Object detector and object detection method
A solid object detection device detects solid objects in the periphery of a vehicle. A camera captures images including detection regions set in adjacent traffic lanes to the rear of the vehicle. A solid object assessment unit assesses whether or not a solid object is present in the detection regions. A lateral position detection unit detects a distance between the vehicle position and a dividing line that divides traffic lanes. A region setting unit enlarges the detection region on the side of the dividing line by a greater amount correspondingly with respect to an increase in the distance to the dividing line. A traffic lane change detection unit detects a traffic lane change made by the vehicle. Upon detecting a traffic lane change by the vehicle, a smaller enlarged amount is used when enlarging the size of the predetermined region outward in the vehicle-width direction.
1. A solid object detection device for detecting a solid object traveling in an adjacent traffic lane that is adjacent across a dividing line serving as a boundary to a traffic lane traveled by a vehicle, the solid object detection device comprising:
an image-capturing unit configured to be installed for capturing an image including the dividing line and a predetermined region of the adjacent traffic lane, the image-capturing unit being installed in the vehicle;
a solid object assessment unit programmed to assess whether or not a solid object is present in the predetermined region image captured by the image-capturing unit;
a lateral position detection unit that detects a vehicle-widthwise distance between the dividing line and a vehicle position in the lane traveled by the vehicle from the image captured by the image-capturing unit;
a region setting unit programmed to enlarge a size of the predetermined region that is positioned on the side where the dividing line is located farther outward in the vehicle-width direction in accordance with an increase in the vehicle-widthwise distance to the dividing line detected by the lateral position detection unit; and
a traffic lane change detection unit that detects an existence of a traffic lane change made by the vehicle;
the amount by which the size of the predetermined region is enlarged outward in the vehicle-width direction being reduced by the region setting unit when a traffic lane change made by the vehicle is detected by the traffic lane change detection unit.
2. The solid object detection device according to claim 1 , wherein
the region setting unit calculates a movement speed of the vehicle in the vehicle-width direction when a traffic lane change made by the vehicle is detected by the traffic lane change detection unit; and causes the amount by which the size of the predetermined region is enlarged outward in the vehicle-width direction to be reduced correspondingly with respect to the increase in movement speed in the vehicle-width direction.
3. The solid object detection device according to claim 1 , further comprising
a width detection unit for detecting the traffic lane width of the lane traveled by the vehicle or the adjacent traffic lane;
the amount by which the size of the predetermined region is enlarged outward in the vehicle-width direction being reduced by the region setting unit in accordance with a decrease in the traffic lane width detected by the width detection unit.
4. The solid object detection device according to claim 1 , wherein
the region setting unit enlarges the predetermined region in increments of a predetermined enlargement prescribed value through multiple iterations of a process when enlarging the size of the predetermined region, and the region setting unit contracts the predetermined region inward in the vehicle-width direction in increments of a prescribed value less than the enlargement prescribed value through multiple iterations of a process when returning the size of the predetermined region to an original size.
5. The solid object detection device according to claim 1 , wherein
the region setting unit causes the prescribed value to be lower when a solid object is being detected than when a solid object is not being detected.
6. The solid object detection device according to claim 1 , further comprising
a ground line detection unit configured to detect a ground line of a solid object traveling in the adjacent traffic lane;
the region setting unit reduces the amount by which the size of the predetermined region is enlarged outward in the vehicle-width direction in accordance with a decrease in distance in the vehicle-width direction from the vehicle to the ground line.
7. The solid object detection device according to claim 1 , further comprising
a turning state determination unit configured to detect a turning state of the vehicle;
the region setting unit reduces the amount by which the size of the predetermined region is enlarged outward in the vehicle-width direction in accordance with a decrease in a turning radius of the vehicle detected by the turning state determination unit.
8. The solid object detection device according to claim 1 , wherein
the region setting unit moves the predetermined region outward in the vehicle-width direction and enlarges the size of the predetermined region outward in the vehicle-width direction when the vehicle-widthwise distance is a predetermined value or greater.
9. The solid object detection device according to claim 1 , wherein
the region setting unit enlarges the size of the predetermined region outward in the vehicle-width direction after moving the predetermined region outward in the vehicle-width direction.
10. The solid object detection device according to claim 1 , further comprising
a foreign substance detection unit configured to detect foreign substances adhering to a lens of the image-capturing unit;
the region setting unit reduces the amount by which the size of the predetermined region is enlarged outward in the vehicle-width direction in accordance with an increase in an amount of foreign substances detected by the foreign substance detection unit.
11. The solid object detection device according to claim 1 , further comprising
a dividing line type specifying unit configured to specify a type of dividing line;
the region setting unit varies the amount by which the size of the predetermined region is enlarged outward in the vehicle-width direction based on the type of dividing line specified by the dividing line type specifying unit.
12. A solid object detection method for detecting a solid object traveling in an adjacent traffic lane that is adjacent across a dividing line serving as a boundary to the traffic lane traveled by a vehicle, the solid object detection method comprising:
capturing an image including the dividing line and a predetermined region of the adjacent traffic lane from the vehicle;
assessing whether or not a solid object is present in the predetermined region image captured by the image-capturing unit;
detecting a vehicle-widthwise distance between the dividing line and a vehicle position in the lane traveled by the vehicle from the image obtained;
detecting an existence of a traffic lane change made by the vehicle; and
enlarging a size of the predetermined region outward in the vehicle-width direction such that an amount of enlargement increases in accordance with an increase in the vehicle-widthwise distance to the dividing line that was detected, the predetermined region being positioned on the side where the dividing line is located; and
reducing the amount of enlargement outward in the vehicle-width direction when a traffic lane change made by the vehicle is detected.