JPH1063985A - Obstacle detecting device - Google Patents
Obstacle detecting deviceInfo
- Publication number
- JPH1063985A JPH1063985A JP8242592A JP24259296A JPH1063985A JP H1063985 A JPH1063985 A JP H1063985A JP 8242592 A JP8242592 A JP 8242592A JP 24259296 A JP24259296 A JP 24259296A JP H1063985 A JPH1063985 A JP H1063985A
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- road
- illuminator
- data
- difference
- 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
Landscapes
- Traffic Control Systems (AREA)
- Image Processing (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は障害物検出装置に係
り、特に、トンネル内又は夜間における道路上の障害物
を速やかに検出できるようにした障害物検出装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting device, and more particularly to an obstacle detecting device capable of quickly detecting an obstacle on a road in a tunnel or at night.
【０００２】[0002]
【従来の技術】従来、走行している車両から落下したよ
うな道路上の障害物は、その道路を通行するドライバー
等の通行人によって道路の管理センタに報知されたり、
その道路を管理する係員のパトロールによって発見さ
れ、報知された障害物や発見された障害物は、係員によ
って除去されるようになっている。2. Description of the Related Art Conventionally, obstacles on a road, such as those falling from a traveling vehicle, are reported to a road management center by a pedestrian such as a driver passing the road,
Obstacles that are found and reported by a patrol of a person in charge of managing the road and that have been notified are removed by the person in charge.
【０００３】[0003]
【発明が解決しようとする課題】ところで、道路上の障
害物は、昼間であればドライバーの視認距離が長いの
で、その障害物を避けることが可能であるが、夜間の場
合、あるいはトンネル内であれば昼間，夜間を問わず、
ドライバーの視認距離が短くなるため障害物発見が遅れ
る傾向にあり、重大な事故につながるおそれがあった。By the way, obstacles on the road can be avoided in the daytime because the driver's view distance is long, so that the obstacles can be avoided. If it is day or night,
Observation of obstacles tended to be delayed because the driver's view distance was short, which could lead to a serious accident.
【０００４】そこで、夜間およびトンネル内で速やかに
障害物を検出できる障害物検出装置の出現が待たれてい
た。[0004] Therefore, the emergence of an obstacle detection device capable of quickly detecting an obstacle at night or in a tunnel has been awaited.
【０００５】本発明は、このような要望に応えるために
なされたものであって、その目的は、夜間又はトンネル
内において、道路上の障害物を速やかに検出することの
できる障害物検出装置を提供することにある。SUMMARY OF THE INVENTION The present invention has been made to meet such a demand, and an object of the present invention is to provide an obstacle detection device capable of quickly detecting an obstacle on a road at night or in a tunnel. To provide.
【０００６】[0006]
【課題を解決するための手段】本発明に係る障害物検出
手段は、上記目的を達成するために、道路の右側に設け
られたその道路の路面を照射する右側照明器と、前記道
路の左側に設けられたその道路の路面を照射する左側照
明器と、前記右側照明器および前記左側照明器を交互に
駆動させる照明器制御手段と、その照明器制御手段の駆
動状態に同期させて前記道路の路面を撮像する撮像手段
と、その撮像手段が撮像した前記右側照明器駆動時の撮
像データおよび前記左側照明器駆動時の撮像データの差
分に基づいて前記道路の路面上の障害物を検出する検出
手段と、からなることを特徴としている。In order to achieve the above object, an obstacle detecting means according to the present invention includes a right illuminator provided on the right side of a road and illuminating the road surface of the road, and a left illuminator on the left side of the road. A left illuminator that illuminates the road surface of the road, an illuminator control unit that alternately drives the right illuminator and the left illuminator, and the road that is synchronized with a driving state of the illuminator control unit. Imaging means for imaging the road surface, and detecting an obstacle on the road surface of the road based on a difference between the imaging data at the time of driving the right illuminator and the imaging data at the time of driving the left illuminator imaged by the imaging means. And detecting means.
