Vehicle surroundings monitoring apparatus, method, and program

• US 20070165910A1
• Filed: 01/12/2007
• Published: 07/19/2007
• Est. Priority Date: 01/17/2006
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Tsuji, Takayuki, Nagaoka, Nobuharu
• Granted Patent: US 8,175,331 B2
• Time in Patent Office: Days
• US Class Current: 382/104
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G06F 18/251 of input or preprocessed data
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/136 involving thresholding
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/28 Quantising the image, e.g. histogram thresholding for discrimination between background and foreground patterns
• 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

Abstract

A vehicle surroundings monitoring apparatus, method, and program capable of reducing a possibility of overlap between a detection object and a background object in a standard image when detecting objects around the vehicle from images obtained by a plurality of image sensors so as to detect the objects accurately. The vehicle surroundings monitoring apparatus detects the objects existing around the vehicle (10) from the images obtained by the image sensors (2R, 2L) mounted on the vehicle (10). The vehicle surroundings monitoring apparatus includes an object extraction process unit (1) which performs a process of extracting the objects for a predetermined standard image of the images obtained by the image sensors (2R, 2L), a driving environment detection process unit (1) which detects a driving environment of the vehicle (10), and a standard image selection process unit (1) which selects the standard image for use in the process of the object extraction process unit (1) anew according to the detected driving environment.

Claims

1. A vehicle surroundings monitoring apparatus which detects objects existing around a vehicle from images obtained by a plurality of image sensors mounted on the vehicle, comprising:

an object extraction process unit which extracts the objects from a predetermined standard image of the images obtained by a plurality of the image sensors;

a driving environment detection process unit which detects a driving environment of the vehicle; and

a standard image selection process unit which selects anew a standard image for use in the process of the object extraction process unit out of the images obtained by a plurality of the image sensors according to the driving environment detected by the driving environment detection process unit.

2. A vehicle surroundings monitoring apparatus according to claim 1, further comprising a position detection process unit which detects the position of the object with respect to the vehicle based on the images obtained by a plurality of the image sensors and the object extracted by the object extraction process unit.

3. A vehicle surroundings monitoring apparatus according to claim 1, wherein:

a road where the vehicle exists has a plurality of lanes;

the driving environment detection process unit detects a roadside of the road where the vehicle exists as the driving environment; and

the standard image selection process unit selects anew an image obtained by an image sensor closest to the roadside of the road detected by the driving environment detection process unit among a plurality of the image sensors as the standard image for use in the process of the object extraction process unit.

4. A vehicle surroundings monitoring apparatus according to claim 2, wherein:

a road where the vehicle exists has a plurality of lanes;

the driving environment detection process unit detects a roadside of the road where the vehicle exists as the driving environment; and

the standard image selection process unit selects anew an image obtained by an image sensor closest to the roadside of the road detected by the driving environment detection process unit among a plurality of the image sensors as the standard image for use in the process of the object extraction process unit.

5. A vehicle surroundings monitoring apparatus according to claim 3, further comprising an input device to which an occupant of the vehicle inputs information on the roadside of the road, wherein the driving environment detection process unit detects the roadside of the road where the vehicle exists on the basis of the information on the roadside of the road input to the input device.

6. A vehicle surroundings monitoring apparatus according to claim 4, further comprising an input device to which an occupant of the vehicle inputs information on the roadside of the road, wherein the driving environment detection process unit detects the roadside of the road where the vehicle exists on the basis of the information on the roadside of the road input to the input device.

7. A vehicle surroundings monitoring apparatus according to claim 3, wherein:

the vehicle has a vehicle navigation system; and

the driving environment detection process unit detects the roadside of the road where the vehicle exists on the basis of the information on the roadside of the road obtained by the vehicle navigation system.

8. A vehicle surroundings monitoring apparatus according to claim 4, wherein:

the vehicle has a vehicle navigation system; and

the driving environment detection process unit detects the roadside of the road where the vehicle exists on the basis of the information on the roadside of the road obtained by the vehicle navigation system.

9. A vehicle surroundings monitoring apparatus according to claim 3, further comprising a relative speed calculation process unit which calculates a relative speed of each of the objects extracted by the object extraction process unit with respect to the vehicle, wherein the driving environment detection process unit selects another vehicle coming from the opposite direction to that of the vehicle out of the extracted objects on the basis of the relative speed calculated by the relative speed calculation process unit and detects the roadside of the road where the vehicle exists on the basis of the position of the selected another vehicle.

10. A vehicle surroundings monitoring apparatus according to claim 4, further comprising a relative speed calculation process unit which calculates a relative speed of each of the objects extracted by the object extraction process unit with respect to the vehicle, wherein the driving environment detection process unit selects another vehicle coming from the opposite direction to that of the vehicle out of the extracted objects on the basis of the relative speed calculated by the relative speed calculation process unit and detects the roadside of the road where the vehicle exists on the basis of the position of the selected another vehicle.

