Vehicle recognition system and vehicle recognition method

Abstract

To provide a technology that, in the case of recognizing a vehicle going out from a closed space on the basis of a camera image including the vehicle, can inhibit accuracy of recognizing the vehicle from being reduced when a shutter opens.SOLUTION: In a recognition processing of a vehicle included in a camera image acquired by a camera installed in a closed space, a vehicle recognition system determines whether or not a shutter provided at an entrance / exit for a vehicle in the closed space is open based on opening / closing information on the shutter. The vehicle recognition system also determines, based on information on an outside illuminance of the closed space and information on an inside illuminance inside the closed space and in an imaging space of the camera, whether or not the outside illuminance is higher than the inside illuminance. The vehicle recognition system further performs brightness correction processing for correcting brightness of the camera image when it is determined that the shutter is open and that the outside illuminance is higher than the inside illuminance.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a technique for recognizing a vehicle.

Background Art

[0002] Patent Document 1 discloses an imaging device that improves the visibility of a subject that a user wants to focus on. In this conventional technique, based on an image obtained by synthesizing a low-illumination video and a high-illumination video captured by a camera, the face of a person in the subject to be focused on is detected, and the luminance distribution of the face region is calculated. Then, based on the luminance distribution of the face region of a person in a low-illumination region or a high-illumination region, the exposure amount of the face region is controlled so as to approach an appropriate exposure range.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, consider a scene in which a vehicle exiting a closed space having a certain extent where vehicle movement is assumed, such as a garage, a parking lot, a factory, etc., is recognized by a camera provided in this closed space. At this time, when the shutter provided at the entrance and exit of the vehicle in the closed space is opened, depending on the weather and time zone around the closed space, the amount of light received by the light-receiving sensor mounted on the camera may saturate and whiteout of the camera image may occur. If the vehicle is included in the whiteout portion of the camera image, there is a possibility that the vehicle cannot be recognized by the camera.

[0005] One object of the present disclosure is to provide a technique capable of suppressing a decrease in the accuracy of recognizing a vehicle when the shutter is opened when recognizing the vehicle based on a camera image including the vehicle exiting the closed space.

Means for Solving the Problems

[0006] The first aspect of the present disclosure relates to a vehicle recognition system that recognizes a vehicle existing within a closed space. The vehicle recognition system includes a storage device that stores a camera image acquired by a camera installed within the closed space, opening / closing information of a shutter provided at an entrance / exit of the vehicle in the closed space, information on the inner illuminance indicating the illuminance inside the closed space and within the imaging space of the camera, and information on the outer illuminance indicating the illuminance outside the closed space, and a processor that performs recognition processing of the vehicle included in the camera image. In the recognition processing, the processor determines whether the shutter is open based on the opening / closing information of the shutter. Also, in the recognition processing, the processor determines whether the outer illuminance is higher than the inner illuminance based on the information on the outer illuminance and the information on the inner illuminance. Further, in the recognition processing, when it is determined that the shutter is open and the outer illuminance is higher than the inner illuminance, the processor performs brightness correction processing for correcting the brightness of the camera image.

[0007] The second aspect of the present disclosure further has the following features in addition to the first aspect. In the brightness correction processing, when the outer illuminance is higher than the inner illuminance by a threshold value or more, the processor determines that the outer illuminance is higher than the inner illuminance and corrects the brightness of the camera image.

[0008] The third aspect of the present disclosure further has the following features in addition to the first aspect. The storage device further stores camera setting information including the shutter speed of the camera. The brightness correction processing includes at least one of processing for correcting the brightness calculated from the camera image and processing for adjusting the shutter speed.

[0009] In addition to the third aspect, the fourth aspect of the present disclosure further has the following features. The opening / closing information of the shutter includes information on the degree of opening / closing of the shutter. When the information on the degree of opening / closing of the shutter is included in the opening / closing information of the shutter, the processor sets the degree of correction of the brightness according to the degree of opening / closing of the shutter in the process of correcting the brightness calculated from the camera image. Further, the processor sets the degree of adjustment of the shutter speed according to the degree of opening / closing of the shutter in the process of adjusting the shutter speed.

