Device, method, and storage medium for detecting deceleration of preceding vehicle
The apparatus of the present disclosure detects a preceding vehicle and a white dashed line provided at regular intervals along a road from an image captured by a monocular camera. In addition, the apparatus of the present disclosure acquires speed information of the host vehicle. Then, the apparatus of the present disclosure counts the number of white dashed lines included in the section from the vertical position of the preceding vehicle to the lower fixed reference position of the vertical position in the camera image, and detects the deceleration of the preceding vehicle based on the time-series transition of the number of white dashed lines and the speed information of the host vehicle.
1 . A device comprising:
a monocular camera configured to capture an image of an area forward of a host vehicle traveling in a lane;
a processor; and
a memory that is coupled to the processor and that stores a plurality of instructions that are executable by the processor and that cause the processor to execute processes including:
detecting a preceding vehicle traveling in the same lane as the host vehicle and a plurality of equally-spaced stationary objects arranged at regular intervals along a road from the image captured by the monocular camera;
grouping, from the plurality of equally-spaced stationary objects, a stationary object group defining the lane in which the host vehicle travels;
acquiring speed information of the host vehicle;
counting, from the stationary object group, the number of the stationary objects included in a section from a longitudinal position of the preceding vehicle to a fixed reference position located rearward of the longitudinal position in the image;
correcting first time-series change of the number of the counted stationary objects based on the speed information;
detecting a first specific deceleration starting point of the preceding vehicle based on the corrected first time-series change;
estimating, based on the speed information, second time-series change of the number of the counted stationary objects assuming that the preceding vehicle travels at a constant speed;
detecting a second specific deceleration starting point of the preceding vehicle based on a difference between the estimated second time-series change and actual time-series change of the number of the counted stationary objects; and
detecting deceleration of the preceding vehicle based on a combination of the first specific deceleration starting point and the second specific deceleration starting point.
2 . A method executed by an in-vehicle computer, the method comprising:
detecting a preceding vehicle traveling in the same lane as a host vehicle and a plurality of equally-spaced stationary objects arranged at regular intervals along a road from an image of an area forward of the host vehicle traveling in a lane, the image being captured by a monocular camera mounted on the host vehicle, the preceding vehicle traveling in the same lane as the host vehicle;
grouping, from the plurality of equally-spaced stationary objects, a stationary object group defining the lane in which the host vehicle travels;
acquiring speed information of the host vehicle;
counting, from the stationary object group, the number of the stationary objects included in a section from a longitudinal position of the preceding vehicle to a fixed reference position located rearward of the longitudinal position in the image;
correcting first time-series change of the number of the counted stationary objects based on the speed information;
detecting a first specific deceleration starting point of the preceding vehicle based on the corrected first time-series change;
estimating, based on the speed information, second time-series change of the number of the counted stationary objects assuming that the preceding vehicle travels at a constant speed;
detecting a second specific deceleration starting point of the preceding vehicle based on a difference between the estimated second time-series change and actual time-series change of the number of the counted stationary objects; and
detecting deceleration of the preceding vehicle based on a combination of the first specific deceleration starting point and the second specific deceleration starting point.
3 . A non-transitory storage medium storing instructions that are executable by an in-vehicle computer and that cause the in-vehicle computer to perform functions comprising:
detecting a preceding vehicle traveling in the same lane as a host vehicle and a plurality of equally-spaced stationary objects arranged at regular intervals along a road from an image of an area forward of the host vehicle traveling in a lane, the image being captured by a monocular camera mounted on the host vehicle, the preceding vehicle traveling in the same lane as the host vehicle;
grouping, from the plurality of equally-spaced stationary objects, a stationary object group defining the lane in which the host vehicle travels;
acquiring speed information of the host vehicle;
counting, from the stationary object group, the number of the stationary objects included in a section from a longitudinal position of the preceding vehicle to a fixed reference position located rearward of the longitudinal position in the image;
correcting first time-series change of the number of the counted stationary objects based on the speed information;
detecting a first specific deceleration starting point of the preceding vehicle based on the corrected first time-series change;
estimating, based on the speed information, second time-series change of the number of the counted stationary objects assuming that the preceding vehicle travels at a constant speed;
detecting a second specific deceleration starting point of the preceding vehicle based on a difference between the estimated second time-series change and actual time-series change of the number of the counted stationary objects; and
detecting deceleration of the preceding vehicle based on a combination of the first specific deceleration starting point and the second specific deceleration starting point.
4 . The device according to claim 1 , wherein, in a case where the processor determines that the host vehicle decelerates based on the speed information of the host vehicle, and third time-series change of the number of the counted stationary objects indicates a constant trend or a decreasing trend, the processor is configured to:
perform an estimation of whether the preceding vehicle decelerates; and
detect deceleration of the preceding vehicle based on a combination of the first specific deceleration starting point, the second specific deceleration starting point, and the performed estimation.