Object detection apparatus and object detection method

Patent metadata

Field	Value
Publication number	US-2018246187-A1
Application number	US-201615758183-A
Country	US
Kind code	A1
Filing date	Aug 29, 2016
Priority date	Sep 9, 2015
Publication date	Aug 30, 2018
Grant date	—

Abstract

An object detection apparatus includes an object detecting unit, a temporary determination unit a speed acquiring unit, and a final determination unit. The object detecting unit detects a pedestrian or a two-wheeled vehicle as an object that is present in a periphery of an own vehicle by performing image processing on a captured image capturing an advancing direction of the own vehicle. The temporary determination unit temporarily determinates a type of the object detected by the object detecting unit by analyzing the captured image. The speed acquiring unit acquires a movement speed of the object using reflected waves of a carrier wave. The final determination unit finally determines the type of the object temporarily determined by the temporary determination unit using the movement speed acquired by the speed acquiring unit.

First claim

1 . An object detection apparatus comprising:
an object detecting unit that detects a pedestrian or a two-wheeled vehicle as an object that is present in a periphery of an own vehicle by performing image processing on a captured image capturing an advancing direction of the own vehicle; a temporary determination unit that temporarily determines a type of the object detected by the object detecting unit by analyzing the captured image; a speed acquiring unit that acquires a movement speed of the object using reflected waves of a carrier wave; and a final determination unit that finally determines the type of the object temporarily determined by the temporary determining unit using the movement speed of the object acquired by the speed acquiring unit.

2 . The object detection apparatus according to claim 1 , wherein:
the final determination unit determines that the object is a two-wheeled vehicle including an occupant when the temporary determination unit determines that the object is a pedestrian and the movement speed is greater than a predetermined first threshold.

3 . The object detection apparatus according to claim 1 , wherein:
the final determination unit determines that the object is a pedestrian when the temporary determination unit determines that the object is a pedestrian and the movement speed is less than a predetermined second threshold.

4 . The object detection apparatus according to claim 1 , wherein:
the final determination unit determines that the object is a two-wheeled vehicle including an occupant when the temporary determination unit determines that the object is a two-wheeled vehicle and the movement speed is greater than a predetermined first threshold.

5 . The object detection apparatus according to claim 1 , wherein:
the final determination unit determines that the object is a pedestrian when the temporary determination unit determines that the object is a two-wheeled vehicle and the movement speed is less than a predetermined first threshold.

6 . The object detection apparatus according to claim 2 , wherein:
the final determination unit determines that the object is a bicycle including an occupant when the movement speed is less than a third threshold that is greater than the first threshold, and determines that the object is a motorcycle including an occupant when the movement speed is greater than the third threshold.

7 . An object detection method comprising:
detecting, by an object detection apparatus that is mounted in an own vehicle, a pedestrian or a two-wheeled vehicle as an object that is present in a periphery of an own vehicle by performing image processing on a captured image capturing an advancing direction of the own vehicle; temporarily determining, by the object detection apparatus, a type of the detected object by analyzing the captured image; acquiring, by the object detection apparatus, a movement speed of the object using reflected waves of a carrier wave; and finally determining, by the object detection apparatus, the temporarily determined type of the object using the acquired movement speed of the object.

8 . The object detection apparatus according to claim 2 , wherein:
the final determination unit determines that the object is a pedestrian when the temporary determination unit determines that the object is a pedestrian and the movement speed is less than a predetermined second threshold.

9 . The object detection apparatus according to claim 4 , wherein:
the final determination unit determines that the object is a pedestrian when the temporary determination unit determines that the object is a two-wheeled vehicle and the movement speed is less than a predetermined first threshold.

10 . The object detection apparatus according to claim 4 , wherein:
the final determination unit determines that the object is a bicycle including an occupant when the movement speed is less than a third threshold that is greater than the first threshold, and determines that the object is a motorcycle including an occupant when the movement speed is greater than the third threshold.

Assignees

• Denso Corp

Inventors

• Baba Takahiro

Classifications

• G06V10/764

  using classification, e.g. of video objects · CPC title

• G06F18/24317

  Piecewise classification, i.e. whereby each classification requires several discriminant rules · CPC title

• G06T7/20

  Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) · CPC title

• G06T2207/30261

  Obstacle · CPC title

• G06T2207/10044

  Radar image · CPC title