Perimeter monitoring device and perimeter monitoring method

Patent metadata

Field	Value
Publication number	US-10885354-B2
Application number	US-201716328465-A
Country	US
Kind code	B2
Filing date	Aug 3, 2017
Priority date	Aug 29, 2016
Publication date	Jan 5, 2021
Grant date	Jan 5, 2021

Abstract

A perimeter monitoring device is applied to a vehicle comprising a distance measuring sensor for transmitting a probing wave and receiving a reflected wave of the probing wave and an imaging device for capturing an image of the surroundings of the vehicle. The perimeter monitoring device comprises: an information acquisition unit for acquiring distance information, directional information, and object width information of an object existing in the vicinity of the vehicle as detection information of the object provided by the distance measuring sensor; an area setting unit for setting an image processing area on which image processing is performed in the image captured by the imaging device based on the distance information, the directional information, and the object width information acquired by the information acquisition unit; and an object recognition unit for performing the image processing on the image processing area set by the area setting unit to recognize the object.

First claim

The invention claimed is:

1. A perimeter monitoring device applied to a vehicle including an imaging device for capturing an image of a surroundings of the vehicle and a plurality of distance measuring sensors, in which, the plurality of distance measuring sensors include a first sensor that transmits probing waves and receives reflected waves as direct waves and a second sensor different from the first sensor that transmits probing waves and receives reflected waves as indirect waves, the perimeter monitoring device comprising:
an information acquisition unit for acquiring distance information, directional information, and object width information of an object existing in a vicinity of the vehicle as detection information of the object provided by the plurality of distance measuring sensors;
an area setting unit for setting an image processing area on which image processing is performed in the image captured by the imaging device based on the distance information, the directional information, and the object width information acquired by the information acquisition unit;
an object recognition unit for performing the image processing on the image processing area set by the area setting unit to recognize the object;
an intersection calculating unit for calculating an intersection point of a straight line passing through the first sensor and a direct reflection point that is a reflection point of the direct wave, and a straight line passing through the second sensor and an indirect reflection point that is a reflection point of the indirect wave; and
a reflection point calculating unit for calculating the direct reflection point based on the intersection point, wherein
the information acquisition unit acquires an intersecting straight line that passes through the direct reflection point and extends in a direction intersecting with a straight line connecting the direct reflection point and the first sensor at a certain angle as reflection surface information of the object, and acquires the object width information and an orientation information of the object based on the reflection surface information of the object detected by the plurality of distance measuring sensors, and
the area setting unit sets the image processing area using the object width information and the orientation information of the object acquired based on the reflection surface information in response to the orientation information of the object acquired based on the reflection surface information being an orientation inclined at a certain angle with respect to a vehicle width direction, an area surrounded by left and right boundary lines and upper and lower boundary lines inclined at the certain angle with respect to the vehicle width direction is set as the image processing area.

2. The perimeter monitoring device according to claim 1 , wherein
the information acquisition unit acquires orientation information of the object based on the reflection surface information, and
the area setting unit sets the image processing area using the orientation information acquired based on the reflection surface information.

3. The perimeter monitoring device according to claim 1 further comprising:
a contact judging unit for judging whether or not the vehicle is likely to contact with the object detected by the plurality of distance measuring sensors based on information on a driving state of the vehicle, wherein
the area setting unit does not set the image processing area in the image captured by the imaging device for an object judged to be unlikely to contact with the vehicle by the contact judging unit.

4. The perimeter monitoring device according to claim 1 , wherein
the plurality of distance measuring sensors comprise an ultrasonic sensor.

5. A perimeter monitoring method applied to a vehicle including an imaging device for capturing an image of a surroundings of the vehicle and a plurality of distance measuring sensors, in which, the plurality of distance measuring sensors include a first sensor that transmits probing waves and receives reflected waves as direct waves and a second sensor different from the first sensor that transmits probing waves and receives reflected waves as indirect waves, the perimeter monitoring method comprising:
acquiring distance information, directional information, and object width information of an object existing in a vicinity of the vehicle as detection information of the object provided by the plurality of distance measuring sensors;
setting an image processing area on which image processing is performed in the image captured by the imaging device based on the acquired distance information, directional information, and object width information;
performing the image processing on the set image processing area to recognize the object;
calculating an intersection point of a straight line passing through the first sensor and a direct reflection point that is a reflection point of the direct wave, and a straight line passing through the second sensor and an indirect reflection point that is a reflection point of the indirect wave; and
calculating the direct reflection point based on the intersection point, wherein
an intersecting straight line is acquired, in which the intersecting straight line passes through the direct reflection point and extends in a direction intersecting with a straight line connecting the direct reflection point and the first sensor at a certain angle as reflection surface information of the object,
the object width information and an orientation information of the object is acquired based on the reflection surface information of the object detected by the plurality of distance measuring sensors, and
the image processing area is set using the object width information and the orientation information of the object acquired based on the reflection surface information in response to the orientation information of the object acquired based on the reflection surface information being at an orientation inclined at a certain angle with respect to a vehicle width direction, an area surrounded by left and right boundary lines and upper and lower boundary lines inclined at the certain angle with respect to the vehicle width direction is set as the image processing area.

Assignees

• Denso Corp

Inventors

• Maeda Yu
• Harada Taketo
• Matsuura Mitsuyasu
• Yanagawa Hirohiko

Classifications

• B60R21/00 Primary

  Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks (safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19) · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G01S15/93

  for anti-collision purposes · CPC title

• G01S15/46

  Indirect determination of position data · CPC title

• G01B11/026

  by measuring distance between sensor and object (G01B11/0608 takes precedence) · CPC title