Apparatus and method for detecting vehicles by identifying light spots from captured images

• US 7,649,442 B2
• Filed: 09/05/2007
• Issued: 01/19/2010
• Est. Priority Date: 09/07/2006
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kobayashi, Kenji, Kumon, Hiroaki
• Primary Examiner(s): La; Anh V
• Application Number:
  US11/899,386
• Publication Number:
  US 20080062010A1
• Time in Patent Office: 867 Days
• Field of Search: 340/425.5, 340/902, 340/933, 340/937, 340/942, 340/438, 340/439, 340/468, 340/469, 340/600, 340/602, 340/458, 362464-469, 315/77, 315/82, 315/83, 701/1, 701/36
• US Class Current: 340/425.5
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle detection apparatus detects vehicles traveling on a road with their lights turned on. The apparatus captures images of a road, detects a light spot from captured images, and detects a first vertical coordinate of the light spot in the images. The apparatus further calculates a distance to the light spot based on a horizontal length of the light spot in the images and detects a second vertical coordinate corresponding to the calculated distance, based on correlated data in which vertical coordinates and distances in an image are correlated in advance. The apparatus further calculates a pitching amount that indicates a difference between the first and second coordinates and determines whether or not the light spot originates from a vehicle, based on the pitching amount.

Claims

1. A vehicle detection apparatus for detecting vehicles traveling on a road with their lights turned on, comprising:

an image capturing block that captures images of a road;

a light spot detecting block that detects a light spot from an image captured by the image capturing block;

a first coordinate detecting block that detects a first coordinate that indicates a vertical coordinate of the light spot in the captured image;

a distance calculating block that calculates a distance to the light spot based on a horizontal length of the light spot in the captured image;

a second coordinate detecting block that detects a second coordinate that indicates a vertical coordinate corresponding to the distance calculated by the distance calculating block, based on correlated data in which vertical coordinates and distances in a captured image are correlated to each other in advance;

a pitching amount calculating block that calculates a pitching amount that indicates a difference between the first coordinate and the second coordinate in the captured image; and

a vehicle light spot determining block that determines whether or not the light spot originates from a light spot of a vehicle, based on the pitching amount.

2. The vehicle detection apparatus according to claim 1, wherein

the light spot detecting block detects a pair of horizontally located light spots as the light spot;

the distance calculating block calculates a distance to the pair of light spots constituting the light spot in the captured image, based on a spacing between the pair of light spots; and

the vehicle light spot determining block determines whether or not the pair of light spots originates from a vehicle, based on the pitching amount.

3. The vehicle detection apparatus according to claim 1, further comprising:

a ground position estimating block that estimates a ground coordinate that indicates a coordinate of a road surface ground position of a vehicle, when a light spot is assumed to originate from the vehicle, based on the horizontal length of the light spot or the spacing between a pair of light spots constituting the of light spot, which light spot is detected by the light spot detecting block, and based on the first coordinate, wherein

the pitching amount calculating block calculates, as the pitching amount, a difference in vertical direction between the ground coordinate and the second coordinate.

4. The vehicle detection apparatus according to claim 1, further comprising:

a storage that stores a position and a pitching amount of a vehicle into memory means in case the light spot has been determined by the vehicle light spot determining block as originating from the vehicle; and

a reference pitching amount setting block that sets a reference pitching amount based on the position and the pitching amount stored in the storage, wherein

the vehicle light spot determining block determines the light spot as originating from a vehicle in case the pitching amount calculated by the pitching amount calculating block falls within a predetermined specified range set in advance based on the reference pitching amount which is set by the reference pitching amount setting block.

5. The vehicle detection apparatus according to claim 1, comprising:

a white-line detecting block that detects a plural number of white lines on a road, which white lines are parallel to a direction in which the road extends in the captured image;

an infinite-point detecting block that detects a position of an infinite point in the captured image by detecting an intersection of the plural number of white lines in the captured image; and

a coordinate compensating block that compensates the second coordinate based the position of the infinite point.

6. The vehicle detection apparatus according to claim 2, further comprising:

a ground position estimating block that estimates a ground coordinate that indicates a coordinate of a road surface ground position of a vehicle, when a light spot is assumed to originate from the vehicle, based on the horizontal length of the light spot or the spacing between a pair of light spots constituting the of light spot, which light spot is detected by the light spot detecting block, and based on the first coordinate, wherein

the pitching amount calculating block calculates, as the pitching amount, a difference in vertical direction between the ground coordinate and the second coordinate.

7. The vehicle detection apparatus according to claim 2, further comprising:

a storage that stores a position and a pitching amount of a vehicle into memory means in case the light spot has been determined by the vehicle light spot determining block as originating from the vehicle; and

a reference pitching amount setting block that sets a reference pitching amount based on the position and the pitching amount stored in the storage, wherein

the vehicle light spot determining block determines the light spot as originating from a vehicle in case the pitching amount calculated by the pitching amount calculating block falls within a predetermined specified range set in advance based on the reference pitching amount which is set by the reference pitching amount setting block.

8. The vehicle detection apparatus according to claim 2, comprising:

a white-line detecting block that detects a plural number of white lines on a road, which white lines are parallel to a direction in which the road extends in the captured image;

an infinite-point detecting block that detects a position of an infinite point in the captured image by detecting an intersection of the plural number of white lines in the captured image; and

a coordinate compensating block that compensates the second coordinate based the position of the infinite point.

