Specific object detection apparatus

• US 10,789,492 B2
• Filed: 08/21/2018
• Issued: 09/29/2020
• Est. Priority Date: 08/23/2017
• Status: Active Grant

• Current Assignee: Stanley Electric Company Limited
• Original Assignee: Stanley Electric Company Limited
• Inventors: Ueki, Ryuji, Kimura, Takako, Uchida, Mitsuhiro
• Primary Examiner(s): Tsai, Tsung Yin
• Application Number:
  US16/107,584
• Publication Number:
  US 20190065870A1
• Time in Patent Office: 770 Days
• 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 2300/054 Variable non-standard intensity, i.e. emission of various beam intensities different from standard intensities, e.g. continuous or stepped transitions of intensity
• CPC Class Codes: B60Q 2300/3321 Detection of streetlights
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights

Abstract

Provided is a specific object detection apparatus capable of detecting a specific object even when a self-vehicle is positioned at a distance from the specific object during bad weather. A specific object detection apparatus 20 includes: imaging means (an imaging unit) 21 which captures a specific object V1 including a light source 11 driven based on a PWM signal with a frequency f and a duty ratio D, the specific object V1 being captured at a frame rate of f/D fps or higher; detecting means (a detecting unit) 22a which detects a relatively bright area in an image captured by the imaging means (imaging unit) 21; calculating means (a calculating unit) 22b which calculates a lighting frequency of the relatively bright area detected by the detecting means (detecting unit) 22a; and determining means (a determining unit) 22c which determines that, when the lighting frequency calculated by the calculating means (calculating unit) 22b is a frequency set in advance, the relatively bright area detected by the detecting means (detecting unit) 22a is a specific object.

Claims

1. A vehicle detection apparatus comprising:

imaging means which captures an other vehicle including a light source driven based on a PWM signal with a frequency f and a duty ratio D, the other vehicle being captured at a frame rate of f/D fps or higher;

detecting means which detects a relatively bright area in a plurality of images captured by the imaging means;

calculating means which calculates a lighting frequency of the relatively bright area in the plurality of images detected by the detecting means; and

determining means which determines, when the lighting frequency calculated by the calculating means is within a frequency range set in advance, that the relatively bright area detected by the detecting means is the light source of the other vehicle, wherein

the calculating means calculates, based on an interval at which images including the relatively bright area among the plurality of images captured by the imaging means appear, the lighting frequency of the relatively bright area in the plurality of images detected by the detecting means.

2. The vehicle detection apparatus according to claim 1, wherein the duty ratio D is within a range from 5% to 20%.

3. A vehicular lamp comprising:

a light source unit; and

a detection device unit, wherein

the light source unit includes a light source, a driving circuit that drives the light source and a controller,

the light source is driven when a PWM signal with a frequency f and a duty ratio D output by the controller is applied to the driving circuit, and lit at a higher luminosity than the maximum luminosity demanded by law, and

the detection device includes

an imaging device that captures an other vehicle at a frame rate of f/D fps or higher, and

a processor that detects a relatively bright area in a plurality of images captured by the imaging device, calculates a lighting frequency of the relatively bright area in the plurality of images, and determines, when the lighting frequency is within a frequency range set in advance, that the relatively bright area is the light source unit of the other vehicle.

4. The vehicular lamp according to claim 3, wherein

the processor calculates, based on an interval at which images including the relatively bright area among the plurality of images appear, the lighting frequency of the relatively bright area in the plurality of images.

5. The vehicular lamp according to claim 3, wherein the duty ratio D is within a range from 5% to 20%.

6. The vehicular lamp according to claim 3, wherein the light source is any one of a light emitting device, a light detector and an organic electro-luminescence.

7. The vehicular lamp according to claim 3, wherein the light source unit is any one of a tail lamp, a head lamp and a rear fog light.

8. A vehicle comprising:

a vehicular lamp; and

a detection device unit, wherein

the vehicular lamp includes a light source, a driving circuit that drives the light source and a controller,

the light source is driven when a PWM signal with a frequency f and a duty ratio D output by the controller is applied to the driving circuit, and lit at a higher luminosity than the maximum luminosity demanded by law, and

the detection device includes

an imaging device that captures an other vehicle at a frame rate of f/D fps or higher, and

a processor that detects a relatively bright area in a plurality of images captured by the imaging device, calculates a lighting frequency of the relatively bright area in the plurality of images, and determines, when the lighting frequency is within a frequency range set in advance, that the relatively bright area is the vehicle lamp of the other vehicle.

9. The vehicle according to claim 8, wherein

the processor calculates, based on an interval at which images including the relatively bright area among the plurality of images appear, the lighting frequency of the relatively bright area in the plurality of images.

10. The vehicle according to claim 8, wherein the duty ratio D is within a range from 5% to 20%.

11. The vehicle according to claim 8, wherein the light source is any one of a light emitting device, a light detector and an organic electro-luminescence.

12. The vehicle according to claim 8, wherein the vehicular lamp is any one of a tail lamp, a head lamp and a rear fog light.