Three-dimensional object detection device

• US 9,832,444 B2
• Filed: 02/26/2013
• Issued: 11/28/2017
• Est. Priority Date: 03/01/2012
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Fukata, Osamu, Hayakawa, Yasuhisa
• Primary Examiner(s): Hallenbeck-Huber, Jeremaiah C
• Assistant Examiner(s): Shahnami, Amir
• Application Number:
  US14/373,054
• Publication Number:
  US 20150009292A1
• Time in Patent Office: 1,736 Days
• Field of Search: 348 46
• CPC Class Codes: G06T 2207/20064 Wavelet transform [DWT]
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 5/80 Geometric correction
• CPC Class Codes: G06T 7/262 using transform domain methods, e.g. Fourier domain methods
• 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 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/64 Three-dimensional objects
• CPC Class Codes: H04N 13/111 Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 2013/0074 Stereoscopic image analysis
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit and a light source detection unit. The image conversion unit converts a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the adjacent lane. The three-dimensional object detection unit determines the presence of the three-dimensional object within the adjacent lane-when the difference waveform information is at a threshold value or higher. The three-dimensional object detection unit set a threshold value lower so that the three-dimensional object is more readily detected in a rearward area than forward area with respect to a line connecting the light source and the image capturing unit.

Claims

1. A three-dimensional object detection device comprising:

an image capturing unit arranged to capture images of a predetermined area relative to an adjacent lane rearward of a host vehicle equipped with the three-dimensional object detection device; and

a computer programmed to include;

an image conversion unit programmed to convert a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images;

a three-dimensional object detection unit programmed to;

align, in a bird'"'"'s-eye view, positions of the bird'"'"'s-eye view images obtained at different times by the image conversion unit,

obtain a difference between the bird'"'"'s-eye view images to generate a difference image,

generate difference waveform information by counting a number of pixels that indicate a difference having a predetermined first threshold value or higher in a difference image of the aligned bird'"'"'s-eye view images to form a frequency distribution, wherein the pixels are counted along lines in a direction in which a three dimensional object collapses due to viewpoint conversion and values of the difference waveform information correspond to the lines in the difference image, and

detect a presence of a three-dimensional object within the adjacent lane based on the difference waveform information when the difference waveform information is at a predetermined second threshold value or higher; and

a light source detection unit programmed to detect a light source present rearward of the host vehicle based on the images obtained by the image capturing unit,

the three-dimensional object detection unit setting at least one of the first and second threshold values lower in a rearward area of the predetermined area further rearward from the light source than a line connecting the light source and the image capturing unit as detected by the light source detection unit than in a forward area of the predetermined area further forward from the light source than the line.

2. The three-dimensional object detection device according to claim 1, wherein:

the computer further programmed to include a distance calculation unit programmed to calculate a distance in a vehicle width direction from the image capturing unit to the light source,

the three-dimensional object detection unit setting at least one of the first and second threshold values higher so that as a distance in the vehicle width direction from the image capturing unit to the light source increases, the at least one of the first and second threshold values increases.

3. A three-dimensional object detection device comprising:

an image capturing unit arranged to capture images of a predetermined area relative to an adjacent lane rearward of a host vehicle equipped with the three-dimensional object detection device; and

a computer programmed to include;

an image conversion unit programmed to convert a viewpoint of the images obtained by the image capturing unit to create bird'"'"'s-eye view images;

a three-dimensional object detection unit programmed to;

detect edge information having a predetermined first threshold value or higher from the bird'"'"'s-eye view images, and

detect a presence of a three-dimensional object within the adjacent lane based on the edge information when the edge information is at a predetermined second threshold value or higher; and

a light source detection unit programmed to detect a light source present rearward of the host vehicle based on the images obtained by the image capturing unit,

the three-dimensional object detection unit setting at least one of the first and second threshold values lower in a rearward area of the predetermined area further rearward from the light source than a line connecting the light source and the image capturing unit as detected by the light source detection unit than a forward area of the predetermined area further forward from the light source than the line.

4. The three-dimensional object detection device according to claim 3, wherein:

the computer further programmed to include a distance calculation unit programmed to calculate a distance in a vehicle width direction from the image capturing unit to the light source,

the three-dimensional object detection unit setting at least one of the first and second threshold values higher so that as a distance in the vehicle width direction from the image capturing unit to the light source increases, the at least one of the first and second threshold values increases.

5. A three-dimensional object detection device comprising:

an image capturing unit arranged to capture an image of a predetermined area relative to an adjacent lane rearward of a host vehicle equipped with the three-dimensional object detection device; and

a computer programmed to include;

an image conversion unit programmed to convert a viewpoint of the image obtained by the image capturing unit to create a bird'"'"'s-eye view image;

a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the adjacent lane based on distribution information of pixels in the bird'"'"'s-eye view image obtained by the image conversion unit in which a luminance difference is at a predetermined first threshold value or greater along a direction in which the three-dimensional object collapses when converted in viewpoint to the bird'"'"'s-eye view image, and the three-dimensional object detection unit determining the presence of the three-dimensional object when an amount of distribution of the pixels in the direction in which the three-dimensional object collapses is at a predetermined second threshold value or greater; and

a light source detection unit programmed to detect a light source present rearward of the host vehicle based on the image obtained by the image capturing unit,

the three-dimensional object detection unit specifying, as an area to be detected, an area in which a possibility of another vehicle traveling in an adjacent lane being present in the predetermined area is at a predetermined value or higher based on a detection position of the light source detected by the light source detection unit, and setting the first threshold value or the second threshold value lower in the area to be detected.