ATE556910T1 - Gerät zur überwachung des fahrzeugumfeldes - Google Patents

Gerät zur überwachung des fahrzeugumfeldes

Info

Publication number
ATE556910T1
ATE556910T1 AT09762203T AT09762203T ATE556910T1 AT E556910 T1 ATE556910 T1 AT E556910T1 AT 09762203 T AT09762203 T AT 09762203T AT 09762203 T AT09762203 T AT 09762203T AT E556910 T1 ATE556910 T1 AT E556910T1
Authority
AT
Austria
Prior art keywords
determination area
contact determination
contact
vehicle
area
Prior art date
Application number
AT09762203T
Other languages
English (en)
Inventor
Makoto Aimura
Nobuharu Nagaoka
Hideki Hashimoto
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of ATE556910T1 publication Critical patent/ATE556910T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/30—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Emergency Alarm Devices (AREA)
  • Alarm Systems (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
AT09762203T 2008-06-12 2009-03-04 Gerät zur überwachung des fahrzeugumfeldes ATE556910T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008154408A JP4377439B1 (ja) 2008-06-12 2008-06-12 車両周辺監視装置
PCT/JP2009/000977 WO2009150771A1 (ja) 2008-06-12 2009-03-04 車両周辺監視装置

Publications (1)

Publication Number Publication Date
ATE556910T1 true ATE556910T1 (de) 2012-05-15

Family

ID=41416487

Family Applications (1)

Application Number Title Priority Date Filing Date
AT09762203T ATE556910T1 (de) 2008-06-12 2009-03-04 Gerät zur überwachung des fahrzeugumfeldes

Country Status (6)

Country Link
US (1) US8189868B2 (de)
EP (1) EP2270765B1 (de)
JP (1) JP4377439B1 (de)
CN (1) CN102057414B (de)
AT (1) ATE556910T1 (de)
WO (1) WO2009150771A1 (de)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5761910B2 (ja) * 2009-12-17 2015-08-12 キヤノン株式会社 速度検出装置
JP5751842B2 (ja) 2010-09-16 2015-07-22 キヤノン株式会社 速度検出装置および画像形成装置
US9292735B2 (en) * 2011-09-28 2016-03-22 Honda Motor Co., Ltd. Living body recognizing device
EP2578464B1 (de) 2011-10-06 2014-03-19 Honda Research Institute Europe GmbH Warnsystem auf Videobasis für ein Fahrzeug
US9437000B2 (en) * 2014-02-20 2016-09-06 Google Inc. Odometry feature matching
JP6190758B2 (ja) * 2014-05-21 2017-08-30 本田技研工業株式会社 物体認識装置及び車両
CN104192065A (zh) * 2014-08-20 2014-12-10 刘健萍 一种可辨监控对象的汽车四周监控装置
JP6481520B2 (ja) 2015-06-05 2019-03-13 トヨタ自動車株式会社 車両の衝突回避支援装置
JP6775285B2 (ja) * 2015-09-24 2020-10-28 アルパイン株式会社 後側方車両検知警報装置
JP6619521B2 (ja) * 2016-08-24 2019-12-11 日立オートモティブシステムズ株式会社 認識制御対象車両報知装置
US10366310B2 (en) * 2016-09-12 2019-07-30 Aptiv Technologies Limited Enhanced camera object detection for automated vehicles
JP7290119B2 (ja) * 2020-01-24 2023-06-13 トヨタ自動車株式会社 車両報知装置
JP2024037589A (ja) * 2022-09-07 2024-03-19 株式会社Subaru 車両の運転支援装置

Family Cites Families (34)

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JP3263699B2 (ja) * 1992-12-22 2002-03-04 三菱電機株式会社 走行環境監視装置
JP3522317B2 (ja) * 1993-12-27 2004-04-26 富士重工業株式会社 車輌用走行案内装置
JP3866328B2 (ja) * 1996-06-06 2007-01-10 富士重工業株式会社 車両周辺立体物認識装置
US6445409B1 (en) * 1997-05-14 2002-09-03 Hitachi Denshi Kabushiki Kaisha Method of distinguishing a moving object and apparatus of tracking and monitoring a moving object
EP2267656A3 (de) * 1998-07-31 2012-09-26 Panasonic Corporation Bildanzeigevorrichtung und Bildanzeigeverfahren
US7133537B1 (en) * 1999-05-28 2006-11-07 It Brokerage Services Pty Limited Method and apparatus for tracking a moving object
JP3515926B2 (ja) * 1999-06-23 2004-04-05 本田技研工業株式会社 車両の周辺監視装置
EP1202214A3 (de) * 2000-10-31 2005-02-23 Matsushita Electric Industrial Co., Ltd. Verfahren und Gerät zur Erkennung von Gegenständen
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JP2003016429A (ja) * 2001-06-28 2003-01-17 Honda Motor Co Ltd 車両周辺監視装置
US7167576B2 (en) * 2001-07-02 2007-01-23 Point Grey Research Method and apparatus for measuring dwell time of objects in an environment
EP1288864A2 (de) * 2001-09-04 2003-03-05 Matsushita Electric Industrial Co., Ltd. Bildverarbeitungsvorrichtung, -verfahren und programm
KR100866450B1 (ko) * 2001-10-15 2008-10-31 파나소닉 주식회사 차량 주위 감시 장치 및 그 조정 방법
DE10301468B4 (de) * 2002-01-18 2010-08-05 Honda Giken Kogyo K.K. Vorrichtung zur Beobachtung der Umgebung eines Fahrzeugs
JP4647648B2 (ja) * 2002-01-18 2011-03-09 本田技研工業株式会社 車両周辺監視装置
DE10258287A1 (de) * 2002-12-13 2004-06-24 Robert Bosch Gmbh Verfahren und Einrichtung zur Objektdetekrierung
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JP4425642B2 (ja) * 2004-01-08 2010-03-03 富士重工業株式会社 歩行者抽出装置
JP2005316607A (ja) * 2004-04-27 2005-11-10 Toyota Motor Corp 画像処理装置及び画像処理方法
JP4140567B2 (ja) * 2004-07-14 2008-08-27 松下電器産業株式会社 物体追跡装置および物体追跡方法
US20060050929A1 (en) * 2004-09-09 2006-03-09 Rast Rodger H Visual vector display generation of very fast moving elements
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JP2007257148A (ja) * 2006-03-22 2007-10-04 Nissan Motor Co Ltd 画像処理装置及び方法
JP4173901B2 (ja) 2006-05-19 2008-10-29 本田技研工業株式会社 車両周辺監視装置
JP4528283B2 (ja) * 2006-06-05 2010-08-18 本田技研工業株式会社 車両周辺監視装置
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Also Published As

Publication number Publication date
EP2270765B1 (de) 2012-05-09
JP2009301283A (ja) 2009-12-24
EP2270765A4 (de) 2011-04-27
CN102057414B (zh) 2013-12-25
JP4377439B1 (ja) 2009-12-02
US20110096956A1 (en) 2011-04-28
CN102057414A (zh) 2011-05-11
EP2270765A1 (de) 2011-01-05
WO2009150771A1 (ja) 2009-12-17
US8189868B2 (en) 2012-05-29

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