Pedestrian detection system and vehicle driving assist system with a pedestrian detection system

• US 7,548,634 B2
• Filed: 02/04/2005
• Issued: 06/16/2009
• Est. Priority Date: 02/13/2004
• Status: Expired due to Fees

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Kudo, Shinya
• Primary Examiner(s): Bali; Vikkram
• Assistant Examiner(s): Rice; Elisa M
• Application Number:
  US11/051,590
• Publication Number:
  US 20050201590A1
• Time in Patent Office: 1,593 Days
• Field of Search: None
• US Class Current: 382/103
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A stereo-image recognition unit detects a pedestrian from a solid body acquired from the image by a stereo camera and issues various warnings by outputting signals to an LED and a speaker according to the position of the pedestrian, the vehicle speed, and a signal from a turn signal switch. The unit determines whether the solid body approaches a predetermined region in the image, with one end of the solid body in the width direction being detected and the other end not being detected, and detects the width of the solid body when the other end is detected. The unit then determines whether the solid body is a pedestrian by comparing the width with a predetermined threshold. Accordingly, the unit can rapidly and reliably detect a pedestrian who approaches the vehicle traveling route and inform a driver of it and reduce an operation load necessary for detecting a pedestrian.

Claims

1. A pedestrian detection system comprising:

imaging means for image picking up a front region to generate an image;

solid-body recognition means for recognizing a solid body from the image;

solid-body determination means for determining whether or not a first condition in which a solid body a first end of which in the width direction is detected and a second condition in which a second end is not detected shifts to a third condition in which the second end is detected, the first condition occurring only when part of the solid body falls within the image, the third condition occurring when the entire solid body in the width direction appears within the image, and for specifying a state in which a predetermined region of the image and the solid body come close to each other when the shift from the second condition to the third condition is detected after detecting the first condition;

solid-body-width detection means for detecting the width of the solid body when the second end is detected; and

pedestrian determination means for determining whether or not the solid body is a pedestrian by comparing the width of the solid body with a preset threshold value.

2. The pedestrian detection system according to claim 1, wherein the solid-body determination means determines that the solid body is not an approaching object when the second condition continues over a preset time after the first end of the solid object is first detected in the predetermined region.

3. The pedestrian detection system according to claim 1, wherein the solid-body determination means determines whether or not the solid body appearing from at least one of the left and right boundaries of a process image frame, the image frame being set in advance, is the approaching object.

4. The pedestrian detection system according to claim 2, wherein the solid-body determination means determines whether or not the solid body appearing from at least either of the left and right boundaries of the process image frame, the image frame being set in advance, is the approaching object.

5. A vehicle driving assist system comprising the pedestrian detection system according to claim 1, wherein when the pedestrian detection system has determined that the pedestrian is present, a warning is outputted when the position of the pedestrian is closer to the vehicle than a predetermined distance.

6. A vehicle driving assist system comprising the pedestrian detection system according to claim 2, wherein when the pedestrian detection system has determined that the pedestrian is present, the warning is outputted when the position of the pedestrian is closer to the vehicle than the predetermined distance.

7. A vehicle driving assist system comprising the pedestrian detection system according to claim 3, wherein when the pedestrian detection system has determined that the pedestrian is present, the warning is outputted when the position of the pedestrian is closer to the vehicle than the predetermined distance.

8. A vehicle driving assist system comprising the pedestrian detection system according to claim 4, wherein when the pedestrian detection system has determined that the pedestrian is present, the warning is outputted when the position of the pedestrian is closer to the vehicle than the predetermined distance.

9. A vehicle driving assist system comprising the pedestrian detection system according to claim 1, wherein when the pedestrian detection system has determined that the pedestrian is present, the warning of the presence of the pedestrian is outputted only when a turn signal switch of the vehicle is in operation.

10. A vehicle driving assist system comprising the pedestrian detection system according to claim 2, wherein when the pedestrian detection system has determined that the pedestrian is present, the warning of the presence of the pedestrian is outputted when the turn signal switch of the vehicle is in operation.

11. A vehicle driving assist system comprising the pedestrian detection system according to claim 3, wherein when the pedestrian detection system has determined that the pedestrian is present, the warning of the presence of the pedestrian is outputted when the turn signal switch of the vehicle is in operation.

12. A vehicle driving assist system comprising the pedestrian detection system according to claim 4, wherein when the pedestrian detection system has determined that the pedestrian is present, the warning of the presence of the pedestrian is outputted when the turn signal switch of the vehicle is in operation.

13. A vehicle driving assist system comprising the pedestrian detection system according to claim 1, wherein when the pedestrian detection system has determined that the pedestrian is present, wherein when a follow-up control is in operation so that the vehicle follows the preceding vehicle, the follow-up control is cancelled.

14. A vehicle driving assist system comprising the pedestrian detection system according to claim 2, wherein when the pedestrian detection system has determined that the pedestrian is present, wherein when the follow-up control is in operation so that the vehicle follows the preceding vehicle, the follow-up control is cancelled.

15. A vehicle driving assist system comprising the pedestrian detection system according to claim 3, wherein when the pedestrian detection system has determined that the pedestrian is present, wherein when the follow-up control is in operation so that the vehicle follows the preceding vehicle, the follow-up control is cancelled.

16. A vehicle driving assist system comprising the pedestrian detection system according to claim 4, wherein when the pedestrian detection system has determined that the pedestrian is present, wherein when the follow-up control is in operation so that the vehicle follows the preceding vehicle, the follow-up control is cancelled.