JP2002362302A - Pedestrian detecting device - Google Patents
Pedestrian detecting deviceInfo
- Publication number
- JP2002362302A JP2002362302A JP2001166316A JP2001166316A JP2002362302A JP 2002362302 A JP2002362302 A JP 2002362302A JP 2001166316 A JP2001166316 A JP 2001166316A JP 2001166316 A JP2001166316 A JP 2001166316A JP 2002362302 A JP2002362302 A JP 2002362302A
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- Prior art keywords
- pedestrian
- lane marking
- search area
- detected
- detection
- Prior art date
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、車両周辺の歩行者
を検出し、ドライバーへ警報を発することを目的とする
歩行者検出装置に係わる。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pedestrian detection device for detecting a pedestrian around a vehicle and issuing an alarm to a driver.
【０００２】[0002]
【従来の技術】夜間の車両走行においては、歩行者の存
在を見誤る場合があり、交通事故の原因の１つとなって
いる。夜間の歩行者を検出する装置としては、赤外線カ
メラを用いたものが考案されている。赤外線カメラによ
り歩行者を検出する装置としては、特開平１１−２１５
４８７号公報に開示されているように、画面の全領域を
探索して、歩行者を検出するものが存在する。例えば、
図３は車両前方を赤外線カメラにより撮影し、その映像
を示したもので、１０は歩行者、１１は建物の窓であ
る。図３に示すような赤外線映像を処理する場合に、歩
行者１０の存在しない領域にある建物の窓１１等の存在
する領域も探索することになる。2. Description of the Related Art When a vehicle is driving at night, the presence of a pedestrian may be mistaken, which is one of the causes of a traffic accident. A device using an infrared camera has been devised as a device for detecting a pedestrian at night. As a device for detecting a pedestrian with an infrared camera, Japanese Patent Application Laid-Open No. H11-215
As disclosed in Japanese Patent No. 487, there is an apparatus that searches for the entire area of a screen and detects a pedestrian. For example,
FIG. 3 shows an image of the front of the vehicle taken by an infrared camera, and shows an image thereof. Reference numeral 10 denotes a pedestrian, and 11 denotes a window of a building. When processing an infrared image as shown in FIG. 3, an area where a window 11 or the like of a building exists in an area where the pedestrian 10 does not exist is also searched.
【０００３】[0003]
【発明が解決しようとする課題】上述したように従来の
歩行者検出装置では、夜間の歩行者を検出しようとする
場合に、カメラの撮像範囲をすべて画像処理しているた
め処理量が増大するという問題点と、処理量の増大によ
り処理時間が長く掛かり、その結果、早期警報が発生し
難いという問題点があった。As described above, in the conventional pedestrian detection device, when trying to detect a pedestrian at night, the processing amount increases because the entire imaging range of the camera is image-processed. In addition, there is a problem that the processing time is lengthened due to an increase in the processing amount, and as a result, it is difficult to generate an early warning.
【０００４】この発明は上記のような問題点を解消する
ためになされたもので、可視光カメラから得られるレー
ンマーキングの位置をもとに歩行者検出の探索範囲を設
定することにより、画像処理量を削減し、処理時間を短
くして、早期警報を発することのできる歩行者の検出装
置を提供することを目的とする。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an image processing method is provided by setting a search range for pedestrian detection based on the position of lane markings obtained from a visible light camera. It is an object of the present invention to provide a pedestrian detection device capable of reducing the amount and shortening the processing time and issuing an early warning.
【０００５】[0005]
【課題を解決するための手段】この発明の請求項１に係
る歩行者検出装置は、車両前方を撮像する可視光カメラ
と、撮像した可視光画像からレーンマーキングを検出す
るレーンマーキング検出手段と、検出したレーンマーキ
ングの位置に基づき歩行者の探索領域を設定すると共
に、前記車両走行によるマーキングの移動に応じて歩行
者の検索領域の設定を変更する探索領域設定手段と、前
記車両前方を撮像する赤外線カメラと、撮像した赤外線
映像から前記設定した歩行者の検索領域内の歩行者を検
出する歩行者検出手段とを備えるものである。According to a first aspect of the present invention, there is provided a pedestrian detection apparatus, comprising: a visible light camera for capturing an image in front of a vehicle; a lane marking detection means for detecting a lane marking from the captured visible light image; Search area setting means for setting a pedestrian search area based on the detected lane marking position, and changing the setting of the pedestrian search area in accordance with the movement of the marking due to the vehicle traveling, and imaging the front of the vehicle. An infrared camera, and pedestrian detection means for detecting a pedestrian in the set pedestrian search area from a captured infrared image.
