JP4377439B1 - 車両周辺監視装置 - Google Patents
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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
- B60R1/20—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
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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
- B60R1/20—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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- G—PHYSICS
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- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
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- 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
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- 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
-
- 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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- G—PHYSICS
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- G06T2207/30261—Obstacle
Abstract
【解決手段】本発明の車両周辺監視装置によれば、対象物が人間であると判定され、かつ、この対象物の実空間位置が第1の接触判定領域A1に含まれている場合、自車両10とこの対象物との接触可能性が高いことが通報される。一方、対象物が四足動物であると判定され、かつ、この対象物の実空間位置が第2の接触判定領域A2に含まれている場合、当該通報がなされる。ここで、第2の接触判定領域A2は、第1の接触判定領域A1との重なり領域と、第1の接触判定領域A1から少なくとも一部がはみ出した領域とを有している。
【選択図】図4
Description
Claims (4)
- 車両に搭載された撮像装置によって得られる撮像画像を用いて車両の周辺を監視する車両周辺監視装置であって、
前記撮像画像から対象物を抽出する対象物抽出手段と、
前記対象物抽出手段により抽出された前記対象物の実空間位置を測定する位置測定手段と、
前記対象物抽出手段により抽出された前記対象物が人間および四足動物のいずれに該当するかを判定する対象物判定手段と、
前記対象物判定手段により前記対象物が人間であると判定された場合、前記車両と前記対象物としての人間との接触可能性の高低を判定するための第1の接触判定領域を設定する一方、前記対象物判定手段により前記対象物が四足動物であると判定された場合、前記車両と前記対象物としての四足動物との接触可能性の高低を判定するための領域であって、前記第1の接触判定領域との重なり領域と前記第1の接触判定領域から少なくとも一部がはみ出した領域とを有する第2の接触判定領域を設定する接触判定領域設定手段と、
前記接触判定領域設定手段により設定された前記第1の接触判定領域に前記位置測定手段により測定された前記対象物としての人間の実空間位置が含まれる場合、または、前記接触判定領域設定手段により設定された前記第2の接触判定領域に前記位置測定手段により測定された実空間位置に前記対象物としての四足動物の実空間位置が含まれる場合、運転者に対して前記対象物の存在を通報する対象物通報手段とを備えることを特徴とする車両周辺監視装置。 - 請求項1記載の車両周辺監視装置において、
前記位置測定手段により異なる時点において測定された前記対象物が複数の実空間位置から前記対象物の移動ベクトルを算出する移動ベクトル算出手段を備え、
前記接触判定領域設定手段は、前記対象物判定手段により前記対象物が人間であると判定された場合、前記第1の接触判定領域の外側に第3の接触判定領域を設定し、
前記対象物通報手段は、前記接触判定領域設定手段により設定された前記第3の接触判定領域に前記位置測定手段により測定された前記対象物としての人間の実空間位置が含まれ、かつ、前記移動ベクトル算出手段で算出された前記対象物としての人間の移動ベクトルが前記第1の接触判定領域に向かっている場合、前記運転者に対して前記対象物としての人間の存在を通報することを特徴とする車両周辺監視装置。 - 請求項1または2記載の車両周辺監視装置において、
前記接触判定領域設定手段は、前記車両の前方において、前記車両の進行方向に対して平行に延び前記車両の左右両側に所定の余裕を加えた幅を有する領域を、前記第1の接触判定領域として設定することを特徴とする車両周辺監視装置。 - 請求項1〜3いずれか1つに記載の車両周辺監視装置において、
前記接触判定領域設定手段は、前記撮像装置により撮像される撮像領域を前記第2の接触判定領域として設定することを特徴とする車両周辺監視装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008154408A JP4377439B1 (ja) | 2008-06-12 | 2008-06-12 | 車両周辺監視装置 |
PCT/JP2009/000977 WO2009150771A1 (ja) | 2008-06-12 | 2009-03-04 | 車両周辺監視装置 |
AT09762203T ATE556910T1 (de) | 2008-06-12 | 2009-03-04 | Gerät zur überwachung des fahrzeugumfeldes |
EP09762203A EP2270765B1 (en) | 2008-06-12 | 2009-03-04 | Vehicle periphery monitoring device |
