Vehicle-mounted environment recognition apparatus and vehicle-mounted environment recognition system
First Claim
1. A vehicle-mounted environment recognition apparatus comprising:
- a pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate;
an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object;
a tracking unit which tracks the object on the basis of an inputted predicted position of the object; and
an area setting unit which divides the acquired image into a first area including a vanishing point and an area different from the first area to set a plurality of areas.
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Accused Products
Abstract
A vehicle-mounted environment recognition apparatus including a simple pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate, an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object, and a tracking unit which tracks the object on the basis of an inputted predicted position of the object.
13 Citations
8 Claims
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1. A vehicle-mounted environment recognition apparatus comprising:
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a pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate; an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object; a tracking unit which tracks the object on the basis of an inputted predicted position of the object; and an area setting unit which divides the acquired image into a first area including a vanishing point and an area different from the first area to set a plurality of areas. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A vehicle-mounted environment recognition apparatus comprising:
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a pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate; an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object; and a tracking unit which tracks the object on the basis of an inputted predicted position of the object;
whereinthe area change amount prediction unit includes an area three-dimensional position presumption unit which presumes a three-dimensional position of the object candidate in a three-dimensional vehicle coordinate system using a position of the vehicle as an origin from the position of the object candidate in a two-dimensional image coordinate system inputted from the pattern matching unit, an area three-dimensional position prediction unit which predicts a three-dimensional position of the object candidate in the vehicle coordinate system after predetermined periods on the basis of the vehicle behavior information and a presumption result of the three-dimensional position of the object candidate in the vehicle coordinate system obtained by the area three-dimensional position presumption unit, and an area image position prediction unit which converts a prediction result of the three-dimensional position predicted by the area three-dimensional position prediction unit into image coordinates and calculates an image position of the object.
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8. A vehicle-mounted environment recognition apparatus comprising:
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a pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate; an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object; a tracking unit which tracks the object on the basis of an inputted predicted position of the object; and an object determination unit which determines whether or not the object is an on-street motionless object on the basis of a result where the tracking unit tracks the object;
whereinif the object is determined not to be an on-street motionless object, the object determination unit determines whether or not the object is a tail light of a vehicle on the basis of the result of the tracking.
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Specification