured to set the detection area of the large size to a default, to set the detection area of the small size, according to the travel path, or alternatively, to set the detection area of the small size to a default, based on an estimation result from the travel path estimation unit.

5. An object detection device for an area around a vehicle, comprising:

an imaging device to capture a periphery of the vehicle as an image;

a detection device to detect vehicle information; and

an image processing device to process an image of the periphery of the vehicle which is captured by the imaging device and then output a detection result, wherein

the image processing device is comprised of;

a detection area setting unit to set a plurality of detection areas of different sizes in the image of one frame;

a plurality of area processing units to respectively carry out detection processing operations as to whether the object is present or absent simultaneously in parallel to each other by way of pattern matching in the plurality of the detection areas of different sizes that are set by the detection area setting unit;

an integration processing unit to integrate and output a plurality of detection results that are respective processed to be detected by the plurality of the area processing units wherein;

the plurality of detection areas of different sizes comprises a detection area of a large size and a detection area of a small size, and the detection area of the large size includes the detection area of the small size;

a white line detection processing unit to carry out detection processing of a white line of a road; and

a travel path estimation unit to estimate the travel path of the vehicle, based on the vehicle information from the detection device, wherein

the detection area setting unit is configured to set the detection area of the large size, and to set the detection area of the small size, according to the white line that is processed to be detected at the white line detection processing unit or alternatively, to set the detection area of the large size to a default, based on the white line detection processing unit, and to set the detection area of the small size, according to the travel path, or alternatively, to set the detection area of the small size to a default based on an estimation result from the travel path estimation unit.