JP2007181129A - Vehicle-mounted movable body detection instrument - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To effectively detect important information on a movable body at high speed from a picture of a vehicle-mounted camera. <P>SOLUTION: A picture photographed with a camera 5 is inputted as an analog signal to a picture signal input portion 6, is converted to a digital signal and is memorized in a first image memory 7 and a second image memory 8. The memorized picture signal is inputted to a variance region extraction portion 9, and a variance region is extracted by difference detection. A distance information conversion portion 13 refers to a road distance map and obtains distance information of each variance region. A movable body detection portion 14 detects a nearest coordinate point to one's own vehicle, in each variance region, as a movable body. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an on-vehicle moving body detection apparatus, and more particularly to an apparatus that detects a moving body from an image captured by an imaging unit such as an in-vehicle camera installed on a vehicle so as to image the periphery of the host vehicle.

  Many driving support systems using an in-vehicle camera and a display have been proposed as devices for supplementing the driver's field of view when entering an intersection or when the vehicle is moving backward. For example, at an intersection with poor visibility, before entering the intersection completely, the situation of the intersection is displayed on the display in advance by a camera that captures the side attached to the front of the vehicle, and vehicles approaching from the side road are displayed. What you can understand is known.

  Further, as a side monitoring device for monitoring the side of the vehicle, an object (moving body) approaching the host vehicle is detected based on two images before and after a predetermined time obtained from an in-vehicle camera that images the side of the vehicle. In some cases, the degree of risk is determined from the degree of approach (for example, Patent Document 1).

JP 2001-213254 A

  However, in the conventional side monitoring apparatus as described above, as a first problem, in order to calculate the movement amount of the same object in two images, detailed matching between the images is required, and the calculation amount is large. It can be enormous. For this reason, there is a drawback that the approaching object further moves during the process, and the determination of the degree of danger cannot be made in time.

  As a second problem, when the host vehicle moves during a predetermined time for recording two images, the entire image changes, and thus the entire image is erroneously detected as an approaching object.

  As a third problem, when a headlight that emits light from an approaching object is imaged with a camera at night, the allowable limit of the light receiving element of the camera is exceeded, and a phenomenon in which the surrounding elements are brightly changed occurs. For this reason, there is a drawback that an approaching object is erroneously detected as an object larger than the actual object.

  As a fourth problem, if the imaging screen of the camera includes an area above the horizon, for example, an airplane or the like is also detected as an approaching object. For this reason, there is a disadvantage that the time required for the calculation process increases.

  As a fifth problem, when reporting the degree of approach of an approaching object as the degree of risk, there is a drawback that it is difficult for the driver to grasp the situation unless the relationship with the screen imaged by the camera is known.

  As a sixth problem, when the surrounding terrain of the host vehicle is inclined rather than horizontal, the distance and direction to the approaching object can be calculated by simply converting the image captured by the camera with the surrounding terrain regarded as horizontal. There is a drawback that an error occurs in the degree of approach.

  The present invention has been made in view of the above-mentioned problems, and its object is to appropriately set conditions for recording a captured image to prevent erroneous detection and to focus on the most important part for detection of an approaching object. Accordingly, it is an object of the present invention to provide a moving body detection apparatus that reduces the amount of calculation and detects important information of the moving body at high speed and efficiently.

  In order to achieve the above object, an in-vehicle moving body detection apparatus according to the present invention detects an in-vehicle moving body from an image captured by an imaging unit installed in the vehicle so as to image the periphery of the host vehicle. A change area extraction means for extracting one or more change areas using a difference between a plurality of images captured by the imaging means; and a self-change area extracted by the change area extraction means. Moving body detecting means for detecting a coordinate point close to the vehicle as a moving body.

  The on-vehicle moving body detection device according to the present invention further includes stop state determination means for determining whether or not the host vehicle is approximately in a stop state, and the change region extraction means is determined by the stop state determination means. Only when it is determined that the host vehicle is approximately stopped, one or more change regions are extracted using the difference between the plurality of images captured by the imaging unit.

