JP2019204364A - 周辺監視装置 - Google Patents
周辺監視装置 Download PDFInfo
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- JP2019204364A JP2019204364A JP2018099975A JP2018099975A JP2019204364A JP 2019204364 A JP2019204364 A JP 2019204364A JP 2018099975 A JP2018099975 A JP 2018099975A JP 2018099975 A JP2018099975 A JP 2018099975A JP 2019204364 A JP2019204364 A JP 2019204364A
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- 238000012544 monitoring process Methods 0.000 title abstract description 38
- 238000003384 imaging method Methods 0.000 claims abstract description 31
- 238000001514 detection method Methods 0.000 claims description 135
- 238000011156 evaluation Methods 0.000 claims description 48
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- 238000012806 monitoring device Methods 0.000 claims description 38
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/002—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 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
- B60R1/003—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 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like for viewing trailer hitches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8066—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 monitoring rearward traffic
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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- Closed-Circuit Television Systems (AREA)
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Abstract
Description
Claims (10)
- 被牽引車両が連結可能な牽引車両に設けられた撮像部で撮像された前記牽引車両の後方領域を撮像した撮像画像に基づく画像を逐次取得する画像取得部と、
時系列で取得された複数の前記画像に対して一つ以上の局所領域において所定条件を満たす類似点情報を取得する情報取得部と、
取得された前記類似点情報に対して、前記被牽引車両が前記牽引車両に連結される連結部を中心として車幅方向に所定角度間隔で複数の旋回探索領域を設定する探索領域設定部と、
前記複数の旋回探索領域の中で、前記類似点情報の存在数を計数した場合に計数値が最大になる前記旋回探索領域に対応する角度を前記牽引車両に対する前記被牽引車両の連結角度として検出する角度検出部と、
を備える周辺監視装置。 - 前記牽引車両が移動していることを示す自車移動情報を取得する自車移動状態取得部を、さらに備え、
前記情報取得部は、前記牽引車両が移動中であると判定された場合に、前記類似点情報として、局所領域において所定条件を満たす移動点情報を取得する、請求項1に記載の周辺監視装置。 - 前記情報取得部は、所定条件を満たす類似点情報として、前記連結部を中心とする同心円軌道上を所定量以内の移動を示す前記移動点情報および、実質的に停止状態であることを示す停止点情報を取得する、請求項2に記載の周辺監視装置。
- 前記複数の旋回探索領域のいずれにおいても、所定閾値以下の計数値の場合、前記牽引車両に対して前記被牽引車両が未連結であると判定する連結判定部をさらに備える、請求項1から請求項3のいずれか1項に記載の周辺監視装置。
- 前記情報取得部は、前記類似点情報が示す移動方向ごとに分類した方向群を取得し、
前記検出部は、前記方向群に含まれる移動方向の数が多い上位所定数の前記方向群に含まれる前記類似点情報を計数の対象とする、請求項2から請求項4のいずれか1項に記載の周辺監視装置。 - 前記画像取得部は、前記撮像画像に基づき、前記連結部の高さを基準とする俯瞰画像を取得する、請求項1から請求項5のいずれか1項に記載の周辺監視装置。
- 前記探索領域設定部は、前記角度検出部が検出した前記連結角度を基準として、前記所定角度間隔より細かい間隔で複数の詳細旋回探索領域を設定し、
さらに、
前記画像に前記複数の詳細旋回探索領域を重ねた場合にぞれぞれの前記詳細旋回探索領域で規定される探索対象画像を、前記連結部を通り前記詳細旋回探索領域の長手方向に延びる分割線で分割して、第1分割画像と第2分割画像とに設定する分割設定部と、
前記分割線を基準とする前記第1分割画像と前記第2分割画像との対称性を示す対称性評価値が最大になる前記詳細旋回探索領域に対応する角度を前記牽引車両に対する前記被牽引車両の詳細連結角度として検出する詳細角度検出部と、
を備える請求項1から請求項6のいずれか1項に記載の周辺監視装置。 - 前記探索領域設定部は、前記詳細旋回探索領域の前記連結部を中心とする同心円軌道方向に幅を複数種類設定する、請求項7に記載の周辺監視装置。
- 前記分割設定部は、前記第1分割画像と前記第2分割画像のいずれか一方を前記分割線を軸として反転させて、
前記詳細角度検出部は、反転させた一方の画像と非反転の他方の画像との類似性を用いて対称性を評価する、請求項7または請求項8に記載の周辺監視装置。 - 前記詳細角度検出部は、前記対称性評価値として、前記第1分割画像と前記第2分割画像とにおいて類似する部分が存在する位置を示す類似点を検出し、当該類似点を通り前記詳細旋回探索領域の前記分割線と直交する方向の評価ラインを引いた場合に、当該評価ラインの本数が最大になる前記詳細旋回探索領域に対応する角度を前記牽引車両に対する前記被牽引車両の詳細連結角度として検出する、請求項7から請求項9のいずれか1項に記載の周辺監視装置。
Priority Applications (2)
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JP2018099975A JP7081305B2 (ja) | 2018-05-24 | 2018-05-24 | 周辺監視装置 |
US16/414,158 US20190359134A1 (en) | 2018-05-24 | 2019-05-16 | Periphery monitoring device |
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JP2018099975A JP7081305B2 (ja) | 2018-05-24 | 2018-05-24 | 周辺監視装置 |
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JP2019204364A true JP2019204364A (ja) | 2019-11-28 |
JP7081305B2 JP7081305B2 (ja) | 2022-06-07 |
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Cited By (2)
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---|---|---|---|---|
WO2022153447A1 (ja) * | 2021-01-14 | 2022-07-21 | 三菱電機株式会社 | 列車制御装置および空転滑走検知方法 |
WO2023090122A1 (ja) * | 2021-11-17 | 2023-05-25 | 株式会社Ihi | 連結車両の連結角検出装置、連結車両、および連結車両の連結角検出方法 |
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JP6534609B2 (ja) * | 2015-12-04 | 2019-06-26 | クラリオン株式会社 | 追跡装置 |
US11267511B2 (en) * | 2019-12-03 | 2022-03-08 | Continental Advanced Lidar Solutions Us, Inc. | Trailer reverse assist system with trailer recognition |
US11702017B2 (en) * | 2020-07-24 | 2023-07-18 | Magna Electronics Inc. | Vehicular trailering assist system with hitch ball detection |
US11572098B2 (en) * | 2020-09-02 | 2023-02-07 | Ford Global Technologies, Llc | Hitch angle detection using automotive radar |
CN112389327A (zh) * | 2020-12-01 | 2021-02-23 | 哈尔滨北方防务装备股份有限公司 | 一种基于履带式双节车的驾驶感知系统 |
US11989902B2 (en) | 2020-12-10 | 2024-05-21 | Magna Electronics Inc. | Vehicular trailering assist system with trailer beam length estimation |
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2018
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-
2019
- 2019-05-16 US US16/414,158 patent/US20190359134A1/en not_active Abandoned
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Cited By (4)
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JPWO2022153447A1 (ja) * | 2021-01-14 | 2022-07-21 | ||
JP7301246B2 (ja) | 2021-01-14 | 2023-06-30 | 三菱電機株式会社 | 列車制御装置および空転滑走検知方法 |
WO2023090122A1 (ja) * | 2021-11-17 | 2023-05-25 | 株式会社Ihi | 連結車両の連結角検出装置、連結車両、および連結車両の連結角検出方法 |
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US20190359134A1 (en) | 2019-11-28 |
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