Behavior detector and behavior detection method for a vehicle
First Claim
1. A behavior detector for a vehicle, comprising:
- an image pickup device for sequentially capturing a plurality of images outside the vehicle; and
a controller operable to extract characteristic points from each of the plurality of images, to compute movement information for the characteristic points moving through the plurality of images, to compute a time until collision of the vehicle with each of the characteristic points based on the movement information, and to designate certain of the characteristic points at distant positions from the vehicle as distant characteristic points using the respective times until collision; and
wherein movements of the distant characteristic points indicate behavior of the vehicle.
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Abstract
A behavior detector and a behavior detection method for a vehicle. A controller extracts multiple characteristic points out of an image captured using a camera and computes the velocities and the directions that the respective extracted characteristic points move in the image. Then, the controller computes the times (TTC) until vehicle collision with the respective characteristic points based on the computed velocities and the directions that the respective extracted characteristic points move in the image. Distant characteristic points are designated based on the computed TTCs, and movements of the distant characteristic points are monitored in order to detect pitching and yawing of the vehicle.
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Citations
20 Claims
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1. A behavior detector for a vehicle, comprising:
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an image pickup device for sequentially capturing a plurality of images outside the vehicle; and
a controller operable to extract characteristic points from each of the plurality of images, to compute movement information for the characteristic points moving through the plurality of images, to compute a time until collision of the vehicle with each of the characteristic points based on the movement information, and to designate certain of the characteristic points at distant positions from the vehicle as distant characteristic points using the respective times until collision; and
wherein movements of the distant characteristic points indicate behavior of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A behavior detector for a vehicle, comprising:
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pickup means for capturing images external of the vehicle;
characteristic point extraction means for extracting characteristic points out of images captured by the pickup means;
velocity information computation means for computing pieces of velocity information regarding each of the characteristic points extracted by the characteristic point extraction means;
time-until-collision computation means for computing respective times until vehicle collision with each of the characteristic points based on the pieces of velocity information computed by the velocity information computation means; and
designation means for designating characteristic points present at distant positions from the vehicle based on the respective times computed by the times-until-collision computation means wherein vehicular behavior is based on movements of the distant characteristic points designated by the designation means. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A behavior detection method for a vehicle, comprising:
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sequentially capturing a plurality of images outside the vehicle;
extracting characteristic points from each of the plurality of images;
computing movement information for the characteristic points moving through the plurality of images;
computing a time until collision of the vehicle with each of the characteristic points based on the movement information; and
designating certain of the characteristic points at distant positions from the vehicle as distant characteristic points using the respective times until collision; and
wherein movements of the distant characteristic points indicate behavior of the vehicle. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification