WO2015045568A1 - 予測進路提示装置及び予測進路提示方法 - Google Patents
予測進路提示装置及び予測進路提示方法 Download PDFInfo
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- WO2015045568A1 WO2015045568A1 PCT/JP2014/068564 JP2014068564W WO2015045568A1 WO 2015045568 A1 WO2015045568 A1 WO 2015045568A1 JP 2014068564 W JP2014068564 W JP 2014068564W WO 2015045568 A1 WO2015045568 A1 WO 2015045568A1
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Classifications
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- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
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Definitions
- the present invention relates to a predicted route presentation apparatus and a predicted route presentation method for calculating and presenting a predicted vehicle route.
- the terminal device When presenting the predicted course of the vehicle according to the steering angle on the display of a portable terminal device not incorporated in the in-vehicle device, the terminal device must sequentially acquire steering signals from the in-vehicle device, and There is a problem that the processing takes time and the timing of presenting the predicted route may be delayed.
- the problem to be solved by the present invention is that the portable terminal device not incorporated in the on-vehicle device presents the predicted route of the vehicle without delay.
- the predicted course presentation apparatus detects the turning angle of the tire from the features of the edge of the image captured by the on-vehicle camera, and presents a predicted course based on the center of rotation of the vehicle calculated based on the turning angle.
- the predicted route is obtained based on the information extracted from the captured image of the on-vehicle camera without acquiring detection information such as the steering angle from the on-vehicle apparatus, so the process for presenting the predicted route is simple.
- the forecasted course can be presented in a short processing time.
- the predicted route of the vehicle can be presented without delay.
- FIG. 2A It is a figure which shows an example of the captured image of camera 1b, 1d shown to FIG. 2B. It is a 1st figure for demonstrating the calculation method of the estimation
- FIG. 1 is a block diagram of a predicted course presentation system 1000 according to the present embodiment.
- the predicted course presentation system 1000 of the present embodiment includes a portable predicted course presentation apparatus 100 and an on-vehicle apparatus 200 that can be carried.
- the portable prediction route presentation device 100 is also referred to as a terminal device 100.
- the in-vehicle apparatus 200 includes one or more cameras 1 a to 1 d (hereinafter sometimes collectively referred to as a camera 1), a communication device 2, and a vehicle controller 3.
- the camera 1, the communication device 2, and the vehicle controller 3 included in the in-vehicle device 200 are connected by a CAN (Controller Area Network) or another in-vehicle LAN, and can exchange information with each other.
- CAN Controller Area Network
- the cameras 1a to 1d are configured using imaging elements such as CCDs (Charge Coupled Devices).
- CCDs Charge Coupled Devices
- FIG. 2A is a view showing an arrangement example when the cameras 1a to 1d are attached to the vehicle V.
- the cameras 1a to 1d are respectively installed at different positions outside the vehicle V and take images in four directions around the vehicle.
- the camera 1a installed at a predetermined position in front of the vehicle V such as a front grille, is an image of an object or road surface existing in the area SP1 in front of the vehicle V Shoot (front view image).
- the camera 1b installed at a predetermined position on the left side of the vehicle V, such as the left side mirror portion, is an image of an object or road surface existing in the space SP2 on the left side of the vehicle V and the surrounding area (left side view image) To shoot.
- the camera 1d installed at a predetermined position on the right side of the vehicle V, such as the right side mirror portion, is an image of an object or road surface existing in the space SP4 on the right side of the vehicle V and the surrounding area (right side view image) To shoot.
- the rear of the vehicle in the present embodiment includes not only directly behind but also the rear left and right sides.
- the front of the vehicle includes not only the front but also the left and right sides of the front.
- Image processing is performed on the captured images captured by the cameras 1a to 1d to generate a desired monitoring image.
- FIG. 2B is a view of the camera 1 d of the right door mirror shown in FIG. 2A as viewed from the front side of the vehicle.
- the camera 1b of the left door mirror appears symmetrically with the camera 1d of the right door mirror, and thus the illustration thereof is omitted.
- a camera 1d (1b) is provided in a housing H of a right door mirror (left door mirror).
- the camera 1d (1b) is attached so that the imaging direction is directed to the lower side of the vehicle, that is, the traveling road surface side in a normal state.
- the camera 1 d (1 b) is configured using an imaging element such as a CCD (Charge Coupled Devices) and captures an image in a predetermined imaging direction.
- CCD Charge Coupled Devices
- the illuminating device LP which functions as a hazard lamp is provided in the door mirror of this embodiment.
- the lighting device LP provided on the door mirror emits light near the tire when it is lit.
- the illumination device LP functions as a hazard lamp and also functions as a flash device that emits light when the camera 1 captures an image.
- the door mirror of the present embodiment is provided with a lightness detection device LD that detects the brightness of the surroundings.
- the cameras 1d, 1b function as a lightness detection device LD that detects ambient brightness.
- the lightness detection device LD may be provided separately from the cameras 1d and 1b.
- a housing drive mechanism HM including a motor for rotationally driving the housing H of each door mirror DM is provided inside the housing H of each door mirror DM provided with the cameras 1 d and 1 b of the present embodiment.
