ENVIRONMENT RECOGNITION DEVICE FOR MOBILE VEHICLE

Japanese Patent JPH03282707

A

PURPOSE:To recognize a mobile body behind a vehicle at high speed and simply by recognizing the mobile body behind the vehicle from a mobile body candidate point extracted by a mobile body candidate point extraction means based on status before the vehicle recognized by a forward recognition means. CONSTITUTION:Image input means 1, 9 which input images before and behind the vehicle, edge extraction means 3, 11 which extract edges from inputted images, the forward recognition means 4, 7 which recognize the status before the vehicle from extracted edges, and a mobile body candidate point extraction means 7 which narrows down the mobile candidate point behind the vehicle are provided. Also, a mobile body recognition means 7 which recognizes the mobile body behind the vehicle from the mobile body candidate point extracted by the mobile body candidate point extraction means 7 based on the status before the vehicle recognized by the forward recognition means 4, 7 is provided. Thereby, a map relating to the shadow of a still body dropped on a road and the joint of the road can be generated from the relation of a forward image with the traveling status of its own vehicle. In such a way, it is possible to extract the mobile body candidate point of a backward image by image processing with low level, and to accelerate and simplify the recognition of the mobile body behind its own vehicle.

MARUYA SHOICHI
KUTAMI ATSUSHI
TAKAHASHI HIROYUKI

JP8140190A

December 12, 1991

March 30, 1990

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MAZDA MOTOR

B60R1/00; B60R21/00; B60W30/00; G05D1/02; G06T1/00; H04N7/18; (IPC1-7): B60R1/00; G05D1/02; G06F15/62; H04N7/18

Yasunori Otsuka (1 person outside)

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