Front vehicle detecting method and front vehicle detecting apparatus

• US 8,848,980 B2
• Filed: 09/28/2012
• Issued: 09/30/2014
• Est. Priority Date: 09/30/2011
• Status: Active Grant

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: Du, Cheng, Liu, Liyan, Wang, Xiaomeng, Hu, Ping
• Primary Examiner(s): Bella, Matthew
• Assistant Examiner(s): Heidemann, Jason
• Application Number:
  US13/630,166
• Publication Number:
  US 20130083971A1
• Time in Patent Office: 732 Days
• Field of Search: None
• US Class Current: 382/103
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights

Abstract

A method for detecting a front vehicle comprises: a moving light detecting step of detecting a front moving light area of an own vehicle in at least one image of a front scene of the own vehicle obtained at a time; a vehicle candidate generating step of extracting a light area pair from the detected front moving light area so that a front vehicle candidate is generated; and a vehicle candidate verifying step of verifying that the front vehicle candidate is the front vehicle in cases where the front vehicle candidate meets predetermined characteristics of a vehicle light.

Claims

1. A method for detecting a front vehicle, comprising:

detecting a front moving light area of an own vehicle in at least one image of a front scene of the own vehicle obtained at a time;

detecting a vehicle layer from a first image of the at least one image, the detecting the vehicle layer including,

dividing the first image into a plurality of layers,

determining a number of lights in each of the plurality of layers,

determining a selected layer of the plurality of layers, the selected layer having a highest number of lights among the plurality of layers,

determining whether the highest number of lights exceeds a threshold, and

determining the vehicle layer based on whether the highest number of lights exceeds the threshold, and

eliminating a moving light area appearing above the vehicle layer from the front moving light area;

extracting a light area pair from the front moving light area generated from the eliminating such that a front vehicle candidate is generated; and

verifying that the front vehicle candidate is the front vehicle in cases where the front vehicle candidate meets characteristics of a vehicle light.

2. The method according to claim 1, further comprising:

a vehicle chasing step of matching a location of the front vehicle determined in the first image of the at least one image to a location of the front vehicle determined in a first image of at least one image obtained at a previous time so as to track the location of the front vehicle.

3. A method for detecting a front vehicle, comprising:

a moving light detecting step of detecting a front moving light area of an own vehicle in at least one image of a front scene of the own vehicle obtained at a time;

a vehicle candidate generating step of extracting a light area pair from the detected front moving light area so that a front vehicle candidate is generated; and

a vehicle candidate verifying step of verifying that the front vehicle candidate is the front vehicle in cases where the front vehicle candidate meets characteristics of a vehicle light;

wherein the vehicle candidate generating step includes,

a light pair extracting step of identifying the light area pair by approximately symmetric light areas having a similar speed in a first image of the at least one image,

a step of generating a straight line across each possible light area pair, calculating the gradients of the straight lines, and calculating the numbers of lights crossed by the straight lines;

a step of detecting the straight line that crosses most lights; and

a step of removing the lights crossed by the straight line that crosses the most lights in cases where the gradient of the straight line that crosses the most lights is within a gradient range to generate the light area pair; and

a light pair combining step of combining the light areas that constitute the light area pair into one area so that the front vehicle candidate is obtained.

4. An apparatus for detecting a front vehicle, comprising:

a moving light detecting unit configured to detect a front moving light area of an own vehicle in at least one image of a front scene of the own vehicle obtained at a time;

a vehicle layer extracting unit configured to detect a vehicle layer from a first image of the at least one image, the detecting the vehicle layer including,

dividing the first image into a plurality of layers,

determining a number of lights in each of the plurality of layers,

determining a selected layer of the plurality of layers, the selected layer having a highest number of lights among the plurality of layers,

determining whether the highest number of lights exceeds a threshold, and

determining the vehicle layer based on whether the highest number of lights exceeds the threshold, the front vehicle candidate being based on the vehicle layer, and

eliminating a moving light area appearing above the vehicle layer from the front moving light area;

a vehicle candidate generating unit configured to extract a light area pair from the front moving light area generated from the eliminating such that a front vehicle candidate is generated; and

a vehicle candidate verifying unit configured to verify that the front vehicle candidate is the front vehicle in cases where the front vehicle candidate meets characteristics of a vehicle light.

5. The apparatus according to claim 4, further comprising:

a vehicle chasing unit for matching a location of the front vehicle determined in the first image of the at least one image to a location of the front vehicle determined in a first image of at least one image obtained at a previous time so as to track the location of the front vehicle.

6. An apparatus for detecting a front vehicle, comprising:

a moving light detecting unit configured to detect a front moving light area of an own vehicle in at least one image of a front scene of the own vehicle obtained at a time;

a vehicle candidate generating unit configured to extract a light area pair from the front moving light area generated from the eliminating such that a front vehicle candidate is generated;

a vehicle candidate verifying unit configured to verify that the front vehicle candidate is the front vehicle in cases where the front vehicle candidate meets characteristics of a vehicle light, wherein the vehicle candidate generating unit is configured to

extract the light area pair from approximately symmetric light areas having a similar speed in a first image of the at least one image,

generate a straight line across each possible light area pair, calculating the gradients of the straight lines, and calculating the numbers of lights crossed by the straight lines,

detect the straight line that crosses most lights, and

a step of remove the lights crossed by the straight line that crosses the most lights in cases where the gradient of the straight line that crosses the most lights is within a gradient range to generate the light area pair; and

a light pair combining unit configured to combine the light areas that constitute the light area pair into one area so that the front vehicle candidate is obtained.