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1 v s u e q g y vœ s s œx}s Enhancing the Night Time Vehicle Detection for Intelligent Headlight Control using Lane Detection Sungmin Eum Ho i Jung * School of Mechanical Engineering Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul , Korea Abstract In this paper, we propose an enhanced method for detecting night time vehicles for intelligent headlight control (IHC). The main function of the IHC system is to automatically convert the high beam head lights into low beam when vehicles are found in the vicinity. Thus, in order to implement the IHC, it is necessary to detect the preceding or oncoming vehicles. enerally, this process of detecting the vehicles is done by detecting the light blobs in the images. Previous works regarding the light blob detection can largely be categorized into two approaches by the image type they use: low exposure images or autoexposure images. While they each bear their own strengths and weaknesses, the proposed method combines them by integrating the use of the partial region of the auto-exposure image confined by the lane detection information and the lowexposure image. Consequently, the proposed method detects head lights in various distances and tail lights in near distances using the low exposure images, while handling the tail lights in distant locations by exploiting the confined auto-exposure images. This approach enhances the performance of detecting the distant light blobs while maintaining low false detections. Key words : Night time vehicle detection(ž Ÿk ), Intelligent headlight control( ¹ d ), Lane detection(ÿƒ ˆ), light blob detection(light blob ), º n Ž q l t Ž ˆ p Ÿk œ ƒ ¹ d ºv½ Ÿk mz d ¹ d p ƒ Ž d vƒ zˆ p w Ÿk ƒˆ Ž Ž Ÿk ƒ w d q º v wx Ÿk q Žp Ž º p v m ƒž ˆ r d g wx m p Ÿk v ª Ž Ÿk p d m º Ž p ˆ º ƒ wx ª m v z d m d m

2 ƒ m ƒv» ˆ»vdg d p v m º w x r p ƒ v p wx v p r Ÿk ƒ vƒ d Ž p d ˆ t vƒ ³ º wx ±d mz v Ž º m ºˆ p m z½v Ž p šž v y t Ÿƒ ˆ p º Žƒ wx º m wx Ž ƒ t m p p d p»vd ˆ v ª ª p»vd wx m v ƒª p ˆ r vƒ p p»vd Ÿ Ÿm Ÿƒ ƒd p ˆ p ˆ ŸŽ p ˆ ƒ»ª p Ÿƒ» v p ª p m m º ˆ ƒ p m p m ey ƒ m ¹ d ˆ ƒ ˆ ƒ d d m ƒ e t y t ƒ Ÿ Ÿƒ md mƒ y t ƒ ƒ y t ƒ Ž wx ³ ˆ p r ƒ Ÿƒ ˆ º «ƒ n ƒ ˆ zƒ ³ r ƒ m q ˆ Ž Ÿk Ž p ¹ d ˆ ƒ zz d p ˆ p «v Ž r y t ƒ ƒ ½ n Ž Ÿk Ž p ƒ y ƒ Ÿk Ž p ³ ˆ k n yˆ ƒ v wx m d p lvžº š ˆ ³Ÿ m y t ƒª ª k vr

3 ª zo r ƒ d zo p r em l zo vp Ž p e vƒ ƒ p ± p ˆ l yp º zo ˆn p ± p m zoƒ ƒ ƒ ª Ž wx ƒ m ª ƒ m ˆ º d»vd mdd ½ y ƒ Ÿƒ ˆ y «ª p p ˆ ªªª ªªª º ƒ ˆ«wx ƒ½ƒr m Ž wx ƒ ƒr Žƒ ª k ƒ ³y zp l d p º m ª ƒ d ª p p d v p»vd ª ƒ l p»vd et œ «v p y r l Ž d «Ž vr m º ƒ ˆ ƒ ƒ d p Ž k r p ƒ Ÿƒ ˆ ± Ž p v p º ª ƒ t d y wx ƒ ƒ n Žkœ «v ª ƒ n r p ª ƒ r ƒ p «Ÿ d p p Ž k p ª p ƒ»vd d Ž p y m ƒ Ž p p d w d ³ «ª d d d»vd mdp zo zo p mz v d zo º š ª ª ½ Ÿƒ ˆ š ª ƒ º m zxl ª

4 ª ª p r ½ ƒ p e t ª m ««v Ž wx ƒ ª º p d v»vd p p d ª ƒ wx ª ƒ v «ª y ªv zƒ ª pv p ˆpy z z ª ƒ py vr p»vd ƒ Ž et ª m p»vd ƒ Ž ƒ º Ž p ª ƒ v r p»vd p Ž k Ž t d l t p Ž wx ƒ p»vd p ˆ ªªª g ªªªm ƒ ˆ ƒ ˆ š p wÿ»vd Ÿ Ÿm Ÿm w š wÿ»vd Ÿmz r rr m ³ƒ rƒ ˆ ˆ ªªªp ƒ Ÿ Ÿƒ v Ÿƒ ˆ m p wÿ ª ƒ»vd Ž pp l ªªª pƒ p»vd p d»vd r ƒ mž p ½ Ž «v ƒ g»vd «v s m p ƒ ¹ m p y p r v m ¹ m l y ƒ p»vd ƒ v rƒ ¹ y ps zp Ž ƒ v ˆ w š ƒª ªªª z ƒ «p um «ª y l yp r ƒ x p r mz ¹ y p ¹ ª ª p Ž wx p»vd y Žƒƒr ª ƒ p wx m n ª ƒ ƒ Ž wx ª ƒ wx «

5 «ˆ Ž wx k ³ ƒ n uv} ª ƒ ¹ d p Ž Ÿk ƒ ³ ƒ Ž p vp ³ ¹ d ˆ Ž m d»vd md m ƒ v m ¹ d ˆ ƒ ˆ ƒ d d mƒ et md ³ ˆ sd ˆ ƒ p Ž d»vdv md mƒ ³ Ž wx ƒ y ª p p ªªª ª ª ª ªª ƒ «ª ª ƒ «ª ƒ «xºˆ«r wx ªª ƒ l r s Ÿƒ ˆ y m p pž p k p ƒ d v»vd Ž m v r o v ˆ º ˆ ˆ d d Ž œ nvl pœ Ÿ ƒ Ž ªª«rkp d ªª«ƒ ƒp m ƒm r Ž l m d Ž wx ƒ º ˆ r Ÿ d wÿ»vd md m³ s Ž d r ˆ l ³

6 ªª ˆ ƒ ¹ d Ÿƒ md Ž m n y References ª ª ª ª ª «ª «ª ª «ª «ª «««««v ª p ««ª rƒ o ˆ«lr o ª ª ª m Ž r p ˆ± my ³ p º ƒ ƒ ¹ ½ ««««ª ª ª ª ª ª ª ª ««ª ª q v ª «ˆ y wx wx ª p y ƒ p ½ o y p p m «ª ª ª ª ª ª ª ««ª Ž wx ª ªªªm «ª ª º m m o o ºy ˆ º «ª «««ª ª ª ª ª ª ª v ««ª ª y t ƒ Ž ¹ d Ž Ÿk wx ª Ÿƒ ˆ yp º ˆ m Ž Ž m «ª ª ªªª ª ª «y ½ v «ª ª Ÿ dv wÿ» ª ª ª vd p ª m ª ª «v ª m ª «½ l p» ª ª««vd ˆ ƒ m p m o º º g

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