PROBLEM TO BE SOLVED: To provide a technique that can more efficiently detect a reverse travelling vehicle.SOLUTION: A likelihood calculation unit is configured to: as to each forward vehicle detected by a vehicle detection unit, execute characteristic recognition processing of recognizing a characteristic image characterizing that the forward vehicle is a reverse travelling vehicle from an image to be obtained from an imaging device of an own vehicle; calculate a likelihood indicative of assurance in which the characteristic image can be recognized, in which a plurality of pieces of characteristic recognition processing are prepared by the number of pieces of characteristic recognition processing in accordance with a category of the characteristic image; as to the forward vehicle, execute the plurality of pieces of characteristic recognition processing one by one in order from the characteristic recognition processing small in amount of calculation; and obtain a total value of the likelihood calculated by the execution of respective characteristic recognition processing. A determination unit is configured to: determine the forward vehicle which is determined that the total value of the likelihood exceeds a threshold as the reverse travelling vehicle; and suspend processing of the likelihood calculation unit as to the forward vehicle determined as the reverse travelling vehicle.SELECTED DRAWING: Figure 6
【課題】より効率的に逆走車を検出することが可能な技術を提供する。【解決手段】尤度算出部は、車両検出部により検出した各前方車両について、自車両の撮像装置により得られる画像から、前方車両が逆走車であることを特徴付ける特徴画像を認識する特徴認識処理を実行し、特徴画像が認識できた確からしさを示す尤度を算出する。 特徴認識処理は、特徴画像の種別に応じた数だけ複数用意されている。また、尤度算出部は、各前方車両について、複数の特徴認識処理を計算量が少ない特徴認識処理から順に一つずつ実行して、それぞれの特徴認識処理の実行により算出された尤度の合計値を求める。判定部は、尤度の合計値が閾値を上回ると判断した前方車両を逆走車として判定し、逆走車として判定した前方車両についての尤度算出部の処理を停止する。【選択図】図6
REVERSE TRAVELLING VEHICLE DETECTION DEVICE AND REVERSE TRAVELLING VEHICLE DETECTION METHOD
逆走車検出装置、逆走車検出方法
2017-11-24
Patent
Electronic Resource
Japanese
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