Collision possibility determination device
First Claim
1. A collision possibility determination device for a vehicle, comprising:
- image capturing means that captures an image of view ahead of the vehicle;
object detecting means that determines whether an object exists in a travel direction of the vehicle from the image captured by the image capturing means;
main pixel position specifying means that specifies a main pixel position of an image of the object, the main pixel position representing a position of the object in the image of view;
pixel position setting means that sets a travel direction pixel position in the image of view based on the travel direction of the vehicle;
storage means that stores the main pixel position;
travel vector calculating means that calculates a travel vector of the object from a history of the main pixel position of the object stored by the storage means; and
collision possibility determining means that determines a possibility of a collision between the vehicle and the object based on an orientation of the travel vector and the travel direction pixel position;
whereinthe pixel position setting means sets a circle with a specific radius from the set travel direction pixel position on the image;
the vector direction determining means determines whether the orientation of the travel vector matches a direction toward an inside of the circle; and
the collision possibility determining means determines that a possible collision between the vehicle and the object when the orientation of the travel vector matches the direction toward the inside of the circle.
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Accused Products
Abstract
A computer of a collision possibility determination device has a pixel position setting section, a travel vector calculating section, a vector direction determining section, and a collision possibility determining section. The pixel position setting section sets a travel direction pixel position in an image of view ahead of a vehicle and a circle with a specific radius from the set travel direction pixel position. The travel vector calculating section calculates a travel vector of an object that exists in the travel direction of the vehicle. The vector direction determining section determines whether an orientation of the travel vector matches a direction toward the inside of the circle. The collision possibility determining section determines a possible collision between the vehicle and the object when the orientation of the travel vector matches the direction toward the inside of the circle.
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Citations
10 Claims
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1. A collision possibility determination device for a vehicle, comprising:
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image capturing means that captures an image of view ahead of the vehicle; object detecting means that determines whether an object exists in a travel direction of the vehicle from the image captured by the image capturing means; main pixel position specifying means that specifies a main pixel position of an image of the object, the main pixel position representing a position of the object in the image of view; pixel position setting means that sets a travel direction pixel position in the image of view based on the travel direction of the vehicle; storage means that stores the main pixel position; travel vector calculating means that calculates a travel vector of the object from a history of the main pixel position of the object stored by the storage means; and collision possibility determining means that determines a possibility of a collision between the vehicle and the object based on an orientation of the travel vector and the travel direction pixel position;
whereinthe pixel position setting means sets a circle with a specific radius from the set travel direction pixel position on the image; the vector direction determining means determines whether the orientation of the travel vector matches a direction toward an inside of the circle; and the collision possibility determining means determines that a possible collision between the vehicle and the object when the orientation of the travel vector matches the direction toward the inside of the circle. - View Dependent Claims (2, 3)
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4. A collision possibility determination device for a vehicle, comprising:
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image capturing means that captures an image of view ahead of the vehicle; object detecting means that determines whether an object exists in a travel direction of the vehicle from the image captured by the image capturing means; main pixel position specifying means that specifies a main pixel position of an image of the object, the main pixel position representing a position of the object in the image of view; pixel position setting means that sets a travel direction pixel position in the image of view based on the travel direction of the vehicle; storage means that stores the main pixel position; travel vector calculating means that calculates a travel vector of the object from a history of the main pixel position of the object stored by the storage means; collision possibility determining means that determines a possibility of a collision between the vehicle and the object based on an orientation of the travel vector and the travel direction pixel position; and gaze direction detecting means that detects a gaze direction of a driver;
whereinthe pixel position setting means sets a position that corresponds to the gaze direction on the image as a travel direction pixel position. - View Dependent Claims (5, 6)
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7. A collision possibility determination device for a vehicle, comprising:
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image capturing means that captures an image of view ahead of the vehicle; object detecting means that determines whether an object exists in a travel direction of the vehicle from the image captured by the image capturing means; main pixel position specifying means that specifies a main pixel position of an image of the object, the main pixel position representing a position of the object in the image of view; pixel position setting means that sets a travel direction pixel position in the image of view based on the travel direction of the vehicle; storage means that stores the main pixel position; travel vector calculating means that calculates a travel vector of the object from a history of the main pixel position of the object stored by the storage means; and collision possibility determining means that determines a possibility of a collision between the vehicle and the object based on an orientation of the travel vector and the travel direction pixel position;
whereinthe pixel position setting means sets a position that corresponds to an actual position a predetermined distance ahead of the vehicle on the image as a travel direction pixel position. - View Dependent Claims (8, 9, 10)
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Specification