Outside recognition device

Patent metadata

Field	Value
Publication number	US-10527413-B2
Application number	US-201415315415-A
Country	US
Kind code	B2
Filing date	Jun 25, 2014
Priority date	Jun 25, 2014
Publication date	Jan 7, 2020
Grant date	Jan 7, 2020

Abstract

An outside recognition device according to the present invention has an object to perform distance measurement of an obstacle detected with a surrounding monitoring camera at a low cost. The outside recognition device according to the present invention has a stereo camera that measures a distance in front of the vehicle, a surrounding monitoring camera that photographs a surrounding area of the vehicle, a three-dimensional measuring unit that measures a photographing range of the surrounding monitoring camera with the stereo camera by means for rotating the stereo camera, and generates three-dimensional information from the measurement result, a distance correction information generating unit that generates distance correction information corresponding to a photographing direction of surrounding monitoring camera from the three-dimensional information, and a distance measuring unit that measures a position of the obstacle detected with a surrounding monitoring camera.

First claim

The invention claimed is:

1. An outside recognition device comprising:
distance measuring means for measuring a distance in front of a vehicle;
a surrounding monitoring camera that photographs a surrounding area of the vehicle;
a three-dimensional measuring unit that measures a photographing range of the surrounding monitoring camera with the distance measuring means and generates three-dimensional information;
the photographing range of the surrounding monitoring camera is wider than the photographing range of the three-dimensional measuring unit;
a distance correction information generating unit that generates distance correction information corresponding to a photographing angle of the surrounding monitoring camera from the three-dimensional information; and
a distance measuring unit that measures a position of an obstacle detected with the surrounding monitoring camera using the distance correction information,
wherein the distance measuring means first measures a distance from the surrounding area of the vehicle by the rotation of the distance measuring means.

2. The outside recognition device according to claim 1 , wherein the distance measuring means is a stereo camera.

3. The outside recognition device according to claim 1 , wherein the three-dimensional measuring unit rotates the distance measuring means with an upper rotating body of the vehicle when the photographing range of the surrounding monitoring camera is measured with the distance measuring means.

4. The outside recognition device according to claim 2 ,
wherein the stereo camera is provided with the rotating mechanism that rotates the distance measuring means without rotating an upper body of the vehicle, and
wherein the three-dimensional measuring unit rotates the stereo camera with the rotating mechanism when the photographing range of the surrounding monitoring camera is photographed with the stereo camera.

5. The outside recognition device according to claim 1 , wherein the distance measuring means is a laser scanner device.

6. The outside recognition device according to claim 1 , wherein the distance measuring means first measures the distance from the entire circumference of the vehicle by the rotation of the distance measuring means.

7. The outside recognition device according to claim 1 , wherein the three-dimensional measuring unit generates a parallax image from left and right images obtained from the distance measuring means, stores the parallax image in a parallax image memory, and obtains three-dimensional coordinates of a subject in front of the vehicle.

8. The outside recognition device according to claim 1 , wherein the surrounding monitoring camera is configured to operate without a distance sensor.

Assignees

• Hitachi Ltd

Inventors

• Matsuo Shigeru
• HASEJIMA Noriyasu
• Kurata Kenichirou

Classifications

• G01C3/14

  with binocular observation at a single point, e.g. stereoscopic type (G01C3/20 takes precedence) · CPC title

• E02F9/205 Primary

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• H04N13/25

  using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor · CPC title

• E02F9/261

  Surveying the work-site to be treated · CPC title

• H04N7/183

  for receiving images from a single remote source · CPC title