PROBLEM TO BE SOLVED: To provide an object detection device, a drive support apparatus, an object detection method, and an object detection program, which enable accurate recognition of another vehicle entering a travel lane of a vehicle itself.SOLUTION: An object detection device includes: an imaging part for imaging a surrounding of a vehicle itself; a characteristic line extraction part for extracting first and second characteristic lines from an image picked up by the imaging part, where the first characteristic line is estimated as representing a side lower edge portion of another vehicle and the second characteristic line is estimated as representing a front edge portion of the other vehicle and has an inclination different from the first characteristic line on the image; and a determination part for determining an event of the other vehicle entering a travel road of the vehicle itself on the basis of an intersection between the first and second characteristic lines.
【課題】自車両の走行車線への他車両の進入を精度良く認識することができる物体検出装置、運転支援装置、物体検出方法、および物体検出プログラムを提供すること。【解決手段】自車両周辺を撮像する撮像部と、前記撮像部により撮像された画像から、他車両の側方下端部を表すと推定される第1の特徴線と、前記他車両の前端部を表すと推定される第2の特徴線であって前記第1の特徴線と画像上の傾きが異なる第2の特徴線とを抽出する特徴線抽出部と、前記第1の特徴線と前記第2の特徴線との交点に基づいて、自車両の走行車線への他車両の進入を判定する判定部と、を備える物体検出装置。【選択図】図2
OBJECT DETECTION DEVICE, DRIVE SUPPORT APPARATUS, OBJECT DETECTION METHOD, AND OBJECT DETECTION PROGRAM
物体検出装置、運転支援装置、物体検出方法、および物体検出プログラム
14.12.2015
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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