DE102020213799A1 - Hindernisdetektionsvorrichtung und Hindernisdetektionsverfahren - Google Patents

Hindernisdetektionsvorrichtung und Hindernisdetektionsverfahren Download PDF

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Publication number
DE102020213799A1
DE102020213799A1 DE102020213799.4A DE102020213799A DE102020213799A1 DE 102020213799 A1 DE102020213799 A1 DE 102020213799A1 DE 102020213799 A DE102020213799 A DE 102020213799A DE 102020213799 A1 DE102020213799 A1 DE 102020213799A1
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DE
Germany
Prior art keywords
obstacle
road surface
vehicle
area
approaching
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE102020213799.4A
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German (de)
English (en)
Inventor
Hirokazu Shimizu
Hiroki FUJIYOSHI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
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Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of DE102020213799A1 publication Critical patent/DE102020213799A1/de
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/62—Extraction of image or video features relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
DE102020213799.4A 2019-11-08 2020-11-03 Hindernisdetektionsvorrichtung und Hindernisdetektionsverfahren Pending DE102020213799A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019202911A JP6949090B2 (ja) 2019-11-08 2019-11-08 障害物検知装置及び障害物検知方法
JP2019-202911 2019-11-08

Publications (1)

Publication Number Publication Date
DE102020213799A1 true DE102020213799A1 (de) 2021-05-12

Family

ID=75584028

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102020213799.4A Pending DE102020213799A1 (de) 2019-11-08 2020-11-03 Hindernisdetektionsvorrichtung und Hindernisdetektionsverfahren

Country Status (3)

Country Link
JP (1) JP6949090B2 (zh)
CN (1) CN112784671A (zh)
DE (1) DE102020213799A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114782447B (zh) * 2022-06-22 2022-09-09 小米汽车科技有限公司 路面检测方法、装置、车辆、存储介质及芯片
CN118115975B (zh) * 2024-04-23 2024-07-23 名商科技有限公司 一种基于障碍物检测的低速无人驾驶控制方法和***

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003067752A (ja) * 2001-08-28 2003-03-07 Yazaki Corp 車両周辺監視装置
JP2003187228A (ja) * 2001-12-18 2003-07-04 Daihatsu Motor Co Ltd 車両認識装置及び認識方法
JP2004246791A (ja) * 2003-02-17 2004-09-02 Advics:Kk 自動車の制動用警報方法および制動用警報装置
JP5299513B2 (ja) * 2009-08-12 2013-09-25 日本電気株式会社 障害物検知装置及び方法並びに障害物検知システム
JP5812598B2 (ja) * 2010-12-06 2015-11-17 富士通テン株式会社 物体検出装置
JP6450294B2 (ja) * 2015-09-30 2019-01-09 株式会社デンソーアイティーラボラトリ 物体検出装置、物体検出方法、及びプログラム
JP6564682B2 (ja) * 2015-10-26 2019-08-21 トヨタ自動車東日本株式会社 対象物検出装置、対象物検出方法、及び、対象物検出プログラム
CN107316006A (zh) * 2017-06-07 2017-11-03 北京京东尚科信息技术有限公司 一种道路障碍物检测的方法和***

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CN112784671A (zh) 2021-05-11
JP2021077061A (ja) 2021-05-20
JP6949090B2 (ja) 2021-10-13

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