OBSTACLE DETECTION DEVICE

专利名称：OBSTACLE DETECTION DEVICE发明人：KAKINAMI, TOSHIAKI申请号：EP06747012申请日：20060530公开号：EP1927962A4公开日：20110810

摘要：There is provided an obstacle detection apparatus for detecting an obstaclebased on an image of periphery of a vehicle and a distance to an obstacle present in thevehicle's periphery. The apparatus includes distance determining means 3 for

determining, in association with traveling of the vehicle along a direction, a distance to theobstacle present in a direction perpendicular to the vehicle traveling direction, imageinputting means 2 for obtaining a peripheral image having a view angle including theobstacle, subject-vehicle position specifying means 4 for sequentially specifying a presentposition of the vehicle which changes in association the traveling of the vehicle, first-planesetting means 5 for setting, as a first plane, a face of the obstacle which extends

perpendicular to the horizontal plane and extends, at the same time, along the travelingdirection of the vehicle, plane-edge estimating means 6 for estimating an edge of thefirst plane relative to the vehicle moving direction, based on the distance and the positionof the vehicle, image recognition area setting means 7 for setting, as an image

recognition area, an area included in the peripheral image and including the plane edge,image recognizing means 8 for image-recognizing a shape characteristics of the obstaclein the image recognition area from the peripheral image, and three-dimensional shaperecognizing means 9 for recognizing the obstacle three-dimensionally, based on the first

plane and result of the image recognition made by the image recognizing means 8.

申请人：AISIN SEIKI KABUSHIKI KAISHA

更多信息请下载全文后查看