Outside environment recognition device

Patent metadata

Field	Value
Publication number	US-11961307-B2
Application number	US-202017618517-A
Country	US
Kind code	B2
Filing date	Mar 13, 2020
Priority date	Jun 14, 2019
Publication date	Apr 16, 2024
Grant date	Apr 16, 2024

Abstract

An external environment recognition device includes: a plurality of external environment recognition sensors each having an information detection unit that detects information of an object outside a vehicle, the plurality of external environment recognition sensors being arranged such that a detection range of the information detection unit includes an overlapping region where at least part of the detection range of the information detection unit overlaps with at least part of the detection range of another one of the information detection units; and a synchronous processing unit that extracts identical objects in the overlapping region from detection results of the external environment recognition sensors, and performs synchronous processing to synchronize the plurality of external environment recognition sensors if there is a deviation in position between the identical objects in the overlapping region.

First claim

The invention claimed is:

1. An external environment recognition device that recognizes an external environment of an autonomous mobile object, the external environment recognition device comprising:
a plurality of external environment recognition sensors each having an information detection circuit that detects information of an object outside the autonomous mobile object, the plurality of external environment recognition sensors being arranged such that a detection range of the information detection circuit includes an overlapping region where at least part of the detection range of the information detection circuit overlaps with at least part of the detection range of another one of the information detection circuits; and
a synchronous processing circuit that extracts identical objects in the overlapping region from detection results of the external environment recognition sensors, performs no synchronous processing if there is no deviation in position between the identical objects in the overlapping region, and performs synchronous processing to synchronize the plurality of external environment recognition sensors a timing when a deviation in position between the identical objects in the overlapping region occurs, wherein
the plurality of external environment recognition sensors include a plurality of cameras arranged so as to have the overlapping region, and
the synchronous processing circuit extracts identical objects from images in the overlapping region of the plurality of cameras, identifies static objects from among the identical objects, and superimposes the static objects on each other to determine whether or not there is a deviation in position between the identical objects.

2. The external environment recognition device of claim 1 , wherein
the synchronous processing circuit determines whether or not there is a deviation in position between the identical objects based on extraction results of the identical objects in the overlapping region detected when a moving speed of the autonomous mobile object is lower than a predetermined threshold value.

3. The external environment recognition device of claim 1 , further comprising:
an abnormality notification circuit that provides notification of abnormality of any one of the external environment recognition sensors if the positional deviation between the identical objects is not eliminated after the synchronous processing circuit executes the synchronous processing.

4. An external environment recognition method that recognizes an external environment of an autonomous mobile object, the method comprising:
receiving detection results from a plurality of external environment recognition sensors each having an information detection circuit that detects information of an object outside the autonomous mobile object, the plurality of external environment recognition sensors being arranged such that a detection range of the information detection circuit includes an overlapping region where at least part of the detection range of the information detection circuit overlaps with at least part of the detection range of another one of the information detection circuits;
extracting identical objects in the overlapping region from the detection results of the external environment recognition sensors;
performing no synchronous processing if there is no deviation in position between the identical objects in the overlapping region; and
performing synchronous processing to synchronize the plurality of external environment recognition sensors a timing when a deviation in position between the identical objects in the overlapping region occurs,
wherein the plurality of external environment recognition sensors include a plurality of cameras arranged so as to have the overlapping region, and further comprising:
extracting identical objects from images in the overlapping region of the plurality of cameras, identifies static objects from among the identical objects; and
superimposing the static objects on each other to determine whether or not there is a deviation in position between the identical objects.

5. The method of claim 4 , further comprising:
determining whether or not there is a deviation in position between the identical objects based on extraction results of the identical objects in the overlapping region detected when a moving speed of the autonomous mobile object is lower than a predetermined threshold value.

6. The method of claim 4 , further comprising:
providing notification of abnormality of any one of the external environment recognition sensors if the positional deviation between the identical objects is not eliminated after the synchronous processing.

7. A non-transitory computer readable storage device having computer readable instructions that when executed by circuitry cause the circuitry to:
receive detection results from a plurality of external environment recognition sensors each having an information detection circuit that detects information of an object outside an autonomous mobile object, the plurality of external environment recognition sensors being arranged such that a detection range of the information detection circuit includes an overlapping region where at least part of the detection range of the information detection circuit overlaps with at least part of the detection range of another one of the information detection circuits;
extract identical objects in the overlapping region from the detection results of the external environment recognition sensors;
perform no synchronous processing if there is no deviation in position between the identical objects in the overlapping region; and
perform synchronous processing to synchronize the plurality of external environment recognition sensors a timing when a deviation in position between the identical objects in the overlapping region occurs, wherein the plurality of external environment recognition sensors include a plurality of cameras arranged so as to have the overlapping region, and the circuitry is further caused to:
extract identical objects from images in the overlapping region of the plurality of cameras, identifies static objects from among the identical objects; and
superimpose the static objects on each other to determine whether or not there is a deviation in position between the identical objects.

8. The non-transitory computer readable storage device of claim 7 , wherein the circuitry is further caused to:
determine whether or not there is a deviation in position between the identical objects based on extraction results of the identical objects in the overlapping region detected when a moving speed of the autonomous mobile object is lower than a predetermined threshold value.

9. The non-transitory computer readable storage device of claim 7 , wherein the circuitry is further caused to:
provide notification of abnormality of any one of the external environment recognition sensors if the positional deviation between the identical objects is not eliminated after the synchronous processing.

Assignees

• Mazda Motor

Inventors

• Hamano Daisuke

Classifications

• H04N23/90

  Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums · CPC title

• H04N23/80

  Camera processing pipelines; Components thereof · CPC title

• G06V20/56 Primary

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• H04N23/61

  based on recognised objects · CPC title