JP2022028398A - Vehicle identification device - Google Patents

Vehicle identification device Download PDF

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JP2022028398A
JP2022028398A JP2020131769A JP2020131769A JP2022028398A JP 2022028398 A JP2022028398 A JP 2022028398A JP 2020131769 A JP2020131769 A JP 2020131769A JP 2020131769 A JP2020131769 A JP 2020131769A JP 2022028398 A JP2022028398 A JP 2022028398A
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light source
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reflector
light
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JP7311468B2 (en
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陽平 山口
Yohei Yamaguchi
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Daihatsu Motor Co Ltd
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Abstract

To precisely and easily identify a vehicle in the front of a vehicle of a user and an object which is not a vehicle when the user is driving at night.SOLUTION: A vehicle identification device includes: an imaging unit 3 for imaging a region in front of a vehicle; and an image processor 4 including a light source detection unit 5 for detecting a light source by imaging information from the imaging unit, a vehicle determination unit 6 for identifying a light source of a vehicle from detected light sources, and a light source confirmation unit 7 for confirming presence or absence of another light source on one side of a detected light source in a vehicle width direction, to the detected light source. The vehicle determination unit 6 determines whether a detected light source belongs to a vehicle or to an object which is not a vehicle according to whether there is another light source.SELECTED DRAWING: Figure 1

Description

本発明は、夜間、車両の前方にある車両を識別する車両識別装置に関する。 The present invention relates to a vehicle identification device that identifies a vehicle in front of the vehicle at night.

夜間、車両の走行中に、前方にある光源を検出し、その光源が車両のものであるか否かを識別して、ヘッドランプ制御を含む運転支援システム等の車両制御が行われている。車両の前方の光源としては、前走車のテールランプ、対向車のヘッドランプの他に路側に設置された反射板からの反射光がある。これらの光源を識別するために、特許文献１では、先行車のテールランプの赤色光と反射板や外乱光の白色光を判別して、車両を認識している。 At night, while the vehicle is running, a light source in front of the vehicle is detected, and whether or not the light source belongs to the vehicle is identified, and vehicle control such as a driving support system including headlamp control is performed. Light sources in front of the vehicle include tail lamps of vehicles in front, headlamps of oncoming vehicles, and reflected light from a reflector installed on the roadside. In order to identify these light sources, Patent Document 1 recognizes the vehicle by discriminating between the red light of the tail lamp of the preceding vehicle and the white light of the reflector or the disturbance light.

特開２００７－３０００５４号公報Japanese Unexamined Patent Publication No. 2007-300054

車両以外の光源から発せられた光が車両のテールランプからの光と同色であった場合、車両以外の光源を車両の光源と誤って判別するおそれがあり、識別の精度が悪くなる。精度よく識別するには、車両以外の光源に関する情報を取得して、車両以外の光源を特定しなければならず、処理が煩雑となる。 If the light emitted from a light source other than the vehicle has the same color as the light emitted from the tail lamp of the vehicle, the light source other than the vehicle may be erroneously discriminated as the light source of the vehicle, and the identification accuracy is deteriorated. In order to identify accurately, it is necessary to acquire information about a light source other than the vehicle and identify the light source other than the vehicle, which complicates the process.

本発明は、上記に鑑み、夜間の走行中に前方の車両を簡易に精度よく識別できる車両識別装置の提供を目的とする。 In view of the above, an object of the present invention is to provide a vehicle identification device that can easily and accurately identify a vehicle in front while traveling at night.

本発明の車両識別装置は、車両の前方を撮像する撮像部と、撮像部からの撮像情報により光源を検出する光源検出部と、検出された光源から車両の光源を識別する車両判定部とを有するものであって、検出された光源に対して、この光源の車幅方向の一側における他の光源の有無を確認する光源確認部を有し、車両判定部は、他の光源の有無に応じて、検出された光源が車両のものか車両以外のものかを判別する。 The vehicle identification device of the present invention includes an image pickup unit that images the front of the vehicle, a light source detection unit that detects a light source based on image pickup information from the image pickup unit, and a vehicle determination unit that identifies the light source of the vehicle from the detected light source. It has a light source confirmation unit that confirms the presence or absence of another light source on one side of the detected light source in the vehicle width direction, and the vehicle determination unit determines the presence or absence of another light source. Correspondingly, it is determined whether the detected light source is a vehicle or a non-vehicle.

