JPH07125571A - Car-mounted equipment - Google Patents
Car-mounted equipmentInfo
- Publication number
- JPH07125571A JPH07125571A JP27404993A JP27404993A JPH07125571A JP H07125571 A JPH07125571 A JP H07125571A JP 27404993 A JP27404993 A JP 27404993A JP 27404993 A JP27404993 A JP 27404993A JP H07125571 A JPH07125571 A JP H07125571A
- Authority
- JP
- Japan
- Prior art keywords
- car
- distance
- obstacle
- vehicle
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/05—Special features for controlling or switching of the light beam
- B60Q2300/056—Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
Landscapes
- Non-Portable Lighting Devices Or Systems Thereof (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、走行車線上の先行走行
車両や障害物を検知する装置に関し、具体的には、関連
する検知装置を常に走行車線上の先行走行車両や障害物
の方向を向くよう制御する装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for detecting a preceding vehicle or an obstacle on a traveling lane, and more specifically, a related detecting device for constantly detecting the direction of the preceding vehicle or an obstacle on the traveling lane. The present invention relates to a device for controlling to face.
【０００２】[0002]
【従来の技術】カメラにて走行車線を検出し、レーザー
レーダやミリ波を使用した電波レーダにて、走行車線上
の先行走行車両や障害物と自車両間の距離等を検知する
装置は、各種提案されている。また、カーブ等で先行車
を確実に捕らえるために、カメラの画像から得られたデ
ータをもとに、レーダの照射方向を補正することも提案
されている［特開平4−258780号公報，特開平4−248489
号公報］。2. Description of the Related Art A device for detecting a traveling lane with a camera and detecting a distance between a preceding traveling vehicle on the traveling lane or an obstacle and the own vehicle by a laser radar or a radio wave radar using millimeter waves is known. Various proposals have been made. Further, it has been proposed to correct the irradiation direction of the radar based on the data obtained from the image of the camera in order to reliably capture the preceding vehicle at a curve or the like [Japanese Patent Laid-Open No. 4-258780, Kaihei 4-248489
Issue bulletin].
【０００３】また、車のステアリングの角度によって、
レーダの照射方向を補正することも提案されている［特
開昭62−115599号公報］。Also, depending on the steering angle of the vehicle,
It has also been proposed to correct the irradiation direction of the radar [JP 62-115599 A].
【０００４】[0004]
【発明が解決しようとする課題】上記の従来の方法に於
いて、走行路のカーブの状況を検出する主たる手段は、
カメラによって得られた画像データの処理によるもので
ある。カメラから得られる画像は、太陽光のもとの昼間
のみでなく、自車両のヘッドライト照明光のもとの夜間
においても、充分な画像データが得られることが重要で
ある。In the above-mentioned conventional method, the main means for detecting the condition of the curve on the road is:
This is due to the processing of image data obtained by the camera. It is important that the image obtained from the camera can obtain sufficient image data not only in the daytime under sunlight but also at night under the headlight illumination light of the vehicle.
【０００５】単に、レーダの照射方向を補正するのみで
は、夜間の画像データの改善を図ることが出来ないこと
は明白である。It is obvious that the image data at night cannot be improved only by correcting the irradiation direction of the radar.
【０００６】本発明は、車間距離警報装置，自動追従走
行装置，障害物回避装置，誘導自動車走行システム等の
実現を目的とし、運転者の緊張による疲労を軽減し、安
全でゆとりある運転が出来、ひいては交通事故の軽減に
役立てることが出来る様な装置を提供することを目的と
する。The present invention is intended to realize an inter-vehicle distance warning device, an automatic follow-up traveling device, an obstacle avoiding device, a guided vehicle traveling system, etc., and reduces fatigue caused by a driver's tension, thereby enabling safe and comfortable driving. The purpose is to provide a device that can help reduce traffic accidents.
