Target point arrival detector, method of detecting target point arrival, storage medium of program of detecting target point arrival and vehicle-mounted device control system

摘要

A target point arrival detector for detecting that a vehicle arrives at a target point based on an image ahead of the vehicle moving on a surface captured by an image capturing unit includes a target point arrival signal output unit, using a processing circuit, to output a signal indicating that the vehicle arrives at the target point where an inclination condition of a surface ahead of the vehicle with respect to a surface over which the vehicle moves changes to a downward based on the captured image.

主权项

1. A target point arrival detector for detecting that a vehicle arrives at a target point based on an image ahead of the vehicle moving on a surface captured by an image capturing unit, the target point arrival detector comprising:
a target point arrival signal output unit, using a processing circuit, to output a signal indicating that the vehicle arrives at the target point where a surface ahead of the vehicle changes to a downward slope with respect to a surface over which the vehicle moves based on the captured image; a parallax information generator, using the processing circuit, to generate parallax information based on a plurality of captured images of an area ahead of the vehicle captured by a plurality of image capturing units; a parallax histogram information generator, using the processing circuit, to generate parallax histogram information, based on the parallax information, indicating parallax value mapping conditions for each of a plurality of lines prepared by dividing captured image into a plurality of areas vertically; and an approximated curved line information generator, using the processing circuit, to select a group of parallax values, all of the parallax values decreasing as they approach an upper art of the captured imam values greater than a preset reference value, based on the parallax histogram information, and to generate approximated curved line information for the selected group of parallax values, wherein the target point arrival signal output unit, using the processing circuit, outputs a signal indicating that the vehicle arrives at the target point when the approximated curved line information satisfies a given target point arrival condition.