On-board device for detecting vehicles and apparatus for controlling headlights using the device

• US 20080030374A1
• Filed: 08/02/2007
• Published: 02/07/2008
• Est. Priority Date: 08/02/2006
• Status: Abandoned Application

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kobayashi, Kenji, Kumon, Hiroaki, Tamatsu, Yukimasa
• Application Number:
  US11/888,868
• Publication Number:
  US 20080030374A1
• Time in Patent Office: Days
• US Class Current: 340/937
• 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 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A device for detecting a vehicle comprises an image capturing an image of a view in front of the own vehicle. The apparatus comprises first and second determining means, distance detecting means, and storing means. Of these, in the storing means, a relationship between distances to light sources of vehicles and a range of levels of a signal to be imaged at light sources is previously stored. The first determining means determines a particular area in data of the captured image, the particular area being defined by pixels having signal levels higher than a predetermined level. The distance detecting means detects a distance from the image sensor to a position at which the particular area is imaged. The second determining means determines whether or not the particular area is the light source, by referring the detected distance and a signal intensity of the determined particular area to the relationship.

Claims

1. A device for detecting a vehicle being targeted by detecting a light source of the vehicle, the vehicle being stationary or running on or along a road on or along which an own vehicle with the device mounted thereon is stationary or runs, the device comprising:

an image sensor capturing an image of a view in front of the own vehicle, the image sensor being mounted positionally fixedly on the own vehicle to have a predetermined preset imaging direction toward the view;

first determining means for determining a particular area in data of the image captured by the image sensor, the particular area being defined by pixels having signal levels higher than a predetermined level;

distance detecting means for detecting a distance from the image sensor to a position at which the particular area is imaged as an object;

storing means for previously storing therein a relationship between distances to light sources of vehicles and a range of levels of a signal to be imaged at the light sources; and

second determining means for determining whether or not the particular area is the light source of the vehicle being targeted, by referring the detected distance and a signal intensity of the determined particular area to the relationship stored in the storing means.

2. The detecting device of claim 1, wherein the light source is at least one of headlights and rear lights of the vehicle being targeted.

3. The detecting device of claim 2, wherein the storing means previously stores therein the relationship including a relationship between distances to a reflector disposed on a side of the road and a range of levels of a signal to be imaged at the light source and

the second determining means is configured to additionally determine whether or not the particular area is an image of the reflector serving as the light source by referring the detected distance and the signal intensity of the determined particular area to the relationship stored in the storing means.

4. The detecting device of claim 2, wherein each of the headlights and rear lights of the vehicle is composed of lateral right and left lights with a distance therebetween and

the distance detecting means is configured to use the distance between the lateral right and left lights of the vehicle to detect the distance.

5. The detecting device of claim 1, further comprising

behavior detecting means for detecting behaviors of the own vehicle,

wherein the distance detecting means is configured to detect the distance corrected based on a shift from the imaging direction using results detected by the behavior detecting means.

6. A control apparatus comprising:

a device for detecting a vehicle being targeted by detecting a light source of the vehicle, the vehicle being stationary or running on or along a road on or along which an own vehicle with the device mounted thereon is stationary or runs, the device comprising;

an image sensor capturing an image of a view in front of the own vehicle, the image sensor being mounted positionally fixedly on the own vehicle to have a predetermined preset imaging direction toward the view;

first determining means for determining a particular area in data of the image captured by the image sensor, the particular area being defined by pixels having signal levels higher than a predetermined level;

distance detecting means for detecting a distance from the image sensor to a position at which the particular area is imaged as an object;

storing means for previously storing therein a relationship between distances to light sources of vehicles and a range of levels of a signal to be imaged at the light sources; and

second determining means for determining whether or not the particular area is the light source of the vehicle being targeted, by referring the detected distance and a signal intensity of the determined particular area to the relationship stored in the storing means; and

control means for controlling light-emitting directions of headlights of the vehicle being targeted.

7. The control apparatus of claim 6, wherein the light source is at least one of headlights and rear lights of the vehicle being targeted.

8. The control apparatus of claim 7, wherein the storing means previously stores therein the relationship including a relationship between distances to a reflector disposed on a side of the road and a range of levels of a signal to be imaged at the light source and

the second determining means is configured to additionally determine whether or not the particular area is an image of the reflector serving as the light source by referring the detected distance and the signal intensity of the determined particular area to the relationship stored in the storing means.

9. The control apparatus of claim 7, wherein each of the headlights and rear lights of the vehicle is composed of lateral right and left lights with a distance therebetween and

the distance detecting means is configured to use the distance between the lateral right and left lights of the vehicle to detect the distance.

10. The control apparatus of claim 6, further comprising

behavior detecting means for detecting behaviors of the own vehicle,

wherein the distance detecting means is configured to detect the distance corrected based on a shift from the imaging direction using results detected by the behavior detecting means.

11. A method of detecting a vehicle being targeted by detecting a light source of the vehicle, the vehicle being stationary or running on or along a road on or along which an own vehicle with the device mounted thereon is stationary or runs, comprising steps of:

capturing an image of a view in front of the own vehicle by an image sensor being mounted positionally fixedly on the own vehicle to have a predetermined preset imaging direction toward the view;

first determining a particular area in data of the image captured by the image sensor, the particular area being defined by pixels having signal levels higher than a predetermined level;

detecting a distance from the image sensor to a position at which the particular area is imaged as an object; and

second determining whether or not the particular area is the light source of the vehicle being targeted, by referring the detected distance and a signal intensity of the determined particular area to a relationship between distances to light sources of vehicles and a range of levels of a signal to be imaged at the light sources.

12. The detecting method of claim 11, wherein the light source is at least one of headlights and rear lights of the vehicle being targeted.

13. The detecting method of claim 12, wherein the relationship including a relationship between distances to a reflector disposed on a side of the road and a range of levels of a signal to be imaged at the light source and

the second determining step additionally determines whether or not the particular area is an image of the reflector serving as the light source by referring the detected distance and the signal intensity of the determined particular area to the relationship.

14. The detecting device of claim 12, wherein each of the headlights and rear lights of the vehicle is composed of lateral right and left lights with a distance therebetween and

the distance detecting means uses the distance between the lateral right and left lights of the vehicle to detect the distance.

15. The detecting device of claim 11, further comprising a step of detecting behaviors of the own vehicle,

wherein the distance detecting means detects the distance corrected based on a shift from the imaging direction using results detected.