Driving assistance device and method of detecting vehicle adjacent thereto

• US 10,142,595 B2
• Filed: 04/11/2012
• Issued: 11/27/2018
• Est. Priority Date: 04/13/2011
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tsuchiya, Chikao, Hayakawa, Yasuhisa, Tanaka, Shinya, Fukata, Osamu
• Primary Examiner(s): Ortiz Criado, Jorge L
• Assistant Examiner(s): Gadomski, Stefan
• Application Number:
  US13/823,414
• Publication Number:
  US 20130242102A1
• Time in Patent Office: 2,421 Days
• Field of Search: 348148
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A driving assistance device includes a camera, a moving object detector, a candidate reflection region detector, a predetermined position brightness detector and a cause determiner. The moving object detector and the candidate reflection region detector set a detection region for detecting, from image data captured by the camera, an existence of an adjacent vehicle in an adjacent lane. The predetermined position brightness detector detects a candidate light projecting object which projects light with brightness equal to or higher than a predetermined threshold value. The cause determiner determines whether or not there exists a candidate light projecting object which indicates the existence of the adjacent vehicle in the detection region.

Claims

1. A driving assistance device that provides a driver with various pieces of information from a result of capturing images around a first vehicle in a first traffic lane, comprising:

an image capturing unit mounted on the first vehicle to capture images behind a side of the vehicle;

a computer that implements;

a viewpoint converter,

a moving object detector,

a candidate reflection region detector,

a predetermined position brightness detector,

a cause determiner, and

an information provider;

wherein the viewpoint converter converts image data captured by the image capturing unit into bird'"'"'s eye view image data;

wherein the moving object detector and the candidate reflection region detector constitute a detection region setter that;

sets a first detection region for detecting, from image data captured by the image capturing unit, an existence of a second vehicle in a second traffic lane that is directly next to the first traffic lane; and

detects, as a first detection region, a high-brightness region in which brightness is equal to or higher than a first predetermined threshold value, within an image capturing region of the images captured by the image capturing unit, and detects brightness of the high-brightness region;

wherein the predetermined position brightness detector

detects

a first candidate light projecting region which projects light, in the first detection region, with brightness equal to or higher than the first predetermined threshold value; and

a second candidate light projecting region which projects light, from a third traffic lane that is adjacent to the second traffic lane, with brightness equal to or higher than a second predetermined threshold value different from the first predetermined threshold value in a second region of the third traffic lane; and

detects, as the second candidate light projecting region, a position located in a straight line direction linking a position of the high-brightness region detected by the candidate reflection region detector and the image capturing unit and separated from the first vehicle by a predetermined distance, and detects brightness of the position;

wherein the cause determiner constitutes a brightness difference detector and a second vehicle detector that;

detects a brightness difference between the brightness of the high-brightness region detected by the candidate reflection region detector and the brightness of the position detected by the predetermined position brightness detector; and

detects the second vehicle in the first detection region, based on the brightness difference detected by the brightness difference detector; and

determines that the light projected from the first candidate light projecting region is light projected from the second vehicle in the second traffic lane; and

makes the determination by calculating the position of the second candidate light projecting region is separated from the first vehicle by the predetermined distance, and in a direction from the first vehicle to the first candidate light projecting region;

wherein the information provider provides the driver with information of the existence of the second vehicle as signaled by the cause determiner that light is projected from the second vehicle in the second traffic lane, and

wherein the predetermined position brightness detector specifies a position located in the straight line direction linking the position of the high-brightness region detected by the candidate reflection region detector and the image capturing unit, and located in the third traffic lane which is adjacent to the second traffic lane which is adjacent to the first traffic lane of the first vehicle, and scans and detects brightness values upward in a real space from the specified position.

2. The driving assistance device according to claim 1,

wherein the candidate reflection region detector adjusts the first predetermined threshold value to be higher as an angle between an optical axis of the image capturing unit and a straight line linking the region to be detected and the image capturing unit becomes smaller.

3. The driving assistance device according to claim 1,

wherein the candidate reflection region detector detects, as the first detection region, the high-brightness region in which brightness is equal to or higher than the first predetermined threshold value, within a range limited to a region detected by the detection region setter.

4. The driving assistance device according to claim 1,

wherein the predetermined position brightness detector scans and detects the brightness values upward in the real space from the specified position, and extracts a section having successive brightness values equal to or higher than the second predetermined threshold value as the second candidate light projecting region, and

the second vehicle detector determines that a second vehicle has been detected, if a number of pixels in the section having successive brightness values extracted by the predetermined position brightness detector is equal to or smaller than a defined value.

5. The driving assistance device according to claim 4,

wherein the second vehicle detector determines that a second vehicle has been detected, if a distance between a lowest point of the section having successive brightness values extracted by the predetermined position brightness detector and the specified position is equal to or smaller than a predetermined distance.

7. The driving assistance device according to claim 1, wherein the cause determiner outputs an alarm suppression signal to the information provider to signal that light is projected from the second vehicle in the third traffic lane such that the information provider does not provide the driver with information of the existence of the second vehicle.

6. A driving assistance method that provides a driver with various pieces of information from a result of capturing images around a first vehicle in a first traffic lane by an image capturing unit, the method comprising:

an image capturing step of capturing images behind a side of the first vehicle by the image capturing unit mounted on the first vehicle;

a viewpoint converting step of converting image data captured in the image capturing step into bird'"'"'s-eye view image data;

a detection region setting step of

setting a first detection region for detecting, from image data captured in the image capturing step, an existence of a second vehicle in a second traffic lane that is directly next to the first traffic lane; and

detecting, as the first detection region, a high-brightness region in which brightness is equal to or higher than a first predetermined threshold value, within an image capturing region of the images captured by the image capturing unit, and detecting brightness of the high-brightness region;

a candidate light projecting object detecting step of

detecting

a first candidate light projecting region which projects light, in the first detection region, with brightness equal to or higher than the first predetermined threshold value in the first detection region, and

a second candidate light projecting region which projects light, from a third traffic lane that is adjacent to the second traffic lane, with brightness equal to or higher than a second predetermined threshold value in a second region of the third traffic lane; and

detecting, as the second candidate light projecting region, a position located in a straight-line direction linking a position of the high-brightness region and the image capturing unit and separated from the first vehicle by a predetermined distance, and detecting brightness of the position;

a cause determination step of

detecting a brightness difference between the brightness of the high-brightness region detected in the detection region setting step and the brightness of the position; and

detecting the second vehicle in the first detection region, based on the brightness difference; and

determining that the light projected from the first candidate light projecting region is light projected from the second vehicle in the second traffic lane; and

making the determination by calculating the position of the second candidate light projecting region is separated from the first vehicle by the predetermined distance, and in a direction from the first vehicle to the first candidate light projecting region; and

an information providing step of providing the driver with information of the existence of the second vehicle as signaled in the cause determination step that light is projected from the second vehicle in the second traffic lane,

wherein the candidate light projecting object detecting step comprises specifying a position located in the straight-line direction linking the position of the high-brightness region and the image capturing unit, and located in the third traffic lane which is adjacent to the second traffic lane which is adjacent to the first traffic lane of the first vehicle, and scanning and detecting brightness values upward in a real space from a specified position.