THREE-DIMENSIONAL OBJECT DETECTION DEVICE

摘要

A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a light source detection unit a degree-of-certainty assessment unit and a control unit. The degree-of-certainty assessment unit assesses a degree of certainty that a light source is headlights of another vehicle in two lanes over. The control unit sets a threshold value so that the three-dimensional object is more difficult to detect in a forward area of a line connecting the light source and the image capturing unit in the detection frame when the degree of certainty is at a predetermined value or higher, and sets a threshold value so that the three-dimensional object is more difficult to detect in progression from a center side toward front or rear ends of the detection frame when the degree of certainty is less than a predetermined value.

主权项

1. A three-dimensional object detection device comprising:
an image capturing unit arranged to capture images of a predetermined area relative to an adjacent lane rearward of a host vehicle equipped with the three-dimensional object detection device; an image conversion unit programmed to convert a viewpoint of the images 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 adjacent lane 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 difference having a predetermined first threshold value or higher in a difference image of the bird's-eye view images that were aligned to detect the presence of the three-dimensional object within the adjacent lane upon determining the difference waveform information is at a predetermined second threshold value or higher in a detection frame set inside the predetermined area; a light source detection unit programmed to detect a light source present rearward of the host vehicle based on the images obtained by the image capturing unit; a degree-of-certainty assessment unit programmed to assess a degree of certainty that the light source is headlights of another vehicle traveling in an adjacent-adjacent lane next to the adjacent lane, based on a mode of the light source detected by the light source detection unit; and a control unit programmed to set at least one of the first and second threshold values so that the three-dimensional object is more difficult to detect in a forward area than a rearward area with respect to a line connecting the light source and the image capturing unit in the detection frame upon determining the degree of certainty is at a predetermined value or higher, and to set the first and second threshold values so that the three-dimensional object is more difficult to detect in progression from a center side toward one of the front or rear ends of the detection frame upon determining the degree of certainty is less than a predetermined value.