JP4521642B2 - 車両周辺監視装置、車両、車両周辺監視プログラム - Google Patents
車両周辺監視装置、車両、車両周辺監視プログラム Download PDFInfo
- Publication number
- JP4521642B2 JP4521642B2 JP2008032026A JP2008032026A JP4521642B2 JP 4521642 B2 JP4521642 B2 JP 4521642B2 JP 2008032026 A JP2008032026 A JP 2008032026A JP 2008032026 A JP2008032026 A JP 2008032026A JP 4521642 B2 JP4521642 B2 JP 4521642B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- area
- time point
- local
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012806 monitoring device Methods 0.000 title claims description 19
- 238000003384 imaging method Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 8
- 238000011156 evaluation Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 11
- 230000005484 gravity Effects 0.000 description 6
- ORQBXQOJMQIAOY-UHFFFAOYSA-N nobelium Chemical compound [No] ORQBXQOJMQIAOY-UHFFFAOYSA-N 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 241000282994 Cervidae Species 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
-
- 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
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- 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
- B60R2300/301—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 other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- 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
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
Description
Claims (3)
- 車両に搭載されている撮像装置を通じて得られた前記車両の周辺状況を表わす画像を用いて前記車両の周辺を監視する装置であって、
前記画像に基づいて対象物の存在を認識する対象物検出要素と、
第1時点および第2時点のそれぞれにおける前記画像に基づいて前記対象物検出要素により検出された前記対象物が同一であるという同一性要件を満たしているか否かを判定する対象物追跡要素と、
前記車両から前記対象物までの距離を測定する距離測定要素と、
前記画像において前記対象物が存在する領域を第1対象物領域として設定する第1対象物領域設定要素と、
前記第1時点における前記第1対象物領域を基準として、複数の物体区分のそれぞれに応じた態様で配置された領域を第1局所領域として設定する第1局所領域設定要素と、
前記対象物追跡要素により前記同一性要件が満たされていると判定された前記対象物について、前記距離測定要素により測定された前記第1時点における前記距離に対する前記第2時点における前記距離の比率で拡大または縮小された、前記第2時点における前記第1対象物領域を第2対象物領域として設定する第2対象物領域設定要素と、
前記第1局所領域設定要素により設定された前記第1局所領域の配置態様と同一の態様で、前記第2対象物設定要素により設定された前記第2対象物領域を基準として配置されている領域を第2局所領域として設定する第2局所領域設定要素と、
前記第1局所領域設定要素により設定された前記第1局所領域と、前記第2局所領域設定要素により設定された前記第2局所領域との相関度を評価する相関度評価要素と、
前記相関度評価要素により評価された前記相関度が閾値以上であるという相関要件を満たす前記第1局所領域の配置態様に応じた物体区分に前記対象物を分類する対象物分類要素とを備えていることを特徴とする車両周辺監視装置。 - 撮像装置を通じて得られた前記車両の周辺状況を表わす画像を用いて前記車両の周辺を監視する請求項1記載の車両周辺監視装置とを備えていることを特徴とする車両。
- 車両に搭載されているコンピュータを、前記車両に搭載されている撮像装置を通じて得られた前記車両の周辺状況を表わす画像を用いて前記車両の周辺を監視する請求項1記載の車両周辺監視装置として機能させることを特徴とする車両周辺監視プログラム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008032026A JP4521642B2 (ja) | 2008-02-13 | 2008-02-13 | 車両周辺監視装置、車両、車両周辺監視プログラム |
US12/809,874 US7974445B2 (en) | 2008-02-13 | 2008-10-07 | Vehicle periphery monitoring device, vehicle, and vehicle periphery monitoring program |
PCT/JP2008/002828 WO2009101660A1 (ja) | 2008-02-13 | 2008-10-07 | 車両周辺監視装置、車両、車両周辺監視プログラム |
EP08872354.9A EP2224743B1 (en) | 2008-02-13 | 2008-10-07 | Vehicle periphery monitoring device, vehicle, and vehicle periphery monitoring program |
CN2008801260333A CN101933326B (zh) | 2008-02-13 | 2008-10-07 | 车辆周围监测装置、车辆 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008032026A JP4521642B2 (ja) | 2008-02-13 | 2008-02-13 | 車両周辺監視装置、車両、車両周辺監視プログラム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009194542A JP2009194542A (ja) | 2009-08-27 |
JP4521642B2 true JP4521642B2 (ja) | 2010-08-11 |
Family
ID=40956707
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008032026A Expired - Fee Related JP4521642B2 (ja) | 2008-02-13 | 2008-02-13 | 車両周辺監視装置、車両、車両周辺監視プログラム |
Country Status (5)
Country | Link |
---|---|
US (1) | US7974445B2 (ja) |
EP (1) | EP2224743B1 (ja) |
JP (1) | JP4521642B2 (ja) |
CN (1) | CN101933326B (ja) |
WO (1) | WO2009101660A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2639742A2 (en) | 2012-03-12 | 2013-09-18 | Honda Motor Co., Ltd. | Vehicle periphery monitoring apparatus |
WO2013136827A1 (ja) | 2012-03-12 | 2013-09-19 | 本田技研工業株式会社 | 車両周辺監視装置 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4871909B2 (ja) * | 2008-04-25 | 2012-02-08 | 日立オートモティブシステムズ株式会社 | 物体認識装置、および物体認識方法 |
WO2012066751A1 (ja) * | 2010-11-16 | 2012-05-24 | 本田技研工業株式会社 | 車両の周辺監視装置 |
EP2711912A4 (en) * | 2011-09-28 | 2015-04-22 | Honda Motor Co Ltd | BIOMETRIC DEVICE |
WO2014022630A1 (en) * | 2012-08-02 | 2014-02-06 | Gentex Corporation | System and method for controlling exterior vehicle lights responsive to detection of a semi-truck |
EP2940656B1 (en) * | 2012-12-25 | 2024-01-31 | Honda Motor Co., Ltd. | Vehicle periphery monitoring device |
US9580014B2 (en) * | 2013-08-08 | 2017-02-28 | Convoy Technologies Llc | System, apparatus, and method of detecting and displaying obstacles and data associated with the obstacles |
JP6920159B2 (ja) * | 2017-09-29 | 2021-08-18 | 株式会社デンソー | 車両の周辺監視装置と周辺監視方法 |
JP2023107533A (ja) * | 2022-01-24 | 2023-08-03 | 株式会社豊田自動織機 | 人検知システムの画像処理装置 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002312769A (ja) * | 2001-04-16 | 2002-10-25 | Matsushita Electric Ind Co Ltd | 監視装置及びそのパラメータ設定方法 |
JP2003006642A (ja) * | 2001-06-22 | 2003-01-10 | Toshihiko Shimizu | 熱画像を利用した画像処理装置 |
JP2004303219A (ja) * | 2003-03-20 | 2004-10-28 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2006151300A (ja) * | 2004-11-30 | 2006-06-15 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2006185432A (ja) * | 2004-11-30 | 2006-07-13 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2007213561A (ja) * | 2006-01-16 | 2007-08-23 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2007336091A (ja) * | 2006-06-13 | 2007-12-27 | Honda Motor Co Ltd | 対象物検出装置、車両、対象物検出方法、並びに対象物検出用プログラム |
JP2007334751A (ja) * | 2006-06-16 | 2007-12-27 | Honda Motor Co Ltd | 車両周辺監視装置 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5144685A (en) * | 1989-03-31 | 1992-09-01 | Honeywell Inc. | Landmark recognition for autonomous mobile robots |
DE19636028C1 (de) * | 1996-09-05 | 1997-11-20 | Daimler Benz Ag | Verfahren zur Stereobild-Objektdetektion |
JP3515926B2 (ja) | 1999-06-23 | 2004-04-05 | 本田技研工業株式会社 | 車両の周辺監視装置 |
US20020134151A1 (en) * | 2001-02-05 | 2002-09-26 | Matsushita Electric Industrial Co., Ltd. | Apparatus and method for measuring distances |
AU2003225228A1 (en) * | 2002-05-03 | 2003-11-17 | Donnelly Corporation | Object detection system for vehicle |
JP3916240B2 (ja) * | 2003-08-07 | 2007-05-16 | 松下電器産業株式会社 | 運転支援装置及び運転支援方法 |
JP3934119B2 (ja) * | 2004-06-14 | 2007-06-20 | 本田技研工業株式会社 | 車両周辺監視装置 |
JP2006115130A (ja) | 2004-10-13 | 2006-04-27 | Seiko Epson Corp | 情報処理装置,及び、半導体集積回路 |
JP3970876B2 (ja) * | 2004-11-30 | 2007-09-05 | 本田技研工業株式会社 | 車両周辺監視装置 |
US7483549B2 (en) * | 2004-11-30 | 2009-01-27 | Honda Motor Co., Ltd. | Vehicle surroundings monitoring apparatus |
JP2007235642A (ja) * | 2006-03-02 | 2007-09-13 | Hitachi Ltd | 障害物検知システム |
US7786898B2 (en) * | 2006-05-31 | 2010-08-31 | Mobileye Technologies Ltd. | Fusion of far infrared and visible images in enhanced obstacle detection in automotive applications |