US12/994,922 US8189868B2 (en) | 2008-06-12 | 2009-03-04 | Vehicle periphery monitoring device |
CN2009801218769A CN102057414B (zh) | 2008-06-12 | 2009-03-04 | 车辆周围监视装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008154408A JP4377439B1 (ja) | 2008-06-12 | 2008-06-12 | 車両周辺監視装置 |
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Publication Number | Publication Date |
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JP4377439B1 true JP4377439B1 (ja) | 2009-12-02 |
JP2009301283A JP2009301283A (ja) | 2009-12-24 |
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JP2008154408A Active JP4377439B1 (ja) | 2008-06-12 | 2008-06-12 | 車両周辺監視装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8189868B2 (ja) |
EP (1) | EP2270765B1 (ja) |
JP (1) | JP4377439B1 (ja) |
CN (1) | CN102057414B (ja) |
AT (1) | ATE556910T1 (ja) |
WO (1) | WO2009150771A1 (ja) |
Families Citing this family (12)
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JP5761910B2 (ja) * | 2009-12-17 | 2015-08-12 | キヤノン株式会社 | 速度検出装置 |
JP5751842B2 (ja) | 2010-09-16 | 2015-07-22 | キヤノン株式会社 | 速度検出装置および画像形成装置 |
CN103797528A (zh) * | 2011-09-28 | 2014-05-14 | 本田技研工业株式会社 | 生物体识别装置 |
EP2578464B1 (en) * | 2011-10-06 | 2014-03-19 | Honda Research Institute Europe GmbH | Video-based warning system for a vehicle |
US9437000B2 (en) * | 2014-02-20 | 2016-09-06 | Google Inc. | Odometry feature matching |
JP6190758B2 (ja) * | 2014-05-21 | 2017-08-30 | 本田技研工業株式会社 | 物体認識装置及び車両 |
CN104192065A (zh) * | 2014-08-20 | 2014-12-10 | 刘健萍 | 一种可辨监控对象的汽车四周监控装置 |
JP6481520B2 (ja) | 2015-06-05 | 2019-03-13 | トヨタ自動車株式会社 | 車両の衝突回避支援装置 |
JP6775285B2 (ja) * | 2015-09-24 | 2020-10-28 | アルパイン株式会社 | 後側方車両検知警報装置 |
CN109416887B (zh) * | 2016-08-24 | 2021-09-21 | 日立安斯泰莫株式会社 | 识别控制对象车辆报知装置 |
US10366310B2 (en) * | 2016-09-12 | 2019-07-30 | Aptiv Technologies Limited | Enhanced camera object detection for automated vehicles |
JP7290119B2 (ja) * | 2020-01-24 | 2023-06-13 | トヨタ自動車株式会社 | 車両報知装置 |
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-
2008
- 2008-06-12 JP JP2008154408A patent/JP4377439B1/ja active Active
-
2009
- 2009-03-04 WO PCT/JP2009/000977 patent/WO2009150771A1/ja active Application Filing
- 2009-03-04 CN CN2009801218769A patent/CN102057414B/zh not_active Expired - Fee Related
- 2009-03-04 EP EP09762203A patent/EP2270765B1/en not_active Not-in-force
- 2009-03-04 US US12/994,922 patent/US8189868B2/en active Active
- 2009-03-04 AT AT09762203T patent/ATE556910T1/de active
Also Published As
Publication number | Publication date |
---|---|
US20110096956A1 (en) | 2011-04-28 |
CN102057414A (zh) | 2011-05-11 |
ATE556910T1 (de) | 2012-05-15 |
EP2270765B1 (en) | 2012-05-09 |
JP2009301283A (ja) | 2009-12-24 |
EP2270765A1 (en) | 2011-01-05 |
CN102057414B (zh) | 2013-12-25 |
US8189868B2 (en) | 2012-05-29 |
WO2009150771A1 (ja) | 2009-12-17 |
EP2270765A4 (en) | 2011-04-27 |
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