  The on-vehicle moving body detection apparatus according to the present invention further includes an image luminance detection unit that detects luminance in an image captured by the imaging unit, and a luminance that is equal to or higher than a predetermined value is detected by the image luminance detection unit. A light receiving amount reducing unit configured to reduce a light receiving amount of the imaging unit;

  The on-vehicle moving body detection apparatus according to the present invention further includes area exclusion means for excluding an area above the horizon of the image used for the change area extraction means.

  The vehicle-mounted mobile body detection device according to the present invention further includes mobile body display means for marking and displaying the mobile body detected by the mobile body detection means in the image.

  The on-vehicle moving body detection apparatus according to the present invention further includes distance notification means for notifying the distance between the moving body detected by the moving body detection means and the host vehicle.

  The on-vehicle moving body detection apparatus according to the present invention further includes a relative position calculation unit that performs coordinate conversion of a coordinate point of the moving body detected by the moving body detection unit and calculates a relative position with respect to the host vehicle, and the relative position calculation. Relative position display means for displaying the relative position calculated by the means.

  The on-vehicle moving body detection apparatus according to the present invention further includes terrain corresponding position correction means for correcting the relative position calculated by the relative position calculation means using the terrain information around the host vehicle.

  The on-vehicle moving body detection apparatus according to the present invention is further calculated by the relative position calculating means based on the inclination state measuring means for measuring the inclination state of the host vehicle and the inclination state measured by the inclination state measuring means. And a tilt corresponding position correcting means for correcting the relative position.

  According to the vehicle-mounted moving body detection device of the present invention, it is possible to reduce the amount of calculation by detecting a moving object having a coordinate point closest to the host vehicle in each change region obtained from the difference between images. . Conventionally, it has been necessary to perform matching between images for all points in the change area, and to calculate the moving distance and the approach speed. By limiting to only coordinate points, matching between images becomes unnecessary, and the calculation amount of moving distance and approach speed can be greatly reduced.

(Embodiment 1)
A vehicle-mounted moving body detection apparatus according to a first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the on-vehicle moving body detection device of the present embodiment includes a camera 5, an image signal input unit 6, a first image storage unit 7, a second image storage unit 8, and changes. It has the area | region extraction part 9, the vehicle speed sensor 10, the vehicle speed signal input part 11, the vehicle stop determination part 12, the distance information conversion part 13, and the mobile body detection part 14. FIG.

  In the present embodiment, as shown in FIG. 2, the camera 5 is installed on the front side of the vehicle so as to image the side of the vehicle, and performs imaging in the imaging direction indicated by reference numeral 15. In addition, the camera 5 should just be installed so that the periphery of a vehicle may be imaged, and an installation place may be anywhere, such as the front and back. Further, the imaging direction is not limited to the side of the vehicle, and may be forward of the vehicle, rear of the vehicle, or the like.

  The image captured by the camera 5 is input to the image signal input unit 6 as an analog signal. Here, the image signal converted into the digital signal is stored in the first image storage unit 7 and the second image storage unit 8. Inputs to the first image storage unit 7 and the second image storage unit 8 are distributed by the image signal input unit 6 with a predetermined time difference. The image signals stored in the first image storage unit 7 and the second image storage unit 8 are input to the change area extraction unit 9.

  The vehicle speed information acquired by the vehicle speed sensor 10 is input to the vehicle speed signal input unit 11 as a pulse signal. The vehicle speed information is converted into a digital signal by the vehicle speed signal input unit 11 and input to the stop determination unit 12.

  The vehicle stop determination unit 12 determines whether or not the vehicle is approximately stopped based on the vehicle speed information from the vehicle speed signal input unit 11. When the vehicle stop determination unit 12 determines that the vehicle is approximately stopped, a process permission signal is input to the change region extraction unit 9.

  When the processing permission signal is input to the change area extraction unit 9, the image signals stored in the first image storage unit 7 and the second image storage unit 8 are input to the change area extraction unit 9.