前走車と路側の反射板のように、前方の車両の光源の位置と車両以外の物体の光源の位置に相対関係があるとき、１つの光源に対して車幅方向の一側に他の光源があるか否かによって、その光源が車両のものであるかを判別できる。例えば、左側通行の場合、前走車の左側には路側の反射板がある。したがって、光源の左側に他の光源があるとき、その光源は車両のものとなる。光源の左側に他の光源がないとき、その光源は車両以外、例えば反射板のものとなる。 When there is a relative relationship between the position of the light source of the vehicle in front and the position of the light source of an object other than the vehicle, such as a vehicle in front and a reflector on the road side, one light source is on one side in the width direction of the other. Depending on whether or not there is a light source, it can be determined whether or not the light source belongs to the vehicle. For example, in the case of left-hand traffic, there is a roadside reflector on the left side of the vehicle in front. Therefore, when there is another light source to the left of the light source, that light source is that of the vehicle. When there is no other light source on the left side of the light source, the light source is something other than a vehicle, for example a reflector.

本発明によると、夜間の走行中に、撮像された画像に映った光源からでは車両か車両以外の物体が判別できない場合でも、各光源の位置関係に基づいて車両を確実に識別することができる。 According to the present invention, even when a vehicle or an object other than a vehicle cannot be discriminated from the light source reflected in the captured image while traveling at night, the vehicle can be reliably identified based on the positional relationship of each light source. ..

本発明の実施形態の車両識別装置の概略構成図Schematic block diagram of the vehicle identification number of the embodiment of the present invention 前方の車両と反射板およびセンタラインの位置関係を示す図A diagram showing the positional relationship between the vehicle in front and the reflector and center line. 前走車のテールランプおよび路側の反射板による光源が映った画像を示す図The figure which shows the image which reflected the light source by the tail lamp of the preceding vehicle and the reflector of the roadside. 撮像された画像から車両を識別するときのフローチャートFlowchart for identifying a vehicle from captured images 前走車の光源と反射板の光源との位置関係を示す図A diagram showing the positional relationship between the light source of the vehicle in front and the light source of the reflector.

本発明の実施形態に係る運転支援システム等の車両制御に使用される車両識別装置を図１に示す。車両の前方の物体を識別するための車両識別装置は、夜間の走行中における車両制御の１つとしてヘッドランプ１の作動を制御するヘッドランプ制御装置２に接続され、車両の前方を撮像する撮像部３と、撮像部３によって撮像された撮像情報を解析して、前走車等の車両を含む物体を識別する画像処理装置４とを備えている。撮像部３は、車室の前側に設置されるステレオカメラとされる。画像処理装置４は、ＣＰＵ、ＧＰＵ等のプロセッサ、メモリ、車内通信インターフェースによって構成される。 FIG. 1 shows a vehicle identification device used for vehicle control such as a driving support system according to an embodiment of the present invention. The vehicle identification device for identifying an object in front of the vehicle is connected to the headlamp control device 2 that controls the operation of the headlamp 1 as one of the vehicle controls during nighttime driving, and images of the front of the vehicle are captured. The unit 3 includes an image processing device 4 that analyzes the image pickup information captured by the image pickup unit 3 and identifies an object including a vehicle such as a vehicle in front. The image pickup unit 3 is a stereo camera installed on the front side of the vehicle interior. The image processing device 4 is composed of a processor such as a CPU and a GPU, a memory, and an in-vehicle communication interface.

そして、夜間に車両の前方の物体を識別するために、画像処理装置４は、撮像部３からの撮像情報に基づいて光源を検出して、検出された光源に基づいて車両と車両以外の物体とを識別する。そのため、画像処理装置４は、撮像部３が撮像した画像から光源を検出する光源検出部５と、検出された光源の位置関係から前方の物体を識別する車両判定部６とを有する。撮像部３はステレオカメラにより３次元的な画像を撮像するが、上記の画像処理装置４は、平面画像で処理する。そのため、１つのカメラで撮像した画像を取得して解析処理する。これにより、処理時間を短縮でき、すばやく車両を識別することができる。 Then, in order to identify an object in front of the vehicle at night, the image processing device 4 detects a light source based on the image pickup information from the image pickup unit 3, and the vehicle and an object other than the vehicle are based on the detected light source. And identify. Therefore, the image processing device 4 has a light source detection unit 5 that detects a light source from the image captured by the image pickup unit 3, and a vehicle determination unit 6 that identifies an object in front from the positional relationship of the detected light source. The image pickup unit 3 captures a three-dimensional image with a stereo camera, and the image processing device 4 described above processes a planar image. Therefore, the image captured by one camera is acquired and analyzed. As a result, the processing time can be shortened and the vehicle can be identified quickly.