【０００７】[0007]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて説明する。図１は、一実施の形態に係る障害
物検出装置の概略構成を示すブロック図であって、図２
に示される道路Ｒ上の障害物イを検出できるように構成
されている。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram illustrating a schematic configuration of an obstacle detection device according to an embodiment.
Is configured to detect an obstacle A on the road R shown in FIG.
【０００８】すなわち、図１に示される複数（図示の例
では２個）の右側照明器１ａ，１ｂは道路Ｒの右側に所
定の間隔を保って設置され、また、複数（図示の例では
２個）の左側照明器２ａ，２ｂは道路Ｒの左側に所定の
間隔を保って設置されていて、いずれの照明器１ａ，１
ｂ、２ａ，２ｂも道路Ｒの路面を照射できるように構成
されている。That is, a plurality of (two in the illustrated example) right illuminators 1a and 1b shown in FIG. 1 are installed at a predetermined interval on the right side of the road R, and a plurality of (two in the illustrated example) are provided. The left illuminators 2a and 2b are installed at a predetermined interval on the left side of the road R.
b, 2a, and 2b are also configured to irradiate the road surface of the road R.
【０００９】これら照明器１ａ，１ｂ、２ａ，２ｂは、
図示しない電源回路から電源の供給を受け点灯されるよ
うに構成されているが、右側の照明器１ａ，１ｂと左側
の照明器２ａ，２ｂとでは、照明電力位相制御回路３に
より、交互に点灯されるように、例えば、９０°または
１８０°の位相をずらして、あるいは半波毎に点灯され
るように構成されている。These illuminators 1a, 1b, 2a, 2b
The lighting devices 1a and 1b on the right side and the lighting devices 2a and 2b on the left side are alternately turned on by the lighting power phase control circuit 3 while being powered by a power supply circuit (not shown). For example, it is configured to be turned on by shifting the phase by 90 ° or 180 ° or every half wave.
【００１０】図中、４は、ＣＣＤカメラ等からなる道路
Ｒ上の路面を撮像するためのカメラであって、道路Ｒの
路側（図２の例では左側）に設置されている。そして、
このカメラ４は、照明電力位相制御回路３からの位相信
号により制御されるように構成されている。In the figure, reference numeral 4 denotes a camera, such as a CCD camera, for capturing an image of the road surface on the road R, which is installed on the road side of the road R (the left side in the example of FIG. 2). And
The camera 4 is configured to be controlled by a phase signal from the illumination power phase control circuit 3.
【００１１】図中、６は周知の画像処理装置からなる画
像処理装置であって、カメラ４の撮像データを記憶する
とともに、サンプリングした画像データを切出処理等の
手法を用いて画像処理を行って、撮像データを解析でき
るように構成されている。In FIG. 1, reference numeral 6 denotes an image processing device comprising a well-known image processing device. The image processing device stores image data of the camera 4 and performs image processing on the sampled image data by using a method such as a cutting process. Thus, the imaging data can be analyzed.
【００１２】検出回路７は、マイクロコンピュータを中
心に構成されていて、画像処理装置６から得た解析デー
タを基に、検出された物体が車両等の移動物体か、また
は道路Ｒ上の障害物かを判別し、障害物と判定したとき
は、図示しない管理センタに「障害物あり」を報知し、
あるいは道路案内板に「障害物あり」を表示できるよう
に構成されている。The detection circuit 7 is mainly composed of a microcomputer, and based on the analysis data obtained from the image processing device 6, the detected object is a moving object such as a vehicle or an obstacle on the road R. If an obstacle is determined, an "obstacle exists" is notified to a management center (not shown).
Alternatively, it is configured such that "there is an obstacle" can be displayed on the road information board.