  Thereby, the change area extraction unit 9 refers to the image signal stored in the first image storage unit 7 and the image signal stored in the second image storage unit 8 only when the host vehicle is approximately stopped. A differential component of both images (a two-dimensional image based on an image signal stored in the first image storage unit 7 and a two-dimensional image based on an image signal stored in the second image storage unit 8) is extracted as a two-dimensional image.

  This difference component represents a change area in the image, and is, for example, a moving body such as another moving vehicle or a pedestrian.

  Next, the distance information conversion unit 13 includes a road surface distance map calculated in advance according to the direction and angle of view in which the camera 5 is installed, and each coordinate point of the captured two-dimensional image is represented as a distance from the host vehicle. It has a function to convert information.

  Thereby, the distance information conversion unit 13 refers to the road surface distance map and converts each coordinate point of the change area extracted by the change area extraction unit 9 into distance information from the host vehicle.

  The moving body detection unit 14 extracts the coordinate information having the smallest distance value among the distance information converted by the distance information conversion unit 13, that is, the coordinate point closest to the host vehicle. This is a moving body at a coordinate point closest to the host vehicle in the change area extracted by the distance information conversion unit 13, and this is detected as a moving body.

  Next, the principle of changing area extraction using image signals (image data) will be described with reference to FIGS.

  3A and 3B show examples of captured images. 3A shows an image based on the image data stored in the first image storage unit 7, and FIG. 3B shows an image based on the image data stored in the second image storage unit 8.

  4A and 4B schematically show the operation of the change area extraction unit 9. 4A shows an image based on image data stored in the first image storage unit 7 (an image in FIG. 3A) and an image based on image data stored in the second image storage unit 8 for the sake of explanation. An image obtained by combining (the image in FIG. 3B) is shown. 4B shows an image based on the image data stored in the first image storage unit 7 (image in FIG. 3A) and an image based on the image data stored in the second image storage unit 8 (FIG. 3B). The image obtained by extracting the difference component of ().

  The change area extraction unit 9 calculates a difference in color information generally expressed in RGB for each pixel in the image data stored in the first image storage unit 7 and the second image storage unit 8. An image based on the image data stored in the first image storage unit 7 (image in FIG. 3A) and an image based on the image data stored in the second image storage unit 8 (image in FIG. 3B). The result shown in FIG. 4B is the result of applying to the image. In FIG. 4B, the extracted difference component is indicated by reference numeral 20. Only the pixel of the moving object in the image of FIG. 3A and the image of FIG. 3B is extracted as the difference (difference component 20), and the pixel representing the stationary background and the road surface is not extracted.

  Next, the principle of conversion into distance information will be described with reference to FIGS.

  FIG. 5 schematically shows position information around the host vehicle using a plane lattice. Here, the code | symbol 21 represents the own vehicle and the plane lattice of FIG. 5 is obtained by overlooking the own vehicle 21 from the upper direction. Reference numerals A to G represent lattice points of a planar lattice.

  FIG. 6 shows a road surface distance map provided in the distance information conversion unit 13. The road surface distance map has a shape in which the planar grid shown in FIG. 5 is viewed through the camera 5, and the grid points A to G in FIG. 5 correspond to the grid points A to G in FIG. Each represents the same position.

  In the planar grid shown in FIG. 5, the distances from the own vehicle 21 of the grid points A to G can be calculated. The symbol Cd represents the distance between the grid point C and the host vehicle 21 and is 3 m in this figure. Similarly, the distance between the grid point C in FIG. 6 and the host vehicle 21 is 3 m. This distance information is calculated in advance not only at each grid point but also at each pixel point to obtain a road surface distance map. For example, the pixel corresponding to the grid point C in FIG. 6 holds distance information of 3 m.

  FIG. 7 shows a state in which this road surface distance map is applied to the difference component 20 obtained by the change area extraction unit 9. In the region of the difference component 20, the pixel corresponding to the lattice point C can obtain distance information of 3 m by the road surface distance map. This is applied to each pixel in the region of the difference component 20, and distance information of each pixel is obtained. Here, the application of each pixel in the region of the difference component 20 is not necessarily performed from the upper side or the lower side of the screen.

