JP2020160846A - Object detection device - Google Patents

Abstract

To allow for accurate detection of an object existing in the surroundings with an inexpensive and simple configuration.SOLUTION: In a vehicle safety start supporting device 1, an object detection device includes a headlight 51 and 52 that illuminate an image pickup range of a front camera 11 and a rear camera 12. The object detection device acquires a first brightness of each of a plurality of regions detected from a first image obtained by imaging with the headlight 51 and the backlight 52 not operated, and a brightness of each of the plurality of regions detected from a second image obtained by imaging with the headlight 51 and the backlight 52 in operation. The object detection device determines that there is an object at a position corresponding to a target region within an imaging range when the target region with different brightness from the other regions is detected in the first image, and it is detected in the second image that the brightness of a correction region determined based on the position of the target region and the illumination range of the headlight 51 or the backlight 52 is lower than the region adjacent to the correction region.SELECTED DRAWING: Figure 1

Description

The present invention relates to an object detection device that can be used for safe start support for safely starting a vehicle such as an automobile.

A technique for detecting a vehicle or an obstacle existing in the vicinity of the vehicle is known in order to allow the vehicle such as an automobile to run or start safely. As an example of such a technique, Patent Document 1 , A device including a photographing means and a radar means is disclosed for the purpose of accurately detecting a vehicle or an obstacle.

Japanese Unexamined Patent Publication No. 2003-2170099

However, the above-mentioned conventional technique has the following problems. That is, the use of a plurality of means having different operating principles increases the cost of the device configuration, complicates the device, and increases the weight.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an object detection device capable of accurately detecting an object existing in the surroundings with an inexpensive, simple, and lightweight configuration. ..

In order to achieve the above object, aspects of the present invention include an imaging means, an illuminating means for illuminating the imaging range of the imaging means, and an image captured by the imaging means divided into a plurality of regions. An image analysis means for acquiring the brightness of a region is provided, and the image analysis means is a first of the plurality of regions detected from a first image obtained by the imaging means in a state where the lighting means is not operated. The brightness of 1 and the brightness of each of the plurality of regions detected from the second image captured by the imaging means in the state where the lighting means is operated are acquired, and the brightness of each of the plurality of regions is acquired and the other regions are obtained in the first image. Target regions having different brightness are detected, and the brightness of the correction region determined based on the position of the target region and the illumination range of the lighting means in the second image is smaller than that of the region adjacent to the correction region. When this is detected, it is an object detection device that determines that an object exists at a position corresponding to the target area within the imaging range.

As another aspect, the present invention may be a vehicle safety start support device including the object detection device according to claim 1 and having the lighting means as at least one of a headlight and a backlight.

The present invention as described above has an effect that it is possible to accurately detect an object existing in the surroundings with an inexpensive, simple, and lightweight configuration.

A block diagram showing a configuration of a safe start support device for a vehicle having an object detection device according to an embodiment of the present invention. The figure which shows the flowchart of operation of the safe start support device of the vehicle which has the object detection device which concerns on embodiment of this invention. The figure which shows the flowchart of operation of the safe start support device of the vehicle which has the object detection device which concerns on embodiment of this invention. The figure which shows the flowchart of operation of the safe start support device of the vehicle which has the object detection device which concerns on embodiment of this invention. The figure which shows the flowchart of operation of the safe start support device of the vehicle which has the object detection device which concerns on embodiment of this invention. The figure which shows the flowchart of operation of the safe start support device of the vehicle which has the object detection device which concerns on embodiment of this invention. The figure which shows the flowchart of operation of the safe start support device of the vehicle which has the object detection device which concerns on embodiment of this invention. The figure for demonstrating the operation of the safety start support device of the vehicle which has the object detection device which concerns on embodiment of this invention. The figure for demonstrating the operation of the safety start support device of the vehicle which has the object detection device which concerns on embodiment of this invention. The figure which shows the table used for the operation of the object detection apparatus which concerns on embodiment of this invention. The figure which shows the table used for the operation of the object detection apparatus which concerns on embodiment of this invention. The figure which shows the table used for the operation of the object detection apparatus which concerns on embodiment of this invention.

