JP2008054170A - Vehicle-mounted image processing apparatus - Google Patents
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この発明は、自車に搭載したカメラにより自車前方を撮影し、その撮影画像を処理して自車前方の先行車及び車線を認識する車載画像処理装置に関し、詳しくは、カメラの露光制御に関する。なお、本願において、先行車には自車の走行の障害となる種々の障害物が含まれる。 The present invention relates to an in-vehicle image processing apparatus that captures the front of a host vehicle with a camera mounted on the host vehicle and processes the captured image to recognize a preceding vehicle and a lane ahead of the host vehicle, and more particularly to exposure control of the camera. . In the present application, the preceding vehicle includes various obstacles that obstruct the traveling of the host vehicle.
従来、安全運転支援や衝突防止支援等の運転支援によって車両の安全性の向上等を図るため、自車に自車前方を撮影するカメラ(主に単眼CCDカメラ等の単眼のビデオカメラ)を搭載し、自車走行中に前記カメラにより自車前方を連続的に撮影することが行なわれている。 Conventionally, in order to improve vehicle safety through driving assistance such as safe driving assistance and collision prevention assistance, a camera (mainly a monocular video camera such as a single-lens CCD camera) that captures the front of the vehicle is installed. However, the front of the vehicle is continuously photographed by the camera while the vehicle is traveling.
そして、前記カメラの時々刻々の撮影画像(カメラ画像)は、前記カメラを含む自車の車載画像処理装置により画像処理され、その処理結果の画像認識等により自車前方の主に車両(先行車)及び車両走行ラインの白線が認識される。また、撮影画像の明るさに基づいて前記カメラの露光時間が制御される(例えば、特許文献1参照。)。 Then, the captured images (camera images) of the camera from time to time are subjected to image processing by an in-vehicle image processing device of the own vehicle including the camera, and the vehicle (preceding vehicle) in front of the own vehicle is recognized by image recognition of the processing result. ) And the white line of the vehicle travel line is recognized. Further, the exposure time of the camera is controlled based on the brightness of the captured image (see, for example, Patent Document 1).
さらに、前記車両及び白線の認識に基づき、自車と同じ走行ラインの先行車が特定され、その挙動から自車と先行車との衝突可能性等が予測される。 Furthermore, based on the recognition of the vehicle and the white line, a preceding vehicle on the same travel line as the own vehicle is specified, and the possibility of collision between the own vehicle and the preceding vehicle is predicted from the behavior.
ところで、前記カメラの撮影画像は、そのカメラが赤外光(IR)をカットするIRカットフィルタ有り(付き)の場合と、そうでないIRカットフィルタ無しの場合とでは、とくに夜間走行やトンネル走行のような周囲が暗く、前記カメラの露出時間或いは露出光量が多くなる露光制御の走行シーンにおいて、図7、図8のような相違がある。なお、図7はIRフィルタ有りの撮影画像Paであり、図8はIRフィルタ無しの撮影画像Pbである。また、それらの図面のαが先行車、βが道路の白線である。 By the way, the images taken by the camera are particularly suitable for night driving or tunnel driving when the camera has (with) an IR cut filter that cuts infrared light (IR) and without the IR cut filter. In such a running scene of exposure control where the surroundings are dark and the exposure time or the amount of exposure light of the camera increases, there are differences as shown in FIGS. 7 shows a captured image Pa with an IR filter, and FIG. 8 shows a captured image Pb without an IR filter. In these drawings, α is the preceding vehicle and β is the white line of the road.
すなわち、図7、図8の比較からも明らかなように、IRカットフィルタ有りの場合は、先行車αのストップランプが大光量で点灯しても余分なIRはカットされ、撮影画像Paの輝度飽和は生じない。反面、自らは発光しない前記白線βは撮影画像Paにおいて暗くなる傾向にある。一方、IRカットフィルタ無しの場合は、先行車αのストップランプが大光量で点灯すると、この点灯に伴って発生したIRの大光量がカットされずにそのまま前記カメラで撮影され、撮影画像Paの大半部分が輝度飽和状態になる。 That is, as apparent from the comparison between FIG. 7 and FIG. 8, when the IR cut filter is present, excess IR is cut even if the stop lamp of the preceding vehicle α is lit with a large amount of light, and the brightness of the captured image Pa Saturation does not occur. On the other hand, the white line β that does not emit light tends to be dark in the captured image Pa. On the other hand, in the case of no IR cut filter, when the stop lamp of the preceding vehicle α is lit with a large amount of light, the large amount of IR light generated along with this lighting is captured without being cut by the camera, and the captured image Pa Most parts are saturated with brightness.
そして、前記カメラの撮影画像Pa、PbのIRカットフィルタ有り、無しの相異に基づき、それらの撮影画像Pa、Pbの画像処理による自車前方の先行車α、白線βの認識には、つぎの表1に示すように特徴的な相異がある。 Then, based on the difference between the presence and absence of the IR cut filter of the captured images Pa and Pb of the camera, recognition of the preceding vehicle α and the white line β ahead of the host vehicle by image processing of the captured images Pa and Pb is as follows. As shown in Table 1, there are characteristic differences.
そこで、従来は夜間等にもIRによる画像飽和が生じないようにして自車前方の先行車αや白線βの認識を可能にするため、前記カメラにはIRフィルタ有りのものが用いられる。 Therefore, conventionally, a camera with an IR filter is used in order to make it possible to recognize the preceding vehicle α and the white line β in front of the host vehicle without causing image saturation due to IR at night or the like.
そして、IRフィルタ有りのカメラを備えた従来のこの種の車載画像処理装置は、カメラの撮影画像を二値画像処理して自車前方の車両及び白線を認識する場合、ほぼ図9に示すように構成される。 And this kind of conventional vehicle-mounted image processing apparatus equipped with a camera with an IR filter, when recognizing a vehicle and a white line ahead of the host vehicle by performing binary image processing on the image captured by the camera, is almost as shown in FIG. Configured.