- Each housing drive mechanism HM of the present embodiment shows each housing H in the figure when power is supplied according to a drive command from the on-vehicle apparatus 200 or an external terminal device 100 or an input command from a mirror control switch.
- the axis, the y axis, and the z axis are rotationally driven as rotation axes, and the direction of each door mirror DM is changed vertically and horizontally.
- the x-axis is along the axle direction of the vehicle
- the y-axis is along the longitudinal direction of the vehicle
- the z-axis is along the height direction (gravity direction) of the vehicle.
- the right door mirror DM shown in FIG. 2B can be changed in direction with the y-axis as a rotation axis by each housing drive mechanism HM.
- the portion shown by the point Q in the housing H in FIG. 2B can be moved downward (z-axis side) along the trajectory q. That is, it is possible to shift the imaging direction of the camera 1d imaging the lower direction substantially at right angles to the road surface to the vicinity of the tire of the vehicle V or the side surface (wheel) side of the tire.
- the camera 1d, 1b can capture the side surface of the tire of the vehicle V and the boundary between the tire and the wheel.
- the housing H of the door mirror DM with the z axis as the rotation axis the imaging positions of the cameras 1d, 1d can be approached and separated with respect to the vehicle body, and the door mirrors 1, 2 are stored Can be folded).
- the housing H of the door mirror DM with the x axis as the rotation axis the imaging directions of the cameras 1d can be adjusted back and forth.
- Each housing drive mechanism HM is not limited to one direction according to a drive command including designation of one or more components of the x-axis component, the y-axis component, and the z-axis component from the in-vehicle device 200 and the terminal device 100. H and the cameras 1d, 1b can be oriented in any direction. As described above, by operating the housing drive mechanism HM, usually, the vicinity of the tire and the vicinity of the road shoulder of the road can be imaged, and as necessary, the vicinity of the tire and the side surface of the tire can be imaged.
- the specific configuration and operation of each housing drive mechanism HM described above is not particularly limited, and a mechanism used for a door mirror control system known at the time of filing can be appropriately used.
- the side surface of the tire of the vehicle V is imaged by the cameras 1d (1b) provided on the left and right door mirrors.
- FIG. 2C is an example of a captured image captured by the camera 1 b including the boundary between the tire and the wheel.
- the side of the tire of the vehicle V may be imaged, or the camera 1d, 1b may be moved to image the side of the tire of the vehicle V.
- a vehicle lateral reference line along the side surface on the left side of the vehicle and a front end reference line indicating an indication of the front position along the vehicle width direction of the vehicle may be displayed superimposed. .
- the communication device 2 of the in-vehicle device 200 sends the captured image captured by the camera 1 and the monitoring image generated by the in-vehicle device 200 to the terminal device 100.
- the camera 1 may be provided with a wireless communication function, and the captured image may be transmitted from the camera 1 to the terminal device 100.
- the camera 1 may be equipped with a wireless communication function and an image processing function, and the monitoring image may be sent to the terminal device 100.
- the terminal device 100 acquires at least one of a captured image captured by the camera 1 via a wireless communication network and a monitoring image edited by the in-vehicle device 200.
- An identifier according to the arrangement (address) of each camera 1 is attached to the image captured by each camera 1, and the terminal device 100 relates to which area each captured image relates to based on each identifier. It can be identified.
- a method of image conversion processing for obtaining a viewpoint conversion image by coordinate conversion and a generation method of a monitoring apparatus for looking around the vehicle from the viewpoint conversion image are not particularly limited, and methods known at the time of filing can be appropriately applied.
- the monitoring image in the present embodiment is an aspect of a captured image that looks around the vehicle periphery generated from a plurality of captured images. That is, the captured image includes the monitoring image subjected to the viewpoint conversion process.
- the monitoring image in the present embodiment is a predetermined projection plane that looks down from a predetermined viewpoint above the vehicle using the imaging parameters defined for each vehicle type, of the captured images around the plurality of vehicles captured by the camera 1 It is a viewpoint-transformed image subjected to coordinate transformation.
- An image of a predetermined area is cut out according to a display area in which information is presented in the presentation device 30 of the terminal device 100 and a display mode from a viewpoint conversion image obtained by viewpoint conversion of each captured image, and each image is monitored in which direction Add a code to identify if it is an image.
- Each viewpoint conversion image is arranged with reference to this identification code, and a surveillance image showing a video of looking down on the vehicle from above the vehicle is generated.
- the monitoring image is presented to the presentation device 30 in a predetermined manner.
- the monitoring image generation processing may be performed on the side of the on-vehicle apparatus 200, and the monitoring image may be transmitted to the terminal device 100.
- Acquisition of a captured image of each camera 1 and generation of a viewpoint conversion image may be performed by the on-vehicle apparatus 200, sent out to the terminal device 100, and the terminal device 100 may perform final monitoring image generation processing.
- the terminal device 100 (prediction route presentation device 100) of the present invention will be described.
- the terminal device 100 according to the present embodiment is a portable portable terminal device having a communication function such as a smartphone or a tablet type terminal.
- the terminal device 100 of the present embodiment includes a control device 10, a communication device 20, a presentation device 30, and an acceleration sensor 40.
- the communication device 20 exchanges information with the communication device 2 of the external on-vehicle device 200.
