Granted Patent B2

US 12,475,712 · App. 17/926,034 · Granted Nov 18, 2025

Inventor: Ikuo Goto (Tokyo, JP)

Assignee: SUBARU CORPORATION

G06V20/58G06T7/70G06V10/60G06T2207/30261

Abstract

Claims (84)

1 . A driver assistance apparatus configured to assist in driving to avoid collision with an object, the driver assistance apparatus comprising:

one or more processors; and

one or more memories communicably coupled to the one or more processors, wherein the one or more processors are configured to:

detect a shadow of an object present in a blind spot region as viewed from a vehicle, on a basis of image data that captures a surrounding view around the vehicle, the shadow extending outward from the blind spot region and including an edge that is located outside the blind spot region;

estimate a position of a light source that causes the shadow;

estimate a position, a direction of movement, and a speed of movement of the object based on the position of the light source and a change over time in a distance from the blind spot region to the edge of the shadow, and determine possibility of collision between the vehicle and the object; and

upon determining that there is a possibility of the collision, generate a control signal and control, using the generated control signal, deceleration or a steering angle of the vehicle to avoid the collision between the vehicle and the object.

2 . The driver assistance apparatus according to claim 1 , wherein the one or more processors are configured to

detect a moving body and a shadow of the moving body on the basis of the image data, the moving body having moved from the blind spot region to outside the blind spot region, and

estimate the position of the light source on a basis of the moving body and the shadow of the moving body.

3 . The driver assistance apparatus according to claim 1 ,

wherein the one or more processors are further configured to:

identify a type of the light source from among types of the light source based on current time, wherein the types of the light source include the sun and one or more unmovably installed lighting devices;

acquire a set of data corresponding to the identified type of the light source, wherein an amount of the data acquired when the identified type of the light source is the sun is less than an amount of the data acquired when the identified type of the light source is the one or more unmovably installed lighting devices; and

set an estimation method corresponding to the identified type of the light source, wherein the estimation method is different for each type of the light source, and

wherein estimating the position, the direction of movement, and the speed of movement of the object by the one or more processors is further based on the set of the data and the estimation method.

4 . The driver assistance apparatus according to claim 1 , wherein estimating the position of the light source, by the one or more processors, includes:

determining that the light source that causes the shadow is the sun based on data regarding sunrise time and sunset time, and current time;

upon determining that the light source is the sun, determining a position of the sun based on the current time and solar position data;

upon failure to determine that light source is the sun, determining that the light source that causes the shadow is one of unmovably installed lighting devices based on the current time and map data indicating locations of the unmovably installed lighting devices; and

upon determining that the light source is the one of the unmovably installed lighting devices, determining a position of the one of the unmovably installed lighting devices based on the map data.

5 . The driver assistance apparatus according to claim 4 , wherein estimating the position of the light source, by the one or more processors, further includes:

upon failure to determine that the light source is the one of the unmovably installed lighting devices, determining that the light source that causes the shadow is a lamp of a moving body based on the current time and externally received data regarding the moving body; and

upon determining that the light source is the lamp of the moving body, determining a position of the lamp of the moving body based on a positional relationship between the vehicle and the moving body.

6 . A driver assistance apparatus configured to assist in driving to avoid collision with an object, the driver assistance apparatus comprising:

a shadow region detection unit configured to detect a shadow of an object present in a blind spot region as viewed from a vehicle, on a basis of image data that captures a surrounding view around the vehicle, the shadow extending outward from the blind spot region and including an edge that is located outside the blind spot region;

a light source position estimation unit configured to estimate a position of a light source that causes the shadow;

a collision determination unit configured to estimate a position, a direction of movement, and a speed of movement of the object based on the position of the light source and a change over time in a distance from the blind spot region to the edge of the shadow, and determine possibility of collision between the vehicle and the object; and

a driving condition setting unit configured to, upon determining that there is a possibility of the collision, generate a control signal and control, using the generated control signal, deceleration or a steering angle of the vehicle to avoid the collision between the vehicle and the object.

7 . The driver assistance apparatus according to claim 6 , wherein

the light source position estimation unit is further configured to identify a type of the light source from among types of the light source based on current time, wherein the types of the light source include the sun and one or more unmovably installed lighting devices,

the collision determination unit is further configured to:

acquire a set of data corresponding to the identified type of the light source, wherein an amount of the data acquired when the identified type of the light source is the sun is less than an amount of the data acquired when the identified type of the light source is the one or more unmovably installed lighting devices; and

set an estimation method corresponding to the identified type of the light source, wherein the estimation method is different for each type of the light source, and

the collision determination unit is configured to estimate the position, the direction of movement, and the speed of movement of the object further based on the set of the data and the estimation method.

8 . The driver assistance apparatus according to claim 6 , wherein estimating the position of the light source, by the light source position estimation unit, includes:

determining that the light source that causes the shadow is the sun based on data regarding sunrise time and sunset time, and current time;

upon determining that the light source is the sun, determining a position of the sun based on the current time and solar position data;

upon failure to determine that light source is the sun, determining that the light source that causes the shadow is one of unmovably installed lighting devices based on the current time and map data indicating locations of the unmovably installed lighting devices; and

upon determining that the light source is the one of the unmovably installed lighting devices, determining a position of the one of the unmovably installed lighting devices based on the map data.