【０００６】この発明の請求項２に係る歩行者検出装置
は、探索領域設定手段は、レーンマーキング検出手段に
より検出されたレーンマーキングの近傍とレーンマーキ
ング検出限界距離近傍とレーンマーキングにより挟まれ
る領域とを歩行者の探索領域とするものである。According to a second aspect of the present invention, in the pedestrian detection apparatus, the search area setting means includes: Is a pedestrian search area.
【０００７】この発明の請求項３に係る歩行者検出装置
は、探索領域設定手段は、レーンマーキング検出手段に
より検出されたレーンマーキングの近傍とレーンマーキ
ング検出限界距離近傍とを歩行者の探索領域とするもの
である。According to a third aspect of the present invention, in the pedestrian detection device, the search area setting means sets the vicinity of the lane marking detected by the lane marking detection means and the vicinity of the lane marking detection limit distance as the pedestrian search area. Is what you do.
【０００８】この発明の請求項４に係る歩行者検出装置
は、探索領域設定手段は、レーンマーキング検出手段に
より検出されたレーンマーキングの近傍とレーンマーキ
ングにより挟まれる領域とを歩行者の探索領域とするも
のである。In a pedestrian detecting apparatus according to a fourth aspect of the present invention, the search area setting means sets the vicinity of the lane marking detected by the lane marking detecting means and an area sandwiched by the lane markings as a pedestrian search area. Is what you do.
【０００９】この発明の請求項５に係る歩行者検出装置
は、探索領域設定手段は、レーンマーキング検出手段に
より検出されたレーンマーキングの近傍を歩行者の探索
領域とするものである。In a pedestrian detecting apparatus according to a fifth aspect of the present invention, the search area setting means sets the vicinity of the lane marking detected by the lane marking detecting means as a pedestrian search area.
【００１０】この発明の請求項６に係る歩行者検出装置
は、歩行者検出手段により歩行者が検出されると警報を
発生する警報手段を備えたものである。A pedestrian detection device according to a sixth aspect of the present invention includes an alarm unit that generates an alarm when a pedestrian is detected by the pedestrian detection unit.
【００１１】この発明の請求項７に係る歩行者検出装置
は、歩行者検出手段により歩行者が検出されると、歩行
者が検出された検出領域に応じて異なる警報を発生する
警報手段を備えたものである。The pedestrian detection device according to a seventh aspect of the present invention is provided with alarm means for generating a different alarm according to the detection area where the pedestrian is detected when the pedestrian is detected by the pedestrian detection means. It is something.
【００１２】この発明の請求項８に係る歩行者検出装置
は、歩行者検出手段により歩行者が検出されると、歩行
者が検出された方向から音声あるいは光による警報を発
生し、または、歩行者が検出された方向を音声あるいは
光で警報する警報手段を備えたものである。The pedestrian detection device according to claim 8 of the present invention, when a pedestrian is detected by the pedestrian detection means, issues an alarm by sound or light from the direction in which the pedestrian was detected, or It is provided with alarm means for alarming the detected direction by voice or light.
【００１３】[0013]
【発明の実施の形態】実施の形態１．以下、この発明の
実施の形態１について図面を用いて説明する。図１は本
発明の歩行者検出装置の構成を示したものである。図１
において、１は赤外線画像を得るための赤外線カメラで
あり、歩行者を検出する目的には波長８μｍ〜１２μｍ
の赤外線を検出可能なものが適している。２は可視光画
像を得るための可視光カメラであり、ＣＣＤを用いたも
のが代表的である。３、４はそれぞれ赤外線画像、可視
光画像の画像信号をディジタル変換するアナログ・ディ
ジタル変換部である。DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 Hereinafter, Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 shows the configuration of the pedestrian detection device of the present invention. FIG.