FIG. 1 is a block diagram showing a configuration of a vehicle safety start support device mounted on a four-wheeled vehicle as a vehicle having an object detection device according to an embodiment of the present invention.

As shown in FIG. 1, in the vehicle safety start support device 1 of the present embodiment, the monitor ECU 10 includes a communication device that communicates with another ECU described later via a CPU, a memory, and a communication bus 60. It is a means for controlling the operations of the front camera 11 and the rear camera 12 and controlling the operations of the video display device 13 and the audio output device 14 based on the information acquired from these cameras.

The front camera 11 is a means for capturing as a moving image a scene of a vehicle (hereinafter referred to as own vehicle) on which the vehicle safety start support device 1 is mounted, in a predetermined range in front including an area that is a blind spot for the driver. The rear camera 12 is a means for capturing a moving image of a scene of the own vehicle in a predetermined rear range including an area that is a blind spot for the driver, and the monitor ECU 10 captures images captured by the front camera 11 and the rear camera 12, respectively. On the other hand, by analyzing the brightness distribution on a frame-by-frame basis, an object around the own vehicle, which will be described later, is detected.

The image display device 13 is realized as, for example, a display of a dedicated product, a car audio or a car navigation system provided on the dashboard of the own vehicle, and is a means for displaying the image of the front camera 11 under the control of the monitor ECU 10. The voice output device 14 is realized as, for example, a speaker for a dedicated product, car audio or car navigation system provided on the dashboard of the own vehicle, and is a means for outputting a warning described later as a voice signal to the vehicle interior under the control of the monitor ECU 10. ..

Like the monitor ECU 10, the body ECU 20 has a communication device and the like that communicate with other ECUs via a CPU, a memory, and a communication bus 60, and is a means for managing the operating state of vehicle-mounted electrical components such as vehicle doors and blinkers. is there. Like the monitor ECU 10, the VSCECU 30 has a communication device that communicates with other ECUs via a CPU, a memory, and a communication bus 60, and acquires information from a steering angle sensor and a meter ECU of the own vehicle (not shown) to obtain information from the own vehicle. It is a means to execute the brake control of. Like the monitor ECU 10, the engine control ECU 40 has a communication device that communicates with other ECUs via a CPU, a memory, and a communication bus 60, manages the operating state of the ignition switch of the own vehicle, and controls the engine of the own vehicle. Is the means to carry out.

Like the monitor ECU 10, the light ECU 50 has a communication device that communicates with other ECUs via a CPU, a memory, and a communication bus 60, and is a means for controlling the operation of the headlight 51 and the backlight 52.

The headlight 51 and the backlight 52 are each composed of a pair of light sources provided at both left and right ends in the vehicle width direction of the own vehicle, and are means for illuminating the front and the rear of the own vehicle, respectively. The light ECU 50 operates the headlight 51 and the backlight 52 according to the imaging operation of the front camera 11 and the rear camera 12 by the monitor ECU 10. Further, the front camera 11 and the rear camera 12 are arranged between the pair of light sources of the headlight 51 and the pair of light sources of the backlight 52, respectively, so that the headlight 51 and the backlight 52 are arranged in the vehicle width direction of the own vehicle. Are offset to each other.

In the above configuration, the front camera 11 and the rear camera 12 correspond to the imaging means of the present invention, the headlight 51 and the backlight 52 correspond to the lighting means of the present invention, and the combination of the monitor ECU 10 and the light ECU 50 is the present invention. Corresponding to the image analysis means of the above, each of these means constitutes the object detection device of the present invention.

Since the vehicle safe start support device 1 of the present embodiment has the above configuration, the vehicle's surroundings are imaged when the vehicle is stopped and when the vehicle restarts from the stop, and these are captured by the object detection device. Obstacles around the vehicle are detected by analyzing the brightness of the captured image, and when an obstacle is detected, the driver is warned by voice to that effect.

