Vehicular acceleration suppression device

• US 9,616,885 B2
• Filed: 11/22/2013
• Issued: 04/11/2017
• Est. Priority Date: 11/27/2012
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Hayakawa, Yasuhisa, Fukata, Osamu, Morimoto, Akira, Oiki, Daisuke, Tanaka, Daisuke
• Primary Examiner(s): Do, Truc M
• Assistant Examiner(s): Whittington, Jess
• Application Number:
  US14/647,647
• Publication Number:
  US 20160039409A1
• Time in Patent Office: 1,236 Days
• Field of Search: None
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: G06T 1/00 General purpose image data processing
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A vehicular acceleration suppression device reduces the degradation in the drive performance due to the acceleration suppression control activated outside the parking region. A parking frame line candidate which is a candidate of a parking frame line is extracted from a bird'"'"'s-eye view image acquired by performing a bird'"'"'s-eye view conversion on a captured image around a vehicle, and a parking frame line candidate corresponding line corresponding the parking frame line candidate is extracted from the captured image of the front of the vehicle. Then, the parking frame line candidate corresponding to the parking frame line candidate corresponding line length of which is longer than a parking frame line length threshold is eliminated from the candidate to be detected as the parking frame.

Claims

1. A vehicular acceleration suppression device, comprising:

a camera configured to capture an image of a region including a road surface around a vehicle; and

a controller configured to;

detect an acceleration manipulation amount of an acceleration manipulation element manipulated by a driver to instruct acceleration,

control the acceleration to be generated at the vehicle depending on the detected acceleration manipulation amount,

cut off a partial image from an image captured from the camera,

create a bird'"'"'s-eye view image based on the partial image,

extract a line located on the road surface from the bird'"'"'s-eye view image as a parking frame line candidate,

detect a parking frame from the parking frame line candidate,

perform an acceleration suppression control which reduces the controlled acceleration based on the detected parking frame,

extract a parking frame line candidate corresponding line corresponding to the extracted parking frame line candidate from the captured image of the front of the vehicle captured by the camera, and

eliminate the parking frame line candidate corresponding to the parking frame line candidate corresponding line from candidates to be detected as the parking frame, when it is determined that a length of the parking frame line candidate corresponding line is longer than a predefined parking frame line length threshold,

wherein a segment of the parking frame line candidate corresponding line does not appear in the bird'"'"'s-eye view image is extracted from a portion of the captured image of the front of the vehicle, the portion being other than the partial image converted into the bird'"'"'s-eye view image.

2. The vehicular acceleration suppression device according to claim 1, wherein the controller is configured to

detect a line in the captured image corresponding to the parking frame line candidate as a portion of the parking frame line candidate corresponding line, and

extract a remaining portion of the parking frame line candidate corresponding line from a search area predefined as an image region which extends from a far end of the portion of the parking frame line candidate corresponding line toward the vehicle and having a width equal to or larger than a width of the portion of the parking frame line candidate corresponding line.

3. The vehicular acceleration suppression device according to claim 2, wherein the controller is configured to eliminate the parking frame line candidate in the bird'"'"'s-eye view image corresponding to the portion of the parking frame line candidate corresponding line from the candidates to be detected as the parking frame, when it is determined that that an extension line of the portion of the parking frame line candidate corresponding line departs from the search area in between end portions of the search area.

4. The vehicular acceleration suppression device according to claim 1, wherein the controller is further configured to:

detect an end portion on a farther end of the extracted parking frame line candidate from the vehicle from the bird'"'"'s-eye view image, and

when the controller determines that the length of the parking frame line candidate corresponding line is longer than the parking frame line length threshold and the controller detects the end portion on the farther end of the parking frame line candidate corresponding to the parking frame line candidate corresponding line in the bird'"'"'s-eye view image, the controller keeps the parking frame line candidate as the candidate to be detected as the parking line.

5. The vehicular acceleration suppression device according to claim 1, wherein the controller is further configured to detect a cross line crossing the parking frame line candidate corresponding line at an angle equal to or smaller than a predefined crossing angle threshold, and wherein

when it is determined that the length of the parking frame line candidate corresponding line is longer than the parking frame line length threshold, and when it is determined based on a detection result by the controller, that the cross line which crosses the parking frame line candidate corresponding line at a length position equal to or shorter than the parking frame line length threshold is detected, and that the cross line has a length equal to or longer than a predefined cross line length threshold is detected, the controller keeps the parking frame line candidate corresponding to the parking frame line candidate corresponding line as the candidate to be detected as the parking line.

6. The vehicular acceleration suppression device according to claim 1, wherein

the controller is configured to:

detect a first edge pixel having a brightness equal to or larger than a first brightness threshold which is a predefined threshold of brightness, in the bird'"'"'s-eye view image, to extract the parking frame line candidate based on the first edge pixel, and

detect a second edge pixels having a brightness equal to or larger than a second brightness threshold which is a predefined threshold of brightness smaller than the first brightness threshold, in the captured image, to extract the parking frame line candidate corresponding line based on the second edge pixel.

7. The vehicular acceleration suppression device according to claim 1, wherein the controller is configured to eliminate the parking frame line candidate to be detected as the parking frame, from the candidates parking frame lines, only when a pair of two lines adjoining each other in the bird'"'"'s-eye view image are detected.

8. The vehicular acceleration suppression device according to claim 1, further comprising:

a steering angle sensor configured to detect a steering manipulation amount of a steering manipulation element manipulated by the driver to steer wherein the controller is configured to;

detect a turning motion of the vehicle based on the steering manipulation amount and

eliminate the parking frame line candidate from the candidates to be detected as the parking frame, when the controller determines, based on the turning motion, that the vehicle performs the turning motion satisfying a predefined turning condition.