  The point having the smallest value among the distance information obtained in this way, that is, the point at a distance close to the own vehicle is extracted by the moving body detection unit 14 and detected as a moving body. Reference numeral 20p in FIG. 7 indicates a coordinate point having the smallest value among the distance information belonging to each pixel of the difference component 20, and in this example, the distance from the host vehicle 21 is 2.8 m.

  The moving body detection unit 14 detects the coordinate point 20p as the moving body at the coordinate point closest to the host vehicle among the distance information converted by the distance information conversion unit 13.

  In this way, by limiting the detection of the moving body to only the coordinate point closest to the host vehicle, matching between images becomes unnecessary, and the amount of calculation of the subsequent moving distance and approach speed can be greatly reduced.

  Further, since the change area extraction unit 9 performs the change area extraction only when the host vehicle is approximately in a stopped state, the host vehicle has moved during a predetermined time for recording two images, and the entire image has changed. It is possible to eliminate erroneous detection of the entire image as an approaching object.

(Embodiment 2)
Embodiment 2 of the on-vehicle moving body detection apparatus according to the present invention will be described with reference to FIG. 8, parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 1, and description thereof is omitted.

  In the present embodiment, an image luminance detection unit 22 and a received light amount reduction unit 23 are added to the vehicle-mounted mobile body detection device of the first embodiment.

  The image luminance detection unit 22 detects the luminance component from the RGB color information of the image signal converted into a digital signal by the image signal input unit 6. When it is determined that the luminance component is equal to or greater than a predetermined value, the received light amount reduction signal calculated according to the value of the luminance component is sent to the received light amount reducing unit 23.

The received light amount reducing unit 23 performs exposure correction control by operating the shutter speed, the aperture, and the like of the camera 5 according to the received light amount reducing signal from the image luminance detecting unit 22.
Therefore, even when the camera 5 receives light from a strong light source, an appropriate image can be obtained and erroneous detection of an approaching object can be avoided.

(Embodiment 3)
Embodiment 3 of the on-vehicle moving body detection apparatus according to the present invention will be described with reference to FIGS. In FIG. 9 as well, portions corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 1, and description thereof is omitted.

  A third embodiment will be described with reference to the drawings. FIG. 9 is a block diagram showing Embodiment 3 of the present invention, in which 24 is an area exclusion unit. 5 to 14 are the same as those in FIG. Differences from the first embodiment of the present invention will be described below.

In the present embodiment, a region exclusion unit 24 is added to the vehicle-mounted mobile body detection device of the first embodiment.
The area exclusion unit 24 excludes information on the upper part of the horizon from the image signal converted into a digital signal by the image signal input unit 6. The image signal from which the upper part of the horizon has been excluded by the region exclusion unit 24 is stored in the first image storage unit 7 and the second image storage unit 8.

  FIG. 10 shows an example of an image in which the upper part of the horizon is excluded. Reference numeral 25 denotes an excluded area (a portion above the excluded horizon), which is indicated by hatching in order to make the excluded area easy to understand.

  In this way, by limiting the effective area to the horizon or less, it is possible to exclude flying objects and the like above the horizon, and the storage capacity of the first image storage unit 7 and the second image storage unit 8 that store images together. Less. Further, since the subsequent change area extraction unit 9 only needs to perform processing below the horizon, the amount of calculation can be reduced.

(Embodiment 4)
Embodiment 4 of the vehicle-mounted moving body detection apparatus according to the present invention will be described with reference to FIGS. Also in FIG. 11, parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG.

In the present embodiment, a moving body display unit 26 is added to the on-vehicle moving body detection apparatus of the first embodiment.
The moving body display unit 26 is configured by a liquid crystal display or the like and is installed in front of the driver's seat, and receives the image signal converted into a digital signal by the image signal input unit 6 and displays it as an image.