図２に示すように、左側通行では、走行中の車両の前方に存在する物体として、前走車１０、対向車１１といった車両の他に、路側に設置された反射板１２、照明灯等があり、前走車１０のテールランプ１３、対向車１１のヘッドランプ１４、照明灯のように自ら光を発する物体、自車のヘッドランプ１からの光を反射する反射板１２が光源となる。反射板１２には、走行している車線の路側の反射板１２以外に、対向車線の路側の反射板１５、センタライン１６がある。 As shown in FIG. 2, in the left-hand traffic, as objects existing in front of the moving vehicle, in addition to vehicles such as the preceding vehicle 10 and the oncoming vehicle 11, the reflector 12 installed on the roadside, the lighting, and the like are included. The light source is the tail lamp 13 of the preceding vehicle 10, the headlamp 14 of the oncoming vehicle 11, an object that emits light by itself such as an illumination lamp, and the reflecting plate 12 that reflects the light from the headlamp 1 of the own vehicle. The reflector 12 includes a reflector 15 on the road side of the oncoming lane and a center line 16 in addition to the reflector 12 on the road side of the traveling lane.

光源検出部５は、撮像された画像において歪補正等の画像前処理を行ってから、明るい領域を探して、光源を検出する。すなわち、光源検出部５は、所定以上の大きさおよび所定の輝度以上を有する明るい領域を探して、その領域を光源として抽出し、その領域の色を判別することにより、光源を識別する。車両判定部６は、光源の色に基づいて車両か車両以外の物体かを判別する。光源の色が赤色の場合、前走車１０であると判定する。光源の色が白色の場合、輝度に基づいて明るい光源は対向車１１であると判定する。光源の輝度が小さい場合、さらに光源の位置に基づいて、反射板１２，１５あるいはセンタライン１６と判定する。 The light source detection unit 5 performs image preprocessing such as distortion correction on the captured image, then searches for a bright region and detects the light source. That is, the light source detection unit 5 identifies a light source by searching for a bright region having a size of a predetermined size or more and a predetermined brightness or more, extracting the region as a light source, and determining the color of the region. The vehicle determination unit 6 determines whether the vehicle is a vehicle or an object other than the vehicle based on the color of the light source. When the color of the light source is red, it is determined that the vehicle is in front 10. When the color of the light source is white, it is determined that the bright light source is the oncoming vehicle 11 based on the brightness. When the brightness of the light source is low, it is determined to be the reflectors 12, 15 or the center line 16 based on the position of the light source.

通常、光源の色としては、前走車１０のテールランプ１３は赤色、対向車１１のヘッドランプ１４は白色、反射板１２，１５は白色あるいはオレンジ色、センタライン１６は白色が考えられるが、国、地域によっては、反射板１２から反射される光がテールランプ１３と同じ赤色の場合がある。この場合、光源の色は同じとなり、前走車１０のテールランプ１３と路側の反射板１２との判別が困難となる。ここで、撮像された画像では、遠近法によって車幅方向の一側に向かうほど車線の外側に向かっていく。左側通行の場合、左上側が車線の外側になる。図３に示すように、走行している車線側の反射板１２は、左下側から右斜め上方向に向かって並んで見える。前走車１０に対して、反射板１２は常に左側から左上側にかけて位置する。すなわち、前走車１０のテールランプ１３の左上側には反射板１２があるといった車両の走行位置と反射板１２の設置位置には、一定の相対関係がある。したがって、光源の左上側に他の光源がある場合、その光源は車両のテールランプ１３であり、光源の左上側に他の光源がない場合、その光源は車両以外の物体、すなわち反射板１２である。 Normally, the color of the light source is considered to be red for the tail lamp 13 of the preceding vehicle 10, white for the headlamp 14 of the oncoming vehicle 11, white or orange for the reflectors 12 and 15, and white for the center line 16. Depending on the area, the light reflected from the reflector 12 may be the same red color as the tail lamp 13. In this case, the colors of the light sources are the same, and it becomes difficult to distinguish the tail lamp 13 of the preceding vehicle 10 from the roadside reflector 12. Here, in the captured image, the closer to one side in the vehicle width direction by the perspective method, the more toward the outside of the lane. When driving on the left side, the upper left side is outside the lane. As shown in FIG. 3, the reflectors 12 on the lane side in which the vehicle is traveling can be seen side by side from the lower left side toward the diagonally upper right direction. The reflector 12 is always located from the left side to the upper left side with respect to the preceding vehicle 10. That is, there is a certain relative relationship between the traveling position of the vehicle and the installation position of the reflector 12, such as the reflector 12 on the upper left side of the tail lamp 13 of the preceding vehicle 10. Therefore, if there is another light source on the upper left side of the light source, the light source is the tail lamp 13 of the vehicle, and if there is no other light source on the upper left side of the light source, the light source is an object other than the vehicle, that is, the reflector 12. ..

