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Object tracking method and object tracking device

A technology for tracking devices and objects, which is applied in image data processing, instruments, calculations, etc., and can solve problems such as dislocation identification numbers and prediction information deviations

Active Publication Date: 2019-02-05
NISSAN MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] However, when multiple objects are blocked at the same time, and the states of the multiple objects change during the blocking period, in the technology of Patent Document 1, the prediction information may deviate, and the object that reappears may be misplaced. Numbering

Method used

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  • Object tracking method and object tracking device
  • Object tracking method and object tracking device

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no. 1 approach

[0041] refer to figure 1 The object tracking device 100 of the first embodiment will be described. like figure 1 As shown, the object tracking device 100 includes an object detection unit 10 , a map information acquisition unit 20 , and a controller 30 .

[0042] The object detection unit 10 is a sensor that periodically detects objects around a moving body (vehicle), and is, for example, a laser rangefinder. The laser range finder detects objects (pedestrians, automobiles, two-wheeled vehicles, other vehicles, etc.) existing around (for example, within 30 m) of the host vehicle as a moving body. More specifically, the laser range finder scans the laser light within a certain angle range, receives the reflected light at this time, and detects the time difference between the time point when the laser is emitted and the time point when the reflected light is received. Thus, the laser range finder detects the relative distance or relative speed of the object with respect to th...

no. 2 approach

[0077] Next, a second embodiment of the present invention will be described. The configuration of the object tracking device 100 of the second embodiment is the same as that of the first embodiment. In the second embodiment, the positional relationship of the plurality of objects is different. In the first embodiment, the case where the positional relationship estimating unit 33 is capable of estimating the positional relationship of a plurality of objects within the blocking area has been described. On the other hand, in the second embodiment, a case where the positional relationship estimating unit 33 cannot estimate the positional relationship of a plurality of objects within the blocking area will be described.

[0078] like Figure 7A As shown, at time t, the object tracking unit 31 sets tracking information T1 to T3 for other vehicles M1 to M3 existing around the own vehicle M0. In addition, the identification number assigning unit 35 assigns the identification number...

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Abstract

Provided is an object tracking method in which when a plurality of objects detected by an object detection unit (10) enter a concealed area calculated by a concealed area calculation unit (32), a positional relationship estimation unit (33) estimates the positional relationship of the plurality of objects within the concealed area on the basis of information relating to the plurality of objects and on the basis of traffic lanes and routes to which the objects can change course according to calculation by a route calculation unit (34). When an object exits the concealed area, an identificationnumber assignment unit (35) determines identification information for the object on the basis of the positional relationship estimated by the positional relationship estimation unit (33).

Description

technical field [0001] The invention relates to an object tracking method and an object tracking device. Background technique [0002] Conventionally, there is known a tracking method when an object overlaps with other objects and is blocked (Patent Document 1). In Patent Document 1, it is judged whether the object reappears based on the prediction information of the occluded object, and the same identification number is assigned to the reappearing object. [0003] prior art literature [0004] patent documents [0005] Patent Document 1: (Japanese) Unexamined Patent Publication No. 2007-334631 [0006] The technical problem to be solved by the invention [0007] However, when multiple objects are blocked at the same time, and the states of the multiple objects change during the blocking period, in the technology of Patent Document 1, the prediction information may deviate, and the object that reappears may be misplaced. serial number. Contents of the invention [00...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20G08G1/16
CPCG06T7/20G08G1/16G06T7/246
Inventor 方芳野田邦昭
Owner NISSAN MOTOR CO LTD