同図において、1aは自車前方を撮影するIRフィルタ有り(付き)のカメラであり、例えばIRフィルタ付きの単眼CCDカメラからなり、自車前方の白黒又はカラーの時々刻々の撮影画像をマイクロコンピュータ構成の画像処理ECU2等に出力する。 In the figure, reference numeral 1a denotes a camera with (with) an IR filter that takes an image of the front of the vehicle, for example, a monocular CCD camera with an IR filter. The image is output to the image processing ECU 2 having the configuration.
3は画像処理ECU2の濃淡画像生成部であり、カメラ1aの時々刻々の撮影画像を取り込んでA/D変換し、前記撮影画像の例えば画素当たり8ビットの多階調の濃淡画像を生成する。4は画像処理ECU2の微分画像生成部であり、前記濃淡画像を、その縦、横方向の輝度階調変化に基づいて微分処理し、前記濃淡画像の輝度変化の微分画像を生成する。5は画像処理ECU2の微分二値画像生成部であり、前記微分画像を設定した閾値レベルで二値化し、いわゆるエッジ画像としての画素当たり1ビットの微分二値画像を生成する。 Reference numeral 3 denotes a grayscale image generation unit of the image processing ECU 2, which captures a captured image of the camera 1a every time and performs A / D conversion to generate a multi-gradation grayscale image of, for example, 8 bits per pixel of the captured image. Reference numeral 4 denotes a differential image generation unit of the image processing ECU 2 that performs a differential process on the grayscale image based on the luminance gradation change in the vertical and horizontal directions to generate a differential image of the luminance change of the grayscale image. A differential binary image generation unit 5 of the image processing ECU 2 binarizes the differential image at a set threshold level, and generates a differential binary image of 1 bit per pixel as a so-called edge image.
6、7は画像処理ECU2の白線認識部、車両認識部であり、前記微分二値画像の周知の画像認識処理により先行車α、白線βそれぞれを認識する。具体的には、白線認識部6は種々提案されている周知の道路白線認識の画像認識処理のいずれかを実行し、例えば、前記微分二値画像から予め定義された道路白線の特徴部分を切り出し、この切り出しによって得られた各候補点を結ぶ線から白線βを検出したり、前記特徴部分についてのパターンマッチングから白線βを検出したりする。車両認識部7は種々提案されている周知の車両認識の画像認識処理のいずれかを実行し、例えば、前記微分二値画像の定義された注視領域(画面の一部(中央部)または画面全体)あるいは認識された白線間の注視領域について水平、垂直の画像エッジレベルの大きさや変化の車両固有の特徴(左右のランプ光像や反射板等の反射光像の特徴)から先行車αを検出したり、自車に搭載された超音波や赤外線の測距センサの自車前方の測距結果も利用したセンサフュージョンの画像認識処理により、前記測距結果から推定した車両範囲について一定輝度レベル以上の部分をクラスタリングし、その輪郭抽出等から先行車αを検出したりする。 Reference numerals 6 and 7 denote a white line recognizing unit and a vehicle recognizing unit of the image processing ECU 2 that recognize the preceding vehicle α and the white line β, respectively, by a well-known image recognizing process of the differential binary image. Specifically, the white line recognizing unit 6 executes one of various well-known image recognition processes for road white line recognition, and for example, extracts a characteristic part of a road white line defined in advance from the differential binary image. The white line β is detected from the line connecting the candidate points obtained by the cut-out, or the white line β is detected from the pattern matching for the feature portion. The vehicle recognition unit 7 executes any one of various well-known image recognition processes for vehicle recognition. For example, the gaze area (part of the screen (central portion) or the entire screen) in which the differential binary image is defined. ) Or the preceding vehicle α is detected from the vehicle-specific characteristics of the gaze area between the recognized white lines and the characteristics of the horizontal and vertical image edge levels and changes (characteristics of the left and right lamp light images and the reflected light image of the reflector, etc.) Or a sensor fusion image recognition process that also uses a distance measurement result in front of the vehicle of an ultrasonic or infrared distance sensor mounted on the vehicle, and the vehicle range estimated from the distance measurement result exceeds a certain luminance level. Are clustered and the preceding vehicle α is detected from the contour extraction or the like.
8aはカメラ1aの露光制御部であり、マイクロコンピュータ構成の露光制御ECUからなり、カメラ1aの「露光度合い」としての露光時間を制御する。具体的には、濃淡画像生成部3から、先行車α及び車線βが含まれ得る前記注視領域等の所定の輝度検出領域(撮影画像の画面の設定された一部または全体)の平均輝度レベル(濃淡平均値)が入力され、この平均輝度レベルにより直前までの画像の明るさを認識して次時刻のカメラ1aの露光時間を明るさに応じた時間に決定する(例えば、前記特許文献1参照。)。 An exposure control unit 8a of the camera 1a is composed of an exposure control ECU having a microcomputer configuration, and controls an exposure time as an “exposure degree” of the camera 1a. Specifically, the average luminance level of a predetermined luminance detection area (a set part or the whole of the screen of the photographed image) such as the gaze area that can include the preceding vehicle α and the lane β from the grayscale image generation unit 3. (Average density value) is input, and the brightness of the previous image is recognized based on the average brightness level, and the exposure time of the camera 1a at the next time is determined as a time corresponding to the brightness (for example, Patent Document 1). reference.).
そして、カメラ1aの前記次時刻の撮影を決定した露光時間で行なわせ、昼間から夜間までの周囲の明るさの広範囲の変化に対応して先行車α、白線βを認識する。 Then, the camera 1a performs shooting at the next time, and recognizes the preceding vehicle α and the white line β corresponding to a wide range of changes in ambient brightness from daytime to nighttime.