- the communication device 20 acquires a captured image from the in-vehicle device 200.
- generated from a captured image is contained in the "captured image" of this invention.
- the presentation device 30 of the terminal device 100 presents a predicted route, which will be described later, in a predetermined display manner in the display area according to an instruction of the control device 10, which will be described later.
- the display mode in the present embodiment is a rule regarding display such as the type, the number, the size, the display time, and the display cycle of the image to be displayed.
- the display mode is stored in the presentation device 30 of the terminal device 100 as the display information 21.
- the presentation device 30 is, for example, a display 31 and a speaker 32.
- the presentation device 30 of the present embodiment presents a plurality of predicted passing points that constitute a predicted passage.
- the predicted passing points are a plurality of discrete points constituting the predicted path.
- the driver can predict the movement of the host vehicle by confirming the position of the predicted passing point.
- the processing cost can be reduced as compared to calculating and presenting a predicted route.
- the presentation device 30 of the present embodiment arranges the predicted passing points such that the intervals of the predicted passing points become uniform in the display coordinate system of the display 31 included in the presentation device 30.
- the distance of each predicted passing point in front of the vehicle is short, and the distance of each predicted passing point in the back far from the vehicle is long Become.
- the predicted route obtained by connecting the predicted passing points will not be a smooth line, and will deviate from the actual movement of the vehicle.
- the predicted route obtained by connecting the predicted passing points is a smooth line according to the actual movement of the vehicle. Can be presented.
- the presentation device 30 of the present embodiment superimposes and displays the predicted route and / or the predicted passing point on the captured image (including the monitoring image generated from the captured image).
- the driver can easily confirm the position of the host vehicle and the situation around the host vehicle while moving by presenting the predicted route and the predicted passing point superimposed on the captured image.
- the acceleration sensor 40 of the present embodiment detects an acceleration according to the movement of the terminal device 100.
- the movement direction and movement speed of the terminal device 100 can be acquired from the output value of the acceleration sensor 40.
- the output value of the acceleration sensor 40 of the terminal device 100 can be regarded as the moving direction and the moving speed of the vehicle. That is, based on the output value of the acceleration sensor 40, the terminal device 100 can determine whether the vehicle is in the straight ahead state, the vehicle is in the right steering state, or the vehicle is in the left steering state.
- the control device 10 of the present embodiment will be described.
- the control device 10 executes a program stored in a ROM (Read Only Memory) 12 storing a program for controlling an operation for deriving and presenting a predicted route, and the program stored in the ROM 12 to thereby obtain a predicted route presentation device 100.
- the computer includes a central processing unit (CPU) 11 as an operating circuit that functions and a random access memory (RAM) 13 that functions as an accessible storage device.
- Control device 10 of prediction course presentation device 100 concerning this embodiment can perform each function by cooperation of the software for realizing a control function, and the hardware mentioned above.
- Control device 10 acquires a captured image of the surroundings of the vehicle via communication device 20.
- This captured image is captured by the on-vehicle camera 1 and acquires a captured image including at least a part of the tire of the vehicle.
- a captured image including the tire is acquired.
- the captured image does not have to include the entire image of the tire, and may include a partial image of the tire.
- the color of the tire is generally black and the color of the wheel is generally white to metallic.
- the boundary between the two companies can be accurately detected as an edge image.
- a captured image including the boundary between the tire and the road surface may be acquired.
- the boundary can be detected as an edge image.
- the captured image including at least a part of the tire can be captured by the cameras 1b and 1d (see FIGS. 2A and 2B) provided near the left and right door mirrors described above.
- the control device 10 selects a captured image to be acquired according to the turning state of the vehicle. Specifically, when the vehicle is steered to the right, the control device 10 acquires a right captured image captured by the right camera 1d provided on the right of the vehicle, and the vehicle is steered to the left. In this case, the left side captured image captured by the left camera 1b provided on the left side of the vehicle is acquired.
- the front wheel is inclined in the right direction, so the image of the boundary between the front wheel and the wheel is displayed in the captured image of the camera 1d of the right side mirror.
- the captured image of the camera 1b of the left side mirror is mainly an image of the rear to the inside of the front wheel tire, and an image of the boundary between the tire and the wheel is not included as a shadow of the tire.
- the control device 10 selects a captured image to be acquired according to the state of right steering or left steering. Since it is possible to acquire only a captured image in which the tire turning angle can be detected and not obtain a captured image in which the tire turning angle can not be detected, unnecessary communication processing can be avoided.
- the determination as to whether the vehicle is steered to the right or to the left is determined based on the detection result of the acceleration sensor (G sensor) 40 provided in the terminal device 100 brought into the vehicle and moved together with the vehicle. it can.
- the turning direction of the vehicle may be determined based on the direction of the optical flow of the captured image in front of the vehicle. Further, blinker information of the on-vehicle apparatus 200 may be acquired.
- the control device 10 of the present embodiment calculates a predicted route of the vehicle.
- FIG. 3A shows a situation in which the vehicle V retreats (travels in the opposite direction to the forward direction F).
- the vehicle rotates the steering wheel and moves backward while steering, the vehicle moves along the predicted passing points WRP and WLP.
- a line connecting the predicted passing points WRP and WLP is a predicted route WR or WL along a locus of a tire on which the vehicle is predicted to move.