Hereinafter, the operation of the vehicle safety start support device 1 of the present embodiment will be described in detail with reference to the flowcharts of FIGS. 2 to 6.

(1. Processing when the vehicle is stopped)
First, the operation when the own vehicle stops will be described. As shown in FIG. 2, after the operation of the device is started, the monitor ECU 10 communicates with the engine control ECU 40 and confirms whether or not the ignition switch of the vehicle is turned off (S1). When it is confirmed that the vehicle has been turned off, the monitor ECU 10 further communicates with the body ECU 20 to acquire the switch state of the direction indicator, and also communicates with the VSCECU 30 to acquire the steering angle of the vehicle, and these are acquired. The information is stored in the own memory as the steering state of the own vehicle (S4).

Next, the monitor ECU 10 confirms the presence or absence of an object in front of the own vehicle and stores the result (S5).

Here, the operation of object detection based on the brightness analysis of the image by the object detection device of the present embodiment will be described with reference to the flowchart of FIG. 7.

First, the monitor ECU 10 operates the front camera 11 as a camera, captures a scene in front of the own vehicle, which is the imaging range of the front camera 11, cuts out an image in frame units, and acquires this as a first image. (S101).

As shown in the schematic view of FIG. 8, the image captured by the front camera 11 with respect to the scene in front of the own vehicle including the road surface R and the background BG is included in the imaging range A surrounded by the broken line in the figure. The monitor ECU 10 extracts a region BR of a predetermined range having a width direction W and a depth direction D on the road surface R in the imaging range A, further divides the region BR into matrix-shaped sub-regions SBR, and obtains a first luminance. As a result, the brightness of each sub-region SBR is detected (S102). As an example of the region BR, the width direction W is about 1.6 m and the depth direction D is about 2 m, and these are treated as an array of 20 cm square sub-region SBR, and the brightness of the sub-region SBR is set to each sub-region SBR. It is obtained as the gray scale average value (255 gradations) of the included pixels.

The monitor ECU 10 compares the brightness of each sub-region SBR. As a specific example, it is determined based on whether or not a sub-region SBR whose brightness is equal to or less than a predetermined threshold value as compared with other sub-regions is found based on a comparison with an average value or a median value (S103).

When the obstacle O is present on the road surface R shown in FIG. 8, the image of the obstacle O included in the imaging range A of the front camera 11 is larger than the other sub-region SBR in the region BR as shown in FIG. Also appears as a low-brightness sub-region SBR, and the monitor ECU 10 sets this low-brightness sub-region SBR as a target region Rt (S104). For the sake of simplicity in FIG. 10, the number of sub-regions SBR in the region BR is shown as being different from the example shown in FIG.

Further, the monitor ECU 10 communicates with the light ECU 50 and causes the light ECU 50 to operate the headlight 51 to illuminate the imaging range of the front camera 11 (S105). Next, the monitor ECU 10 repeats the same operation as in S101, and acquires a second image which is a frame-based image of the imaging range A in the illumination imaged by the front camera 11 (S106).

In the luminance analysis of the second image by the monitor ECU 10, the luminance of each sub-region SBR is acquired as the second luminance in the region BR having the plurality of sub-regions SBR as in the case of the first image, and further, the following. Do like this.

As shown in FIG. 11, the monitor ECU 10 sets the position corresponding to the left and right light sources of the headlight 51 in the sub-region SBR unit to WL (L) on the left side of the own vehicle and WL (R) on the right side of the own vehicle in the region BR. At the same time, the width WRt of the sub-region SBR that occupies the lowermost stage of the target region Rt set based on the first image is set.

Next, the monitor ECU 10 sets the left end and the right end of the width WL (L) of the left headlight 51 and the width WRt of the target region Rt as the distribution of the brightness change caused by the direct light shining on the obstacle O by the headlight 51. Region BL (L) formed by straight lines connecting each, and region BL (R) formed by straight lines connecting the left and right ends of the width WL (R) of the right headlight 51 and the width WRt of the target region Rt, respectively. ) Is set.