このとき、自車と先行車αとの距離が近くなる程、撮影画像の前記輝度検出領域内における先行車画像の占める割合が大きくなり、次時刻の露光制御は先行車画像の輝度に影響され易くなる。また、自車と先行車αとの距離が遠くなる程、撮影画像の前記輝度検出領域内における先行車画像の占める割合が小さくなり、次時刻の露光制御は昼間の太陽光を受けた明るい被写体や夜間等の街灯等の不要光に影響され易くなる。 At this time, the closer the distance between the host vehicle and the preceding vehicle α, the greater the proportion of the preceding vehicle image in the brightness detection area of the captured image, and the exposure control at the next time is affected by the brightness of the preceding vehicle image. It becomes easy. In addition, as the distance between the vehicle and the preceding vehicle α increases, the proportion of the preceding vehicle image in the luminance detection area of the photographed image decreases, and the next time exposure control is a bright subject that receives daylight sunlight. It becomes easy to be affected by unnecessary light such as streetlights at night or at night.
ところで、露光制御部8aはカメラ1aの撮影画像の明るさを安定させるために、いわゆる滑らかな制御を行なう。この場合、明るさの急激な変化に対しては、露光制御部8aの応答が遅れる(具体的には1秒前後遅れる)という背反が生じる。 By the way, the exposure control unit 8a performs so-called smooth control in order to stabilize the brightness of the captured image of the camera 1a. In this case, there is a contradiction that the response of the exposure control unit 8a is delayed (specifically, delayed by about 1 second) with respect to a sudden change in brightness.
そこで、従来は前記したように夜間等の車両(先行車α)の認識を優先させるべくカメラ1aをIRカットフィルタ有りの構成とし、夜間等の暗い環境下(換言すれば露光時間を長くし、露光量を多くする必要がある環境下)において、先行車αのブレーキランプが点灯して明るさの急激な変化が生じて多量のIRが発生したときにも、IRカットフィルタによってカメラ1aの露光オーバーを防止して撮影画像の輝度飽和が生じないようにしている。 Therefore, as described above, the camera 1a is configured with an IR cut filter in order to prioritize the recognition of the vehicle at the night (preceding vehicle α) as described above, and in a dark environment such as the night (in other words, the exposure time is increased, In an environment where it is necessary to increase the exposure amount), even when a large amount of IR is generated due to a sudden change in brightness caused by the brake lamp of the preceding vehicle α, the exposure of the camera 1a is performed by the IR cut filter. Overshoot is prevented to prevent luminance saturation of the captured image.
なお、従来装置には撮影画像(路面画像)の設定した明るさの下限値(最低明度値)以下、上限値(最高明度値)以上の部分を切り捨てることで画像認識に必要な明るさの部分を切り出し、カメラ1aをIRカットフィルタの無い構成にするとともに画像処理の負担軽減を図るようにしたものもある(例えば、特許文献2参照。)。
前記図9のIRカットフィルタ有りのカメラ1aを備えた従来装置の場合、露光制御部8aの滑らかな制御によってカメラ1aの撮影画像の明るさを安定化することはできるが、IRカットフィルタによってカメラ1aの露光オーバーを防止するため、とくに夜間等には白線画像が暗くなり、夜間等の白線認識の性能が低下する問題がある。 In the case of the conventional apparatus including the camera 1a with the IR cut filter of FIG. 9, the brightness of the photographed image of the camera 1a can be stabilized by the smooth control of the exposure control unit 8a. In order to prevent 1a overexposure, the white line image becomes dark particularly at night and the white line recognition performance at night and the like deteriorates.
なお、露光制御部8aが「露光度合い」として露光時間でなく露光量を制御することも考えられるが、この場合も従来装置では同様の問題が生じる。 Note that it is conceivable that the exposure control unit 8a controls not the exposure time but the exposure amount as the “exposure degree”, but in this case, the same problem occurs in the conventional apparatus.
また、前記したように撮影画像の設定した明るさの下限値以下、上限値以上の部分を切り捨てることで画像認識に必要な明るさの部分を切り出し、カメラ1aをIRカットフィルタ無しの構成にした場合は、IRカットフィルタが無いので夜間等の白線画像はあまり暗くならないと考えられるが、明るさの下限値以下、上限値以上の部分を切り捨てるため、先行車α、白線βの画像認識処理の情報量がその分少なくなり、その結果、先行車α、白線βのいずれについても画像認識性能が低下するおそれがある。 In addition, as described above, the portion of the brightness necessary for image recognition is cut out by discarding the portion below the lower limit value of the set brightness of the photographed image and the upper limit value, and the camera 1a is configured without an IR cut filter. In this case, since there is no IR cut filter, it is considered that the white line image at night etc. is not so dark, but in order to cut off the portion below the lower limit value of brightness and above the upper limit value, the image recognition processing of the preceding vehicle α and white line β As a result, the amount of information decreases, and as a result, the image recognition performance of both the preceding vehicle α and the white line β may be degraded.
そして、夜間等に先行車αのブレーキランプが点灯して明るさの急激な変化が生じ、多量のIRが発生したとき等には、カメラ1aの露光オーバーが発生し、撮影画像が輝度飽和して撮影画像の大半の部分が明るさの上限値以上の部分になるおそれがあり、この場合は、先行車αや白線βの認識が全く行なえなくなる。 Then, when the brake lamp of the preceding vehicle α is turned on at night or the like and a sudden change in brightness occurs and a large amount of IR occurs, the camera 1a is overexposed and the captured image becomes saturated in brightness. Therefore, there is a risk that most of the captured image will be a portion exceeding the upper limit of brightness. In this case, the preceding vehicle α and the white line β cannot be recognized at all.
本発明は、自車前方を撮影するカメラをIRカットフィルタ無しのカメラで形成して夜間等に白線画像が暗くならないようにするとともに先行車のブレーキランプが急に点灯等しても露光オーバーにならないようにし、撮影画像の明るい部分や暗い部分の情報を切り捨てることなく、極力撮影画像の明るさが安定化するようにして先行車及び白線の良好な認識が行なえるようにすることを目的とする。 According to the present invention, a camera for photographing the front of the vehicle is formed by a camera without an IR cut filter so that a white line image does not become dark at night or the like and overexposure occurs even when the brake lamp of a preceding vehicle suddenly lights up. The purpose is to stabilize the brightness of the photographed image as much as possible and to make it possible to recognize the preceding vehicle and the white line well without discarding information on the bright or dark part of the photographed image. To do.