  The moving body display unit 26 inputs information related to the coordinate point 20p from the moving body detection unit 14 to mark and display a point representing the moving body detected by the moving body detection unit 14 in the image.

  FIG. 13 shows an example of an image displayed by the moving body display unit 26. Reference numeral 27 denotes a display image of the coordinate point 20p closest to the host vehicle detected as a moving body, and in this example, it is marked as an asterisk.

  Therefore, the driver can immediately and accurately grasp the moving body in the image by viewing the moving body display unit 26 installed in front of the driver's seat.

(Embodiment 5)
Embodiment 5 of the on-vehicle moving body detection apparatus according to the present invention will be described with reference to FIGS. Also in FIG. 13, the parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG.

In the present embodiment, a distance notification unit 28 is added to the vehicle-mounted mobile body detection device of the first embodiment.
The data of the coordinate point 20p representing the moving body detected by the moving body detection unit 14 holds the distance information obtained by the distance information conversion unit 13.
The distance notification unit 28 is configured by a display or the like installed in front of the driver's seat, inputs information related to the coordinate point 20p from the moving body detection unit 14, and notifies the distance information of the coordinate point 20p.

FIG. 14 shows a display example of the distance information of the coordinate point 20p notified by the distance notification unit 28. In this example, the distance information is displayed as digital numerical information as “distance to the approaching object”.
Therefore, the driver can easily and accurately grasp the distance to the moving body that is difficult to understand with the image captured by the camera.

(Embodiment 6)
Embodiment 6 of the vehicle-mounted moving body detection apparatus according to the present invention will be described with reference to FIGS. Also in FIG. 15, parts corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 1, and description thereof is omitted.

In the present embodiment, a relative position calculation unit 29 and a relative position display unit 30 are added to the vehicle-mounted mobile body detection device of the first embodiment.
The relative position calculation unit 29 includes a relative position map similar to the road surface distance map included in the distance information conversion unit 13.

  FIG. 16 schematically shows position information around the host vehicle using a plane lattice. Also in FIG. 16, the code | symbol 21 represents the own vehicle and the plane lattice of FIG. 16 is obtained by overlooking the own vehicle 21 from upper direction similarly to FIG. Symbols A to G represent lattice points of a planar lattice, as in FIG.

FIG. 17 shows a relative position map provided in the relative position calculation unit 29. Similar to the road surface distance map provided in the distance information conversion unit 13, the relative position map has a shape in which the grid in FIG. 17 is viewed through the camera 5.
In the road surface distance map, each lattice point holds distance information, but in the relative position map, it holds relative position information.

  The lattice point C in FIG. 16 is a relative position of (x, y) = (3, 2) with an arbitrary position as a reference point in this example. The corresponding lattice point C in FIG. 17 holds relative position information of (x, y) = (3, 2). This relative position information is calculated in advance not only at each grid point but also at each point of the pixel to obtain a relative position map. This is applied to each pixel in the region of the difference component 20 obtained by the change region extraction unit 9, and the relative position of each pixel is obtained.

  The relative position calculation unit 29 collates pixel information of the moving body detected by the moving body detection unit 14 and outputs relative position information of the coordinate point 20p representing the moving body to the host vehicle to the relative position display unit 30.

  The relative position display unit 30 is configured by a liquid crystal display or the like and is installed in front of the driver's seat. The relative position display unit 30 inputs relative position information of the coordinate point 20p representing the moving body with respect to the host vehicle from the relative position display unit 30, and FIG. As shown, the moving body is displayed with the relative position calculated by the relative position calculating unit 29 with respect to the display of the own vehicle 21 together with the display overlooking the own vehicle 21 from above. In this display example, the moving object is displayed by an asterisk 32.

  Accordingly, the driver can easily determine the distance to the moving body and the relative position with the own vehicle, which are difficult to understand in the image captured by the camera 5, by visually observing the relative position display unit 30 installed in front of the driver's seat. It is possible to grasp accurately.

