ON-VEHICLE IMAGE PROCESSOR

摘要

An on-vehicle image processor includes an imager mounted on a vehicle, an image convertor and compositor that converts images imaged by the imager into overhead images, a white line candidate area detector that detects a white line candidate area estimated to constitute a parking frame, an endpoint position detector that detects positions of endpoints, a vehicle behavior measurer that measures a movement amount of the vehicle, an endpoint movement position predictor that predicts moved positions of the endpoints detected by endpoint position detector, an endpoint movement amount judger, an endpoint position storage, a distance calculator that judges a degree of proximity of the endpoints, an information output device, an endpoint position oblivion judger that deletes the position of the endpoints satisfying a predetermined condition, a parking frame detector that detects a parking frame from the image, an accelerator opening degree detector and a vehicle behavior controller.

主权项

1. An on-vehicle image processor comprising:
an imager mounted on a vehicle, which monitors circumference of the vehicle and captures images containing at least a road surface; a white line candidate area detector that detects a white line candidate area which is estimated to form a parking frame from the image imaged by the imager; an endpoint position detector that detects, from the detected white line candidate area, positions of two endpoints of a center line connecting middle points of lines connecting between each of positive edges in which a brightness of pixels close to a predetermined direction changes to be larger and brighter than a predetermined value and each of negative edges in which a brightness of pixels close to the predetermined direction changes to be larger and darker than a predetermined value, the negative edge being positioned in a predetermined distance from the positive edge; a vehicle behavior measurer that measures a behavior of the vehicle; an endpoint movement position predictor that predicts positions in the image to which the two endpoints detected by the endpoint position detector are estimated to be moved during a predetermined time difference, based on a behavior of the vehicle measured by the vehicle behavior measurer; an endpoint movement amount judger that obtains a difference between the positions of the endpoints predicted by the endpoint movement position predictor and the positions of the endpoints detected by the endpoint position detector and judges whether the difference is larger than a predetermined value; an endpoint position storage that stores the positions of endpoints when in the endpoint movement amount judger judges that the difference of the positions of the endpoints is larger than the predetermined value; a parking frame detector that detects a parking frame based on a position of the white line candidate area; and a distance calculator that calculates a distance between the positions of the endpoints detected by the endpoint position detector or line elements having the endpoints and the positions of the endpoints stored in the endpoint position storage, wherein, when the distance detected by the distance calculator is smaller than a predetermined value, the parking frame detector reduces a degree of contribution of the white line candidate area containing the endpoints detected by the endpoint position detector when the parking frame detector executes the detection of the parking frame.