PROBLEM TO BE SOLVED: To detect that a pedestrian takes an avoidance action in an earlier stage.SOLUTION: A front pedestrian is imaged by a camera S1 attached to, for example, a vehicle V. It is determined whether or not the pedestrian moves to left and right lateral directions on the basis of a relationship between a support base bottom face K of the pedestrian and a position of a physical gravity center G from the image of the pedestrian which is acquired by the camera S1. When the physical gravity center G exists on the support base bottom face K at a single-leg support time of the pedestrian, it is determined that the pedestrian moves toward the support base bottom face K side out of the left and right lateral directions. When a step width is enlarged at a both-leg support time, it can be also determined that the pedestrian performs an avoidance action to a side at which a front-side leg out of the left and right directions is located. In order to improve the accuracy of the determination, it can be also determined whether or not the action is the avoidance action by taking into consideration an inclination of a physique of the pedestrian and a moving speed to the lateral directions.SELECTED DRAWING: Figure 6

    【課題】歩行者が回避行動を行うことを早期に検出できるようにする。【解決手段】例えば車両Vに装着されたカメラS1によって、前方の歩行者が撮像される。カメラS1によって取得された歩行者の画像から、歩行者の支持基底面Kと体重心Gの位置との関係に基づいて、歩行者が左右の横方向へ移動するか否かが判定される。歩行者の単脚支持期において、支持基底面K上に体重心Gが存在したときに、歩行者が左右方向のうち支持基底面K側に向けて移動すると判定する。両脚支持期において、歩隔が拡大したときに、左右方向のうち前側の脚が位置する側に回避行動を行う、と判定することもできる。判定精度の向上のために、歩行者の身体の傾きや横方向への移動速度を加味して、回避行動であるか否かを判定することもできる。【選択図】 図6


    Access

    Download


    Export, share and cite



    Title :

    PEDESTRIAN AVOIDANCE ACTION DETECTION DEVICE


    Additional title:

    歩行者回避行動検出装置


    Contributors:

    Publication date :

    2017-11-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    COLLISION AVOIDANCE AND PEDESTRIAN DETECTION SYSTEMS

    NGUYEN VINCENT / NGUYEN QUANG VAN TRUONG | European Patent Office | 2021

    Free access

    PASSIVE INFRARED PEDESTRIAN DETECTION AND AVOIDANCE SYSTEM

    ARNOLD CHASE | European Patent Office | 2023

    Free access

    Collision avoidance and/or pedestrian detection system

    ENGLANDER BENJAMIN / SERER JULIAN | European Patent Office | 2023

    Free access

    Collision avoidance and/or pedestrian detection system

    ENGLANDER BENJAMIN / SERER JULIAN | European Patent Office | 2021

    Free access

    Collision avoidance and/or pedestrian detection system

    ENGLANDER BENJAMIN / SERER JULIAN | European Patent Office | 2019

    Free access