【０００７】[0007]
【課題を解決するための手段】本発明では、上記の課題
を解決するために、レーダの照射方向を補正するのみで
はなく、ヘッドライト，補助ライト等の照射方向を、あ
るいは赤外線照射灯の照射方向を共に制御し、夜間にお
いても充分な画像データが得られる装置を提供する。In order to solve the above problems, the present invention not only corrects the irradiation direction of the radar, but also the irradiation direction of headlights, auxiliary lights, etc., or the irradiation of an infrared irradiation lamp. (EN) Provided is a device which controls both directions and obtains sufficient image data even at night.
【０００８】[0008]
【作用】車両用先行車および障害物検出装置において、
上記手段を用いることにより、夜間においても、カメラ
による画像認識を、より確実なものとすることを可能に
した。In the preceding vehicle for vehicles and the obstacle detection device,
By using the above means, the image recognition by the camera can be made more reliable even at night.
【０００９】[0009]
【実施例】以下、図に示す実施例に従い本発明を詳細に
説明する。The present invention will be described in detail below with reference to the embodiments shown in the drawings.
【００１０】図１は誘導自動車走行システムの構成例を
示すブロック図である。FIG. 1 is a block diagram showing an example of the configuration of a guided vehicle traveling system.
【００１１】レーンセンサー１ａは車両が走行するレー
ンを検出する。障害物センサー１ｂは、走行レーン上の
障害物を検出する。車間距離センサー１ｃは、先行車と
の車間距離と相対速度，障害物との距離等を検出する。
通信装置１ｄは路車間通信あるいは車車間通信により外
部の情報を受信する。処理装置１ｅはこれら１ａ〜１ｄ
より得られたデータを演算して自車両走行の安全度を算
出し、危険な場合はＭＭＩ（マンマシンインタフェー
ス）１ｆにより、ドライバー１ｇに警報を出す。これに
よりドライバー１ｇはハンドル，アクセル，ブレーキ等
１ｉを操作して危険を回避することが出来る。The lane sensor 1a detects the lane in which the vehicle is traveling. The obstacle sensor 1b detects an obstacle on the traveling lane. The inter-vehicle distance sensor 1c detects the inter-vehicle distance to the preceding vehicle, the relative speed, the distance to the obstacle, and the like.
The communication device 1d receives external information through road-vehicle communication or vehicle-vehicle communication. The processing device 1e has these 1a to 1d.
The obtained data is calculated to calculate the safety degree of the own vehicle running, and when it is dangerous, the MMI (man-machine interface) 1f issues a warning to the driver 1g. As a result, the driver 1g can operate the steering wheel, accelerator, brake, etc. 1i to avoid danger.
【００１２】ドライバー１ｇの反応が遅れた場合には、
処理装置１ｅがアクチエータ１ｈを作動させることによ
り、ハンドル，アクセル，ブレーキ等１ｉを制御し、自
動的に危険を回避することが出来る。さらには、誘導自
動走行が可能となる。If the reaction of the driver 1g is delayed,
When the processing device 1e operates the actuator 1h, the steering wheel, accelerator, brake, etc. 1i can be controlled to automatically avoid the danger. Furthermore, guided automatic driving becomes possible.
【００１３】レーンセンサー，障害物センサーの１例と
して、カメラによる画像認識装置がある。An example of the lane sensor and the obstacle sensor is an image recognition device using a camera.
【００１４】図２はカメラによる道路領域をもととする
レーン情報抽出の例である。FIG. 2 is an example of lane information extraction based on a road area by a camera.
【００１５】ＴＶカメラ（複数台にても可）２ａにより
道路情景を撮影する。撮影により得られたカラー画像２
ｂを、画像処理装置２ｃにて処理し、色やテキスチャー
がー様である領域群として検出することにより、道路境
界線や道路領域２ｄ，障害物２ｅを抽出する。この道路
構造より走行レーンのカーブ等を検出することが出来
る。同様に、道路情景より先行走行車両や障害物を検出
することも可能である。先行車との車間距離や相対速度
を検出する装置としては、各種提案されているが、レー
ザー光を使用したレーザーレーダや電波を使用したミリ
波レーダシステム等がある。図３にレーザーレーダの動
作原理を、図４にミリ波レーダシステムの構成例を示
す。A road scene is photographed by a TV camera (may be plural). Color image 2 obtained by shooting
b is processed by the image processing device 2c and detected as a group of regions having a similar color or texture, whereby the road boundary line, the road region 2d, and the obstacle 2e are extracted. It is possible to detect the curve of the traveling lane from this road structure. Similarly, it is possible to detect a preceding vehicle or an obstacle from the road scene. Various devices have been proposed as devices for detecting an inter-vehicle distance and a relative speed with respect to a preceding vehicle, but there are a laser radar using a laser beam, a millimeter wave radar system using a radio wave, and the like. FIG. 3 shows the operation principle of the laser radar, and FIG. 4 shows an example of the configuration of the millimeter wave radar system.
