| 摘要 |
PROBLEM TO BE SOLVED: To provide a pedestrian detection apparatus for vehicles, configured to determine that a walking pedestrian has started running, early.SOLUTION: A pedestrian detection apparatus for vehicles includes: a camera 10 which captures the view ahead of a vehicle, to generate an image; a pedestrian detection section 12 which detects a pedestrian from the image; a bend angle detection section 14 which detects a bend angle φ of a knee joint of the pedestrian; a bend amplitude detection section 16 which detects an amplitude Δφ of the bend angle; a forward tilt angle detection section 18 which detects a forward tilt angle with respect to a vertical line of the upper body of the pedestrian; a forward tilt amplitude detection section 20 which detects an amplitude of the forward tilt angle; and a determination section 22 which determines that the pedestrian has started running when the amplitude Δφ of the bend angle increases with respect to an amplitude which is kept at a predetermined amplitude when the pedestrian is walking and when the amplitude Δθ of the forward tilt angle increases with respect to the amplitude which is kept at a predetermined amplitude when the pedestrian is walking.SELECTED DRAWING: Figure 1 |
