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PEDESTRIAN DETECTION DEVICE AND PEDESTRIAN DETECTION METHOD

  • US 20180144207A1
  • Filed: 06/29/2015
  • Published: 05/24/2018
  • Est. Priority Date: 07/25/2014
  • Status: Active Grant
First Claim
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1. A pedestrian detection device mounted on a vehicle having a vehicular camera and at least one of a sonar and a radar, and analyzing a captured image captured by the vehicular camera to detect a pedestrian in the captured image, the pedestrian detection device comprising:

  • an identification dictionary storage unit that stores a plurality of kinds of identification dictionaries having different numerical values obtained by converting a plurality of features of a shape of the pedestrian in the captured image into a numerical form;

    a detection result accumulation unit that searches the plurality of kinds of identification dictionaries stored in the identification dictionary storage unit for a part of the captured image having one of the features described in the identification dictionaries to detect the pedestrian in the captured image, and accumulates a detection position, where the pedestrian is detected, as a detection result for each of the identification dictionaries;

    a pedestrian position accumulation unit that detects the pedestrian disposed around the vehicle using at least one of the sonar and the radar, and accumulates a pedestrian position where the pedestrian is detected;

    an identification dictionary selection unit that compares the pedestrian position accumulated in the pedestrian position accumulation unit with the detection position of the pedestrian accumulated as the detection result for each of the identification dictionaries in the detection result accumulation unit, and selects one of the identification dictionaries having the detection result consistent with the pedestrian position as a detection identification dictionary; and

    a pedestrian detection unit that searches for a part of the captured image having one of the features described in the detection identification dictionary, and detects the pedestrian in the captured image.

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