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Driving assistance device, driving assistance method and program

一种驾驶辅助、位置信息的技术，应用在控制装置、运输和包装、字符和模式识别等方向，能够解决激光或电波反射率变低、无法高精度地检测物体等问题，达到缩短处理时间的效果

Active Publication Date: 2019-01-25
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when it is desired to detect an object with a sensor, when the color density of the object is high, the reflectivity of laser light or radio waves becomes low, and the object may not be detected with high accuracy

Method used

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  • Driving assistance device, driving assistance method and program
  • Driving assistance device, driving assistance method and program
  • Driving assistance device, driving assistance method and program

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0034] Next, Embodiment 1 of the present invention will be described using the drawings.

[0035] figure 1 It is a diagram showing a configuration example of the driving assistance system according to the first embodiment. The driving assistance system is composed of a sensor 100, a camera 200, and a driving assistance device 300, each of which is mounted on a vehicle.

[0036] The sensor 100 is, for example, a laser sensor such as LIDAR (Light Detection and Ranging). By irradiating laser light and detecting the reflected light, the sensor 100 detects distance information from the own vehicle to objects (vehicles, people, obstacles, etc.) around the own vehicle and the surrounding area of ​​the own vehicle. location information of the object. LIDAR scans laser light in the horizontal direction, and can acquire distance information from the host vehicle to objects with a resolution of about 0.4 degrees in a wide range of, for example, 190 degrees. In the following descriptio...

Embodiment approach 2

[0082] Next, Embodiment 2 of the present invention will be described using the drawings. In Embodiment 1, the second object is recognized by performing image processing on the image of the range outside the detection range of the first object in the captured image. However, in Embodiment 2, by utilizing Point (Vanishing Point) information further narrows the range of image processing in the captured image.

[0083] Figure 11 It is a diagram showing a configuration example of the driving assistance system according to the second embodiment. The driving assistance device 300A of the second embodiment differs from the driving assistance device 300 of the first embodiment in that it newly includes a vanishing point notification unit 309 . Other structures are the same as in Embodiment 1, so the labels and figure 1 The same reference numerals are used and descriptions thereof are omitted.

[0084] The vanishing point notification unit 309 notifies the object recognition unit 3...

Embodiment approach 3

[0093] Next, Embodiment 3 of the present invention will be described using the drawings. In Embodiment 1, the sensor information acquisition unit 301 acquires sensor information on one line, but in Embodiment 3, the sensor information acquisition unit 301 acquires sensor information on a plurality of lines. The object recognition unit 306 performs image processing.

[0094] Figure 14 It is a diagram showing a configuration example of the driving assistance system according to the third embodiment. The difference from the driving assistance device of the first embodiment is that the driving assistance system of the third embodiment further includes a sensor control device 400 . Other structures are the same as in Embodiment 1, so the labels and figure 1 The same reference numerals are used and descriptions thereof are omitted.

[0095] The sensor control device 400 is realized by, for example, a motor, and controls the sensor 100 to vibrate in the vertical direction.

[0...

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PUM

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Abstract

The driving assistance device includes: an image acquisition unit that acquires a captured image around the vehicle; a position information acquisition unit that acquires position information of a first object around the vehicle detected by a sensor; The position information determines the detection range of the first object in the captured image; and the object recognition unit performs image processing on an image of a range outside the detection range of the first object in the captured image, and recognizes a second object different from the first object , therefore, the processing time for recognizing the second object from the captured image can be shortened.

Description

technical field [0001] The present invention relates to a driving assistance device, a driving assistance method, and a program for recognizing objects around an own vehicle. Background technique [0002] In recent years, the following technologies have been known: recognize objects such as vehicles, people, and obstacles around the vehicle, and use a semi-transmissive display called HUD (Head Up Display) to superimpose information on the objects on the landscape, thereby notifying the driver Notify of danger. In addition, a technique is known in which the vehicle is controlled to avoid a collision or reduce a shock based on information on recognized objects around the own vehicle. In this technology, it is necessary to recognize objects existing around by sensors or cameras, and to acquire and manage information on the recognized objects. However, when it is desired to detect an object with a sensor, if the color density of the object is high, the reflectance of laser lig...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60R21/00G06T1/00G08G1/16G06V10/25
CPCG08G1/165G08G1/166G06V20/58G06V10/25G06V10/803G06F18/251B60W2554/00G06F18/22G06T7/13G06T7/70B60W30/09B60W50/16B60W2050/143B60W2050/146G06T17/00G06T2207/30261H04N7/183
Inventor 吉田道学对马尚之
Owner MITSUBISHI ELECTRIC CORP