Estimated route presentation apparatus and estimated route presentation method
An estimated route presentation apparatus including a control device is provided. The control device executes an image acquisition function to acquire a captured image captured by a camera provided on the vehicle, an estimated route calculation function to: detect an end part of a diagram displayed on a road surface from an image of the road surface included in the captured image; obtain a center of gyration of the vehicle traveling, on the basis of changes in the direction and distance of the movement of the end part as the vehicle travels; and calculate an estimated route of the vehicle with reference to the center of gyration, and a presentation control function to present the calculated estimated route.
1. An estimated route presentation apparatus for a vehicle, comprising:
an image acquisition unit configured to acquire a captured image captured using a camera provided on the vehicle, the captured image including at least a part of a vehicle tire image;
an estimated route calculation unit configured to:
detect a tire angle from an edge feature extracted from the captured image;
calculate a center of gyration of the vehicle on a basis of the tire angle; and
calculate an estimated route of the vehicle with reference to the center of gyration; and
a presentation unit configured to present the estimated route calculated, wherein
the estimated route calculation unit extracts a shadow region which has a luminance value of less than a predetermined value and is included in captured images by cameras provided at different positions of the vehicle, selects a captured image in which a ratio of area occupied by an extracted shadow region is low, and detects the tire angle on the basis of the edge feature extracted from a selected captured image.
2. The estimated route presentation apparatus for a vehicle according to claim 1 , wherein
the estimated route calculation unit refers to first correspondence information, in which the tire angle is preliminarily associated with an inclination of a tire edge detected from the captured image at each state of some tire angles, and thereby detects the tire angle on the basis of the inclination of the tire edge of the vehicle tire image extracted from the captured image acquired.
3. The estimated route presentation apparatus for a vehicle according to claim 1 , wherein
the estimated route calculation unit refers to second correspondence information, in which the tire angle is preliminarily associated with a feature pattern in a tire image detected from the captured image at each state of some tire angles, and thereby detects the tire angle on the basis of the feature pattern which has a highest matching degree with the edge feature of the vehicle tire image extracted from the captured image acquired.
4. The estimated route presentation apparatus for a vehicle according to claim 1 , wherein
the image acquisition unit acquires a right-side captured image captured by a right-side camera provided at the right side of the vehicle or a left-side captured image captured by a left-side camera provided at the left side of the vehicle, and
the image acquisition unit acquires the right-side captured image when the vehicle is steering right and acquires the left-side captured image when the vehicle is steering left.
5. The estimated route presentation apparatus for a vehicle according to claim 1 , wherein
the image acquisition unit acquires a right-side captured image captured by a right-side camera provided at the right side of the vehicle or a left-side captured image captured by a left-side camera provided at the left side of the vehicle, and
the estimated route calculation unit detects the tire angle on the basis of the edge feature extracted from the right-side captured image when the vehicle is steering right and detects the tire angle on the basis of the edge feature extracted from the left-side captured image when the vehicle is steering left.
6. The estimated route presentation apparatus for a vehicle according to claim 1 , further comprising:
a lighting unit provided in a vicinity of the camera; and
a brightness detection unit configured to detect luminance around the vehicle, wherein
the image acquisition unit outputs a lighting instruction to turn on the lighting unit when the detected luminance value around the vehicle is less than a predetermined value.
7. The estimated route presentation apparatus for a vehicle according to claim 1 , wherein
the captured image includes at least a part of an image of a boundary between the vehicle tire and a wheel.
8. An estimated route presentation method for a vehicle, causing a computer to execute:
a process of extracting an edge feature of a vehicle tire from an image corresponding to at least a part of the vehicle tire, the image being included in a captured image by a camera provided on the vehicle;
a process of calculating an estimated route of the vehicle with reference to a center of gyration of the vehicle on a basis of a tire angle of the tire detected from the edge feature of the tire; and
a process of outputting the estimated route to external, wherein
the process of calculating an estimated route includes:
extracting a shadow region which has a luminance value of less than a predetermined value and is included in captured images by cameras provided at different positions of the vehicle;
selecting a captured image in which a ratio of area occupied by the extracted shadow regions is low; and
detecting the tire angle on a basis of the edge feature extracted from a selected captured image.