上記した目的を達成するために、本発明の車載画像処理装置は、自車に搭載されたカメラにより自車前方を撮影し、前記カメラの撮影画像を処理して自車前方の先行車及び車線を認識する車載画像処理装置において、前記カメラの撮影画像の先行車及び車線が含まれ得る所定の輝度検出領域の明るさに基づいて前記カメラの露光度合いを決定し、決定した露光度合いで前記カメラの露光制御を行う露光制御手段と、自車と先行車との距離を判定する距離判定手段と、前記距離判定手段の判定に基づき自車と先行車との距離に応じて前記露光制御手段の前記露光制御の応答性の早さを調整する距離応答性調整手段とを備え、前記距離応答性調整手段は、前記距離判定手段が判定する自車と先行車との距離が短くなると、前記露光制御の応答性を早めることを特徴としている(請求項1)。その際、前記距離応答性調整手段は、前記距離判定手段の判定に基づき自車と先行車とが近距離になる程前記露光制御の応答性を早めることが好ましい(請求項2)。 In order to achieve the above-described object, the in-vehicle image processing apparatus of the present invention captures the front of the host vehicle with a camera mounted on the host vehicle, processes the captured image of the camera, and processes the preceding vehicle and lane ahead of the host vehicle. In the in-vehicle image processing apparatus for recognizing the camera, the exposure level of the camera is determined based on the brightness of a predetermined luminance detection area that can include the preceding vehicle and the lane of the captured image of the camera, and the camera with the determined exposure level Exposure control means for performing the exposure control, distance determination means for determining the distance between the own vehicle and the preceding vehicle, and the exposure control means according to the distance between the own vehicle and the preceding vehicle based on the determination of the distance determination means. Distance responsiveness adjusting means for adjusting the speed of response of the exposure control, and the distance responsiveness adjusting means exposes the exposure when the distance between the own vehicle and the preceding vehicle determined by the distance determining means decreases. Control responsiveness It is characterized by Mel (claim 1). At this time, it is preferable that the distance responsiveness adjusting means speeds up the responsiveness of the exposure control as the own vehicle and the preceding vehicle become closer to each other based on the determination by the distance determining means.
請求項1の発明によれば、露光制御手段は自車前方を撮影するカメラの撮影画像の先行車及び車線が含まれ得る所定の輝度検出領域の明るさに基づき、従来の露光制御と同様にそのカメラの露光度合い(露光時間または露光量)を決定し、決定した露光度合いで露光制御を行う。 According to the invention of claim 1, the exposure control means is based on the brightness of a predetermined luminance detection area that can include the preceding vehicle and the lane of the captured image of the camera that captures the front of the host vehicle, similarly to the conventional exposure control. The exposure level (exposure time or exposure amount) of the camera is determined, and exposure control is performed with the determined exposure level.
また、自車と先行車とが近くなり、撮影画像の明るさの先行車の影響が大きくなると、距離判定手段の判定結果に基づき、距離応答性調整手段が露光制御手段の露光制御の応答性を早くする。 Further, when the own vehicle and the preceding vehicle are close to each other and the influence of the preceding vehicle on the brightness of the photographed image is increased, the distance response adjusting unit is responsive to the exposure control of the exposure control unit based on the determination result of the distance determining unit. To speed up.
そのため、自車前方を撮影するカメラをIRカットフィルタ無しのカメラで形成し、夜間等において、先行車が存在しないか遠くにあり自車前方が暗いときに、白線画像が暗くならないようにしても、自車と先行車とが近くなって撮影画像の明るさに対する先行車の影響が大きくなるときには、露光制御手段の露光制御の応答性を早くし、自車と先行車とが近づいた状態で先行車のブレーキランプが急に点灯しても、その点灯の明るさに合せた露光度合いに迅速に露光制御して露光オーバーを防止することができる。しかも、自車と先行車とが離れる(先行車無しを含む)程、露光制御の応答性が遅くなるため、露光制御が、街灯等の他の光に影響されることがなく(換言すれば前記他の光に追従しにくくなり)、撮影画像の明るさを安定させることができる。 Therefore, a camera that captures the front of the vehicle is formed with a camera without an IR cut filter so that the white line image does not become dark when the preceding vehicle does not exist or is far away at night or the like. When the influence of the preceding vehicle on the brightness of the captured image increases due to the proximity of the own vehicle and the preceding vehicle, the responsiveness of the exposure control of the exposure control means is increased so that the own vehicle and the preceding vehicle are close to each other. Even if the brake lamp of the preceding vehicle suddenly lights up, it is possible to quickly control the exposure to the degree of exposure that matches the brightness of the lighting, thereby preventing overexposure. In addition, since the responsiveness of the exposure control becomes slower as the own vehicle and the preceding vehicle are separated (including no preceding vehicle), the exposure control is not affected by other lights such as street lights (in other words, It becomes difficult to follow the other light), and the brightness of the captured image can be stabilized.
したがって、自車前方を撮影するカメラをIRカットフィルタ無しのカメラで形成して夜間等に白線画像が暗くならないようにするとともに先行車のブレーキランプが急に点灯等しても露光オーバーにならないようにすることができ、撮影画像の明るい部分や暗い部分の情報を切り捨てることなく、極力撮影画像の明るさが安定化するようにして先行車及び白線の良好な認識を行うことができる。 Therefore, a camera that captures the front of the vehicle is formed with a camera without an IR cut filter so that the white line image does not become dark at night and so on, and even if the brake lamp of the preceding vehicle suddenly lights up, it does not become overexposed. It is possible to achieve good recognition of the preceding vehicle and the white line so that the brightness of the photographed image is stabilized as much as possible without discarding information on the bright part and dark part of the photographed image.
また、請求項2の発明によれば、先行車が接近するにしたがって距離応答性調整手段が露光制御の応答性を早めるので、先行車が近距離内であっても遠めに位置して撮影画像に対する先行車のブレーキランプの影響が少なく、露光制御の応答性を十分に早くする必要性が少なければ、不必要に露光制御の応答性が早くならず、撮影画像の明るさが安定化してより一層効果が顕著になる。 According to the invention of claim 2, the distance responsiveness adjusting means speeds up the exposure control responsiveness as the preceding vehicle approaches, so that the preceding vehicle is located far away even within a short distance. If there is little influence of the brake light of the preceding vehicle on the image and there is little need to make the response of exposure control sufficiently fast, the response of exposure control will not be unnecessarily fast, and the brightness of the captured image will be stabilized. The effect becomes even more remarkable.