In the drawing, reference numeral 1 denotes an infrared camera for obtaining an infrared image, and a wavelength of 8 μm to 12 μm for detecting a pedestrian.
Those that can detect infrared rays are suitable. Reference numeral 2 denotes a visible light camera for obtaining a visible light image, typically using a CCD. Reference numerals 3 and 4 denote analog / digital converters for digitally converting the image signals of the infrared image and the visible light image, respectively.
【００１４】５はディジタル変換された可視光画像デー
タを処理して白線などのレーンマーキングの位置情報を
得るためのレーンマーキング検出手段である。６はディ
ジタル変換された赤外線画像データにおいてレーンマー
キング検出手段５で得られたレーンマーキングの位置情
報をもとに歩行者を検出するための探索領域を設定する
ための探索領域設定手段である。７は赤外線画像データ
において探索領域設定手段６で設定された領域内の歩行
者を検出するための歩行者検出手段である。８は歩行者
の検出情報によりドライバーに警報を発生するための警
報手段である。Reference numeral 5 denotes lane marking detecting means for processing the digitally converted visible light image data to obtain lane marking position information such as a white line. Reference numeral 6 denotes a search area setting means for setting a search area for detecting a pedestrian based on the lane marking position information obtained by the lane marking detection means 5 in the digitally converted infrared image data. Reference numeral 7 denotes a pedestrian detecting means for detecting a pedestrian in the area set by the search area setting means 6 in the infrared image data. Reference numeral 8 denotes alarm means for generating an alarm to a driver based on pedestrian detection information.
【００１５】図２は可視光カメラ２による得られる夜間
の車両前方映像を模式的に示したもので、９ａ，９ｂは
レーンマーキング、灰色の明るい部分はヘッドライトの
照射範囲を表す。FIG. 2 schematically shows an image of the front of the vehicle at night obtained by the visible light camera 2, wherein 9a and 9b indicate lane markings and bright gray portions indicate the irradiation range of the headlights.
【００１６】次に本発明の歩行者検出装置の動作につい
て説明する。図２のような映像から白線などのレーンマ
ーキング９ａ，９ｂはレーンマーキング検出手段５によ
り検出する。検出した撮像信号をアナログ・ディジタル
変換部４によりディジタル変換する。レーンマーキング
検出手段５ではディジタル変換した撮像信号を次のよう
に処理する。例えば、白線の場合には、特開平０９―０
３５１９８号公報に開示されているように、白線サーチ
範囲を設定しておき、１次近似式として白線の位置を高
速に求める技術が知られている。また白線式が何ｍ先ま
で信頼できるかを示す検出限界距離を得ることが可能で
ある。図２では、左白線としてレーンマーキング９ａを
近似した式と、右白線としてレーンマーキング９ｂを近
似した式と、白線の検出限界距離とが得られる。Next, the operation of the pedestrian detection device of the present invention will be described. Lane markings 9a and 9b such as white lines are detected by the lane marking detecting means 5 from the video as shown in FIG. The detected image signal is converted into a digital signal by the analog / digital converter 4. The lane marking detection means 5 processes the digitally converted image signal as follows. For example, in the case of a white line, see JP-A-09-0.
As disclosed in Japanese Patent No. 35198, there is known a technique in which a white line search range is set, and the position of the white line is quickly obtained as a first-order approximation formula. In addition, it is possible to obtain a detection limit distance that indicates how far the white line formula is reliable. In FIG. 2, an expression approximating the lane marking 9a as the left white line, an expression approximating the lane marking 9b as the right white line, and the detection limit distance of the white line are obtained.