Further, in the monitor ECU 10, the ratio of (a) region BL (L) or BL (R) to each sub-region SBR is 50% or more, which is higher than (b) the lowermost sub-region SBR of the target region Rt. The correction region Rc is set to the one that is located in (c) and is not included in the target region Rt and satisfies the three conditions (S107). The condition (a) is a condition for targeting the brightness change caused by the direct light of the headlight 51, and the condition (b) is a condition and a condition (b) for excluding the brightness change caused by the direct light of the headlight 51 itself. C) is defined as a condition for excluding the target region Rt itself. As a result, the correction region Rc can be regarded as a sub-region SBR in which the brightness changes due to the direct light of the headlight 51 affecting the target located in the target region Rt. In the example shown in FIG. 11, the correction region Rc is a correction region. Rc is set for the sub-region SBR located in the left-right direction of the target region.

Further, the monitor ECU 10 compares the brightness of the correction region Rc and the sub-region SBR adjacent to the correction region Rc, and determines whether or not the brightness of the correction region Rc is smaller than the brightness of the sub-region SBR to be compared ( S108). As a specific example, the difference in brightness from the sub-region SBR adjacent to the correction region Rc is calculated, and the average value of all the differences is obtained.

When the average value is equal to or less than the threshold value stored in the monitor ECU 10 in advance, the brightness of the correction region Rc is reduced, and the direct light of the headlight 51 irradiates the target region Rt in the correction region Rc. The monitor ECU 10 determines that the target region Rt indicates the presence of the obstacle O (S109), and ends the object detection operation.

On the other hand, when the average value is equal to or greater than the threshold value, the brightness of the correction region Rc is equal to or greater than the adjacent sub-region SBR. In this case, the monitor ECU 10 determines that the target region Rt does not indicate the presence of the obstacle O (S110), and ends the object detection operation.

As a specific example, the determination by S105 to S108 and S110 assumes the case where the puddle P exists on the road surface R shown in FIG. That is, the image of the water pool P included in the imaging range A when the front camera 11 captures the first image is shown in FIG. 10 in the luminance detection in the region BR as in the case of the obstacle O. It appears as a sub-region SBR having a lower brightness than the sub-region SBR of the above, and cannot be distinguished from the obstacle O by the brightness analysis of only the first image.

On the other hand, by acquiring the second image and detecting its brightness by the steps S105 to S108, the obstacle O appearing as a three-dimensional object having a height on the road surface R and the water pool appearing as a planar change on the road surface R. It is possible to separate the shadows of P and buildings on the shoulder of the road. That is, when the target region Rt is a planar change on the road surface R having no height, the luminance change newly generated in the second image is due only to the direct light of the headlight 51 as shown in FIG. (The brightness of the correction region Rc matches the brightness Ba1 of the region BL (L) and the region BL (R) located below the sub-region SBR at the bottom of the target region Rt). The determination is made based on the fact that the correction region Rc can be regarded as a brightness change due only to the direct light of the headlight 51. The brightness Ba2 to Ba4 of the other sub-regions SBR of the regions BL (L) and BL (R) formed by the headlight 51 are both higher than the brightness of the other sub-regions SBR.

On the other hand, in S103, when no sub-region whose brightness is different from that of the other sub-regions is found in the region BR, the monitor ECU 10 has no obstacle on the road surface. After determining (S111), the operation of object detection is terminated.

With reference to FIG. 2 again, the monitor ECU 10 further confirms the presence or absence of an object behind the own vehicle, and stores the result (S6). The contents of S6 are the same as those described above according to the flowchart of FIG. 7 by controlling the rear camera 12 by changing the monitor ECU 10 to the front camera 11 and the backlight 52 by changing the light ECU 50 to the headlight 51. To perform the operation of.

