US 10,121,083 B2Granted

Vehicle exterior environment recognition apparatus

AssigneeSubaru Corporation

InventorSeisuke Kasaoki

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Abstract

A vehicle exterior environment recognition apparatus includes a computer configured to serve as a vehicle identifier, a candidate identifier, a shift amount deriving unit, a candidate remover, and a lamp determiner. The vehicle identifier identifies, from respective captured images, a preceding vehicle and a vehicle region occupied by the preceding vehicle. The candidate identifier identifies, as a light-emission source candidate, a candidate determinable as a light-emission source in the identified vehicle region. The shift amount deriving unit derives a shift amount in a predetermined period of the light-emission source candidate in the vehicle region. The candidate remover removes, from the light-emission source candidate identified by the candidate identifier, the light-emission source candidate in which the shift amount is equal to or greater than a predetermined shift amount threshold. The lamp determiner determines whether the light-emission source candidate, unremoved by the candidate remover, is a lighted lamp.

Claims3

Dependent claims

A vehicle exterior environment recognition apparatus, comprising a computer, wherein the computer

identifies, from respective images that are continuously captured by an image-capturing unit, a preceding vehicle and a vehicle region occupied by the preceding vehicle;
identifies, as light-emission source candidates, candidates determinable as light-emission sources in the identified vehicle region;
derives position shift amounts, with respect to the identified vehicle region, of the light light-emission source candidates in a predetermined period, by comparing two among the respective images captured at an interval of the predetermined period;
removes, from the light-emission source candidates, a light-emission source candidate having the position shift amount equal to or greater than a predetermined shift amount threshold;
and
determines that one or more light-emission source candidates which are not removed from the light-emission source candidates and which have the position shift amounts less than the predetermined shift amount threshold are one or more lighted lamps of the preceding vehicle.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/175,746Filed 7 Jun 2016
Priority: JP 2015-12912526 Jun 2015
Published: US 2016/0379069 A129 Dec 2016
Granted: 6 Nov 2018
Term ends: Not estimatedThe source records don’t support an estimate.

Classification8 codes

G06V 20/584
Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or…
B60Q 9/008
Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling: for…
G06T 7/70
Image analysis: determining position or orientation of objects or cameras
G06V 10/255
Image preprocessing: detecting or recognising potential candidate objects based on visual cues, e.g. shapes

Family

US 2016/0379069 A1Pre-grant publication · published 29 Dec 2016
US 10,121,083 B2This patent

From the US filing history. Foreign family members aren’t listed.

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