JP2010097541A - 車両の周辺監視装置 - Google Patents
車両の周辺監視装置 Download PDFInfo
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- JP2010097541A JP2010097541A JP2008269636A JP2008269636A JP2010097541A JP 2010097541 A JP2010097541 A JP 2010097541A JP 2008269636 A JP2008269636 A JP 2008269636A JP 2008269636 A JP2008269636 A JP 2008269636A JP 2010097541 A JP2010097541 A JP 2010097541A
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- 238000012544 monitoring process Methods 0.000 title claims description 7
- 238000003384 imaging method Methods 0.000 claims description 7
- 238000012806 monitoring device Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 60
- 238000012545 processing Methods 0.000 description 16
- 238000004364 calculation method Methods 0.000 description 9
- 238000013459 approach Methods 0.000 description 8
- 238000012937 correction Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 7
- 230000014509 gene expression Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 210000002414 leg Anatomy 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 230000037237 body shape Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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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
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/143—Sensing or illuminating at different wavelengths
-
- 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
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
-
- 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
- B60R2300/308—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 by overlaying the real scene, e.g. through a head-up display on the windscreen
-
- 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
- B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
-
- 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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
【解決手段】対象物の温度に応じた輝度値を有する撮像画像を取得し、背景より高い温度を表す輝度値を有する画像領域を抽出する。それぞれが水平方向の幅よりも垂直方向の長さの方が大きい一対の第1対象物部分であって、一方の第1対象物部分と他方の第1対象物部分との間の距離が水平方向において所定値以下である該一対の第1対象物部分が、該抽出された画像領域から検出されると共に、一対の第1対象物部分の間に、該第1対象物部分と異なる輝度を持ち、かつ垂直方向に所定値以上の長さを有する第2対象物部分が存在するならば、該一対の第1対象物部分(両足部分)および該第2対象物部分(タイヤ部分)を含む対象物を自転車と判定する。
【選択図】図9
Description
(X−Xav)/lx=(Y−Yav)/ly=(Z−Zav)/lz (5a)
Vs=(Zv(N−1)―Zv(0))/ΔT (7)
Zv(0)/Vs≦T (8)
|Yv(0)|≦H (9)
1)背景の輝度値よりも所定値以上高い輝度値を有する。
2)縦長の領域である。
3)垂直方向において、所定値以下の長さを有する。
4)水平方向において、所定範囲内の幅を有する。
5)垂直方向において、直線性を持つ。
2 画像処理ユニット
3 スピーカ
4 ヘッドアップディスプレイ
Claims (4)
- 車両に搭載され、車両周辺において運転者により運転されている自転車を認識するための車両周辺監視装置であって、
前記車両周辺を撮像し、対象物の温度に応じた輝度値を有する撮像画像を取得する撮像手段と、
前記撮像画像から、背景の温度よりも所定値以上高い温度を表す輝度値を有する画像領域を抽出する抽出手段と、
それぞれが水平方向の幅よりも垂直方向の長さの方が大きい一対の第1対象物部分であって、一方の第1対象物部分と他方の第1対象物部分との間の距離が水平方向において所定値以下である該一対の第1対象物部分が、前記抽出された画像領域から検出されると共に、前記一対の第1対象物部分の間に、該第1対象物部分と異なる輝度を持ち、かつ垂直方向に所定値以上の長さを有する第2対象物部分が存在するならば、該一対の第1対象物部分および該第2対象物部分を含む対象物を前記自転車と判定する自転車判定手段と、
を備える、車両周辺監視装置。 - 前記自転車判定手段は、前記第2対象物部分が、前記背景の温度よりも低い温度を表す輝度値を有していれば、該第1対象物部分および該第2対象物部分を含む対象物を前記自転車と判定する、
