PROBLEM TO BE SOLVED: To provide a pedestrian detection apparatus for vehicles, configured to determine that a walking pedestrian has started running, 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 bend angle detection section 14 which detects a bend angle φ of a knee joint of the pedestrian; a bend amplitude detection section 16 which detects an amplitude Δφ of the bend angle; a forward tilt angle detection section 18 which detects a forward tilt angle with respect to a vertical line of the upper body of the pedestrian; a forward tilt amplitude detection section 20 which detects an amplitude of the forward tilt angle; and a determination section 22 which determines that the pedestrian has started running when the amplitude Δφ of the bend angle increases with respect to an amplitude which is kept at a predetermined amplitude when the pedestrian is walking and when the amplitude Δθ of the forward tilt angle increases with respect to the amplitude which is kept at a predetermined amplitude when the pedestrian is walking.SELECTED DRAWING: Figure 1

    【課題】本発明は、歩いている歩行者の走り出しを早期に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、歩行者の膝関節の屈曲角度φを検出する屈曲角度検出部14と、屈曲角度の振幅Δφを検出する屈曲振幅検出部16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18と、前傾角度の振幅を検出する前傾振幅検出部20と、屈曲角度の振幅Δφが、歩行者が歩いているときに一定の振幅で継続している振幅に対して増大し、かつ、前傾角度の振幅Δθが、歩行者が歩いているときに一定の振幅で継続している振幅に対して増大したときに、歩行者が走り出したと判定する判定部22とを備えている。【選択図】図1


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    Title :

    PEDESTRIAN DETECTION APPARATUS FOR VEHICLE


    Additional title:

    車両用歩行者検出装置


    Contributors:

    Publication date :

    2016-04-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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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