JP6416293B2 - 自動車に接近する対象車両を自動車のカメラシステムにより追跡する方法、カメラシステムおよび自動車 - Google Patents
自動車に接近する対象車両を自動車のカメラシステムにより追跡する方法、カメラシステムおよび自動車 Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
-
- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0016—Identification of obstacles; Selection of a target vehicle
-
- 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
- B60R2300/108—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 'non-standard' camera systems, e.g. camera sensor used for additional purposes i.a. rain sensor, camera sensor split in multiple image areas
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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
- B60R2300/30—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
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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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8066—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 monitoring rearward traffic
-
- 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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- G06T2207/00—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
Description
Claims (15)
- 自動車(1)に接近する対象車両(9)を前記自動車(1)のカメラシステム(2)により追跡する方法であって、
前記カメラシステム(2)の少なくとも1つのカメラ(3)によって前記自動車(1)の周囲領域の時系列画像(10)を提供するステップと、
前記対象車両(9)の前部(11)または後部の特徴に基づいて前記カメラシステム(2)の画像処理装置(5)によって前記時系列画像のうちの画像(10)に前記対象車両(9)を検出するステップと、
前記検出された特徴に基づいて前記時系列画像のうちの複数の後続する画像(10)にわたって前記対象車両(9)を追跡するステップと、
前記画像処理装置(5)によって前記時系列画像のうちの前記複数の後続する画像(10)の1つの画像に前記対象車両(9)の側面部(14)の少なくとも所定の特徴(19、21)を検出するステップと、
前記側面部(14)の前記特徴(19、21)の検出後、前記側面部(14)の前記特徴(19、21)に基づいて前記時系列画像のうちのさらなる複数の画像(10)にわたって前記対象車両(9)を追跡するステップとを含み、
前記対象車両(9)を追跡するさいに前記対象車両(9)の前記前部(11)または前記後部の前記特徴の検出の信頼度を示す第1の信頼値は、前記画像処理装置(5)によって決定され、前記側面部(14)の前記特徴(19、21)の検出は、前記第1の信頼値が予め設定された第1のしきい値未満である場合にのみ実行される、ことを特徴とする追跡方法。 - 前記対象車両(9)のホイールアーチ(19)は、前記側面部(14)の前記特徴(19、21)として検出されることを特徴とする、請求項1に記載の方法。
- 前記対象車両(9)のホイール(21)は、前記側面部(14)の前記特徴(19、21)として検出されることを特徴とする、請求項1または2に記載の方法。
- 前記側面部(14)の前記特徴(19、21)は、ハフ変換を用いて表されることを特徴とする、請求項1から3のいずれか一項に記載の方法。
- 前記対象車両(9)の前記前部(11)または前記後部の前記特徴の検出の信頼度を示す第1の信頼値が、前記画像処理装置(5)によって決定され、前記側面部(14)の前記特徴の検出の信頼度を示す第2の信頼値が、前記画像処理装置(5)によって決定され、前記対象車両(9)の前記前部(11)または前記後部の少なくとも前記特徴による前記対象車両(9)の追跡は、予め設定された第2のしきい値が前記第2の信頼値未満である場合に実行され、前記側面部(14)の少なくとも前記特徴(19、21)による前記対象車両(9)の追跡は、予め設定された第1のしきい値が前記第1の信頼値未満である場合に実行されることを特徴とする、請求項1から4のいずれか一項に記載の方法。
- 前記対象車両(9)は、前記自動車(1)と前記対象車両(9)との間の距離が予め設定されたしきい値未満であれば、前記側面部(14)の前記特徴(19、21)により追跡されることを特徴とする、請求項1から5のいずれか一項に記載の方法。
- 車両長手方向における前記対象車両(9)の前記自動車(1)に対する相対位置に応じて、
フロントホイールアーチ(19)またはリヤホイールアーチ、および/または、
