JPWO2015182148A1 - 物体検出装置、物体検出装置を設置した車両およびプログラム - Google Patents
物体検出装置、物体検出装置を設置した車両およびプログラム Download PDFInfo
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- JPWO2015182148A1 JPWO2015182148A1 JP2016523160A JP2016523160A JPWO2015182148A1 JP WO2015182148 A1 JPWO2015182148 A1 JP WO2015182148A1 JP 2016523160 A JP2016523160 A JP 2016523160A JP 2016523160 A JP2016523160 A JP 2016523160A JP WO2015182148 A1 JPWO2015182148 A1 JP WO2015182148A1
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- 238000001514 detection method Methods 0.000 title claims abstract description 81
- 238000003384 imaging method Methods 0.000 claims abstract description 33
- 238000012545 processing Methods 0.000 claims description 20
- 238000012937 correction Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- 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
-
- 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
-
- 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
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
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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
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/207—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using multi-purpose displays, e.g. camera image and navigation or video on same display
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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
-
- 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
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
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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
- B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
-
- 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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Instrument Panels (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
2 物体検出装置
3 撮像部
4 制御部
5 バス
6 表示装置
7 ECU
8 車両
10 撮像画像
本発明に係るプログラムは、コンピュータに、車両の周辺を撮像するステップと、前記撮像するステップにおいて撮像する画像内において物体検出を行わせる、第1の領域と、該第1の領域よりも広い第2の領域とを含む複数の領域の中の少なくとも1つの領域の位置、形状、および前記複数の領域の数の少なくともいずれか1つを、前記車両の運転状況に応じて変更するステップとを実行させる。
Claims (8)
- 車両に設置され、前記車両の周辺を撮像する撮像部と、
前記撮像部が撮像する画像内において物体検出を行わせる、第1の領域と、該第1の領域よりも広い第2の領域とを含む複数の領域の中の少なくとも1つの領域の位置、形状、および前記複数の領域の数の少なくともいずれか1つを、前記車両の運転状況に応じて変更する制御部とを備える物体検出装置。 - 前記運転状況は、速度、舵角、方向指示器の操作、または照明の状態の少なくともいずれか1つを含む請求項1に記載の物体検出装置。
- 前記制御部は更に、前記領域のそれぞれに対して所定の画像処理を行う請求項1または2に記載の物体検出装置。
- 前記所定の画像処理は、歪み補正および画像補間の少なくともいずれか1つを含む請求項3に記載の物体検出装置。
- 前記第1の領域は、前記第2の領域よりも前記車両から遠距離にある被写体領域に設定される請求項1から4のいずれか1項に記載の物体検出装置。
- 前記第1の領域の基準位置は、前記第2の領域の基準位置より前記画像の上部に位置する請求項1から5のいずれか1項に記載の物体検出装置。
- 前記運転状況による前記第1の領域および前記第2の領域の位置の変位量は、該第1の領域のほうが該第2の領域よりも大きい請求項5または6に記載の物体検出装置。
- 車両に設置され、前記車両の周辺を撮像する撮像部と、
前記撮像部が撮像する画像内において物体検出を行わせる、第1の領域と、該第1の領域よりも広い第2の領域とを含む複数の領域の中の少なくとも1つの領域の位置、形状、および前記複数の領域の数の少なくともいずれか1つを、前記車両の運転状況に応じて変更する制御部と、
を備える物体検出装置を設置した車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014110239 | 2014-05-28 | ||
JP2014110239 | 2014-05-28 | ||
PCT/JP2015/002705 WO2015182148A1 (ja) | 2014-05-28 | 2015-05-28 | 物体検出装置および物体検出装置を設置した車両 |
Publications (2)
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JPWO2015182148A1 true JPWO2015182148A1 (ja) | 2017-04-20 |
JP6412934B2 JP6412934B2 (ja) | 2018-10-24 |
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JP2016523160A Active JP6412934B2 (ja) | 2014-05-28 | 2015-05-28 | 物体検出装置、物体検出装置を設置した車両およびプログラム |
Country Status (4)
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US (1) | US10354148B2 (ja) |
JP (1) | JP6412934B2 (ja) |
DE (1) | DE112015002483T5 (ja) |
WO (1) | WO2015182148A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6350555B2 (ja) * | 2016-02-10 | 2018-07-04 | トヨタ自動車株式会社 | 車両用ヘッドランプ配光制御装置及び方法 |
US10648832B2 (en) | 2017-09-27 | 2020-05-12 | Toyota Research Institute, Inc. | System and method for in-vehicle display with integrated object detection |
KR101982263B1 (ko) * | 2018-01-10 | 2019-05-27 | 주식회사 만도 | 차량 제어 장치 및 차량 제어 방법 |
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JP2007164671A (ja) * | 2005-12-16 | 2007-06-28 | Matsushita Electric Ind Co Ltd | 障害物接近判断装置および障害物衝突警告システム |
JP2008276308A (ja) * | 2007-04-25 | 2008-11-13 | Sanyo Electric Co Ltd | 動画像処理装置、動画像処理システムおよびナビゲーション装置 |
JP2012252501A (ja) * | 2011-06-02 | 2012-12-20 | Toyota Central R&D Labs Inc | 走行路認識装置及び走行路認識用プログラム |
JP2013061919A (ja) * | 2011-09-15 | 2013-04-04 | Clarion Co Ltd | 外界認識方法,装置,および車両システム |
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US7720580B2 (en) * | 2004-12-23 | 2010-05-18 | Donnelly Corporation | Object detection system for vehicle |
JP4902368B2 (ja) * | 2007-01-24 | 2012-03-21 | 三洋電機株式会社 | 画像処理装置及び画像処理方法 |
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JP5074365B2 (ja) * | 2008-11-28 | 2012-11-14 | 日立オートモティブシステムズ株式会社 | カメラ装置 |
JP5441549B2 (ja) * | 2009-07-29 | 2014-03-12 | 日立オートモティブシステムズ株式会社 | 道路形状認識装置 |
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- 2015-05-28 WO PCT/JP2015/002705 patent/WO2015182148A1/ja active Application Filing
- 2015-05-28 DE DE112015002483.2T patent/DE112015002483T5/de active Pending
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JP2007164671A (ja) * | 2005-12-16 | 2007-06-28 | Matsushita Electric Ind Co Ltd | 障害物接近判断装置および障害物衝突警告システム |
JP2008276308A (ja) * | 2007-04-25 | 2008-11-13 | Sanyo Electric Co Ltd | 動画像処理装置、動画像処理システムおよびナビゲーション装置 |
JP2012252501A (ja) * | 2011-06-02 | 2012-12-20 | Toyota Central R&D Labs Inc | 走行路認識装置及び走行路認識用プログラム |
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WO2014017104A1 (ja) * | 2012-07-27 | 2014-01-30 | 京セラ株式会社 | 画像処理装置、撮像装置、移動体、プログラム、および領域設定方法 |
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Publication number | Publication date |
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WO2015182148A1 (ja) | 2015-12-03 |
DE112015002483T5 (de) | 2017-02-23 |
US20170076160A1 (en) | 2017-03-16 |
JP6412934B2 (ja) | 2018-10-24 |
US10354148B2 (en) | 2019-07-16 |
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