【００１７】一方、赤外線カメラ１から得られる夜間の
車両前方映像は高温部分が高輝度になる映像であり、前
述したように図３に模式的に示すような映像となる。ア
ナログ・ディジタル変換部３でディジタル信号に変換
後、探索領域設定手段６はレーンマーキング９ａ、９ｂ
の白線式の情報をもとに、赤外線画像における白線の位
置を算出し、図４のレーンマーキング位置９ｃ、９ｄに
示すように探索の基準位置として設定する。探索領域設
定手段６による具体的な設定は、レーンマーキング位置
９ｃ、９ｄをもとにレーンマーキング位置９ｃ、９ｄの
近傍の領域を歩行者の探索領域１２ａ、１２ｂとして設
定すると共に、レーンマーキング位置９ｃ、９ｄにより
挟まれる領域を歩行者の探索領域１３と設定し、遠方に
ついてはレーンマーキング検出手段５より得られる検出
限界距離をドライバーの夜間の視界の基準と考え、検出
限界距離の近傍１２ｃを設定する。On the other hand, the nighttime image ahead of the vehicle obtained from the infrared camera 1 is an image in which the high temperature portion has high luminance, and as described above, is an image schematically shown in FIG. After being converted into a digital signal by the analog / digital converter 3, the search area setting means 6 outputs the lane markings 9a and 9b.
The position of the white line in the infrared image is calculated on the basis of the information of the white line formula described above, and is set as a search reference position as shown by the lane marking positions 9c and 9d in FIG. The specific setting by the search area setting means 6 is to set the area near the lane marking positions 9c and 9d as the pedestrian search areas 12a and 12b based on the lane marking positions 9c and 9d, and to set the lane marking position 9c. , 9d is set as a pedestrian search area 13, and the detection limit distance obtained by the lane marking detection means 5 is set as a reference for the driver's nighttime visibility in the distant place, and the vicinity 12c of the detection limit distance is set. I do.
【００１８】歩行者検出手段７は、探索領域設定手段６
により設定された領域１２ａ、１２ｂ、１２ｃ、１３内
で歩行者を検出する処理を実行し、歩行者が検出された
場合には警報手段８からドライバーに対する警報を発生
する。図４の例では、歩行者の探索領域１２ａ内で歩行
者１０が検出され警報を発生する。また道路形状に応じ
てレーンマーキング検出手段５が検出するレーンマーキ
ングの位置情報も変化するので、図４の歩行者の探索領
域１２ａ、１２ｂ、１２ｃ、１３は車両の走行に応じて
適した範囲へと変化する。また図４の歩行者の探索領域
１２ｃでの歩行者検出が確実であれば、図４の歩行者の
探索領域１３の領域を探索領域から除外してさらに領域
を限定することが可能である。さらに低速走行時にはレ
ーンマーキング９ａ，９ｂの近傍のみの歩行者の探索領
域１２ａ、１２ｂに限定するようにしてもよい。The pedestrian detecting means 7 includes a search area setting means 6
The processing for detecting a pedestrian is performed in the areas 12a, 12b, 12c, and 13 set by the above. When a pedestrian is detected, an alarm is issued from the alarm means 8 to the driver. In the example of FIG. 4, the pedestrian 10 is detected in the pedestrian search area 12a and an alarm is generated. In addition, since the position information of the lane markings detected by the lane marking detecting means 5 also changes according to the road shape, the pedestrian search areas 12a, 12b, 12c, and 13 in FIG. And change. If the pedestrian detection in the pedestrian search area 12c in FIG. 4 is reliable, the pedestrian search area 13 in FIG. 4 can be excluded from the search area to further limit the area. Furthermore, when traveling at low speed, the search area 12a, 12b may be limited to the pedestrian search area only near the lane markings 9a, 9b.
【００１９】以上のように、従来のように全画面を探索
した場合に、歩行者検出手段によっては図４の窓部分１
１のようなものを歩行者として誤検出することがある
が、この発明の実施の形態１のように探索領域を限定す
ることにより、このような誤検出を削減することができ
る。As described above, when the entire screen is searched as in the prior art, depending on the pedestrian detection means, the window portion 1 shown in FIG.
In some cases, the pedestrian may be erroneously detected as a pedestrian. However, such erroneous detection can be reduced by limiting the search area as in the first embodiment of the present invention.
【００２０】警報手段８が発生するドライバーに対する
警報の方法としては、図４の歩行者の探索領域１２ａ、
１２ｂ、１２ｃ、１３に歩行者が存在する場合に、その
存在領域に応じて警報の種類を変えると効果的である。
例えば、歩行者の探索領域１２ａに歩行者が存在する場
合に、音声で「左前方歩行者注意」等の警報を発生する
ことにより、ドライバーの注意を適切な方向に喚起する
ことができる。またドライバーの左前方から警報が聞こ
えるように音場を制御したり、ＬＥＤ等の光源を制御し
てドライバーへ方向を知らせてもよい。また、歩行者を
検出した領域の画面上を矢印で表示したり、その領域を
フリッカさせたり、その領域を他の領域と別の色（例え
ば赤色や黄色）で表示したりしてもよい。As a method of warning the driver generated by the warning means 8, the pedestrian search area 12 a shown in FIG.
