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US 7,598,848 B2Granted
Apparatus and method of pedestrian recognition
AssigneesDenso Corporation, Masafumi Hashimoto
InventorsKiyokazu Takagi, Masafumi Hashimoto
Life of this patent
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Abstract
An apparatus having a laser radar is used to recognize a pedestrian by detecting a position of reflective objects, mapping the objects in a two-dimensional coordinate system, determining whether the objects are moving, and grouping moving objects closely located with each other. Based on a size of an object group, the pedestrian associated with the object group is accurately recognized.
Claims12
A pedestrian recognition apparatus comprising:
- a radar unit for emitting a radar beam therefrom and receiving a reflected beam that is reflectively redirected by a reflective object when scanning of a detection area by the radar beam is performed in plural scan lines at a predetermined detection interval;
- a reflective object detection unit for detecting a position of the reflective object as two-dimensional coordinates in a predetermined coordinate system based on a result of emission of the radar beam and reception of the reflected beam by the radar unit;
- an object determination unit for determining whether the reflective object is a stopping object or a moving object based on a positional change of the reflective object represented by the two-dimensional coordinates in the predetermined coordinate system derived from plural times of position detection of the reflective object at the predetermined detection interval;
- and
- a pedestrian recognition unit for recognizing a pedestrian, wherein pedestrian recognition is performed as formation of the object group of close-by reflective objects for forming an object group of the reflective objects in the two-dimensional coordinates in the predetermined coordinate system out of the reflective objects determined as the moving object based on a determination result by the object determination unit, the formation of the object group succeeded by determination of a group size of the object group based on a predetermined criterion of the group size for associating the object group with the pedestrian.
2 more elements
A pedestrian recognition method comprising:
- emitting a radar beam and receiving a reflected beam that is derived as a result of reflective redirection of the radar beam by a reflective object when scanning of a detection area by the radar beam is performed in plural scan lines at a predetermined detection interval;
- detecting a position of the reflective object as two-dimensional coordinates in a predetermined coordinate system based on a result of emission of the radar beam and reception of the reflected beam;
- determining whether the reflective object is a stopping object or a moving object based on a positional change of the reflective object represented by the two-dimensional coordinates in the predetermined coordinate system as a result of plural times of scanning of the reflective object at the predetermined detection interval;
- and
- performing pedestrian recognition, wherein the pedestrian recognition is performed as formation of an object group of close-by reflective objects for forming the object group of the reflective objects in the two-dimensional coordinates of the predetermined coordinate system out of the reflective objects determined as the moving object based on a determination result that each of the reflective objects is one of the stopping object and the moving object, the formation of the object group succeeded by determination of a group size of the object group based on a predetermined criterion of the group size for associating the object group with the pedestrian.
2 more elements
Dependencies are inferred from the claim text.