このように、走行中の車両と反射板１２との位置関係に基づいて、夜間の走行中に検出された光源から車両と車両以外の物体を識別することができる。そのため、画像処理装置４は、検出された光源に対して、この光源の車幅方向の一側における他の光源の有無を確認する光源確認部７を有している。光源確認部７は、同じ色の光源をグループ化し、グループ内で各光源の位置を判別して、車幅方向の一側、すなわち左上側に他の光源があるか否かを確認する。なお、光源の色が類似する色の場合でも、その光源を同じグループにしてもよい。 In this way, based on the positional relationship between the traveling vehicle and the reflector 12, the vehicle and the object other than the vehicle can be identified from the light source detected during the traveling at night. Therefore, the image processing device 4 has a light source confirmation unit 7 for confirming the presence or absence of another light source on one side of the detected light source in the vehicle width direction. The light source confirmation unit 7 groups light sources of the same color, determines the position of each light source in the group, and confirms whether or not there is another light source on one side in the vehicle width direction, that is, on the upper left side. Even if the colors of the light sources are similar, the light sources may be in the same group.

夜間に車両が走行しているとき、撮像部３が車両の前方を撮像する。画像処理装置４は撮像部３から撮像情報を取得する。図４に示すように、光源検出部５は、撮像された画像において歪補正等の画像前処理を行ってから、所定の条件を満たす明るい領域を抽出して、光源を検出する。すなわち、光源検出部５は、所定値以上の輝度を有する所定の大きさ以上の領域を抽出して、この領域が発する光の色を判別して、この領域を光源として識別する。これにより、撮像された画像における光源の位置と色が検出される。 When the vehicle is traveling at night, the image pickup unit 3 takes an image of the front of the vehicle. The image processing device 4 acquires image pickup information from the image pickup unit 3. As shown in FIG. 4, the light source detection unit 5 performs image preprocessing such as distortion correction on the captured image, and then extracts a bright region satisfying a predetermined condition to detect the light source. That is, the light source detection unit 5 extracts a region having a brightness equal to or greater than a predetermined value and having a predetermined size or more, determines the color of the light emitted from this region, and identifies this region as a light source. As a result, the position and color of the light source in the captured image are detected.

撮像された画像に、同じ色の光源が複数ある場合、光源確認部７は、同じ色の光源をグループ化し、各光源の左上側に他の光源、すなわち同色の光源があるか否かを判別する。図５に示すように、ａ～ｉの光源において、ａ～ｅの光源では、左上側に他の光源を確認できない。ｆ～ｉの光源では、左上側に他の光源を確認できる。したがって、ａ～ｅの光源は反射板１２となり、ｆ～ｉの光源は車両となる。 When there are multiple light sources of the same color in the captured image, the light source confirmation unit 7 groups the light sources of the same color and determines whether or not there is another light source, that is, a light source of the same color on the upper left side of each light source. do. As shown in FIG. 5, among the light sources a to i, in the light sources a to e, no other light source can be confirmed on the upper left side. In the light sources f to i, another light source can be confirmed on the upper left side. Therefore, the light source of a to e is the reflector 12, and the light source of f to i is the vehicle.

車両判定部６は、光源の色および明るさ、各光源に対する周囲の光源の有無に基づいて車両と車両以外の物体を判別する。白く明るい光源で左上側に他の光源がない光源は、対向車１１のヘッドランプ１４と判定する。赤い光源で左上側に他の光源がある場合、前走車１０のテールランプ１３と判定する。赤い光源で左上側に他の光源がない場合、路側の反射板１２と判定する。 The vehicle determination unit 6 discriminates between a vehicle and an object other than the vehicle based on the color and brightness of the light source and the presence or absence of a surrounding light source for each light source. A light source that is white and bright and has no other light source on the upper left side is determined to be the headlamp 14 of the oncoming vehicle 11. When the red light source has another light source on the upper left side, it is determined to be the tail lamp 13 of the preceding vehicle 10. If it is a red light source and there is no other light source on the upper left side, it is determined to be the roadside reflector 12.

