Vehicle environment recognition system
First Claim
1. A vehicle driving environment recognition system comprising:
- imaging means for periodically forming an input image of a forward road ahead of a road vehicle;
lateral position detecting means for detecting a lateral position of the vehicle relative to a road in accordance with the input image;
image integrating means for transforming the input image into a transformed image in a road plane coordinate system by using the lateral position;
and for producing an integral image by integrating the transformed image; and
feature extracting means for extracting a characteristic region from the integral image.
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Abstract
A vehicle environment recognition system comprises an input section for forming an input electronic image of a forward road ahead of a vehicle, and an image processing section for detecting another vehicle ahead or a configuration of the forward road from the image. The processing section prepares a set of integrand images from two or more input images, and produces a new integral image by superposing the integrand images. From information supplied from the input section, the processing section detects a lateral position of the vehicle relative to the road, and adjusts the lateral positions of the integrand images in accordance with the detected lateral vehicle position before the integration to produce the integral image. The recognition system can therefore integrate images without undesirable lateral deviation and detects an object region accurately from the integral image.
129 Citations
18 Claims
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1. A vehicle driving environment recognition system comprising:
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imaging means for periodically forming an input image of a forward road ahead of a road vehicle; lateral position detecting means for detecting a lateral position of the vehicle relative to a road in accordance with the input image; image integrating means for transforming the input image into a transformed image in a road plane coordinate system by using the lateral position; and for producing an integral image by integrating the transformed image; and feature extracting means for extracting a characteristic region from the integral image. - View Dependent Claims (2, 3, 4, 5, 6, 18)
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7. A vehicle driving environment recognition system comprising:
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imaging means for forming an input image of a forward road ahead of a road vehicle; lateral position detecting means for detecting a lateral position of the vehicle relative to a road; image transforming means for determining an image transforming method in accordance with a characteristic parameter and a positional parameter of the imaging means and transforming the input image into a transformed image by using the lateral position; integrating means for producing an integral image by integrating the transformed image; and feature extracting means for extracting a characteristic region from the integral image and for detecting a shape of the forward road from the integral image.
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8. A vehicle environment recognition system comprising:
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an input section for collecting information on a driving environment of a road vehicle, the input section forming an input image of a forward scene ahead of the vehicle and supplying data to determine a lateral position of the vehicle relative to a road and data to recognize the environment; and a processing section for producing a modified image by modifying the input image by a coordinate transformation from an image plane coordinate system to a road plane coordinate system in accordance with the lateral position of the vehicle, further producing an integral image by using the modified image, and for extracting an image feature from the integral image. - View Dependent Claims (9, 10, 15, 16, 17)
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11. A recognition system comprising:
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an input section for collecting information on a driving environment of a road vehicle, the input section forming an input image of a forward scene ahead of the vehicle and supplying data to determine a lateral position of the vehicle relative to a road and data to recognize the environment; and a processing section for producing a modified image by modifying the input image in accordance with the lateral position of the vehicle, further producing an integral image by using the modified image, and for extracting an image feature from the integral image, wherein the input section comprises a camera for producing a time series of input images of a scene ahead of the vehicle, and the processing section is configured to produce a time series of integral images in response to the time series of input images supplied from the camera, produce a new integral image from a current image prepared from a most recent input image supplied from a camera and a modified previous image which is an image transformed from a most recent integral image in accordance with the lateral position, determine a lateral vehicle displacement from a change in the lateral position, produce the modified previous image by displacing each pixel location along to horizontal axis of a coordinate system of the most recent integral image by an amount of lateral image displacement determined in accordance with the lateral vehicle displacement, and produce the new integral image by determining a weighted average of image values of the current image and the modified previous image in each elemental image region. - View Dependent Claims (12, 13, 14)
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Specification