JP6949090B2 - 障害物検知装置及び障害物検知方法 - Google Patents

障害物検知装置及び障害物検知方法 Download PDF

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JP6949090B2
JP6949090B2 JP2019202911A JP2019202911A JP6949090B2 JP 6949090 B2 JP6949090 B2 JP 6949090B2 JP 2019202911 A JP2019202911 A JP 2019202911A JP 2019202911 A JP2019202911 A JP 2019202911A JP 6949090 B2 JP6949090 B2 JP 6949090B2
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obstacle
road surface
vehicle
area
obstacle detection
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Japanese (ja)
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JP2021077061A (ja
Inventor
清水　浩一
浩一 清水
宏樹 藤好
宏樹 藤好
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Priority to JP2019202911A priority Critical patent/JP6949090B2/ja
Priority to DE102020213799.4A priority patent/DE102020213799A1/de
Priority to CN202011212140.7A priority patent/CN112784671A/zh
Publication of JP2021077061A publication Critical patent/JP2021077061A/ja
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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)
JP2019202911A 2019-11-08 2019-11-08 障害物検知装置及び障害物検知方法 Active JP6949090B2 (ja)

Priority Applications (3)

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
DE102020213799.4A DE102020213799A1 (de) 2019-11-08 2020-11-03 Hindernisdetektionsvorrichtung und Hindernisdetektionsverfahren
CN202011212140.7A CN112784671A (zh) 2019-11-08 2020-11-03 障碍物检测装置及障碍物检测方法

Applications Claiming Priority (1)

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

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JP2021077061A JP2021077061A (ja) 2021-05-20
JP6949090B2 true JP6949090B2 (ja) 2021-10-13

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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

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