THREE-DIMENSIONAL OBJECT DETECTION DEVICE

摘要

A three-dimensional object detection device includes an image capturing unit, a detection area setting unit, an image conversion unit, a three-dimensional object detection unit, and a relative movement speed calculation unit. The detection area setting unit sets a detection area in a lateral direction rearward of the host vehicle. The image conversion unit converts a viewpoint of the images obtained by the image capturing unit to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the detection area by vehicle width direction detection processing. The detection area setting unit widens the detection area rearward with respect to a direction of vehicle progress when the three-dimensional object is detected in the detection area and the relative movement speed of the three-dimensional object, as calculated by relative movement speed calculation unit, is at a predetermined value or greater.

主权项

1. A three-dimensional object detection device comprising:
an image capturing unit arranged to capture images an area rearward of a host vehicle equipped with the three-dimensional object detection device; a detection area setting unit programmed to set a predetermined detection area in a lateral direction rearward of the host vehicle; an image conversion unit programmed to convert a viewpoint of the image obtained by the image capturing unit to create bird's-eye view images; a three-dimensional object detection unit programmed to detect a presence of a three-dimensional object within the predetermined detection area by vehicle width direction detection processing in which the bird's-eye view images obtained at different times by the image conversion unit are aligned, and difference waveform information is generated by counting and creating a frequency distribution of a number of pixels that indicate a predetermined difference in a difference image of the bird's-eye view images that were aligned forms to detect the presence of the three-dimensional object within the predetermined detection area; and, a relative movement speed calculation unit programmed to calculate a relative movement speed of the three-dimensional object in relation to the host vehicle based on the difference waveform information generated by the three-dimensional object detection unit, the detection area setting unit widening the predetermined detection area rearward with respect to a direction of vehicle progress when the three-dimensional object is detected in the predetermined detection area by the three-dimensional object detection unit and the relative movement speed of the three-dimensional object is at a predetermined value or greater.