Pedestrian detecting device for vehicle

Abstract

A pedestrian detecting device for a vehicle comprises a far-infrared camera picking up a far-infrared image outside the vehicle, an area-candidate extracting portion extracting an area candidate containing a pedestrian image from the far-infrared image picked up, an environment detecting device detecting an environment outside the vehicle that influences the far-infrared image, a ROM storing a pedestrian model in the far-infrared image in association with the environment outside the vehicle, a pedestrian-model extracting portion extracting a pedestrian model associated with the environment that is detected by the environment detecting device from the ROM, and a pedestrian determining portion determining, for a pedestrian detection, whether or not the area candidate contains the pedestrian image, by comparing the area candidate extracted to the pedestrian model extracted. Accordingly, the detection accuracy of the pedestrian can be improved.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing a structure of a pedestrian detecting device according to an embodiment.

FIG. 2 is a schematic diagram showing a layout of the pedestrian detecting device according to the embodiment in a vehicle.

FIG. 3 is an example of an association between an environment outside the vehicle and a pedestrian model.

FIG. 4 is a flowchart of an operation of the pedestrian detecting device according to the embodiment.

FIG. 5A is an example of a far-infrared image, FIG. 5B is an example of an extracted high-temperature area, and FIG. 5C is an example of an extracted area candidate.

FIG. 6A is an example of the pedestrian model, and FIG. 6B is an example of each part of the area candidate.

FIG. 7 is an example of an association between an IC tag signal and a pedestrian model according to a second embodiment.

Claims

1. A pedestrian detecting device for a vehicle, which is installed in the vehicle, comprising: an image pickup device to pick up a far-infrared image outside the vehicle;an environment detecting device to detect an environment outside the vehicle that influences the far-infrared image picked up by the image pickup device;a pedestrian-model storing device to store data of a pedestrian model in the far-infrared image to be picked up by the image pickup device in association with the environment outside the vehicle to be detected by the environment detecting device;an area-candidate extracting device to extract a candidate of an area that contains a pedestrian image from the far-infrared image picked up by the image pickup device;a pedestrian-model extracting device to extract a specified pedestrian model from the stored data of the pedestrian model that is stored in the pedestrian-model storing device, the specified pedestrian model being associated with the environment outside the vehicle that is detected by the environment detecting device; anda pedestrian determining device to determine, for a pedestrian detection, whether or not the area candidate contains the pedestrian image, by comparing the area candidate extracted by the area-candidate extracting device to the pedestrian model extracted by the pedestrian-model extracting device.

2. The pedestrian detecting device for a vehicle of claim 1, wherein said environment detecting device detects at least one of a season, temperature, luminous intensity of sunshine, and sunshine time as the environment outside the vehicle.

3. The pedestrian detecting device for a vehicle of claim 1, wherein the pedestrian model of the data stored by said pedestrian-model storing device comprises plural part models that are defined by a relative position, and said determination by the pedestrian determining device is conducted based on matching for each of the part models of the pedestrian model.

4. The pedestrian detecting device for a vehicle of claim 1, wherein said pedestrian-model storing device stores data of an average intensity of far-infrared rays for each part of the pedestrian model, and said determination by the pedestrian determining device is conducted based on matching of each part model of the pedestrian with respect to the average intensity of far-infrared rays of each of part models.

5. The pedestrian detecting device for a vehicle of claim 1, wherein said pedestrian-model storing device stores data of a distribution of intensity of far-infrared rays for each part of the pedestrian model, and said determination by the pedestrian determining device is conducted based on matching of each part model of the pedestrian with respect to the intensity distribution of far-infrared rays of each of part models.

6. The pedestrian detecting device for a vehicle of claim 1, wherein said environment detecting device detects a signal transmitted by an IC tag that is put on clothes of a pedestrian as the environment outside the vehicle, said pedestrian-model storing device stores data of the pedestrian model in the far-infrared image in association with the signal of the IC tag, and said pedestrian-model extracting device extracts a specified pedestrian model associated with the signal of the IC tag detected by the environment detecting device from the stored data of the pedestrian model stored in the pedestrian-model storing device.

7. The pedestrian detecting device for a vehicle of claim 1, wherein there is further provided a visible-image pickup device to pick up a visible image outside the vehicle, and said pedestrian determining device conducts a pedestrian detection based on the visible image for said area candidate.