PROBLEM TO BE SOLVED: To provide a pedestrian detection apparatus for vehicles, configured to accurately determine the change of pedestrian moving state, early.SOLUTION: A pedestrian detection apparatus for vehicles includes: a camera 10 which captures the view ahead of a vehicle, to generate an image; a pedestrian detection section 12 which detects a pedestrian from the image; a moving speed detection section 14 which detects a moving speed of the pedestrian; a forward tilt angle detection section 16 which detects a forward tilt angle with respect to a vertical line of the upper body of the pedestrian; an amplitude detection section 18 which detects an amplitude of the forward tilt angle; and a moving state determination section 20 which determines a pedestrian moving state as steady state when the amplitude of the forward tilt angle keeps a predetermined amplitude, and determines the moving state as transient state when the amplitude of the forward tilt angle increases from the predetermined amplitude.SELECTED DRAWING: Figure 1
【課題】本発明は、歩行者の移動状態の変化を早期に精度良く判定可能な車両用歩行者検出装を提供することを目的としている。【解決手段】本発明の車両用歩行者検出装置は、自車両の前方を撮像して画像を生成するカメラ10と、その画像から歩行者を検出する歩行者検出部12と、歩行者の移動速度を検出する移動速度検出部14と、歩行者の上半身の鉛直線に対する前傾角度を検出する前傾角度検出部16と、前傾角度の振幅を検出する振幅検出部18と、前傾角度の振幅が一定の振幅で継続しているのときに、歩行者の移動状態を定常状態と判定し、前傾角度の振幅が一定の振幅から増大したときに、移動状態を過渡状態と判定する移動状態判定部20とを備えている。【選択図】図1
PEDESTRIAN DETECTION APPARATUS FOR VEHICLE
車両用歩行者検出装置
2016-04-11
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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