[0010] The fifth aspect of the present disclosure relates to a vehicle recognition method for recognizing a vehicle existing in a closed space. The vehicle recognition method includes, in the recognition process of the vehicle included in the camera image acquired by the camera installed in the closed space, determining whether the shutter provided at the entrance / exit of the vehicle in the closed space is open or not based on the opening / closing information of the shutter, and in the recognition process, determining whether the outside illuminance is higher than the inside illuminance based on the information on the outside illuminance indicating the illuminance outside the closed space and the information on the inside illuminance indicating the illuminance inside the closed space and in the imaging space of the camera, and in the recognition process, when it is determined that the shutter is open and the outside illuminance is higher than the inside illuminance, performing a brightness correction process for correcting the brightness of the camera image.

Advantages of the Invention

[0011] According to the present disclosure, when the shutter is open and the outside illuminance is higher than the inside illuminance, that is, when there is a situation where overexposure of the camera image may occur, the brightness of the camera image is corrected. Thereby, it is possible to suppress a decrease in the accuracy of recognizing the vehicle based on the camera image including the vehicle going out of the closed space when the shutter is opened.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0013] With reference to the accompanying drawings, a vehicle recognition system and a vehicle recognition method according to embodiments of the present disclosure will be described. Also, elements common to each figure are denoted by the same reference numerals, and duplicate descriptions are omitted.

[0014] 1. Overview FIG. 1 is a diagram for explaining the overview of a vehicle recognition system 1 according to an embodiment. The vehicle recognition system 1 is a system that uses a camera 5 installed in a closed space 2 to recognize a vehicle 4 within the closed space 2. As shown in FIG. 1(A), the vehicle recognition system 1 includes a camera 5, a first illuminance sensor 6, a second illuminance sensor 7, and an information processing device 10. The camera 5, the first illuminance sensor 6, and the information processing device 10 are all provided inside the closed space 2. The second illuminance sensor 7 is provided outside the closed space 2. Note that the information processing device 10 may be provided outside the closed space 2.

[0015] The closed space 2 is a space with a certain extent where vehicle movement is assumed, such as a garage, a parking lot, a factory, etc. As shown in FIG. 1(A), at least one shutter 3 that connects the inside and the outside of the closed space 2 is provided in the closed space 2 for the entrance and exit of the vehicle 4. The shutter 3 has a structure that can be opened and closed in the vertical direction.

[0016] The camera 5 photographs the imaging space within the closed space 2. The imaging space means the angle of view 8 of the camera 5 set so as to include the vehicle 4 existing within a predetermined distance from the shutter 3 in the camera image photographed by the camera 5. Further, the camera 5 may be provided with a zoom function so as to be able to photograph the vicinity of the vehicle 4 in an enlarged manner.

[0017] The first illuminance sensor 6 is a sensor that acquires the inner illuminance indicating the illuminance in the imaging space of the camera 5. The first illuminance sensor 6 may be fixedly attached somewhere within the imaging space of the camera 5, or may be attached to the vehicle 4 existing in the imaging space of the camera 5. In the example shown in Fig. 1(A), the first illuminance sensor 6 is fixedly attached to the inner wall surface of the closed space 2 within the imaging space of the camera 5.

[0018] The second illuminance sensor 7 is a sensor that acquires the outer illuminance indicating the illuminance outside the closed space 2. The second illuminance sensor 7 may be fixedly attached outside the closed space 2 and near the shutter 3, or may be attached to a vehicle existing outside the closed space 2. In the example shown in Fig. 1(A), the second illuminance sensor 7 is fixedly attached to the outer wall surface of the closed space 2 and above the shutter 3.

[0019] The information processing device 10 is a device that performs recognition processing of the vehicle 4 included in the camera image photographed by the camera 5. The information processing device 10 is connected to each of the devices of the shutter 3, the camera 5, the first illuminance sensor 6, and the second illuminance sensor 7. Each between the information processing device 10 and each device is connected by, for example, a cable. Incidentally, when a communication device is provided in each device, the information processing device 10 may acquire various information via each of the communication devices provided in each device.

[0020] Here, as shown in FIG. 1(B), consider the case where the shutter 3 is opened to move the vehicle 4 from the inside of the closed space 2 to the outside of the closed space 2. In this case, light 9 is incident toward the inside of the closed space 2 from the entrance that connects the inside and the outside of the closed space 2. If the reflected light of the light 9 incident on the inside of the closed space 2 is captured by the camera 5 in a predetermined amount or more, there is a possibility that whiteout may occur in the camera image captured by the camera 5.

[0021] According to the vehicle recognition system 1 according to the embodiment, when the shutter 3 is open, the information processing device 10 performs the following processing. Specifically, the information processing device 10 determines whether or not the shutter 3 is open. The determination as to whether or not the shutter 3 is open is made based on, for example, the opening / closing information of the shutter 3. The opening / closing information of the shutter 3 includes, for example, information on the opening / closing button (open button or close button) of the shutter 3.

