To stably detect a wheel stop CH by image processing even if a luminance difference between the wheel stop CH and a road surface RS is small.
An image processing unit 42 has: statistic calculation processing 50 for dividing each of a plurality of detection areas 17 into an upper window 18 and a lower window 20 in an upper-and-lower direction corresponding to a longitudinal direction of a parking frame, and calculating statistics 30 of a luminance value of the upper window 18 and a luminance value of the lower window 20; difference value calculation processing 52 for calculating a difference value 32 between the statistic 30 of the upper window 18 and the statistic 30 of the lower window 20; candidate extraction processing 54 for deciding that a wheel stop candidate 34 is present when the difference values 32 are significant in both of a left detection area 12 and a right detection area 16; and separation detection processing 56 for deciding that the wheel stop candidate 34 is the wheel stop CH when the difference value 32 is not significant in a central detection area 14.
COPYRIGHT: (C)2010,JPO&INPIT
Kubota Sei
Hiroyuki Konno
| JP2006273122A | ||||
| JP2004328240A |