Vehicle periphery monitoring apparatus
First Claim
1. A vehicle periphery monitoring apparatus comprising:
- a processor, the processor being configured todetect, in a detection unit, a brightness change of a pixel along a plurality of detection lines, the plurality of detection lines extending along a right-left axis in an image captured by an in-vehicle camera as an image of a vehicle periphery; and
determine, in a moving object determination unit, a presence of the moving object based on the brightness change of the pixel detected by the detection unit and a determination condition which includes a parameter for evaluating the brightness change to determine whether the brightness change of the pixel along the detection lines is caused by the moving object, whereinthe moving object determination unit changes the determination condition for determining whether the moving object is present based upon a number of the detection lines along which the brightness change is detected by the detection unit, and as the number of detection lines that have the brightness change decreases, the harder it is to satisfy the determination condition for determining that the moving object is present, andthe parameter includes at least one of a rise threshold to evaluate a rise of the brightness change along each detection line, and a fall threshold to evaluate a fall of the brightness change along each detection line, andthe moving object determination unit changes at least one of the rise threshold and the fall threshold in accordance with the number of detection lines along which brightness change is detected, and as the number of detection lines along which the brightness change is detected decreases, at least one of the rise threshold and the fall threshold increases.
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Accused Products
Abstract
A vehicle periphery monitoring apparatus detects the presence of a moving object along a vehicle periphery. The apparatus sets multiple detection lines along a horizontal axis of an image captured by a camera, and detects a brightness change of a pixel along the detection lines. With reference to the brightness change detected along the detection line and a parameter for determining whether such brightness change is caused by the moving object, the apparatus determines the presence of the moving object. In addition, the apparatus changes a determination condition for determining the moving object such that as the number of detection lines along which the brightness change is detected decreases, the harder it is to satisfy the determination condition for determining that the moving object is present.
16 Citations
12 Claims
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1. A vehicle periphery monitoring apparatus comprising:
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a processor, the processor being configured to detect, in a detection unit, a brightness change of a pixel along a plurality of detection lines, the plurality of detection lines extending along a right-left axis in an image captured by an in-vehicle camera as an image of a vehicle periphery; and determine, in a moving object determination unit, a presence of the moving object based on the brightness change of the pixel detected by the detection unit and a determination condition which includes a parameter for evaluating the brightness change to determine whether the brightness change of the pixel along the detection lines is caused by the moving object, wherein the moving object determination unit changes the determination condition for determining whether the moving object is present based upon a number of the detection lines along which the brightness change is detected by the detection unit, and as the number of detection lines that have the brightness change decreases, the harder it is to satisfy the determination condition for determining that the moving object is present, and the parameter includes at least one of a rise threshold to evaluate a rise of the brightness change along each detection line, and a fall threshold to evaluate a fall of the brightness change along each detection line, and the moving object determination unit changes at least one of the rise threshold and the fall threshold in accordance with the number of detection lines along which brightness change is detected, and as the number of detection lines along which the brightness change is detected decreases, at least one of the rise threshold and the fall threshold increases. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A vehicle periphery monitoring apparatus comprising:
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a processor, the processor being configured to detect, in a detection unit, a brightness change of a pixel along a plurality of detection lines, the plurality of detection lines extending along a right-left axis in an image captured by an in-vehicle camera as an image of a vehicle periphery; and determine, in a moving object determination unit, a presence of the moving object based on the brightness change of the pixel detected by the detection unit and a determination condition which includes a parameter for evaluating the brightness change to determine whether the brightness change of the pixel along the detection lines is caused by the moving object, wherein the moving object determination unit changes the determination condition for determining whether the moving object is present based upon a number of the detection lines along which the brightness change is detected by the detection unit, and as the number of detection lines that have the brightness change decreases, the harder it is to satisfy the determination condition for determining that the moving object is present, and the parameter includes a movement threshold to evaluate a movement amount of the brightness change along each detection lines, and the moving object determination unit determines the presence of the moving object by changing the movement threshold, and as the number of detection lines along which the brightness change is detected decreases, the movement threshold increases. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification