Honda Motor Co., Ltd.

Kodai Matsuda

Makoto Aimura

Nobuharu Nagaoka

Hiroshi Hattori

Yusuke Nakamura

Izumi Takatsudo

A vehicle periphery monitoring device comprises: an in-region object detecting unit which detects an in-region object present in contact determination regions on the basis of a photographic image from a camera per prescribed control cycle; and a warning control unit which performs warning control processing to give warning of a detected in-region object when an in-region object was not detected in the last control cycle, but the in-region object was detected in the present control cycle, and to restrain warning of a new in-region object when an in-region object was detected in the last control cycle and the new in-region object different from the in-region object detected in the last control cycle has been detected in the present control cycle.

Vehicle periphery monitoring device

A living body recognizing device is equipped with a captured image acquiring unit which acquires captured images from infrared cameras having a characteristics that a luminance of an image portion of a target object becomes higher as a temperature of the target object becomes higher than a background, and vice versa, according to a temperature difference between the background and the target object, a living body image extracting unit which executes a first living body image extracting processing of extracting the image portion of the target object assumed as a living body, from a region in the captured image where the luminance is equal to or lower than a first threshold value, and a living body recognizing unit which recognizes an existence of the living body, based on the image portion of the target object extracted by the living body image extracting unit.

Living body recognizing device

Category determination is performed on an object candidate extracted from a captured image after an exclusion process is performed in advance. In the exclusion process, a distance from a vehicle to the object candidate is calculated based on a size of the object candidate in a current image, a moved distance of the vehicle occurring in a time interval from a time a previous image was captured to a time the current image is captured is calculated, the size of the object candidate in the current image is decreased at a change ratio based on the distance to the object candidate and the moved distance, and a size of the object candidate in the previous image and a size of the object candidate decreased at the change ratio are compared. The object candidate with difference between them being determined to be larger than a predetermined value is removed.

Apparatus for monitoring vicinity of a vehicle

In a target-object distance measuring device and a vehicle on which the device is mounted, a human body detection device is utilized for calculating a distance between an image capturing device and a human body candidate in an actual space based on the size of the human body candidate in the image. The head width is approximately 15-16 cm. A body height in the actual space of the human candidate in the image is estimated based on the ratio between the head-width in the extracted image and at least one size of the human body feature, such as total height, in the extracted human body candidate region, and the distance from the image capturing device to the human body candidate in the actual space is calculated based on the estimated body height in the actual space and the body height of the human body candidate in the image.

Target-object distance measuring device and vehicle mounted with the device

When it is determined that a type of a physical body in real space corresponding to an image portion is a crossing pedestrian, a distance calculating unitperforms a first distance calculating process of calculating a distance between a vehicleand the physical body, on the basis of a correlative relationship between the distance from the vehicleset on assumption of a height of the pedestrian and a height of the image portion, according to the height of the image portion. When it is determined that the type of the physical body is not the crossing pedestrian, then the distance calculating unitperforms a second distance calculating process which calculates the distance between the physical body and the vehicle, on the basis of a change in size of the image portions of the physical body extracted from time-series captured images.

Vehicle surroundings monitoring device

Bicycles present before a vehicle are identified. A picked-up image having intensity values that are in accordance with the temperatures of objects is acquired to extract image regions having intensity values representative of higher temperatures than a background. An object, which includes a pair of first object portions (legs) and a second object portion (a tire), would be identified as a bicycle if the pair of first object portions, which have greater dimensions in length in the vertical direction than in width in the horizontal direction and the distance between which is less than a predetermined value in the horizontal direction, are detected from the extracted image regions and further if the second object portion, which has a different intensity value from any one of the first object portions and also has a length greater than a predetermined value in the vertical direction, is existent between the pair of first object portions.

Vehicle periphery monitoring apparatus

A vehicle periphery monitoring device includes: a parallax calculating unit which extracts a first image section that contains a target object in real space from a first image imaged by a first imaging unit at a predetermined time and extracts a second image section correlated to the first image section from a second image imaged by a second imaging unit at the predetermined time, and then calculates the parallax between the first image section and the second image section; a parallax gradient calculating unit for calculating a parallax gradient based on a time series calculation of the parallax of the identical target object in real space by the parallax calculating unit; and a first distance calculating unit for calculating the distance from the vehicle to the target object on the basis of the parallax gradient and the velocity of the vehicle.

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Saitama, Japan

Kodai Matsuda