Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Honda Giken Koygo K.k.

Takayuki Tsuji

Nobuharu Nagaoka

Masahito Watanabe

Hiroshi Hattori

Masakazu Saka

Izumi Takatsudo

Kouzou Simamura

Yoichi Sugimoto

Makoto Aimura

Morimichi Nishigaki

Fuminori Taniguchi

Hisashi Sano

Hideshi Sawada

Ken Asami

Masashi Satomura

Osamu Ohkawara

Yuki Sugano

Hobuharu Nagaoka

A detection device includes: an acquisition unit configured to acquire a detection result of a plurality of targets present in a traveling direction of a vehicle from an imaging device attached to the vehicle; a calculation unit configured to determine whether the plurality of targets detected with movement of the vehicle are an identical target based on the detection result acquired by the acquisition unit and calculate a coordinate of each of the plurality of targets in chronological order; and a detection unit configured to detect a pitch angle and a roll angle of the imaging device with respect to a horizontal direction based on the coordinate calculated in chronological order by the calculation unit.

Detection device, vehicle system, detection method, and program

A vehicle surroundings monitoring apparatus capable of distinguishing and determining an object type with high reliability, particularly a vehicle surroundings monitoring apparatus capable of determining an object by distinguishing between a pedestrian and other objects among the objects with high reliability. The vehicle surroundings monitoring apparatus detects an object existing around a vehicle () from images obtained by camerasR andL mounted on the vehicle () and includes an object extraction process unit (stepsto) which extracts an object from the image, a width calculation process unit (stepsto) which calculates widths of the object in a plurality of height positions spaced at vertical intervals of the object extracted by the object extraction process unit, and an object type determination process unit (step) which determines the type of the object based on the widths calculated by the width calculation process unit.

Vehicle surroundings monitoring apparatus

An object type determination apparatus, an object type determination method, a vehicle, and a program for determining an object type, capable of accurately determining the type of the object by appropriately determining periodicity in movement of the object from images, are provided. The object type determination apparatus includes an object area extracting means () for extracting an area of an object from an image picked up by an image pick-up means (R,L), an object end point extracting means () for extracting an end point of an image portion of the object from the extracted object area, an object periodicity determination means () for calculating time series data of a feature value representing a size of the object using the end point of the image portion of the object extracted by the object end point extracting means () from the area of the object extracted by the object area extracting means () for respective ones of time series images picked up by the image pick-up means (R,L) to determine whether the feature value changes with prescribed periodicity, and a living body determination means () for determining the object having the feature value determined to change with periodicity as a living body.

Object type determination apparatus, vehicle, object type determination method, and program for determining object type

A vehicle surroundings monitoring apparatus, method, and program capable of reducing a possibility of overlap between a detection object and a background object in a standard image when detecting objects around the vehicle from images obtained by a plurality of image sensors so as to detect the objects accurately. The vehicle surroundings monitoring apparatus detects the objects existing around the vehicle () from the images obtained by the image sensors (R,L) mounted on the vehicle (). The vehicle surroundings monitoring apparatus includes an object extraction process unit () which performs a process of extracting the objects for a predetermined standard image of the images obtained by the image sensors (R,L), a driving environment detection process unit () which detects a driving environment of the vehicle (), and a standard image selection process unit () which selects the standard image for use in the process of the object extraction process unit () anew according to the detected driving environment.

Vehicle surroundings monitoring apparatus, method, and program

A vehicle zone monitoring apparatus that detects physical bodies present in the vicinity of the vehicle from infrared images photographed by infrared cameras provided on the vehicle includes an object extracting device that extracts object images that emit infrared radiation from the infrared image and an artificial structure identifying device that identifies whether or not an object is an artificial structure by comparing an image of a search zone in proximity to the object extracted by the object extraction device, to a reference image of a pre-registered artificial structure which serves as an element that defines an artificial structure, and that identifies the object as an artificial structure if: within the search zone in proximity to the object, a section having a high correlation with the reference image exists; and a distance between the vehicle and the object is equal to a distance between the vehicle and the section having the high correlation with said reference image.

Vehicle zone monitoring apparatus

An apparatus for testing infrared cameras includes: a cover plate which has a plurality of holes formed therethrough and arranged in line in a horizontal direction at a regular interval, the cover plate being adapted to emit an amount of infrared light; and an emission source which is disposed in parallel to and behind the cover plate as viewed from infrared cameras to be tested, the emission source being adapted to emit a different amount of infrared light when compared with the cover plate.

Apparatus and method for testing infrared camera

A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device, including a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; a search region setting device that sets a search region at the lower part of the binarized object extracted by the binarized object extraction device; a vertical edge detection device that detects a vertical edge in the search region set by the search region setting device; and an object type determination device that determines a type of object based on a detection result of the vertical edge detection device.

