VEHICLE RECOGNITION DEVICE AND VEHICLE CONTROL APPARATUS

• US 20200130649A1
• Filed: 10/17/2019
• Published: 04/30/2020
• Est. Priority Date: 10/30/2018
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: TAKAHASHI, Naoki
• Granted Patent: US 11,325,565 B2
• Time in Patent Office: Days
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/8053 for bad weather conditions or night vision
• CPC Class Codes: B60S 1/0818 including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
• CPC Class Codes: B60S 1/0896 including control systems responsive to a vehicle driving condition, e.g. speed
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights

Abstract

A vehicle recognition device includes a vehicle recognizer and a wiper controller. The vehicle recognizer is configured to determine, upon a first state, whether a transition is made from the first state to a second state. The first state is a state in which a second vehicle is recognizable from captured images obtained from respective cameras provided in a first vehicle. The second state is a state in which the second vehicle is unrecognizable from one or more of the captured images. The one or more of the captured images is obtained from all or a part of the cameras. The wiper controller is configured to automatically control an operation of a wiper of the first vehicle on the basis of an automatic control, when the vehicle recognizer determines that the transition is made from the first state to the second state.

Claims

1. A vehicle recognition device comprising:

a vehicle recognizer configured to recognize, from captured images that are obtained from respective cameras provided in a first vehicle, a second vehicle that is different from the first vehicle; and

a wiper controller configured to control an operation of a wiper of the first vehicle on a basis of an operation signal or an automatic control, the wiper being provided in an imaging direction of the cameras, the operation signal being obtained on a basis of a manual operation performed on the first vehicle,

the vehicle recognizer being configured to determine, upon a first state, whether a transition is made from the first state to a second state, the first state being a state in which the second vehicle is recognizable from the captured images obtained from the respective cameras, the second state being a state in which the second vehicle is unrecognizable from one or more of the captured images, the one or more of the captured images being obtained from all or a part of the cameras,

the wiper controller being configured to automatically control the operation of the wiper on the basis of the automatic control, when the vehicle recognizer determines that the transition is made from the first state to the second state.

2. The vehicle recognition device according to claim 1, wherein the wiper controller is configured to cause the wiper to automatically operate when, in the second state, the second vehicle is unrecognizable from the one or more of the captured images obtained from the all or the part of the cameras.

3. The vehicle recognition device according to claim 2, wherein the wiper controller is configured to automatically increase frequency of the operation of the wiper when an intervehicle distance becomes less than a threshold after the wiper controller has caused the wiper to automatically operate, the intervehicle distance being a distance between the first vehicle and the second vehicle and being determined on a basis of remaining one or more of the captured images, the remaining one or more of the captured images being obtained from remaining one or more of the cameras excluding the part of the cameras.

4. The vehicle recognition device according to claim 2, wherein the wiper controller is configured to cause the wiper to automatically operate after a predetermined period of time has elapsed from the transition from the first state to the second state.

5. The vehicle recognition device according to claim 3, wherein the wiper controller is configured to cause the wiper to automatically operate after a predetermined period of time has elapsed from the transition from the first state to the second state.

6. The vehicle recognition device according to claim 1, wherein the wiper controller is configured to prevent the wiper from automatically operating when, in the second state, the second vehicle is unrecognizable from the captured images obtained from the all of the cameras.

7. The vehicle recognition device according to claim 2, wherein the wiper controller is configured to prevent the wiper from automatically operating when, in the second state, the second vehicle is unrecognizable from the captured images obtained from the all of the cameras.

8. The vehicle recognition device according to claim 3, wherein the wiper controller is configured to prevent the wiper from automatically operating when, in the second state, the second vehicle is unrecognizable from the captured images obtained from the all of the cameras.

9. The vehicle recognition device according to claim 1, further comprising a notifier configured to notify a driver of the first vehicle of information that the transition is made from the first state to the second state, when the vehicle recognizer has determined that the transition is made from the first state to the second state.

