Object detector

• US 9,811,741 B2
• Filed: 01/15/2014
• Issued: 11/07/2017
• Est. Priority Date: 01/28/2013
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Yamamoto, Tetsuo
• Primary Examiner(s): Mikeska, Neil
• Application Number:
  US14/155,931
• Publication Number:
  US 20140211007A1
• Time in Patent Office: 1,392 Days
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

An object detection circuit detects an object moving in a periphery of a vehicle by use of a shot image. A state judgment part changes a parameter relevant to a detection function so as to change whether the detection function of the object detection circuit is to be enabled or disabled while the object detection circuit is kept activated. Thus, even when the detection function of the object detection circuit is disabled, the object detection circuit is kept activated. Therefore, since there is no need to restart the object detection circuit in order to enable the detection function of the object detection circuit, a detection result by the object detection circuit is promptly obtained.

Claims

1. An object detector comprising:

a detecting circuit that is a hardware circuit and detects, by use of a shot image of a periphery of a vehicle captured by a camera, an object moving in the periphery of the vehicle, the detecting circuit, when enabled, performing a detection function implemented by software that detects the object by a frame correlation method that uses a plurality of shot images acquired at successive times; and

a controller that (i) acquires information about a vehicle state of the vehicle, the vehicle state including at least one from the group consisting of a velocity of the vehicle, an operation state of an anti-lock breaking system of the vehicle, an open-close state of a rear door of the vehicle where the camera is installed, and a steering angle of the vehicle, and (ii) changes whether the detection function of the detecting circuit is to be enabled or disabled in accordance with the vehicle state by changing a parameter relevant to the detection function so as to change whether the detection function is to be enabled or disabled while keeping the detecting circuit activated.

2. The object detector of claim 1, wherein

the detecting circuit detects the object when a derived value that is derived from the shot image exceeds a threshold, and

the controller changes the threshold to a maximum value to disable the detection function.

3. The object detector of claim 1, wherein

when the vehicle state includes the velocity of the vehicle and the operation state of the anti-lock braking system of the vehicle,

the controller disables the detection function when the anti-lock braking system is working.

4. The object detector of claim 1, wherein

when the vehicle state includes the open-close state of the rear door of the vehicle where the camera is installed,

the controller disables the detection function when the rear door is open.

5. The object detector of claim 1, wherein

when the vehicle state includes the velocity of the vehicle and the steering angle of the vehicle:

the detecting circuit detects the object by a frame correlation method that uses a plurality of shot images captured at successive times, and

the controller disables the detection function when the steering angle is not within a prescribed steering angle range, and changes the prescribed steering angle range in accordance with the velocity of the vehicle.

6. The object detector of claim 1, wherein the controller outputs a notification that informs a user of a detection result of the detecting circuit.

7. An object detection method comprising the steps of:

(a) a detector detecting, by use of a shot image of a periphery of a vehicle captured by a camera, an object moving in the periphery of the vehicle, the detector being a hardware circuit and, when enabled, performing a detection function that is implemented by software and detects the object by a frame correlation method that uses a plurality of shot images acquired at successive times;

(b) a controller acquiring a vehicle state of the vehicle, the vehicle state including at least one from the group consisting of a velocity of the vehicle, an operation state of an anti-lock breaking system of the vehicle, an open-close state of a rear door of the vehicle where the camera is installed, and a steering angle of the vehicle; and

(c) the controller changing whether the detection function of the detector is to be enabled or disabled in accordance with the vehicle state, wherein

the controller, in the step (c), changes a parameter relevant to the detection function so as to change whether the detection function is to be enabled or disabled while keeping the detector activated.

8. The object detection method of claim 7, wherein

the detector detects the object when a derived value that is derived from the shot image exceeds a threshold, and

the controller, in the step (c), changes the threshold to a maximum value to disable the detection function.

9. The object detection method of claim 7, wherein

when the vehicle state includes the velocity of the vehicle and the operation state of the anti-lock braking system of the vehicle,

the controller, in the step (c), disables the detection function when the anti-lock braking system is working.

10. The object detection method of claim 7, wherein

when the vehicle state includes the open-close state of the a rear door of the vehicle where the camera is installed,

the controller, in the step (c), disables the detection function when the rear door is open.

11. The object detection method of claim 7, wherein

when the vehicle state includes the velocity of the vehicle and the steering angle of the vehicle:

the detector detects the object by a frame correlation method that uses a plurality of the shot images captured at successive times, and

the controller, in the step (c), disables the detection function when the steering angle is not in a prescribed steering angle range, and changes the prescribed steering angle range in accordance with the velocity of the vehicle.

12. The object detection method of claim 7, further comprising the step of:

(d) the controller outputting a notification that informs a user of a detection result by the detector.