When pedestrians exist in 12b, 12c, and 13, it is effective to change the type of alarm according to the existence area.
For example, when a pedestrian is present in the pedestrian search area 12a, a warning such as "attention to the left front pedestrian" is generated by voice, so that the driver can be alerted in an appropriate direction. Further, the sound field may be controlled so that an alarm can be heard from the front left of the driver, or a light source such as an LED may be controlled to notify the driver of the direction. Further, the screen of the area where the pedestrian is detected may be displayed by an arrow, the area may be flickered, or the area may be displayed in a different color (for example, red or yellow) from the other areas.
【００２１】[0021]
【発明の効果】以上のように、この発明によれば、可視
光カメラによる映像を用いて探索領域を限定するように
したので、歩行者検出のために実行される画像処理の処
理量を削減し処理時間を短縮することが可能である。そ
の結果、早期にドライバーへ警報を発することができ
る。また領域を限定することにより歩行者を誤検出する
場合を削減できる。さらに歩行者が検出された領域に応
じてドライバーに対する警報を変えることにより、ドラ
イバーの注意を適切に喚起できる。As described above, according to the present invention, the search area is limited by using the image from the visible light camera, so that the amount of image processing executed for pedestrian detection is reduced. It is possible to shorten the processing time. As a result, a warning can be issued to the driver early. In addition, by limiting the area, it is possible to reduce the case where a pedestrian is erroneously detected. Further, by changing the warning to the driver according to the area where the pedestrian is detected, the driver's attention can be appropriately raised.
【図１】 この発明の実施の形態１による歩行者検出装
置の構成を示す図である。FIG. 1 is a diagram showing a configuration of a pedestrian detection device according to Embodiment 1 of the present invention.
【図２】 この発明の実施の形態１による可視光カメラ
の映像の模式図である。FIG. 2 is a schematic diagram of an image of a visible light camera according to Embodiment 1 of the present invention.
【図３】 この発明の実施の形態１および従来の赤外線
カメラの映像の模式図である。FIG. 3 is a schematic diagram of Embodiment 1 of the present invention and an image of a conventional infrared camera.
【図４】 この発明の実施の形態１による歩行者の探索
領域を説明する図である。FIG. 4 is a diagram illustrating a pedestrian search area according to the first embodiment of the present invention.
１ 赤外線カメラ ２ 可視光
カメラ ３、４ アナログ・ディジタル変換部 ５ レーン
マーキング検出手段 ６ 探索領域設定手段 ７ 歩行者
検出手段 ８ 警報手段 ９ａ、９ｂ
レーンマーキング ９ｃ、９ｄ レーンマーキング位置 １０ 赤外線
画像における歩行者 １１ 赤外線画像における窓 １２ａ、１２ｂ、１２ｃ、１３ 歩行者の探索領域DESCRIPTION OF SYMBOLS 1 Infrared camera 2 Visible light camera 3, 4 Analog-digital conversion part 5 Lane marking detection means 6 Search area setting means 7 Pedestrian detection means 8 Warning means 9a, 9b
Lane marking 9c, 9d Lane marking position 10 Pedestrian in infrared image 11 Window 12a, 12b, 12c, 13 in infrared image Search area for pedestrian
フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｂ６０Ｒ 21/00 ６２６ Ｂ６０Ｒ 21/00 ６２６Ｃ ６２６Ｄ ６２６Ｇ Ｇ０８Ｇ 1/16 Ｇ０８Ｇ 1/16 Ｃ Ｈ０４Ｎ 7/18 Ｈ０４Ｎ 7/18 Ｊ Ｎ Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat II (reference) B60R 21/00 626 B60R 21/00 626C 626D 626G G08G 1/16 G08G 1/16 C H04N 7/18 H04N 7/18 J N
Claims (8)
した可視光画像からレーンマーキングを検出するレーン
マーキング検出手段と、検出したレーンマーキングの位
置に基づき歩行者の探索領域を設定すると共に、前記車
両走行によるマーキングの移動に応じて歩行者の検索領
域の設定を変更する探索領域設定手段と、前記車両前方
を撮像する赤外線カメラと、撮像した赤外線映像から前
記設定した歩行者の検索領域内の歩行者を検出する歩行
者検出手段とを備えることを特徴とする歩行者検出装
置。1. A visible light camera for capturing an image in front of a vehicle, lane marking detection means for detecting lane markings from the captured visible light image, and a search area for a pedestrian is set based on a position of the detected lane marking. Search area setting means for changing the setting of the pedestrian search area in accordance with the movement of the marking due to vehicle travel, an infrared camera for imaging the front of the vehicle, and an infrared camera in the set pedestrian search area from the captured infrared video A pedestrian detection device comprising pedestrian detection means for detecting a pedestrian.
