JP2016001464A - 処理装置、処理システム、処理プログラム、及び、処理方法 - Google Patents
処理装置、処理システム、処理プログラム、及び、処理方法 Download PDFInfo
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- JP2016001464A JP2016001464A JP2015081177A JP2015081177A JP2016001464A JP 2016001464 A JP2016001464 A JP 2016001464A JP 2015081177 A JP2015081177 A JP 2015081177A JP 2015081177 A JP2015081177 A JP 2015081177A JP 2016001464 A JP2016001464 A JP 2016001464A
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Abstract
Description
まず、図1に、一般的な立体物認識処理の流れを示す。この図1に示すように、一般的な立体物認識処理においては、ステップS1において、カメラ装置等で撮像された画像を取得し、ステップS2において、取得した画像から特徴点を抽出する。また、ステップS3で、特徴点から物体の認識を行い、ステップS4で、認識した物体の重心を、それまで認識した各物体の重心の認識履歴と照合しながら各物体の追跡を行う。各物体の認識結果で制御する制御対象が、例えば自動ブレーキシステムの場合、自動ブレーキシステムは、ステップS5において、認識結果に応じて、自動的にブレーキをかける等の制御を行う。
(1)認識対象には優先度を設けて認識を行うこと、
(2)一度認識した認識対象を非認識とすること無く、連続して認識(追尾:捕捉)可能
とすること、
(3)認識状態が不安定なものは制御対象とはしないこと、
(4)非認識及び誤認識の原因を特定可能とすること、
が好ましい。
vf(t)=vf(t-1)+aft
xp(t)=xp(t-1)+vpt+((apt2)/2)
vp(t)=vp(t-1)+apt
ypredict=f(Yp/Zp)
次に、第2の実施の形態となる立体認識装置の説明をする。第2の実施の形態の立体認識装置は、まず、制御対象物が、現在どのようなシーン状況下にあるか、既に検出された物体の有無、既に検出された物体が現在のシーン状況下でどのような状態にあるか、等を「移動体の背景となる静止物をモデル化した背景モデル(背景情報(静止物)モデル)」、「道路(移動面)モデル」及びそれぞれの「移動体の認識履歴」を利用して把握する。そして、把握した状況に応じて検出手法を変更しながら移動体(認識対象)の検出を行う。
次に、第3の実施の形態となる立体認識装置の説明をする。第3の実施の形態の立体認識装置は、自車両の現在の状況から危険度を判定し、判定結果に応じて速度制御又はハンドル制御等の自車両の制御を行うものである。図17に、第3の実施の形態の立体認識装置において、CPU15が立体物認識プログラムに従って動作することで実現される各機能の機能ブロック図を示す。図17に示すように、第3の実施の形態の立体認識装置は、3次元情報化部86、3次元構造認識部87、画像認識部88、シーン認識部89、シチュエーション予測部90、シチュエーション認識部91、新規物体検出部92、及び危険度判定部93を有している。
次に、第4の実施の形態となる立体認識装置の説明をする。第4の実施の形態の立体認識装置は、ヘッドアップディスプレイ(HUD)を介して、運転者の視界に、道路状況及び危険度(危険度判定情報)から判断した運転情報を表示するものである。図21に、第4の実施の形態の立体認識装置のハードウェア構成を示す。図21に示すように、第4の実施の形態の立体認識装置は、車両のECU95、及びヘッドアップディスプレイ(HUD)96を有している。また、立体認識装置は、ステレオカメラ部1を備えた情報処理部2、及び運転者を撮像するドライバモニタカメラ部97を有している。ECU95は、制御部の一例である。また、HUD96は、被制御部の一例である。
次に、第5の実施の形態となる立体認識装置の説明をする。この第5の実施の形態の立体認識装置は、ナビゲーション装置の検索ルートを、道路状況に応じて再検索させると共に、HUD96上に道路状況等の応じた運転情報を表示するものである。
2 情報処理部
5 レンズ
6 画像センサ
7 センサコントローラ
10 データバスライン
11 シリアルバスライン
15 CPU
16 FPGA
17 ROM
18 RAM
19 シリアルIF
20 データIF
31 視差画像生成部
32 3次元情報化部
33 車両情報(CAN情報)取得部
34 シーン状況認識部
35 シーン状況更新部
36 状況予測部
37 追跡認識部
38 既検出除去部
39 新規物体検出部
40 立体物更新部
60 自車両
71 背景認識部
