Object recognition apparatus using a plurality of object detecting means

Patent metadata

Field	Value
Publication number	US-10422871-B2
Application number	US-201515501786-A
Country	US
Kind code	B2
Filing date	Aug 4, 2015
Priority date	Aug 6, 2014
Publication date	Sep 24, 2019
Grant date	Sep 24, 2019

Abstract

A vehicle as a moving body is provided with an imaging device as first object detecting means and a radar apparatus as second object detecting means. The object recognition apparatus is provided with axis displacement learning means for learning an axis displacement of the reference axis X1 of the first object detecting means; axis displacement determining means for performing, based on an object detecting result of the first object detecting means and the second object detecting means, an axis displacement determination process for determining whether or not an axis displacement has occurred in the reference axis of the second object detecting means; and disabling means for disabling, based on a learning result of the axis displacement by the axis displacement learning means, information about an axis displacement of the second object detecting means acquired by the axis displacement determination process.

First claim

The invention claimed is:

1. An object recognition apparatus characterized in that the apparatus is applied to a moving body provided with a first object detecting means and a second object detecting means as an object detecting means that detects an object existing in predetermined detection available areas, the detection available areas each including a reference axis, the apparatus comprising:
axis displacement learning means for learning an axis displacement of a reference axis of the first object detecting means;
axis displacement determining means for performing, based on an object detecting counter and an axis displacement determining counter, an axis displacement determination process for determining whether or not an axis displacement has occurred in a reference axis of the second object detecting means, the object detecting counter being incremented in response to the first object detecting means detecting a target object corresponding to the object, and the axis displacement determining counter being incremented in response to the second object detecting means detecting the same object as the target object detected by the first object detecting means; and
disabling means for resetting, based on a learning result of the axis displacement by the axis displacement learning means, the object detecting counter and the axis displacement determining counter.

2. The object recognition apparatus according to claim 1 , wherein
the apparatus includes reliability determining means for determining, based on a learning result of the axis displacement by the axis displacement learning means, whether or not a change in a reliability of the learning result has occurred with respect to a true value, after activating the axis displacement determination process; and
the disabling means is configured to reset the object detecting counter and the axis displacement determining counter, in response to the reliability determining means determining that a change in the reliability of the learning result has occurred.

3. The object recognition apparatus according to claim 2 , wherein
the apparatus includes information holding means for holding values of the object detecting counter and the axis displacement determining counter, the values of the object detecting counter and the axis displacement determining counter having being acquired at a time before being reset; and
the apparatus performs the axis displacement determination process, in the case where the disabling means resets the object detecting counter and the axis displacement determining counter, thereafter, the reliability of the learning result being sufficiently secured is detected with respect to the true value at a time when the object detecting counter and the axis displacement determining counter are reset is acquired, by using the values of the object detecting counter and the axis displacement determining counter held in the information holding means.

4. The object recognition apparatus according to claim 1 , wherein
the first object detecting means is configured as an imaging device that captures an image of a peripheral environment including a road;
the apparatus includes marking recognition means for recognizing a marking of the road, based on the image captured by the first object detecting means;
the axis displacement learning means includes means for learning an axis displacement of the reference axis of the first object detecting means, based on marking information which is information about a marking recognized by the marking recognition means; and
the disabling means is configured to reset, based on the learning result, the object detecting counter and the axis displacement determining counter, in response to learning that the axis displacement is completed based on the marking information of the axis displacement learning means, after starting the operation of the moving body.

5. The object recognition apparatus according to claim 4 , wherein
the apparatus includes a flow calculating means for calculating an optical flow, based on an image captured by the first object detecting means;
the axis displacement learning means includes first learning means and second learning means, the first learning means learning an axis displacement of the reference axis of the first object detecting means, based on the marking information, and the second learning means learning an axis displacement of the reference axis of the first object detecting means, based on the optical flow calculated by the flow calculating means; and
the disabling means is configured to reset, based on the learning result, the object detecting counter and the axis displacement determining counter in response to learning that the axis displacement is completed based on the marking information of the axis displacement learning means, after starting the operation of the moving body, and before completing the learning of the axis displacement based on the marking information.

6. The object recognition apparatus according to claim 1 , wherein
the first object detecting means is configured as an imaging device that captures an image of a peripheral environment including a road; and
the second object detecting means is configured as a detection apparatus that detects the object by transmitting transmission waves and receiving the transmission waves.

7. An object recognition method applied to a moving body provided with a first object detector and a second object detector, which detect objects existing in predetermined detection available areas, the detection available areas each including a reference axis, the method comprising:
learning an axis displacement of a reference axis of the first object detector;
performing, based on an object detecting counter and an axis displacement determining counter, an axis displacement determination process for determining whether an axis displacement has occurred in a reference axis of the second object detector, the object detecting counter being incremented in response to the first object detector detecting a target object corresponding to the object, and the axis displacement determining counter being incremented in response to the second object detector detecting the same object as the target object detected by the first object detector; and
resetting, based on a learning result of the axis displacement, the object detecting counter and the axis displacement determining counter.

8. An object recognition system applied to a moving body provided with a first object detector and a second object detector, which detect objects existing in predetermined detection available areas, the detection available areas each including a reference axis, the system comprising:
a central processor;
a non-transitory computer-readable storage medium; and
a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the central processor to implement:
learning an axis displacement of a reference axis of the first object detector;
performing, based on an object detecting counter and an axis displacement determining counter, an axis displacement determination process for determining whether an axis displacement has occurred in a reference axis of the second object detector, the object detecting counter being incremented in response to the first object detector detecting a target object corresponding to the object, and the axis displacement determining counter being incremented in response to the second object detector detecting the same object as the target object detected by the first object detector; and
resetting, based on a learning result of the axis displacement, the object detecting counter and the axis displacement determining counter.

Assignees

• Denso Corp
• Toyota Motor Co Ltd

Inventors

• Matsumoto Yusuke
• Takaki Ryo
• Isogai Akira
• Aizawa Ichiro
• Tsuchida Jun
• Sato Koichi

Classifications

• G06F18/214

  Generating training patterns; Bootstrap methods, e.g. bagging or boosting · CPC title

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S7/497

  Means for monitoring or calibrating · CPC title