[0022] Then, the information processing device 10 determines whether or not the outside illuminance is higher than the inside illuminance based on the information on the inside illuminance acquired by the first illuminance sensor 6 and the information on the outside illuminance acquired by the second illuminance sensor 7. Details of the illuminance determination process for determining whether or not the outside illuminance is higher than the inside illuminance will be described later.

[0023] Furthermore, when it is determined that the shutter 3 is open and it is determined that the outside illuminance is higher than the inside illuminance, the information processing device 10 performs a brightness correction process for correcting the brightness of the camera image. Details of the brightness correction process will be described later.

[0024] 2. Specific Example 2-1. Example of Illuminance Determination Process FIG. 2 is an explanatory diagram showing a specific example of the vehicle recognition system 1 according to the embodiment. Specifically, FIG. 2 shows an example of an illuminance determination process for determining whether the outside illuminance is higher than the inside illuminance when the shutter 3 is open. In the example shown in FIG. 2(A), it is shown that the outside illuminance is higher than the inside illuminance, and the difference between the outside illuminance and the inside illuminance is equal to or greater than the threshold value. In this case, since the difference between the outside illuminance and the inside illuminance is large, it can be said that the situation is such that whiteout in the camera image may occur.

[0025] On the other hand, in the example shown in FIG. 2(B), although the outside illuminance is higher than the inside illuminance, it is shown that the difference between the outside illuminance and the inside illuminance is less than the threshold value. In this case, since the difference between the outside illuminance and the inside illuminance is small, it can be said that the situation is such that whiteout in the camera image does not occur.

[0026] Therefore, when the shutter 3 is open and the outside illuminance is higher than the inside illuminance by a threshold value or more, the information processing device 10 corrects the brightness of the camera image.

[0027] 2-2. Example of brightness correction process FIG. 3 is an explanatory diagram showing a specific example of the vehicle recognition system 1 according to the embodiment. Specifically, FIG. 3 shows an example of a brightness correction process for correcting the brightness of a camera image executed by the information processing device 10. In the example shown in FIG. 3(A), the brightness correction process includes two processes: parameter adjustment of the camera 5 and correction of the camera image. Hereinafter, the content of each process will be described.

[0028] The parameter adjustment of the camera 5 is performed based on the setting information of the camera 5. The setting information of the camera 5 includes information on the shutter speed of the camera 5. That is, the parameter adjustment of the camera 5 means adjusting the shutter speed of the camera 5. For example, when the situation is such that whiteout in the camera image may occur, the set value of the shutter speed of the camera 5 is adjusted so as to increase the shutter speed of the camera 5. Thereby, it becomes possible to suppress the amount of reflected light of the light 9 captured by the camera 5. Therefore, the situation in which whiteout in the camera image may occur is improved.

[0029] Next, the correction of the camera image will be described. The correction of the camera image is performed based on the brightness calculated from the camera image. That is, when the brightness calculated from the camera image is equal to or higher than the reference value, it can be said that the situation where whiteout of the camera image may occur. Therefore, by correcting the brightness of the camera image so that the brightness becomes less than the reference value, the situation where whiteout of the camera image may occur is improved.

[0030] Incidentally, as shown in FIG. 3(A), the brightness correction process may include at least one of a process of adjusting the shutter speed of the camera 5 and a process of correcting the brightness calculated from the camera image. In the example shown in Case 1 of FIG. 3(A), the brightness correction process includes only the process of adjusting the shutter speed of the camera 5. In the example shown in Case 2 of FIG. 3(A), the brightness correction process includes only the process of correcting the brightness calculated from the camera image. In the example shown in Case 3 of FIG. 3(A), the brightness correction process includes the process of adjusting the shutter speed of the camera 5 and the process of correcting the brightness calculated from the camera image.

[0031] Furthermore, as shown in FIG. 3(B), the information processing apparatus 10 may determine the execution content of the brightness correction process according to the opening / closing degree of the shutter 3. The opening / closing degree (opening degree or closing degree) of the shutter 3 is represented by, for example, a percentage using the position of the lowermost part (for example, water drainage) of the shutter 3. For example, when the entrance / exit is completely closed by the shutter 3, the position of the lowermost part is set to 0%, and when the entrance / exit is completely opened by the shutter 3, the position of the lowermost part is set to 100%. Thereby, the opening degree is represented by a percentage. This concept of the opening degree can also be applied to the closing degree (closing degree = 100 - opening degree).

[0032] The opening degree of the shutter 3 is calculated based on, for example, information on the speed when opening the shutter 3 and information on the shutter open button included in the opening / closing information of the shutter 3. Specifically, assume that the speed when the shutter 3 opens is constant and known information. In this case, the opening degree of the shutter 3 is calculated based on the speed and the time period from when the shutter open button of the shutter 3 becomes valid until it becomes invalid. Thereby, the opening degree of the shutter 3 is obtained. The concept of calculating this opening degree can also be applied to the calculation of the closing degree of the shutter 3.

[0033] The opening degree of the shutter 3 is classified into three types, i.e., a first opening degree, a second opening degree, and a third opening degree, as shown in FIG. 3(B), for example. The first opening degree means a state where the opening degree of the shutter 3 is less than a predetermined degree. The second opening degree means a state where the opening degree of the shutter 3 is equal to or greater than the predetermined degree. The third opening degree means a state where the opening degree of the shutter 3 is equal to or greater than the predetermined degree and the opening degree of the shutter 3 is greater than the second opening degree.

[0034] In the example shown in Case 1 of FIG. 3(B), the opening degree of the shutter 3 is the first opening degree. In this case, since there is no situation where whiteout of the camera image may occur, the information processing apparatus 10 does not execute brightness correction processing.

[0035] In the examples shown in Case 2 and Case 3 of FIG. 3(B), the opening degree of the shutter 3 is the second opening degree. In this case, since there is a situation where whiteout of the camera image may occur, the information processing apparatus 10 executes brightness correction processing. However, when the opening degree of the shutter 3 is the second opening degree, by executing either one of the processing for adjusting the shutter speed of the camera 5 included in the brightness correction processing and the processing for correcting the brightness calculated from the camera image, the situation where whiteout of the camera image may occur is improved. Therefore, in the example of Case 2 of FIG. 3(B), the information processing apparatus 10 executes the processing for adjusting the shutter speed of the camera 5. On the other hand, in the example of Case 3 of FIG. 3(B), the information processing apparatus 10 executes the processing for correcting the brightness calculated from the camera image.

[0036] In the example shown in Case 4 of FIG. 3(B), the opening degree of the shutter 3 is the third opening degree. In this case, since the situation is such that whiteout in the camera image may occur, the information processing apparatus 10 executes brightness correction processing. However, when the opening degree of the shutter 3 is the third opening degree, it is assumed that whiteout in the camera image will not be eliminated even if either the process of adjusting the shutter speed of the camera 5 or the process of correcting the brightness calculated from the camera image is executed. Therefore, when the opening degree of the shutter 3 is the third opening degree, the information processing apparatus 10 may execute both of the above-described processes.

[0037] The concept of the brightness correction processing according to the opening degree of the shutter 3 described with reference to FIG. 3(B) can also be applied to the brightness correction processing according to the closing degree of the shutter 3.

[0038] 3. Effects As described above, in the vehicle recognition system 1 according to the embodiment, when the shutter 3 is open and the outside illuminance is higher than the inside illuminance, that is, when the situation is such that whiteout in the camera image may occur, brightness correction processing for correcting the brightness of the camera image is executed. In the brightness correction processing, at least one of the process of adjusting the shutter speed of the camera 5 and the process of correcting the brightness calculated from the camera image is executed. Thereby, it is possible to suppress a decrease in the accuracy of recognizing the vehicle 4 based on the camera image including the vehicle 4 going out of the closed space 2 when the shutter 3 is opened.

[0039] 4. Configuration Example FIG. 4 is a block diagram showing a configuration example of the information processing apparatus 10 in the vehicle recognition system 1 according to the embodiment. The information processing apparatus 10 includes a processor 20 and a storage device 30. The processor 20 executes various processes. The storage device 30 stores various information necessary for the processes by the processor 20.

[0040] The various information stored in the memory device 30 includes information on the camera image, opening / closing information of the shutter 3, inside illuminance information, outside illuminance information, and setting information of the camera 5. The opening / closing information of the shutter 3 includes information on the opening / closing button of the shutter 3 and information on the degree of opening / closing of the shutter 3. Further, the setting information of the camera 5 includes information on the shutter speed of the camera 5.

[0041] The memory device 30 further includes a vehicle recognition program (not shown). The vehicle recognition program is a computer program executed by the processor 20. By the processor 20 executing the vehicle recognition program, the functions of the vehicle recognition system 1 are realized.

