Detection region modification for driving assistance apparatus and driving assistance method
First Claim
1. A driving assistance device comprising:
- a turning state detection unit that detects a turning state of a host vehicle;
an imaging unit configured to be installed on the host vehicle, configured to capture an image of a predetermined range including detection regions corresponding to an adjacent traffic lane at a rear-left of the host vehicle and a rear-right of the host vehicle in a non-turning state, and configured to output the captured image;
a solid object detection unit that detects a trailing vehicle within the detection regions in a bird'"'"'s-eye view image converted from the captured image using viewpoint conversion; and
a detection region modification unit that alters an area of at least one of the detection regions so that the at least one of the detection regions in the bird'"'"'s-eye view image inside of a turn becomes smaller within a range including a region closest to the host vehicle compared to the non-turning state when the turning state detection unit detects that the host vehicle is in the turning state.
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Abstract
A driving assistance device is provided with a turning state detection unit, an imaging unit, a solid object detection unit and a detection region modification unit. When the turning state detection unit detects that a host vehicle is in a turning state, the detection region modification unit alters a position of a detection region with respect to the host vehicle, or alters a shape or an area of the detection region based on the turning state of the host vehicle. For example, the detection region modification unit sets a shorter region length of the detection region as the turning radius of the host vehicle becomes smaller. Hereby, the region closest to the host vehicle is set, to a limited extent, as the detection regions.
16 Citations
13 Claims
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1. A driving assistance device comprising:
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a turning state detection unit that detects a turning state of a host vehicle; an imaging unit configured to be installed on the host vehicle, configured to capture an image of a predetermined range including detection regions corresponding to an adjacent traffic lane at a rear-left of the host vehicle and a rear-right of the host vehicle in a non-turning state, and configured to output the captured image; a solid object detection unit that detects a trailing vehicle within the detection regions in a bird'"'"'s-eye view image converted from the captured image using viewpoint conversion; and a detection region modification unit that alters an area of at least one of the detection regions so that the at least one of the detection regions in the bird'"'"'s-eye view image inside of a turn becomes smaller within a range including a region closest to the host vehicle compared to the non-turning state when the turning state detection unit detects that the host vehicle is in the turning state. - View Dependent Claims (2, 3, 4, 5, 6, 9, 10, 11, 12)
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7. A driving assistance device comprising:
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a turning state detection unit that detects a turning state of a host vehicle; an imaging unit configured to be installed on the host vehicle, and configured to capture an image of a predetermined range including detection regions set at a rear-left of the host vehicle and a rear-right of the host vehicle; a solid object detection unit that detects a solid object within the detection regions based on the captured image; and a detection region modification unit configured to rotate and move a position of at least one of the detection regions with respect to the host vehicle in a reverse direction to a turning direction of the host vehicle based on the turning state of the host vehicle when the turning state detection unit detects that the host vehicle is in the turning state to prevent false recognition of a solid object, the detection region modification unit rotates and moves the at least one of the detection region so that an angle of rotation for the detection region corresponding to an inside of a turn is larger than the angle of rotation for the detection region corresponding to an outside of the turn. - View Dependent Claims (8)
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13. A driving assistance method comprising:
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imaging a predetermined range including detection regions corresponding to an adjacent traffic lane at a rear-left of a host vehicle and a rear-right of the host vehicle in a non-turning state, and detecting a trailing vehicle within the detection regions; detecting a turning state of the host vehicle; and altering an area of at least one of the detection regions so that the at least one of the detection regions in the bird'"'"'s-eye view image inside of a turn becomes smaller within a range including a region closest to the host vehicle compared to the non-turning state.
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Specification