- the vehicle V moves along a locus WR, WL of an arc centered on the rotation center Q.
- the distance between the side surface of the vehicle and the predicted route WR, WL is 0.25 m, and the predicted route WR 3.0 m extending from the position 0.5 m to the position 3.5 m from the rear end of the vehicle Calculate WL.
- the respective values for defining the route prediction lines WR and WL are not particularly limited, and are appropriately determined depending on the size of the vehicle, the model of the vehicle, and the situation where the function is used (for example, the size of the parking frame). It can be set.
- the turning angle (steering angle) of the steering wheel is proportional to the turning angle of the tire.
- the turning angle of the tire can be obtained from the steering angle.
- the turning angle of the tire becomes 31 degrees when the angle is 580 degrees (the steering wheel is rotated for one and a half rotations or more). It is configured.
- the wheel base W is the distance between the front tires SFL and SFR and the rear wheels SRL and SRR.
- the value of the wheel base W may be previously set to one value or a value according to the vehicle type, or may be acquired from the in-vehicle apparatus 200 or a server outside the figure.
- the turning center Q can be obtained from the relationship with the position of the host vehicle. As a result, it is possible to obtain the predicted paths WR and WL based on the rotation center Q. As described above, if the steering angle of the steering wheel and the wheel base information are acquired, it is possible to calculate the predicted course of the vehicle.
- the terminal device 100 it takes time for the terminal device 100 to obtain information such as the steering angle of the vehicle from the in-vehicle device 200 and to process the information, and the presentation timing of the predicted route is delayed.
- the predicted route in the past whose presentation timing is delayed will be meaningless information for the driver.
- the predicted route presentation device (terminal device) 100 can calculate the predicted route without using the steering angle of the vehicle (the detected value of the vehicle).
- the predicted course presentation device (terminal device) 100 according to the present embodiment detects the tire breakage from the captured image of the on-vehicle camera, calculates the rotation center of the vehicle from the tire turning angle, and uses the rotation center as a reference. Present the expected course. As a result, it is possible to reduce the processing cost for the portable terminal device 100 not incorporated in the on-vehicle device to present the predicted route, and to shorten the time required for the presentation processing.
- FIG. 4 is a view showing an example of a captured image including a tire. As shown in FIG. 4, there is a difference in brightness between a black tire and a white (metallic) wheel, and edge information based on lightness can be detected. An edge straight line E is obtained by connecting edge groups whose edge directions show changes within a predetermined value range. The corner angle of the tire is detected from this straight line.
- the method for detecting the turning angle of the tire from the captured image is not particularly limited, but as shown in FIG.
- a vehicle lateral reference line T1 along the left and right side surfaces of the vehicle (that is, along the vehicle length direction)
- the angle ⁇ formed by the edge straight line can be set as the tire turning angle.
- the vehicle lateral reference line T1 in this example is a straight line substantially perpendicularly intersecting the front end reference line T1 along the vehicle width direction of the vehicle.
- the reference line for detecting the turning angle of the tire can be set appropriately.
- the edge information based on lightness is extracted from an area close to the road surface and an area where the distance (height) from the road surface is the smallest, from the viewpoint that the turning angle ⁇ of the tire is preferably obtained from the edge line of the tire in contact with the road surface. Is preferred. That is, the edge straight line E is preferably obtained from the edge obtained at the lowest position of the wheel.
- the first modification is a method of using correspondence information in which the inclination of an edge and the corner angle of a tire are associated in advance.
- the control device 10 refers to correspondence information in which the inclination of the edge of the tire detected from the captured image in a state in which the tire corner angle is maintained is associated with the tire corner angle in advance.
- the tire turning angle ⁇ is detected from the inclination of the extracted tire edge (edge line E). If the position of the edge of the tire to be detected is different, the turning angle of the tire may not be accurately detected. As shown in FIG. 3B, when the steering angle is known, the turning angle of the tire can be accurately known.
- the on-vehicle camera 1 attached to the side mirror captures a tire in a state where a predetermined steering angle is maintained
- the inclination of the edge of the tire image in the obtained captured image is correlated. Keep it.
- the predetermined steering angle in the correspondence information is the maximum steering angle.
- the driver performs the initial operation at the maximum steering angle, so it is possible to calculate a predicted route according to the actual steering.
- the second modified example is a method of using pattern matching of an image by correlating the feature pattern of the image of the tire with the corner angle of the tire in advance.
- the control device 10 refers to correspondence information in which the tire corner angle and the feature pattern of the tire image detected from the sensed image in a state where the tire corner angle is maintained is referred to in advance.
- the tire turning angle is detected from the feature pattern that most closely matches the edge feature of the tire extracted from the above.
- the cornering angle of the tire may not be accurately detected.
- FIG. 3B when the steering angle is known, the turning angle of the tire can be accurately known.
- the on-vehicle camera 1 attached to the side mirror captures a tire while maintaining a predetermined steering angle
- the feature of the tire image and the inclination of the edge in the obtained captured image are calculated. Make it correspond.
- a plurality of features of the captured image obtained at the time of calculation of the predicted path are matched with the feature pattern of the image of the correspondence information to extract the feature pattern having the highest degree of coincidence.