[0042] In addition, the connection between the various sensors including the camera 5, the first illuminance sensor 6, and the second illuminance sensor 7 and the information processing device 10 may be a cable (first connection), or may be communication via a communication device provided in the various sensors (second connection). When the connection between the various sensors and the information processing device 10 is the second connection, the information processing device 10 further includes a communication device capable of communicating with each sensor.

[0043] 5. Processing Example FIG. 5 is a flowchart showing a processing example of the information processing device 10 in the vehicle recognition system 1 according to the embodiment.

[0044] In step S100, the information processing device 10 acquires various information. Then, the process proceeds to step S110. The various information includes information on the camera image, opening / closing information of the shutter 3, inside illuminance information, outside illuminance information, and setting information of the camera 5.

[0045] In step S110, the information processing device 10 determines whether the shutter 3 is open based on the opening / closing information of the shutter 3. If it is determined that the shutter 3 is open (step S110; Yes), the process proceeds to step S120. Otherwise (step S110; No), the process ends.

[0046] In step S120, the information processing apparatus 10 determines whether the outside illuminance is higher than the inside illuminance based on the information on the outside illuminance and the information on the inside illuminance. If it is determined that the outside illuminance is higher than the inside illuminance (step S120; Yes), the process proceeds to step S130. Otherwise (step S120; No), the process ends.

[0047] In step S130, when the information processing apparatus 10 determines that the shutter 3 is open and the outside illuminance is higher than the inside illuminance, it executes brightness correction processing for the camera image. The brightness correction processing includes at least one of processing for adjusting the shutter speed of the camera 5 and processing for correcting the brightness calculated from the camera image.

Explanation of Reference Numerals

[0048] 1…Vehicle recognition system, 2…Enclosed space, 3…Shutter, 4…Vehicle, 5…Camera, 6…First illuminance sensor, 7…Second illuminance sensor, 8…Viewing angle, 9…Light, 10…Information processing apparatus, 20…Processor, 30…Storage device

Claims

1. A vehicle recognition system for recognizing a vehicle existing in a closed space, comprising: a storage device that stores a camera image acquired by a camera installed in the closed space, opening / closing information of a shutter provided at an entrance / exit of the vehicle in the closed space, information on inner illuminance indicating the illuminance inside the closed space and within the imaging space of the camera, and information on outer illuminance indicating the illuminance outside the closed space; a processor that performs recognition processing of a vehicle included in the camera image; and is configured such that, in the recognition processing, the processor: determines whether the shutter is open based on the opening / closing information of the shutter; determines whether the outer illuminance is higher than the inner illuminance based on the information on the outer illuminance and the information on the inner illuminance; when it is determined that the shutter is open and that the outer illuminance is higher than the inner illuminance, performs brightness correction processing for correcting the brightness of the camera image; vehicle recognition system.

2. The vehicle recognition system according to claim 1, wherein in the brightness correction processing, the processor is configured to: when the outer illuminance is higher than the inner illuminance by a threshold value or more, determine that the outer illuminance is higher than the inner illuminance and correct the brightness of the camera image. vehicle recognition system.

3. The vehicle recognition system according to claim 1, wherein the storage device further stores setting information of the camera including the shutter speed of the camera, and the brightness correction processing includes at least one of a process of correcting the brightness calculated from the camera image and a process of adjusting the shutter speed. vehicle recognition system.

4. The vehicle recognition system according to claim 3, wherein the opening / closing information of the shutter includes information on the degree of opening / closing of the shutter, and the processor is configured to: when the information on the degree of opening / closing is included in the opening / closing information, set the degree of correction of the brightness according to the degree of opening / closing in the process of correcting the brightness calculated from the camera image; and set the degree of adjustment of the shutter speed according to the degree of opening / closing in the process of adjusting the shutter speed. vehicle recognition system.

5. A vehicle recognition method for recognizing a vehicle existing in a closed space, comprising: In the vehicle recognition process for a camera image obtained by a camera installed in the closed space, based on the opening / closing information of a shutter provided at the entrance / exit of the vehicle in the closed space, determining whether the shutter is open or not; In the recognition process, based on the information of the outside illuminance indicating the illuminance outside the closed space and the information of the inside illuminance indicating the illuminance inside the closed space and in the imaging space of the camera, determining whether the outside illuminance is higher than the inside illuminance; In the recognition process, when it is determined that the shutter is open and it is determined that the outside illuminance is higher than the inside illuminance, performing a brightness correction process for correcting the brightness of the camera image; Including A vehicle recognition method.

Images