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US 11,380,120 B2Granted
Driving assistance device
AssigneeHonda Motor Co., Ltd.
InventorsRyoji Wakayama, Kazuma Ohara
Life of this patent
Estimating the term…
Abstract
In a driving assistance device, a human body specifying unit acquires, as human body information, an image of a human body existing around a host vehicle in image data acquired by a camera. A quasi-skeleton estimation unit estimates a quasi-skeleton of the human body from the human body information. The radar or the LiDAR measures a distance to a part of the human body that corresponds to the quasi-skeleton.
Claims5
A driving assistance device configured to assist driving of a movable body, comprising:
- one or more processors that execute computer-executable instructions stored in a memory,
- a visual sensor configured to acquire an image around the movable body;
- and
- a distance measurement sensor configured to measure a distance to an object around the movable body,
- wherein the one or more processors execute the computer-executable instructions to cause the driving assistance device to:
- acquire, as human body information, an image of a human body existing around the movable body in the image acquired by the visual sensor;
- estimate a quasi-skeleton of the human body from the human body information;
- instruct the distance measurement sensor to measure the distance to a part of the human body that corresponds to the estimated quasi-skeleton;
- instruct the distance measurement sensor to measure the distance to the part of the human body that corresponds to the quasi-skeleton;
- and
- when the human body information is acquired but the quasi-skeleton cannot be estimated from the human body information, measure the distance to a peripheral part of the movable body that corresponds to a frame surrounding the human body information on a basis of a ratio of the distance to an entire of the image acquired by the visual sensor and including the peripheral part.
8 more elements
Dependencies are inferred from the claim text.