- the inclination of the edge associated with the extracted feature pattern is taken as the turning angle of the tire of the vehicle to be detected.
- the predetermined steering angle in the correspondence information is the maximum steering angle.
- the driver performs the initial operation at the maximum steering angle, so it is possible to calculate a predicted route according to the actual steering.
- the control device 10 detects the tire turning angle from the captured image of the right camera 1 d including the boundary between the tire and the wheel whose edge is easy to detect.
- the tire turning angle is detected from the captured image of the left camera 1b including the boundary between the tire and the wheel whose edge is easy to detect.
- the captured image to be acquired may be selected according to the turning state, but even if the captured image of each of the cameras 1a to 1d is acquired for reasons such as use as a monitoring image, the turning The turning angle of the tire is calculated based on the captured image corresponding to the direction. This makes it possible to calculate an accurate predicted route from the accurate tire turning angle.
- the judgment method of the steering state of a vehicle can use the method described by description of the image acquisition function.
- a picked-up image with few shadow areas is selected as a picked-up image used when calculating the turning angle of the tire.
- the control device 10 of the present embodiment detects the turning angle of the tire using a captured image with few shadow areas with low lightness. Specifically, shadow areas having lightness less than a predetermined value are respectively extracted from a plurality of captured images captured by a plurality of cameras 1a to 1d provided at different positions of the vehicle. The control device 10 selects a captured image with a low area ratio occupied by the shadow region extracted in each captured image, that is, a captured image with a small shadow region.
- the control device 10 detects the turning angle of the tire based on the feature of the edge of the tire extracted from the selected captured image. As described above, it is possible to calculate an accurate predicted course by avoiding a captured image including many shadow areas where the edge can not be accurately detected and detecting an accurate tire turning angle from the captured image with a small number of shadow areas.
- the picked-up image picked up after turning on the illumination device LP is used to calculate the turning angle of the tire. Choose as.
- the control device 10 of the present embodiment outputs a lighting command to light the lighting device LP.
- This lighting instruction is output to the lighting device LP via the vehicle controller 3 of the on-vehicle device 200, and turns on the lighting device LP.
- the illumination device LP is turned on to accurately detect an edge from a captured image captured under sufficient lightness. This makes it possible to calculate an accurate predicted route from the accurate tire turning angle.
- the control device 10 of the terminal device 100 of the present embodiment obtains the turning angle of the tire of the host vehicle. Then, the control device 10 calculates the rotation center of the vehicle based on the obtained turning angle, and calculates a predicted course of the vehicle based on the rotation center.
- the center Q can be determined.
- the center of rotation of the vehicle is calculated from the corner angle of the tire, and a predicted course based on the center of rotation is derived.
- the value of the wheel base W may be obtained in advance at the time of activation of one value or a value according to the vehicle type, or may be stored in the terminal device 100 in advance.
- the method of the present embodiment it is possible to calculate the predicted route without sequentially acquiring detection information such as a steering angle which is required when calculating the predicted route.
- the control device 10 of the terminal device 100 of the present embodiment causes the display 31 of the terminal device 100 to present the calculated predicted course.
- the control device 10 refers to the information on the size, layout, position, and pixel of the display area of the display 31 and presents the obtained predicted course on the display 31.
- the predicted route is presented by superimposing on the monitoring image (captured image, viewpoint conversion image). That is, the predicted route is drawn based on the coordinates of the monitoring image.
- the predicted route is obtained from the captured image of the on-vehicle camera 1 without acquiring the detection results of the vehicle speed sensor, the steering sensor, etc.
- the process for presenting the predicted course is simplified, and the predicted course can be presented in a short processing time.
- the predicted route of the vehicle can be presented in real time to a portable terminal device not incorporated in the in-vehicle device.
- FIG. 5 is a flowchart showing the control procedure of the predicted route presentation system 1000 according to the present embodiment
- FIG. 6 is a flowchart showing the control procedure of the predicted route calculation method shown in FIG.
- Steps 101 to 105 are processing on the in-vehicle apparatus 200 side, and steps 201 to 203 are processing on the terminal apparatus 100 side.
- step 101 the camera 1 of the in-vehicle apparatus 200 of the present embodiment captures an image of the surroundings of the vehicle to acquire a captured image.
- the image processing function provided in the vehicle controller 3 of the in-vehicle apparatus 200 refers to conversion information such as imaging parameters and reads out an imaging parameter according to the type of vehicle of the host vehicle included in the conversion information.
- the imaging parameter according to the vehicle type of the own vehicle may be acquired from an external server via the communication device 2.
- step 103 the controller 3 of the in-vehicle apparatus 200 performs viewpoint conversion of the captured image using the acquired imaging parameters, and generates a viewpoint conversion image coordinate-converted to a projection plane viewed from a predetermined viewpoint above the vehicle.
- step 104 the image processing function of the in-vehicle apparatus 200 acquires display information including the display area of the terminal device 100 and the display mode. Then, in step 105, the image processing function generates a monitoring image corresponding to the display area and the display mode of the terminal device 100 from the viewpoint conversion image. The in-vehicle device 200 sends the generated monitoring image to the terminal device 100. The generation of the monitoring image according to the display information of the terminal device 100 may be performed on the terminal device 100 side. In that case, the in-vehicle device 200 skips from step 101 to step 105, and sends out the captured image of the camera 1 acquired in the step to the terminal device 100 as it is.