(Embodiment 7)
Embodiment 7 of the vehicle-mounted mobile body detection device according to the present invention will be described with reference to FIGS. 19, parts corresponding to those in FIGS. 1 and 15 are denoted by the same reference numerals as those in FIGS. 1 and 15, and description thereof is omitted.

In the present embodiment, a terrain-compatible relative position correction unit 33 is added to the vehicle-mounted mobile body detection device of the sixth embodiment.
The terrain corresponding relative position correction unit 33 performs relative position correction based on the terrain information around the vehicle based on the map information from the navigation system and the vehicle current position information by GPS or the like.

  FIG. 20 schematically shows the position information around the host vehicle using a plane grid, as in FIG. FIG. 21 is a diagram for explaining the relative position correction performed by the terrain corresponding relative position correction unit 33. FIG. 21 shows a shape in which the lattice of FIG.

  Here, the example of the topography where the periphery of the lattice point C is rising as a hilly area is shown. The point corresponding to the grid point C in FIG. 20 is the grid point C in FIG. 21, but when the topography is flat, it is the grid point C ′ in FIG. 21.

  Thus, due to the difference in topography, the image captured through the camera 5 changes even at the same position in the overhead view. In this example, the relative position of the lattice point C is (x, y) = (3, 2), and the relative position of the lattice point C ′ is (x, y) = (2.5, 1.9). . This is calculated from the elevation information of the terrain around the vehicle, the direction of the camera, and the angle of view.

The landform corresponding relative position correcting unit 33 corrects the relative position information calculated by the relative position calculating unit 29 based on this principle.
Accordingly, even when the terrain around the host vehicle is not uniform horizontal and includes an inclination, the relative position between the host vehicle 21 and the moving body is corrected using the terrain information, so that an accurate relative position can be obtained. Can be calculated.

(Embodiment 8)
Embodiment 8 of the on-vehicle moving body detection apparatus according to the present invention will be described with reference to FIGS. Also in FIG. 22, parts corresponding to those in FIGS. 1 and 15 are denoted by the same reference numerals as those in FIGS. 1 and 15, and description thereof is omitted.

In the present embodiment, an inclination corresponding relative position correcting unit 35 is added to the vehicle-mounted mobile body detection device of the sixth embodiment.
In the present embodiment, a tilt state measurement unit 34 and a tilt-corresponding relative position correction unit 35 are added to the vehicle-mounted mobile body detection device of the sixth embodiment.

  The tilt state measuring unit 34 measures the tilt state of the host vehicle 21 using a gyro sensor or height sensor mounted on the vehicle, a suspension actuator, and the like, and outputs tilt information to the tilt corresponding relative position correcting unit 35.

  FIG. 23 schematically shows position information around the host vehicle by a plane lattice, as in FIG. 5. FIG. 24 is a diagram for explaining the relative position correction performed by the inclination corresponding relative position correction unit 35. FIG. 24 shows the shape of the grid shown in FIG.

  Here, an example is shown in which the host vehicle 21 is tilted and the horizon 35 is tilted and imaged. The points corresponding to the grid point C in FIG. 23 are the grid points C in FIG. 24, but are the grid points C ′ in FIG. 24 when the host vehicle 21 is horizontal.

  Thus, due to the difference in the inclination state of the host vehicle 21, the image captured through the camera 5 changes even at the same position in the overhead view. In this example, the relative position of the lattice point C is (x, y) = (3, 2), and the relative position of the lattice point C ′ is (x, y) = (2.9, 1.8). . This is calculated from the inclination information of the host vehicle 21, the direction of the camera 5, and the angle of view.

The inclination corresponding relative position correcting unit 35 corrects the relative position information calculated by the relative position calculating unit 29 based on this principle.
Therefore, even when the terrain around the host vehicle is not uniform horizontal and includes a tilt, the tilt state of the host vehicle 21 is measured, and the relative position of the host vehicle 21 and the moving body is determined based on the tilt state. By performing the correction, an accurate relative position can be calculated.

  Below, the effect of the vehicle-mounted moving body detection apparatus by this invention is summarized and demonstrated.

