JP5600332B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- JP5600332B2 JP5600332B2 JP2012077037A JP2012077037A JP5600332B2 JP 5600332 B2 JP5600332 B2 JP 5600332B2 JP 2012077037 A JP2012077037 A JP 2012077037A JP 2012077037 A JP2012077037 A JP 2012077037A JP 5600332 B2 JP5600332 B2 JP 5600332B2
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- smoke
- image
- distance
- detected
- brake
- 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.)
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- 238000001514 detection method Methods 0.000 claims description 9
- 239000000779 smoke Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 230000003287 optical effect Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000003702 image correction Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 238000007781 pre-processing Methods 0.000 description 4
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000003705 background correction Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation 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
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- 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
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Regulating Braking Force (AREA)
- Image Processing (AREA)
Description
図1に示す運転支援装置1は、図示しない自動車等の車両に搭載され、カメラ2で撮像した画像を処理して外部の走行環境を認識し、ドライバに対する各種運転支援を行うものである。具体的には、運転支援装置1は、カメラ2の撮像画像を処理する画像処理エンジン3、画像処理エンジン3で処理した画像情報に基づいて外部環境を認識するマイクロコンピュータからなる認識コントローラ4、外部環境の認識結果に基づいてドライバに対する運転支援のための各制御を統括する制御コントローラ5を備えて構成されている。
Zave=ΣZn/ndet …(1)
Zdif=Σ│Zn−Zave│/ndet …(2)
ΔZave=Σ│Zn−Znadj│/ndet …(3)
警報ブレーキ、衝突可能性判断ブレーキ、及び衝突判断ブレーキの作動を全て許可
N2(中程度):
警報ブレーキ及び衝突可能性判断ブレーキの作動を許可
N3(薄い):
警報ブレーキのみ許可
N4(かなり薄い):
煙状物体に対するプリクラッシュブレーキは禁止
2 ステレオカメラ
3 画像処理エンジン
4 認識コントローラ
5 制御コントローラ
30 ステレオ処理部
50 物体検出部
51 煙状物体判定部
60 支援動作レベル決定部
61 支援制御部
Claims (1)
- 車両に搭載したステレオカメラで撮像した撮像画像を処理して走行環境を認識し、ドライバに対する運転支援を行う運転支援装置であって、
前記撮像画像内で互いに隣接する距離情報をグループ化して物体を検出する物体検出部と、
前記検出された物体が煙状の物体であるか否かを判定し、煙状の物体であると判定した場合、前記煙状の物体の領域内の距離情報の分布に基づいて、前記煙状の物体の濃度を複数段階に区分した属性情報を付加する煙状物体判定部と、
前記煙状の物体の属性情報に基づいて、前記煙状の物体に対する運転支援の動作レベルを決定する支援動作レベル決定部とを備え、
前記支援動作レベル決定部は、前記複数段階の属性情報に基づいて、前記煙状の物体に対するプリクラッシュブレーキ制御の実施可否及び複数段階のブレーキ強度を決定することを特徴とする運転支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012077037A JP5600332B2 (ja) | 2012-03-29 | 2012-03-29 | 運転支援装置 |
DE102013102526.9A DE102013102526B4 (de) | 2012-03-29 | 2013-03-13 | Fahrtunterstützungsvorrichtung |
US13/843,076 US8971578B2 (en) | 2012-03-29 | 2013-03-15 | Driving support apparatus |
CN201310098939.1A CN103359119B (zh) | 2012-03-29 | 2013-03-26 | 驾驶辅助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012077037A JP5600332B2 (ja) | 2012-03-29 | 2012-03-29 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013203337A JP2013203337A (ja) | 2013-10-07 |
JP5600332B2 true JP5600332B2 (ja) | 2014-10-01 |
Family
ID=49154854
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012077037A Active JP5600332B2 (ja) | 2012-03-29 | 2012-03-29 | 運転支援装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8971578B2 (ja) |
JP (1) | JP5600332B2 (ja) |
CN (1) | CN103359119B (ja) |
DE (1) | DE102013102526B4 (ja) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013206328A (ja) * | 2012-03-29 | 2013-10-07 | Fuji Heavy Ind Ltd | 物体検出装置 |
JP6048370B2 (ja) * | 2013-10-24 | 2016-12-21 | トヨタ自動車株式会社 | 制動装置 |
JP5893601B2 (ja) * | 2013-10-31 | 2016-03-23 | 富士重工業株式会社 | 車両制御システム |
KR101698783B1 (ko) * | 2013-12-16 | 2017-01-23 | 엘지전자 주식회사 | 스테레오 카메라 및 이를 구비한 차량 |
US9650025B2 (en) | 2014-05-22 | 2017-05-16 | Mobileye Vision Technologies Ltd. | Systems and methods for braking a vehicle based on a detected object |
JP6396840B2 (ja) * | 2015-04-10 | 2018-09-26 | 日立オートモティブシステムズ株式会社 | 物体検出装置 |
CN107923757B (zh) * | 2015-09-25 | 2022-05-13 | 苹果公司 | 非固态对象监测 |
