Object position detection device, travel control system, and travel control method

Patent metadata

Field	Value
Publication number	US-11847791-B2
Application number	US-202017440580-A
Country	US
Kind code	B2
Filing date	Mar 31, 2020
Priority date	Apr 17, 2019
Publication date	Dec 19, 2023
Grant date	Dec 19, 2023

Abstract

An object position detection device includes a first distance detection unit detecting a distance of an object from images, a first position detection unit detecting a position of the object based on the distance, a processing area which contains the object detected by the first distance detection unit in images, a second position detection unit that detects a position of the object in the processing area, a second distance detection unit that detects a distance of the object based on the position of the object detected by the second position detection unit, a unit that detects an orientation of the object based on the position of the object detected by the second position detection unit, and a determination unit that determines the distance and the position of the object in accordance with information of detections executed by the first and the second distance detection units, and the orientation detection unit.

First claim

The invention claimed is:

1. An object position detection device, comprising:
a first distance detection unit that detects a distance of an object from images derived from a first image pickup unit and a second image pickup unit;
a first position detection unit that detects a position of the object based on the distance detected by the first distance detection unit;
a processing area setting unit that sets a processing area which contains the object detected by the first distance detection unit in any one of the images picked up by multiple image pickup units including the first and the second image pickup units;
a second position detection unit that detects a position of the object in the processing area;
a second distance detection unit that detects a distance of the object based on the position of the object detected by the second position detection unit;
an orientation detection unit that detects an orientation of the object based on the position of the object detected by the second position detection unit; and
a determination unit that determines the distance and the position of the object in accordance with information of detections executed by the first distance detection unit, the second distance detection unit, the first position detection unit, the second position detection unit, and the orientation detection unit, respectively.

2. The object position detection device according to claim 1 , wherein:
the second position detection unit detects a predetermined part of the object being tracked; and
the orientation detection unit detects an orientation of a position of a tail end surface of the object specified from the predetermined part detected by the second position detection unit.

3. The object position detection device according to claim 1 , wherein when the distance detected by the first distance detection unit is at a side farther than a predetermined distance, and the position detected by the first position detection unit is within a predetermined range, the determination unit uses detection results derived from the second distance detection unit and the second position detection unit.

4. The object position detection device according to claim 1 , wherein when the distance detected by the first distance detection unit is at a side closer than a predetermined distance, and the position detected by the first position detection unit is out of a predetermined range, the determination unit uses detection results derived from the first distance detection unit and the first position detection unit.

5. The object position detection device according to claim 1 , wherein when the orientation of the object detected by the orientation detection unit is larger than a predetermined angle, the determination unit uses detection results derived from the first distance detection unit and the first position detection unit.

6. A travel control system that controls traveling of a following vehicle that follows a preceding vehicle, wherein:
the following vehicle includes a position detection device that detects a position of the preceding vehicle from images of the preceding vehicle, which are picked up by multiple image pickup units each for picking up a forward image;
the multiple image pickup units include a first image pickup unit and a second image pickup unit; and
the position detection device includes a first distance detection unit for detecting a distance of the preceding vehicle based on a parallax obtained by searching an image element in a reference image defined to be derived from the second image pickup unit, the image element corresponding to an image element in a standard image defined to be derived from the first image pickup unit, a first position detection unit that detects a position of the preceding vehicle based on the distance detected by the first distance detection unit, a processing area setting unit that sets a processing area which contains the preceding vehicle detected by the first distance detection unit in any one of images derived from the multiple image pickup units, a second position detection unit that detects a position of the preceding vehicle in the processing area, a second distance detection unit that detects a distance of the preceding vehicle based on the position of the preceding vehicle detected by the second position detection unit, an orientation detection unit that detects an orientation of the preceding vehicle based on the position of the preceding vehicle detected by the second position detection unit, a determination unit that determines the distance and the position of the preceding vehicle in accordance with the distance, the position, and the orientation, which have been detected by the first distance detection unit, the second distance detection unit, the first position detection unit, the second position detection unit, and the orientation detection unit, respectively, and a vehicle controller that controls the following vehicle based on a determination made by the determination unit.

7. A travel control method for controlling traveling of a following vehicle that follows a preceding vehicle, the method comprising:
a step of detecting a first distance of the preceding vehicle based on a parallax obtained by searching an image element in a reference image defined to be derived from a second image pickup unit, the image element corresponding to an image element in a standard image defined to be derived from a first image pickup unit, the first image pickup unit and the second image pickup unit forming multiple image pickup units each for picking up a forward image of the following vehicle;
a step of detecting a first position of the preceding vehicle based on the first distance detected by the step of detecting the first distance;
a step of setting a processing area that contains the preceding vehicle detected by the step of detecting the first distance in any one of images derived from the multiple image pickup units;
a step of detecting a second position of the preceding vehicle in the processing area;
a step of detecting a second distance of the preceding vehicle based on the second position;
a step of detecting an orientation of the preceding vehicle based on the second position;
a step of determining a distance and a position of the preceding vehicle in accordance with the first distance, the second distance, the first position, the second position, and the orientation; and
a step of controlling the following vehicle based on a determination made by the determination step.

Assignees

• Hitachi Astemo Ltd

Inventors

• Sasamoto Manabu
• Matsuo Shigeru
• Ueno Kentarou

Classifications

• G06T7/593 Primary

  from stereo images · CPC title

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• G06T7/292

  Multi-camera tracking · CPC title

• G06V10/25

  Determination of region of interest [ROI] or a volume of interest [VOI] · 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