10. The vehicle recognition device according to claim 2, further comprising a notifier configured to notify a driver of the first vehicle of information that the transition is made from the first state to the second state, when the vehicle recognizer has determined that the transition is made from the first state to the second state.

11. The vehicle recognition device according to claim 3, further comprising a notifier configured to notify a driver of the first vehicle of information that the transition is made from the first state to the second state, when the vehicle recognizer has determined that the transition is made from the first state to the second state.

12. The vehicle recognition device according to claim 1, wherein the cameras comprise a stereo camera that includes a right camera and a left camera, and the part of the cameras comprises the right camera or the left camera.

13. The vehicle recognition device according to claim 2, wherein

the cameras comprise a stereo camera that includes a right camera and a left camera, and

the part of the cameras comprises the right camera or the left camera.

14. The vehicle recognition device according to claim 3, wherein

the cameras comprise a stereo camera that includes a right camera and a left camera, and

the part of the cameras comprises the right camera or the left camera.

15. A vehicle control apparatus comprising:

a vehicle recognizer configured to recognize, from captured images that are obtained from respective cameras provided in a first vehicle, a second vehicle that is different from the first vehicle;

a traveling controller configured to control traveling of the first vehicle, on a basis of a result of the recognition on the second vehicle performed by the vehicle recognizer; and

a wiper controller configured to control an operation of a wiper of the first vehicle on a basis of an operation signal or an automatic control, the wiper being provided in an imaging direction of the cameras, the operation signal being obtained on a basis of a manual operation performed on the first vehicle,

the vehicle recognizer being configured to determine, upon a first state, whether a transition is made from the first state to a second state, the first state being a state in which the second vehicle is recognizable from the captured images obtained from the respective cameras, the second state being a state in which the second vehicle is unrecognizable from one or more of the captured images, the one or more of the captured images being obtained from all or a part of the cameras,

the wiper controller being configured to automatically control the operation of the wiper on the basis of the automatic control, when the vehicle recognizer determines that the transition is made from the first state to the second state.

16. The vehicle control apparatus according to claim 15, wherein the traveling controller is configured to execute, on the basis of the result of the recognition on the second vehicle, a control of increasing an intervehicle distance between the first vehicle and the second vehicle, a control of decreasing a speed of the first vehicle, or both.

17. A vehicle recognition device comprising

circuitry configured to

recognize, from captured images that are obtained from respective cameras provided in a first vehicle, a second vehicle that is different from the first vehicle, control an operation of a wiper of the first vehicle on a basis of an operation signal or an automatic control, the wiper being provided in an imaging direction of the cameras, the operation signal being obtained on a basis of a manual operation performed on the first vehicle,

determine, upon a first state, whether a transition is made from the first state to a second state, the first state being a state in which the second vehicle is recognizable from the captured images obtained from the respective cameras, the second state being a state in which the second vehicle is unrecognizable from one or more of the captured images, the one or more of the captured images being obtained from all or a part of the cameras, and

automatically control the operation of the wiper on the basis of the automatic control, when the determination is made that the transition is made from the first state to the second state.

18. A vehicle control apparatus comprising

circuitry configured to

recognize, from captured images that are obtained from respective cameras provided in a first vehicle, a second vehicle that is different from the first vehicle,

control traveling of the first vehicle, on a basis of a result of the recognition on the second vehicle,

control an operation of a wiper of the first vehicle on a basis of an operation signal or an automatic control, the wiper being provided in an imaging direction of the cameras, the operation signal being obtained on a basis of a manual operation performed on the first vehicle,

determine, upon a first state, whether a transition is made from the first state to a second state, the first state being a state in which the second vehicle is recognizable from the captured images obtained from the respective cameras, the second state being a state in which the second vehicle is unrecognizable from one or more of the captured images, the one or more of the captured images being obtained from all or a part of the cameras, and

automatically control the operation of the wiper on the basis of the automatic control, when the determination is made that the transition is made from the first state to the second state.