Image processing apparatus, image processing method, navigation apparatus, program storage device and computer data signal embodied in carrier wave

• US 6,249,214 B1
• Filed: 07/25/2000
• Issued: 06/19/2001
• Est. Priority Date: 07/26/1999
• Status: Expired due to Fees

• Current Assignee: Pioneer Corporation
• Original Assignee: Pioneer Corporation
• Inventors: Kashiwazaki, Takashi
• Primary Examiner(s): Hofsass, Jeffrey
• Assistant Examiner(s): TANG, SON M
• Application Number:
  US09/625,489
• Time in Patent Office: 329 Days
• Field of Search: 340/425.5, 340/435, 340/436, 340/437, 340/438, 382/103, 382/104, 382/106, 382/107, 348/135, 348/142, 348/137, 348/138, 348/140, 348/148
• US Class Current: 340/425.5
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30248 Vehicle exterior or interior
• CPC Class Codes: G06T 7/223 using block-matching

Abstract

An image processing apparatus is provided with: an image taking device (19a, 19b) for taking an image on a side of a movable body and outputting an image signal corresponding to the taken image; a movement vector detecting device (18, 24) for detecting a movement vector for each area of the image taken by the image taking device, on the basis of the image signal while the movable body is moving; and a distance calculating device (18, 25) for judging a spatial changing rate of a magnitude of the detected movement vector and calculating the distance to a road edge on the basis of the spatial changing rate.

Claims

1. An image processing apparatus comprising:

an image taking device for taking an image on a side of a movable body and outputting an image signal corresponding to the taken image;

a movement vector detecting device for detecting a movement vector for each area of the image taken by said image taking device, on the basis of the image signal while said movable body is moving; and

a distance calculating device for judging a spatial changing rate of a magnitude of the detected movement vector and calculating the distance to a road edge on the basis of the spatial changing rate.

2. An image processing apparatus according to claim 1, wherein

said image taking device comprises a first image taking device for taking the image on a left side of said movable body and a second image taking device for taking the image on a right side of said movable body, and

said distance calculating device calculates a first distance to the road edge on the left side and a second distance to the road edge on the right side.

3. An image processing apparatus according to claim 2, further comprising a road width calculating device for calculating a road width of the road, on which said movable body is moving, on the basis of the first distance and the second distance calculated by said distance calculating device.

4. An image processing apparatus according to claim 1, wherein

the image signal comprises frame image data, which has a predetermined frame cycle, as a unit, and

said movement vector detecting device detects the movement vector on the basis of two consecutive frame image data.

5. An image processing apparatus according to claim 1, wherein said image taking device is installed on a front portion of said movable body.

6. An image processing apparatus according to claim 1, wherein said image taking device takes the image in an oblique forward direction of said movable body.

7. An image processing apparatus according to claim 1, wherein said image taking device takes the image in an oblique downward direction of said movable body.

8. An image processing method of performing an image process on the basis of an image signal, which is outputted from an image taking device for taking an image on a side of a movable body and outputting the image signal corresponding to the taken image, said image processing method comprising:

a movement vector detecting process of detecting a movement vector for each area of the image taken by said image taking device, on the basis of the image signal while said movable body is moving; and

a distance calculating process of judging a spatial changing rate of a magnitude of the detected movement vector and calculating the distance to a road edge on the basis of the spatial changing rate.

9. An image processing method according to claim 8, wherein

said image taking device comprises a first image taking device for taking the image on a left side of said movable body and a second image taking device for taking the image on a right side of said movable body, and

said distance calculating process calculates a first distance to the road edge on the left side and a second distance to the road edge on the right side.

10. An image processing method according to claim 9, further comprising a road width calculating process of calculating a road width of the road, on which said movable body is moving, on the basis of the first distance and the second distance calculated by said distance calculating process.

11. An image processing method according to claim 8, wherein

the image signal comprises frame image data, which has a predetermined frame cycle, as a unit, and

said movement vector detecting process detects the movement vector on the basis of two consecutive frame image data.

12. A navigation apparatus for performing a route guidance from a present position of a vehicle to a destination on the basis of map data, comprising:

a sensor device including a vehicle speed sensor for detecting a moving speed of said vehicle;

an image taking device for taking an image on a side of said vehicle and outputting an image signal corresponding to the taken image;

a movement vector detecting device for detecting a movement vector for each area of the image taken by said image taking device, on the basis of the image signal while said vehicle is moving; and

a distance calculating device for judging a spatial changing rate of a magnitude of the detected movement vector and calculating the distance to a road edge on the basis of the spatial changing rate.

13. A navigation apparatus according to claim 12, further comprising a warning device for warning that said vehicle is close to the road edge if the calculated distance to the road edge is smaller than a threshold value, which is set in advance.

14. A navigation apparatus according to claim 12, further comprising a road width calculating device for calculating a road width of the road, on which said vehicle is moving, on the basis of the calculated distance to the road edge.

15. A navigation apparatus according to claim 14, further comprising a road width data memory for storing road width data corresponding to the calculated road width in correlation with the map data such that the road width data can be updated.

16. A navigation apparatus according to claim 14, further comprising:

a traffic lane judging device for judging a traffic lane, on which said vehicle is presently moving, on the basis of calculation results of said distance calculating device and said road width calculating device; and

a warning device for warning an appropriate traffic lane, on which said vehicle is to move, by correlating the judged traffic lane with a route to the destination.

17. A navigation apparatus according to claim 16, wherein said warning device warns the appropriate traffic lane if the judged traffic lane is not coincident with the appropriate traffic lane.

18. A navigation apparatus according to claim 16, wherein said warning device warns that the judged traffic lane is coincident with the appropriate traffic lane if the judged traffic lane is coincident with the appropriate traffic lane.

19. A program storage device readable by a computer, tangibly embodying a program of instructions executable by the computer to perform an image process on the basis of an image signal, which is outputted from an image taking device for taking an image on a side of a movable body and outputting the image signal corresponding to the taken image, said image process comprising:

a movement vector detecting process of detecting a movement vector for each area of the image taken by said image taking device, on the basis of the image signal while said movable body is moving; and

a distance calculating process of judging a spatial changing rate of a magnitude of the detected movement vector and calculating the distance to a road edge on the basis of the spatial changing rate.

20. A computer data signal embodied in a carrier wave and representing a series of instructions which cause a computer to perform an image process on the basis of an image signal, which is outputted from an image taking device for taking an image on a side of a movable body and outputting the image signal corresponding to the taken image, said image process comprising:

a movement vector detecting process of detecting a movement vector for each area of the image taken by said image taking device, on the basis of the image signal while said movable body is moving; and

a distance calculating process of judging a spatial changing rate of a magnitude of the detected movement vector and calculating the distance to a road edge on the basis of the spatial changing rate.