Image processing device and vehicle detection device provided with the same

• US 8,207,834 B2
• Filed: 01/30/2009
• Issued: 06/26/2012
• Est. Priority Date: 02/01/2008
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Takemura, Masayuki, Muramatsu, Shoji, Monji, Tatsuhiko, Otsuka, Yuji
• Primary Examiner(s): Mehmood, Jennifer
• Assistant Examiner(s): MORTELL, JOHN F
• Application Number:
  US12/363,129
• Publication Number:
  US 20090195410A1
• Time in Patent Office: 1,243 Days
• Field of Search: 340/425.5
• US Class Current: 340/425.5
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A virtual vehicle which approaches to a monitor-side vehicle and a virtual background are defined in a camera image, and a region in which a virtual vehicle moves fast with respect to a virtual background is defined as a first region F1, and a region in which a virtual vehicle moves slowly with respect to a virtual background is defined as a second region F2. Then, the first region F1 and the second region F2 combined with an actual camera image. In the first region F1, in which the virtual vehicle moves fast, a monitored vehicle is detected by a movement aspect of feature portions in the region, and in the second region F2, in which the virtual vehicle moves slowly, a monitored vehicle is detected by pattern recognition.

Claims

1. An image processing device for analyzing an image obtained by an in-vehicle camera in a first vehicle, and detecting the presence of a second vehicle in proximity to the first vehicle, the image processing device comprising:

a region defining section, wherein there are provided i) a virtual background in a common image that is present at both a vehicle detection time and at an earlier time that precedes the vehicle detection time by a predetermined time-period, and ii) a virtual vehicle moving at a predetermined speed in the common image present at both the vehicle detection time and the earlier time;

wherein a difference is obtained between movement of the virtual background from the earlier time to the vehicle detection time, and movement of the virtual vehicle from the earlier time to the vehicle detection time; and

wherein the region defining section defines for the image at the vehicle detection time a first region for which the difference is equal to or larger than a predetermined value, and a second region for which the difference is less than the predetermined value;

a first image processing section which detects the presence of a vehicle from movement of a common feature portion that is present in both the first region of an actual image obtained at the vehicle detection time and a corresponding region in an actual image obtained at the earlier time;

a second image processing section which detects the presence of a vehicle according to whether a shape pattern analogous to any of a plurality of previously stored shape patterns exists in the second region in the actual image at the vehicle detection time; and

an output section which outputs a warning notification that the second vehicle exists in proximity to the first vehicle, based on the detection results of the first image processing section and the second image processing section,

wherein the region defining section;

obtains a position of the first vehicle and map information around the first vehicle from a car navigation device, and derives, from the position of the first vehicle and the map information, the shape of a road on which the first vehicle is traveling;

or

derives the shape of the road on which the first vehicle is traveling from the image obtained by the in-vehicle camera before the region defining section defines the first region and the second region in the image at the vehicle detection time; and

applies the road with the derived shape to the common image at the earlier time and the vehicle detection time, and defines the virtual background and the virtual vehicle in the road with the derived shape.

2. The image processing device according to claim claim 1, wherein:

the region defining section assumes a vehicle traveling on the road with the derived shape as the virtual vehicle.

3. The image processing device according to claim 1, wherein the region defining section:

assumes a vehicle moving toward the first vehicle as the virtual vehicle;

obtains a vehicle speed of the first vehicle;

defines a speed faster than the vehicle speed of the first vehicle as the predetermined speed of the virtual vehicle if the camera images a rear area of the first vehicle, and defines a speed slower than the vehicle speed of the first vehicle as the predetermined speed of the virtual vehicle if the camera images a front area of the first vehicle.

4. The image processing device according to claim 1, wherein:

the first region in the image at the vehicle detection time includes a portion of the first region side in the second region; and

the second region in the image at the vehicle detection time includes a region portion of the second region side in the first region; and

the first portion and the second portion overlap by a predetermined width in the image.

5. The image processing device according to claim 1, wherein:

the first image processing section detects the presence of an approaching vehicle from a movement pattern of a feature portion with respect to surroundings of the feature portion.

6. The image processing device according to claim 1, wherein:

if a shape pattern analogous to any of a plurality of previously stored shape patterns exists in the second region of the image obtained by the in-vehicle camera at the vehicle detection time, the second image processing section stores the shape pattern and the size of the shape pattern; and

if the shape pattern is stored before the vehicle detection time and if the size of the shape pattern at the vehicle detection time is larger than the size of the shape pattern stored before the vehicle detection time, the second image processing section determines that a vehicle is approaching.

7. The image processing device according to claim 1, wherein:

if i) a notification that the second vehicle exists in proximity to the first vehicle is received from a radar device which irradiates the surroundings of the first vehicle with radar and analyzes a reflected wave of the radar to detect the presence of the second vehicle that is in proximity to the first vehicle, and ii) the first image processing section or the second image processing section also detects the presence of the second vehicle in proximity to the first vehicle,

then the output section outputs the warning notification.

8. A vehicle detection device, comprising:

the image processing device according to claim 1; and

a camera.