Preceding Vehicle Detection System

• US 20080180528A1
• Filed: 01/30/2008
• Published: 07/31/2008
• Est. Priority Date: 01/31/2007
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Saito, Toru
• Granted Patent: US 8,194,998 B2
• Time in Patent Office: Days
• US Class Current: 348/148
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A preceding vehicle detection system includes an image capture module for capturing an image of surroundings of a subject vehicle, a preceding vehicle detection module for detecting a preceding vehicle from an image captured and a tail lamp detection module for detecting a pixel area having a luminance which is larger than or equal to a threshold value on a pixel line in the image and detecting the pixel area in each pixel line while scanning pixel lines on the image in leftward and rightward directions from the pixel line set as a reference to detect areas where tail lamps of the preceding vehicle are captured from the image.

Claims

1. A preceding vehicle detection system comprising:

an image capture for capturing an image of surroundings of a subject vehicle;

a preceding vehicle detection unit for detecting a preceding vehicle from the image captured by the image capture; and

a tail lamp detection unit for detecting a pixel area having a luminance which is larger than or equal to a first threshold value on a pixel line vertically extending in the image and detecting a pixel area in each pixel line while scanning pixel lines in leftward and rightward directions from the pixel line set as a reference so as to detect areas where tail lamps of the preceding vehicle are captured from the image,

wherein when it is determined that the number of pixels of the pixel area detected on each pixel line while the pixel lines on the image are being scanned in each of the leftward and rightward directions tends to decrease as the pixel lines are scanned in each of the directions, the tail lamp detection unit finishes the detection of the pixel area at a pixel line whose pixel number is more than or equal to a constant number times of a minimum value of the pixel number.

2. The preceding vehicle detection system according to claim 1,

wherein the tail lamp detection unit stores a maximum value of the pixel number of the pixel area detected on each of the pixel lines while updating the maximum value thereof, and determines the decreasing tendency in pixel number at a point in time at which a pixel area is whose pixel number is less than a constant number times of the maximum value detected on a certain pixel line, and

the determination is continued to hold during subsequent detections of the pixel area.

3. The preceding vehicle detection system according to claim 1,

wherein the tail lamp detection unit respectively detects pixels which constitute central points of the detected areas from the detected areas where the left and right tail lamps of the preceding vehicle are captured, and calculates a distance between the pixels detected as the left and right central points.

4. The preceding vehicle detection system according to claim 3,

wherein during detecting the area where the right-side tail lamp of the preceding vehicle is captured on the image, in detection of the pixel area on a pixel line which lies apart by the distance between the pixels constituting the left and right central points which was calculated in the past from a pixel line lying at a right edge of the left-side tail lamp and pixel lines lying further rightwards than the pixel line on the image, the tail lamp detection unit finishes the detection of the pixel area at a point in time at which an upper end position of the pixel area detected on the image becomes higher than an upper end position of the left-side tail lamp or at a point in time at which a lower end position of the detected pixel area becomes lower than a lower end position of the left-side tail lamp.

5. The preceding vehicle detection system according to claim 3,

wherein the tail lamp detection unit sets a pixel line which constitutes a reference for detection of the pixel area in a pixel line which includes the pixel detected as the central point of the tail lamp in the past.

6. The preceding vehicle detection system according to claim 5,

wherein when a current luminance of the pixel detected as the central point of the tail lamp in the past is a luminance which is equal to or higher than a second threshold value which is set equal to or higher than the first threshold value, the tail lamp detection unit detects only the pixel area which includes the pixel on the pixel line.

7. The preceding vehicle detection system according to claim 3,

wherein the tail lamp detection unit sets a pixel line which constitutes a reference for detection of the pixel area in a pixel line which includes a pixel which lies apart by the distance between the pixels constituting the left and right central points which was calculated in the past from a pixel which constitutes the central point of the tail lamp lying on an opposite side to the tail lamp on which the detection is performed.

8. The preceding vehicle detection system according to claim 3 further comprising:

a unit for detecting left and right edges of the preceding vehicle captured in the image,

wherein the tail lamp detection unit sets a pixel line which constitutes a reference for detection of the pixel area in a pixel line which lies inwards by a rate of a width between the left and right edges from the left end or right end of the preceding vehicle which is detected by the unit.

9. The preceding vehicle detection system according to claim 5,

wherein the preceding vehicle detecting unit detects the preceding vehicle captured in the image by surrounding the preceding vehicle by a rectangular frame line, and

when a plurality of pixel areas are detected on the pixel line in an image area within the frame line, the tail lamp detection unit detects a pixel area which has a largest pixel number in the plurality of pixel areas as an area where the tail lamp of the preceding vehicle is captured.

10. The preceding vehicle detection system according to claim 9,

wherein when a pixel area which includes a lower edge of the frame line is included in the plurality of pixel areas detected on the pixel line, and the other pixel area is closer to the pixel which was detected as the central point of the tail lamp in the past or a center between an upper edge and the lower edge of the frame line than the pixel area which includes the lower edge of the frame line, the tail lamp detection unit detects the other pixel area in preference to the pixel area which includes the lower edge of the frame line.

11. The preceding vehicle detection system according to claim 3,

wherein when one of the areas where the left and right tail lamps of the preceding vehicle are captured is not detected in the current detection,

the tail lamp detection unit estimates an image area in the image where the preceding vehicle is captured by estimating the position of the other area based on a distance between the pixels which constitutes the left and right central points on the image.

12. The preceding vehicle detection system according to claim 3 further comprising,

distance measuring unit for measuring a distance between the subject vehicle and the preceding vehicle,

wherein the tail lamp detection unit modifies the distance measured by the distance measuring unit based on a distance between the pixels which constitute the left and right central points.

13. The preceding vehicle detection system according to claim 1,

wherein the image capture comprises a plurality of image capture,

wherein the tail lamp detection unit calculates a distance between the subject vehicle and the preceding vehicle based on information on a disparity obtained by performing a stereo matching operation on edge portions of respective areas where the tail lamps of the preceding vehicle are captured in a plurality of images captured by the plurality of image capture.

14. The preceding vehicle detection system according to claim 1,

wherein the tail lamp detection unit recognizes the illumination of a brake lamp by recognizing an increase in the number of pixels which belong to the area of tail lamp of the preceding vehicle by a predetermined rate or more.

15. The preceding vehicle detection system according to claim 1,

wherein when a difference in the number of pixels in a vertical direction between the images of the two image areas detected is within a predetermined number of pixels and a ratio of the number of pixels which belong to one of the area to the number of pixels which belong to the other area is within a predetermined ratio, the tail lamp detection unit determines that a three-dimensional object which includes the two areas is a vehicle.