JP5503728B2 - 車両の周辺監視装置 - Google Patents
車両の周辺監視装置 Download PDFInfo
- Publication number
- JP5503728B2 JP5503728B2 JP2012502992A JP2012502992A JP5503728B2 JP 5503728 B2 JP5503728 B2 JP 5503728B2 JP 2012502992 A JP2012502992 A JP 2012502992A JP 2012502992 A JP2012502992 A JP 2012502992A JP 5503728 B2 JP5503728 B2 JP 5503728B2
- Authority
- JP
- Japan
- Prior art keywords
- image
- vehicle
- display
- display device
- display 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 9
- 238000003384 imaging method Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 43
- 238000012545 processing Methods 0.000 description 18
- 238000013459 approach Methods 0.000 description 10
- 241001465754 Metazoa Species 0.000 description 7
- 230000005484 gravity Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 238000012937 correction Methods 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- 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
-
- G06T5/94—
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- 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
- B60R2300/30—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
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Description
(X−Xav)/lx=(Y−Yav)/ly=(Z−Zav)/lz
(5a)
Vs=(Zv(N−1)―Zv(0))/ΔT (7)
Zv(0)/Vs≦T (8)
|Yv(0)|≦H (9)
−α/2≦XCL≦α/2 (11)
Xv(0)=xc(0)×Zv(0)/f (14)
Xv(N−1)=xc(N−1)×Zv(N−1)/f (15)
2 画像処理ユニット
3 スピーカ
4 表示装置
Claims (5)
- 車両に搭載されたカメラを用いて車両の周辺を撮像する撮像手段と、
前記撮像手段による撮像を介して、前記車両の周辺に存在する対象物の温度に応じた輝度値を有するグレースケール画像を取得する手段と、
前記グレースケール画像から、所定の前記対象物を検出する対象物検出手段と、
前記グレースケール画像に基づいて、前記車両に搭載された表示装置上に表示されるべき表示画像を生成する表示画像生成手段と、
前記生成された表示画像を、前記表示装置上に表示する手段と、を備える車両の周辺監視装置であって、
前記対象物検出手段は、前記各対象物が前記車両と衝突する可能性が高いか否かを判定し、前記車両と衝突する可能性の高い前記対象物を、前記所定の対象物として検出し、かつ、
前記対象物検出手段は、運転者によるブレーキ操作を行っているか否かを判断し、ブレーキ操作を行っているときは、前記車両の減速度を算出し、
前記表示画像生成手段は、前記検出した各対象物について、当該対象物の前記車両に対する相対速度及び前記車両からの距離から定まる閾値をそれぞれ算出し、前記算出した減速度を前記算出した前記各閾値と比較して、前記算出した減速度が、少なくとも一つの前記算出した閾値以下であるときに、前記グレースケール画像中の、前記所定の対象物以外の領域の輝度を低下させることによって前記表示画像を生成する、
周辺監視装置。 - 前記表示装置は、前記車両の運転者が視認可能な位置であって、前記車両のハンドルの回転の中心を通ると共に該車両の前後方向に伸長する線に対して所定距離だけ車幅方向に離れた位置に設けられている、
請求項1に記載の周辺監視装置。 - 前記表示画像生成手段は、更に、前記算出した減速度よりも大きい前記閾値に対応する前記検出した対象物以外の前記対象物の領域の輝度を低下させて前記表示画像を生成する、
請求項1または2に記載の周辺監視装置。 - 前記表示画像生成手段は、さらに、前記グレースケール画像中の前記対象物が存在する位置に、該対象物を擬似化した画像を重畳し、前記表示手段は、該重畳した前記表示画像を前記表示装置上に表示する、
請求項1から3のいずれかに記載の周辺監視装置。 - 前記表示装置は、ナビゲーション装置の表示装置である、
請求項1から4のいずれかに記載の周辺監視装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012502992A JP5503728B2 (ja) | 2010-03-01 | 2011-02-21 | 車両の周辺監視装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010044465 | 2010-03-01 | ||
JP2010044465 | 2010-03-01 | ||
PCT/JP2011/000948 WO2011108217A1 (ja) | 2010-03-01 | 2011-02-21 | 車両の周辺監視装置 |
JP2012502992A JP5503728B2 (ja) | 2010-03-01 | 2011-02-21 | 車両の周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2011108217A1 JPWO2011108217A1 (ja) | 2013-06-20 |
JP5503728B2 true JP5503728B2 (ja) | 2014-05-28 |
Family
ID=44541887
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012502992A Expired - Fee Related JP5503728B2 (ja) | 2010-03-01 | 2011-02-21 | 車両の周辺監視装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8953840B2 (ja) |
EP (1) | EP2544449B1 (ja) |
JP (1) | JP5503728B2 (ja) |
CN (1) | CN102783144B (ja) |
WO (1) | WO2011108217A1 (ja) |
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JP2013253961A (ja) * | 2012-05-07 | 2013-12-19 | Denso Corp | 画像表示システム |
JP2014116756A (ja) * | 2012-12-07 | 2014-06-26 | Toyota Motor Corp | 周辺監視システム |
WO2014203592A1 (ja) | 2013-06-17 | 2014-12-24 | ソニー株式会社 | 画像処理装置、画像処理方法及びプログラム |
KR102092625B1 (ko) | 2013-10-15 | 2020-04-14 | 현대모비스 주식회사 | 차량 상태 경보 방법 및 이를 위한 장치 |
CN104079881B (zh) * | 2014-07-01 | 2017-09-12 | 中磊电子(苏州)有限公司 | 监控装置与其相关的监控方法 |
CN104269070B (zh) * | 2014-08-20 | 2017-05-17 | 东风汽车公司 | 一种车辆主动安全预警方法和运用该方法的安全预警系统 |
KR102149276B1 (ko) * | 2014-10-23 | 2020-08-28 | 한화테크윈 주식회사 | 영상 정합 방법 |
KR102225617B1 (ko) * | 2014-11-03 | 2021-03-12 | 한화테크윈 주식회사 | 영상 정합 알고리즘을 설정하는 방법 |
JP6432332B2 (ja) * | 2014-12-15 | 2018-12-05 | 株式会社リコー | 光電変換素子、画像読取装置及び画像形成装置 |
JP6402684B2 (ja) * | 2015-06-10 | 2018-10-10 | トヨタ自動車株式会社 | 表示装置 |
EP3396410A4 (en) * | 2015-12-21 | 2019-08-21 | Koito Manufacturing Co., Ltd. | IMAGE ACQUISITION DEVICE FOR VEHICLES, CONTROL DEVICE, VEHICLE HAVING IMAGE ACQUISITION DEVICE FOR VEHICLES AND CONTROL DEVICE, AND IMAGE ACQUISITION METHOD FOR VEHICLES |
CN108431629B (zh) | 2015-12-21 | 2022-07-08 | 株式会社小糸制作所 | 车辆用图像获取装置、控制装置、包括了车辆用图像获取装置或控制装置的车辆和车辆用图像获取方法 |
WO2017110417A1 (ja) | 2015-12-21 | 2017-06-29 | 株式会社小糸製作所 | 車両用画像取得装置、制御装置、車両用画像取得装置または制御装置を備えた車両および車両用画像取得方法 |
JP6766071B2 (ja) | 2015-12-21 | 2020-10-07 | 株式会社小糸製作所 | 車両用画像取得装置およびそれを備えた車両 |
DE102016220479A1 (de) * | 2016-10-19 | 2018-04-19 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Generieren eines Notrufs für ein Fahrzeug |
JP7143728B2 (ja) * | 2017-11-07 | 2022-09-29 | 株式会社アイシン | 重畳画像表示装置及びコンピュータプログラム |
CN107820116B (zh) * | 2017-11-14 | 2020-02-18 | 优酷网络技术(北京)有限公司 | 视频播放方法及装置 |
CN109935107B (zh) * | 2017-12-18 | 2023-07-14 | 姜鹏飞 | 一种提升交通通视范围的方法及装置 |
JP6605052B2 (ja) * | 2018-01-05 | 2019-11-13 | 株式会社 ミックウェア | ナビゲーションシステム |
KR20200005282A (ko) * | 2018-07-06 | 2020-01-15 | 현대모비스 주식회사 | 미러리스 자동차의 측방 영상 처리 장치 및 방법 |
DE112021001015T5 (de) * | 2020-02-14 | 2022-12-08 | Sony Group Corporation | Bildgebungsvorrichtung und fahrzeugsteuerungsystem |
JPWO2022044394A1 (ja) * | 2020-08-28 | 2022-03-03 |
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JP2010044561A (ja) * | 2008-08-12 | 2010-02-25 | Panasonic Corp | 乗物搭載用監視装置 |
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2011
- 2011-02-21 US US13/579,754 patent/US8953840B2/en active Active
- 2011-02-21 JP JP2012502992A patent/JP5503728B2/ja not_active Expired - Fee Related
- 2011-02-21 WO PCT/JP2011/000948 patent/WO2011108217A1/ja active Application Filing
- 2011-02-21 EP EP11750331.8A patent/EP2544449B1/en active Active
- 2011-02-21 CN CN201180011858.2A patent/CN102783144B/zh active Active
Patent Citations (3)
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JPH08305999A (ja) * | 1995-05-11 | 1996-11-22 | Hitachi Ltd | 車載用カメラシステム |
JP2005318408A (ja) * | 2004-04-30 | 2005-11-10 | Nissan Motor Co Ltd | 車両周囲監視装置および方法 |
JP2010044561A (ja) * | 2008-08-12 | 2010-02-25 | Panasonic Corp | 乗物搭載用監視装置 |
Also Published As
Publication number | Publication date |
---|---|
CN102783144B (zh) | 2016-06-29 |
US20130004021A1 (en) | 2013-01-03 |
EP2544449A1 (en) | 2013-01-09 |
EP2544449B1 (en) | 2016-03-16 |
WO2011108217A1 (ja) | 2011-09-09 |
US8953840B2 (en) | 2015-02-10 |
CN102783144A (zh) | 2012-11-14 |
EP2544449A4 (en) | 2014-01-01 |
JPWO2011108217A1 (ja) | 2013-06-20 |
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