72 道路認識部
73 位置予測部
74 動き予測部
75 追跡検出部
76 状況認識部
77 動体認識処理部
78 認識結果更新部
85 視差画像
86 3次元情報化部
87 3次元構造認識部
88 画像認識部
89 シーン認識部
90 シチュエーション予測部
91 シチュエーション認識部
92 新規物体検出部
93 危険度判定部
95 ECU
96 ヘッドアップディスプレイ(HUD)
97 ドライバモニタカメラ部
130 ナビゲーション部
Claims (13)
- 各画素の距離情報を含む距離画像を取得する距離画像取得部と、
前記距離画像から少なくとも移動体を検出する移動体検出部と、
前記距離画像を用いて、少なくとも前記移動体の危険度を判定し、前記危険度に応じて被制御部を制御する制御部に対して、前記危険度を出力する危険度判定部と
を有する処理装置。 - 前記移動体の行動ベクトルを検出する行動ベクトル検出部を、さらに備え、
前記危険度判定部は、前記行動ベクトルを用いて前記移動体の危険度を判定すること
を特徴とする請求項1に記載の処理装置。 - 前記危険度判定部は、前記行動ベクトルの向きで示される前記移動体の移動方向、及び前記行動ベクトルの大きさで示される前記移動体の移動速度から前記移動体の危険度を判定すること
を特徴とする請求項2に記載の処理装置。 - 前記危険度判定部は、前記移動体との間の距離、前記行動ベクトルの向きで示される前記移動体の移動方向、及び前記行動ベクトルの大きさで示される前記移動体の移動速度から前記移動体の危険度を判定すること
を特徴とする請求項2に記載の処理装置。 - 前記危険度判定部は、前記移動体との間の距離、前記移動体との間の角度、前記行動ベクトルの向きで示される前記移動体の移動方向、及び前記行動ベクトルの大きさで示される前記移動体の移動速度から前記移動体の危険度を判定すること
を特徴とする請求項2に記載の処理装置。 - 前記危険度判定部は、前記移動体との間の距離に応じて予め設定されている危険度を、前記移動体の危険度として判定すること
を特徴とする請求項2に記載の処理装置。 - 前記危険度判定部は、前記移動体との間の距離及び角度に応じて予め設定されている危険度を、前記移動体の危険度として判定すること
を特徴とする請求項2に記載の処理装置。 - 前記距離画像から危険度に関する画像を認識する画像認識部を、さらに備え、
前記危険度判定部は、前記危険度に関する画像に応じて変更した前記危険度の判定基準を用いて、前記移動体の危険度の判定を行うこと
を特徴とする請求項1から請求項7のうち、いずれか一項に記載の処理装置。 - 前記画像認識部は、前記危険度に関する画像として物標の画像を認識すること
を特徴とする請求項8に記載の処理装置。 - 各画素の距離情報を含む距離画像を取得する距離画像取得部と、
前記距離画像から少なくとも移動体を検出する移動体検出部と、
前記距離画像を用いて、少なくとも前記移動体の危険度を判定して出力する危険度判定部と、
前記危険度に応じて、被制御部を制御する制御部と
を有する処理システム。 - 前記制御部は、車両の制動制御、車両のハンドル制御、及び、表示部に対する表示制御のうち、少なくとも一つの制御を、前記危険度に応じて行うこと
を特徴とする請求項10に記載の処理システム。 - コンピュータを、
各画素の距離情報を含む距離画像を取得する距離画像取得部と、
前記距離画像から少なくとも移動体を検出する移動体検出部と、
前記距離画像を用いて、少なくとも前記移動体の危険度を判定し、前記危険度に応じて被制御部を制御する制御部に対して、前記危険度を出力する危険度判定部として機能させること
特徴とする処理プログラム。 - 距離画像取得部が、各画素の距離情報を含む距離画像を取得する距離画像取得ステップと、
移動体検出部が、前記距離画像から少なくとも移動体を検出する移動体検出ステップと、
危険度判定部が、前記距離画像を用いて、少なくとも前記移動体の危険度を判定し、前記危険度に応じて被制御部を制御する制御部に対して前記危険度を出力する危険度判定ステップと
を有する処理方法。
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JP2020159746A (ja) * | 2019-03-25 | 2020-10-01 | 株式会社Jvcケンウッド | ナビゲーション制御装置、ナビゲーションシステム、ナビゲーション方法およびプログラム |
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US10387733B2 (en) | 2019-08-20 |
US20150334269A1 (en) | 2015-11-19 |
US9637118B2 (en) | 2017-05-02 |
US20170185853A1 (en) | 2017-06-29 |
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