つぎに、本発明をより詳細に説明するため、その一実施形態について、図1〜図6にしたがって詳述する。 Next, in order to describe the present invention in more detail, an embodiment thereof will be described in detail with reference to FIGS.
図1は本実施形態の車載画像処理装置のブロック図であり、同図において、図9と同一符号は同一もしくは相当するものを示し、図9の従来装置と異なる点はつぎの(a)〜(c)の点である。 FIG. 1 is a block diagram of an in-vehicle image processing apparatus according to the present embodiment. In FIG. 1, the same reference numerals as those in FIG. 9 denote the same or corresponding parts, and the points different from the conventional apparatus in FIG. This is point c).
(a)自車に図9のカメラ1aに代えてIRカットフィルタ無しのカメラ1bを搭載し、夜間等に白線画像が暗くならないようにした点。 (A) A camera 1b without an IR cut filter is mounted on the own vehicle in place of the camera 1a in FIG. 9 so that the white line image does not become dark at night or the like.
(b)距離応答性調整手段及び距離判定手段としての露光制御応答性切替判定処理部9を備え、前記距離判定手段は、この実施形態においては、画像処理ECU2の車両認識部7の前時刻(直前)の車両認識結果から自車と前方の先行車αとの距離を判定して先行車αが自車前方の一定範囲内に存在するか否かを認識し、距離応答性調整手段は距離判定手段の判定に基づき、自車と先行車αとの距離に応じて露光制御手段としての露光制御部8bの露光制御の応答性の早さを調整するようにした点。 (B) An exposure control responsiveness switching determination processing unit 9 as a distance responsiveness adjustment unit and a distance determination unit is provided, and in this embodiment, the distance determination unit is a previous time of the vehicle recognition unit 7 of the image processing ECU 2 ( The distance between the vehicle and the preceding vehicle α ahead is determined from the previous vehicle recognition result to recognize whether or not the preceding vehicle α is within a certain range in front of the vehicle, and the distance responsiveness adjusting means The speed of the responsiveness of the exposure control of the exposure control unit 8b as the exposure control means is adjusted based on the determination by the determination means according to the distance between the own vehicle and the preceding vehicle α.
なお、露光制御部8bは、図9の露光制御部8aの代わりに設けられたものであり、露光制御部8aと同様にカメラ1bの撮影画像の先行車α及び車線βが含まれ得る所定の輝度検出領域(この実施形態では例えば撮影画像全体)の明るさに基づいてカメラ1bの露光度合いを決定し、決定した露光度合いでカメラ1bの露光制御を行うが、その露光制御の応答性の早さが、露光制御応答性切替判定処理部9の前記距離応答性調整手段により、例えば制御応答係数の切り替え又は可変によって調整される。 Note that the exposure control unit 8b is provided instead of the exposure control unit 8a of FIG. 9, and similarly to the exposure control unit 8a, a predetermined vehicle α and a lane β of the captured image of the camera 1b can be included. The degree of exposure of the camera 1b is determined based on the brightness of the luminance detection area (in this embodiment, for example, the entire captured image), and the exposure control of the camera 1b is performed with the determined degree of exposure. Is adjusted by the distance responsiveness adjusting means of the exposure control responsiveness switching determination processing unit 9 by switching or changing the control response coefficient, for example.
(c)認識制度を向上するため、画像処理ECU2に微分二値閾値選択処理部10を備え、この処理部10により、微分二値画像生成部5の二値化の閾値を不揮発性の閾値マップメモリ11の閾値マップから選択して設定するようにした点。 (C) In order to improve the recognition system, the image processing ECU 2 is provided with a differential binary threshold selection processing unit 10, and the binarization threshold value of the differential binary image generation unit 5 is set to a non-volatile threshold map by the processing unit 10. A point selected from the threshold map of the memory 11 and set.
なお、露光制御応答性切替判定処理部9は例えば露光制御部8bとともに露光制御ECUのマイクロコンピュータのソフトウエアによって形成される。 The exposure control responsiveness switching determination processing unit 9 is formed by, for example, microcomputer software of the exposure control ECU together with the exposure control unit 8b.
そして、夜間の白線認識の性能低下を回避するために、この実施形態においては、前記したように、IRカットフィルタ無しのカメラ1bによって自車前方を撮影する。 And in order to avoid the performance degradation of white line recognition at night, in this embodiment, as above-mentioned, the front of the own vehicle is image | photographed with the camera 1b without an IR cut filter.
この場合、IRカットフィルタが無いので、とくに夜間等であって自車前方の先行車αが十分に遠く(又は先行車αが存在せず)、自車前方が暗い状態時に、カメラ1bの撮影画像として、例えば図2に示すように、自らは発光しない自車前方の白線βが十分な明るさで写っている撮影画像P1が得られる。 In this case, since there is no IR cut filter, the photographing by the camera 1b is particularly performed at night or the like when the preceding vehicle α in front of the own vehicle is sufficiently far away (or there is no preceding vehicle α) and the front of the own vehicle is dark. As an image, for example, as shown in FIG. 2, a captured image P1 is obtained in which the white line β in front of the vehicle that does not emit light is reflected with sufficient brightness.
なお、露光制御部8bは先行車αが自車前方の一定範囲内に存在しないことが検出できた場合には、カメラ1bの撮影画像の明るさを安定させるために、従来装置の露光制御部8aと同様に、通常の滑らかな露光制御を行う。 When the exposure control unit 8b can detect that the preceding vehicle α does not exist within a certain range in front of the host vehicle, the exposure control unit of the conventional apparatus is used to stabilize the brightness of the captured image of the camera 1b. As in 8a, normal smooth exposure control is performed.