請求項1に記載の車両周辺監視装置。 - 前記自転車判定手段は、さらに、前記一対の第1対象物部分の最下点の位置よりも、前記第2対象物部分の最下点の位置の方が、垂直方向において低いことが検出されたならば、前記対象物を自転車と判定する、
請求項1または2に記載の車両周辺監視装置。 - 前記自転車判定手段は、さらに、前記第2対象物部分の最下点近傍に、所定値以上の面積を有し、かつ輝度値が一様な画像領域を検出したならば、前記対象物を自転車と判定する、
請求項1から3のいずれかに記載の車両周辺監視装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008269636A JP4410292B1 (ja) | 2008-10-20 | 2008-10-20 | 車両の周辺監視装置 |
EP09821754A EP2343695A4 (en) | 2008-10-20 | 2009-10-08 | DEVICE FOR MONITORING THE VEHICLE ENVIRONMENT |
US13/123,997 US8648912B2 (en) | 2008-10-20 | 2009-10-08 | Vehicle periphery monitoring apparatus |
CN200980141757.XA CN102187377B (zh) | 2008-10-20 | 2009-10-08 | 车辆的周围监测装置 |
PCT/JP2009/005258 WO2010047054A1 (ja) | 2008-10-20 | 2009-10-08 | 車両の周辺監視装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008269636A JP4410292B1 (ja) | 2008-10-20 | 2008-10-20 | 車両の周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP4410292B1 JP4410292B1 (ja) | 2010-02-03 |
JP2010097541A true JP2010097541A (ja) | 2010-04-30 |
Family
ID=41739244
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008269636A Expired - Fee Related JP4410292B1 (ja) | 2008-10-20 | 2008-10-20 | 車両の周辺監視装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8648912B2 (ja) |
EP (1) | EP2343695A4 (ja) |
JP (1) | JP4410292B1 (ja) |
CN (1) | CN102187377B (ja) |
WO (1) | WO2010047054A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013232080A (ja) * | 2012-04-27 | 2013-11-14 | Denso Corp | 対象物識別装置 |
JP2015122551A (ja) * | 2013-12-20 | 2015-07-02 | キヤノン株式会社 | 撮像装置、撮像装置の制御方法及びプログラム |
JP2016164745A (ja) * | 2015-03-06 | 2016-09-08 | 富士通テン株式会社 | 障害物検出装置および障害物検出方法 |
JP2017111054A (ja) * | 2015-12-17 | 2017-06-22 | 株式会社デンソー | 物体検出装置 |
JP2019101470A (ja) * | 2017-11-28 | 2019-06-24 | 株式会社Subaru | 車外環境認識装置 |
JP2021082162A (ja) * | 2019-11-22 | 2021-05-27 | 株式会社Subaru | 車外環境認識装置 |
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US20120147188A1 (en) * | 2009-09-03 | 2012-06-14 | Honda Motor Co., Ltd. | Vehicle vicinity monitoring apparatus |
JP5548667B2 (ja) * | 2011-11-24 | 2014-07-16 | 富士重工業株式会社 | 車外環境認識装置 |
WO2013106418A1 (en) * | 2012-01-09 | 2013-07-18 | Tk Holdings, Inc. | Stereo-vision object detection system and method |
US8935082B2 (en) * | 2012-01-24 | 2015-01-13 | Xerox Corporation | Vehicle speed determination via infrared imaging |
US10565438B2 (en) * | 2012-03-12 | 2020-02-18 | Honda Motor Co., Ltd. | Vehicle periphery monitor device |
JP5809751B2 (ja) * | 2012-06-26 | 2015-11-11 | 本田技研工業株式会社 | 対象物認識装置 |
JP5700263B2 (ja) * | 2013-01-22 | 2015-04-15 | 株式会社デンソー | 衝突傷害予測システム |
TWI561418B (en) * | 2014-03-19 | 2016-12-11 | Altek Autotronics Corp | Obstacle detection device |
CN104931024B (zh) * | 2014-03-19 | 2017-07-14 | 能晶科技股份有限公司 | 障碍物检测装置 |
DE102014017910B4 (de) * | 2014-12-04 | 2023-02-16 | Audi Ag | Verfahren zur Auswertung von Umfelddaten eines Kraftfahrzeugs und Kraftfahrzeug |
