Image processing device that performs tracking control

• US 9,165,374 B2
• Filed: 07/17/2012
• Issued: 10/20/2015
• Est. Priority Date: 08/01/2011
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Higuchi, Mirai, Ogata, Takehito, Shima, Takeshi
• Primary Examiner(s): KOSTAK, VICTOR R
• Application Number:
  US13/550,970
• Publication Number:
  US 20130033600A1
• Time in Patent Office: 1,190 Days
• Field of Search: 348/118, 348/119, 348/148, 382/104, 382/106, 701 23- 26, 701/28, 701/41, 701/45, 701/301, 340/441
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

An image processing device which performs a tracking control with respect to a moving object which is travelling forward, based on the controlled variable of the own vehicle includes, an image processing unit which specifies an area of a moving object from an input image, sets the specified area of the moving object as a reference image area after starting tracking control, and sets an area of the moving object after a predetermined time as a comparison image area; a comparison unit which compares the set reference image area and the comparison image area with each other, and calculates travelling information relating to the moving object; and a controlled variable calculation unit which calculates a controlled variable of the own vehicle from travelling information which is calculated in the comparison unit.

Claims

1. An image processing device which performs a tracking control based on a controlled variable of an own vehicle with respect to a moving object, the device comprising:

an image processing unit which specifies an area of the moving object from an input image, sets the specified area of the moving object as a reference image area after starting the tracking control, and sets an area of the moving object as a comparison image area at a time after the specified area is set;

a comparison unit which compares the set reference image area and the comparison image area, and calculates travelling information relating to the moving object; and

a controlled variable calculation unit which calculates the controlled variable of the own vehicle from travelling information which is calculated in the comparison unit;

wherein, when it is determined that the setting of the comparison image area fails, the image processing unit determines whether or not setting of the comparison image area fails a predetermined number of times or more, and whether or not the moving object is out of a range to be imaged in the imaging device of the own vehicle;

wherein the controlled variable calculation unit outputs the controlled variable which is calculated using the past travelling information stored in advance, or the past controlled variable which is stored in advance, when it is determined that the setting of the comparison image area does not fail a predetermined number of times or more and determined that the moving object is not out of the range to be imaged in the imaging device of the own vehicle; and

wherein the controlled variable calculation unit outputs information denoting a failure when the setting of the comparison image area fails the predetermined number of times or more, or the moving object gets out of the range which may be imaged by the imaging device of the own vehicle.

2. The image processing device according to claim 1,

wherein the travelling information relating to the moving object is at least one of a magnification ratio which denotes a ratio of change in magnitude of an image area of the moving object, a translation which denotes a change in position on an image, a distance between vehicles from a preceding vehicle, a transversal position of the preceding vehicle, relative speed between the preceding vehicle and the own vehicle, and an acceleration of the own vehicle.

3. The image processing device according to claim 1, further comprising:

a reference image setting unit which stores an image corresponding to the reference image area which is set in the image processing unit in a storage unit.

4. The image processing device according to claim 1,

wherein the controlled variable of the own vehicle is at least one of vehicle speed, the acceleration, the deceleration, a lateral acceleration, a wheel angle, a steering angle, and a yaw rate of the own vehicle.

5. The image processing device according to claim 1,

wherein the image processing unit outputs information denoting that setting of the reference image area fails, when it is determined that the setting of the reference image area fails.

6. The image processing device according to claim 5,

wherein the information denoting that the setting of the reference image area to be output fails is at least one of display information shown on a display, sound information in which a sound is emitted from a speaker, lamp-lighting information of lighting up a lamp, and warning information in which a buzzer is sounded.

7. The image processing device according to claim 5,

wherein the information denoting that the setting of the reference image area to be output fails is control information which maintains the speed of the own vehicle to a predetermined speed, or to speed at a time point in which the information is denoted.

8. The image processing device according to claim 5,

wherein the information denoting that the setting of the reference image area to be output fails includes at least one of display information shown on a display, sound information in which a sound is emitted from a speaker, lamp-lighting information of lighting up a lamp, and warning information in which a buzzer is sounded, and control information which maintains the speed of the own vehicle to a predetermined speed.

9. The image processing device according to claim 1,

wherein the image processing unit scans an inside of a search range from an input image, detects a candidate moving object, identifies whether or not it is a moving object from the detected candidate moving object, and determines whether or not it is a moving object as a target of the tracking control from the identified moving object.