JP6299720B2 (ja) * | 2015-10-02 | 2018-03-28 | トヨタ自動車株式会社 | 物体認識装置及び煙判定方法 |
JP6508134B2 (ja) | 2016-06-14 | 2019-05-08 | トヨタ自動車株式会社 | 物体判別装置 |
JP6943092B2 (ja) * | 2016-11-18 | 2021-09-29 | 株式会社リコー | 情報処理装置、撮像装置、機器制御システム、移動体、情報処理方法、及び、情報処理プログラム |
CN108545067A (zh) * | 2018-06-11 | 2018-09-18 | 常州信息职业技术学院 | 汽车限速行驶控制机构 |
CN108791053B (zh) * | 2018-06-11 | 2020-08-07 | 常州信息职业技术学院 | 一种汽车安全行驶控制方法 |
DE102019120440A1 (de) * | 2019-07-29 | 2021-02-04 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und System zum automatisierten Erstellen von Objektmarkierungen für die Verwendung in einem Fahrassistenzsystem eines Fahrzeugs |
US11721100B2 (en) * | 2020-05-26 | 2023-08-08 | Ambarella International Lp | Automatic air recirculation systems for vehicles |
JPWO2022185085A1 (ja) * | 2021-03-03 | 2022-09-09 | ||
WO2023037451A1 (ja) * | 2021-09-08 | 2023-03-16 | 日本電信電話株式会社 | 画像処理装置、方法およびプログラム |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6945346B2 (en) * | 2000-09-28 | 2005-09-20 | Automotive Distance Control Systems Gmbh | Method for operating a driver support system for motor vehicles |
EP1498721A1 (de) * | 2003-07-15 | 2005-01-19 | ELMOS Semiconductor AG | Vorrichtung zur Erkennung von Nebel, insbesondere für ein Fahrzeug |
EP1809866B1 (de) * | 2004-09-24 | 2013-05-01 | Schaeffler Technologies AG & Co. KG | Vorrichtung zum einstellen der drehwinkellage der nockenwelle einer hubkolben-verbrennungsmaschine relativ zur kurbelwelle |
JP4720386B2 (ja) * | 2005-09-07 | 2011-07-13 | 株式会社日立製作所 | 運転支援装置 |
DE102006011481A1 (de) * | 2006-03-13 | 2007-09-20 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Unterstützen eines Führens eines Fahrzeugs |
JP2007298430A (ja) * | 2006-05-01 | 2007-11-15 | Honda Motor Co Ltd | 車両用物体検知装置 |
JP4940458B2 (ja) * | 2007-08-10 | 2012-05-30 | 本田技研工業株式会社 | 物体検出装置 |
JP4956374B2 (ja) * | 2007-10-29 | 2012-06-20 | 富士重工業株式会社 | 物体検出装置および接触回避システム |
DE102007058542A1 (de) * | 2007-12-06 | 2009-06-10 | Robert Bosch Gmbh | Fahrerassistenzsystem zur Überwachung der Fahrsicherheit und korrespondierendes Verfahren zur Erfassung und Bewertung einer Fahrzeugbewegung |
JP5396142B2 (ja) * | 2009-05-11 | 2014-01-22 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP2010266270A (ja) * | 2009-05-13 | 2010-11-25 | Toyota Motor Corp | 周辺物体検出装置、周辺物体検出方法 |
DE102009055190B4 (de) * | 2009-12-22 | 2024-04-25 | Robert Bosch Gmbh | Verfahren zum Erkennen von vor einem Fahrzeug liegenden Pfützen |
DE102010002488A1 (de) * | 2010-03-02 | 2011-09-08 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Nebelerkennung mittels Spektroskopie |
DE102010013943B4 (de) * | 2010-04-06 | 2018-02-22 | Audi Ag | Verfahren und Vorrichtung für eine Funktionsprüfung einer Objekt-Erkennungseinrichtung eines Kraftwagens |
JP5206752B2 (ja) * | 2010-08-30 | 2013-06-12 | 株式会社デンソー | 走行環境認識装置 |
JP2012243049A (ja) * | 2011-05-19 | 2012-12-10 | Fuji Heavy Ind Ltd | 環境認識装置および環境認識方法 |
EP2541273B1 (de) * | 2011-06-28 | 2013-05-22 | Sick Ag | Erfassung und Abstandsbestimmung von Objekten |
US8483945B2 (en) * | 2011-08-29 | 2013-07-09 | Richie HERINK | Method for reducing the energy absorbed by a vehicle in a collision and a system for implementing the method |
-
2012
- 2012-03-29 JP JP2012077037A patent/JP5600332B2/ja active Active
-
2013
- 2013-03-13 DE DE102013102526.9A patent/DE102013102526B4/de active Active
- 2013-03-15 US US13/843,076 patent/US8971578B2/en active Active
- 2013-03-26 CN CN201310098939.1A patent/CN103359119B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN103359119B (zh) | 2016-03-30 |
US20130259309A1 (en) | 2013-10-03 |
JP2013203337A (ja) | 2013-10-07 |
DE102013102526A1 (de) | 2013-10-02 |
DE102013102526B4 (de) | 2015-10-08 |
US8971578B2 (en) | 2015-03-03 |
CN103359119A (zh) | 2013-10-23 |
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