検出手段により検出されたレーンマーキングの近傍とレ
ーンマーキング検出限界距離近傍とレーンマーキングに
より挟まれる領域とを歩行者の探索領域とすることを特
徴とする請求項１記載の歩行者検出装置。2. The search area setting means sets a vicinity of the lane marking detected by the lane marking detection means, a vicinity of a lane marking detection limit distance, and an area sandwiched by the lane markings as a pedestrian search area. The pedestrian detection device according to claim 1.
検出手段により検出されたレーンマーキングの近傍とレ
ーンマーキング検出限界距離近傍とを歩行者の探索領域
とすることを特徴とする請求項１記載の歩行者検出装
置。3. The pedestrian's search area according to claim 1, wherein the search area setting means sets a vicinity of the lane marking detected by the lane marking detecting means and a vicinity of the lane marking detection limit distance as a pedestrian search area. Person detection device.
検出手段により検出されたレーンマーキングの近傍とレ
ーンマーキングにより挟まれる領域とを歩行者の探索領
域とすることを特徴とする請求項１記載の歩行者検出装
置。4. The pedestrian's search area according to claim 1, wherein the search area setting means sets a vicinity of the lane marking detected by the lane marking detecting means and an area sandwiched by the lane markings as a pedestrian search area. Person detection device.
検出手段により検出されたレーンマーキングの近傍を歩
行者の探索領域とすることを特徴とする請求項１記載の
歩行者検出装置。5. The pedestrian detection device according to claim 1, wherein the search area setting means sets a vicinity of the lane marking detected by the lane marking detection means as a pedestrian search area.
ると警報を発生する警報手段を備えたことを特徴とする
請求項１〜５のいずれか１項に記載の歩行者検出装置。6. The pedestrian detection device according to claim 1, further comprising an alarm unit that generates an alarm when a pedestrian is detected by the pedestrian detection unit.
ると、歩行者が検出された検出領域に応じて異なる警報
を発生する警報手段を備えたことを特徴とする請求項２
〜５のいずれか１項に記載の歩行者検出装置。7. The apparatus according to claim 2, further comprising: an alarm unit that generates a different alarm according to a detection area in which the pedestrian is detected when the pedestrian is detected by the pedestrian detection unit.
The pedestrian detection device according to any one of claims 1 to 5.
ると、歩行者が検出された方向から音声あるいは光によ
る警報を発生し、または、歩行者が検出された方向を音
声あるいは光で警報する警報手段を備えたことを特徴と
する請求項１〜７のいずれか１項に記載の歩行者検出装
置。8. When a pedestrian is detected by the pedestrian detection means, an alarm is issued by voice or light from the direction in which the pedestrian is detected, or an alarm is issued by voice or light in the direction in which the pedestrian is detected. The pedestrian detection device according to any one of claims 1 to 7, further comprising an alarm unit that performs an alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001166316A JP2002362302A (en) | 2001-06-01 | 2001-06-01 | Pedestrian detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001166316A JP2002362302A (en) | 2001-06-01 | 2001-06-01 | Pedestrian detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002362302A true JP2002362302A (en) | 2002-12-18 |
Family
ID=19008865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001166316A Pending JP2002362302A (en) | 2001-06-01 | 2001-06-01 | Pedestrian detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002362302A (en) |
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