11. A vehicle surroundings monitoring apparatus according to claim 1, wherein:

a plurality of the image sensors are located on the left side and the right side in the front of the vehicle, respectively, and are two image sensors which image views ahead of the vehicle;

the driving environment detection process unit detects a range including more objects of the left and right ranges ahead of the vehicle as the driving environment; and

the standard image selection process unit selects anew an image obtained by the image sensor on the side of the range detected by the driving environment detection process unit of the two image sensors as the standard image for use in the process of the object extraction process unit.

12. A vehicle surroundings monitoring apparatus according to claim 2, wherein:

a plurality of the image sensors are located on the left side and the right side in the front of the vehicle, respectively, and are two image sensors which image views ahead of the vehicle;

the driving environment detection process unit detects a range including more objects of the left and right ranges ahead of the vehicle as the driving environment; and

the standard image selection process unit selects anew an image obtained by the image sensor on the side of the range detected by the driving environment detection process unit of the two image sensors as the standard image for use in the process of the object extraction process unit.

13. A vehicle surroundings monitoring apparatus according to claim 11, further comprising an area extraction process unit which extracts an area having pixel data of a predetermined threshold value or greater in the image by binarizing the image obtained by at least one of the two image sensors, wherein the driving environment detection process unit determines an area including more areas extracted by the area extraction process unit out of the left and right areas in the image and detects a range on the same side as the determined area of the left and right ranges ahead of the vehicle as the range including more objects.

14. A vehicle surroundings monitoring apparatus according to claim 12, further comprising an area extraction process unit which extracts an area having pixel data of a predetermined threshold value or greater in the image by binarizing the image obtained by at least one of the two image sensors, wherein the driving environment detection process unit determines an area including more areas extracted by the area extraction process unit out of the left and right areas in the image and detects a range on the same side as the determined area of the left and right ranges ahead of the vehicle as the range including more objects.

15. A vehicle surroundings monitoring apparatus according to claim 1, further comprising a distance calculation process unit which calculates a distance of each of the objects extracted by the object extraction process unit with respect to the vehicle, wherein the driving environment detection process unit detects a range including more extracted objects within a predetermined distance from the vehicle of the left and right ranges ahead of the vehicle as the range including more objects.

16. A vehicle surroundings monitoring apparatus according to claim 12, further comprising a distance calculation process unit which calculates a distance of each of the objects extracted by the object extraction process unit with respect to the vehicle, wherein the driving environment detection process unit detects a range including more extracted objects within a predetermined distance from the vehicle of the left and right ranges ahead of the vehicle as the range including more objects.

17. A vehicle surroundings monitoring apparatus which detects objects existing around a vehicle from images obtained by a plurality of image sensors mounted on the vehicle, comprising:

an object extraction process unit which extracts the objects from a predetermined standard image of the images obtained by a plurality of the image sensors; and

a standard image selection process unit which selects anew an image obtained by a predetermined image sensor, which is closest to a roadside of a road where the vehicle exists and having a plurality of lanes, of a plurality of the image sensors as a standard image for use in the process of the object extraction process unit.

18. A vehicle surroundings monitoring apparatus, which is provided with a computer having an interface circuit for accessing data of images obtained by a plurality of image sensors mounted on a vehicle and detects objects existing around the vehicle by arithmetic processing performed by the computer, wherein the computer performs:

an object extraction process of extracting the objects from a predetermined standard image of the images obtained by a plurality of the image sensors;

a driving environment detection process of detecting a driving environment of the vehicle; and

a standard image selection process of selecting anew a standard image for use in the process of the object extraction process out of the images obtained by a plurality of the image sensors according to the driving environment detected in the driving environment detection process.

19. A vehicle surroundings monitoring method which detects objects existing around a vehicle from images obtained by a plurality of image sensors mounted on the vehicle, comprising:

an object extraction step of extracting the objects from a predetermined standard image of the images obtained by a plurality of the image sensors;

a driving environment detection step of detecting a driving environment of the vehicle; and

a standard image selection step of selecting anew a standard image for use in the process of the object extraction step out of the images obtained by a plurality of the image sensors according to the driving environment detected in the driving environment detection step.

20. A vehicle surroundings monitoring program, which causes a computer to perform a process of detecting objects existing around a vehicle from images obtained by a plurality of image sensors mounted on the vehicle, having functions of causing the computer to perform:

an object extraction process of extracting the objects from a predetermined standard image of the images obtained by a plurality of the image sensors;

a driving environment detection process of detecting a driving environment of the vehicle; and

a standard image selection process of selecting anew a standard image for use in the object extraction process out of the images obtained by a plurality of the image sensors according to the driving environment detected in the driving environment detection process.