Recognition object detecting apparatus

• US 9,690,997 B2
• Filed: 01/09/2015
• Issued: 06/27/2017
• Est. Priority Date: 06/06/2011
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Murao, Toshikazu, Shirai, Noriaki, Kimura, Takayuki, Shiota, Kentarou, Sugiyama, Naoki
• Primary Examiner(s): Harandi, Siamak
• Application Number:
  US14/593,136
• Publication Number:
  US 20150117715A1
• Time in Patent Office: 900 Days
• CPC Class Codes: G06V 10/28 Quantising the image, e.g. histogram thresholding for discrimination between background and foreground patterns
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights

Abstract

A recognition object detecting apparatus is provided which includes an imaging unit which generates image data representing a taken image, and a detection unit which detects a recognition object from the image represented by the image data. The imaging unit has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range. The detection unit binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images.

Claims

1. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:

means for generating image data representing a taken image; and

means for detecting a recognition object from the image represented by the image data, wherein

the generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and on a distance between the own vehicle and the recognition obiect, wherein a first distance between the own vehicle and the recognition object is associated with a first luminance range, a second distance between the own vehicle and the recognition object is less than the first distance and is associated with a second luminance range greater than the first luminance range, further wherein, in the generating means, the relation between the luminance and the output pixel values for the first luminance range is represented by a first line and the relation between the luminance and the output pixel values for the second luminance range is represented by a second line, wherein the first line is steeper than the second line, and

the detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images.

2. The recognition object detecting apparatus according to claim 1, further comprising:

means for measuring a temperature of the generating means; and

means for correcting an imaging condition of the generating means depending on the temperature measured by the measuring means.

3. The recognition object detecting apparatus according to claim 2, wherein

the correcting means corrects the relation between luminance and output pixel values.

4. The recognition object detecting apparatus according to claim 1, further comprising:

means for measuring a temperature of the generating means; and

means for correcting the plurality of threshold values depending on the temperature measured by the measuring means.

5. The recognition object detecting apparatus according to claim 1, wherein

the detecting means detects the recognition object based on a shape of a group of pixels including a plurality of pixels having high luminance in the binary image.

6. The recognition object detecting apparatus according to claim 1, wherein

the generating means takes an image of a scene ahead of the own vehicle, and

the detecting means detects tail lights of a leading vehicle or headlights of an oncoming vehicle as the recognition object.

7. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:

means for generating image data representing a taken image; and

means for detecting a recognition object from the image represented by the image data, wherein

the generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and a distance between the own vehicle and the recognition object,

the detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images, and

in the generating means, a range of the output pixel values in a first luminance range per unit luminance width is larger than a range of the output pixel values in a second luminance range per the unit luminance width, the luminance of the second luminance range being larger than the luminance of the first luminance range.

8. The recognition object detecting apparatus according to claim 7, further comprising:

means for measuring a temperature of the generating means; and

means for correcting an imaging condition of the generating means depending on the temperature measured by the measuring means.

9. The recognition object detecting apparatus according to claim 8, wherein

the correcting means corrects the relation between luminance and output pixel values.

10. The recognition object detecting apparatus according to claim 7, further comprising:

means for measuring a temperature of the generating means; and

means for correcting the plurality of threshold values depending on the temperature measured by the measuring means.

11. The recognition object detecting apparatus according to claim 7, wherein

the detecting means detects the recognition object based on a shape of a group of pixels including a plurality of pixels having high luminance in the binary image.

12. The recognition object detecting apparatus according to claim 7, wherein

the generating means takes an image of a scene ahead of the own vehicle, and

the detecting means detects tail lights of a leading vehicle or headlights of an oncoming vehicle as the recognition object.

13. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:

means for generating image data representing a taken image; and

means for detecting a recognition object from the image represented by the image data, wherein

the generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and a distance between the own vehicle and the recognition object,

the detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images, and

in the generating means, the relation between luminance and output pixel values is represented by a relation between a plurality of straight lines having different inclinations.

14. The recognition object detecting apparatus according to claim 13, further comprising:

means for measuring a temperature of the generating means; and

means for correcting an imaging condition of the generating means depending on the temperature measured by the measuring means.

15. The recognition object detecting apparatus according to claim 14, wherein

the correcting means corrects the relation between luminance and output pixel values.

16. The recognition object detecting apparatus according to claim 13, further comprising:

means for measuring a temperature of the generating means; and

means for correcting the plurality of threshold values depending on the temperature measured by the measuring means.

17. The recognition object detecting apparatus according to claim 13, wherein

the detecting means detects the recognition object based on a shape of a group of pixels including a plurality of pixels having high luminance in the binary image.

18. The recognition object detecting apparatus according to claim 13, wherein

the generating means takes an image of a scene ahead of the own vehicle, and

the detecting means detects tail lights of a leading vehicle or headlights of an oncoming vehicle as the recognition object.

19. A recognition object detecting apparatus disposed in an own vehicle, the apparatus comprising:

means for generating image data representing a taken image; and

means for detecting a recognition object from the image represented by the image data, wherein

the generating means has a characteristic in which a relation between luminance and output pixel values varies depending on a luminance range and a distance between the own vehicle and the recognition object,

the detecting means binarizes the output pixel values of the image represented by the image data by using a plurality of threshold values to generate a plurality of binary images, and detects the recognition object based on the plurality of binary images, and

the recognition object detecting apparatus further comprises;

means for detecting, based on the image data, at least one object included in a group of an obstacle, a preceding vehicle, a preceding pedestrian, a preceding object, a stationary vehicle, a stationary pedestrian, a stationary object, an on-coming vehicle, an on-coming pedestrian, an on-coming object, a lane, a road surface condition, a road shape, a light source, a road sign, a traffic signal, an entity which cuts off a field of view of a light-receiving section, and an environmental feature outside a vehicle; and

means for performing, according to the object detected by the detecting means, vehicle control regarding at least one of collision avoidance, speed warning, lane departure prevention, rear-end collision warning, inter-vehicle warning, lane departure warning, auto high beam, sign indication, full speed range adaptive cruise control, lane keeping, lane change accident prevention, blind spot warning, blind spot monitoring, automatic lane change, forward cross traffic warning, rearward cross traffic warning, erroneous pedal usage prevention, and automatic parking.

20. The recognition object detecting apparatus according to claim 19, further comprising:

means for measuring a temperature of the generating means; and

means for correcting an imaging condition of the generating means depending on the temperature measured by the measuring means.

21. The recognition object detecting apparatus according to claim 20, wherein

the correcting means corrects the relation between luminance and output pixel values.

22. The recognition object detecting apparatus according to claim 19, further comprising:

means for measuring a temperature of the generating means; and

means for correcting the plurality of threshold values depending on the temperature measured by the measuring means.

23. The recognition object detecting apparatus according to claim 19, wherein

the detecting means detects the recognition object based on a shape of a group of pixels including a plurality of pixels having high luminance in the binary image.

24. The recognition object detecting apparatus according to claim 19, wherein

the generating means takes an image of a scene ahead of the own vehicle, and

the detecting means detects tail lights of a leading vehicle or headlights of an oncoming vehicle as the recognition object.