Image processing device that switches from normal mode to area limitation mode having no appearance of pedestrian protection mechanism
An image processing device includes an onboard camera, an image recognition processor, an object recognition processor and an image-mode switching unit. The onboard camera captures an image ahead of a vehicle. The image recognition processor generates a distance image within an image recognition area on the basis of the captured image. The object recognition processor recognizes an object within the image recognition area and a distance to the object on the basis of the two kinds of images. The image-mode switching unit switches the image recognition area to be recognized by the object recognition processor. The image-mode switching unit checks whether a collision with a pedestrian is detected and an activation command signal is output to a pedestrian protection mechanism. When an output of the activation command signal is detected, the image-mode switching unit switches to a mode where an image area having no pedestrian protection mechanism is set as the image recognition area.
1. An image processing device, comprising:
an onboard camera that captures an image of a driving environment in front of a vehicle;
an image recognition processor that generates a distance image within an image recognition area on a basis of the image captured by the onboard camera;
an object recognition processor that recognizes an object within the image recognition area and a distance to the object on the basis of the image captured by the onboard camera and the distance image generated by the image recognition processor; and
an image-mode switching unit that switches the image recognition area to be recognized by the object recognition processor,
wherein the image-mode switching unit checks whether a collision with a pedestrian is detected and an activation command signal is output to a pedestrian protection mechanism,
wherein, in a case where an output of the activation command signal is detected, the image-mode switching unit switches from a normal mode, in which a normal effective image area, including an area in which the pedestrian protection mechanism appears, is entirely set as the image recognition area, to an area limitation mode, in which an image area having no appearance of the pedestrian protection mechanism therein is set as the image recognition area, and
wherein the pedestrian protection mechanism includes at least one of a pedestrian protection airbag and a pop-up front hood.
2. An image processing device, comprising:
an onboard camera that captures an image of a driving environment in front of a vehicle;
an image recognition processor that generates a distance image within an image recognition area on a basis of the image captured by the onboard camera;
an object recognition processor that recognizes an object within the image recognition area and a distance to the object on the basis of the image captured by the onboard camera and the distance image generated by the image recognition processor; and
an image-mode switching unit that switches the image recognition area to be recognized by the object recognition processor,
wherein the image-mode switching unit checks whether a collision with a pedestrian is detected and an activation command signal is output to a pedestrian protection mechanism,
wherein, in a case where an output of the activation command signal is detected, the image-mode switching unit switches from a normal mode, in which a normal effective image area is entirely set as the image recognition area, to an area limitation mode, in which an image area having no appearance of the pedestrian protection mechanism therein is set as the image recognition area, and
wherein the area limitation mode includes identifying the pedestrian protection mechanism appearing in the effective image area on a basis of a color of the pedestrian protection mechanism, detecting a boundary having no appearance of the color of the pedestrian protection mechanism therein, and setting a captured vertical image area at a far side from the boundary as the image recognition area.
3. An image processing device, comprising:
an onboard camera that captures an image of a driving environment in front of a vehicle;
an image recognition processor that generates a distance image within an image recognition area on a basis of the image captured by the onboard camera;
an object recognition processor that recognizes an object within the image recognition area and a distance to the object on the basis of the image captured by the onboard camera and the distance image generated by the image recognition processor; and
an image mode switching unit that switches the image recognition area to be recognized by the object recognition processor,
wherein the image-mode switching unit checks whether a collision with a pedestrian is detected and an activation command signal is output to a pedestrian protection mechanism,
wherein, in a case where an output of the activation command signal is detected, the image-mode switching unit switches from a normal mode, in which a normal effective image area is entirely set as, the image recognition area, to an area limitation mode, in which an image area having no appearance of the pedestrian protection mechanism therein is set as the image recognition area, and
wherein the area limitation mode includes determining a number of effective distance pixels in a horizontal direction of the effective image area for each of rows in a vertical direction, setting a row in which the number of effective distance pixels is larger than a preset number of non-usable-area determination pixels as a boundary, and setting a captured vertical image area at a far side from the boundary as the image recognition area.
4. An image processing device, comprising:
an onboard camera that captures an image of a driving environment in front of a vehicle;
an image recognition processor that generates a distance image within an image recognition area on a basis of the image captured by the onboard camera;
an object recognition processor that recognizes an object within the image recognition area and a distance to the object on the basis of the image captured by the onboard camera and the distance image generated by the image recognition processor; and
an image-mode switching unit that switches the image recognition area to be recognized by the object recognition processor,
wherein the image-mode switching unit checks whether a collision with a pedestrian is detected and an activation command signal is output to a pedestrian protection mechanism,
wherein, in a case where an output of the activation command signal is detected, the image-mode switching unit switches from a normal mode, in which a normal effective image area is entirely set as the image recognition area, to an area limitation mode, in which an image area having no appearance of the pedestrian protection mechanism therein is set as the image recognition area,
wherein the area in which the pedestrian protection mechanism appears in the effective image area is preliminarily set as a non-usable area, and
wherein the area limitation mode includes setting a captured vertical image area at a far side from a boundary of the non-usable area as the image recognition area.