DRIVING ASSISTANCE SYSTEM AND RAINDROP DETECTION METHOD THEREOF
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Abstract
A driving assistance system 1 is installed in a moving object and includes; image-capturing means 10 to capture a surrounding image I including a portion of the moving object, first edge line storing means 22 to store a first edge line E1 detected from a first surrounding image I captured in normal conditions by the image-capturing means 10, and calculating means 23 to calculate a matching degree between the first edge line E1 and a second edge line E2 detected from a second surrounding image I currently captured by the image-capturing means 10. A raindrop judging means 24 judges that a raindrop is attached to the lens unit of the image-capturing means 10 in response to a decrease in the matching degree between the first edge line E1 and the second edge line E2.
13 Citations
27 Claims
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1-13. -13. (canceled)
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14. A driving assistance system to provide various kinds of information to a driver of a moving object from an image-capturing result of surroundings of the moving object, comprising:
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image-capturing unit installed on the moving object and configured to capture a surrounding image including a portion of the moving object; first edge line storing unit configured to store a first edge line detected from a first surrounding image captured in advance by the image-capturing unit; edge detecting unit configured to detect a second edge line from a second surrounding image currently captured by the image-capturing unit; calculating unit configured to calculate a matching degree between the first edge line stored in the first edge line storing unit and the second edge line detected by the edge detecting unit; and raindrop judging unit configured to judge that a raindrop is attached to a lens unit of the image-capturing unit, in response to a decrease in the matching degree between the first edge line and the second edge line, wherein the calculating unit calculates a deviation degree between the first edge line stored in the first edge line storing unit and the second edge line detected by the edge detecting unit, and when the deviation degree is equal to or larger than a predetermined value, the raindrop judging unit determines that the matching degree has decreased and judges that the raindrop is attached to the lens unit of the image-capturing unit. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A raindrop detection method for a driving assistance system capable of providing various kinds of information to a driver of a moving object from an image-capturing result of surroundings of the moving object, the method comprising:
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an image-capturing step, of capturing a surrounding image including a portion of the moving object, performed by an image-capturing unit installed on the moving object; an edge detecting step of detecting an edge line for the portion of the moving object in the image captured in the image-capturing step; a calculating step of calculating a matching degree between a previously-stored edge line detected from a first surrounding image captured in advance in the image-capturing step, and the edge line detected from a second surrounding image currently captured; and a raindrop judging step of judging, in response to a decrease in the matching degree between the previously-stored edge line and the edge line detected from the second surrounding image, that a raindrop is attached to a lens unit of the image-capturing unit, wherein the calculating step includes calculating a deviation degree between the previously-stored edge line stored in advance as a reference for the portion of the moving object targeted for image capturing in the image-capturing step, and the edge line detected from the second surrounding image, and the raindrop judging step includes determining that the matching degree has decreased and judging that a raindrop is attached to the lens unit of the image-capturing unit, when the deviation degree is equal to or larger than a predetermined value.
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26. A raindrop detection method for a driving assistance system capable of providing various kinds of information to a driver of a moving object from an image-capturing result of surroundings of the moving object, the method comprising:
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an image-capturing step, of capturing a surrounding image including a portion of the moving object, performed by an image-capturing unit installed on the moving object; an edge detecting step of detecting an edge fine for the portion of the moving object in the image captured in the image-capturing step; a calculating step of calculating a matching degree between a previously-stored edge line detected from a first surrounding image captured in advance in the image-capturing step, and the edge line detected from a second surrounding image currently captured; and a raindrop judging step of judging, in response to a decrease in the matching degree between the previously-stored edge line and the edge line detected from the second surrounding image, that a raindrop is attached to a lens unit of the image-capturing unit, wherein the calculating step includes calculating a deviation degree between the previously-stored edge line in an image captured in the past in the image-capturing step and the edge line detected from the second surrounding image, and the raindrop judging step includes determining that the matching degree is decreased and judging that a raindrop is attached to the lens unit of the image-capturing unit, when the deviation degree is equal to or larger than a predetermined value.
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27. A driving assistance system to provide various kinds of information to a driver of a moving object from an image-capturing result of surroundings of the moving object, comprising:
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image-capturing means for capturing a surrounding image including a portion of the moving object; first edge line storing means for storing a first edge line detected from a first surrounding image captured in advance by the image-capturing means; edge detecting means for detecting a second edge line from a second surrounding image currently captured by the image-capturing means; calculating means for calculating a matching degree between the first edge line stored in the first edge line storing means and the second edge line detected by the edge detecting means; and raindrop judging means for judging that a raindrop is attached to a lens unit of the image-capturing means, in response to a decrease in the matching degree between the first edge line and the second edge line, wherein the calculating means calculates a deviation degree between the first edge line stored in the first edge line storing means and the second edge line detected by the edge detecting means, and when the deviation degree is equal to or larger than a predetermined value, the raindrop judging means determines that the matching degree has decreased and judges that the raindrop is attached to the lens unit of the image-capturing means.
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Specification