  (1) Conventionally, it has been necessary to perform matching between images for all points in the change area, and to calculate the moving distance and the approach speed. The means detects the coordinate point closest to the host vehicle in each change area obtained from the difference of the images as a moving object only by the coordinate point, so matching between the images becomes unnecessary, and the movement distance and the approach speed are not required. The amount of calculation can be greatly reduced.

  (2) Since the difference between a plurality of captured images is used only when the vehicle stop determination unit determines that the host vehicle is approximately in a stopped state, background parts other than the moving body are matched and appropriately deleted. Can do. Thereby, the erroneous detection of a moving body can be prevented.

  (3) When the image luminance detecting means detects the luminance in the image picked up by the image pickup means, and the received light amount reducing means detects a luminance of a predetermined value or more by the image luminance detecting means, the received light amount of the imaging means Therefore, even when light from a strong light source is received, an appropriate image can be obtained, and erroneous detection of an approaching object can be prevented.

  (4) Since the area excluding means excludes the area above the horizon of the image used for the change area extracting means, it has the effect of preventing erroneous detection of a flying object above the horizon. In addition, since only the processing below the horizon is required, the amount of calculation can be reduced, and the memory capacity for temporarily storing images can be reduced.

  (5) Since the moving body display means marks and displays the moving body detected by the moving body detection means in the image, the driver can immediately grasp which moving body is in the image. .

  (6) Since the distance notification means notifies the distance between the moving object detected by the moving object detection means and the host vehicle, the driver can easily grasp the distance to the moving object that is difficult to understand from the image captured by the camera. it can.

  (7) Since the relative position calculation means converts the coordinate point of the moving body detected by the moving body detection means, calculates the relative position with the own vehicle, and the relative position display means displays the relative position. The driver can easily grasp the distance to the moving body and the relative position with respect to the host vehicle that are difficult to understand in the captured image.

  (8) Since the terrain-compatible relative position correction means corrects the relative position using the terrain information around the host vehicle, the correct terrain around the host vehicle is accurate even when the terrain around the host vehicle is not uniform and horizontal. The relative position can be calculated.

  (9) Since the tilt state measuring means measures the tilt state of the host vehicle and the tilt corresponding relative position correcting unit corrects the relative position based on the tilt state, the topography around the host vehicle is uniform and horizontal. Even when the inclination is included, the relative position can be accurately calculated.

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram which shows Embodiment 1 of the vehicle-mounted moving body detection apparatus by this invention. The figure which shows the example of installation of the camera of FIG. 1, and an example of an imaging direction. (A), (b) is a figure which shows the example of an image memorize | stored in the 1st image storage part of FIG. 1, and a 2nd image storage part. (A), (b) is a figure which shows the operation example of a change area extraction part. The figure which shows the positional information example around the own vehicle. The figure which shows the road surface distance map example with which a distance information conversion part is provided. The figure which shows the example of application of a road surface distance map. The block diagram which shows Embodiment 2 of the vehicle-mounted moving body detection apparatus by this invention. The block diagram which shows Embodiment 3 of the vehicle-mounted moving body detection apparatus by this invention. The figure which shows the example of an image in which the upper part of the horizon was excluded in the vehicle-mounted mobile body detection apparatus by Embodiment 3. The block diagram which shows Embodiment 4 of the vehicle-mounted moving body detection apparatus by this invention. FIG. 10 is a diagram illustrating an example of an image displayed by a moving body display unit in a vehicle-mounted moving body detection apparatus according to Embodiment 4; The block diagram which shows Embodiment 5 of the vehicle-mounted moving body detection apparatus by this invention. FIG. 10 is a diagram showing a display example notified by a distance notification unit in the vehicle-mounted mobile body detection device according to the fifth embodiment. The block diagram which shows Embodiment 6 of the vehicle-mounted moving body detection apparatus by this invention. The figure which shows the positional information example of the own vehicle periphery by Embodiment 6. FIG. FIG. 10 is a diagram illustrating an example of a relative position map included in a relative position calculation unit according to Embodiment 6. FIG. 10 is a diagram illustrating a display example by a relative position display unit in a vehicle-mounted moving body detection device according to a sixth embodiment. The block diagram which shows Embodiment 7 of the vehicle-mounted moving body detection apparatus by this invention. The figure which shows the positional information example of the own vehicle periphery by Embodiment 7. FIG. FIG. 10 is a diagram illustrating an example of relative position correction by a relative position correction unit according to Embodiment 7. The block diagram which shows Embodiment 8 of the vehicle-mounted moving body detection apparatus by this invention. The figure which shows the positional information example of the surroundings of the own vehicle by Embodiment 8. FIG. FIG. 10 is a diagram illustrating an example of relative position correction by a relative position correction unit according to an eighth embodiment.

