Vehicle control system
View Patent ↗A vehicle control system executes a distance calculation process of detecting, corresponding points between a pair of captured images obtained by stereo-imaging, working out a coordinate shift between the corresponding points as a parallax, and calculating a distance up to each corresponding point based on the parallax; and a representative distance calculation process of dividing a distance image, in which a distance of each corresponding point is represented, into multiple strip regions that partition the image in a vertical direction, and working out, for each strip region, a distance for which a frequency is equal to or higher than a predefined value, as a representative distance. The system further executes a determination process of counting the number of representative distances within a monitoring region, and determining a magnitude relationship between the count value and a threshold value, to determine thereby the presence or absence of reflection.
1. A vehicle control system, comprising:
an imaging unit that performs stereo-imaging by a pair of cameras that capture an advance direction of a vehicle equipped with the cameras; and
an image processor that performs image processing for recognizing a vehicle exterior environment, on the basis of a captured image obtained by the imaging unit,
wherein the image processor executes:
a distance calculation process of detecting, by pattern matching, corresponding points between a pair of captured images obtained through the stereo-imaging, working out a coordinate shift between the corresponding points as a parallax, and calculating a distance up to each corresponding point, on the basis of the parallax;
a representative distance calculation process of dividing a distance image, in which a distance of each corresponding point as calculated in the distance calculation process is represented on an image, into a plurality of strip regions that partition the distance image in a vertical direction, and working out, for each strip region, a distance for which a frequency is equal to or higher than a predefined value as a representative distance; and
a determination process of counting a total number of the representative distances within a target region that is set at a horizontal center section of a bottom end of an image having the distance as a vertical axis and having an image left-right position of the captured image as a horizontal axis, and determining a magnitude relationship between the total number of the representative distances being within the target region and a threshold value.
2. The vehicle control system according to claim 1 , wherein the image processor performs the determination process when a travel speed of the vehicle is determined to be equal to or higher than a predetermined speed.
3. The vehicle control system according to claim 2 , wherein the image processor:
executes an object detection process of detecting an object present in the advance direction of the vehicle, on the basis of the representative distance for each strip region; and
determines whether or not the object is detected stably within the target region, in the object detection process, and executes the determination process on the basis of the determination result.
4. The vehicle control system according to claim 2 , wherein the image processor determines whether the vehicle is turning or not, and executes the determination process on the basis of the determination result.
5. The vehicle control system according to claim 2 , wherein the image processor:
executes an object detection process of detecting an object present in the advance direction of the vehicle, on the basis of the representative distance for each strip region; and
determines whether a number of isolated data items that denotes representative distances not grouped in the object detection process is large or not, and executes the determination process on the basis of the determination result.
6. The vehicle control system according to claim 2 , wherein the image processor determines whether or not the vehicle is traveling a downhill slope, or whether or not an uphill slope is being imaged by the imaging unit, and executes the determination process on the basis of the determination result.
7. The vehicle control system according to claim 2 ,
wherein the image processor:
executes an object detection process of detecting an object present in the advance direction of the vehicle, on the basis of the representative distance for each strip region; and
includes a driving support controller that executes a predefined vehicle control process as a driving support control process, on the basis of the detection result of the object in the object detection process, and
wherein the image processor forcibly terminates the driving support control process on the basis of the result of the determination process.
8. The vehicle control system according to claim 1 , wherein the image processor:
executes an object detection process of detecting an object present in the advance direction of the vehicle, on the basis of the representative distance for each strip region; and
determines whether or not the object is detected stably within the target region, in the object detection process, and executes the determination process on the basis of the determination result.
9. The vehicle control system according to claim 8 , wherein the image processor determines whether the vehicle is turning or not, and executes the determination process on the basis of the determination result.
10. The vehicle control system according to claim 8 , wherein the image processor determines whether or not the vehicle is traveling a downhill slope, or whether or not an uphill slope is being imaged by the imaging unit, and executes the determination process on the basis of the determination result.
11. The vehicle control system according to claim 8 ,
wherein the image processor:
executes an object detection process of detecting an object present in the advance direction of the vehicle, on the basis of the representative distance for each strip region; and
includes a driving support controller that executes a predefined vehicle control process as a driving support control process, on the basis of the detection result of the object in the object detection process, and
wherein the image processor forcibly terminates the driving support control process on the basis of the result of the determination process.
12. The vehicle control system according to claim 1 , wherein the image processor determines whether the vehicle is turning or not, and executes the determination process on the basis of the determination result.
13. The vehicle control system according to claim 1 , wherein the image processor:
executes an object detection process of detecting an object present in the advance direction of the vehicle, on the basis of the representative distance for each strip region; and
determines whether a number of isolated data items that denotes representative distances not grouped in the object detection process is large or not, and executes the determination process on the basis of the determination result.
14. The vehicle control system according to claim 8 , wherein the image processor:
executes an object detection process of detecting an object present in the advance direction of the vehicle, on the basis of the representative distance for each strip region; and
determines whether a number of isolated data items that denotes representative distances not grouped in the object detection process is large or not, and executes the determination process on the basis of the determination result.
15. The vehicle control system according to claim 1 , wherein the image processor determines whether or not the vehicle is traveling a downhill slope, or whether or not an uphill slope is being imaged by the imaging unit, and executes the determination process on the basis of the determination result.
16. The vehicle control system according to claim 1 ,
wherein the image processor:
executes an object detection process of detecting an object present in the advance direction of the vehicle, on the basis of the representative distance for each strip region; and
includes a driving support controller that executes a predefined vehicle control process as a driving support control process, on the basis of the detection result of the object in the object detection process, and
wherein the image processor forcibly terminates the driving support control process on the basis of the result of the determination process.
17. The vehicle control system according to claim 1 , wherein the target region is less than a height of the plurality of strip regions, and the target region includes the bottom edge of the image having the distance as the vertical axis and having the image left-right position of the captured image as the horizontal axis.
18. The vehicle control system according to claim 1 , wherein a presence or an absence of a reflection on a windshield of a vehicle equipped with the vehicle control system is determined by the determination process.
19. The vehicle control system according to claim 18 , wherein the reflection on a windshield denotes a phenomenon where an object placed on the top face of a dashboard of the vehicle is reflected or projected onto the windshield.
20. The vehicle control system according to claim 1 , wherein the image processor includes a driving support controller that executes a predefined vehicle control process as a driving support control process, on a basis of the number of the representative distances being in the target region is greater than the threshold value.