IMPROVEMENT OF DISTANT APPROACHING VEHICLE DETECTION BASED ON PERSPECTIVE TRANSFORMATION USING ON-BOARD REAR VIEW CAMERA

摘要

Recently, vehicles with a rear view camera have been increasing. The rear view camera can beutilized as a sensor monitoring collision from behind in driving scene. We have beendeveloping the technology to prevent rear-end collision from backward by detectingapproaching vehicles using the image of the rear view camera. In the conventional methods ofvehicle detection, the camera-view images are often used. However, it is difficult to estimatethe position of the distant vehicle with accuracy because the distance resolution of thecamera-view image becomes lower as the object which projected to the image becomes farfrom the camera. In this paper, we propose an improvement method to detect the distantapproaching vehicle with accuracy from the top-view image, which is projected to the roadplane using perspective transformation. The object in the top-view image moves at theproportional displacement to its speed. Furthermore, the width of the object is constantregardless of the distance from a host vehicle. The proposed method can provide the accurateposition of the distant vehicle using these features of the top-view image. We show the detailsof the proposed method and availability by the experiment using the actual images.