Recognition object detecting apparatus
First Claim
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1. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:
- means for generating image data representing a taken image; and
means for detecting a recognition object from the image represented by the image data, whereinthe generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and on a distance between the own vehicle and the recognition obiect, wherein a first distance between the own vehicle and the recognition object is associated with a first luminance range, a second distance between the own vehicle and the recognition object is less than the first distance and is associated with a second luminance range greater than the first luminance range, further wherein, in the generating means, the relation between the luminance and the output pixel values for the first luminance range is represented by a first line and the relation between the luminance and the output pixel values for the second luminance range is represented by a second line, wherein the first line is steeper than the second line, andthe detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images.
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Abstract
A recognition object detecting apparatus is provided which includes an imaging unit which generates image data representing a taken image, and a detection unit which detects a recognition object from the image represented by the image data. The imaging unit has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range. The detection unit binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images.
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Citations
24 Claims
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1. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:
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means for generating image data representing a taken image; and means for detecting a recognition object from the image represented by the image data, wherein the generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and on a distance between the own vehicle and the recognition obiect, wherein a first distance between the own vehicle and the recognition object is associated with a first luminance range, a second distance between the own vehicle and the recognition object is less than the first distance and is associated with a second luminance range greater than the first luminance range, further wherein, in the generating means, the relation between the luminance and the output pixel values for the first luminance range is represented by a first line and the relation between the luminance and the output pixel values for the second luminance range is represented by a second line, wherein the first line is steeper than the second line, and the detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:
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means for generating image data representing a taken image; and means for detecting a recognition object from the image represented by the image data, wherein the generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and a distance between the own vehicle and the recognition object, the detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images, and in the generating means, a range of the output pixel values in a first luminance range per unit luminance width is larger than a range of the output pixel values in a second luminance range per the unit luminance width, the luminance of the second luminance range being larger than the luminance of the first luminance range. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:
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means for generating image data representing a taken image; and means for detecting a recognition object from the image represented by the image data, wherein the generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and a distance between the own vehicle and the recognition object, the detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images, and in the generating means, the relation between luminance and output pixel values is represented by a relation between a plurality of straight lines having different inclinations. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:
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means for generating image data representing a taken image; and means for detecting a recognition object from the image represented by the image data, wherein the generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and a distance between the own vehicle and the recognition object, the detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images, and the recognition object detecting apparatus further comprises; means for detecting, based on the image data, at least one object included in a group of an obstacle, a preceding vehicle, a preceding pedestrian, a preceding object, a stationary vehicle, a stationary pedestrian, a stationary object, an on-coming vehicle, an on-coming pedestrian, an on-coming object, a lane, a road surface condition, a road shape, a light source, a road sign, a traffic signal, an entity which cuts off a field of view of a light-receiving section, and an environmental feature outside a vehicle; and means for performing, according to the object detected by the detecting means, vehicle control regarding at least one of collision avoidance, speed warning, lane departure prevention, rear-end collision warning, inter-vehicle warning, lane departure warning, auto high beam, sign indication, full speed range adaptive cruise control, lane keeping, lane change accident prevention, blind spot warning, blind spot monitoring, automatic lane change, forward cross traffic warning, rearward cross traffic warning, erroneous pedal usage prevention, and automatic parking. - View Dependent Claims (20, 21, 22, 23, 24)
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Specification