【００１３】すなわち、車両等の移動物体の場合は、サ
ンプリング毎に画像データの位置が移動するので障害物
と区別される。ところが、図２に示されるように、道路
Ｒ上に障害物イがあるときは、その障害物イはサンプリ
ング毎に同じ位置を占めているので、何らかの障害物が
あることが判明する。That is, a moving object such as a vehicle is distinguished from an obstacle because the position of image data moves at each sampling. However, as shown in FIG. 2, when there is an obstacle A on the road R, the obstacle A occupies the same position for each sampling, so that it is found that there is some obstacle.
【００１４】しかも、車両等の通行の障害となるような
障害物イは、ある程度の体積を有する立体物であるの
で、図２（ａ）に示されるように、その障害物イを左側
照明器２ａ，２ｂで照射したときの影Ｓ1 と、図２
（ｂ）に示されるように、右側照明器１ａ，１ｂで照射
したときの影Ｓ2 の大きさが異なり、この影Ｓ1,Ｓ2 を
含めた障害物イの撮像面積に差がでてくる。この影Ｓ1
，Ｓ2 の大きさの相違は、右側照明器１ａ，１ｂと右
側照明器２ａ，２ｂとの設置位置が、通常、互いに位置
をずらして設置されていることによっても助長される。Moreover, since the obstacle a that may obstruct the passage of a vehicle or the like is a three-dimensional object having a certain volume, the obstacle a is illuminated with the left illuminator as shown in FIG. FIG. 2 shows the shadow S1 when illuminated by 2a and 2b.
As shown in (b), the size of the shadow S2 when illuminated by the right illuminators 1a and 1b is different, and the imaging area of the obstacle A including the shadows S1 and S2 is different. This shadow S1
, S2 is also promoted by the fact that the installation positions of the right illuminators 1a, 1b and the right illuminators 2a, 2b are usually shifted from each other.
【００１５】したがって、検出回路７では、カメラ４の
撮像したデータのうち、静止した物体で、かつ、右側照
明器１ａ，１ｂが点灯しているときに撮像したデータの
面積と左側照明器２ａ，２ｂが点灯しているときに撮像
したデータの面積との差が所定以上あるとき、その物体
は車両等の通行の障害となる障害物イであると判定さ
れ、その障害物発生のデータは管理センタ等へ報知され
る。このように、通行の障害となるような障害物イは効
果的に検出されて報知され、道路Ｒの安全が確保され
る。Therefore, in the detection circuit 7, of the data captured by the camera 4, the area of the data captured when the right illuminators 1a and 1b are lit and the left illuminators 2a and 2a are stationary objects. When the difference from the area of the imaged data is larger than a predetermined value when 2b is turned on, it is determined that the object is an obstacle A that impedes traffic such as a vehicle, and the data of the occurrence of the obstacle is managed. Notified to the center etc. In this way, the obstacle a that becomes an obstacle to traffic is effectively detected and notified, and the safety of the road R is ensured.
【００１６】[0016]
【発明の効果】本発明に係る障害物検出装置は、道路の
右側に設けられたその道路の路面を照射する右側照明器
と、前記道路の左側に設けられたその道路の路面を照射
する左側照明器と、前記右側照明器および前記左側照明
器を交互に駆動させる照明器制御手段と、その照明器制
御手段の駆動状態に同期させて前記道路の路面を撮像す
る撮像手段と、その撮像手段が撮像した前記右側照明器
駆動時の撮像データおよび前記左側照明器駆動時の撮像
データの差分に基づいて前記道路の路面上の障害物を検
出する検出手段とからなるので、車両等の通行の障害と
なるような障害物を効果的に検出することができる。The obstacle detecting device according to the present invention comprises a right illuminator provided on the right side of a road and illuminating the road surface of the road, and a left illuminator provided on the left side of the road and illuminating the road surface of the road. An illuminator; an illuminator control unit for alternately driving the right illuminator and the left illuminator; an imaging unit for imaging the road surface in synchronization with a driving state of the illuminator control unit; Detecting means for detecting an obstacle on the road surface of the road based on a difference between the image data at the time of driving the right illuminator and the image data at the time of driving the left illuminator. An obstacle that can be an obstacle can be effectively detected.
