Vehicle detecting system

• US 8,749,631 B2
• Filed: 01/21/2009
• Issued: 06/10/2014
• Est. Priority Date: 01/22/2008
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Saito, Toru
• Primary Examiner(s): Cheema, Umar
• Application Number:
  US12/356,994
• Publication Number:
  US 20090184845A1
• Time in Patent Office: 1,966 Days
• Field of Search: 348/143, 348/148
• US Class Current: 348/148
• 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 1/166 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 vehicle detecting system includes image taking means for taking an image of the surroundings of a subject vehicle, vehicle detecting means for detecting a vehicle from the taken image, and lateral-position detecting means for detecting a lateral position of the vehicle in the taken image. The lateral-position detecting means vertically divides, into a plurality of sections, a region set in a portion of the taken image in which an image of the vehicle is included or is presumed to be included. The lateral-position detecting means calculates average brightnesses of pixels belonging to pixel columns vertically extending in the sections and having a width corresponding to one pixel or a plurality of number of pixels. The lateral-position detecting means calculates differences in average brightness between pixel columns adjacent in a lateral direction, and detects the lateral position of the vehicle on the basis of absolute values of the differences.

Claims

1. A vehicle detecting system comprising:

image taking means for taking an image of the surroundings of a subject vehicle;

vehicle detecting means for detecting a vehicle from the taken image; and

lateral-position detecting means for detecting a lateral position of the detected vehicle in the taken image,

wherein the lateral-position detecting means vertically divides, into a plurality of sections, a region set in a portion of the taken image in which an image of the vehicle is included or is presumed to be included, and

wherein the plurality of sections formed within the region are positioned in a manner designed to delineate different vertical sections of the included, or presumed to be included, image of the vehicle,

wherein the lateral-position detecting means calculates average brightnesses of pixels belonging to pixel columns vertically extending in the sections and having a width corresponding to one pixel or a plurality of number of pixels, and

wherein the lateral-position detecting means calculates differences between the average brightnesses of the pixel columns and average brightnesses of adjacent pixel columns adjacent in a lateral direction, and detects the lateral position of the vehicle on the basis of absolute values of the differences.

2. The vehicle detecting system according to claim 1, wherein the lateral-position detecting means detects the lateral position of the vehicle on the basis of the sum of the absolute values of the differences of pixel columns in the sections that have the same lateral coordinate in the taken image.

3. The vehicle detecting system according to claim 1, wherein the lateral-position detecting means detects, as the lateral position of the vehicle, a position of a pixel column that provides the highest peak value, of peak values in the sum of the absolute values of the differences calculated for the sections or the sum of the absolute values of the differences of pixel columns in the sections that have the same lateral coordinate in the taken image, the peaks exceeding a predetermined threshold value, a position of a pixel column having a peak value detected closest to a previously detected lateral position of the vehicle, or a position of a pixel column having a peak value detected farthest from a center position of the vehicle.

4. The vehicle detecting system according to claim 1, wherein the lateral-position detecting means vertically divides the region into at least a lower section serving as an image portion in which a portion of the vehicle hidden by a body of the vehicle is presumed to be included, and at least one other section serving as an other image portion.

5. The vehicle detecting system according to claim 1, wherein the lateral-position detecting means vertically divides the region into at least a lower section serving as an image portion in which a portion of the vehicle hidden by a body of the vehicle is presumed to be included, an upper section serving as an image portion in which an image of a window glass is presumed to be included, and at least one other section serving as an other image portion.

6. The vehicle detecting system according to claim 1, wherein the lateral-position detecting means divides the region into a lower section and at least one other section, or into the lower section, an upper section, and at least one other section, on the basis of a vertical proportion and with the number of sections preset in accordance with a shape of the vehicle detected currently or previously.

7. The vehicle detecting system according to claim 1, wherein, when dividing the region into the sections, the lateral-position detecting means determines a vertical proportion for dividing the region and the number of sections obtained by division, on the basis of a distribution of brightnesses of pixels belonging to a pixel column extending in the vertical direction of the region and having a width equal to one pixel or a predetermined number of pixels.

8. The vehicle detecting system according to claim 1, wherein the lateral-position detecting means adopts right and left lateral positions of the vehicle detected by the lateral-position detecting means or right and left lateral positions of the vehicle detected by the vehicle detecting means or a sensor, the adopted positions providing a lateral width of the vehicle that is closer to a previously detected lateral width of the vehicle.

20. The vehicle detection system according to claim 1, wherein the lateral-position detecting means is configured to determine a value of the average brightnesses of pixels for each respective one of the plurality of vertically separated sections.