- step 201 which is processing of the terminal device 100
- the terminal device 100 and the in-vehicle device 200 confirm establishment of wireless communication.
- the terminal device 100 acquires a monitoring image generated by the in-vehicle device 200.
- the terminal device 100 presents the acquired monitoring image on the display 31 in accordance with a predetermined display rule.
- the terminal device 100 calculates a predicted route, and draws this on the monitoring image.
- FIG. 6 is a flow chart showing a subroutine of step 203 of FIG.
- step 21 the control device 10 of the terminal device 100 acquires information as to whether or not the vehicle is going straight. It is judged based on the output value of the acceleration sensor 40 with which the terminal device 100 is equipped whether the vehicle is going straight. Of course, steering information of the vehicle may be acquired from the in-vehicle device 200 via the communication device 20. If the vehicle is traveling straight, the process proceeds to step 22. If the vehicle is not traveling straight, the process proceeds to step 23. At step 22, the control device 10 selects the default camera 1. Although not particularly limited, in this example, the camera 1 of the passenger seat is selected.
- step 23 the terminal device 100 determines whether the vehicle is turned to the right. If the vehicle is turned to the right, the right camera 1 is selected in step 24. If the vehicle is not steered to the right, that is, if it is steered to the left, the left camera 1 is selected in step 25.
- the camera 1 activated at the time of steering when the vehicle is in the right steering state, a part of the image of the boundary between the tire and the wheel is reliably captured using the camera 1 on the right, and the vehicle In the case of the left steering state, a part of the image of the boundary between the tire and the wheel is reliably captured using the left camera 1.
- the control device 10 confirms the brightness around the selected camera 1. It is determined whether the lightness detected by the lightness detection function LD included in the camera 1 is equal to or greater than a predetermined value. If the lightness is equal to or greater than the predetermined value, the process proceeds to step 28, and a captured image is acquired. On the other hand, when the lightness is less than the predetermined value, the process proceeds to step 27, and the control device 10 performs an on-vehicle instruction to light the lighting device LP provided in the vicinity of the camera 1 that detects that the degree is less than the predetermined value. Output to the device 200. The vehicle controller 3 of the in-vehicle device 200 lights the illumination device LP provided in the vicinity of the camera 1 which has detected that the lightness is less than the predetermined value.
- the selected camera 1 captures the vicinity of the tire in an environment of appropriate brightness.
- the control device 10 of the terminal device 100 acquires a captured image.
- step S29 when a plurality of captured images are obtained, the control device 10 selects a captured image with a small area of the shadow area. This is because when the shadow of a large area is included, the edge of the tire relative to the road surface or the wheel can not be accurately detected. An area where the lightness of the image is less than a predetermined value is determined as an area to be a shadow.
- step 30 the control device 10 detects a plurality of tire edges included in the captured image, and detects an angle between the direction in which the edge group extends and the vehicle length direction as the turning angle of the tire.
- step 31 the control device 10 calculates the current turning radius of the vehicle from the turning angle of the tire. If necessary in this processing, the wheel base value is used to calculate the turning radius of the vehicle.
- the wheel-based value may be set in advance or may be acquired before processing. When the terminal device 100 is brought into a vehicle and the predicted route presentation function is activated, it may be acquired via the communication device 20.
- the wheel-based value is a fixed value and can be obtained before processing.
- the wheelbase value does not change momentarily like the steering angle, so it can be used once it is acquired.
- step 32 the controller 10 obtains the center of rotation from the calculated radius of rotation.
- step 33 the control device 10 calculates a predicted path based on the rotation center.
- step 33 the control device 10 draws the calculated predicted course on the monitoring image (including the captured image and the viewpoint conversion image).
- FIG. 7A shows a plurality of predicted passing points WP (indicated by circles in the figure) and the predicted left and right tire positions connecting the predicted passing points on a monitoring image (that is, a captured image) not subjected to viewpoint conversion processing.
- a monitoring image that is, a captured image
- An example is shown in which the predicted routes WR and WL are superimposed and displayed.
- the distances between the plurality of predicted passing points WP are adjusted to be equal.
- the plurality of predicted passing points WP pitches are adjusted to be equal on the display coordinates of the display 31, the predicted paths WR and WL configured from the predicted passing points WP can be displayed as smooth curves.
- the predicted course that matches the actual movement of the vehicle is displayed on the display 31 so that the occupant does not feel discomfort.
- FIG. 7B displays the monitoring image (viewpoint conversion image) subjected to viewpoint conversion processing in the left area of the display 31 of the terminal device 100, and displays the monitoring image (captured image) not subjected to viewpoint conversion processing in the right area.
- An example is shown.
- a plurality of predicted passing points WP (circled in the figure) are provided for both the monitoring image (viewpoint conversion image) subjected to the viewpoint conversion process and the monitoring image (captured image) not subjected to the viewpoint conversion process.
- 7 shows an example in which the predicted travel routes WR and WP connecting the predicted passing points are superimposed and displayed.