【００１６】これらレーダの照射ビームは先行車のみを
確実に補足するために、照射ビーム幅を車線幅以下に絞
ることが望まれる。It is desirable that the irradiation beam of these radars be narrowed down to the lane width or less in order to surely catch only the preceding vehicle.
【００１７】図５に、直線道路における距離検出状況を
示す。自車Ａ５ｂの照射ビームは、直線道路では先行車
Ｂ５ａを確実に補足する。FIG. 5 shows a distance detection situation on a straight road. The irradiation beam of the own vehicle A5b surely catches the preceding vehicle B5a on the straight road.
【００１８】図６に、カーブ路における距離検出状況を
示す図を示す。自車Ａ５ｂの照射ビームは、カーブ路で
は先行車Ｂ５ａを補足することが出来ず、先行車Ｂ′５
ｃを誤って照射してしまう。このため、レーダの照射ビ
ームの方向を道路のカーブ状況に応じて補正することが
提案されている。FIG. 6 is a diagram showing a situation of distance detection on a curved road. The irradiation beam of the own vehicle A5b cannot supplement the preceding vehicle B5a on the curved road, and the preceding vehicle B'5
Accidentally irradiate c. For this reason, it has been proposed to correct the direction of the irradiation beam of the radar according to the curve condition of the road.
【００１９】同様に、夜間カメラにて走行車線や先行車
および走行車線上の障害物等を検出するには、ヘッドラ
イト等の照明装置の照射方向を、道路のカーブ状況に応
じて補正することが重要である。Similarly, in order to detect a driving lane, a preceding vehicle and obstacles on the driving lane with a night camera, the irradiation direction of a lighting device such as a headlight is corrected in accordance with the curve condition of the road. is important.
【００２０】図７，図８に本発明の実施例を示す。7 and 8 show an embodiment of the present invention.
【００２１】図７は、距離と相対速度を測定する装置の
ビームの照射方向と、ヘッドライトの照射方向を同時に
制御した場合の実施例を示す図である。FIG. 7 is a diagram showing an embodiment in which the beam irradiation direction of the device for measuring the distance and the relative speed and the irradiation direction of the headlight are simultaneously controlled.
【００２２】図７において、自車Ａ５ｂのヘッドライト
の照射方向は、現在の固定方向照射では７ｄの方向とな
る。カーブ路では先行車Ｂ５ａを照射する様、ヘッドラ
イトの照射方向を７ｅの方向に制御する。同時に、先行
車Ｂ５ａと自車Ａ５ｂ間の距離と相対速度を測定する装
置のビームの照射方向も、７ｅの方向に制御する。In FIG. 7, the irradiation direction of the headlight of the own vehicle A5b is 7d in the current fixed direction irradiation. On a curved road, the irradiation direction of the headlight is controlled to 7e so that the preceding vehicle B5a is irradiated. At the same time, the beam irradiation direction of the device for measuring the distance and relative speed between the preceding vehicle B5a and the own vehicle A5b is also controlled to 7e.
【００２３】図８は、距離と相対速度を測定する装置の
ビームの照射方向と、ヘッドライトの補助灯の照射方向
を同時に制御した場合の実施例を示す図である。FIG. 8 is a diagram showing an embodiment in which the irradiation direction of the beam of the device for measuring the distance and the relative speed and the irradiation direction of the auxiliary lamp of the headlight are simultaneously controlled.
