JP7359099B2 - 移動体妨害検出装置、移動体妨害検出システム、及び移動体妨害検出プログラム - Google Patents
移動体妨害検出装置、移動体妨害検出システム、及び移動体妨害検出プログラム Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims description 121
- 238000009434 installation Methods 0.000 claims description 4
- 230000006399 behavior Effects 0.000 description 27
- 238000012545 processing Methods 0.000 description 25
- 238000013480 data collection Methods 0.000 description 22
- 238000000034 method Methods 0.000 description 21
- 230000008569 process Effects 0.000 description 19
- 238000004891 communication Methods 0.000 description 16
- 230000001133 acceleration Effects 0.000 description 14
- 230000002776 aggregation Effects 0.000 description 12
- 238000004220 aggregation Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000003708 edge detection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 230000004931 aggregating effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
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- 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
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- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N5/00—Computing arrangements using knowledge-based models
- G06N5/04—Inference or reasoning models
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- 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
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
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- 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
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- 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
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
- G06V40/25—Recognition of walking or running movements, e.g. gait recognition
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- 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
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- Engineering & Computer Science (AREA)
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Description
また、地平線検出部では、画像中の地平線が検出され、距離推定部では、地平線検出部の検出結果を用いて撮影部の取り付け誤差を補正して、バンディングボックスの位置に基づいて、自車両から移動体までの距離が推定され、挙動判定部では、車両の状態を表す車両情報に基づいて自車両の挙動が判定され、判定部では、推定部によって推定された移動体状態、距離推定部によって推定された距離、及び挙動判定部によって判定された自車両の挙動に基づいて、移動体への妨害が判定される。ここで、判定部は、横断歩道接近時の運転者の義務違反を判定する。
height_cor=video_H/720
距離=15.87*math.exp(-(0.021/height_cor)*(y-horizon*heitht_cor))
なお、video_Hは撮影部24の縦ピクセル数、height_corは撮影部24に応じた縦ピクセルの補正値、yはバンディングボックス70の底辺のy座標、horizonは地平線のy座標とする。
12 危険運転データ収集サーバ
14 車両
16 車載器
18 通信ネットワーク
22 車両情報検出部
24 撮影部
30 中央処理部
38 DB
46 移動体妨害検出部(移動体妨害検出装置)
56 対象物検出部(検出部)
58 対象物状態推定部(推定部)
60 距離推定部
62 自車挙動検出部(挙動判定部)
64 移動体妨害判定部(判定部)
70 バンディングボックス
Claims (4)
- 車両に設けられた撮影部によって撮影された画像中の予め定めた移動体を検出する検出部と、
前記検出部によって検出した前記移動体を囲うバンディングボックスの位置に基づいて、前記移動体が横断歩道を横断中の移動状態、横断歩道で横断待ちの移動情報、及び横断歩道を横断する可能性がある移動状態を含む前記移動体の道路の横断歩道の横断に関する移動体状態を推定する推定部と、
前記画像中の地平線を検出する地平線検出部と、
前記地平線検出部の検出結果を用いて前記撮影部の取り付け誤差を補正して、前記バンディングボックスの位置に基づいて、自車両から前記移動体までの距離を推定する距離推定部と、
前記車両の状態を表す車両情報に基づいて前記自車両の挙動を判定する挙動判定部と、
前記推定部によって推定された前記移動体状態、前記距離推定部によって推定された前記距離、及び前記挙動判定部によって判定された前記自車両の挙動に基づいて、移動体への妨害を判定する判定部と、
を含み、
前記判定部は、横断歩道接近時の運転者の義務違反を判定する移動体妨害検出装置。 - 前記推定部は、前記バンディングボックスの位置が横断歩道上を移動している場合は前記移動体が横断歩道を横断中の移動状態と判定し、前記バンディングボックスの位置が横断歩道から予め定めた範囲に停止した状態の場合は前記横断歩道で横断待ちの移動状態と判定し、前記バンディングボックスの位置が横断歩道に向かって移動している場合は前記移動体が横断歩道を横断する可能性がある移動状態と判定する請求項1に記載の移動体妨害検出装置。
- 請求項1又は請求項2に記載の移動体妨害検出装置と、
前記撮影部を備えた車両と、
を含む移動体妨害検出システム。 - コンピュータに、請求項1又は請求項2に記載の移動体妨害検出装置の各部として機能させるための移動体妨害検出プログラム。
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JP2020131224A JP7359099B2 (ja) | 2020-07-31 | 2020-07-31 | 移動体妨害検出装置、移動体妨害検出システム、及び移動体妨害検出プログラム |
US17/305,675 US20220036099A1 (en) | 2020-07-31 | 2021-07-13 | Moving body obstruction detection device, moving body obstruction detection system, moving body obstruction detection method, and storage medium |
CN202110807676.1A CN114093023A (zh) | 2020-07-31 | 2021-07-16 | 移动体妨碍检测装置、系统、方法及存储介质 |
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Citations (5)
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JP2004247979A (ja) | 2003-02-14 | 2004-09-02 | Hitachi Ltd | 車載用カメラ装置 |
JP2014085920A (ja) | 2012-10-25 | 2014-05-12 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2016148962A (ja) | 2015-02-12 | 2016-08-18 | 日立オートモティブシステムズ株式会社 | 物体検知装置 |
JP2020501227A (ja) | 2016-11-07 | 2020-01-16 | ナウト, インコーポレイテッドNauto, Inc. | 運転者の注意散漫決定のためのシステム及び方法 |
JP2020042446A (ja) | 2018-09-07 | 2020-03-19 | 株式会社デンソー | 情報処理システム、情報処理方法、及び情報処理プログラム |
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JP2009098956A (ja) * | 2007-10-17 | 2009-05-07 | Mazda Motor Corp | 車両用運転支援装置 |
FR3027432B1 (fr) * | 2014-10-16 | 2018-03-16 | Valeo Schalter Und Sensoren Gmbh | Estimation de distance d'un pieton par un systeme d'imagerie embarque sur un vehicule automobile |
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- 2021-07-16 CN CN202110807676.1A patent/CN114093023A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004247979A (ja) | 2003-02-14 | 2004-09-02 | Hitachi Ltd | 車載用カメラ装置 |
JP2014085920A (ja) | 2012-10-25 | 2014-05-12 | Honda Motor Co Ltd | 車両周辺監視装置 |
JP2016148962A (ja) | 2015-02-12 | 2016-08-18 | 日立オートモティブシステムズ株式会社 | 物体検知装置 |
JP2020501227A (ja) | 2016-11-07 | 2020-01-16 | ナウト, インコーポレイテッドNauto, Inc. | 運転者の注意散漫決定のためのシステム及び方法 |
JP2020042446A (ja) | 2018-09-07 | 2020-03-19 | 株式会社デンソー | 情報処理システム、情報処理方法、及び情報処理プログラム |
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