Vehicular Acceleration Suppression Device

• US 20160039409A1
• Filed: 11/22/2013
• Published: 02/11/2016
• Est. Priority Date: 11/27/2012
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: HAYAKAWA, Yasuhisa, FUKATA, Osamu, MORIMOTO, Akira, OIKI, Daisuke, TANAKA, Daisuke
• Granted Patent: US 9,616,885 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: G06T 1/00 General purpose image data processing
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A vehicular acceleration suppression device reduces the degradation in the drive performance due to the acceleration suppression control activated outside the parking region. A parking frame line candidate which is a candidate of a parking frame line is extracted from a bird'"'"'s-eye view image acquired by performing a bird'"'"'s-eye view conversion on a captured image around a vehicle, and a parking frame line candidate corresponding line corresponding the parking frame line candidate is extracted from the captured image of the front of the vehicle. Then, the parking frame line candidate corresponding to the parking frame line candidate corresponding line length of which is longer than a parking frame line length threshold is eliminated from the candidate to be detected as the parking frame.

Claims

1. A vehicular acceleration suppression device, comprising:

an acceleration manipulation amount detection unit configured to detect an acceleration manipulation amount of an acceleration manipulation element manipulated by a driver to instruct acceleration;

an acceleration control unit configured to control the acceleration to be generated at a vehicle depending on the acceleration manipulation amount detected by the acceleration manipulation amount detection unit;

an imaging unit configured to capture an image of a region including a road surface around the vehicle;

a bird'"'"'s-eye view image acquisition unit configured to perform a bird'"'"'s-eye view conversion on a captured image captured by the imaging unit to acquire a bird'"'"'s-eye view image;

a parking frame line candidate extraction unit configured to extract a line located on the road surface from the bird'"'"'s-eye view image acquired by the bird'"'"'s-eye view image acquisition unit, as a parking frame line candidate;

a parking frame detection unit configured to detect a parking frame from the parking frame line candidate extracted by the parking frame line candidate extraction unit;

an acceleration suppression control unit configured to perform an acceleration suppression control which reduces the acceleration controlled by the acceleration control unit, based on the parking frame detected by the parking frame detection unit;

a parking frame line candidate corresponding line extraction unit configured to extract a parking frame line candidate corresponding line corresponding to the parking frame line candidate extracted by the parking frame line candidate extraction unit, from the captured image of the front of the vehicle captured by the imaging unit; and

a frame line candidate elimination unit configured to eliminate the parking frame line candidate corresponding to the parking frame line candidate corresponding line from candidates to be detected as the parking frame, when it is determined that a length of the parking frame line candidate corresponding line is longer than a predefined parking frame line length threshold.

2. The vehicular acceleration suppression device according to claim 1, wherein the parking frame line candidate corresponding line extraction unit is configured to detect a line in the captured image corresponding to the parking frame line candidate as a portion of the parking frame line candidate corresponding line, and to extract a remaining portion of the parking frame line candidate corresponding line from a search area predefined as an image region which extends from a far end portion of the portion of the parking frame line candidate corresponding line in a perspective direction and having a width equal to or larger than a width of the portion of the parking frame line candidate corresponding line.

3. The vehicular acceleration suppression device according to claim 2, wherein the frame line candidate elimination unit is configured to eliminate the parking frame line candidate in the bird'"'"'s-eye view image corresponding to the portion of the parking frame line candidate corresponding line from the candidates to be detected as the parking frame, when it is determined that that an extension line of the portion of the parking frame line candidate corresponding line departs from the search area in mid-course.

4. The vehicular acceleration suppression device according to claim 1, further comprising an end portion detection unit configured to detect an end portion on a farther side from the vehicle of the parking frame line candidate extracted by the parking frame line candidate extraction unit from the bird'"'"'s-eye view image, wherein

when it is determined that the length of the parking frame line candidate corresponding line is longer than the parking frame line length threshold and that the end portion detection unit detects the end portion on the farther side of the parking frame line candidate corresponding to the parking frame line candidate corresponding line in the bird'"'"'s-eye view image, the frame line candidate elimination unit keeps the parking frame line candidate as the candidate to be detected as the parking line.

5. The vehicular acceleration suppression device according to claim 1, further comprising a cross line detection unit configured to detect a cross line crossing the parking frame line candidate corresponding line at an angle equal to or smaller than a predefined crossing angle threshold, wherein

when it is determined that the length of the parking frame line candidate corresponding line is longer than the parking frame line length threshold, and when it is determined based on a detection result by the cross line detection unit, that the cross line which crosses the parking frame line candidate corresponding line at a length position equal to or shorter than the parking frame line length threshold is detected, and that the cross line has a length equal to or longer than a predefined cross line length threshold is detected, the frame line candidate elimination unit keeps the parking frame line candidate corresponding to the parking frame line candidate corresponding line as the candidate to be detected as the parking line.

6. The vehicular acceleration suppression device according to claim 1, wherein

the parking frame line candidate extraction unit is configured to detect a first edge pixel having a brightness equal to or larger than a first brightness threshold which is a predefined threshold of brightness, in the bird'"'"'s-eye view image, to extract the parking frame line candidate based on the first edge pixel, and

the parking frame line candidate corresponding line extraction unit is configured to detect a second edge pixels having a brightness equal to or larger than a second brightness threshold which is a predefined threshold of brightness smaller than the first brightness threshold, in the captured image, to extract the parking frame line candidate corresponding line based on the second edge pixel.

7. The vehicular acceleration suppression device according to claim 1, wherein the frame line candidate elimination unit is configured to perform processing of eliminating the parking frame line candidate from the candidates to be detected as the parking frame, only for a pair of two lines adjoining each other in the bird'"'"'s-eye view image, out of the parking frame line candidates extracted by the parking frame line candidate extraction unit.

8. The vehicular acceleration suppression device according to claim 1, further comprising:

a steering manipulation amount detection unit configured to detect a steering manipulation amount of a steering manipulation element manipulated by the driver to steer; and

a turning motion detection unit configured to detect a turning motion of the vehicle based on the steering manipulation amount detected by the steering manipulation amount detection unit, wherein

the frame line candidate elimination unit performs processing of eliminating the parking frame line candidate from the candidates to be detected as the parking frame, when it is determined based on a detection result by the turning motion detection unit, that the vehicle performs the turning motion satisfying a predefined turning condition.