JP5480917B2 - 車両周辺監視装置 - Google Patents
車両周辺監視装置 Download PDFInfo
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- JP5480917B2 JP5480917B2 JP2011549886A JP2011549886A JP5480917B2 JP 5480917 B2 JP5480917 B2 JP 5480917B2 JP 2011549886 A JP2011549886 A JP 2011549886A JP 2011549886 A JP2011549886 A JP 2011549886A JP 5480917 B2 JP5480917 B2 JP 5480917B2
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- 238000012806 monitoring device Methods 0.000 title claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 48
- 238000000605 extraction Methods 0.000 claims description 24
- 239000000284 extract Substances 0.000 claims description 9
- 238000000034 method Methods 0.000 description 24
- 238000007781 pre-processing Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/30—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/103—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using camera systems provided with artificial illumination device, e.g. IR light source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Closed-Circuit Television Systems (AREA)
- Traffic Control Systems (AREA)
Description
Claims (2)
- 車載カメラによる撮像画像に基づいて、自車両周辺の監視対象物を認識する車両周辺監視装置において、
前記撮像画像から、水平方向で線対称となる位置に存在する第1画像部分及び第2画像部分を抽出する対称画像部分抽出部と、
前記第1画像部分を含む所定サイズの領域を、第1拡張領域として設定する拡張領域設定部と、
前記第2画像部分を含む前記第1拡張領域のサイズよりも広い範囲を、拡張探索範囲として設定する拡張探索範囲設定部と、
前記拡張探索範囲内で前記第1拡張領域又は前記第1拡張領域のミラー反転画像との相関度が所定レベル以上である第2拡張領域を探索し、該第2拡張領域が探知されたときに、前記第1画像部分及び前記第2画像部分を含む画像を車両と認識する対象物種別認識部とを備え、
前記拡張領域設定部は、対応する実空間上の位置の路面からの高さが所定高さ以上であることを条件として、前記第1拡張領域を設定することを特徴とする車両周辺監視装置。 - 単一の車載カメラによる撮像画像に基づいて、自車両周辺の監視対象物を認識する車両周辺監視装置において、
前記撮像画像から、水平方向で線対称となる位置に存在する第1画像部分及び第2画像部分を抽出する対称画像部分抽出部と、
前記第1画像部分を含む所定サイズの領域を、第1拡張領域として設定する拡張領域設定部と、
前記第2画像部分を含む前記第1拡張領域のサイズよりも広い範囲を、拡張探索範囲として設定する拡張探索範囲設定部と、
前記拡張探索範囲内で前記第1拡張領域又は前記第1拡張領域のミラー反転画像との相関度が所定レベル以上である第2拡張領域を探索し、該第2拡張領域が探知されたときに、前記第1画像部分及び前記第2画像部分を含む画像を車両と認識する対象物種別認識部と、
自車両から監視対象物までの距離を、前記カメラの撮像画像における前記第1画像部分と前記第2画像部分との水平方向の間隔に基づいて算出する距離算出部とを備え、
前記距離算出部は、自車両から監視対象物までの距離を、異なる時刻での前記カメラの撮像画像間における該監視対象物の画像の大きさの変化率に基づいて算出し、
前記対象物種別認識部は、同一の監視対象物について前記距離算出部により算出された、前記第1画像部分と前記第2画像部分との水平方向の間隔に基づく距離と該監視対象物の画像の大きさの変化率に基く距離との差が所定値以上であるときに、該監視対象物が移動体であると認識することを特徴とする車両周辺監視装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011549886A JP5480917B2 (ja) | 2010-01-14 | 2010-12-16 | 車両周辺監視装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010005905 | 2010-01-14 | ||
JP2010005905 | 2010-01-14 | ||
JP2011549886A JP5480917B2 (ja) | 2010-01-14 | 2010-12-16 | 車両周辺監視装置 |
PCT/JP2010/072647 WO2011086807A1 (ja) | 2010-01-14 | 2010-12-16 | 車両周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2011086807A1 JPWO2011086807A1 (ja) | 2013-05-16 |
JP5480917B2 true JP5480917B2 (ja) | 2014-04-23 |
Family
ID=44304098
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011549886A Expired - Fee Related JP5480917B2 (ja) | 2010-01-14 | 2010-12-16 | 車両周辺監視装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8994824B2 (ja) |
EP (1) | EP2482268A4 (ja) |
JP (1) | JP5480917B2 (ja) |
CN (1) | CN102713988B (ja) |
WO (1) | WO2011086807A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103797528A (zh) * | 2011-09-28 | 2014-05-14 | 本田技研工业株式会社 | 生物体识别装置 |
CN103310213B (zh) * | 2012-03-07 | 2016-05-25 | 株式会社理光 | 车辆检测方法和装置 |
CN104160434A (zh) * | 2012-03-12 | 2014-11-19 | 本田技研工业株式会社 | 车辆周围监视装置 |
KR102021152B1 (ko) * | 2013-05-07 | 2019-09-11 | 현대모비스 주식회사 | 원적외선 카메라 기반 야간 보행자 인식 방법 |
JP5895955B2 (ja) * | 2014-02-07 | 2016-03-30 | トヨタ自動車株式会社 | 車線境界線検出装置 |
JP6398675B2 (ja) * | 2014-12-09 | 2018-10-03 | 株式会社デンソー | 画像生成装置 |