US7724962B2 (en) * | 2006-07-07 | 2010-05-25 | Siemens Corporation | Context adaptive approach in vehicle detection under various visibility conditions |
-
2008
- 2008-02-13 JP JP2008032026A patent/JP4521642B2/ja not_active Expired - Fee Related
- 2008-10-07 US US12/809,874 patent/US7974445B2/en active Active
- 2008-10-07 CN CN2008801260333A patent/CN101933326B/zh not_active Expired - Fee Related
- 2008-10-07 EP EP08872354.9A patent/EP2224743B1/en not_active Not-in-force
- 2008-10-07 WO PCT/JP2008/002828 patent/WO2009101660A1/ja active Application Filing
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002312769A (ja) * | 2001-04-16 | 2002-10-25 | Matsushita Electric Ind Co Ltd | 監視装置及びそのパラメータ設定方法 |
JP2003006642A (ja) * | 2001-06-22 | 2003-01-10 | Toshihiko Shimizu | 熱画像を利用した画像処理装置 |
JP2004303219A (ja) * | 2003-03-20 | 2004-10-28 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2006151300A (ja) * | 2004-11-30 | 2006-06-15 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2006185432A (ja) * | 2004-11-30 | 2006-07-13 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2007213561A (ja) * | 2006-01-16 | 2007-08-23 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2007336091A (ja) * | 2006-06-13 | 2007-12-27 | Honda Motor Co Ltd | 対象物検出装置、車両、対象物検出方法、並びに対象物検出用プログラム |
JP2007334751A (ja) * | 2006-06-16 | 2007-12-27 | Honda Motor Co Ltd | 車両周辺監視装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2639742A2 (en) | 2012-03-12 | 2013-09-18 | Honda Motor Co., Ltd. | Vehicle periphery monitoring apparatus |
WO2013136827A1 (ja) | 2012-03-12 | 2013-09-19 | 本田技研工業株式会社 | 車両周辺監視装置 |
US10565438B2 (en) | 2012-03-12 | 2020-02-18 | Honda Motor Co., Ltd. | Vehicle periphery monitor device |
Also Published As
Publication number | Publication date |
---|---|
CN101933326A (zh) | 2010-12-29 |
EP2224743A4 (en) | 2011-03-02 |
US20100278392A1 (en) | 2010-11-04 |
WO2009101660A1 (ja) | 2009-08-20 |
EP2224743A1 (en) | 2010-09-01 |
US7974445B2 (en) | 2011-07-05 |
CN101933326B (zh) | 2012-11-28 |
JP2009194542A (ja) | 2009-08-27 |
EP2224743B1 (en) | 2013-07-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4521642B2 (ja) | 車両周辺監視装置、車両、車両周辺監視プログラム | |
JP4271720B1 (ja) | 車両周辺監視装置 | |
US8766816B2 (en) | System for monitoring the area around a vehicle | |
JP5198346B2 (ja) | 車両周辺監視装置 | |
JP4173901B2 (ja) | 車両周辺監視装置 | |
JP4173902B2 (ja) | 車両周辺監視装置 | |
JP4486997B2 (ja) | 車両周辺監視装置 | |
US8189868B2 (en) | Vehicle periphery monitoring device | |
JP2007304033A (ja) | 車両の周辺監視装置、車両、車両の周辺監視方法、および車両の周辺監視用プログラム | |
EP2312550B1 (en) | Vehicle periphery monitoring device | |
US7885430B2 (en) | Automotive environment monitoring device, vehicle with the automotive environment monitoring device, and automotive environment monitoring program | |
JP4716294B2 (ja) | 車両周辺監視装置、車両、車両周辺監視プログラム | |
JP4590654B2 (ja) | 車両周辺監視装置、車両、車両周辺監視プログラム | |
JP4743797B2 (ja) | 車両周辺監視装置、車両、車両周辺監視プログラム | |
JP5026398B2 (ja) | 車両周辺監視装置 | |
JP4496383B2 (ja) | 車両周辺監視装置、車両周辺監視方法、車両周辺監視プログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20100427 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20100512 |
|
R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130604 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130604 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140604 Year of fee payment: 4 |
|
LAPS | Cancellation because of no payment of annual fees |