VEHICLE SYSTEMS, DEVICES, AND METHODS FOR RECOGNIZING EXTERNAL WORLDS
First Claim
1. A method for recognizing external worlds by an external world recognizing device that analyzes a captured image and detects an object, wherein the external world recognizing device sets a first area and a second area for detecting the object in the image, and detects the object by using both an object pattern and a background pattern of the corresponding object pattern at the time of detecting the object in the set second area.
1 Assignment
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Accused Products
Abstract
Preferably, an object such as a vehicle is detected regardless of a distance up to the object. A device for recognizing external worlds that analyzes an image acquired by capturing the vicinity of a self-vehicle includes: a processing area setting unit setting a first area of the image indicating a short range and a second area of the image indicating a long range, a first object detecting unit detecting the object by means of a first classifier in the set first area, a second object detecting unit detecting the object by considering even a background pattern by means of a second classifier in the set second area, a rectangular correction unit correcting a detected object rectangular shape and a time to collision (TTC) computing unit computing a prediction time up to a collision based on the detected object rectangular shape.
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Citations
15 Claims
- 1. A method for recognizing external worlds by an external world recognizing device that analyzes a captured image and detects an object, wherein the external world recognizing device sets a first area and a second area for detecting the object in the image, and detects the object by using both an object pattern and a background pattern of the corresponding object pattern at the time of detecting the object in the set second area.
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6. A device for recognizing external worlds that analyzes a captured image and detects an object, comprising:
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a processing area setting unit setting a first area and a second area for detecting the object in the image; and first and second object detecting units detecting the objects in the set first area and second area, respectively, wherein the first object detecting unit uses only an object pattern at the time of detecting the object and the second object detecting unit uses both the object pattern and a background pattern of the corresponding object pattern at the time of detecting the object. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A vehicle system including an external world recognizing device that detects a vehicle by analyzing an image acquired by capturing the vicinity of a self-vehicle, wherein:
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the external world recognizing device includes a processing unit and a storage unit, the storage unit stores a first classifier and a second classifier, and the processing unit sets a first area for detecting a vehicle and a second area of a longer range than the first area, in the image, detects a vehicle rectangular shape of the vehicle by determining a vehicle pattern by means of the first classifier, in the first area, detects the vehicle rectangular shape of the vehicle by determining the vehicle pattern and a background pattern of the corresponding vehicle pattern by means of the second classifier, in the second area, corrects the vehicle rectangular shape detected in the second area, and computes a time to collision (TTC) up to a collision with the self-vehicle based on the vehicle rectangular shape detected by using the first classifier or the vehicle rectangular shape detected and corrected by using the second classifier. - View Dependent Claims (13, 14, 15)
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Specification