Method and system for detecting object(s) adjacent to vehicle

• US 10,885,334 B2
• Filed: 11/30/2018
• Issued: 01/05/2021
• Est. Priority Date: 11/30/2018
• Status: Active Grant

• Current Assignee: Hua-chuang Automobile Information Technical Center Co., Ltd.
• Original Assignee: Hua-chuang Automobile Information Technical Center Co., Ltd.
• Inventors: Chen, Yen-Lin, Chang, Chung-Yuan, Liao, Kuan-Kai, Yu, Chao-Wei, Chen, Ming
• Primary Examiner(s): Mistry, Oneal R
• Application Number:
  US16/206,149
• Publication Number:
  US 20200175273A1
• Time in Patent Office: 767 Days
• CPC Class Codes: G06V 10/50 by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
• CPC Class Codes: G06V 20/20 in augmented reality scenes
• 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: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 2201/08 Detecting or categorising vehicles
• CPC Class Codes: G06V 40/10 Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands

Abstract

A method for detecting one or more objects adjacent to a vehicle includes capturing a image of an object adjacent to the vehicle; determining a driving area in the image; cutting the driving area to form an identification window; selecting an identification area in the identification window; accessing a plurality of object image data in a memory to compare the plurality of object image data with the identification area; and identifying a specific object in the identification area by the processor.

Claims

1. A method for detecting one or more objects adjacent to a vehicle, comprising:

capturing, by an image capturing device, an image of an object adjacent to the vehicle;

determining, by a processor, a driving area in the image, wherein a horizontal line of the image is a middle line of the driving area, and a height is extending upwardly and downwardly from the middle line along a direction perpendicular to the middle line;

cutting, by the processor, the driving area to form an identification window;

grayscaling, by the processor, the identification window to obtain a grayscaled identification window;

applying, by the processor, gamma correction to the grayscaled identification window to obtain a corrected grayscaled identification window;

selecting, by the processor, an identification area in the corrected grayscaled identification window;

adjusting, by the processor, a range of the identification area by image pyramid techniques;

accessing, by the processor, a plurality of object image data in a memory to compare the plurality of object image data with the identification area; and

identifying, by the processor, a specific object in the identification area with an image processing method using histogram of oriented gradients in response to comparing the plurality of object image data with the identification area, wherein gradient vector generated by the histogram of oriented gradients are normalize or weighted to emphasize main edge vector features in consecutive cells.

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

generating, by the processor, an indication signal;

transmitting, by the processor, the indication signal to a display; and

displaying a picture corresponding to the specific object at a position corresponding to the identification area on the display.

3. The method according to claim 1, wherein the specific object is a dynamic object.

4. The method according to claim 3, further comprising:

in respond to identifying, by the processor, the specific object is a two-wheeled vehicle, selecting, by the processor, an upper area of the identification area to perform a circle comparison on a head of a rider on the two-wheeled vehicle; and

identifying, by the processor, whether the head of the rider on the two-wheeled vehicle wears a helmet.

5. A system for detecting one or more objects adjacent to a vehicle, installed in the vehicle, the system comprising:

an image capturing device configured to capture an image of an object adjacent to the vehicle;

a memory configured to store a plurality of object image data; and

a processor electrically connected to the image capturing device, communicationally connected to the memory, and configured to;

determine a driving area in the image, wherein a horizontal line of the image is a middle line of the driving area, and a height is extending upwardly and downwardly from the middle line along a direction perpendicular to the middle line;

cut the driving area to form an identification window;

grayscale the identification window to obtain a grayscaled identification window;

apply gamma correction to the grayscaled identification window to obtain a corrected a corrected grayscaled identification window;

select an identification area in the corrected grayscaled identification window;

adjust a range of the identification area by image pyramid techniques;

access the plurality of object image data in the memory to compare the plurality of object image data with the identification area; and

identify a specific object in the identification area with an image processing method using histogram of oriented gradients in response to comparing the plurality of object image data with the identification area, wherein gradient vector generated by the histogram of oriented gradients are normalize or weighted to emphasize main edge vector features in consecutive cells.

6. The system according to claim 5, further comprising:

a display electrically connected to the processor, wherein the processor is configured to output an indication signal in respond to the specific object identified, and the display is configured to display a picture corresponding to the specific object at a position corresponding to the identification area in respond to receiving the indication signal.

7. The system according to claim 5, wherein the specific object is a dynamic object.

8. The system according to claim 7, wherein in respond to identifying the specific object is a two-wheeled vehicle, the processor selects an upper area of the identification area to perform a circle comparison on a head of a rider on the two-wheeled vehicle, and identifies whether the head of the rider on the two-wheeled vehicle wears a helmet.