To provide a system for predicting cut-in driving by other vehicles which uses a monocular camera image as main input information with reduced burden on hardware.SOLUTION: A region recognized as a vehicle is extracted as a rectangular frame from an image of a monocular camera which images an area in front of a vehicle. The rectangular frame is classified into a left-side rectangular frame (Li) positioned in a left-side region in a width direction of the image, and a right-side rectangular frame (Ri) positioned in a right-side region. In a case where two or more rectangular frames are extracted in at least one of the left-side region and the right-side region, successively from a rectangular frame of which the longitudinal direction coordinate is lowest (most proximal) with respect to the rectangular frames, calculations are made as to (a) an overlap degree which is a ratio of an overlap area with the next rectangular frame to a possible maximum area, (b) a distance difference rate which is a ratio of the longitudinal direction coordinate of a lower side with the next rectangular frame and (c) an influence degree which is the ratio of the longitudinal direction coordinate of the lower side to a disappear point coordinate, thereby determining a possibility of cut-in driving by a vehicle corresponding to the rectangular frames.SELECTED DRAWING: Figure 2
【課題】 単眼カメラ画像を主たる入力情報とし、ハードウェアの負担が少ない車両の割り込み予測システムを提供する。【解決手段】 車両の前方を撮像する単眼カメラの画像から車両として認識される領域を矩形枠として抽出し、前記矩形枠を画像の幅方向の左側領域に位置する左側矩形枠(Li)、右側領域に位置する右側矩形枠(Ri)に分類し、左側領域と右側領域の少なくとも一方で2以上の矩形枠が抽出された場合に、前記矩形枠について縦方向座標が最下(最近位)の矩形枠から順に、(a)次の矩形枠との重なり面積の可能最大面積に対する比率である重合度、(b)次の矩形枠との下辺の縦方向座標の比率である距離差率、(c)消失点座標に対する下辺の縦方向座標の比率である影響度を算出し、当該矩形枠に対応する車両による割り込み可能性を判定する。【選択図】 図2
SYSTEM FOR PREDICTING CUT-IN DRIVING BY OTHER VEHICLES
車両の割り込み予測システム
2023-07-28
Patent
Electronic Resource
Japanese
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