CN103303205B - 车辆周围监视装置 - Google Patents

车辆周围监视装置 Download PDF

Info

Publication number
CN103303205B
CN103303205B CN201310054655.2A CN201310054655A CN103303205B CN 103303205 B CN103303205 B CN 103303205B CN 201310054655 A CN201310054655 A CN 201310054655A CN 103303205 B CN103303205 B CN 103303205B
Authority
CN
China
Prior art keywords
vehicle
moving body
light
region
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201310054655.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN103303205A (zh
Inventor
清原将裕
内田吉孝
村松彰二
入江耕太
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Faurecia Clarion Electronics Co Ltd
Original Assignee
Clarion Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Clarion Co Ltd filed Critical Clarion Co Ltd
Publication of CN103303205A publication Critical patent/CN103303205A/zh
Application granted granted Critical
Publication of CN103303205B publication Critical patent/CN103303205B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Emergency Alarm Devices (AREA)
CN201310054655.2A 2012-03-07 2013-02-20 车辆周围监视装置 Expired - Fee Related CN103303205B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012-050908 2012-03-07
JP2012050908A JP5615862B2 (ja) 2012-03-07 2012-03-07 車両周囲監視装置

Publications (2)

Publication Number Publication Date
CN103303205A CN103303205A (zh) 2013-09-18
CN103303205B true CN103303205B (zh) 2015-09-09

Family

ID=47748472

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310054655.2A Expired - Fee Related CN103303205B (zh) 2012-03-07 2013-02-20 车辆周围监视装置

Country Status (4)

Country Link
US (1) US20130235201A1 (https=)
EP (1) EP2637150B1 (https=)
JP (1) JP5615862B2 (https=)
CN (1) CN103303205B (https=)

