PROBLEM TO BE SOLVED: To detect an object approaching to a vehicle by acquiring optical flow vectors on the basis of images picked up by an on-vehicle camera and performing a simple calculation on the basis of the flow vectors even when the vehicle is turning.SOLUTION: When a vehicle is not turning, an object-approaching-to-vehicle detection device can detect that an imaged object corresponding to flow vectors corresponding to points appearing in a second quadrant and a forth quadrant in a horizontal flow distribution map where horizontal components of each flow vector are plotted is an approaching object. When the vehicle is turning, the device can determine that flow vectors corresponding to points appearing in the second and forth quadrants are related to an approaching object in a horizontal flow distribution map which is acquired by shifting the lateral axis of the horizontal flow distribution map according to a turning speed.SELECTED DRAWING: Figure 6

    【課題】車載カメラによって撮影された画像に基づいてオプティカルフローベクトルを取得し、車両が旋回している場合であってもフローベクトルに基づいて簡易な演算によって車両に接近する物体を検出する。【解決手段】車両が旋回していなければ、各フローベクトルの水平方向成分をプロットした水平フロー分布図において第2象限及び第4象限に現れる点に対応するフローベクトルに対応する被写体を接近物体であると検出することができる。車両が旋回していれば、水平フロー分布図の横軸を旋回速度に応じてずらして得られる水平フロー分布図において、第2象限及び第4象限に現れる点に対応するフローベクトルを接近物体に係ると判定することができる。【選択図】図6


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    Title :

    OBJECT-APPROACHING-TO-VEHICLE DETECTION DEVICE


    Additional title:

    車両の接近物体検出装置


    Contributors:

    Publication date :

    2018-01-11


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




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