The present invention provides an automotive environment monitoring device to detect the existence of an object, a pedestrian or the like, with high accuracy even if one part of the object is overlapped with the background of an image obtained from an imaging unit mounted on the vehicle. An area where the object exists in the image obtained from an infrared camera () is set as a first area (A) and a lower portion of the first area (A) is set as a second area (A). A feature of the object is extracted with respect to the second area (A) and the object is identified based on the extracted feature. Thereby, even in the case where the first area (A) has been set but the feature of an upper part of the object can not be extracted due to the upper part of the object being overlapped with the background of the image, the object can still be identified with high accuracy by extracting the feature of a lower part of the object in the second area (A).

Automotive environment monitoring device, vehicle with the automotive environment monitoring device, and automotive environment monitoring program

A vehicle environment monitoring device identifies objects from an image taken by an infrared camera. Object extraction from images is performed in accordance with the state of the environment as determined by measurements extracted from the images as follows: N1 binarized objects are extracted from a single frame. Height of a grayscale objects corresponding to one of the binarized objects are calculated. If a ratio of the number of binarized objects C, where the absolute value of the height difference is less than the predetermined value &#x394;H, to the total number N1 of binarized objects, is greater than a predetermined value X1, the image frame is determined to be rainfall-affected. If the ratio is less than the predetermined value X1, the image frame is determined to be a normal frame. A warning is provided if it is determined that the object is a pedestrian and if a collision is likely.

Vehicle environment monitoring device

A vehicle surroundings monitoring apparatus, a vehicle surroundings monitoring method, and a vehicle surroundings monitoring program which can rapidly determine an object such as a pedestrian to be avoided which must be avoided from coming into contact with the vehicle from an image of the surroundings of the vehicle and can provide information to a driver or control the vehicle behaviors. The vehicle surroundings monitoring apparatus includes an object extraction process unit () which extracts objects existing around a vehicle () from images taken by infrared cameras (R,L), a pedestrian extraction process unit () which extracts a pedestrian from the extracted objects, a posture determination process unit () which determines the posture of the extracted pedestrian, an object-to-be-avoided determination process unit () which determines whether the extracted object is an object to be avoided which must be avoided from coming into contact with the vehicle () by executing a determination algorithm including at least a first determination process on the posture of the pedestrian determined by the posture determination process unit (), and a vehicle equipment control process unit () which controls equipment of the vehicle () at least according to the determination result of the object-to-be-avoided determination process unit ().

Vehicle surroundings monitoring apparatus, vehicle surroundings monitoring method, and vehicle surroundings monitoring program

A vehicle surroundings monitoring apparatus which determines whether there is a possibility of contact between a vehicle and a monitored object around the vehicle with a single camera mounted thereon. It includes a monitored object extraction process unit () which extracts an image portion of the monitored object from an image taken by a single infrared camera (), a rate-of-change calculation process unit () which calculates a rate of change in size of the image portion of an identical monitored object extracted by the monitored object extraction process unit () from a plurality of images taken by the infrared camera () at predetermined time intervals, an arrival time estimation process unit () which estimates the time to arrival of the monitored object at the vehicle based on the rate of change, a real space position calculation process unit () which calculates a position of the monitored object in the real space based on the rate of change, a movement vector calculation process unit () which calculates a movement vector from a displacement of the position of the monitored object in the real space, and a contact determination process unit () which determines whether there is a possibility of contact between the monitored object and the vehicle.

An abnormality detecting apparatus for an imaging apparatus that detects the presence of abnormalities in an imaging apparatus mounted on a vehicle to capture vehicle surroundings which includes: a region setting device that sets a region including at least a road boundary portion in an image obtained by the imaging apparatus; a luminance variance value calculating device that calculates a luminance variance value using the luminance value acquired from the image with respect to the region set by the region setting device; and an abnormality detecting device that detects the presence of abnormalities in the imaging apparatus according to the luminance variance value calculated by the luminance variance value calculating device.

Abnormality detecting apparatus for imaging apparatus

A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device, which includes a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; an aspect ratio calculation device that calculates an aspect ratio of a region that includes at least a portion of the binarized object extracted by the binarized object extraction device; and an object type determination device that determines a type of the object based on the aspect ratio calculated by the aspect ratio calculation device.

A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device, including a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; a region setting device that sets a region including the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region set by the region setting device; a luminance distribution determination device that determines whether or not a predetermined luminance distribution exists in the region based on the luminance status quantity calculated by the luminance status quantity calculation device; and an object type determination device that determines a type of the object based on a determination result of the luminance distribution determination device.

A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device including a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; a region setting device that sets a region including at least a portion of the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region; an interval status quantity calculation device that calculates an interval status quantity according to an interval between a position of a substantially maximum luminance value and a position of a substantially minimum luminance value within the region based on the luminance status quantity; and an object type determination device that determines a type of the object based on the interval status quantity.

Growing community of inventors

Utsunomiya, Japan

Takayuki Tsuji