Families Citing this family (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9355649B2 (en) 2012-11-13 2016-05-31 Adobe Systems Incorporated Sound alignment using timing information
US10638221B2 (en) 2012-11-13 2020-04-28 Adobe Inc. Time interval sound alignment
US10249321B2 (en) 2012-11-20 2019-04-02 Adobe Inc. Sound rate modification
US9031345B2 (en) * 2013-03-11 2015-05-12 Adobe Systems Incorporated Optical flow accounting for image haze
US9165373B2 (en) 2013-03-11 2015-10-20 Adobe Systems Incorporated Statistics of nearest neighbor fields
US9129399B2 (en) 2013-03-11 2015-09-08 Adobe Systems Incorporated Optical flow with nearest neighbor field fusion
US9025822B2 (en) 2013-03-11 2015-05-05 Adobe Systems Incorporated Spatially coherent nearest neighbor fields
JP5906224B2 (ja) * 2013-09-27 2016-04-20 富士重工業株式会社 車外環境認識装置
KR102159359B1 (ko) * 2014-09-05 2020-09-23 현대모비스 주식회사 Avm 시스템 및 그 동작방법
JP6330383B2 (ja) * 2014-03-12 2018-05-30 株式会社デンソー 合成画像生成装置、および合成画像生成プログラム
WO2015183889A1 (en) 2014-05-27 2015-12-03 Robert Bosch Gmbh Detection, identification, and mitigation of lens contamination for vehicle mounted camera systems
US10252663B2 (en) * 2014-06-02 2019-04-09 Denso Corporation Headlight control apparatus
JP6314666B2 (ja) * 2014-06-02 2018-04-25 株式会社デンソー 前照灯制御装置
JP6412345B2 (ja) * 2014-06-12 2018-10-24 株式会社Ｓｕｂａｒｕ 車外環境認識装置
KR101637882B1 (ko) * 2014-08-07 2016-07-08 엘지전자 주식회사 차량용 헤드램프 구동장치 및 이를 구비한 차량
KR102339512B1 (ko) * 2014-10-17 2021-12-16 현대모비스 주식회사 영상 인식 장치 및 영상 인식 방법
DE102014118035B4 (de) * 2014-12-05 2022-11-17 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erkennen einer Abschattung einer Sensoreinrichtung eines Kraftfahrzeugs durch ein Objekt, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
CN107113375B (zh) * 2015-01-08 2020-09-18 索尼半导体解决方案公司 图像处理装置、成像装置和图像处理方法
JP6236039B2 (ja) * 2015-06-26 2017-11-22 株式会社Ｓｕｂａｒｕ 車外環境認識装置
JP6523196B2 (ja) * 2016-03-17 2019-05-29 株式会社東芝 推定装置、方法及びプログラム
CN106203272B (zh) * 2016-06-29 2018-07-20 上海小蚁科技有限公司 确定可移动对象的移动的方法和装置
US10528566B2 (en) * 2016-06-30 2020-01-07 Referentia Systems, Inc. Time series data query engine
JP6535302B2 (ja) 2016-07-13 2019-06-26 株式会社Ｓｏｋｅｎ 物体検知装置
CN107650785A (zh) * 2016-07-26 2018-02-02 奥迪股份公司 驾驶辅助方法和系统
CN106295583B (zh) * 2016-08-15 2020-02-07 深圳市华宝电子科技有限公司 一种提醒用户驾驶方式的方法及装置
US10726278B2 (en) * 2016-09-30 2020-07-28 Samsung Electronics Co., Ltd. Method, device and system for providing notification information
KR20180069147A (ko) * 2016-12-14 2018-06-25 만도헬라일렉트로닉스(주) 차량의 보행자 경고장치
JP6852534B2 (ja) * 2017-04-12 2021-03-31 アイシン精機株式会社 障害物検知報知装置、方法及びプログラム
US10549853B2 (en) 2017-05-26 2020-02-04 The Boeing Company Apparatus, system, and method for determining an object's location in image video data
JP6311826B2 (ja) * 2017-06-15 2018-04-18 株式会社Ｊｖｃケンウッド 撮影画像表示装置、撮影画像表示方法および撮影画像表示プログラム
JP6327388B2 (ja) * 2017-06-15 2018-05-23 株式会社Ｊｖｃケンウッド 撮影画像表示装置、撮影画像表示方法および撮影画像表示プログラム
US10789682B2 (en) * 2017-06-16 2020-09-29 The Boeing Company Apparatus, system, and method for enhancing an image
JP6878221B2 (ja) * 2017-09-12 2021-05-26 日立建機株式会社 作業機械の障害物検知システム
JP2019204193A (ja) * 2018-05-22 2019-11-28 キヤノン株式会社 画像処理装置、画像処理方法及びプログラム
WO2020090251A1 (ja) * 2018-10-30 2020-05-07 日本電気株式会社 物体認識装置、物体認識方法および物体認識プログラム
JP7252755B2 (ja) * 2018-12-27 2023-04-05 株式会社小糸製作所 アクティブセンサ、物体識別システム、車両、車両用灯具
JP7298436B2 (ja) * 2019-10-14 2023-06-27 株式会社デンソー 障害物識別装置および障害物識別プログラム
CN112235513B (zh) * 2020-09-29 2023-04-07 三一专用汽车有限责任公司 图像处理装置、方法和车辆
WO2022185085A1 (ja) 2021-03-03 2022-09-09 日産自動車株式会社 物体検出方法及び物体検出装置
JP7256835B2 (ja) 2021-03-24 2023-04-12 本田技研工業株式会社 画像処理装置
EP4322133B1 (en) * 2021-05-17 2026-01-28 NTT, Inc. Judgement device, judgement method, and judgement program
JP7791664B2 (ja) * 2021-07-19 2025-12-24 株式会社小糸製作所 車両の制御装置
CN115690162B (zh) * 2022-12-28 2023-03-10 武汉凡德智能科技有限公司 一种固定视频中移动大目标的检测方法及装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06290255A (ja) * 1993-03-31 1994-10-18 Ohkura Electric Co Ltd 画像の動きベクトル検出方法
GB2282294A (en) * 1993-09-25 1995-03-29 Bosch Gmbh Robert Method of detecting moving objects
CN1457023A (zh) * 2002-05-09 2003-11-19 松下电器产业株式会社 监视装置、监视方法和监视用程序
EP1962254A2 (en) * 2007-02-13 2008-08-27 Hitachi, Ltd. In-vehicle apparatus for recognizing running environment of vehicle
JP4333462B2 (ja) * 2004-04-20 2009-09-16 株式会社デンソー 移動物体検知装置
WO2011016367A1 (ja) * 2009-08-04 2011-02-10 アイシン精機株式会社 車両周辺認知支援装置
JP2011123613A (ja) * 2009-12-09 2011-06-23 Fuji Heavy Ind Ltd 停止線認識装置
CN102257533A (zh) * 2008-11-19 2011-11-23 歌乐牌株式会社 接近物体检测系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2994170B2 (ja) 1993-04-30 1999-12-27 三菱電機株式会社 車両周辺監視装置
JPH07262375A (ja) * 1994-03-25 1995-10-13 Toshiba Corp 移動体検出装置
HK1050259A1 (zh) * 1999-11-03 2003-06-13 特许科技有限公司 基於視頻的交通監控系統的圖像處理技術及其方法
US7565006B2 (en) * 2002-08-21 2009-07-21 Gentex Corporation Image acquisition and processing methods for automatic vehicular exterior lighting control
JP3987013B2 (ja) * 2003-09-01 2007-10-03 本田技研工業株式会社 車両周辺監視装置
US7389171B2 (en) * 2003-12-22 2008-06-17 Ford Global Technologies Llc Single vision sensor object detection system
US20060111841A1 (en) * 2004-11-19 2006-05-25 Jiun-Yuan Tseng Method and apparatus for obstacle avoidance with camera vision
JP4956374B2 (ja) * 2007-10-29 2012-06-20 富士重工業株式会社 物体検出装置および接触回避システム
JP2012243049A (ja) * 2011-05-19 2012-12-10 Fuji Heavy Ind Ltd 環境認識装置および環境認識方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06290255A (ja) * 1993-03-31 1994-10-18 Ohkura Electric Co Ltd 画像の動きベクトル検出方法
GB2282294A (en) * 1993-09-25 1995-03-29 Bosch Gmbh Robert Method of detecting moving objects
CN1457023A (zh) * 2002-05-09 2003-11-19 松下电器产业株式会社 监视装置、监视方法和监视用程序
JP4333462B2 (ja) * 2004-04-20 2009-09-16 株式会社デンソー 移動物体検知装置
EP1962254A2 (en) * 2007-02-13 2008-08-27 Hitachi, Ltd. In-vehicle apparatus for recognizing running environment of vehicle
CN102257533A (zh) * 2008-11-19 2011-11-23 歌乐牌株式会社 接近物体检测系统
WO2011016367A1 (ja) * 2009-08-04 2011-02-10 アイシン精機株式会社 車両周辺認知支援装置
JP2011123613A (ja) * 2009-12-09 2011-06-23 Fuji Heavy Ind Ltd 停止線認識装置

