Vehicle periphery monitoring device
A vehicle periphery monitoring device is operable to report a high contact possibility between a vehicle and an object at an appropriate time or frequency according to the type of the object. When the object is determined to be a human being and the position of the object in real space is contained in a first contact determination area, a high contact possibility between the vehicle and the object is reported. On the other hand, when the object is determined to be a quadruped animal and the real spatial position of the object is contained in a second contact determination area, the corresponding report is made. The second contact determination area has an overlapped area that overlaps with the first contact determination area, and an overflowed area that has at least a part thereof overflowing from the first contact determination area.
1. A vehicle periphery monitoring device configured to monitor the periphery of a vehicle by using a captured image acquired by an imaging device mounted in the vehicle, comprising:
an object extraction unit configured to extract an object from the captured image;
a position determination unit configured to determine the real spatial position of the object extracted by the object extraction unit;
an object determination unit configured to determine whether the object extracted by the object extraction unit is either a human being or a quadruped animal;
a contact determination area setting unit configured to set a first contact determination area for determining the contact possibility level between the vehicle and a human being as the object when the object is determined by the object determination unit to be a human being, and to set a second contact determination area for determining the contact possibility level between the vehicle and a quadruped animal as the object when the object is determined by the object determination unit to be a quadruped animal, the second contact determination area having an overlapped area that overlaps with the first contact determination area and an overflowed area that has at least a part thereof overflowing from the first contact determination area; and
an object report unit configured to report the presence of the object to the driver on a condition that the real spatial position of the human being as the object determined by the position determination unit is contained in the first contact determination area set by the contact determination area setting unit, or on a condition that the real spatial position of the quadruped animal as the object determined by the position determination unit is contained in the second contact determination area set by the contact determination area setting unit.
2. The vehicle periphery monitoring device according to claim 1 is further provided with a motion vector calculation unit configured to calculate a motion vector of the object on the basis of the real spatial position of the object determined by the position determination unit at different times,
wherein the contact determination area setting unit sets a third contact determination area outside the first contact determination area on a condition that the object is determined by the object determination unit to be a human being,
the object report unit reports the presence of the human being as the object to the driver on a condition that the real spatial position of the human being as the object determined by the position determination unit is contained in the third contact determination area set by the contact determination area setting unit and the motion vector of the human being as the object calculated by the motion vector calculation unit is pointing toward the first contact determination area.
3. The vehicle periphery monitoring device according to claim 1 , wherein
the contact determination area setting unit sets an area in the front of the vehicle extending parallel to the travel direction of the vehicle and having a width with a predefined margin added to both lateral sides of the vehicle as the first contact determination area.
4. The vehicle periphery monitoring device according to claim 1 , wherein
the contact determination area setting unit sets an imaging area captured by the imaging device as the second contact determination area.
5. The vehicle periphery monitoring device according to claim 2 , wherein
the contact determination area setting unit sets an area in the front of the vehicle extending parallel to the travel direction of the vehicle and having a width with a predefined margin added to both lateral sides of the vehicle as the first contact determination area.
6. The vehicle periphery monitoring device according to claim 2 , wherein
the contact determination area setting unit sets an imaging area captured by the imaging device as the second contact determination area.
7. The vehicle periphery monitoring device according to claim 3 , wherein
the contact determination area setting unit sets an imaging area captured by the imaging device as the second contact determination area.