PROBLEM TO BE SOLVED: To surely detect a position of a moving object with high precision by using only images around a vehicle.SOLUTION: A rear camera 12 (image acquisition part) mounted on a vehicle 10 acquires source images I (x, y and t) around the vehicle 10, a motion region detection part 54 (first object detection part) detects an object from among the source images I (x, y and t), and a differential calculation part 58 (second object detection part) detects the object from among overview images J (x, y and t), generated by an over view image generation part 56, in the overview of the vehicle 10. If a detection object discrimination part 60 discriminates that the objects that are detected by the motion region detection part 54 and the differential calculation part 58 as the same moving object, a moving object position identification part 62 identifies a position of a moving object on the basis of a distance Dk from the vehicle 10 to the object detected by the motion region detection part 54 or the differential calculation part 58, a horizontal direction position FXk of the object and an actual width Wk of the object detected by the motion region detection part 54.SELECTED DRAWING: Figure 2

    【課題】車両周囲の画像のみを用いて、高い精度で移動物体の位置を確実に検出する。【解決手段】車両10に搭載された後方カメラ12(画像取得部)が車両10の周囲の原画像I(x,y,t)を取得して、動き領域検出部54(第1物体検出部)が原画像I(x,y,t)の中から物体を検出するとともに、差分演算部58(第2物体検出部)が俯瞰画像生成部56で生成された、車両10を俯瞰した俯瞰画像J(x,y,t)の中から物体を検出し、検出物体判定部60が動き領域検出部54と差分演算部58で検出された物体が同一移動物体であると判定したときに、移動物体位置特定部62が車両10から、動き領域検出部54または差分演算部58によって検出された物体までの距離Dkと、物体の横方向位置FXkと、動き領域検出部54によって検出された物体の実際の幅Wkから移動物体の位置を特定する。【選択図】図2


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    Title :

    VEHICULAR ENVIRONMENT RECOGNITION DEVICE AND VEHICLE BEHAVIOR CONTROL DEVICE EMPLOYING THE SAME


    Additional title:

    車両用外界認識装置およびそれを用いた車両挙動制御装置


    Contributors:
    OGATA TAKETO (author) / KATO KENJI (author) / SHIMIZU NAOKI (author) / HAGI TAKASHI (author) / UCHIDA YOSHITAKA (author)

    Publication date :

    2016-07-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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