Also Published As

Publication number Publication date
CN103303205A (zh) 2013-09-18
EP2637150A3 (en) 2014-02-26
JP2013186668A (ja) 2013-09-19
EP2637150A2 (en) 2013-09-11
US20130235201A1 (en) 2013-09-12
JP5615862B2 (ja) 2014-10-29
EP2637150B1 (en) 2015-04-01

Similar Documents

Publication Publication Date Title
CN103303205B (zh) 车辆周围监视装置
KR102135427B1 (ko) 진폭-변조된 광의 깜박임을 보정하기 위해 스트리밍된 비디오 이미지를 처리하는 시스템 및 방법
JP6132412B2 (ja) 車外環境認識装置
CN113246846A (zh) 车辆灯光控制方法、装置及车辆
US9340156B2 (en) Method for detecting an object in an environmental region of a motor vehicle by means of a camera system of the motor vehicle, camera system and motor vehicle
CN107972569B (zh) 车灯组控制方法、装置、系统及车辆
JP2011178301A (ja) 障害物検知装置およびそれを備えた障害物検知システム、並びに障害物検知方法
US20130088598A1 (en) Obstacle detection system and method, and obstacle detection apparatus
KR101738995B1 (ko) 에고 모션 검출을 구비한 촬상 시스템 및 방법
JP6236039B2 (ja) 車外環境認識装置
JP6420650B2 (ja) 車外環境認識装置
CN105034929B (zh) 照射设备
JP4927647B2 (ja) 車両周辺監視装置
CN110399672B (zh) 无人驾驶车辆的街景仿真方法、装置和电子设备
JP2016004503A (ja) 車外環境認識装置
JP5712821B2 (ja) 撮影表示制御システム
JP2013235444A (ja) 車両視界支援装置
JP6259335B2 (ja) 車外環境認識装置
CN112565618B (zh) 曝光控制装置
KR20160091331A (ko) 자동차용 야간 화상들을 형성하는 시스템 및 방법
JP2015194970A (ja) 車外環境認識装置
JP2000180563A (ja) 降雨雪状況検出方法およびその装置
JP4731177B2 (ja) 車両の赤外線撮影表示装置及び赤外線撮影表示方法
KR20200001203A (ko) 차량 및 차량 제어 방법
JPWO2019044434A1 (ja) 物体検出システム

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150909

CF01 Termination of patent right due to non-payment of annual fee