Object detection apparatus

Patent metadata

Field	Value
Publication number	US-11014566-B2
Application number	US-201716345026-A
Country	US
Kind code	B2
Filing date	Oct 10, 2017
Priority date	Oct 27, 2016
Publication date	May 25, 2021
Grant date	May 25, 2021

Abstract

An object detection apparatus is provided with a distance measurement sensor that measures a distance to an object which exists in a surrounding area of a vehicle, by transmitting scanning waves to the surrounding of the vehicle and receiving reflection waves of the scanning waves, and an image acquiring section that is adopted to the vehicle, and is provided with an on-vehicle camera that captures images in the surrounding of the vehicle, the imaging acquiring section acquiring an image that is captured by the camera. The apparatus includes a determination section that determines whether, a predetermined object that is difficult to detect by the reflection waves of the distance measurement sensor is included in the object image, and a sensitivity control section that increases a sensitivity of the object detection by the distance measurement sensor and a vehicle control that is executed relative to the predetermined object as a target object.

First claim

The invention claimed is:

1. An object detection apparatus comprising:
a distance measurement sensor that measures a distance to an object existing in a surrounding area of a vehicle by transmitting scanning waves to the surrounding area of the vehicle and receiving reflection waves of the scanning waves;
an image acquiring section that is adopted to the vehicle and is provided with an on-vehicle camera that captures images in the surrounding area of the vehicle, the imaging acquiring section acquiring an image that is captured by the on-vehicle camera;
a determination section that determines whether, a predetermined object is included in an object image, based on the captured imaged, the predetermined object being an object in which object detection is difficult to perform by the reflection waves of the distance measurement sensor;
a sensitivity controller that increases a sensitivity of the distance measurement sensor of object detection, when the predetermined object is included in the object image,
a position estimation section configured to estimate a relative position of the predetermined object, relative to the vehicle, when the determination section determines that a predetermined object is included in the object image, and
a vehicle controller that performs a vehicle control in which the predetermined object is a target object, wherein
the on-vehicle camera is a single lens camera based on imaging of stereo camera or a moving stereo, and
when the determination section determines that the predetermined object is included in the object image,
the sensitivity controller increases the sensitivity in a predetermined range that includes the relative position of the predetermined object, in a direction in which a distance from the vehicle to the predetermined object is taken, and
sets a size of the predetermined range based on dispersion of features points of the predetermined object, in the direction from the vehicle to the predetermined object.

2. The object detection apparatus according to claim 1 , wherein
the determination section determines whether the predetermined object is included in the object image and a type of predetermined object, and
the sensitivity controller sets the predetermined range based on the type of predetermined object.

3. The object detection apparatus according to claim 2 , comprising:
a tracking section that tracks the relative position of the predetermined object, when the vehicle is moving, wherein
the position estimation section updates the relative position of the predetermined object based on the relative position of the object that is tracked by the tracking section.

4. The object detection apparatus according to claim 2 , wherein
the determination section determines whether the predetermined object is included in the object image, and
the sensitivity controller increases the sensitivity by decreasing a detection threshold that compares a signal intensity which is output from the distance measurement sensor and sets the detection threshold based on the type of predetermined object that is determined by the determination section.

5. The object detection apparatus according to claim 2 , wherein
the closer the distance is from the vehicle to the predetermined object, the more the sensitivity is increased by the sensitivity controller.

6. The object detection apparatus according to claim 2 , wherein
the sensitivity controller prohibits a change of the sensitivity, when the distance of the predetermined object relative to the vehicle is equal to or lower than a predetermined distance.

7. The object detection apparatus according to claim 2 , comprising:
a detection determination section that determines that the predetermined object is not detected, after the sensitivity is increased by the sensitivity controller, wherein
the sensitivity controller prohibits the change in the sensitivity, when the detection determination section determines that the predetermined object is not detected.

8. The object detection apparatus according to claim 2 , comprising:
a detection determination section that determines that the predetermined object is not detected, after the sensitivity is increased by the sensitivity controller, wherein
the sensitivity controller prohibits the change in the sensitivity, when the detection determination section determines that the predetermined object is not detected.

9. The object detection apparatus according to claim 1 , comprising:
a tracking section that tracks the relative position of the predetermined object, when the vehicle is moving, wherein
the position estimation section updates the relative position of the predetermined object based on the relative position of the object that is tracked by the tracking section.

10. The object detection apparatus according to claim 9 , wherein
the determination section determines whether the predetermined object is included in the object image, and
the sensitivity controller increases the sensitivity by decreasing a detection threshold that compares a signal intensity which is output from the distance measurement sensor and sets the detection threshold based on the type of predetermined object that is determined by the determination section.

11. The object detection apparatus according to claim 9 , wherein
the closer the distance is from the vehicle to the predetermined object, the more the sensitivity is increased by the sensitivity controller.

12. The object detection apparatus according to claim 9 , wherein
the sensitivity controller prohibits a change of the sensitivity, when the distance of the predetermined object relative to the vehicle is equal to or lower than a predetermined distance.

13. The object detection apparatus according to claim 9 , comprising:
a detection determination section that determines that the predetermined object is not detected, after the sensitivity is increased by the sensitivity controller, wherein
the sensitivity controller prohibits the change in the sensitivity, when the detection determination section determines that the predetermined object is not detected.

14. The object detection apparatus according to claim 1 , wherein
the determination section determines whether the predetermined object is included in the object image, and
the sensitivity controller increases the sensitivity by decreasing a detection threshold that compares a signal intensity which is output from the distance measurement sensor and sets the detection threshold based on the type of predetermined object that is determined by the determination section.

15. The object detection apparatus according to claim 14 , wherein
the closer the distance is from the vehicle to the predetermined object, the more the sensitivity is increased by the sensitivity controller.

16. The object detection apparatus according to claim 14 , wherein
the sensitivity controller prohibits a change of the sensitivity, when the distance of the predetermined object relative to the vehicle is equal to or lower than a predetermined distance.

17. The object detection apparatus according to claim 14 , comprising:
a detection determination section that determines that the predetermined object is not detected, after the sensitivity is increased by the sensitivity controller, wherein
the sensitivity controller prohibits the change in the sensitivity, when the detection determination section determines that the predetermined object is not detected.

18. The object detection apparatus according to claim 1 , wherein
the closer the distance is

Assignees

• Denso Corp

Inventors

• Maeda Yu
• Yanagawa Hirohiko
• Matsuura Mitsuyasu

Classifications

• 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

• G01S7/529

  Gain of receiver varied automatically during pulse-recurrence period {(for seismic signals G01V1/245)} · CPC title

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• G01S7/539

  using analysis of echo signal for target characterisation; Target signature; Target cross-section · CPC title

• G01S2013/9324

  Alternative operation using ultrasonic waves · CPC title