Vehicle detection apparatus and light distribution control apparatus
A vehicle detection apparatus includes: a specific color region detection unit that detects a specific color region from an image photographed by a camera provided in a vehicle; a processing target range calculation unit that calculates a processing target range in which the other vehicle is detected in the image on the basis of the specific color region detected by the specific color region detection unit; and a vehicle region detection unit that detects a region of the other vehicle from the image within the processing target range calculated by the processing target range calculation unit.
1. A vehicle detection apparatus comprising:
a specific color region detection unit that detects a specific color region from an image photographed by a camera provided in a vehicle;
a processing target range calculation unit that calculates a processing target range in which another vehicle is detected in the image based on the specific color region detected by the specific color region detection unit; and
a vehicle region detection unit that detects a region of the other vehicle from the image within the processing target range calculated by the processing target range calculation unit, wherein
the processing target range calculation unit calculates a range including an oncoming lane in a traveling road of the vehicle based on the specific color region, and adds the calculated range including the oncoming lane to the processing target range,
the processing target range calculation unit calculates a range including an intersecting road intersecting the traveling road in front of the vehicle based on the specific color region, and adds the range including the calculated intersecting road to the processing target range,
the processing target range calculation unit sets a priority order for detecting the region of the other vehicle with respect to each of the range including the oncoming lane and the range including the intersecting road, and
the vehicle region detection unit detects the region of the other vehicle from each of the range including the oncoming lane and the range including the intersecting road according to the set priority order.
2. The vehicle detection apparatus according to claim 1 ,
wherein the vehicle region detection unit detects a region of the other vehicle based on a high luminance region within the processing target range in the image.
3. The vehicle detection apparatus according to claim 1 ,
wherein the processing target range calculation unit calculates a range including an oncoming lane opposite side place outside the traveling road on an opposite side of the oncoming lane based on the specific color region, and adds the range including the calculated oncoming lane opposite side place to the processing target range.
4. The vehicle detection apparatus according to claim 1 ,
wherein the processing target range calculation unit calculates a detection target range of the specific color region with respect to a next frame image based on a range including the oncoming lane, and
the specific color region detection unit detects the specific color region from a detection target range of the specific color region of the next frame image.
5. The vehicle detection apparatus according to claim 1 ,
wherein the vehicle detection apparatus further comprises a three-dimensional information acquisition unit that acquires three-dimensional information around the vehicle, and
the processing target range calculation unit calculates a region of a road surface based on the three-dimensional information and the image, and calculates the processing target range based on the region of the road surface and the specific color region.
6. The vehicle detection apparatus according to claim 1 ,
wherein the processing target range calculation unit detects a taillight region of a preceding vehicle from the specific color region, and calculates a range including the oncoming lane based on the detected taillight region.
7. The vehicle detection apparatus according to claim 1 ,
wherein the processing target range calculation unit detects an indicator lamp region of a traffic light from the specific color region and calculates the range including the oncoming lane based on the detected indicator lamp region of the traffic light.
8. The vehicle detection apparatus according to claim 1 ,
wherein the processing target range calculation unit detects a taillight region of a preceding vehicle and an indicator lamp region of a traffic light from the specific color region, and calculates a range including the oncoming lane based on the detected taillight region and the indicator lamp region of the traffic light.
9. The vehicle detection apparatus according to claim 1 ,
wherein the processing target range calculation unit sets different vehicle region detection algorithms for each of the range including the oncoming lane and the range including the intersecting road, and
the vehicle region detection unit detects the region of the other vehicle from each of the range including the oncoming lane and the range including the intersecting road by using the vehicle region detection algorithm that has been set.
10. A light distribution control apparatus that controls light distribution of a headlight of the vehicle based on the region of the other vehicle detected by the vehicle detection apparatus according to claim 1 .