On the other hand, when it is confirmed in S1 that the ignition switch is not OFF, the monitor ECU 10 determines whether or not the own vehicle is in the stopped state (S2). An example of a stopped state can be determined as an additional important matter that the speed of the own vehicle is 0 and that the door of the vehicle is opening, but depending on the characteristics of the vehicle or the driver, the vehicle It may be determined using any state or a combination thereof.

When the monitor ECU 10 communicates with the VSCECU30, acquires the value of the speedometer via the VSCECU30, and confirms that this is 0 and that the brake of the own vehicle is ON, the own vehicle is in the stopped state. Further, it communicates with the body ECU 20 to confirm whether the hazard lamp is in the lit state or whether it is detected that the door open switch of the own vehicle has been operated (S3). When any information is acquired from the body ECU 20 in S3, it is determined that the own vehicle is in the state where the stop is completed, the vehicle shifts to S4, and the series of operations up to S6 described above is executed. On the other hand, if it is determined in S2 that the vehicle is not in the stopped state, or if no information is acquired from the body ECU 20 in S3, the monitor ECU 10 ends the operation.

(2. Processing when the vehicle starts)
Next, the operation when the driver starts the own vehicle will be described. As shown in FIG. 3, after the operation of the device is started, the monitor ECU 10 communicates with the engine control ECU 40 and confirms whether or not the ignition switch of the vehicle is turned on (S7). When it is confirmed that it is turned on, it is confirmed whether or not the presence or absence of the obstacle O in front of and behind the own vehicle when the own vehicle is stopped is memorized (S9), and if it is memorized, it will be described later. Move to S11.

On the other hand, if it cannot be confirmed that the ignition switch has been turned on, the monitor ECU 10 further determines whether or not the starting condition is satisfied (S8). An example of the starting condition can be defined as satisfying either that the brake of the own vehicle is OFF, that the hazard lamp is off, and that the vehicle speed is greater than 0. Depending on the characteristics of the driver, it may be determined by using an arbitrary state of the own vehicle or a combination thereof.

The monitor ECU 10 communicates with the body ECU 20 and the VSCECU30, and the hazard lamp is off via the body ECU 20, or the value of the speedometer is acquired from the VSCECU30 and this is greater than 0 or the brake of the own vehicle. If it is confirmed that any one of the above is OFF, it is determined that the own vehicle satisfies the starting condition, and the process proceeds to S9.

On the other hand, if it is determined in S8 that the starting conditions are not satisfied, or if the presence or absence of obstacles O in front of and behind the own vehicle when the own vehicle is stopped is not remembered in S9, the monitor ECU 10 Ends the operation.

Next, when the presence or absence of obstacles O in front of and behind the own vehicle when the own vehicle is stopped is stored in S9, the monitor ECU 10 uses the front camera 11 with reference to the flowchart shown in FIG. Operate and execute the same operation as S5 in (1. Processing when the vehicle is stopped) to confirm and memorize the presence or absence of an object in front of the current own vehicle (S11), and further, in the state memorized in S11 and in S5. The memorized state is compared, and the comparison result is set as a difference flag which is a flag indicating the presence or absence of the obstacle O immediately before the start (S12).

Further, the monitor ECU 10 operates the rear camera 12 and executes the same operation as S6 in (1. Processing when the vehicle is stopped) to confirm and store the presence or absence of an object behind the current own vehicle (S13), and further. The state stored in S13 and the state stored in S6 are compared, and the comparison result is set as a difference flag indicating the presence or absence of an obstacle behind the vehicle (S14).

Next, the monitor ECU 10 communicates with the body ECU 20, acquires information, determines whether the position of the shift lever of the own vehicle is in the D range or the R range (S15), and if it is in the R range, The operation is continued by shifting to S21, which will be described later, and to S31, which will be described later in the case of the D range. If it is neither the P range nor the D range or the R range, the operation of S15 is repeated until any determination is made.