また、反対車線の路側に反射板１５がある場合、光源の色は赤色であるが、対向車１１のヘッドランプ１４は白色であるので、各光源の左上側には、同じ色の他の光源はなく、反対車線の路側の反射板１５であると判定される。 Further, when the reflector 15 is on the road side of the opposite lane, the color of the light source is red, but the headlamp 14 of the oncoming vehicle 11 is white, so that another light source of the same color is on the upper left side of each light source. It is determined that the reflector 15 is on the road side in the opposite lane.

センタライン１６による反射光が白色の場合、対向車１１のヘッドランプ１４と同じ色となる。対向車１１が遠い場合、両者の光源の輝度の差が小さいと車両を識別できなくなる。この場合でも同様に周囲の光源の有無を確認することにより、車両と他の物体とを識別できる。すなわち、光源確認部７は、白色の光源の左側に同色の他の光源があるか否かを確認する。左下側および左上側に他の光源がある場合、その光源は対向車１１のヘッドランプ１４となる。左下側および左上側に他の光源がない場合、その光源はセンタライン１６となる。 When the light reflected by the center line 16 is white, the color is the same as that of the headlamp 14 of the oncoming vehicle 11. When the oncoming vehicle 11 is far away, the vehicle cannot be identified if the difference in brightness between the two light sources is small. Even in this case, the vehicle can be distinguished from other objects by similarly checking the presence or absence of the surrounding light source. That is, the light source confirmation unit 7 confirms whether or not there is another light source of the same color on the left side of the white light source. When there are other light sources on the lower left side and the upper left side, the light source is the headlamp 14 of the oncoming vehicle 11. If there are no other light sources on the lower left and upper left sides, that light source will be the centerline 16.

上記のように、前方の車両が識別されると、画像処理装置４は、ボディＥＣＵからなるヘッドランプ制御装置２にハイビーム制御信号を出力し、ヘッドランプ１の作動が制御される。ヘッドランプ１は、配光可変ヘッドランプ（ＡＤＢ）とされ、ヘッドランプ制御装置２は、ハイビーム制御信号が入力されると、前走車１０や対向車１１などの前方に存在する車両に応じてハイビームの配光パターンを自動的に制御する。すなわち、車両以外の領域はハイビームとし、車両がある領域はロービームにする、あるいはハイビームを遮光する。 As described above, when the vehicle in front is identified, the image processing device 4 outputs a high beam control signal to the headlamp control device 2 including the body ECU, and the operation of the headlamp 1 is controlled. The headlamp 1 is a variable light distribution headlamp (ADB), and when a high beam control signal is input, the headlamp control device 2 responds to a vehicle existing in front such as a vehicle in front 10 or an oncoming vehicle 11. The high beam light distribution pattern is automatically controlled. That is, the area other than the vehicle is set to the high beam, and the area where the vehicle is located is set to the low beam, or the high beam is shielded.

このように、車両が発する光と同色の光を発する車両以外の物体とを正しく識別できるので、車両のテールランプ１３とよく似た光源を間違って車両と誤判断することを防止できる。したがって、車両と路側の反射板１２とを正しく判別して、ヘッドランプ制御を精度よく行うことができる。 In this way, since it is possible to correctly identify an object other than the vehicle that emits light of the same color as the light emitted by the vehicle, it is possible to prevent a light source similar to the tail lamp 13 of the vehicle from being mistakenly determined as a vehicle. Therefore, it is possible to correctly discriminate between the vehicle and the roadside reflector 12 and perform headlamp control with high accuracy.

なお、本発明は、上記実施形態に限定されるものではなく、本発明の範囲内で上記実施形態に多くの修正および変更を加え得ることは勿論である。撮像部３はステレオカメラに限らず、単眼カメラであってもよい。上記の車両識別装置をヘッドランプ制御に限らず、運転支援システムに関する車両制御に使用してもよい。さらに、本発明の車両識別装置では、平面画像処理を行う安価な画像処理装置を活用できるが、３次元的な画像処理を行える画像処理装置を採用してもよく、より判定精度を上げることができる。 It should be noted that the present invention is not limited to the above embodiment, and it goes without saying that many modifications and changes can be made to the above embodiment within the scope of the present invention. The image pickup unit 3 is not limited to a stereo camera, and may be a monocular camera. The above-mentioned vehicle identification device may be used not only for headlamp control but also for vehicle control related to a driving support system. Further, in the vehicle identification device of the present invention, an inexpensive image processing device that performs plane image processing can be utilized, but an image processing device that can perform three-dimensional image processing may be adopted, and the determination accuracy can be further improved. can.