一方、カメラ1bの撮影画像に基づく車両認識部7の前時刻の認識結果から、露光制御応答性切替判定処理部9の前記距離判定手段により、先行車αが一定以上の大きさ(横幅)で写っていることが確認され、先行車αが自車前方の一定範囲内の距離に接近していることが検出されると、露光制御応答性切替判定処理部9の前記距離応答性調整手段により、露光制御部8bの露光制御の応答性を、夜間等の先行車αのブレーキランプの点灯に基づく赤外光の飽和に備えて通常よりも早くする。 On the other hand, from the recognition result of the previous time of the vehicle recognition unit 7 based on the photographed image of the camera 1b, the distance determination unit of the exposure control responsiveness switching determination processing unit 9 causes the preceding vehicle α to have a certain size (horizontal width). When it is confirmed that it is reflected and it is detected that the preceding vehicle α is approaching a distance within a certain range in front of the host vehicle, the distance responsiveness adjusting means of the exposure control responsiveness switching determination processing unit 9 In addition, the response of the exposure control of the exposure control unit 8b is made earlier than usual in preparation for the saturation of the infrared light based on the lighting of the brake lamp of the preceding vehicle α at night or the like.
そのため、夜間等に自車前方の一定範囲内の距離内の先行車αのブレーキランプが急ブレーキ等によって点灯し、多量の赤外光が発生して撮影画像の前記所定の輝度検出領域が瞬時異常に明るくなると、迅速な応答性で露光制御部8bがカメラ1bの露光度合い(露光時間または露光量)を小さくし、露光オーバーを防止する。このとき、カメラ1bの撮影画像として、例えば図3に示すように、自車前方の先行車αが適正な露光状態で写っている撮影画像P2が得られる。 Therefore, the brake lamp of the preceding vehicle α within a certain distance in front of the host vehicle is turned on by sudden braking or the like at night or the like, and a large amount of infrared light is generated, so that the predetermined luminance detection area of the photographed image is instantaneously When it becomes abnormally bright, the exposure control unit 8b reduces the exposure degree (exposure time or exposure amount) of the camera 1b with quick response and prevents overexposure. At this time, as a captured image of the camera 1b, for example, as illustrated in FIG. 3, a captured image P2 in which the preceding vehicle α in front of the host vehicle is captured in an appropriate exposure state is obtained.
ところで、露光制御応答性切替判定処理部9の前記距離応答性調整手段は、つぎに説明する(i)、(ii)、(iii)のいずれかの制御手法で露光制御部8bの露光制御の応答性を早くする。 By the way, the distance responsiveness adjusting means of the exposure control responsiveness switching determination processing unit 9 performs exposure control of the exposure control unit 8b by any one of the control methods (i), (ii), and (iii) described below. Increase responsiveness.
(i)先行車αが所定近距離まで接近した状態になると、通常の応答性から設定した高速の応答性に切り替える2段階切り替えの制御。 (I) Two-stage switching control for switching from normal responsiveness to high-speed responsiveness when the preceding vehicle α approaches a predetermined short distance.
(ii)自車と先行車αとの距離に応じて応答性を連続的に可変し、先行車αが接近するほど応答性を早める無段階制御。 (ii) Stepless control in which the responsiveness is continuously varied according to the distance between the host vehicle and the preceding vehicle α, and the responsiveness is accelerated as the preceding vehicle α approaches.
(iii)先行車αが所定近距離内に位置するときに限り、距離判定手段の判定に基づき、自車と先行車αとが近距離になる程、すなわち、先行車αが接近するほど応答性を早める制御(請求項2の制御)。 (Iii) Only when the preceding vehicle α is located within a predetermined short distance, based on the determination by the distance determining means, the closer the own vehicle and the preceding vehicle α, that is, the closer the preceding vehicle α approaches Control for speeding up the control (control of claim 2).
したがって、本実施形態の場合、自車前方を撮影するカメラ1bをIRカットフィルタ無しのカメラで形成して夜間等に白線βの画像が暗くならないようにするとともに先行車αのブレーキランプが急に点灯しても露光オーバーにならないようにすることができ、撮影画像の明るい部分や暗い部分の情報を切り捨てることなく、極力撮影画像の明るさが安定化するようにして先行車α及び白線βの良好な認識を行うことができる。 Therefore, in the case of the present embodiment, the camera 1b that captures the front of the host vehicle is formed by a camera without an IR cut filter so that the image of the white line β does not become dark at night and the brake lamp of the preceding vehicle α suddenly It is possible to prevent overexposure even when the lamp is lit, and to stabilize the brightness of the photographed image as much as possible without discarding information on bright and dark parts of the photographed image, Good recognition can be performed.
その際、前記(i)〜(iii)のいずれの制御で応答性を早めるようにしてもよいが、とくに前記(iii)の制御で早めることにより、先行車αが近距離内であっても遠めに位置して撮影画像に対する先行車αのブレーキランプの影響が少なく、露光制御の応答性を十分に早くする必要性が少なければ、不必要に露光制御の応答性が速くならず、撮影画像の明るさが安定化してより一層効果が顕著になる利点がある。 At that time, the responsiveness may be accelerated by any of the controls (i) to (iii). In particular, by accelerating by the control (iii), even if the preceding vehicle α is within a short distance. If there is little influence of the brake light of the preceding vehicle α on the captured image located far away and there is little need to make the response of the exposure control sufficiently fast, the response of the exposure control will not be unnecessarily fast and the image will be taken. There is an advantage that the brightness becomes stable and the effect becomes more remarkable.
つぎに、本実施形態においては、画像処理ECU2に微分二値閾値選択処理部10を設けることにより、撮影画像の明るさに応じて二値化の閾値を可変設定し、先行車α及び白線βの認識性能の向上を図る。 Next, in the present embodiment, by providing the differential binary threshold selection processing unit 10 in the image processing ECU 2, the binarization threshold is variably set according to the brightness of the captured image, and the preceding vehicle α and the white line β are set. To improve the recognition performance.