- the predicted route presentation device (terminal device) 100 and the predicted route presentation system 1000 according to the embodiment of the present invention configured and operating as described above have the following effects.
- the tire breakage is detected from the captured image of the in-vehicle camera, the rotation center of the vehicle is calculated from the tire turning angle, and prediction based on the rotation center Since the route is presented, the predicted route can be calculated without using the steering angle (detection value of the vehicle) of the vehicle. That is, since the predicted route is obtained based on the information extracted from the captured image of the on-vehicle camera without sequentially obtaining the detection information such as the steering angle from the on-vehicle apparatus 200, the process for presenting the predicted route is simplified. It is possible to present the predicted course in a short processing time. As a result, even when presenting the predicted course of the vehicle to the portable terminal device 100 not incorporated in the on-vehicle apparatus, it is possible to present the predicted course of the vehicle timely without delay.
- the inclination of the edge of the tire image in the captured image of the on-vehicle camera 1 in the state where the predetermined steering angle is maintained, and the tire turning angle according to the steering angle In advance, the turning angle of the tire can be accurately determined from the edge angle of the tire image captured by the on-vehicle camera 1 by referring to the correspondence information. This makes it possible to calculate an accurate predicted course based on the correct tire turning angle.
- the characteristic pattern of the tire image in the captured image of the on-vehicle camera 1 in the state where the predetermined steering angle is maintained, and the tire turning angle according to the steering angle are associated in advance, so that the turning angle of the tire can be accurately obtained from the edge angle of the tire image captured by the on-vehicle camera 1 by referring to the correspondence information. This makes it possible to calculate an accurate predicted course based on the correct tire turning angle.
- the predicted course presentation device 100 of the present embodiment by selecting the captured image to be acquired according to the state of right steering or left steering, the captured image capable of detecting the turning angle of the tire is acquired.
- unnecessary communication processing since it is possible to prevent acquisition of a captured image in which the tire turning angle can not be detected, unnecessary communication processing can be avoided.
- the tire when the vehicle is steered to the right, the tire is taken from the captured image of the right camera 1d that includes the boundary between the tire and the wheel whose edge is easy to detect.
- the turning angle is detected, and when the vehicle is steered to the left, the tire turning angle is accurately detected by detecting the tire turning angle from the captured image of the left camera 1b including the boundary between the tire and the wheel whose edge is easy to detect.
- An accurate predicted course can be calculated from the tire turning angle.
- the lighting device LP when the lightness is less than the predetermined value, the lighting device LP is turned on, and the edge is accurately extracted from the captured image captured under sufficient lightness. To detect This makes it possible to calculate an accurate predicted route from the accurate tire turning angle.
- the predicted course presentation device 100 of the present embodiment it is generally accurate by detecting the tire turning angle from the captured image including the boundary between the tire and the wheel, which has a high lightness difference and is easy to detect the edge.
- An accurate predicted course can be calculated from the tire turning angle.
- a predicted course presentation system 1000 including the predicted course presentation apparatus 100 (terminal apparatus 100) and the on-vehicle apparatus 200 will be described. It is not a thing.
- the terminal device 100 provided with the control apparatus 10, the communication apparatus 20, the presentation apparatus 30, and the acceleration sensor 40 is demonstrated as 1 aspect of the terminal device which concerns on this invention, it is not limited to this.
- the on-vehicle apparatus 200 including the cameras 1a to 1d, 1, the communication device 2, and the vehicle controller 3 will be described, but the invention is not limited thereto.
- a control device 10 that executes an image acquisition function, a predicted course calculation function, and a presentation control function as an aspect of a predicted course presentation apparatus having an image acquisition means, a predicted course calculation means, and a presentation means according to the present invention.
- the present invention is not limited to this.