As described above, when it is determined in S15 that the vehicle is in the R range, the monitor ECU 10 refers to the difference flag at the rear of the vehicle set in S14 with reference to the flowchart shown in FIG. 5, and whether this is ON or OFF. Is determined (S21). When the difference flag is ON, the rear camera 12 moves backward in the backward direction of the own vehicle based on the steering state of the own vehicle stored in S4 and the image of the rear camera 12 used for determining the presence or absence of the obstacle O in S13. It is further determined whether or not the imaging range is included (S22). When the image pickup range is included in the backward direction of the own vehicle, the monitor ECU 10 determines that the obstacle O exists in the path when the own vehicle starts, and controls the voice output device 14 to make a beep sound or A warning by recording or synthetic voice is output, and a control for displaying the image of the rear camera 12 on the image display device 13 is executed (S23).

On the other hand, if the difference flag is OFF in S21, or if it is determined in S22 that the imaging range of the rear camera 12 is not included in the backward direction of the own vehicle, even if the own vehicle starts, it will be on the path. It judges that there is no obstacle and ends the operation.

Next, when it is determined in S15 that the vehicle is in the D range, the monitor ECU 10 refers to the difference flag in front of the vehicle set in S12 with reference to the flowchart shown in FIG. 6, and determines whether this is ON or OFF. (S31). When the difference flag is ON, the front camera is in the forward direction of the own vehicle based on the steering state of the own vehicle stored in S4 and the image of the current front camera 11 used for determining the presence or absence of the obstacle O in S11. It is further determined whether or not the imaging range of 11 is included (S32). When the image pickup range is included in the forward direction of the own vehicle, the monitor ECU 10 controls the audio output device 14 to output a warning, and causes the image display device 13 to display the image of the front camera 11 as in S23. Control is executed (S33).

On the other hand, if the difference flag is OFF in S31, or if it is determined in S32 that the imaging range of the front camera 12 is not included in the forward direction of the own vehicle, the operation ends.

As described above, according to the safety start support device of the vehicle having the object detection device according to the embodiment of the present invention, the presence or absence of obstacles around the own vehicle is determined based on the image captured by the front camera 11 or the rear camera 12. At the same time, if the presence of an obstacle is determined, the driver in the vehicle interior is warned by voice to that effect. As a result, it is possible to reduce the risk that the driver will inadvertently overlook the confirmation of the surroundings of the own vehicle and promote a safe start.

Further, according to the vehicle safety start support device having the object detection device according to the embodiment of the present invention, the presence or absence of obstacles around the own vehicle can be captured in the imaging range based on the images captured by the front camera 11 or the rear camera 12. By distinguishing from the state of the road surface and the shadow inside, it is possible to accurately detect an object as an obstacle with an inexpensive, simple, and lightweight configuration. Especially in the case of a vehicle, by using an existing headlight or front camera, it is possible to accurately detect an object as an obstacle with a more inexpensive configuration.

Further, according to the safety start support device of the vehicle having the object detection device of the present embodiment, when the presence of an obstacle is determined, the scene around the vehicle in which the obstacle exists is imaged together with the warning by voice. By outputting as, it is possible to directly prompt the driver to confirm the obstacle and further promote a safe start.

Further, according to the safety start support device of the vehicle having the object detection device of the present embodiment, the presence of an obstacle is determined based on the difference in the local brightness of the image, and as a control on the software of the ECU. This can be realized, and the simple and low-cost configuration makes it possible to encourage the driver to start the vehicle safely.

Further, according to the safety start support device having the object detection device of the present embodiment, the possibility of the existence of an obstacle in the traveling direction of the own vehicle is more accurately determined by considering the steering state of the own vehicle when the vehicle is stopped. It becomes possible to judge.

However, the present invention is not limited to the above-described embodiment.

In the above description, the image analysis means of the present invention is realized as a combination of the monitor ECU 10 that controls the front camera 11 and the rear camera 12 and the light ECU 50 that controls the headlight 51 and the backlight 52. , The image analysis means of the present invention may be realized as an arbitrary ECU of the vehicle. Further, various information other than the information acquired from the image pickup means acquired by the monitor ECU 10 as the image analysis means of the present invention is based only on the configuration of the EUC or the like specifically described in the above embodiment. It may be obtained from any ECU, sensor or other hardware based on the individual specific configuration of the vehicle.

