On-vehicle image processing device
A parking frame drawn on a road surface is reliably detected. An imager ( 10 ) installed on a vehicle ( 1 ) captures an image (I) including at least a road surface around the vehicle ( 1 ). A candidate white-line area detector ( 30 ) detects, from the captured image (I), a candidate white-line area which is possibly a part of a parking frame. A parking-frame-similitude calculator ( 40 ) calculates the brightness distribution of the detected candidate white-line area and the surroundings of boundary points of a road surface. When the brightness distribution satisfies a certain condition, the parking-frame similitude or the degree to which the candidate white-line area forms a parking frame, is determined to be low. When a parking-frame similitude of the candidate white-line area forming a parking frame is detected in the image (I) by a parking-frame detector ( 60 ), the credibility (U) for the detected parking frame is set low.
1. An on-vehicle image processor comprising:
an imager mounted on a vehicle, which observes surroundings of the vehicle and captures an image including at least a road surface;
a candidate white-line area detector which
detects positions of a first pixel and a second pixel while scanning the image captured by the imager in a certain direction, the first pixel of which a brightness value changes to be brighter and exceeds a predetermined value, the second pixel being located within a certain distance from the first pixel, of which a brightness value changes to be darker and exceeds a predetermined value, and
detects, as a candidate white-line area forming a parking frame, an area surrounded by both end points of a linear element of the first pixels and both end points of a linear element of the second pixels;
a parking-frame similitude calculator which calculates a parking-frame similitude according to a brightness distribution of surroundings of the first pixels of the candidate white-line area and a brightness distribution of surroundings of the second pixels, the parking-frame similitude being a similitude when each of the candidate white-line areas is assumed to form a parking frame; and
a parking frame detector which detects a parking frame according to the position of the candidate white-line area, the parking-frame similitude, and an expected size of a parking frame in the image, wherein
the parking-frame similitude calculator decreases the parking-frame similitude of the candidate white-line area when the brightness distributions of the surroundings of the first pixels and the second pixels of the candidate white-line area satisfy a certain condition.
2. The on-vehicle image processor according to claim 1 , further comprising
a solid object detector mounted on the vehicle, which detects presence or absence of a solid object in an imaging area of the imager, wherein
when the solid object detector detects a solid object, the predetermined value and the certain distance is set to values which make it difficult for the candidate white-line area detector to detect the candidate white-line area in an area of the image corresponding to the area in which the solid object is detected; and
even when the candidate white-line area satisfies the certain condition, the parking-frame similitude of the candidate white-line area is not changed.
3. The on-vehicle image processor according to claim 1 , wherein
the certain condition is at least one of the following conditions relative to a central line connecting midpoints of the first and second pixels in the candidate white-line area:
when the midpoints are moved along the central line, a number of midpoints at which at least either of a difference in brightness between the midpoints and a third pixel and a difference in brightness between the midpoints and a fourth pixel becomes smaller than a predetermined value accounts for a total number of the midpoints of the candidate white-line area at a larger ratio than a predetermined ratio, the third pixel separated from the midpoints towards the first pixels in a first predetermined distance, the fourth pixel separated from the midpoints towards the second pixels in the first predetermined distance;
when the midpoints are moved along the central line, a number of pairs of third and fourth pixels of which a difference in brightness is different by a predetermined value or more accounts for the total number of the midpoints of the candidate white-line area at a larger ratio than a predetermined ratio; and
a fifth pixel and a six pixel are set, the fifth pixel separated from the midpoints toward the first pixel in a second predetermined distance, the sixth pixel separated from the midpoints toward the first pixel in a second predetermined distance, and when the midpoints are moved along the central line, a difference in brightness distributions between an inside of an area drawn by a line connecting the midpoints and the fifth pixel and an inside of an area drawn by a line connecting the midpoints and a sixth pixel is larger than a predetermined value.
4. The on-vehicle image processor according to claim 3 , wherein
the parking-frame similitude calculator sets the parking-frame similitude of the candidate white-line area to a lower value when a plurality of conditions among the certain conditions are satisfied than when only one of the certain conditions is satisfied.
5. The on-vehicle image processor according to claim 1 , further comprising
an image converter which converts the image captured by the imager to an overhead image of the vehicle viewed from directly above, wherein
the candidate white-line area detector detects the candidate white-line area in the image converted by the image converter.