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Abstract
Description
本出願は、2013年9月27日に出願された日本国特許出願の特願2013―2000964に基づく優先権を主張するものであり、文献の参照による組み込みが認められる指定国については、上記の出願に記載された内容を参照により本出願に組み込み、本出願の記載の一部とする。
第1の変形例は、エッジの傾きとタイヤの切れ角とを予め対応づけた対応情報を利用する手法である。本実施形態の制御装置10は、タイヤの切れ角が維持された状態の撮像画像から検出されたタイヤのエッジの傾きとタイヤの切れ角とを予め対応づけた対応情報を参照し、撮像画像から抽出されたタイヤのエッジ(エッジ線E)の傾きからタイヤの切れ角θを検出する。検出するタイヤのエッジの位置が異なると、タイヤの切れ角が正確に検出できない場合がある。図3Bに示すように、操舵角が分かればタイヤの切れ角が正確に分かる。本実施形態では、所定の操舵角が維持された状態で、サイドミラーに取り付けられた車載カメラ1がタイヤを撮像した場合に、得られた撮像画像中のタイヤ画像のエッジの傾きとを対応づけておく。この対応情報を参照すれば、車載カメラ1で撮像したタイヤ画像のエッジ角度からタイヤの切れ角を正確に求めることができる。これにより、正確なタイヤの切れ角に基づいて、正確な予測進路を算出できる。特に限定されないが、対応情報における所定の操舵角は、最大の操舵角とすることが好ましい。一般に、駐車操作では、ドライバは最大の操舵角で初期操作をするので、実際の操舵に応じた予測進路を算出できる。
100…端末装置(予測進路提示装置)
10…通信装置
20…提示装置
200…車載装置
1,1a~1d…カメラ
2…通信装置
3…車両コントローラ
Claims (9)
- 車両に設けられたカメラを用いて撮像された、当該車両のタイヤの少なくとも一部を含む撮像画像を取得する画像取得手段と、
前記撮像画像から抽出された前記タイヤのエッジの特徴から当該タイヤの切れ角を検出し、前記切れ角に基づいて前記車両の回転中心を算出し、前記回転中心を基準とする前記車両の予測進路を算出する予測進路算出手段と、
前記算出された予測進路を提示する提示手段と、を備えることを特徴とする車両用の予測進路提示装置。 - 前記予測進路算出手段は、前記タイヤの切れ角と、前記タイヤの切れ角が維持された状態の前記撮像画像から検出された前記タイヤのエッジの傾きとを予め対応づけた対応情報を参照し、前記撮像画像から抽出された前記タイヤのエッジの傾きから前記タイヤの切れ角を検出することを特徴とする請求項1に記載の車両用の予測進路提示装置。
- 前記予測進路算出手段は、前記タイヤの切れ角と、前記タイヤの切れ角が維持された状態の前記撮像画像から検出された前記タイヤの画像の特徴パターンとを予め対応づけた対応情報を参照し、前記撮像画像から抽出された前記タイヤのエッジの特徴と最も一致度の高い前記特徴パターンから前記タイヤの切れ角を検出することを特徴とする請求項1に記載の車両用の予測進路提示装置。
- 前記画像取得手段は、前記車両の右側に設けられた右側カメラにより撮像された右側撮像画像又は前記車両の左側に設けられた左側カメラにより撮像された左側撮像画像を取得可能であり、
前記車両が右転舵状態である場合には前記右側撮像画像を取得し、前記車両が左転舵状態である場合には前記左側撮像画像を取得することを特徴とする請求項1~3の何れか一項に記載の車両用の予測進路提示装置。 - 前記画像取得手段は、前記車両の右側に設けられた右側カメラにより撮像された右側撮像画像又は前記車両の左側に設けられた左側カメラにより撮像された左側撮像画像を取得可能であり、
前記予測進路算出手段は、前記車両が右転舵状態である場合には前記右側撮像画像から抽出された前記タイヤのエッジの特徴に基づいて当該タイヤの切れ角を検出し、前記車両が左転舵状態である場合には前記左側撮像画像から抽出された前記タイヤのエッジの特徴に基づいて当該タイヤの切れ角を検出することを特徴とする請求項1~3の何れか一項に記載の車両用の予測進路提示装置。 - 前記予測進路算出手段は、前記車両の異なる位置に設けられた複数のカメラにより撮像される複数の撮像画像に含まれる明度が所定値未満の影領域をそれぞれ抽出し、前記抽出された影領域が占める面積比の低い撮像画像を選択し、前記選択された撮像画像から抽出された前記タイヤのエッジの特徴に基づいて当該タイヤの切れ角を検出することを特徴とする請求項1~5の何れか一項に記載の車両用の予測進路提示装置。
- 前記カメラの近傍に設けられた照明手段をさらに備え、
前記車両の周囲の明るさを検出する明度検出手段をさらに備え、
前記撮像画像取得手段は、前記検出された車両の周囲の明るさが所定値未満である場合には、前記照明手段を点灯させる点灯命令を出力することを特徴とする請求項1~6の何れか一項に記載の車両用の予測進路提示装置。 - 前記撮像画像は、タイヤとホイールとの境界の像の少なくとも一部を含むことを特徴とする請求項1~7の何れか一項に記載の車両用の予測進路提示装置。
- コンピュータに、
車両に設けられたカメラの撮像画像に含まれる車両のタイヤの少なくとも一部に対応する画像から、前記タイヤのエッジの特徴を検出するステップと、
前記タイヤのエッジの特徴から検出された前記タイヤの切れ角に基づいて、前記車両の回転中心を基準とする前記車両の予測進路を算出するステップと、
前記予測進路を外部に出力するステップと、を実行させる車両用の予測進路提示方法。
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- 2014-07-11 EP EP14846989.3A patent/EP3051807B1/en not_active Not-in-force
- 2014-07-11 JP JP2015538975A patent/JP6213567B2/ja not_active Expired - Fee Related
- 2014-07-11 WO PCT/JP2014/068564 patent/WO2015045568A1/ja active Application Filing
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DE102016123135B4 (de) | 2015-12-02 | 2023-03-02 | GM Global Technology Operations LLC | Fahrzeugdatenaufzeichnung |
Also Published As
Publication number | Publication date |
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EP3051807A4 (en) | 2016-09-28 |
US20160216128A1 (en) | 2016-07-28 |
JPWO2015045568A1 (ja) | 2017-03-09 |
US9683861B2 (en) | 2017-06-20 |
JP6213567B2 (ja) | 2017-10-18 |
EP3051807A1 (en) | 2016-08-03 |
CN105580359B (zh) | 2018-10-19 |
EP3051807B1 (en) | 2017-09-06 |
CN105580359A (zh) | 2016-05-11 |
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