US9168869B1 (en) * | 2014-12-29 | 2015-10-27 | Sami Yaseen Kamal | Vehicle with a multi-function auxiliary control system and heads-up display |
EP3282392B1 (en) | 2015-08-28 | 2021-09-29 | Veoneer Sweden AB | Vision system and method for a motor vehicle |
CN107924465B (zh) * | 2016-03-18 | 2021-09-10 | Jvc 建伍株式会社 | 物体识别装置、物体识别方法以及存储介质 |
JP6536521B2 (ja) * | 2016-09-22 | 2019-07-03 | 株式会社デンソー | 物体検知装置及び物体検知方法 |
US10482669B2 (en) * | 2016-09-23 | 2019-11-19 | Apple Inc. | Augmented virtual display |
KR101899396B1 (ko) * | 2016-11-24 | 2018-09-18 | 현대자동차주식회사 | 차량 및 그 제어방법 |
CN111942426B (zh) * | 2020-08-14 | 2023-04-25 | 宝武集团鄂城钢铁有限公司 | 一种基于热红外的铁水运输机车车轴测温方法 |
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JP2000097963A (ja) * | 1998-09-21 | 2000-04-07 | Mitsubishi Electric Corp | 移動体の識別装置 |
JP2003226211A (ja) * | 2002-02-04 | 2003-08-12 | Nissan Motor Co Ltd | 車両用保護装置 |
JP2008046947A (ja) * | 2006-08-18 | 2008-02-28 | Alpine Electronics Inc | 周辺監視システム |
JP2008090748A (ja) * | 2006-10-04 | 2008-04-17 | Toyota Motor Corp | 車輌用警報装置 |
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2008
- 2008-10-20 JP JP2008269636A patent/JP4410292B1/ja not_active Expired - Fee Related
-
2009
- 2009-10-08 EP EP09821754A patent/EP2343695A4/en not_active Withdrawn
- 2009-10-08 WO PCT/JP2009/005258 patent/WO2010047054A1/ja active Application Filing
- 2009-10-08 US US13/123,997 patent/US8648912B2/en not_active Expired - Fee Related
- 2009-10-08 CN CN200980141757.XA patent/CN102187377B/zh not_active Expired - Fee Related
Patent Citations (4)
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JP2000097963A (ja) * | 1998-09-21 | 2000-04-07 | Mitsubishi Electric Corp | 移動体の識別装置 |
JP2003226211A (ja) * | 2002-02-04 | 2003-08-12 | Nissan Motor Co Ltd | 車両用保護装置 |
JP2008046947A (ja) * | 2006-08-18 | 2008-02-28 | Alpine Electronics Inc | 周辺監視システム |
JP2008090748A (ja) * | 2006-10-04 | 2008-04-17 | Toyota Motor Corp | 車輌用警報装置 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013232080A (ja) * | 2012-04-27 | 2013-11-14 | Denso Corp | 対象物識別装置 |
JP2015122551A (ja) * | 2013-12-20 | 2015-07-02 | キヤノン株式会社 | 撮像装置、撮像装置の制御方法及びプログラム |
JP2016164745A (ja) * | 2015-03-06 | 2016-09-08 | 富士通テン株式会社 | 障害物検出装置および障害物検出方法 |
JP2017111054A (ja) * | 2015-12-17 | 2017-06-22 | 株式会社デンソー | 物体検出装置 |
WO2017104580A1 (ja) * | 2015-12-17 | 2017-06-22 | 株式会社デンソー | 物体検出装置及び物体検出方法 |
JP2019101470A (ja) * | 2017-11-28 | 2019-06-24 | 株式会社Subaru | 車外環境認識装置 |
JP7071102B2 (ja) | 2017-11-28 | 2022-05-18 | 株式会社Subaru | 車外環境認識装置 |
JP2021082162A (ja) * | 2019-11-22 | 2021-05-27 | 株式会社Subaru | 車外環境認識装置 |
Also Published As
Publication number | Publication date |
---|---|
EP2343695A4 (en) | 2012-04-18 |
CN102187377B (zh) | 2014-05-28 |
US8648912B2 (en) | 2014-02-11 |
EP2343695A1 (en) | 2011-07-13 |
US20110234804A1 (en) | 2011-09-29 |
WO2010047054A1 (ja) | 2010-04-29 |
CN102187377A (zh) | 2011-09-14 |
JP4410292B1 (ja) | 2010-02-03 |
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