Explanation of symbols

5 Camera 6 Image signal input unit 7 First image storage unit 8 Second image storage unit 9 Change area extraction unit 10 Vehicle speed sensor 11 Vehicle speed signal input unit 12 Vehicle stop determination unit 13 Distance information conversion unit 14 Moving body detection unit 15 Imaging direction 20 Extracted differential component 20p Coordinate point closest to own vehicle detected as moving body 21 Own vehicle 22 Image luminance detecting unit 23 Light receiving amount reducing unit 24 Area excluding unit 25 Excluded region 26 Moving object display unit 27 Detected The moving body 28 The distance notification unit 29 The relative position calculation unit 30 The relative position display unit 32 The moving body 33 marked with an asterisk 33 The landform corresponding relative position correction unit 34 The tilt state measurement unit 35 The tilt corresponding relative position correction unit

Claims (9)

A vehicle-mounted moving body detection device that detects a moving body from an image captured by an imaging unit installed in a vehicle so as to image the periphery of the host vehicle,
Change area extraction means for extracting one or more change areas using differences between a plurality of images captured by the imaging means;
A moving body detecting means for detecting, as a moving body, a coordinate point closest to the host vehicle in the changed area extracted by the changed area extracting means;
A vehicle-mounted moving body detection device comprising: Having a stop state determining means for determining whether or not the host vehicle is approximately in a stop state;
The change area extraction unit extracts one or more change areas using a difference between a plurality of images captured by the imaging unit only when the own vehicle is determined to be approximately stopped by the stop state determination unit. The vehicle-mounted mobile body detection device according to claim 1, wherein Image luminance detecting means for detecting luminance in an image captured by the imaging means;
The on-vehicle moving body detection according to claim 1 or 2, further comprising: a received light amount reducing unit configured to reduce a received light amount of the imaging unit when a luminance of a predetermined value or more is detected by the image luminance detecting unit. apparatus.   The in-vehicle moving body detection apparatus according to any one of claims 1 to 3, further comprising an area excluding unit that excludes an area above the horizon of the image used for the change area extracting unit.   The vehicle-mounted mobile body detection device according to any one of claims 1 to 4, further comprising mobile body display means for marking and displaying the mobile body detected by the mobile body detection means in the image. .   The in-vehicle moving body detection device according to claim 1, further comprising a distance notification unit that notifies a distance between the moving body detected by the moving body detection unit and the host vehicle. A relative position calculating means for converting the coordinate point of the moving body detected by the moving body detecting means and calculating a relative position with the own vehicle;
Relative position display means for displaying the relative position calculated by the relative position calculation means;
The vehicle-mounted mobile body detection device according to claim 1, wherein   8. The vehicle-mounted moving body detection device according to claim 7, further comprising terrain corresponding position correction means for correcting the relative position calculated by the relative position calculation means using terrain information around the host vehicle. A tilt state measuring means for measuring the tilt state of the host vehicle;
A tilt corresponding position correcting unit that corrects the relative position calculated by the relative position calculating unit based on the tilt state measured by the tilt state measuring unit;
The vehicle-mounted mobile body detection device according to claim 7 or 8, characterized by comprising:

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