Further, in the above description, the imaging means of the present invention includes both the front camera 11 and the rear camera 12, but it may be provided with only one of them. Further, a camera that captures both or one of the left and right sides of the vehicle may be provided alone or in combination.

Further, in the above description, when the second image is acquired, the headlight 51 or the backlight 52 illuminates a pair of left and right light sources at the same time to image the front camera 11 or the rear camera 12. Either the left or right side may be illuminated in order and an image may be taken each time. In this case, it is possible to evaluate the amount of change in brightness from the sub-region SBR adjacent to the correction region Rc to a larger extent and improve the detection accuracy.

Further, in the above description, the lighting means of the present invention is provided with both the left and right headlights 51 and the backlight 52, respectively, but is provided with only one of the headlights 51 and the backlight 52. May be. Further, each of the headlight 51 and the backlight 52 may have a single light source. Further, it may be a light source independent of the headlight or backlight of the vehicle.

Further, in the above description, the monitor ECU as an image analysis means of the object detection device of the present invention sets the target region Rt by determining whether or not a sub-region SBR whose brightness is equal to or less than a predetermined threshold value is found. However, the presence or absence of the sub-region SBR above the threshold value may be targeted. In this case, it is possible to detect an object having a glossy surface and a higher reflectance than on the road.

Further, in the above description, the object detection device of the present invention is incorporated in the safety start support device of the vehicle to detect an object as an obstacle when the vehicle starts, but a vehicle other than the vehicle and transportation The device may be incorporated in general, or may be used alone for detecting objects such as foreign objects and intruders, and for guarding buildings and roads.

As described above, the present invention is an object detection device, in which an imaging means, an illuminating means that illuminates the imaging range of the imaging means, and an image captured by the imaging means are divided into a plurality of regions, respectively. Each of the plurality of regions detected from the first image obtained by the imaging means in a state where the lighting means is not operated is provided with the image analysis means for acquiring the brightness of the region. The first brightness and the brightness of each of the plurality of regions detected from the second image captured by the imaging means while the lighting means is operated are acquired, and the other regions in the first image are acquired. A target region having a brightness different from that of the correction region is detected, and the brightness of the correction region determined based on the position of the target region and the illumination range of the lighting means in the second image is reduced from the region adjacent to the correction region. When it is detected, it is sufficient as long as it is determined that the object exists at a position corresponding to the target area within the imaging range, and the present invention is not limited to other specific purposes, uses, and configurations. ..

Therefore, the present invention may be carried out as if various modifications were made to the above-described embodiment, including those described above, as long as the invention does not deviate from the gist thereof.

The present invention as described above has the effect of enabling accurate detection of surrounding objects with an inexpensive and simple configuration, for example, for safely starting a vehicle such as an automobile. It is useful in application to safe start support.

1 Vehicle safety start support device 10 Monitor ECU
11 Front camera 12 Rear camera 13 Video display device 14 Audio output device 20 Body ECU
30 VSCECU
40 Engine control ECU
50 Light ECU
51 Headlight 52 Backlight 60 Communication bus

Claims (1)

Imaging means and
An illumination means that illuminates the inside of the imaging range by the imaging means
An image analysis means for dividing an image captured by the imaging means into a plurality of regions and acquiring the brightness of each region is provided.
The image analysis means
The first brightness of each of the plurality of regions detected from the first image obtained by the imaging means in a state where the lighting means is not operated, and the imaging means in a state where the lighting means is operated. The brightness of each of the plurality of regions detected from the captured second image is acquired.
In the first image, a target region having a brightness different from that of the other regions is detected, and in the second image, the brightness of the correction region determined based on the position of the target region and the illumination range of the lighting means is corrected. When it is detected that the amount is less than the area adjacent to the area, it is determined that the object exists at a position corresponding to the target area within the imaging range.
Object detector.

Images