【００２４】図８において、自車Ａ５ｂのヘッドライト
の照射方向は、現在の固定方向照射では８ｄの方向とな
る。カーブ路では先行車Ｂ５ａを照射する様、ヘッドラ
イトの照射方向は固定状態とし、補助灯の照射方向を８
ｅの方向に制御する。同時に、先行車Ｂ５ａと自車Ａ５
ｂ間の距離と相対速度を測定する装置のビームの照射方
向も、８ｅの方向に制御する。補助灯としてナトリウム
照射灯や赤外線照射灯のその他の照明装置を使用しても
よい。In FIG. 8, the irradiation direction of the headlight of the host vehicle A5b is 8d in the current fixed direction irradiation. On a curved road, the irradiation direction of the headlight is fixed so that the preceding vehicle B5a is irradiated, and the irradiation direction of the auxiliary light is set to 8
Control in the direction of e. At the same time, the preceding vehicle B5a and the own vehicle A5
The irradiation direction of the beam of the device for measuring the distance between b and the relative velocity is also controlled to 8e. Other lighting devices such as a sodium irradiation lamp or an infrared irradiation lamp may be used as the auxiliary lamp.
【００２５】[0025]
【発明の効果】以上述べたごとく、本発明の上記手段を
用いることにより、夜間においても、カメラ画像認識に
よる走行路のカーブの状況の検出，走行車線上の先行走
行車両や障害物の検出を、より確実なものとすることが
出来、車間距離警報装置，自動追従走行装置，障害物回
避装置，誘導自動車走行システム等への応用が可能であ
り、その効果は大きい。As described above, by using the above-mentioned means of the present invention, it is possible to detect the condition of the curve of the traveling road by the camera image recognition, the detection of the preceding traveling vehicle and the obstacle on the traveling lane even at night. Further, it can be made more reliable and can be applied to an inter-vehicle distance warning device, an automatic follow-up traveling device, an obstacle avoidance device, a guided vehicle traveling system, and the like, and the effect is great.
【図１】誘導自動走行システムの構成例を示す図であ
る。FIG. 1 is a diagram showing a configuration example of a guided automatic traveling system.
【図２】道路領域をもととするレーン情報抽出の例を示
す図である。FIG. 2 is a diagram showing an example of lane information extraction based on a road area.
【図３】レーザーレーダの動作原理を示す図である。FIG. 3 is a diagram showing an operation principle of a laser radar.
【図４】ミリ波レーダシステムの構成例を示す図であ
る。FIG. 4 is a diagram showing a configuration example of a millimeter wave radar system.
【図５】直線道路における距離検出状況を示す図であ
る。FIG. 5 is a diagram showing a distance detection situation on a straight road.
【図６】カーブ路における距離検出状況を示す図であ
る。FIG. 6 is a diagram showing a distance detection situation on a curved road.
【図７】ヘッドライト照射方向の補正状況を示す図であ
る。FIG. 7 is a diagram showing a correction situation of a headlight irradiation direction.
【図８】補助灯の照射状況を示す図である。FIG. 8 is a diagram showing an irradiation situation of an auxiliary lamp.
５ａ…先行車Ｂ、５ｂ…自車Ａ、５ｃ…先行車Ｂ′、７
ｄ，７ｅ…ヘッドライトの照射方向。5a ... Leading vehicle B, 5b ... Own vehicle A, 5c ... Leading vehicle B ', 7
d, 7e ... Direction of headlight irradiation.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 小林 芳樹 茨城県日立市大みか町七丁目１番１号 株 式会社日立製作所日立研究所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshiki Kobayashi 7-1, 1-1 Omika-cho, Hitachi-shi, Ibaraki Hitachi Ltd. Hitachi Research Laboratory
Claims (3)
物等を検出する装置と，検出した対象物との距離を測定
する装置と，ヘッドライトにより構成される装置におい
て、距離を測定する装置とヘッドライトの両方の照射方
向を、検出した対象物の方向に制御することを特徴とす
る車載装置。1. A device for detecting a road shape, a preceding vehicle, an obstacle, etc. from an image of a camera, a device for measuring a distance to a detected object, and a device composed of a headlight for measuring the distance. An in-vehicle device that controls the irradiation directions of both the device and the headlight to the direction of the detected object.