9. The vehicle detection apparatus according to claim 3, further comprising:

a storage that stores a position and a pitching amount of a vehicle into memory means in case the light spot has been determined by the vehicle light spot determining block as originating from the vehicle; and

a reference pitching amount setting block that sets a reference pitching amount based on the position and the pitching amount stored in the storage, wherein

the vehicle light spot determining block determines the light spot as originating from a vehicle in case the pitching amount calculated by the pitching amount calculating block falls within a predetermined specified range set in advance based on the reference pitching amount which is set by the reference pitching amount setting block.

10. The vehicle detection apparatus according to claim 3, comprising:

a white-line detecting block that detects a plural number of white lines on a road, which white lines are parallel to a direction in which the road extends in the captured image;

an infinite-point detecting block that detects a position of an infinite point in the captured image by detecting an intersection of the plural number of white lines in the captured image; and

a coordinate compensating block that compensates the second coordinate based the position of the infinite point.

11. The vehicle detection apparatus according to claim 4, comprising:

a white-line detecting block that detects a plural number of white lines on a road, which white lines are parallel to a direction in which the road extends in the captured image;

an infinite-point detecting block that detects a position of an infinite point in the captured image by detecting an intersection of the plural number of white lines in the captured image; and

a coordinate compensating block that compensates the second coordinate based the position of the infinite point.

12. A vehicle detection apparatus for detecting vehicles traveling on a road with their lights turned on, comprising:

an image capturing block that captures images on a road;

a light spot detecting block that detects a light spot from an image captured by the image capturing block;

a first distance calculating block that calculates a distance to the light spot based on a horizontal length of the light spot in the captured image;

a second distance calculating block that detects a vertical coordinate of the light spot in the captured image and for calculating a distance to the light spot based on correlated data in which vertical coordinates and distances in a captured image are correlated to each other in advance;

a pitching amount calculating block that calculates a pitching amount that indicates a difference between the distances calculated by the first and second distance calculating blocks; and

a vehicle light spot determining block that determines whether or not the light spot originates from a vehicle, based on the pitching amount.

13. The vehicle detection apparatus according to claim 12, wherein the light spot detected by the light spot detecting block is a horizontally located pair of light spots in the image captured by the image capturing block and

the first distance calculating block is adapted to calculate a distance to the pair of light spots in the captured image, based on a spacing between the pair of light spots.

14. A light control apparatus loaded on a vehicle, for switching headlamps of the vehicle between high and low beams, comprising:

a vehicle detection apparatus for detecting vehicles traveling on a road with their lights turned on; and

light controlling means for switching the headlamps to a low beam when a vehicle is detected by the vehicle detecting means and for switching the headlamps to a high beam when no vehicle is detected by the vehicle detecting means,

wherein the vehicle detection apparatus comprising;

an image capturing block that captures images of a road;

a light spot detecting block that detects a light spot from an image captured by the image capturing block;

a first coordinate detecting block that detects a first coordinate that indicates a vertical coordinate of the light spot in the captured image;

a distance calculating block that calculates a distance to the light spot based on a horizontal length of the light spot in the captured image;

a second coordinate detecting block that detects a second coordinate that indicates a vertical coordinate corresponding to the distance calculated by the distance calculating block, based on correlated data in which vertical coordinates and distances in a captured image are correlated to each other in advance;

a pitching amount calculating block that calculates a pitching amount that indicates a difference between the first coordinate and the second coordinate in the captured image; and

a vehicle light spot determining block that determines whether or not the light spot originates from a light spot of a vehicle, based on the pitching amount.

15. The light control apparatus according to claim 14, wherein

the light spot detecting block detects a pair of horizontally located light spots as the light spot;

the distance calculating block calculates a distance to the pair of light spots constituting the light spot in the captured image, based on a spacing between the pair of light spots; and

the vehicle light spot determining block determines whether or not the pair of light spots originates from a vehicle, based on the pitching amount.

16. The light control apparatus according to claim 14, further comprising:

a ground position estimating block that estimates a ground coordinate that indicates a coordinate of a road surface ground position of a vehicle, when a light spot is assumed to originate from the vehicle, based on the horizontal length of the light spot or the spacing between a pair of light spots constituting the of light spot, which light spot is detected by the light spot detecting block, and based on the first coordinate, wherein

the pitching amount calculating block calculates, as the pitching amount, a difference in vertical direction between the ground coordinate and the second coordinate.

17. The light control apparatus according to claim 14, further comprising:

a storage that stores a position and a pitching amount of a vehicle into memory means in case the light spot has been determined by the vehicle light spot determining block as originating from the vehicle; and

a reference pitching amount setting block that sets a reference pitching amount based on the position and the pitching amount stored in the storage, wherein

the vehicle light spot determining block determines the light spot as originating from a vehicle in case the pitching amount calculated by the pitching amount calculating block falls within a predetermined specified range set in advance based on the reference pitching amount which is set by the reference pitching amount setting block.

18. The light control apparatus according to claim 14, comprising:

a white-line detecting block that detects a plural number of white lines on a road, which white lines are parallel to a direction in which the road extends in the captured image;

an infinite-point detecting block that detects a position of an infinite point in the captured image by detecting an intersection of the plural number of white lines in the captured image; and

a coordinate compensating block that compensates the second coordinate based the position of the infinite point.