上記実施形態では、左側通行の場合であるが、右側通行の場合でも同様に適用できる。夜間の走行中、光源検出部５は、撮像された画像から光源を検出する。光源確認部７は、同じ色の光源をグループ化し、各光源の右上側に同色の光源があるか否かを判別する。車両判定部６は、車両と車両以外の物体を判別する。白く明るい光源で右上側に他の光源がない光源は、対向車１１のヘッドランプ１４と判定する。赤い光源で右上側に他の光源がある場合、前走車１０のテールランプ１３と判定する。赤い光源で右上側に他の光源がない場合、路側の反射板１２と判定する。ヘッドランプ制御装置２は、前方に存在する車両に応じてハイビームの配光パターンを自動的に制御する。 In the above embodiment, the case of left-hand traffic is the case, but the same can be applied to the case of right-hand traffic. While traveling at night, the light source detection unit 5 detects a light source from the captured image. The light source confirmation unit 7 groups light sources of the same color and determines whether or not there is a light source of the same color on the upper right side of each light source. The vehicle determination unit 6 discriminates between a vehicle and an object other than the vehicle. A light source that is white and bright and has no other light source on the upper right side is determined to be the headlamp 14 of the oncoming vehicle 11. When the red light source has another light source on the upper right side, it is determined to be the tail lamp 13 of the preceding vehicle 10. If it is a red light source and there is no other light source on the upper right side, it is determined to be the roadside reflector 12. The headlamp control device 2 automatically controls the light distribution pattern of the high beam according to the vehicle existing in front.

１ ヘッドランプ
２ ヘッドランプ制御装置
３ 撮像部
４ 画像処理装置
５ 光源検出部
６ 車両判定部
７ 光源確認部
１０ 前走車
１１ 対向車
１２ 反射板
１３ テールランプ
１４ ヘッドランプ
１５ 反射板
１６ センタライン 1 Headlamp 2 Headlamp control device 3 Imaging unit 4 Image processing device 5 Light source detection unit 6 Vehicle judgment unit 7 Light source confirmation unit 10 Front vehicle 11 Oncoming vehicle 12 Reflector 13 Tail lamp 14 Headlamp 15 Reflector 16 Center line

Claims (1)

車両の前方を撮像する撮像部と、撮像部からの撮像情報により光源を検出する光源検出部と、検出された光源から車両の光源を識別する車両判定部とを有する車両識別装置であって、検出された光源に対して、この光源の車幅方向の一側における他の光源の有無を確認する光源確認部を有し、車両判定部は、他の光源の有無に応じて、検出された光源が車両のものか車両以外のものかを判別することを特徴とする車両識別装置。 A vehicle identification device having an image pickup unit that images the front of a vehicle, a light source detection unit that detects a light source based on image pickup information from the image pickup unit, and a vehicle determination unit that identifies a light source of the vehicle from the detected light source. It has a light source confirmation unit that confirms the presence or absence of another light source on one side of the detected light source in the vehicle width direction, and the vehicle determination unit is detected according to the presence or absence of another light source. A vehicle identification device characterized in that it determines whether a light source is a vehicle or a non-vehicle.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08166221A (en) * 1994-12-15 1996-06-25 Nippondenso Co Ltd Vehicle recognizing device for night
JP2008207677A (en) * 2007-02-27 2008-09-11 Hitachi Ltd Image processing apparatus, image processing method and image processing system
JP2015187832A (en) * 2014-03-12 2015-10-29 株式会社リコー Image processor, mobile body equipment control system, and image processor program
JP2016142647A (en) * 2015-02-03 2016-08-08 クラリオン株式会社 Image processing device and vehicle system
JP2017182458A (en) * 2016-03-30 2017-10-05 株式会社東芝 Vehicle light source detection device and vehicle light source detection method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08166221A (en) * 1994-12-15 1996-06-25 Nippondenso Co Ltd Vehicle recognizing device for night
JP2008207677A (en) * 2007-02-27 2008-09-11 Hitachi Ltd Image processing apparatus, image processing method and image processing system
JP2015187832A (en) * 2014-03-12 2015-10-29 株式会社リコー Image processor, mobile body equipment control system, and image processor program
JP2016142647A (en) * 2015-02-03 2016-08-08 クラリオン株式会社 Image processing device and vehicle system
JP2017182458A (en) * 2016-03-30 2017-10-05 株式会社東芝 Vehicle light source detection device and vehicle light source detection method

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