Granted Patent B2

US 12,333,755 · App. 17/944,665 · Granted Jun 17, 2025

Inventor: Daisaku Honda (Kasugai, JP)

Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA

G06T7/70G06T7/20G06V10/25G06V10/764G06T2207/30241G06T2207/30252G06V2201/07

Abstract

Claims (38)

1. An information processing system comprising:

a processor; and

a memory, wherein

the processor is configured to:

acquire an image captured by an image capturing apparatus provided on a roadside, the image including a captured vehicle;

calculate a bounding box for the captured vehicle in the image, the bounding box being represented by pixel values in an XY coordinate system, the XY coordinate system having an X-axis in a vertical direction of the image and a Y-axis in a horizontal direction of the image, and the bounding box being a rectangle that has a vertical edge parallel to the X-axis and a horizontal edge parallel to the Y-axis;

acquire information stored in the memory, the information including a recorded trajectory and a recorded center position of a vehicle front face, the recorded center position of the vehicle front face being represented by a ratio to a vertical edge length of a bounding box and a ratio to a horizontal edge length of the bounding box, and the recorded center position of the vehicle front face being recorded in correspondence with an angle between the X-axis and a tangent at an intersection of the recorded trajectory and the bounding box;

calculate an angle between the X-axis and a tangent at an intersection of the recorded trajectory and the calculated bounding box; and

calculate a center position of a front face of the captured vehicle in pixel values, based on the calculated bounding box and the recorded center position of the vehicle front face corresponding to the calculated angle.

2. The information processing system according to claim 1 , wherein the image capturing apparatus is provided on the roadside of a road on which the vehicle travels.

3. The information processing system according to claim 1 , wherein the processor is configured to output a warning based on the calculated center position of the front face of the captured vehicle.

4. The information processing system according to claim 1 , wherein

the memory stores the recorded trajectory per vehicle type, and

the processor is configured to:

determine a vehicle type of the captured vehicle based on the image; and

calculate the center position of the front face of the captured vehicle based on the recorded trajectory that corresponds to the determined vehicle type.

5. The information processing system according to claim 1 , wherein

the memory stores the recorded trajectory per vehicle speed, and

the processor is configured to:

determine a vehicle speed of the captured vehicle based on the image; and

calculate the center position of the front face of the captured vehicle based on the recorded trajectory that corresponds to the determined vehicle speed.

6. The information processing system according to claim 1 , wherein the processor updates the recorded trajectory based on tracks of positions of a plurality of captured vehicles, the tracks being calculated for each vehicle of the plurality of captured vehicles based on the images captured by the image capturing apparatus.

7. The information processing system according to claim 1 , wherein the processor is configured to update the recorded trajectory based on a track of the calculated center position of the front face of the captured vehicle.

8. The information processing system according to claim 1 , wherein the processor is configured to:

generate a schematic image of a road by plotting a marker that indicates the calculated center position of the front face of the captured vehicle; and

transmit the generated schematic image to a display provided on the captured vehicle.

9. An information processing method comprising:

acquiring an image captured by an image capturing apparatus provided on a roadside, the image including a captured vehicle;

calculating a bounding box for the captured vehicle in the image, the bounding box being represented by pixel values in an XY coordinate system, the XY coordinate system having an X-axis in a vertical direction of the image and a Y-axis in a horizontal direction of the image, and the bounding box being a rectangle that has a vertical edge parallel to the X-axis and a horizontal edge parallel to the Y-axis;

acquiring information including a recorded trajectory and a recorded center position of a vehicle front face, the recorded center position of the vehicle front face being represented by a ratio to a vertical edge length a bounding box and a ratio to a horizontal edge length of the bounding box, and the recorded center position of the vehicle front face being recorded in correspondence with an angle between the X-axis and a tangent at an intersection of the recorded trajectory and the bounding box;

calculating an angle between the X-axis and a tangent at an intersection of the recorded trajectory and the calculated bounding box; and

calculating a center position of a front face of the captured vehicle in pixel values, based on the calculated bounding box and the recorded center position of the vehicle front face that corresponds to the calculated angle.

10. A non-transitory storage medium that stores a program causing a computer to execute a process of:

acquiring an image captured by an image capturing apparatus provided on a roadside, the image including a captured vehicle;

calculating a bounding box for the captured vehicle in the image, the bounding box being represented by pixel values in an XY coordinate system, the XY coordinate system having an X-axis in a vertical direction of the image and a Y-axis in a horizontal direction of the image, and the bounding box being a rectangle that has a vertical edge parallel to the X-axis and a horizontal edge parallel to the Y-axis;

acquiring information including a recorded trajectory and a recorded center position of a vehicle front face, the recorded center position of the vehicle front face being represented by a ratio to a vertical edge length of a bounding box and a ratio to a horizontal edge length of the bounding box, and the recorded center position of the vehicle front face being recorded in correspondence with an angle between the X-axis and a tangent at an intersection of the recorded trajectory and the bounding box;

calculating an angle between the X-axis and a tangent at an intersection of the recorded trajectory and the calculated bounding box; and

calculating a center position of a front face of the captured vehicle in pixel values, based on the calculated bounding box and the recorded center position of the vehicle front face that corresponds to the calculated angle.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (11)