JP4784659B2 - 車両用周辺監視装置 - Google Patents
車両用周辺監視装置 Download PDFInfo
- Publication number
- JP4784659B2 JP4784659B2 JP2009032682A JP2009032682A JP4784659B2 JP 4784659 B2 JP4784659 B2 JP 4784659B2 JP 2009032682 A JP2009032682 A JP 2009032682A JP 2009032682 A JP2009032682 A JP 2009032682A JP 4784659 B2 JP4784659 B2 JP 4784659B2
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- JP
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- Prior art keywords
- obstacle
- risk
- vehicle
- video
- detection reliability
- 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
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- 238000012806 monitoring device Methods 0.000 title claims description 19
- 238000004364 calculation method Methods 0.000 claims description 104
- 238000001514 detection method Methods 0.000 claims description 85
- 238000012937 correction Methods 0.000 claims description 55
- 238000012545 processing Methods 0.000 claims description 40
- 238000000034 method Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 description 8
- 230000000875 corresponding effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 230000002194 synthesizing effect Effects 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000003786 synthesis reaction Methods 0.000 description 4
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
-
- 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
-
- 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
- B60R2300/8033—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 pedestrian protection
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Description
20 映像取得部
21 レンズ
22 第1のプリズム
23 第2のプリズム
24 第1の撮像素子
25 第2の撮像素子
30 信号処理部
31 基準信号生成手段
32 第1の入力信号処理手段
33 第2の入力信号処理手段
35 映像合成手段
41 障害物認識手段
42 輝度算出手段
43 推定危険度算出手段
44 危険度算出手段
45 検出信頼度補正値算出手段
46 注意喚起手段
50 センサ部
51 コンライトセンサ
52 車速センサ
53 操舵角センサ
54 距離センサ
60 表示部
101 車両
102 ヘッドライト
103a〜103d ヘッドライトの等輝度曲線
104 障害物
105 円旋回半径Rの軌跡
110,111 注意喚起枠
d 距離
Claims (5)
- 車両周辺の映像を取得する映像取得部と、前記映像取得部の取得した映像を処理する信号処理部と、を有する車両用周辺監視装置であって、
前記信号処理部は、前記映像取得部が取得した前記映像から障害物を認識して障害物の位置を算出するとともに、前記障害物の認識の確からしさを示す検出信頼度を算出する障害物認識手段と、
前記障害物と前記車両とが衝突をする危険性の度合いを示す危険度を算出する危険度算出手段と、
前記検出信頼度を、前記危険度に応じて補正して検出信頼度補正値を算出する検出信頼度補正値算出手段と、
前記検出信頼度補正値が閾値よりも高い場合のみ、運転者に注意喚起を行うための注意喚起信号を出力する注意喚起手段と、
前記障害物の位置における輝度を算出する輝度算出手段と、
前記障害物と前記車両とが衝突する推定危険度を算出する推定危険度算出手段と、を有し、
前記危険度算出手段は、前記輝度及び前記推定危険度に基づいて2次元で前記危険度を算出することを特徴とする車両用周辺監視装置。 - 前記推定危険度算出手段は、前記車両の車速、操舵角、及び前記車両と前記障害物との距離を含む情報に基づいて、前記推定危険度を算出することを特徴とする請求項1記載の車両用周辺監視装置。
- 前記注意喚起信号は、前記映像取得部が取得した前記映像の前記障害物が認識された領域を囲む枠に対応する信号であることを特徴とする請求項1又は2記載の車両用周辺監視装置。
- 前記注意喚起信号は、前記映像取得部が取得した前記映像の前記障害物を囲む枠に対応する信号であることを特徴とする請求項1乃至3の何れか一項記載の車両用周辺監視装置。
- 前記障害物は、歩行者であることを特徴とする請求項1乃至4の何れか一項記載の車両用周辺監視装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009032682A JP4784659B2 (ja) | 2009-02-16 | 2009-02-16 | 車両用周辺監視装置 |
US12/705,179 US20100208075A1 (en) | 2009-02-16 | 2010-02-12 | Surroundings monitoring device for vehicle |
DE102010001954A DE102010001954A1 (de) | 2009-02-16 | 2010-02-15 | Umgebungsüberwachungsvorrichtung für ein Fahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009032682A JP4784659B2 (ja) | 2009-02-16 | 2009-02-16 | 車両用周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010191520A JP2010191520A (ja) | 2010-09-02 |
JP4784659B2 true JP4784659B2 (ja) | 2011-10-05 |
Family
ID=42371870
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009032682A Expired - Fee Related JP4784659B2 (ja) | 2009-02-16 | 2009-02-16 | 車両用周辺監視装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20100208075A1 (ja) |
JP (1) | JP4784659B2 (ja) |
DE (1) | DE102010001954A1 (ja) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9200895B2 (en) | 2010-11-16 | 2015-12-01 | Konica Minolta, Inc. | Image input device and image processing device |
US9405727B2 (en) * | 2011-02-23 | 2016-08-02 | Toyota Jidosha Kabushiki Kaisha | Driving support device, driving support method, and driving support program |
