CN202169907U - Device used for identifying environment outside vehicle - Google Patents
Device used for identifying environment outside vehicle Download PDFInfo
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- CN202169907U CN202169907U CN2011202752620U CN201120275262U CN202169907U CN 202169907 U CN202169907 U CN 202169907U CN 2011202752620 U CN2011202752620 U CN 2011202752620U CN 201120275262 U CN201120275262 U CN 201120275262U CN 202169907 U CN202169907 U CN 202169907U
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Abstract
The utility model provides a device used for identifying the environment outside a vehicle. The device can identify the environment outside the vehicle according to an image taken by a three dimensional camera, thereby position relations among various three dimensional objects, which are not limited to the vehicle, can be grasped in high precision. The following units can be integrated into one unit, namely a three dimensional camera unit, an image processing engine, an identification controller, and a controller used for controlling. The identification controller can be used to identify road shapes, road surface conditions, road ancillary facilities, pedestrians, or three dimensional objects and so on by using the original image and the three dimensional position information. The controller used for controlling can be used for various controls in order to facilitate the driving uniformly according to the identification results acquired by processing the three dimensional images. The unit provided in the utility model can be disposed on an upper part of an inner part of a front windshield of the vehicle, and can be used to identify the whole environment outside the vehicle according to the taken image, besides, can be used to grasp the position relations among various three dimensional objects, which are not limited to the vehicle and can be grasped in high precision.
Description
Technical field
The present invention relates to a kind of car external environment means of identification, it is handled the image of being taken by the stereocamera that carries on vehicle, identification car external environment.
Background technology
In recent years, for vehicles such as automobiles, develop and used various driving ancillary techniques for the driver; Driving or obstacle before it detects; The degree of risk of judgement and its collision gives the alarm to the driver, perhaps automatically makes the drg action and vehicle is stopped; Perhaps increase and decrease moving velocity etc. automatically, to keep guaranteeing safety with the vehicle headway of preceding driving.
Under common condition of road surface, the place ahead of this vehicle exists a plurality of vehicles or obstacle, exists and above-mentioned rolling stock or obstacle possibility of collision.Therefore, the driver who drives a car is not only the vehicle to this vehicle front, all must be careful rolling stock or obstacle.Therefore, in patent documentation 1, disclose a kind of technology, it is estimated simultaneously and comprises the collision factor that knocks into the back with preceding driving in the interior various danger factor around vehicle, and most important danger factor are informed the driver.
Patent documentation 1: japanese kokai publication hei 5-54291 communique
The utility model content
But, under common condition of road surface, as the collision factor that must be careful; Be not limited to vehicle, also comprise various factors such as pedestrian, bicycle, motor bike, in order to judge and these factor possibility of collision; Must identification road white line, guardrail, with the whole traffic environments such as position relation of obstacle, of patent documentation 1, about the collision of this vehicle front; Only setting is inadequate with the collision of preceding driving; Moreover, need a plurality of sensors in order to discern the car external environment, thereby cause cost to rise.
The utility model proposes in view of the above problems; Purpose is to provide a kind of car external environment means of identification; It can also grasp the position relation of the various three-dimensional things that are not limited to vehicle accurately according to the whole car external environment of being taken by stereocamera of image recognition.
To achieve these goals, the car external environment means of identification that the present invention relates to has: 2 one group of stereocameras, and it carries on vehicle; Image processing engine, it is handled a pair of image of being taken by above-mentioned stereocamera, obtains the three dimensional local information in the whole image scope; And identification controller, it discerns the car external environment according to the three dimensional local information that is obtained by above-mentioned image processing engine.
The effect of utility model
According to the present invention, can also grasp the position relation of the various three-dimensional things that are not limited to vehicle accurately according to the whole car external environment of taking by stereocamera of image recognition.
Description of drawings
Fig. 1 is the External view that carries the car external environment means of identification on vehicle.
Fig. 2 is a constructional drawing of using the drive assistance device of car external environment means of identification.
Fig. 3 is the instruction diagram of three-dimensional coupling.
Fig. 4 is the instruction diagram of the example of expression photographed images.
Fig. 5 is the instruction diagram of expression range image.
Fig. 6 is the functional block diagram of identification controller.
Fig. 7 is the functional block diagram of control with controller.
The specific embodiment
Below, with reference to description of drawings embodiment of the present invention.