【図１】本発明の一実施の形態に係る障害物検出装置の
概略構成図を示すブロック図である。FIG. 1 is a block diagram showing a schematic configuration diagram of an obstacle detection device according to an embodiment of the present invention.
【図２】（ａ）は左側照明器が点灯している状態の説明
図、（ｂ）は右側照明器が点灯している状態の説明図で
ある。2A is an explanatory diagram of a state in which a left illuminator is turned on, and FIG. 2B is an explanatory diagram of a state in which a right illuminator is turned on.
１ａ，１ｂ 右側照明器 ２ａ，２ｂ 左側照明器 ３ 照明電力位相制御回路 ４ カメラ ５ シャッター制御回路 ６ 画像処理装置 ７ 検出回路（検出手段） Ｒ 道路 イ 障害物 1a, 1b Right illuminator 2a, 2b Left illuminator 3 Illumination power phase control circuit 4 Camera 5 Shutter control circuit 6 Image processing device 7 Detection circuit (detection means) R Road A Obstacle
Claims (1)
を照射する右側照明器と、 前記道路の左側に設けられたその道路の路面を照射する
左側照明器と、 前記右側照明器および前記左側照明器を交互に駆動させ
る照明器制御手段と、 前記照明器制御手段の駆動状態に同期させて前記道路の
路面を撮像する撮像手段と、 前記撮像手段が撮像した前記右側照明器駆動時の撮像デ
ータおよび前記左側照明器駆動時の撮像データの差分に
基づいて前記道路の路面上の障害物を検出する検出手段
と、 からなることを特徴とする障害物検出装置。A right illuminator provided on the right side of the road for illuminating the road surface of the road; a left illuminator provided on the left side of the road for illuminating the road surface of the road; Illuminator control means for alternately driving the left illuminator; imaging means for imaging the road surface of the road in synchronization with the driving state of the illuminator control means; and Detecting means for detecting an obstacle on the road surface of the road based on a difference between the image data and the image data at the time of driving the left illuminator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8242592A JPH1063985A (en) | 1996-08-26 | 1996-08-26 | Obstacle detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8242592A JPH1063985A (en) | 1996-08-26 | 1996-08-26 | Obstacle detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1063985A true JPH1063985A (en) | 1998-03-06 |
Family
ID=17091350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8242592A Pending JPH1063985A (en) | 1996-08-26 | 1996-08-26 | Obstacle detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1063985A (en) |
Cited By (7)
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|---|---|---|---|---|
| JP2002310671A (en) * | 2001-04-12 | 2002-10-23 | Fujitsu Ten Ltd | Navigation apparatus |
| US8917169B2 (en) | 1993-02-26 | 2014-12-23 | Magna Electronics Inc. | Vehicular vision system |
| US8993951B2 (en) | 1996-03-25 | 2015-03-31 | Magna Electronics Inc. | Driver assistance system for a vehicle |
| US9008369B2 (en) | 2004-04-15 | 2015-04-14 | Magna Electronics Inc. | Vision system for vehicle |
| US9436880B2 (en) | 1999-08-12 | 2016-09-06 | Magna Electronics Inc. | Vehicle vision system |
| US9555803B2 (en) | 2002-05-03 | 2017-01-31 | Magna Electronics Inc. | Driver assistance system for vehicle |
| US10787116B2 (en) | 2006-08-11 | 2020-09-29 | Magna Electronics Inc. | Adaptive forward lighting system for vehicle comprising a control that adjusts the headlamp beam in response to processing of image data captured by a camera |
-
1996
- 1996-08-26 JP JP8242592A patent/JPH1063985A/en active Pending
Cited By (30)
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| US8917169B2 (en) | 1993-02-26 | 2014-12-23 | Magna Electronics Inc. | Vehicular vision system |
| US8993951B2 (en) | 1996-03-25 | 2015-03-31 | Magna Electronics Inc. | Driver assistance system for a vehicle |
