Vehicle periphery monitoring apparatus
View Patent ↗Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. According to a vehicle periphery monitoring apparatus ( 10 ), an enlargement factor relevant to when the degree of correlation between an enlarged local region (EB(γ i )) obtained by enlarging a local region (B(k−1)) at a previous time (k−1) and a local region (B(k)) at a time (k) later than the previous time (k−1) becomes the maximum is calculated as a change rate (Rate(k)) of the size of the local region (B(k)). Based on the change rage (Rate(k)), it is possible to measure the distance (Z(k)) from a vehicle ( 1 ) to the object or the position (P(k)) at a high accuracy even when the object is moving.
1. A vehicular periphery monitoring apparatus configured to monitor a periphery of a vehicle according to an image acquired from a single imaging device mounted in the vehicle to denote the periphery of the vehicle, comprising:
a first processing element configured to set a region in the image where an object is present as an object region and to determine a type of the object by matching shape patterns based on a shape of the object, and on basis of the type of the object, to set a partial region of the object region whose alignment with respect to the object region is predetermined according to the type of the object as a region where a partial portion of the object with relatively less motions is present as a local region; and
a second processing element configured to calculate a change rate of the size of the local region in the image at different time and determine a distance from the vehicle to the object according to the change rate of the size of the local region, wherein
the first processing element evaluates the degree of correlation between an enlarged local region obtained by enlarging a local region at a previous time and a local region at a posterior time later than the previous time; and
the second processing element calculates the scale of enlargement of the local region at the previous time when the degree of correlation is the maximum as the change rate of the size of the local region.
2. The vehicular periphery monitoring apparatus according to claim 1 , wherein the first processing element determines whether or not the type of the object is of a pedestrian by matching shape patterns based on the shape of the object, and sets an upper portion of the object region as the local region on condition that the type of the object has been determined to be of a pedestrian.
3. The vehicular periphery monitoring apparatus according to claim 2 , wherein the first processing element sets a region where an upper end thereof coincides with an upper end of the object region and a height thereof equals to a width of the object region as the local region.