Vehicle exterior environment recognition apparatus

• US 10,442,343 B2
• Filed: 11/22/2016
• Issued: 10/15/2019
• Est. Priority Date: 11/25/2015
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Ogawa, Genya
• Primary Examiner(s): Rahman, Mohammad J
• Application Number:
  US15/359,201
• Publication Number:
  US 20170144587A1
• Time in Patent Office: 1,057 Days
• Field of Search: None
• CPC Class Codes: B60Q 1/0023 the element being a sensor, e.g. distance sensor, camera
• 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 2300/3321 Detection of streetlights
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: G06V 10/44 Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: H05B 45/10 Controlling the intensity of the light
• CPC Class Codes: H05B 47/125 by using cameras
• CPC Class Codes: Y02B 20/40 Control techniques providing energy savings, e.g. smart controller or presence detection

Abstract

A vehicle exterior environment recognition apparatus includes a computer and an illumination mechanism. The computer serves as a vehicle extractor that extracts a tail lamp of a preceding vehicle, a preceding vehicle recognizer that recognizes the preceding vehicle on a basis of the extracted tail lamp, and a light-distribution controller that determines light distribution of a headlamp. The illumination mechanism switches between a low beam and a high beam on a basis of instruction issued by the light-distribution controller. The vehicle extractor determines, on a basis of an angle of view and a depth distance of a block in the image, and a cut-off line angle of the high beam, whether the block is irradiated with the high beam, and changes, on a basis of a result of the determination as to whether the block is irradiated, thresholds that determine whether the tail lamp is the tail lamp.

Claims

1. A vehicle exterior environment recognition apparatus comprising a computer, wherein the computer is configured to:

capture, using an image-capturing device, an image of an environment surrounding an own vehicle;

determine whether an object in the image is irradiated with a low beam of a headlamp of the own vehicle or a high beam of the headlamp of the own vehicle;

when the object in the image is irradiated with the low beam of the headlamp of the own vehicle, identify the object as a tail lamp of a preceding vehicle traveling in front of the own vehicle based on determining that luminance of the object satisfies a first luminance threshold; and

when the object in the image is irradiated with the high beam of the headlamp of the own vehicle, identify the object as the tail lamp of the preceding vehicle traveling in front of the own vehicle based on determining that the luminance of the object satisfies a second luminance threshold, wherein the second luminance threshold differs from the first luminance threshold.

5. The vehicle exterior environment recognition apparatus according to claim 1,

wherein the computer is connected to an illumination mechanism equipped on the own vehicle, the illumination mechanism being configured to cause the headlamp to emit one or both of the low beam and the high beam, the illumination mechanism being configured to vary an irradiation region irradiated with where the high beam in the environment surrounding the own vehicle based on detecting the objects in the image,

wherein the computer is configured to:

acquire a cut-off line angle from the illumination mechanism by communicating with the illumination mechanism, the cut-off line angle corresponding to the irradiation region where the high beam is irradiated;

determine a position of the object in the environment surrounding the own vehicle based on the image; and

determine a depth distance of the object, wherein the depth distance is a distance from the image-capturing device mounted on the own vehicle to the object in the environment surrounding the own vehicle based on the image;

wherein whether the object in the image is irradiated with the high beam of the headlamp of the own vehicle is determined based on the position of the object, the cut-off line angle of the high beam of the headlamp of the own vehicle, and the depth distance of the object.

6. The vehicle exterior environment recognition apparatus according to claim 5, wherein

the cut-off line angle of the high beam is determined from a table,

the table includes distance ranges and cut-off line angles associated with the respective distance ranges,

the cut-off line angles are each based on a depth distance from the own vehicle which is shortest in corresponding one of the distance ranges, and

the cut-off line angle of the high beam is one of the cut-off line angles which is associated with corresponding one of the distance ranges.

7. The vehicle exterior environment recognition apparatus according to claim 6, wherein the distance ranges are narrower in a depth direction as the depth distance from the own vehicle is shorter.

8. The vehicle exterior environment recognition apparatus according to claim 1,

wherein the computer is configured to change, based on determining that the object in the image is irradiated with the high beam, the first luminance threshold to the second luminance threshold,

wherein the computer is configured to maintain, based on determining that the object in the image is not irradiated with the high beam, the first luminance threshold,

wherein the second luminance threshold is more likely than the first luminance threshold to prevent the object to be erroneously identified as the tail lamp, and

wherein the second luminance threshold is more stringent than the first luminance threshold if the second luminance threshold and the first luminance threshold are used under same conditions excluding a condition where the object is irradiated with the high beam.

2. A vehicle exterior environment recognition apparatus comprising a computer, wherein the computer is configured to:

capture, using an image-capturing device, an image of an environment surrounding an own vehicle;

determine whether an object in the image is irradiated with a low beam of a headlamp of the own vehicle or a high beam of the headlamp of the own vehicle;

when the object in the image is irradiated with the low beam of the headlamp of the own vehicle, identify the object as a headlamp of an oncoming vehicle approaching the own vehicle based on determining that luminance of the object satisfies a first luminance threshold; and

when the object in the image is irradiated with the high beam of the headlamp of the own vehicle, identify the object as a headlamp of the oncoming vehicle approaching the own vehicle based on determining that luminance of the object satisfies a second luminance threshold, wherein the second luminance threshold differs from the first luminance threshold.

9. The vehicle exterior environment recognition apparatus according to claim 2,

wherein the computer is connected to an illumination mechanism equipped on the own vehicle, the illumination mechanism being configured to cause the headlamp to emit one or both of the low beam and the high beam, the illumination mechanism being configured to vary an irradiation region irradiated with where the high beam in the environment surrounding the own vehicle based on detecting the objects in the image,

wherein the computer is configured to:

acquire a cut-off line angle from the illumination mechanism by communicating with the illumination mechanism, the cut-off line angle corresponding to the irradiation region where the high beam is irradiated;

determine a position of the object in the environment surrounding the own vehicle based on the image; and

determine a depth distance of the object, wherein the depth distance is a distance from the image-capturing device mounted on the own vehicle to the object in the environment surrounding the own vehicle based on the image,

wherein whether the object in the image is irradiated with the high beam of the headlamp of the own vehicle is determined based on the position of the object, the cut-off line angle of the high beam of the headlamp of the own vehicle, and the depth distance of the object.

10. The vehicle exterior environment recognition apparatus according to claim 9, wherein

the cut-off line angle of the high beam is determined from a table,

the table includes distance ranges and cut-off line angles associated with the respective distance ranges,

the cut-off line angles are each based on a depth distance from the own vehicle which is shortest in corresponding one of the distance ranges, and

the cut-off line angle of the high beam is one of the cut-off line angles which is associated with corresponding one of the distance ranges.

11. The vehicle exterior environment recognition apparatus according to claim 10, wherein the distance ranges are narrower in a depth direction as the depth distance from the own vehicle is shorter.

12. The vehicle exterior environment recognition apparatus according to claim 2,

wherein the computer is configured to change, based on determining that the object in the image is irradiated with the high beam, the first luminance threshold to the second luminance threshold,

wherein the computer is configured to maintain, based on determining that the object in the image is not irradiated with the high beam, the first luminance threshold,

wherein the second luminance threshold is more likely than the first luminance threshold to prevent the object to be erroneously identified as the headlamp, and

wherein the second luminance threshold is more stringent than the first luminance threshold if the second luminance threshold and the first luminance threshold are used under same conditions excluding a condition where the object is irradiated with the high beam.

3. A vehicle exterior environment recognition apparatus comprising:

circuitry that

receives a first image from a first image capturing device and a second image from a second image capturing device, the first image capturing device and the second image capturing device being mounted on an own vehicle, the first image capturing device being different from the second image capturing device, the first image and the second image capturing an environment surrounding the own vehicle;

determines whether an object in both the first image and the second image is irradiated with a low beam of a headlamp of the own vehicle or a high beam of the headlamp of the own vehicle;

when the object in both the first image and the second image is irradiated with the low beam of the headlamp of the own vehicle, identifies the object as a tail lamp of a preceding vehicle traveling in front of the own vehicle based on determining that luminance of the object satisfies a first luminance threshold; and

when the object in both the first image and the second image is irradiated with the high beam of the headlamp of the own vehicle, identifies the object as the tail lamp of the preceding vehicle traveling in front of the own vehicle based on determining that the luminance of the object satisfies a second luminance threshold, wherein the second luminance threshold differs from the first luminance threshold.

13. The vehicle exterior environment recognition apparatus according to claim 3,

wherein the circuitry is connected to an illumination mechanism equipped on the own vehicle, the illumination mechanism being configured to cause the headlamp to emit one or both of the low beam and the high beam, the illumination mechanism being configured to vary an irradiation region irradiated with where the high beam in the environment surrounding the own vehicle based on detecting the objects in the image,

wherein the circuitry

acquires a cut-off line angle from the illumination mechanism by communicating with the illumination mechanism, the cut-off line angle corresponding to the irradiation region where the high beam is irradiated;

determines a position of the object in the environment surrounding the own vehicle based on the first image and the second image; and

determines a depth distance of the object, wherein the depth distance is determined based a first distance from the first image capturing device mounted on the own vehicle to the object in the environment surrounding the own vehicle and a second distance from the second image capturing device mounted on the own vehicle to the object in the environment surrounding the own vehicle,

wherein whether the object in the image is irradiated with the high beam of the headlamp of the own vehicle is determined based on the position of the object, the cut-off line angle of the high beam of the headlamp of the own vehicle, and the depth distance of the object.

14. The vehicle exterior environment recognition apparatus according to claim 13, wherein

the cut-off line angle of the high beam is determined from a table,

the table includes distance ranges and cut-off line angles associated with the respective distance ranges,

the cut-off line angles are each based on a depth distance from the own vehicle which is shortest in corresponding one of the distance ranges, and

the cut-off line angle of the high beam is one of the cut-off line angles which is associated with corresponding one of the distance ranges.

15. The vehicle exterior environment recognition apparatus according to claim 14, wherein the distance ranges are narrower in a depth direction as the depth distance from the own vehicle is shorter.

16. The vehicle exterior environment recognition apparatus according to claim 3,

wherein the circuitry changes, based on determining that the object in the image is irradiated with the high beam, the first luminance threshold to the second luminance threshold,

wherein the circuitry maintains, based on determining that the object in the image is not irradiated with the high beam, the first luminance threshold,

wherein the second luminance threshold is more likely than the first luminance threshold to prevent the object to be erroneously identified as the tail lamp, and

wherein the second luminance threshold is more stringent than the first luminance threshold if the second luminance threshold and the first luminance threshold are used under same conditions excluding a condition where the object is irradiated with the high beam.

4. A vehicle exterior environment recognition apparatus comprising:

circuitry that

receives a first image from a first image capturing device and a second image from a second image capturing device, the first image capturing device and the second image capturing device being mounted on an own vehicle, the first image capturing device being different from the second image capturing device, the first image and the second image comprising a surrounding environment of the own vehicle;

determines whether an object is irradiated with a low beam of a head lamp of the own vehicle or a high beam of a headlamp of the own vehicle;

when the object in the image is irradiated with the low beam of the headlamp of the own vehicle, identifies the object as a headlamp of an oncoming vehicle approaching the own vehicle based on determining that luminance of the object satisfies a first luminance threshold; and

when the object in the image is irradiated with the high beam of the headlamp of the own vehicle, identifies the object as the headlamp of the oncoming vehicle approaching the own vehicle based on determining that the luminance of the object satisfies a second luminance threshold, wherein the second luminance threshold differs from the first luminance threshold.

17. The vehicle exterior environment recognition apparatus according to claim 4,

wherein the circuitry is connected to an illumination mechanism equipped on the own vehicle, the illumination mechanism being configured to cause the headlamp to emit one or both of the low beam and the high beam, the illumination mechanism being configured to vary an irradiation region irradiated with where the high beam in the environment surrounding the own vehicle based on detecting the objects in the image,

wherein the circuitry

acquires a cut-off line angle from the illumination mechanism by communicating with the illumination mechanism, the cut-off line angle corresponding to the irradiation region where the high beam is irradiated;

determines a position of the object in the environment surrounding the own vehicle based on the first image and the second image; and

determines a depth distance of the object, wherein the depth distance is determined based a first distance from the first image capturing device mounted on the own vehicle to the object in the environment surrounding the own vehicle and a second distance from the second image capturing device mounted on the own vehicle to the object in the environment surrounding the own vehicle,

wherein whether the object in the image is irradiated with the high beam of the headlamp of the own vehicle is determined based on the position of the object, the cut-off line angle of the high beam of the headlamp of the own vehicle, and the depth distance of the object.

18. The vehicle exterior environment recognition apparatus according to claim 17, wherein

the cut-off line angle of the high beam is determined from a table,

the table includes distance ranges and cut-off line angles associated with the respective distance ranges,

the cut-off line angles are each based on a depth distance from the own vehicle which is shortest in corresponding one of the distance ranges, and

the cut-off line angle of the high beam is one of the cut-off line angles which is associated with corresponding one of the distance ranges.

19. The vehicle exterior environment recognition apparatus according to claim 18, wherein the distance ranges are narrower in a depth direction as the depth distance from the own vehicle is shorter.

20. The vehicle exterior environment recognition apparatus according to claim 4,

wherein the circuitry changes, based on determining that the object in the image is irradiated with the high beam, the first luminance threshold to the second luminance threshold,

wherein the circuitry maintains, based on determining that the object in the image is not irradiated with the high beam, the first luminance threshold,

wherein the second luminance threshold is more likely than the first luminance threshold to prevent the object to be erroneously identified as the headlamp, and

wherein the second luminance threshold is more stringent than the first luminance threshold if the second luminance threshold and the first luminance threshold are used under same conditions excluding a condition where the object is irradiated with the high beam.