Object detection system
Provided is an object detection system which enables detection of a body of interest without causing any disturbance outside a vehicle even if the body of interest is present in a restricted-illumination area. In accordance with the timing whereby an imaging module captures an image of an object in the restricted-illumination area and on the basis of the result of image processing by an image processing module, an illumination control module controls the start and end of illumination of the restricted-illumination area by an illumination module.
1. An object detection system that detects an object outside a vehicle and provides a control device of the vehicle with detection information, the system comprising:
an illumination module for illuminating the object;
an illumination control module that controls the illumination module;
an imaging module that images the object; and
an image processing module that processes an image in which the object is captured, wherein
in accordance with timing at which the imaging module images an object in a limited-illumination area, the illumination control module controls start and end of illumination to the limited-illumination area by the illumination module on a basis of a result of image processing by the image processing module,
the imaging module performs: i) a first exposure-time imaging in synchronization with a first timing signal, ii) a second exposure-time imaging in synchronization with a second timing signal, and iii) a third exposure-time imaging in synchronization with a third timing signal,
the first exposure-time is shorter than the second exposure-time, and the second exposure-time is shorter than the third exposure-time,
when a response speed of the illumination module is faster than a given value, the illumination control module sets a high beam to be turned on at the same timing as the third exposure-time, and the first exposure-time, the second exposure-time and third exposure-time occur in order from shortest to longest.
2. The object detection system according to claim 1 , wherein
when the image processing module determines that there is a possibility that an image in which the object is captured is an image of a specific target object,
the image processing module allows the illumination control module to control the start and the end of illumination to the limited-illumination area in accordance with the timing at which the imaging module images the object in the limited-illumination area.
3. The object detection system according to claim 2 , wherein
the imaging module images the object with illumination to the limited-illumination area, and
the image processing module determines whether or not the image in which the object is captured is an image of the specific target object.
4. The object detection system according to claim 1 , wherein
the illumination module is configured to be switchable between a first illumination state and a second illumination state, and
the illumination control module executes illumination to the limited-illumination area in the second illumination state.
5. The object detection system according to claim 2 , wherein
when the image processing module determines that the image in which the object is captured is an image of a part of the specific target object,
the image processing module determines that there is a possibility that the image is an image of the specific target object.
6. The object detection system according to claim 4 , wherein
in the first illumination state, the illumination module illuminates a front of the vehicle, and
in the second illumination state,
the illumination module illuminates a place farther than a place illuminated in the first illumination state.
7. The object detection system according to claim 4 , wherein the limited-illumination area is an area that is not illuminated in the first illumination state but is illuminated in the second illumination state.