Method and apparatus for identifying a possible collision object

• US 9,305,221 B2
• Filed: 11/18/2013
• Issued: 04/05/2016
• Est. Priority Date: 05/19/2011
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Orecher, Sebastian
• Primary Examiner(s): Koziol, Stephen R
• Assistant Examiner(s): Gilliard, Delomia L
• Application Number:
  US14/082,721
• Publication Number:
  US 20140072176A1
• Time in Patent Office: 869 Days
• Field of Search: 382/103
• US Class Current: 1/1
• 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

Abstract

An imaging unit is arranged in a motor vehicle. The imaging unit is designed for providing, as a function of an image acquired by it, a digital source image of a predefined image size. A first intermediate image of a predefined first intermediate image size is generated by reducing a resolution of the source image for the sake of reducing pixels. Furthermore, a second intermediate image of the predefined image size is generated such that it comprises the first intermediate image. The second intermediate image is analyzed by a predefined detector in order to examine whether an object of a predefined object category is situated in the second intermediate image, the detector being designed for analyzing a predefined image detail and for detecting an object of a predefined object category of a predefined object size range.

Claims

1. A method for detecting a potential collision object in an image, the method comprising the acts of:

acquiring, by a camera arranged in a motor vehicle, the image;

providing, by the camera, a digital source image of a predefined image size as a function of the acquired image;

generating a first intermediate image of a predefined first intermediate image size by reducing a resolution of the digital source image in a sense of reducing pixels;

generating a second intermediate image of the predefined image size based on the first intermediate image, the generated second intermediate image including both the first intermediate image and additional pixels not included in the first intermediate image;

analyzing, via a detector, the second intermediate image to determine whether an object of a predefined object category is located in the second intermediate image, wherein the detector analyzes a predefined image detail and detects the object of the predefined object category of a predefined object size range,

wherein a first pixel value is determined as a function of pixel values of the digital source image or of the first intermediate image, and the additional pixels of the second intermediate image, which are not included within the first intermediate image, have the first pixel value.

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

when the object is detected in the second intermediate image, classifying the object as a potential collision object as a function of at least one of a distance of the motor vehicle from the object and of a speed of the motor vehicle; and

generating a signal to provide a predefined warning of the potential collision object.

3. The method according to claim 1, wherein the first pixel value is representative of an average value of approximately all pixel values of the digital source image or of the first intermediate image.

4. The method according to claim 2, wherein the first pixel value is representative of an average value of approximately all pixel values of the digital source image or of the first intermediate image.

5. The method according to claim 1, wherein the camera acquires a thermal image.

6. The method according to claim 1, wherein the predefined object category comprises predefined types of animals, pedestrians and/or bicyclists located in an edge area of, or on, a road on which the motor vehicle is moving.

7. The method according to claim 6, wherein the predefined types of animals, pedestrians and/or bicyclists are those moving in the edge area of, or on, the road.

8. The method according to claim 1, wherein the act of generating the first intermediate image is carried out by a subsampling of the digital source image in order to reduce the resolution of the digital source image.

9. The method according to claim 1, wherein the first intermediate image size is less than an image size of the digital source image by a predefined factor, which predefined factor represents a square number.

10. A device for detecting a potential collision object in an image acquired by a camera arranged in a motor vehicle and being configured to provide a digital source image of a predefined image size as a function of the acquired image, the device comprising:

a processor and a computer readable medium, the computer readable medium having stored thereon program code segments that

generate a first intermediate image of a predefined first intermediate image size by reducing a resolution of the digital source image in a sense of reducing pixels;

generate a second intermediate image of the predefined image size based on the first intermediate image, wherein the second intermediate image includes both the first intermediate image and additional pixels not included in the first intermediate image; and

analyzes the second intermediate image to determine whether an object of a predefined object category is located in the second intermediate image wherein the analyzing is carried out by analyzing a predefined image detail so as to detect an object of a predefined object category of a predefined object size range,

wherein a first pixel value is determined as a function of pixel values of the digital source image or of the first intermediate image, and the additional pixels of the second intermediate image, which are not included within the first intermediate image, have the first pixel value.

11. A system for a motor vehicle, comprising:

a camera arranged in the motor vehicle, the camera being operatively configured to provide, as a function of an image acquired by the camera, a digital source image of a predefined image size;

a processor and a computer readable medium, the computer readable medium having stored thereon program code segments that

generate a first intermediate image of a predefined first intermediate image size by reducing a resolution of the digital source image in a sense of reducing pixels;

generate a second intermediate image of the predefined image size based on the first intermediate image, wherein the second intermediate image includes both the first intermediate image and additional pixels not included in the first intermediate image; and

analyzes the second intermediate image to determine whether an object of a predefined object category is located in the second intermediate image wherein the analyzing is carried out by analyzing a predefined image detail so as to detect an object of a predefined object category of a predefined object size range,

wherein a first pixel value is determined as a function of pixel values of the digital source image or of the first intermediate image, and the additional pixels of the second intermediate image, which are not included within the first intermediate image, have the first pixel value.