AMBIENT ENVIRONMENT DETERMINATION APPARATUS

• US 20140355827A1
• Filed: 05/29/2014
• Published: 12/04/2014
• Est. Priority Date: 05/29/2013
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: OGAWA, Genya
• Granted Patent: US 9,336,447 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/056 Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
• CPC Class Codes: B60Q 2300/112 Vehicle speed
• CPC Class Codes: B60Q 2300/142 Turn signal actuation
• CPC Class Codes: B60Q 2300/332 on city roads
• CPC Class Codes: B60Q 2300/3321 Detection of streetlights
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 2201/07 Target detection

Abstract

In an ambient environment determination apparatus, an imager obtains a picture capturing an area ahead of a vehicle, and a street lamp is detected for each detection frame unit of the picture. Then, an urban area determination process is performed that determines whether or not the ambient environment of the vehicle is an urban area based on both of a street lamp detection result of a current detection frame unit and a street lamp detection result of a past detection frame unit of the picture. Further, in a period after the vehicle turns right or left, determination responsiveness with regard to determination whether or the ambient environment is a urban area or a non-urban area is enhanced than that in a period other than the period after the right or left turn.

Claims

1. An ambient environment determination apparatus, comprising:

an imager that obtains a picture capturing an area ahead of an vehicle;

a detection processor that detects at least a street lamp for each detection frame unit of the picture; and

an environment determination processor that performs an urban area determination process of determining whether or not the ambient environment of the vehicle is an urban area based on both of a street lamp detection result of a current detection frame unit and a street lamp detection result of a past detection frame unit of the picture, wherein

in a period after the vehicle turns right or left, the environment determination processor enhances determination responsiveness with regard to the determination whether the ambient environment is the urban area or a non-urban area, than that in a period other than the period after the right or left turn.

2. The ambient environment determination apparatus according to claim 1, wherein the environment determination processor does not update an urban area determination result while the vehicle is stopped.

3. The ambient environment determination apparatus according to claim 1, wherein the environment determination processor enhances the determination responsiveness by lowering a reflection level of the street lamp detection result of the past detection frame unit in the period after the vehicle turns right or left.

4. The ambient environment determination apparatus according to claim 2, wherein the environment determination processor enhances the determination responsiveness by lowering a reflection level of the street lamp detection result of the past detection frame unit in the period after the vehicle turns right or left.

5. The ambient environment determination apparatus according to claim 1, wherein the environment determination processor enhances the determination responsiveness by lowering a threshold value to be compared with a value of the street lamp detection result of the period after the vehicle turns right or left.

6. The ambient environment determination apparatus according to claim 2, wherein the environment determination processor enhances the determination responsiveness by lowering a threshold value to be compared with a value of the street lamp detection result of the period after the vehicle turns right or left.

7. The ambient environment determination apparatus according to claim 1, wherein, in the urban area determination process, the ambient environment is determined to be the urban area when a value obtained by averaging, with predetermined weighting, a value of the street lamp detection result of the current detection frame unit and a value of the street lamp detection result of the past detection frame unit, is equal to or more than a predetermined threshold value.

8. The ambient environment determination apparatus according to claim 2, wherein, in the urban area determination process, the ambient environment is determined to be the urban area when a value obtained by averaging, with predetermined weighting, a value of the street lamp detection result of the current detection frame unit and a value of the street lamp detection result of the past detection frame unit, is equal to or more than a predetermined threshold value.

9. The ambient environment determination apparatus according to claim 3, wherein, in the urban area determination process, the ambient environment is determined to be the urban area when a value obtained by averaging, with predetermined weighting, a value of the street lamp detection result of the current detection frame unit and a value of the street lamp detection result of the past detection frame unit, is equal to or more than a predetermined threshold value.

10. The ambient environment determination apparatus according to claim 5, wherein, in the urban area determination process, the ambient environment is determined to be the urban area when a value obtained by averaging, with predetermined weighting, a value of the street lamp detection result of the current detection frame unit and a value of the street lamp detection result of the past detection frame unit, is equal to or more than a predetermined threshold value.

11. The ambient environment determination apparatus according to claim 1, wherein, in the urban area determination process, the ambient environment is determined to be the non-urban area when the ambient environment is determined as the urban area and afterwards the value of the street lamp detection result of each detection frame unit is equal to or less than a threshold value for non-urban area determination consecutively a predetermined number of times.

12. The ambient environment determination apparatus according to claim 2, wherein, in the urban area determination process, the ambient environment is determined to be the non-urban area when the ambient environment is determined as the urban area and afterwards the value of the street lamp detection result of each detection frame unit is equal to or less than a threshold value for non-urban area determination consecutively a predetermined number of times.

13. The ambient environment determination apparatus according to claim 3, wherein, in the urban area determination process, the ambient environment is determined to be the non-urban area when the ambient environment is determined as the urban area and afterwards the value of the street lamp detection result of each detection frame unit is equal to or less than a threshold value for non-urban area determination consecutively a predetermined number of times.

14. The ambient environment determination apparatus according to claim 5, wherein, in the urban area determination process, the ambient environment is determined to be the non-urban area when the ambient environment is determined as the urban area and afterwards the value of the street lamp detection result of each detection frame unit is equal to or less than a threshold value for non-urban area determination consecutively a predetermined number of times.

15. The ambient environment determination apparatus according to claim 1, further comprising:

a light distribution controller to perform control so as not to execute high beam irradiation of a headlight when the environment determination processor determines that a current ambient environment of a vehicle is the urban area.

16. The ambient environment determination apparatus according to claim 2, further comprising:

a light distribution controller to perform control so as not to execute high beam irradiation of a headlight when the environment determination processor determines that a current ambient environment of a vehicle is the urban area.

17. The ambient environment determination apparatus according to claim 3, further comprising:

a light distribution controller to perform control so as not to execute high beam irradiation of a headlight when the environment determination processor determines that a current ambient environment of a vehicle is the urban area.

18. The ambient environment determination apparatus according to claim 5, further comprising:

a light distribution controller to perform control so as not to execute high beam irradiation of a headlight when the environment determination processor determines that a current ambient environment of a vehicle is the urban area.