PROBLEM TO BE SOLVED: To provide an approaching object detection device of a vehicle for identifying an object approaching a vehicle using an optical flow vector calculated based on two sheets of images that can avoid non-detection where it is determined that an object approaching is not an approaching object and erroneous detection where it is determined that an object not approaching is an approaching object, which are attributable to a change in a horizontal component of the optical flow vector when the vehicle changes the direction.SOLUTION: Identification of an approaching object is performed on the basis of a post-correction vector obtained by correcting each optical flow vector with a swiveling correction vector, which is calculated on the basis of a median of horizontal components of a pair of vectors among the optical flow vectors having a starting point at a line symmetric position about a vertical line passing through an infinite point (a virtual center line).SELECTED DRAWING: Figure 4

    【課題】2枚の画像に基づいて算出されたオプティカルフローベクトルを用いて車両に接近する物体を特定する車両の接近物体検出装置であって、車両が向きを変えることによってオプティカルフローベクトルの水平方向成分が変化することに起因して、接近する対象物を接近物体で無いと判定する不検出及び接近していない対象物を接近物体であると判定する誤検出が発生することを回避できる接近物体検出装置を提供すること。【解決手段】オプティカルフローベクトルのうちの一対のベクトルであって、無限遠点を通る垂直な線(仮想中心線)に対し線対称位置に始点を有する一対のベクトル、の水平方向成分の平均に基づいて旋回補正ベクトルを算出し、各オプティカルフローベクトルを旋回補正ベクトルによって補正して得られる補正後ベクトルに基づいて接近物体の特定を行う。【選択図】図4


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    Title :

    APPROACHING OBJECT DETECTION DEVICE OF VEHICLE AND APPROACHING OBJECT DETECTION METHOD OF VEHICLE


    Additional title:

    車両の接近物体検出装置及び車両の接近物体検出方法


    Contributors:

    Publication date :

    2016-04-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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