DE102011078615B4 (de) * | 2011-07-04 | 2022-07-14 | Toyota Jidosha Kabushiki Kaisha | Objekterfassungsvorrichtung und objekterfassungsprogramm |
US8994823B2 (en) * | 2011-07-05 | 2015-03-31 | Toyota Jidosha Kabushiki Kaisha | Object detection apparatus and storage medium storing object detection program |
US9235990B2 (en) * | 2011-11-25 | 2016-01-12 | Honda Motor Co., Ltd. | Vehicle periphery monitoring device |
DE102011087774A1 (de) * | 2011-12-06 | 2013-06-06 | Robert Bosch Gmbh | Verfahren zur Überwachung und Signalisierung einer Verkehrssituation im Umfeld eines Fahrzeuges |
US8791836B2 (en) | 2012-03-07 | 2014-07-29 | Lockheed Martin Corporation | Reflexive response system for popup threat survival |
US9240001B2 (en) | 2012-05-03 | 2016-01-19 | Lockheed Martin Corporation | Systems and methods for vehicle survivability planning |
US8831793B2 (en) * | 2012-05-03 | 2014-09-09 | Lockheed Martin Corporation | Evaluation tool for vehicle survivability planning |
US9030347B2 (en) | 2012-05-03 | 2015-05-12 | Lockheed Martin Corporation | Preemptive signature control for vehicle survivability planning |
DE102013113054B4 (de) * | 2012-12-03 | 2022-01-27 | Denso Corporation | Zielerfassungsvorrichtung zum Vermeiden einer Kollision zwischen einem Fahrzeug und einem durch einen an dem Fahrzeug montierten Sensor erfassten Ziel |
US9342986B2 (en) * | 2013-02-25 | 2016-05-17 | Honda Motor Co., Ltd. | Vehicle state prediction in real time risk assessments |
US9050980B2 (en) * | 2013-02-25 | 2015-06-09 | Honda Motor Co., Ltd. | Real time risk assessment for advanced driver assist system |
CN105393293B (zh) * | 2013-07-18 | 2017-05-03 | 歌乐株式会社 | 车载装置 |
JP5861072B2 (ja) * | 2014-03-06 | 2016-02-16 | パナソニックIpマネジメント株式会社 | 表示制御装置、表示装置および表示制御プログラム |
CA2983682C (en) * | 2015-04-23 | 2018-06-12 | Nissan Motor Co., Ltd. | Occlusion control device |
US10822110B2 (en) | 2015-09-08 | 2020-11-03 | Lockheed Martin Corporation | Threat countermeasure assistance system |
US10788840B2 (en) * | 2016-12-27 | 2020-09-29 | Panasonic Intellectual Property Corporation Of America | Information processing apparatus, information processing method, and recording medium |
JP6558393B2 (ja) * | 2017-04-06 | 2019-08-14 | トヨタ自動車株式会社 | 進路設定装置及び進路設定方法 |
JP7198742B2 (ja) * | 2019-12-27 | 2023-01-04 | 本田技研工業株式会社 | 自動運転車両、画像表示方法およびプログラム |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004013466A (ja) * | 2002-06-06 | 2004-01-15 | Nissan Motor Co Ltd | 車両周囲監視装置 |
JP4296951B2 (ja) * | 2004-02-09 | 2009-07-15 | 株式会社豊田中央研究所 | 車両用情報提示装置 |
JP2005267112A (ja) * | 2004-03-17 | 2005-09-29 | Toyota Central Res & Dev Lab Inc | ドライバ状態推定装置及び情報提示システム |
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 |
JP4598653B2 (ja) * | 2005-05-13 | 2010-12-15 | 本田技研工業株式会社 | 衝突予知装置 |
JP4872245B2 (ja) * | 2005-06-06 | 2012-02-08 | トヨタ自動車株式会社 | 歩行者認識装置 |
JP2007087203A (ja) | 2005-09-22 | 2007-04-05 | Sumitomo Electric Ind Ltd | 衝突判定システム、衝突判定方法及びコンピュータプログラム |
JP4353162B2 (ja) * | 2005-09-26 | 2009-10-28 | トヨタ自動車株式会社 | 車輌周囲情報表示装置 |
JP2008027309A (ja) * | 2006-07-24 | 2008-02-07 | Sumitomo Electric Ind Ltd | 衝突判定システム、及び衝突判定方法 |
JP2008135856A (ja) | 2006-11-27 | 2008-06-12 | Toyota Motor Corp | 物体認識装置 |
JP4670805B2 (ja) * | 2006-12-13 | 2011-04-13 | 株式会社豊田中央研究所 | 運転支援装置、及びプログラム |
JP4433046B2 (ja) * | 2007-12-26 | 2010-03-17 | 株式会社デンソー | 露出制御装置及び露出制御プログラム |
-
2009
- 2009-02-16 JP JP2009032682A patent/JP4784659B2/ja not_active Expired - Fee Related
-
2010
- 2010-02-12 US US12/705,179 patent/US20100208075A1/en not_active Abandoned
- 2010-02-15 DE DE102010001954A patent/DE102010001954A1/de not_active Ceased
Also Published As
Publication number | Publication date |
---|---|
JP2010191520A (ja) | 2010-09-02 |
DE102010001954A1 (de) | 2010-09-02 |
US20100208075A1 (en) | 2010-08-19 |
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