物等を検出する装置と，検出した対象物との距離を測定
する装置と，ヘッドライトと，ヘッドライトの補助灯に
より構成される装置において、距離を測定する装置とヘ
ッドライトの補助照明灯の両方の照射方向を、検出した
対象物の方向に制御することを特徴とする車載装置。2. A device for detecting a road shape, a preceding vehicle, an obstacle, etc. from an image of a camera, a device for measuring a distance to a detected object, a headlight, and an auxiliary light for the headlight. In the device, an in-vehicle device, characterized in that the irradiation directions of both the device for measuring the distance and the auxiliary illumination lamp of the headlight are controlled to the direction of the detected object.
て、主ヘッドライトの光源とは異なり、雨中や霧中にお
いてのカメラ画像の鮮明化に効果が得えられる別種の光
源を使用したことを特徴とする車載装置。3. The light source of the auxiliary illumination lamp according to claim 2, which is different from the light source of the main headlight, and uses a different type of light source that is effective in sharpening a camera image in rain or fog. Characteristic vehicle-mounted device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27404993A JPH07125571A (en) | 1993-11-02 | 1993-11-02 | Car-mounted equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27404993A JPH07125571A (en) | 1993-11-02 | 1993-11-02 | Car-mounted equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07125571A true JPH07125571A (en) | 1995-05-16 |
Family
ID=17536260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP27404993A Pending JPH07125571A (en) | 1993-11-02 | 1993-11-02 | Car-mounted equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07125571A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996018524A1 (en) * | 1994-12-15 | 1996-06-20 | Masatoshi Araya | Illuminating lamp control apparatus and mobile body provided with illuminating lamp control apparatus |
| JP2001091618A (en) * | 1999-09-27 | 2001-04-06 | Mazda Motor Corp | Vehicle control device |
| EP1341140A1 (en) | 2002-03-01 | 2003-09-03 | Hitachi Ltd. | Vehicle control apparatus |
| JP2008186741A (en) * | 2007-01-31 | 2008-08-14 | Koito Mfg Co Ltd | Lighting fixture for vehicle |
| CN103057459A (en) * | 2011-10-19 | 2013-04-24 | 现代摩比斯株式会社 | Vehicle lamp and control method thereof |
| CN104627059A (en) * | 2013-11-06 | 2015-05-20 | 现代摩比斯株式会社 | ADB head-lamp system and beam control method using the same |
| US9191634B2 (en) | 2004-04-15 | 2015-11-17 | Magna Electronics Inc. | Vision system for vehicle |
| US9555803B2 (en) | 2002-05-03 | 2017-01-31 | Magna Electronics Inc. | Driver assistance system for vehicle |
| US10071676B2 (en) | 2006-08-11 | 2018-09-11 | Magna Electronics Inc. | Vision system for vehicle |
| CN108973843A (en) * | 2017-06-02 | 2018-12-11 | 现代摩比斯株式会社 | Use the device and method of direction information control light distribution |
| CN116645830A (en) * | 2022-09-26 | 2023-08-25 | 深圳海冰科技有限公司 | Vision enhancement system for assisting vehicle in night curve |
-
1993
- 1993-11-02 JP JP27404993A patent/JPH07125571A/en active Pending
Cited By (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996018524A1 (en) * | 1994-12-15 | 1996-06-20 | Masatoshi Araya | Illuminating lamp control apparatus and mobile body provided with illuminating lamp control apparatus |
| JP2001091618A (en) * | 1999-09-27 | 2001-04-06 | Mazda Motor Corp | Vehicle control device |
| EP1341140A1 (en) | 2002-03-01 | 2003-09-03 | Hitachi Ltd. | Vehicle control apparatus |
| US9643605B2 (en) | 2002-05-03 | 2017-05-09 | Magna Electronics Inc. | Vision system for vehicle |
| US10351135B2 (en) | 2002-05-03 | 2019-07-16 | Magna Electronics Inc. | Vehicular control system using cameras and radar sensor |
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