21. The vehicle detection system according to claim 1 wherein the plurality of sections formed within the region are positioned to include at least first and second sections of the region that each extend in the horizontal direction and that are arranged in a manner such as to be adjacent in the vertical direction.

9. A vehicle detecting system comprising:

image taking means for taking an image of the surroundings of a subject vehicle;

vehicle detecting means for detecting a vehicle from the taken image as a detected vehicle and for calculating a first lateral position determination of the detected vehicle; and

lateral-position detecting means for detecting a lateral position of the detected vehicle separately from the vehicle detection means, wherein the lateral-position detecting means vertically divides, into a plurality of sections, a region set in a portion of the taken image in which an image of the vehicle is included or is presumed to be included, and wherein the plurality of sections formed within the region are positioned in a manner designed to delineate different vertical sections of the included, or presumed to be included, image of the vehicle,

wherein the lateral-position detecting means calculates average brightnesses of pixels belonging to pixel columns vertically extending in the sections and having a width corresponding to one pixel or a plurality of number of pixels,

wherein the lateral-position detecting means calculates differences between the average brightnesses of the pixel columns and average brightnesses of adjacent pixel columns adjacent in a lateral direction, and determines a second lateral position determination of the detected vehicle on the basis of absolute values of the differences, and wherein the lateral-position detecting means compares the second lateral position determination to the first lateral-position determination and adopts one of the first and second lateral position determinations based on pre-established criteria.

10. The vehicle detecting system according to claim 9, wherein the lateral-position detecting means detects the lateral position of the vehicle on the basis of the sum of the absolute values of the differences of pixel columns in the sections that have the same lateral coordinate in the taken image.

11. The vehicle detecting system according to claim 9, wherein the lateral-position detecting means detects, as the second lateral position determination, a position of a pixel column that provides the highest peak value, of peak values in the sum of the absolute values of the differences calculated for the sections or the sum of the absolute values of the differences of pixel columns in the sections that have the same lateral coordinate in the taken image, the peaks exceeding a predetermined threshold value, a position of a pixel column having a peak value detected closest to a previously detected lateral position of the vehicle, or a position of a pixel column having a peak value detected farthest from a center position of the vehicle.

12. The vehicle detecting system according to claim 9, wherein the lateral-position detecting means vertically divides the region into at least a lower section serving as an image portion in which a portion of the vehicle hidden by a body of the vehicle is presumed to be included, and at least one other section serving as another image portion, and which at least one other section is positioned vertically above the lower section within the region and includes a portion of the vehicle body.

13. The vehicle detecting system according to claim 9, wherein the lateral-position detecting means vertically divides the region into at least a lower section serving as an image portion in which a portion of the vehicle hidden by a body of the vehicle is presumed to be included, an upper section serving as an image portion in which an image of a window glass of the vehicle is presumed to be included, and the vehicle detecting system is configured to carry out a comparison of brightness values independently within each of the upper and lower sections.

14. The vehicle detecting system according to claim 9, wherein the lateral-position detecting means vertically divides the region into a lower section and an upper section or a lower section, upper section and at least one other section on the basis of a vertical proportion and the number of sections is preset in accordance with a shape of the vehicle detected currently or previously.

15. The vehicle detecting system according to claim 14, wherein, when dividing the region into the number of sections, the lateral-position detecting means determines a vertical proportion for dividing the region and the number of sections obtained by division, on the basis of a distribution of brightnesses of pixels belonging to a pixel column extending in the vertical direction of the region and having a width equal to one pixel or a predetermined number of pixels.

16. The vehicle detecting system according to claim 9, wherein the lateral-position detecting means, in conjunction with comparing the second lateral position determination to the first lateral-position determination and adopting one of the first and second lateral position determinations based on pre-established criteria, is configured to adopt both right and left first lateral position determinations or right and left second lateral position determinations, and with the adopted determinations providing a lateral width of the vehicle that is closer to a previously detected lateral width of the vehicle.

17. The vehicle detection system according to claim 9, wherein the vehicle detection means is configured to determine the first lateral position determination from parallax based distance image data derived from the taken image separately from the lateral-position detecting means determination of the second position determination based on the average brightness of pixels in the taken image.

18. The vehicle detection system according to claim 9, wherein the vehicle detecting means comprises a radar and wherein the lateral-position detecting means is configured to determine the second lateral position determination separately from the vehicle detection means determination of the first lateral position determination.

19. The vehicle detection system according to claim 9, wherein the lateral-position detecting means is configured to determine a value of the average brightnesses of pixels for each respective one of the plurality of the vertically separated sections, and wherein the plurality of sections formed within the region are positioned to include at least first and second sections of the region that each extend in the horizontal direction and that are arranged in a manner such as to be adjacent in the vertical direction.