DRIVING ASSISTANCE SYSTEM AND DRIVING ASSISTANCE METHOD FOR VEHICLE

• US 20170103271A1
• Filed: 04/04/2016
• Published: 04/13/2017
• Est. Priority Date: 10/08/2015
• Status: Abandoned Application

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: KAWAGOE, Tomoya
• Application Number:
  US15/089,635
• Publication Number:
  US 20170103271A1
• Time in Patent Office: Days
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 2300/8053 for bad weather conditions or night vision
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

This invention provides a driving assistance system for a vehicle, with which an intersection having poor visibility can be detected with a high degree of precision and a driver can be alerted thereto while suppressing cost and time requirements. A sample determination unit identifies an image captured by a front camera as detection subject sample data relating to an intersection having poor visibility when the detection subject is detected by a stereo camera, a distance calculation unit, and a first object detection unit but the detection subject is not detected in a position of the detected detection subject by the front camera and a second object detection unit, and identifies the image captured by the front camera as non-detection subject sample data when the detection subject is detected in the position of the detected detection subject by the front camera and the second object detection unit.

Claims

1. A driving assistance system for a vehicle, comprising:

a stereo camera that captures an image of a view of a rear of the vehicle;

a distance calculator that calculates a distance to a detection subject captured by the stereo camera;

a first object detector that detects a direction of the detection subject captured by the stereo camera;

a high-precision indicator that measures coordinates of the vehicle;

a front camera that captures an image of a view of a front of the vehicle;

a second object detector that detects a direction of the detection subject captured by the front camera; and

a sample determiner that identifies the image captured by the front camera as detection subject sample data relating to an intersection having poor visibility when the detection subject is detected by the stereo camera, the distance calculator, and the first object detector but the detection subject is not detected in a position of the detected detection subject by the front camera and the second object detector, and

identifies the image captured by the front camera as non-detection subject sample data when the detection subject is detected by the stereo camera, the distance calculator, and the first object detector and the detection subject is detected in the position of the detected detection subject by the front camera and the second object detector.

2. The driving assistance system for a vehicle according to claim 1, wherein the stereo camera, the distance calculator, and the first object detector are provided in a leading vehicle, and

the front camera and the second object detector are provided in a following vehicle.

3. The driving assistance system for a vehicle according to claim 2, wherein the sample determiner does not perform an identification operation when the detection subject is closer to a travel lane of the leading vehicle and the following vehicle than a fixed distance range.

4. The driving assistance system for a vehicle according to claim 1, wherein the stereo camera, the distance calculator, the first object detector, the front camera, and the second object detector are provided in a single vehicle.

5. A driving assistance system for a vehicle, comprising:

poor-visibility intersection boundary line data constructed from the detection subject sample data and the non-detection subject sample data according to claim 1;

a third object detector that detects an intersection having poor visibility by applying the poor-visibility intersection boundary line data to the image of the view of the front of the vehicle; and

a detection result display that alerts a driver of the vehicle in accordance with a detection result obtained by the third object detector.

6. A driving assistance method for a vehicle, executed by a driving assistance system for a vehicle including:

a stereo camera that captures an image of a view of a rear of the vehicle;

a distance calculator that calculates a distance to a detection subject captured by the stereo camera;

a first object detector that detects a direction of the detection subject captured by the stereo camera;

a high-precision indicator that measures coordinates of the vehicle;

a front camera that captures an image of a view of a front of the vehicle; and

a second object detector that detects a direction of the detection subject captured by the front camera,

the method comprising;

identifying the image captured by the front camera as detection subject sample data relating to an intersection having poor visibility when the detection subject is detected by the stereo camera, the distance calculator, and the first object detector but the detection subject is not detected in a position of the detected detection subject by the front camera and the second object detector; and

identifying the image captured by the front camera as non-detection subject sample data when the detection subject is detected by the stereo camera, the distance calculator, and the first object detector and the detection subject is detected in the position of the detected detection subject by the front camera and the second object detector.