In Fig. 1, vehicles (this vehicle) such as label 1 expression automobile are provided with stereocamera unit 2 on the front windshield 2 inboard tops of this vehicle 1, and its photographic camera by 21 group constitutes, from different visual angle reference object things.This stereocamera unit 2 forms car external environment means of identification, and it utilizes stereocamera periodically to take the car external environment, and the stereo-picture that photographs to handling, is discerned the car external environment three-dimensionally.
As shown in Figure 2, stereocamera unit 2 is connected with vehicle-borne various control units, and is applied to according to the recognition result of running environment the driver being carried out in the auxiliary drive assistance device 10 of various driving.This drive assistance device 10 constitutes; With stereocamera unit 2 is the center; On stereocamera unit 2 via the communication bus of forming by CAN etc. 100 and connect various control units; As with the bus 100 bonded assembly control units of communicating by letter, comprise engine controller 3 that engine control uses, change-speed box control usefulness drive controller 4, comprise the car body action control usefulness of drg in being controlled at vehicle dynamic controller (VDC) 5, carry out waiting the gauge control unit 6 that the demonstration of the instrument of forming controls and detecting the current location of this vehicle and demonstration and the navigation elements 7 of carrying out route guidance etc. on map by multifunction display (MFD).
In addition, navigation elements 7 is optional as drive assistance device 10, but uses the information from navigation elements 7, can replenish the recognition result that is obtained by stereocamera unit 2.
The stereocamera 20 that stereocamera unit 2 is had has for example imaging apparatus such as CCD or CMOS, by shutter speed variable and synchronized with each other 1 group (about) photographic camera 20a, 20b constitute.These two photographic camera 20a, 20b; According to the mode that makes optical axis almost parallel each other; Mechanically fixing with the base length (optical axis spacing) of regulation; The parallax with respect to same object according between a pair of image of being taken by two photographic camera 20a, 20b uses camera parameters such as camera station or focal length, can obtain distance according to principle of triangulation.
Therefore, stereocamera unit 2 also has except stereocamera 20: image processing engine 30, and it is handled a stereoscopic image of being taken by stereocamera 20, obtains the three dimensional local information in the whole image scope at high speed; And identification controller 40, it uses former figure and three dimensional local information from stereocamera 20, pedestrian on identification processing road shape or pavement state, road affiliated facility, the road or three-dimensional thing etc.In addition; Stereocamera unit 2 also has control with controller 50; It is according to handled the recognition result that obtains by stereo-picture; Unified be used to drive auxiliary various controls, make the unit of these stereocameras 20, image processing engine 30 and identification controller 40 becoming one and constitute.
Value based on the evaluating of SAD is called as city (city block) distance; Correlativity between block high more (similar more); The value of city block distance is more little, gets the displacement of the horizontal direction between the block of minimum value according to city block distance, can obtain parallax.City block distance C can obtain in the following manner, that is, utilize horizontal direction to be the position on the artesian coordinates definition plane of delineation of j coordinate for i coordinate, vertical direction; At the block that makes search degree of being relative to each other is that i * j (when i=0～n, the search block of j=0～n), is shown below; On the i axle, whenever move the shift value of regulation and carry out once-through operation; Thereby (i is j) with search block S (i, sad value j) of movement images to obtain the search block M of benchmark image.
C＝∑|M(i，j)-S(i，j)|
In above-mentioned SAD computing, for example, if with the search block of 4 * 4 pixels as object; Search block (main block) with respect to benchmark image; Position individual element on horizontal scanning line of the search block (sub-block) of movement images is moved on one side, Yi Bian carry out the SAD computing, then as shown in Figure 3; Obtaining city block distance is the point of minimum value C0, as the main block correspondence position the highest with the degree of correlation of sub-block (consistent point).
The departure of the main block at this unanimity point place and 1 pixel unit of sub-block (the position im of the main block of horizontal scan direction and the position is's of sub-block is poor) becomes the parallax D (pixel parallax) with 1 pixel unit resolution.Based on the range information of this pixel parallax, because,, that is, obtain the parallax of the sub-pixel level of the resolution that is less than or equal to 1 unit picture element so carry out following processing as required along with the distance till target object increases and the resolution reduction.
