Vehicle surroundings monitoring apparatus
View Patent ↗A vehicle surroundings monitoring apparatus capable of recognizing the type of object existing around a vehicle with accuracy. The vehicle surroundings monitoring apparatus includes a process unit, which extracts a first image portion HP — 1 likely to be the head of an object and sets a reference mask area MASK_C including HP — 1 , a left-hand mask area MASK_L near the left side of the reference mask area MASK_C, and a right-hand mask area MASK_R near the right side of the reference mask area MASK_C, and a process unit which searches for a second image portion presumed to be a leg image within a lower search area AREA — 3 when a difference between an average luminance AVE_C of the reference mask area MASK_C and an average luminance AVE_L of the left-hand mask area MASK_L or a difference between the average luminance AVE_C and an average luminance AVE_R of the right-hand mask area MASK_R is equal to or greater than a predetermined level and which recognizes that the object type is “pedestrian” in the case where a plurality of second image portions are detected.
1. A vehicle surroundings monitoring apparatus which monitors the surroundings of a vehicle by using an image captured by a camera mounted on the vehicle, comprising:
a first image portion extraction process unit which extracts a first image portion likely to be an image of a head of a human in a real space from the captured image;
a reference mask area setting process unit which sets a predetermined area including the first image portion as a reference mask area in the captured image;
a comparative mask area setting process unit which sets a left-hand mask area near the left side of the reference mask area and a right-hand mask area near the right side of the reference mask area in the captured image;
a lower search area setting process unit which sets a lower search area under the reference mask area, the left-hand mask area, and the right-hand mask area in the captured image;
a second image portion search process unit which searches for a second image portion having a preset feature value corresponding to a leg of a human within the lower search area; and
an object type determination process unit determines that a type of object in the real space corresponding to the first image portion is “pedestrian” in the case where a luminance difference between the reference mask area and the left-hand mask area is equal to or greater than a first predetermined level and a luminance difference between the reference mask area and the right-hand mask area is equal to or greater than a second predetermined level, wherein
the object type determination process unit causes the second image portion search process unit to search for the second image portion within the lower search area in the case where the luminance difference between the reference mask area and the left-hand mask area is smaller than the first predetermined level or in the case where the luminance difference between the reference mask area and the right-hand mask area is smaller than the second predetermined level and, in the case where a plurality of the second image portions are detected, it determines that the type of object in the real space corresponding to the first image portion is “pedestrian.”
2. A vehicle surroundings monitoring apparatus which monitors the surroundings of a vehicle by using an image captured by a camera mounted on the vehicle, comprising:
a first image portion extraction process unit which extracts a first image portion likely to be an image of a head of a human in a real space from the captured image;
a reference mask area setting process unit which sets a predetermined area including the first image portion as a reference mask area in the captured image;
a real space distance recognition process unit which recognizes a distance between a real space position corresponding to the image portion included in the captured image and the vehicle;
a comparative mask area setting process unit which sets a left-hand mask area near the left side of the reference mask area and a right-hand mask area near the right side of the reference mask area in the captured image;
a lower search area setting process unit which sets a lower search area under the reference mask area, the left-hand mask area, and the right-hand mask area in the captured image; and
a second image portion search process unit which searches for a second image portion having a preset feature value corresponding to a human leg within the lower search area; and
an object type determination process unit determines that a type of object in the real space corresponding to the first image portion is “pedestrian” in the case where a difference between a reference distance, which is a distance between the real space position corresponding to the first image portion and the vehicle, and a left-hand comparative distance, which is a distance between the real space position corresponding to the image portion of the left-hand mask area and the vehicle, is equal to or greater than a first predetermined distance and in the case where a difference between the reference distance and a right-hand comparative distance, which is a distance between a real space position corresponding to the image portion of the right-hand mask area and the vehicle, is equal to or greater than a second predetermined distance, wherein
the object type determination process unit causes the second image portion search process unit to search for the second image portion within the lower search area in the case where the difference between the reference distance and the left-hand comparative distance is smaller than the first predetermined distance or in the case where the difference between the reference distance and the right-hand comparative distance is smaller than the second predetermined distance and, in the case where a plurality of the second image portions are detected, it determines that the type of object in the real space corresponding to the first image portion is “pedestrian.”
3. A vehicle equipped with the vehicle surroundings monitoring apparatus according to claim 1 .
4. A vehicle equipped with the vehicle surroundings monitoring apparatus according to claim 2 .
5. A vehicle surroundings monitoring apparatus including an in-vehicle computer having an interface circuit for accessing an image captured by a camera mounted on the vehicle and a non-transitory computer readable medium storing instructions configured to cause the computer to perform a function of monitoring the surroundings of the vehicle, the instructions causing the computer to function as:
a first image portion extraction process unit which extracts a first image portion likely to be an image of a head of a human in a real space from the captured image;
a reference mask area setting process unit which sets a predetermined area including the first image portion as a reference mask area in the captured image;
a comparative mask area setting process unit which sets a left-hand mask area near the left side of the reference mask area and a right-hand mask area near the right side of the reference mask area in the captured image;
a lower search area setting process unit which sets a lower search area under the reference mask area, the left-hand mask area, and the right-hand mask area in the captured image;
a second image portion search process unit which searches for a second image portion having a preset feature value corresponding to a leg of a human within the lower search area; and
an object type determination process unit which determines a type of object in the real space corresponding to the first image portion according to whether the second image portion search process unit detects a plurality of the second image portions, wherein
the object type determination process unit causes the second image portion search process unit to search for the second image portion within the lower search area in the case where the luminance difference between the reference mask area and the left-hand mask area is smaller than the first predetermined level or in the case where the luminance difference between the reference mask area and the right-hand mask area is smaller than the second predetermined level and, in the case where a plurality of the second image portions are detected, it determines that the type of object in the real space corresponding to the first image portion is “pedestrian.”
6. A vehicle surroundings monitoring apparatus including an in-vehicle a computer having an interface circuit for accessing an image captured by a camera mounted on the vehicle and a non-transitory computer readable medium storing instructions configured to operate the computer, the instructions comprising:
a first image portion extraction step of causing the computer to extract a first image portion likely to be an image of a head of a human in a real space;
a reference mask area setting step of causing the computer to set a predetermined area including the first image portion as a reference mask area in the captured image;
a real space distance recognition step of causing the computer to recognize a distance between a real space position corresponding to the image portion included in the captured image and the vehicle;
a comparative mask area setting step causing the computer to set a left-hand mask area near the left side of the reference mask area and a right-hand mask area near the right side of the reference mask area in the captured image;
a lower search area setting step of causing the computer to set a lower search area under the reference mask area, the left-hand mask area, and the right-hand mask area in the captured image;
a second image portion search step of causing the computer to search for a second image portion having a preset feature value corresponding to a leg of a human within the lower search area; and
an object type determination step of causing the computer to determine a type of object in the real space corresponding to the first image portion according to whether a plurality of the second image portions are detected in the second image portion search step, wherein
the object type determination process unit causes the second image portion search process unit to search for the second image portion within the lower search area in the case where the difference between the reference distance and the left-hand comparative distance is smaller than the first predetermined distance or in the case where the difference between the reference distance and the right-hand comparative distance is smaller than the second predetermined distance and, in the case where a plurality of the second image portions are detected, it determines that the type of object in the real space corresponding to the first image portion is “pedestrian.”