すなわち、前記二値化の閾値は、概ね撮影シーンの明るさ(濃淡画像生成部3の濃淡画像の濃度平均値)に比例したものにすることが考えられるが、種々の実験等から、詳しくは図4の閾値特性図、図5、図6の撮影画像P3、P4に示すように、認識対象の先行車α、白線βの別によって撮影シーンの明るさに対する前記二値化の閾値の好ましい特性が異なることが判明した。なお、図4のSαが先行車αの閾値の特性であり、同図のSβが白線βの閾値の特性である。また、図4のBは暗いシーン、Wは明るいシーンである。さらに、図5は先行車αの撮影画像P3、図6は白線βの撮影画像P4である。 That is, the threshold value for binarization may be approximately proportional to the brightness of the shooting scene (the average density value of the grayscale image of the grayscale image generation unit 3). As shown in the threshold characteristic diagram of FIG. 4 and the captured images P3 and P4 of FIGS. 5 and 6, the preferable characteristic of the binarization threshold with respect to the brightness of the captured scene depending on the preceding vehicle α and the white line β to be recognized. Turned out to be different. 4 is the threshold characteristic of the preceding vehicle α, and Sβ in FIG. 4 is the threshold characteristic of the white line β. In FIG. 4, B is a dark scene and W is a bright scene. 5 is a captured image P3 of the preceding vehicle α, and FIG. 6 is a captured image P4 of the white line β.
そして、先行車αの閾値の特性Sα、白線βの閾値の特性Sβは、シーンの明、暗によってつぎの表2のように設定することが望ましい。 The threshold value characteristic Sα of the preceding vehicle α and the threshold value characteristic Sβ of the white line β are preferably set as shown in the following Table 2 depending on the lightness and darkness of the scene.
したがって、先行車α及び白線βの両方の認識精度を向上させるには、先行車αが自車前方の一定範囲内に存在することが検出できた場合には白線βの特性Sβよりも先行車の特性Sαで二値化の閾値を設定し、それ以外の場合(先行車αが自車前方の一定範囲内に存在しないことが検出できた場合)には先行車の特性Sαよりも白線βの特性Sβで二値化の閾値を設定することが好ましいことが分かる。 Therefore, in order to improve the recognition accuracy of both the preceding vehicle α and the white line β, when it is detected that the preceding vehicle α is within a certain range in front of the host vehicle, the preceding vehicle is more than the characteristic Sβ of the white line β. The threshold value for binarization is set with the characteristic Sα of the vehicle, and in other cases (when it can be detected that the preceding vehicle α does not exist within a certain range in front of the host vehicle), the white line β is greater than the characteristic Sα of the preceding vehicle. It can be seen that it is preferable to set the binarization threshold value with the characteristic Sβ.
そこで、この実施形態においては、微分二値画像生成部5の二値化の閾値を、図4の特性Sα、Sβを平均した同図中の破線の特性Sαβに設定するのではなく、閾値マップメモリ11に特性Sα、Sβのデータを保持しておく。 Thus, in this embodiment, the threshold value for the binarization of the differential binary image generation unit 5 is not set to the characteristic Sαβ of the broken line in FIG. 4 that is obtained by averaging the characteristics Sα and Sβ of FIG. Data of characteristics Sα and Sβ is held in the memory 11.
そして、露光制御応答性切替判定処理部9の前記距離判定手段により、先行車αが一定以上の大きさ(横幅)で写っていることが確認され、先行車αが自車前方の一定範囲内の距離に接近していることが検出されると、先行車αの認識を優先し、微分二値閾値選択処理部10により、例えば濃度画像生成部3の濃度平均値からシーンの明るさを検出し、先行車αの特性Sαの対応する明るさの二値化の閾値を選択して微分二値画像生成部5に設定する。 Then, it is confirmed by the distance determination means of the exposure control responsiveness switching determination processing section 9 that the preceding vehicle α is reflected in a size (horizontal width) of a certain level or more, and the preceding vehicle α is within a certain range in front of the host vehicle. Is detected, the differential binary threshold selection processing unit 10 detects the brightness of the scene from the density average value of the density image generation unit 3, for example. Then, the threshold value for the binarization of the brightness corresponding to the characteristic Sα of the preceding vehicle α is selected and set in the differential binary image generation unit 5.
一方、先行車αが自車前方の一定範囲内の距離に接近していることが検出されないときは、白線βの認識を優先し、微分二値閾値選択処理部10により、例えば濃度画像生成部3の濃度平均値からシーンの明るさを検出し、白線βの特性Sβの対応する明るさの二値化の閾値を微分二値画像生成部5に設定する。 On the other hand, when it is not detected that the preceding vehicle α is approaching a distance within a certain range ahead of the host vehicle, the recognition of the white line β is prioritized, and the differential binary threshold selection processing unit 10 performs, for example, a density image generation unit. The brightness of the scene is detected from the average density value of 3, and the threshold value for binarization of the brightness corresponding to the characteristic Sβ of the white line β is set in the differential binary image generation unit 5.
この場合、微分二値画像生成部5に設定する二値化の閾値の選択・設定パターンは、先行車αが自車前方の一定範囲内の距離に接近して衝突可能性の判断が必要になる障害物有りの状態か否かと、白線βの有無との組合わせに基づき、つぎの第1〜4パターンになる。なお、衝突可能性の有無は自車に近づく方向に相対速度を考慮して判断される。 In this case, the binarization threshold selection / setting pattern set in the differential binary image generation unit 5 requires that the preceding vehicle α approach a distance within a certain range ahead of the host vehicle and determine the possibility of collision. Based on the combination of whether or not there is an obstacle and the presence or absence of the white line β, the following first to fourth patterns are obtained. The possibility of collision is determined in consideration of the relative speed in the direction approaching the host vehicle.
第1パターン(障害物有り、白線有り):衝突可能性が有る場合は、先行車αの特性Sαの閾値を選択して設定し、衝突可能性が無い場合は、白線βの特性Sβの閾値を選択して設定。 First pattern (with obstacle, with white line): When there is a possibility of collision, the threshold value of the characteristic Sα of the preceding vehicle α is selected and set. When there is no possibility of collision, the threshold value of the characteristic Sβ of the white line β Select and set.
