DRIVING SUPPORT APPARATUS, DRIVING SUPPORT METHOD, IMAGE CORRECTION APPARATUS, AND IMAGE CORRECTION METHOD

• US 20170134661A1
• Filed: 06/08/2015
• Published: 05/11/2017
• Est. Priority Date: 06/18/2014
• Status: Abandoned Application

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Matsumoto, Muneaki, Tanaka, Hitoshi, Chietein, Hikumetsuto
• Application Number:
  US15/318,641
• Publication Number:
  US 20170134661A1
• Time in Patent Office: Days
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/002 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/102 using 360 degree surveillance camera system
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• 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: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 5/2624 for obtaining an image which is composed of whole input images, e.g. splitscreen
• CPC Class Codes: H04N 5/2628 Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/181 : for receiving images from a plurality of remote sources
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source
• CPC Class Codes: H04N 7/188 : Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position signal generation from motion picture films H04N5/253

Abstract

A driving support apparatus is arranged at a vehicle attached with a vehicle-mounted camera at a predetermined angle to execute driving support based on an image taken by the vehicle-mounted camera. The driving support apparatus includes: a height sensor that is attached at locations of the vehicle and detects a vehicle height at a location where the height sensor is attached; an attitude detector that detects an attitude of the vehicle based on a detection result of the height sensor; an acquisition device that acquires an image taken by the vehicle-mounted camera; a correction device that corrects the image acquired by the acquisition device based on the attitude of the vehicle detected by the attitude detector; and an execution device that executes driving support based on the image corrected by the correction device.

Claims

1. A driving support apparatus arranged at a vehicle attached with a vehicle-mounted camera at a predetermined angle to execute driving support based on an image taken by the vehicle-mounted camera, the apparatus comprising:

a height sensor that is individually attached at left and right of a front part of the vehicle and at left and right of a rear part of the vehicle, and detects a vehicle height at a location where the height sensor is attached;

an attitude detector that detects an attitude of the vehicle based on a detection result of the height sensor;

an acquisition device that acquires the image taken by the vehicle-mounted camera;

a correction device that corrects the image acquired by the acquisition device based on the attitude of the vehicle detected by the attitude detector; and

an execution device that executes the driving support based on the image corrected by the correction device.

2. The driving support apparatus according to claim 1, further comprising:

one or a plurality of vehicle-mounted cameras, wherein;

the correction device converts one or a plurality of images respectively taken by the one or the plurality of vehicle-mounted cameras to one or a plurality of bird'"'"'s eye view images of the vehicle viewed from above in consideration of the attitude of the vehicle; and

the execution device displays the one or the plurality of bird'"'"'s eye view images.

3. The driving support apparatus according to claim 1,

wherein the attitude detector detects the attitude of the vehicle when a door and a trunk of the vehicle are locked.

4. The driving support apparatus according to claim 1,

wherein the attitude detector detects the attitude of the vehicle when a brake pedal, on which has been stepped, returns to a state prior to the brake pedal being stepped.

5. The driving support apparatus according to claim 1,

wherein the attitude detector detects the attitude of the vehicle when a hand brake is released.

6. The driving support apparatus according to claim 1,

wherein the attitude detector detects the attitude of the vehicle when the vehicle starts travelling.

7. A driving support method executing driving support based on an image taken by a vehicle-mounted camera attached to a vehicle at a predetermined angle, the method comprising:

detecting an attitude of the vehicle based on a detection result of a height sensor individually attached at left and right of a front part of the vehicle and at left and right of a rear part of the vehicle;

acquiring an image taken by the vehicle-mounted camera;

correcting the acquired image based on the attitude of the vehicle; and

executing driving support based on the corrected image.

8. An image correction apparatus arranged at a vehicle attached with a vehicle-mounted camera at a predetermined angle to correct an image taken by the vehicle-mounted camera, the apparatus comprising:

a height sensor that is individually attached at left and right of a front part of the vehicle and at left and right of a rear part of the vehicle and detects a vehicle height at a location where the height sensor is attached;

an attitude detector that detects an attitude of the vehicle based on a detection result of the height sensor;

an acquisition device that acquires an image taken by the vehicle-mounted camera; and

a correction device that corrects the image acquired by the acquisition device based on the attitude of the vehicle detected by the attitude detector.

9. An image correction method correcting an image taken by a vehicle-mounted camera attached to a vehicle at a predetermined angle, the method comprising:

detecting an attitude of the vehicle based on a detection result of a height sensor individually attached at left and right of a front part of the vehicle and at left and right of a rear part of the vehicle;

acquiring the image taken by the vehicle-mounted camera; and

correcting the acquired image based on the attitude of the vehicle.

10. A driving support apparatus arranged at a vehicle attached with a vehicle-mounted camera at a predetermined angle to execute driving support based on an image taken by the vehicle-mounted camera, the apparatus comprising:

a height sensor that is individually attached at a plurality of locations of the vehicle, and detects a vehicle height at a location where the height sensor is attached;

an attitude detector that detects an attitude of the vehicle based on a detection result of the height sensor;

an acquisition device that acquires the image taken by the vehicle-mounted camera;

a correction device that corrects the image acquired by the acquisition device based on the attitude of the vehicle detected by the attitude detector; and

an execution device that executes the driving support based on the image corrected by the correction device.

11. An image correction apparatus arranged at a vehicle attached with a vehicle-mounted camera at a predetermined angle to correct an image taken by the vehicle-mounted camera, the apparatus comprising:

a height sensor that is individually attached at a plurality of locations of the vehicle and detects a vehicle height at a location where the height sensor is attached;

an attitude detector that detects an attitude of the vehicle based on a detection result of the height sensor;

an acquisition device that acquires an image taken by the vehicle-mounted camera; and

a correction device that corrects the image acquired by the acquisition device based on the attitude of the vehicle detected by the attitude detector.