9 . The vehicle according to claim 8 , wherein estimating the position of the light source, by the light source position estimation unit, further includes:

upon failure to determine that the light source is the one of the unmovably installed lighting devices, determining that the light source that causes the shadow is a lamp of a moving body based on the current time and externally received data regarding the moving body; and

upon determining that the light source is the lamp of the moving body, determining a position of the lamp of the moving body based on a positional relationship between the vehicle and the moving body.

10 . A vehicle provided with a driver assistance apparatus configured to assist in driving to avoid collision with an object, the driver assistance apparatus comprising:

one or more processors; and

one or more memories communicably coupled to the one or more processors, wherein the one or more processors are configured to:

detect a shadow of an object present in a blind spot region as viewed from a vehicle, on a basis of image data that captures a surrounding view around the vehicle, the shadow extending outward from the blind spot region and including an edge that is located outside the blind spot region;

estimate a position of a light source that causes the shadow

estimate a position, a direction of movement, and a speed of movement of the object based on the position of the light source and a change over time in a distance from the blind spot region to the edge of the shadow, and determine possibility of collision between the vehicle and the object; and

upon determining that there is a possibility of the collision, generate a control signal and control, using the generated control signal, deceleration or a steering angle of the vehicle to avoid the collision between the vehicle and the object.

11 . The vehicle according to claim 10 ,

wherein the one or more processors are further configured to:

identify a type of the light source from among types of the light source based on current time, wherein the types of the light source include the sun and one or more unmovably installed lighting devices;

acquire a set of data corresponding to the identified type of the light source, wherein an amount of the data acquired when the identified type of the light source is the sun is less than an amount of the data acquired when the identified type of the light source is the one or more unmovably installed lighting devices; and

set an estimation method corresponding to the identified type of the light source, wherein the estimation method is different for each type of the light source, and

wherein the one or more processors are configured to estimate the position, the direction of movement, and the speed of movement of the object further based on the set of the data and the estimation method.

12 . The vehicle according to claim 10 , wherein estimating the position of the light source, by the one or more processors, includes:

determining that the light source that causes the shadow is the sun based on data regarding sunrise time and sunset time, and current time;

upon determining that the light source is the sun, determining a position of the sun based on the current time and solar position data;

upon failure to determine that light source is the sun, determining that the light source that causes the shadow is one of unmovably installed lighting devices based on the current time and map data indicating locations of the unmovably installed lighting devices; and

upon determining that the light source is the one of the unmovably installed lighting devices, determining a position of the one of the unmovably installed lighting devices based on the map data.

13 . The vehicle according to claim 12 , wherein estimating the position of the light source, by the one or more processors, further includes:

upon failure to determine that the light source is the one of the unmovably installed lighting devices, determining that the light source that causes the shadow is a lamp of a moving body based on the current time and externally received data regarding the moving body; and

upon determining that the light source is the lamp of the moving body, determining a position of the lamp of the moving body based on a positional relationship between the vehicle and the moving body.

14 . A non-transitory recording medium containing a computer program applicable to a driver assistance apparatus configured to assist in driving to avoid collision with an object,

the computer program causing one or more processors to execute processing comprising:

detecting a shadow of an object present in a blind spot region as viewed from a vehicle, on a basis of image data that captures a surrounding view around the vehicle, the shadow extending outward from the blind spot region and including an edge that is located outside the blind spot region;

estimating a position of a light source that causes the shadow;

estimating a position, a direction of movement, and a speed of movement of the object based on the position of the light source and a change over time in a distance from the blind spot region to the edge of the shadow, and determining possibility of collision between the vehicle and the object; and

upon determining that there is a possibility of the collision, generating a control signal-to and controlling, using the generated control signal, deceleration or a steering angle of the vehicle to avoid the collision between the vehicle and the object.

15 . The driver assistance apparatus according to claim 14 , wherein

the processing further comprises:

identifying a type of the light source from among types of the light source based on current time, wherein the types of the light source include the sun and one or more unmovably installed lighting devices;

acquiring a set of data corresponding to the identified type of the light source, wherein an amount of the data acquired when the identified type of the light source is the sun is less than an amount of the data acquired when the identified type of the light source is the one or more unmovably installed lighting devices; and

setting an estimation method corresponding to the identified type of the light source, wherein the estimation method is different for each type of the light source, and

the estimating the position, the direction of movement, and the speed of movement of the object by the one or more processors is further based on the set of the data and the estimation method.

16 . The driver assistance apparatus according to claim 14 , wherein estimating the position of the light source includes:

determining that the light source that causes the shadow is the sun based on data regarding sunrise time and sunset time, and current time;

upon determining that the light source is the sun, determining a position of the sun based on the current time and solar position data;

upon failure to determine that light source is the sun, determining that the light source that causes the shadow is one of unmovably installed lighting devices based on the current time and map data indicating locations of the unmovably installed lighting devices; and

upon determining that the light source is the one of the unmovably installed lighting devices, determining a position of the one of the unmovably installed lighting devices based on the map data.

17 . The non-transitory recording medium according to claim 16 , wherein estimating the position of the light source further includes:

upon failure to determine that the light source is the one of the unmovably installed lighting devices, determining that the light source that causes the shadow is a lamp of a moving body based on the current time and externally received data regarding the moving body; and

upon determining that the light source is the lamp of the moving body, determining a position of the lamp of the moving body based on a positional relationship between the vehicle and the moving body.

Assignments (1)

Continuity (1)

References Cited (16)