The parallax information that obtains through above-mentioned three-dimensional coupling, the range information that obtains as range image and exporting by image mode.For example, as shown in Figure 4, if to the image that photographs three-dimensional things such as vehicle 200,300 or guardrail 400 (Fig. 4 represent with a camera to image) carry out the solid coupling, then can obtain range image shown in Figure 5.In the example of range image shown in Figure 5, what have range data is the stain part, this be in each pixel of image of Fig. 4 on the left and right directions between the adjacent pixels light and shade change part greatly.System of axes on the image is as shown in Figure 5, is initial point with the upper left corner, will be laterally as the i coordinate axle, will be vertically as the j coordinate axle, and unit is a pixel.
In addition, image processing engine 30 also has shutter speed control, the geom between two photographic cameras of each photographic camera 20a of constituting stereocamera 20,20b and optical aberration is proofreaied and correct or functions such as luminance balance correction.Promptly; Image processing engine 30 uses the affined transformation correction tables and proofreaies and correct utilizing visual field angular difference in the set of diagrams picture that photographic camera 20a, 20b photograph, rotating deviation, shifting deviation etc. to carry out geom; And utilize the gamma correction table that nonlinear deformations such as lens deviations are proofreaied and correct; On the basis of the optical position of of equal value ground each photographic camera 20a of precise adjustment, 20b, estimate the consistent degree between two images through the solid coupling.
The recognition function of this identification controller 40; As shown in Figure 6; Mainly by the three-dimensional thing of road identification part 41 and 42 representatives of environment identification part; Three-dimensional thing identification part 41 identifications of above-mentioned road and relevant information such as running route, preceding driving or subtend car, road affiliated facility, pedestrian, the variation of the environmental conditions that is caused by backlight, mist, rain, snow etc. is discerned in environment identification part 42.
The three-dimensional thing of road identification part 41 is for the range information from image processing engine 30; Carry out to be in the packet transaction of the packetization in the defined threshold etc.; With the framework (window) of the three-dimensional road shape data, sidewall data, three-dimensional thing data etc. of storage in advance relatively, sidewall data, cross walk data etc. such as guardrail that extract road shape (road white line, curve ahead, upward slope/downhill path, narrow road) data, has along road or curb.Simultaneously, the three-dimensional thing data that extract on the road the three-dimensional thing of road identification part 41 are divided into motor bike, common vehicle, full size vehicle, pedestrian, electric pole, signal, other three-dimensional things with it.
According to each data of identification, calculate with this vehicle be initial point, each position in the system of axes of the real space that is axle with the fore-and-aft direction and the Width of this vehicle.Especially, in the vehicle data of motor bike, common vehicle, full size vehicle, infer its fore-and-aft direction length in advance and be for example 3m, 4.5m, 10m etc.; In addition; For laterally, use the center of detected width, computing is carried out in the residing center of this vehicle.
In addition; In three-dimensional thing data, according to and this vehicle between distance in each variation on axially, the relative velocity with respect to this vehicle is carried out computing; Through the speed of considering this vehicle this relative velocity is carried out computing, can calculate the speed of each three-dimensional thing on each is axial.According to the various information that obtain like this; Promptly; The sidewall data of white line data, the guardrail that exists along road, curb etc., and three-dimensional thing data (various data such as classification, distance, center position coordinates, speed) with this vehicle, can discern this vehicle periphery pedestrian or light-duty vehicle, with the mobile object of other vehicles of the road bonded assembly travels down of this vehicle ' etc.
In addition, the variation of the environmental conditions that is caused by backlight, mist, rain, snow etc. is discerned in environment identification part 42.By the environmental conditions of environment identification part 42 identification, be sent to the three-dimensional thing of road identification part 41 and control with controller 50 as interference, through carrying out and corresponding identification of annoyance level and control, prevent the fiduciary level reduction.
For example; Incide the shooting face of stereocamera 20 and become under the situation of backlight at sunshine; The sensitivity balance havoc of left and right sides image and produce luminance deviation even implement three-dimensional the processing through the SAD computing of brightness sometimes, also is difficult to normally carry out solid and matees.Therefore, utilize environment identification part 42 inspection photographic images whether backlight takes place.The generation of this backlight for example can be checked through the backlight circle that occurs in the check image.That is, if backlight gets into stereocamera 20, because the backlight circle in image, occurs, so can whether produce the backlight circle in the Luminance Distribution characteristic process decision chart picture through preassigned image-region.
