JPWO2019044434A1 - 物体検出システム - Google Patents
物体検出システム Download PDFInfo
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- JPWO2019044434A1 JPWO2019044434A1 JP2019539144A JP2019539144A JPWO2019044434A1 JP WO2019044434 A1 JPWO2019044434 A1 JP WO2019044434A1 JP 2019539144 A JP2019539144 A JP 2019539144A JP 2019539144 A JP2019539144 A JP 2019539144A JP WO2019044434 A1 JPWO2019044434 A1 JP WO2019044434A1
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- 238000001514 detection method Methods 0.000 title claims abstract description 55
- 238000012545 processing Methods 0.000 claims abstract description 90
- 238000005286 illumination Methods 0.000 claims abstract description 80
- 238000003384 imaging method Methods 0.000 claims abstract description 59
- 238000010586 diagram Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 8
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- 238000012546 transfer Methods 0.000 description 2
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/141—Control of illumination
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers
Abstract
Description
車両制御モジュール104は、画像処理モジュール102の歩行者の検出情報、又は、これと車両情報取得モジュール103からの車両情報とに基いて、車両の走行状態に関して警報(例えば、歩行者注意)の報知がドライバーへの注意喚起として必要であると判断した場合に、警報通知モジュール108に警報を出力するための駆動信号を出力する。警報通知モジュール108は、例えば、液晶モニタ、スピーカ等であってよい。
Y = 0.299R + 0.587G + 0.114B
U = -0.147R - 0.289G + 0.436B
V = 0.615R - 0.515G - 0.100B
Claims (7)
- 車両外の物体を検出し、検出情報を車両の制御装置に提供する物体検出システムであって、
前記物体を照明するための照明モジュールと、
前記照明モジュールを制御する照明制御モジュールと、
前記物体を撮像する撮像モジュールと、
前記物体が撮像された画像を処理する画像処理モジュールと、
を備え、
前記撮像モジュールが照明制限領域の物体を撮像するタイミングに合わせて、
前記照明制御モジュールは、前記画像処理モジュールの画像処理の結果に基づいて、前記照明モジュールによる、前記照明制限領域への照明の開始と終了とを制御する、
物体検出システム。 - 前記画像処理モジュールは、
前記物体が撮像された画像が特定対象体の可能性があることを判定すると、
前記照明制御モジュールに、前記撮像モジュールが前記照明制限領域の物体を撮像するタイミングに合わせて、前記照明制限領域への照明の開始と終了とを制御させる、
請求項1記載の物体検出システム。 - 前記撮像モジュールは、前記照明制限領域への照明によって、前記物体を撮像し、
前記画像処理モジュールは、当該物体を撮像した画像が、前記特定対象体であるか否かを判定する、
請求項2記載の物体検出システム。 - 前記照明モジュールは、第一の照明状態と、第二の照明状態と、を切替自在に構成され、
前記照明制御モジュールは、前記照明制限領域への照明を、前記第二の照明状態によって、実行する、
請求項1記載の物体検出システム。 - 前記画像処理モジュールは、
前記物体が撮像された画像が前記特定対象体の一部であることを判定すると、
当該画像が前記特定対象体の可能性があると判定する、
請求項2記載の物体検出システム。 - 前記照明モジュールは、
前記第一の照明状態において、前記車両の前方を照明し、
前記第二の照明状態において、前記第一の照明状態よりも遠方も照射する、
請求項4記載の物体検出システム。 - 前記照明制限領域が、前記第一の照明状態では照明されず、前記第二の照明状態で照明される領域である、
請求項4記載の物体検出システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017163370 | 2017-08-28 | ||
JP2017163370 | 2017-08-28 | ||
PCT/JP2018/029713 WO2019044434A1 (ja) | 2017-08-28 | 2018-08-08 | 物体検出システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2019044434A1 true JPWO2019044434A1 (ja) | 2020-04-16 |
JP6853890B2 JP6853890B2 (ja) | 2021-03-31 |
Family
ID=65526322
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019539144A Active JP6853890B2 (ja) | 2017-08-28 | 2018-08-08 | 物体検出システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US11167687B2 (ja) |
JP (1) | JP6853890B2 (ja) |
DE (1) | DE112018003170T5 (ja) |
WO (1) | WO2019044434A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3111104B1 (fr) * | 2020-06-09 | 2022-08-05 | Alstom Transp Tech | Système, et procédé, de signalisation d’obstacles pour un véhicule |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009083824A (ja) * | 2007-10-03 | 2009-04-23 | Honda Motor Co Ltd | 車両用歩行者検出装置 |
JP2010111261A (ja) * | 2008-11-06 | 2010-05-20 | Honda Motor Co Ltd | 視覚支援装置 |
JP2011084237A (ja) * | 2009-10-19 | 2011-04-28 | Koito Mfg Co Ltd | 車輌用前照灯の制御システム |
JP2013119357A (ja) * | 2011-12-08 | 2013-06-17 | Toyota Central R&D Labs Inc | 照明制御装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6311768B1 (ja) * | 2016-10-24 | 2018-04-18 | マツダ株式会社 | 車両用ヘッドライト制御装置 |
JP2019004203A (ja) * | 2017-06-12 | 2019-01-10 | ソニーセミコンダクタソリューションズ株式会社 | 画像処理装置、撮像装置、画像処理方法、および、プログラム。 |
-
2018
- 2018-08-08 JP JP2019539144A patent/JP6853890B2/ja active Active
- 2018-08-08 DE DE112018003170.5T patent/DE112018003170T5/de active Pending
- 2018-08-08 US US16/631,680 patent/US11167687B2/en active Active
- 2018-08-08 WO PCT/JP2018/029713 patent/WO2019044434A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009083824A (ja) * | 2007-10-03 | 2009-04-23 | Honda Motor Co Ltd | 車両用歩行者検出装置 |
JP2010111261A (ja) * | 2008-11-06 | 2010-05-20 | Honda Motor Co Ltd | 視覚支援装置 |
JP2011084237A (ja) * | 2009-10-19 | 2011-04-28 | Koito Mfg Co Ltd | 車輌用前照灯の制御システム |
JP2013119357A (ja) * | 2011-12-08 | 2013-06-17 | Toyota Central R&D Labs Inc | 照明制御装置 |
Also Published As
Publication number | Publication date |
---|---|
US20200148097A1 (en) | 2020-05-14 |
US11167687B2 (en) | 2021-11-09 |
JP6853890B2 (ja) | 2021-03-31 |
WO2019044434A1 (ja) | 2019-03-07 |
DE112018003170T5 (de) | 2020-04-02 |
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