VEHICLE STATE DETERMINING DEVICE, DISPLAY PROCESSING DEVICE, AND VEHICLE STATE DETERMINING METHOD

• US 20170116486A1
• Filed: 09/07/2016
• Published: 04/27/2017
• Est. Priority Date: 10/26/2015
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: MATSUMOTO, Yuuki, MINO, Atsushi, KAKITA, Naoshi
• Granted Patent: US 10,325,161 B2
• Time in Patent Office: Days
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/586 of parking space

Abstract

There is provided a vehicle state determining device. An extracting unit is configured to extract feature points from images acquired by an imaging device mounted on a vehicle. An estimating unit is configured to estimate the movement amount of the vehicle at each time set at intervals of a predetermined time, on the basis of the feature points extracted by the extracting unit. A determining unit is configured to perform determination on movement of the vehicle on the basis of the movement amount estimated by the estimating unit, and the change amount of the movement amount.

Claims

1. A vehicle state determining device comprising:

an extracting unit configured to extract feature points from images acquired by an imaging device mounted on a vehicle;

an estimating unit configured to estimate the movement amount of the vehicle at each time set at intervals of a predetermined time, on the basis of the feature points extracted by the extracting unit; and

a determining unit configured to perform determination on movement of the vehicle on the basis of the movement amount estimated by the estimating unit, and the change amount of the movement amount.

2. The vehicle state determining device according to claim 1, wherein on the basis of an appearance state which is a state where the movement amount is equal to or greater than a first threshold and the change amount of the movement amount is less than a second threshold, the determining unit performs determination on movement of the vehicle.

3. The vehicle state determining device according to claim 1, wherein the determining unit includes:

a counter unit configured to add a first value to a counter value in a case where the movement amount is equal to or greater than a first threshold and the change amount is less than a second threshold; and

a movement determining unit configured to determine that the vehicle is in a movement state, if the counter value is equal to or greater than a third threshold, and determine that the vehicle is in a stop state, if the counter value is less than the third threshold.

4. The vehicle state determining device according to claim 3, wherein in a case where the movement amount is less than the first threshold or the change amount is equal to or less than the second threshold, the counter unit subtracts a second value from the counter value.

5. The vehicle state determining device according to claim 4, wherein in a case where the movement amount is less than the first threshold or the change amount is equal to or less than the second threshold, the counter unit subtracts the second value larger than the first value, from the counter value.

6. The vehicle state determining device according to claim 4, wherein the determining unit further includes an initializing unit configured to initialize the counter value, if the counter value has been maintained in a range equal to or greater than a fourth threshold by consecutive subtraction processes of the counter unit.

7. A display processing device comprising:

the vehicle state determining device according to claim 1;

an estimating unit configured to estimate the movement path of the vehicle; and

a display control unit configured to control a display device such that the display device displays an estimated-path image representing the movement path on the acquired images, if the determining unit determines that the vehicle is in a movement state and the estimating unit estimates the movement path.

8. The display processing device according to claim 7, further comprising an image generating unit configured to generate the estimated-path image representing the movement path in a mode according to a time which elapses after the determining unit determines that the vehicle is in a stop state, if the determining unit determines that the vehicle is in the stop state.

9. A vehicle state determining method comprising:

extracting feature points from images acquired by an imaging device mounted on a vehicle;

estimating the movement amount of the vehicle at each time set at intervals of a predetermined time, on the basis of the feature points extracted in the extracting; and

performing determination on movement of the vehicle on the basis of the movement amount estimated in the estimating, and the change amount of the movement amount.