フロントホイール(23)またはリヤホイール(24)が前記側面部(14)の前記特徴(19、21)として検出されることを特徴とする、請求項1から6のいずれか一項に記載の方法。 - 前記側面部(14)の前記特徴(19、21)は、一般化アルゴリズムによって一般化されることを特徴とする、請求項1から7のいずれか一項に記載の方法。
- 前記前部(11)または前記後部の検出は、前記前部(11)または前記後部が描写された境界枠(12)が前記画像処理装置(5)によって決定され、前記境界枠(12)に応じて決定される着目領域(15)のみが前記側面部(14)の前記特徴(19、21)を検出するための基礎となるものとしてみなされることを含むことを特徴とする、請求項1から8のいずれか一項に記載の方法。
- 少なくとも、前記前部(11)または前記後部に基づく追跡から前記側面部(14)に基づく追跡への移行時、前記対象車両(9)の追跡は、予測アルゴリズムによって支援されることを特徴とする、請求項1から9のいずれか一項に記載の方法。
- 前記時系列画像(10)は、視野(4)の開口角(α)が150°より大きいカメラ(3)によって提供されることを特徴とする、請求項1から10のいずれか一項に記載の方法。
- 前記側面部(14)の前記特徴(19、21)を検出するさい、前記特徴(19、21)の幾何学的形状が、前記カメラ(3)の外部標定の較正データおよび/または前記カメラの位置および/または前記カメラの歪みパラメータに応じて考慮されることを特徴とする、請求項1から11のいずれか一項に記載の方法。
- 前記対象車両(9)は、前記自動車(1)の死角領域(13)において追跡されることを特徴とする、請求項1から12のいずれか一項に記載の方法。
- 自動車(1)のカメラシステム(2)であって、前記自動車(1)の周囲領域の一連の画像(10)を提供する少なくとも1つのカメラ(3)と、請求項1から13のいずれか一項に記載の方法を実行するように構成された画像処理装置(5)とを備えるカメラシステム(2)。
- 請求項14に記載のカメラシステム(2)を備えた自動車(1)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102014109062.4 | 2014-06-27 | ||
DE102014109062.4A DE102014109062A1 (de) | 2014-06-27 | 2014-06-27 | Verfahren zum Verfolgen eines sich einem Kraftfahrzeug nähernden Zielfahrzeugs mittels eines Kamerasystems des Kraftfahrzeugs, Kamerasystem und Kraftfahrzeug |
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JP2017529517A JP2017529517A (ja) | 2017-10-05 |
JP6416293B2 true JP6416293B2 (ja) | 2018-10-31 |
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US (1) | US10276040B2 (ja) |
EP (1) | EP3161507B1 (ja) |
JP (1) | JP6416293B2 (ja) |
CN (1) | CN106489174B (ja) |
DE (1) | DE102014109062A1 (ja) |
WO (1) | WO2015197237A1 (ja) |
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US8004425B2 (en) | 2009-09-30 | 2011-08-23 | Gentex Corporation | Blind spot detection system and method using preexisting vehicular imaging devices |
CN102632839B (zh) * | 2011-02-15 | 2015-04-01 | 香港生产力促进局 | 一种基于后视图像认知的车载盲区预警系统及方法 |
JP2012208887A (ja) * | 2011-03-30 | 2012-10-25 | Denso Corp | 対象物追跡装置および対象物追跡システム |
JP5773334B2 (ja) * | 2012-01-22 | 2015-09-02 | スズキ株式会社 | オプティカルフロー処理装置及び表示半径マップ生成装置 |
WO2014017434A1 (ja) * | 2012-07-27 | 2014-01-30 | クラリオン株式会社 | 画像処理装置 |
KR101449160B1 (ko) * | 2012-12-12 | 2014-10-08 | 현대자동차주식회사 | 차량의 사각지대 정보 제공 장치 및 방법 |
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WO2015197237A1 (en) | 2015-12-30 |
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CN106489174A (zh) | 2017-03-08 |
EP3161507B1 (en) | 2019-05-15 |
US20170162042A1 (en) | 2017-06-08 |
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US10276040B2 (en) | 2019-04-30 |
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