On-vehicle image processing device

摘要

A parking frame drawn on a road surface is reliably detected. An imager (10) installed on a vehicle (1) captures an image (I) including at least a road surface around the vehicle (1). A candidate white-line area detector (30) detects, from the captured image (I), a candidate white-line area which is possibly a part of a parking frame. A parking-frame-similitude calculator (40) calculates the brightness distribution of the detected candidate white-line area and the surroundings of boundary points of a road surface. When the brightness distribution satisfies a certain condition, the parking-frame similitude or the degree to which the candidate white-line area forms a parking frame, is determined to be low. When a parking-frame similitude of the candidate white-line area forming a parking frame is detected in the image (I) by a parking-frame detector (60), the credibility (U) for the detected parking frame is set low.

主权项

1. An on-vehicle image processor comprising:
an imager mounted on a vehicle, which observes surroundings of the vehicle and captures an image including at least a road surface; a candidate white-line area detector which
detects positions of a first pixel and a second pixel while scanning the image captured by the imager in a certain direction, the first pixel of which a brightness value changes to be brighter and exceeds a predetermined value, the second pixel being located within a certain distance from the first pixel, of which a brightness value changes to be darker and exceeds a predetermined value, anddetects, as a candidate white-line area forming a parking frame, an area surrounded by both end points of a linear element of the first pixels and both end points of a linear element of the second pixels; a parking-frame similitude calculator which calculates a parking-frame similitude according to a brightness distribution of surroundings of the first pixels of the candidate white-line area and a brightness distribution of surroundings of the second pixels, the parking-frame similitude being a similitude when each of the candidate white-line areas is assumed to form a parking frame; and a parking frame detector which detects a parking frame according to the position of the candidate white-line area, the parking-frame similitude, and an expected size of a parking frame in the image, wherein the parking-frame similitude calculator decreases the parking-frame similitude of the candidate white-line area when the brightness distributions of the surroundings of the first pixels and the second pixels of the candidate white-line area satisfy a certain condition.