Three-dimensional object detection device, and three-dimensional object detection method

摘要

A three-dimensional object detection device has an image capturing unit, an object detection unit, first and second edge intensity calculation units, a day/night assessment unit and a controller. The day/night assessment unit assess whether it is currently daytime or nighttime when detecting a three-dimensional object based on the captured images. Upon assesses it is daytime, edges of a subject are extracted from a first edge extraction area, including a horizon reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges in the first edge extraction area. Upon assesses it is nighttime, the edges of a subject are extracted from a second edge extraction area, including a road edge reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges that are extracted from the second edge extraction area.

主权项

1. A three-dimensional object detection device comprising:
an image capturing device mounted on a host vehicle, and comprising a lens for capturing images behind the host vehicle; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object rearward of the host vehicle based on captured images captured by the image capturing device; a first edge intensity calculation unit programmed to extract edges of a subject in a first edge extraction area that includes at least a horizon reference area that references a horizon near a vanishing point of a road and to calculate an intensity of the edges in the first edge extraction area as a first edge intensity based on a distribution of the edges extracted from the first edge extraction area, the horizontal reference area being area including the horizon as well as an area from which extraction of a predetermined quantity of edges is expected in an image area corresponding to the horizon; a second edge intensity calculation unit programmed to extract edges of a subject in a second edge extraction area that includes at least a road edge reference area that references a road edge, and to calculate an intensity of the edges in the second edge extraction area as a second edge intensity based on a distribution of the edges that are extracted from the second edge extraction area; a day/night assessment unit programmed to assess whether currently daytime or nighttime exists; and a controller programmed to control detection of the three-dimensional object by the three-dimensional object detection unit based on the first edge intensity in the first edge extraction area when an assessment has been made that daytime currently exists by the day/night assessment unit, and programmed to control the detection of the three-dimensional object by the three-dimensional object detection unit based on the second edge intensity in the second edge extraction area when an assessment has been made that nighttime currently exists.