In this case, under the more weak situation of backlight, though left and right sides brightness has deviation, the state that brightness changes has intercommunity, and poor (brightness value of the brightness value of certain pixel-its right pixel) of the brightness of neighbor changes in the image of the left and right sides equally.Therefore, if for about each image obtain luminance difference, calculate above-mentioned sad value with respect to this luminance difference, even then between the image that stereocamera photographs, produce deviation, on one side also can guarantee necessary accuracy, Yi Bian check parallax.
In addition, the identification of the running environment of vaporific attitude, for example; The taillight of driving or brake lamp and the zone of the light curtain around it before can extracting; Measure distance,, judge vaporific attitude according to taillight or the brake lamp zone and regional brightness ratio and the range data of its light curtain on every side of preceding vehicle to object.In addition, also there is the method for judging vaporific attitude according to the variable quantity of white line brightness, perhaps, also can be according to the change-detection mistiness degree of view data.
In addition, whether running environment is the judgement of trail state, for example sets monitor area through the zone of the regulation in the photographic images of stereocamera 20, and according to the view data in this monitor area, detecting the road surface is the state of trail.Specifically, calculate the size of the brightness of the numerical value of the relevant luminance edges of the horizontal direction of monitor area, whole monitor area, less than decision content, and under the situation of single-piece brightness size greater than decision content, be judged to be trail at the numerical value of luminance edges.
In addition, the judgement of ponding pavement state for example can be passed through for the range data that exists in this monitor area, to estimate the distribution of short transverse in the setpoint distance data monitoring zone, the place ahead of this vehicle of predicted link existence.That is, obtain the three-dimensional height relevant, will mirror the range data quantity that causes on the road surface by three-dimensional thing and count as the ponding data bulk with the range data that calculates.On the ponding road surface, compare with dry pavement, exist a large amount of range data to be lower than the characteristic of ground-surface position.In view of this specific character, in the range data monitor area, exist under a large amount of ponding data conditions, be judged to be the ponding pavement state.
Then; Control with controller 50 according to from the three-dimensional thing information of the road of identification controller 40 inputs (data such as sidewall, vehicle, pedestrian, motor bike such as road white line, the bend that exists along road or curb) and via the information of vehicles of communication bus 100 inputs (this car speed or capable rate etc.) partially; Via with each control unit of communication bus 100 bonded assemblys, aux. controls is driven in indication.This control is with the function of the driving aux. controls of controller 50, and is as shown in Figure 7, mainly by alarm control part 51, anticollision control part 52,53 representatives of cruising control portion.
In following of preceding driving gone; Acceleration/accel according to the vehicle headway, relative velocity and the preceding driving that utilize 2 detected vehicles in stereocamera unit and preceding driving; The target vehicle speed in the control is followed in calculating; Utilize the corresponding throttling control of deviation of engine controller 3 execution and target vehicle speed and current vehicle speed, control makes the speed of a motor vehicle of this vehicle become target vehicle speed.In addition, be descending in the ramp and can't utilize throttling to close braking force (Jake brake) in current transmission position and keep under the situation of vehicle headway (excessively approaching) that vehicle headway is kept in the control that lowers category that utilizes drive controller 4 to carry out target transmission position.In addition; According to the deceleration/decel of this vehicle with vehicle headway, relative velocity and the preceding driving of preceding driving; Calculate the deceleration/decel that requires of this vehicle; Require the required brake fluid pressure of deceleration/decel to control through producing this, make the necessary deceleration/decel of its generation and make this car retardation via 5 pairs of vehicle dynamic controllers.
As stated; In this embodiment,, discern running environment because handle to photographing photographic images by stereocamera 20 three-dimensionally; So can high precision grasp the position relation of the various three-dimensional things that are not limited to vehicle, can discern whole car external environment exactly.And; In the identification of being undertaken by stereo-picture; Because accuracy of detection that object is horizontal or resolution, in-plant monitoring capability are good,, help to improve prevention security so can consider collision prediction with the side-play amount of the place ahead obstacle etc. accurately.
Claims (3)
1. car external environment means of identification is characterized in that having:
2 one group stereocamera, it carries on vehicle;
Image processing engine, it is handled a pair of image of being taken by above-mentioned stereocamera, obtains the three dimensional local information in the whole image scope; And
Identification controller, it discerns the car external environment according to the three dimensional local information that is obtained by above-mentioned image processing engine.