| US9436880B2 (en) | 1999-08-12 | 2016-09-06 | Magna Electronics Inc. | Vehicle vision system |
| JP2002310671A (en) * | 2001-04-12 | 2002-10-23 | Fujitsu Ten Ltd | Navigation apparatus |
| US9834216B2 (en) | 2002-05-03 | 2017-12-05 | Magna Electronics Inc. | Vehicular control system using cameras and radar sensor |
| US11203340B2 (en) | 2002-05-03 | 2021-12-21 | Magna Electronics Inc. | Vehicular vision system using side-viewing camera |
| US10683008B2 (en) | 2002-05-03 | 2020-06-16 | Magna Electronics Inc. | Vehicular driving assist system using forward-viewing camera |
| US10351135B2 (en) | 2002-05-03 | 2019-07-16 | Magna Electronics Inc. | Vehicular control system using cameras and radar sensor |
| US9555803B2 (en) | 2002-05-03 | 2017-01-31 | Magna Electronics Inc. | Driver assistance system for vehicle |
| US10118618B2 (en) | 2002-05-03 | 2018-11-06 | Magna Electronics Inc. | Vehicular control system using cameras and radar sensor |
| US9643605B2 (en) | 2002-05-03 | 2017-05-09 | Magna Electronics Inc. | Vision system for vehicle |
| US10110860B1 (en) | 2004-04-15 | 2018-10-23 | Magna Electronics Inc. | Vehicular control system |
| US9191634B2 (en) | 2004-04-15 | 2015-11-17 | Magna Electronics Inc. | Vision system for vehicle |
| US10015452B1 (en) | 2004-04-15 | 2018-07-03 | Magna Electronics Inc. | Vehicular control system |
| US9736435B2 (en) | 2004-04-15 | 2017-08-15 | Magna Electronics Inc. | Vision system for vehicle |
| US9609289B2 (en) | 2004-04-15 | 2017-03-28 | Magna Electronics Inc. | Vision system for vehicle |
| US10187615B1 (en) | 2004-04-15 | 2019-01-22 | Magna Electronics Inc. | Vehicular control system |
| US10306190B1 (en) | 2004-04-15 | 2019-05-28 | Magna Electronics Inc. | Vehicular control system |
| US9428192B2 (en) | 2004-04-15 | 2016-08-30 | Magna Electronics Inc. | Vision system for vehicle |
| US10462426B2 (en) | 2004-04-15 | 2019-10-29 | Magna Electronics Inc. | Vehicular control system |
| US9948904B2 (en) | 2004-04-15 | 2018-04-17 | Magna Electronics Inc. | Vision system for vehicle |
| US10735695B2 (en) | 2004-04-15 | 2020-08-04 | Magna Electronics Inc. | Vehicular control system with traffic lane detection |
| US11847836B2 (en) | 2004-04-15 | 2023-12-19 | Magna Electronics Inc. | Vehicular control system with road curvature determination |
| US11503253B2 (en) | 2004-04-15 | 2022-11-15 | Magna Electronics Inc. | Vehicular control system with traffic lane detection |
| US9008369B2 (en) | 2004-04-15 | 2015-04-14 | Magna Electronics Inc. | Vision system for vehicle |
| US11396257B2 (en) | 2006-08-11 | 2022-07-26 | Magna Electronics Inc. | Vehicular forward viewing image capture system |
| US11148583B2 (en) | 2006-08-11 | 2021-10-19 | Magna Electronics Inc. | Vehicular forward viewing image capture system |
| US11623559B2 (en) | 2006-08-11 | 2023-04-11 | Magna Electronics Inc. | Vehicular forward viewing image capture system |
| US10787116B2 (en) | 2006-08-11 | 2020-09-29 | Magna Electronics Inc. | Adaptive forward lighting system for vehicle comprising a control that adjusts the headlamp beam in response to processing of image data captured by a camera |
| US11951900B2 (en) | 2006-08-11 | 2024-04-09 | Magna Electronics Inc. | Vehicular forward viewing image capture system |
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