Patent ID: 9165374
Filing Date: 2015-10-20
Classification: G06K,G06T

Abstract:
1. An image processing device which performs a tracking control based on a controlled variable of an own vehicle with respect to a moving object, the device comprising: an image processing unit which specifies an area of the moving object from an input image, sets the specified area of the moving object as a reference image area after starting the tracking control, and sets an area of the moving object as a comparison image area at a time after the specified area is set; a comparison unit which compares the set reference image area and the comparison image area, and calculates travelling information relating to the moving object; and a controlled variable calculation unit which calculates the controlled variable of the own vehicle from travelling information which is calculated in the comparison unit; wherein, when it is determined that the setting of the comparison image area fails, the image processing unit determines whether or not setting of the comparison image area fails a predetermined number of times or more, and whether or not the moving object is out of a range to be imaged in the imaging device of the own vehicle; wherein the controlled variable calculation unit outputs the controlled variable which is calculated using the past travelling information stored in advance, or the past controlled variable which is stored in advance, when it is determined that the setting of the comparison image area does not fail a predetermined number of times or more and determined that the moving object is not out of the range to be imaged in the imaging device of the own vehicle; and wherein the controlled variable calculation unit outputs information denoting a failure when the setting of the comparison image area fails the predetermined number of times or more, or the moving object gets out of the range which may be imaged by the imaging device of the own vehicle.