2. car external environment means of identification as claimed in claim 1 is characterized in that,
Above-mentioned identification controller has the three-dimensional thing identification part of road of the identification information relevant with road and three-dimensional thing and the environment identification part of the changes in environmental conditions outside the identification car.
3. according to claim 1 or claim 2 car external environment means of identification is characterized in that,
To the above-mentioned stereocamera of major general, above-mentioned image processing engine, and above-mentioned identification controller constitute integratedly as the stereocamera unit, this stereocamera unit is arranged on the inboard top of front windshield of vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011202752620U CN202169907U (en) | 2011-07-29 | 2011-07-29 | Device used for identifying environment outside vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011202752620U CN202169907U (en) | 2011-07-29 | 2011-07-29 | Device used for identifying environment outside vehicle |
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| CN104228667A (en) * | 2013-06-19 | 2014-12-24 | 现代摩比斯株式会社 | Method and device for determining whether fog exists |
| CN105046964A (en) * | 2014-04-24 | 2015-11-11 | 本田技研工业株式会社 | Vehicle recognition device |
| CN105814604A (en) * | 2013-10-07 | 2016-07-27 | Metaio有限公司 | Method and system for providing position or movement information for controlling at least one function of a vehicle |
| CN108573215A (en) * | 2018-03-16 | 2018-09-25 | 海信集团有限公司 | Reflective road method for detecting area, device and terminal |
| CN110422119A (en) * | 2019-08-14 | 2019-11-08 | 苏永华 | A kind of safe driving assistant system |
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| CN113212444A (en) * | 2020-02-05 | 2021-08-06 | 马自达汽车株式会社 | Vehicle control device |
| CN113291289A (en) * | 2020-02-05 | 2021-08-24 | 马自达汽车株式会社 | Vehicle control system |
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| CN104228667B (en) * | 2013-06-19 | 2017-06-09 | 现代摩比斯株式会社 | Judge the method and its device of mist presence or absence |
| CN104228667A (en) * | 2013-06-19 | 2014-12-24 | 现代摩比斯株式会社 | Method and device for determining whether fog exists |
| CN105814604A (en) * | 2013-10-07 | 2016-07-27 | Metaio有限公司 | Method and system for providing position or movement information for controlling at least one function of a vehicle |
| US10268216B2 (en) | 2013-10-07 | 2019-04-23 | Apple Inc. | Method and system for providing position or movement information for controlling at least one function of an environment |
| CN105814604B (en) * | 2013-10-07 | 2019-07-02 | 苹果公司 | For providing location information or mobile message with the method and system of at least one function for controlling vehicle |
| US10937187B2 (en) | 2013-10-07 | 2021-03-02 | Apple Inc. | Method and system for providing position or movement information for controlling at least one function of an environment |
| CN105046964A (en) * | 2014-04-24 | 2015-11-11 | 本田技研工业株式会社 | Vehicle recognition device |
| CN105046964B (en) * | 2014-04-24 | 2017-09-08 | 本田技研工业株式会社 | Vehicle identifier |
| CN108573215A (en) * | 2018-03-16 | 2018-09-25 | 海信集团有限公司 | Reflective road method for detecting area, device and terminal |
| CN108573215B (en) * | 2018-03-16 | 2021-08-03 | 海信集团有限公司 | Road reflective area detection method and device and terminal |
| US11873022B2 (en) | 2019-07-18 | 2024-01-16 | Mazda Motor Corporation | In-vehicle network system |
| CN110422119A (en) * | 2019-08-14 | 2019-11-08 | 苏永华 | A kind of safe driving assistant system |
| CN113291289A (en) * | 2020-02-05 | 2021-08-24 | 马自达汽车株式会社 | Vehicle control system |
| CN113291290A (en) * | 2020-02-05 | 2021-08-24 | 马自达汽车株式会社 | Vehicle control device and vehicle control system |
| CN113291289B (en) * | 2020-02-05 | 2023-12-05 | 马自达汽车株式会社 | Control system for vehicle |
| CN113291290B (en) * | 2020-02-05 | 2024-01-09 | 马自达汽车株式会社 | Vehicle control device and vehicle control system |
| CN113212444A (en) * | 2020-02-05 | 2021-08-06 | 马自达汽车株式会社 | Vehicle control device |
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