Vehicle-mounted surrounding object recognizing apparatus and drive support apparatus using the same

• US 8,970,357 B2
• Filed: 04/13/2011
• Issued: 03/03/2015
• Est. Priority Date: 04/13/2011
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Usami, Masayuki
• Primary Examiner(s): HOFSASS, JEFFERY A
• Application Number:
  US13/997,825
• Publication Number:
  US 20140022068A1
• Time in Patent Office: 1,420 Days
• Field of Search: 340/425.5, 340/435, 340/436, 340/458, 382/104, 348/148, 356/218
• US Class Current: 340/435
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/112 Vehicle speed
• CPC Class Codes: B60Q 2300/314 Ambient light
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• 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: G06V 20/584 of vehicle lights or traffic lights

Abstract

A vehicle-mounted surrounding object recognizing apparatus, comprising: a camera that captures an environment surrounding an own vehicle; and an image processing device; wherein the image processing device is configured to process an image captured by the camera to calculate an index value of a color component with respect to an image portion having a luminance value greater than a predetermined value, and determine whether the image portion is related to a light from a surrounding vehicle based on a relationship between the calculated index value of a color component and a predetermined threshold, and the predetermined threshold is changed according to a lighting status of a forward lighting device of the own vehicle.

Claims

1. A vehicle-mounted surrounding object recognizing apparatus, comprising:

a camera that captures an environment surrounding an own vehicle; and

an image processing device;

wherein

the image processing device is configured to process an image captured by the camera to calculate, using the single image at every processing cycle, an index value of a color component with respect to an image portion having a luminance value greater than a predetermined value, and determine whether the image portion is related to a light from a surrounding vehicle based on a relationship between the calculated index value of a color component and a predetermined threshold, and

the predetermined threshold is changed according to a lighting status of a forward lighting device of the own vehicle.

2. The vehicle-mounted surrounding object recognizing apparatus of claim 1, wherein the predetermined threshold delimits between the image portion related to the light from the surrounding vehicle and an image portion related to a road side reflection object.

3. The vehicle-mounted surrounding object recognizing apparatus of claim 2, wherein the index value of a color component represents a proportion of a predetermined color component,

if the proportion of the predetermined color component is within a predetermined range corresponding to the predetermined threshold, the image processing device determines that the image portion is related to the road side reflection object.

5. The vehicle-mounted surrounding object recognizing apparatus of claim 1, wherein the lighting status of the forward lighting device of the own vehicle includes whether high beam light is projected to a forward scene from the own vehicle.

7. A drive support apparatus, comprising;

a vehicle-mounted surrounding object recognizing apparatus of claim 1; and

a control apparatus configured to perform a drive support control based on a detection result of the image portion, if it is determined by the vehicle-mounted surrounding object recognizing apparatus that the image portion is related to the light from the surrounding vehicle, wherein

the drive support control is at least one of an approach warning control for warning of an approach status to the surrounding vehicle;

a collision preventing control for preventing a collision with the surrounding vehicle; and

a light distribution control for controlling a illumination area of high beam light with respect to the surrounding vehicle.

4. A vehicle-mounted surrounding object recognizing apparatus, comprising:

a camera that captures an environment surrounding an own vehicle; and

an image processing device;

wherein

the image processing device is configured to process an image captured by the camera to calculate an index value of a color component with respect to an image portion having a luminance value greater than a predetermined value, and determine whether the image portion is related to a light from a surrounding vehicle based on a relationship between the calculated index value of a color component and a predetermined threshold, and

the predetermined threshold is changed according to a lighting status of a forward lighting device of the own vehicle,

wherein the camera is a near infrared camera, and

the lighting status of the forward lighting device of the own vehicle includes whether near infrared light is projected to a forward scene from the own vehicle.

6. A vehicle-mounted surrounding object recognizing apparatus, comprising:

a camera that captures an environment surrounding an own vehicle; and

an image processing device;

wherein

the image processing device is configured to process an image captured by the camera to calculate an index value of a color component with respect to an image portion having a luminance value greater than a predetermined value, and determine whether the image portion is related to a light from a surrounding vehicle based on a relationship between the calculated index value of a color component and a predetermined threshold, and

the predetermined threshold is changed according to a lighting status of a forward lighting device of the own vehicle,

wherein the predetermined threshold is changed according to whether the image portion having a luminance value greater than the predetermined value is located in a region where low beam light is projected but near infrared light is not projected, a region where low beam light and near infrared light are projected, or a region where low beam light is not projected but near infrared light is projected.

8. A vehicle-mounted surrounding object recognizing method, comprising:

capturing, with a camera, an environment surrounding an own vehicle;

processing, with the image processing device, an image captured by the camera to calculate, using the single image at every processing cycle, an index value of a color component with respect to an image portion having a luminance value greater than a predetermined value, and determining whether the image portion is related to a light from a surrounding vehicle based on a relationship between the calculated index value of a color component and a predetermined threshold, wherein

the predetermined threshold is changed according to a lighting status of a forward lighting device of the own vehicle.

9. A vehicle-mounted surrounding object recognizing apparatus, comprising:

a camera that captures an environment surrounding an own vehicle; and

an image processing device;

wherein

the image processing device is configured to process an image captured by the camera to calculate an index value of a color component with respect to an image portion having a luminance value greater than a predetermined value, and determine whether the image portion is related to a road side reflection object based on a relationship between the calculated index value of a color component and a predetermined threshold, and

the predetermined threshold is changed according to a lighting status of a forward lighting device of the own vehicle.