US10803299B2 (en) | 2017-03-16 | 2020-10-13 | Echo-Sense, Inc. | System to overcome the two-dimensional nature of the captured images when attempting to generate three-dimensional measurement data |
US11064226B2 (en) * | 2017-03-16 | 2021-07-13 | Echo-Sense, Inc. | System and method for concurrent data streams from a singular sensor with remotely selectable parameters |
CN107933461B (zh) * | 2017-11-17 | 2020-07-10 | 重庆长安汽车股份有限公司 | 基于单摄像头的车内识别融合装置及方法 |
CN111886858B (zh) * | 2018-03-15 | 2022-06-21 | 株式会社小糸制作所 | 车辆用影像*** |
JP7073991B2 (ja) * | 2018-09-05 | 2022-05-24 | トヨタ自動車株式会社 | 車両用周辺表示装置 |
EP3937066A1 (en) * | 2020-07-07 | 2022-01-12 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Peer vehicle center line determination system and method |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06235635A (ja) * | 1993-02-08 | 1994-08-23 | Daihatsu Motor Co Ltd | 距離検出方法 |
JPH06333049A (ja) * | 1993-05-27 | 1994-12-02 | Nec Corp | 移動車の環境認識方法および装置 |
JPH0778258A (ja) * | 1993-09-08 | 1995-03-20 | Sumitomo Electric Ind Ltd | 物体認識装置 |
JP2002358595A (ja) * | 2001-06-01 | 2002-12-13 | Mitsubishi Electric Corp | 道路交通流計測装置および道路交通流計測方法 |
JP2005092857A (ja) * | 2003-08-11 | 2005-04-07 | Hitachi Ltd | 画像処理システム及び車両制御システム |
JP2006285549A (ja) * | 2005-03-31 | 2006-10-19 | Matsushita Electric Ind Co Ltd | 画像処理式車両検出装置及び画像処理式車両検出方法 |
JP2009230530A (ja) * | 2008-03-24 | 2009-10-08 | Honda Motor Co Ltd | 車両認識装置、車両、及び車両認識用プログラム |
JP2009265882A (ja) * | 2008-04-24 | 2009-11-12 | Honda Motor Co Ltd | 車両周辺監視装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5638116A (en) | 1993-09-08 | 1997-06-10 | Sumitomo Electric Industries, Ltd. | Object recognition apparatus and method |
JP3839329B2 (ja) | 2002-02-04 | 2006-11-01 | 本田技研工業株式会社 | ナイトビジョンシステム |
JP4094604B2 (ja) * | 2004-11-30 | 2008-06-04 | 本田技研工業株式会社 | 車両周辺監視装置 |
US7483549B2 (en) * | 2004-11-30 | 2009-01-27 | Honda Motor Co., Ltd. | Vehicle surroundings monitoring apparatus |
CN101450647A (zh) * | 2008-12-29 | 2009-06-10 | 广东铁将军防盗设备有限公司 | 车辆避障告警方法 |
-
2010
- 2010-12-16 WO PCT/JP2010/072647 patent/WO2011086807A1/ja active Application Filing
- 2010-12-16 US US13/515,618 patent/US8994824B2/en active Active
- 2010-12-16 JP JP2011549886A patent/JP5480917B2/ja not_active Expired - Fee Related
- 2010-12-16 CN CN201080061317.6A patent/CN102713988B/zh active Active
- 2010-12-16 EP EP10843162.8A patent/EP2482268A4/en not_active Ceased
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06235635A (ja) * | 1993-02-08 | 1994-08-23 | Daihatsu Motor Co Ltd | 距離検出方法 |
JPH06333049A (ja) * | 1993-05-27 | 1994-12-02 | Nec Corp | 移動車の環境認識方法および装置 |
JPH0778258A (ja) * | 1993-09-08 | 1995-03-20 | Sumitomo Electric Ind Ltd | 物体認識装置 |
JP2002358595A (ja) * | 2001-06-01 | 2002-12-13 | Mitsubishi Electric Corp | 道路交通流計測装置および道路交通流計測方法 |
JP2005092857A (ja) * | 2003-08-11 | 2005-04-07 | Hitachi Ltd | 画像処理システム及び車両制御システム |
JP2006285549A (ja) * | 2005-03-31 | 2006-10-19 | Matsushita Electric Ind Co Ltd | 画像処理式車両検出装置及び画像処理式車両検出方法 |
JP2009230530A (ja) * | 2008-03-24 | 2009-10-08 | Honda Motor Co Ltd | 車両認識装置、車両、及び車両認識用プログラム |
JP2009265882A (ja) * | 2008-04-24 | 2009-11-12 | Honda Motor Co Ltd | 車両周辺監視装置 |
Also Published As
Publication number | Publication date |
---|---|
US8994824B2 (en) | 2015-03-31 |
CN102713988A (zh) | 2012-10-03 |
US20120300076A1 (en) | 2012-11-29 |
CN102713988B (zh) | 2015-02-25 |
EP2482268A1 (en) | 2012-08-01 |
JPWO2011086807A1 (ja) | 2013-05-16 |
EP2482268A4 (en) | 2013-09-04 |
WO2011086807A1 (ja) | 2011-07-21 |
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