第2パターン(障害物有り、白線無し):衝突可能性が有る場合は、先行車αの特性Sαの閾値を選択して設定し、衝突可能性が無い場合は、白線βの特性Sβの閾値を選択して設定。 Second pattern (there is an obstacle, no white line): When there is a possibility of collision, the threshold value of the characteristic Sα of the preceding vehicle α is selected and set, and when there is no possibility of collision, the threshold value of the characteristic Sβ of the white line β Select and set.
第3パターン(障害物無し、白線有り):衝突可能性が無いので白線βの特性Sβの閾値を選択して設定。 Third pattern (no obstacle, white line): Since there is no possibility of collision, the threshold value of the characteristic Sβ of the white line β is selected and set.
第4パターン(障害物無し、白線無し):衝突可能性が無いので白線βの特性Sβの閾値を選択して設定。 Fourth pattern (no obstacle, no white line): Since there is no possibility of collision, the threshold value of the characteristic Sβ of the white line β is selected and set.
したがって、微分二値画像生成部5の二値化の閾値を、先行車αが自車前方の一定範囲内の距離に接近しているか否かによって、特性Sα又は特性Sβの明るさに応じた閾値に選択して設定し、安価な構成で先行車α及び白線βの両方の認識性能を向上して運転支援系の性能を一層向上することができる。 Therefore, the threshold of binarization of the differential binary image generation unit 5 is determined according to the brightness of the characteristic Sα or the characteristic Sβ depending on whether or not the preceding vehicle α is close to a distance within a certain range ahead of the host vehicle. The threshold value is selected and set, and the recognition performance of both the preceding vehicle α and the white line β can be improved with an inexpensive configuration to further improve the performance of the driving support system.
そして、本発明は上記した実施形態に限定されるものではなく、その趣旨を逸脱しない限りにおいて上述したもの以外に種々の変更を行うことが可能であり、例えばセンサフュージョンによる車両認識を行う構成の場合は、前記距離判手段が自車の超音波センサ等の測距センサの自車前方の探査結果から自車と前方の先行車αとの距離を判定するようにしてもよい。 The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. For example, the vehicle is recognized by sensor fusion. In this case, the distance determining means may determine the distance between the vehicle and the preceding vehicle α ahead from the search result in front of the vehicle by a distance measuring sensor such as an ultrasonic sensor of the vehicle.
また、カメラ1bは種々の構成の単眼カメラであってよく、場合によっては、ステレオカメラであってもよい。さらに、露光制御応答性切替判定処理部9、微分二値閾値選択処理部10等はハードウエア回路で構成されていてもよく、濃淡画像生成部3の濃淡画像のビット数等はどのようであってもよい。また、閾値マップメモリ11に代えて、例えば閾値Sα、Sβの特性の明るさ係数を記憶したメモリを備え、このメモリから選択した閾値Sα又は閾値Sβの撮影シーンの明るさに応じた明るさ係数を閾値Sα又は閾値Sβの基本値に乗算等する構成であってもよい。 The camera 1b may be a monocular camera having various configurations, and may be a stereo camera depending on the case. Further, the exposure control responsiveness switching determination processing unit 9, the differential binary threshold selection processing unit 10 and the like may be configured by a hardware circuit, and what is the number of bits of the grayscale image of the grayscale image generation unit 3 and the like? May be. Further, instead of the threshold map memory 11, for example, a memory storing the brightness coefficient of the characteristics of the threshold values Sα and Sβ is provided, and the brightness coefficient corresponding to the brightness of the shooting scene of the threshold value Sα or the threshold value Sβ selected from this memory The threshold value Sα or the basic value of the threshold value Sβ may be multiplied.
そして、白線認識部6、車両認識部7の認識結果は、運転支援の種々の処理に用いられるものであってよいのは勿論である。 And the recognition result of the white line recognition part 6 and the vehicle recognition part 7 may be used for the various processes of driving assistance.
1b カメラ
8b 露光制御部
9 露光制御応答特性切替判定処理部
1b camera 8b exposure control unit 9 exposure control response characteristic switching determination processing unit
Claims (2)
前記カメラの撮影画像の先行車及び車線が含まれ得る所定の輝度検出領域の明るさに基づいて前記カメラの露光度合いを決定し、決定した露光度合いで前記カメラの露光制御を行う露光制御手段と、
自車と先行車との距離を判定する距離判定手段と、
前記距離判定手段の判定に基づき自車と先行車との距離に応じて前記露光制御手段の前記露光制御の応答性の早さを調整する距離応答性調整手段とを備え、
前記距離応答性調整手段は、前記距離判定手段が判定する自車と先行車との距離が短くなると、前記露光制御の応答性を早めることを特徴とする車載画像処理装置。 In the vehicle-mounted image processing device that captures the front of the vehicle with a camera mounted on the vehicle, recognizes the preceding vehicle and the lane ahead of the vehicle by processing the captured image of the camera,
Exposure control means for determining the exposure level of the camera based on the brightness of a predetermined luminance detection area that can include a preceding vehicle and a lane of a captured image of the camera, and performing exposure control of the camera with the determined exposure level; ,
Distance determining means for determining the distance between the vehicle and the preceding vehicle;
Distance responsiveness adjusting means for adjusting the speed of responsiveness of the exposure control of the exposure control means according to the distance between the own vehicle and the preceding vehicle based on the determination of the distance determining means;
The on-vehicle image processing apparatus characterized in that the distance responsiveness adjusting means speeds up the responsiveness of the exposure control when the distance between the own vehicle and the preceding vehicle determined by the distance determining means becomes short.
前記距離応答性調整手段は、前記距離判定手段の判定に基づき自車と先行車とが近距離になる程前記露光制御の応答性を早めることを特徴とする車載画像処理装置。 The in-vehicle image processing apparatus according to claim 1,
The on-vehicle image processing apparatus, wherein the distance responsiveness adjusting means accelerates the responsiveness of the exposure control as the own vehicle and a preceding vehicle become closer to each other based on the determination by the distance determining means.
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