JP2009122744A - Reverse running detection apparatus for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a reverse running detection apparatus for vehicle which reliably detects reverse running with a simple configuration. <P>SOLUTION: The reverse running vehicle detection apparatus to be mounted on a vehicle and for detecting the reverse running of its own vehicle includes: imaging means for imaging constituent objects (branching and merging sign, visual line guide sign, lights in a tunnel, etc.) to be disposed along a road with asymmetrical regularity, and determining means for determining whether the own vehicle is running on the road in a forward direction or in a reverse direction based on the regularity of the constituent objects which are imaged by the imaging means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention generally relates to a vehicular reverse detection device that is mounted on a vehicle and detects reverse movement of the host vehicle, and more particularly to a vehicular reverse detection device that reliably detects reverse rotation with a simple configuration.

  2. Description of the Related Art Conventionally, a vehicle reverse running detection device that is mounted on a vehicle and detects reverse running of the host vehicle is known (see, for example, Patent Documents 1 to 3).

  In Patent Document 1, “luminance”, “color” or “shape” “difference ... linear display” is “placed on the road surface”, and these “linear displays” are imaged by an image sensor, Based on the image signal from the image sensor, it is determined whether the vehicle is traveling in the normal direction or the opposite direction from the positional relationship of the linear display. (See paragraph numbers 0001 and 0005 to 0007).

  In Patent Document 2, a “transmission / reception unit” “installed near the exit of a one-way street” “radiates a microwave to a detection region and receives a reflected wave from a moving object in the detection region”. “By detecting the phase of the Doppler signal output from the transmitter / receiver, the traveling direction of the moving object traveling on the one-way path is identified” and “in response to the signal indicating the moving object ... .. "A warning device is driven" and "Anti-reverse device" is disclosed (see paragraph 0006).

Patent Document 3 “uses” a “camera that captures the front of a vehicle” and “detects the size according to the position where the road sign is present” and “ Corresponding to whether or not the vehicle is located, when the vehicle is different from the corresponding size in normal running, it is determined that the vehicle is running backwards "(" paragraph number 0009 "). reference).
JP 2002-163777 A JP 2007-140757 A JP 2007-140883 A

  The conventional device described in Patent Document 1 cannot obtain the effects by using only the existing infrastructure facilities, and it is essential that a linear display having different luminance, color, or shape is arranged on the road surface in advance. It becomes.

  Similarly, the conventional device described in Patent Document 2 cannot obtain the effects by using only the existing infrastructure facilities, and radiates microwaves to the detection area, and from the moving object in the detection area. It is essential to install a transmission / reception unit that receives reflected waves near the exit of the one-way street.

  Furthermore, since the conventional apparatus described in Patent Document 3 needs to recognize and distinguish the difference between the front and back of the road sign, it can be said that the possibility of erroneous recognition is relatively high.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide a vehicle reverse running detection device that reliably detects reverse running with a simple configuration.

  One aspect of the present invention for achieving the above object is a vehicle reverse running detection device that is mounted on a vehicle and detects reverse running of the host vehicle, and is configured with asymmetric regularity along a road Based on the regularity of the imaging device (e.g., CCD camera, CMOS camera, etc.) that captures an object and the above-described component imaged by the imaging device, the host vehicle travels in the forward direction on the road. Or a vehicle reverse running detection device having a determination unit that determines whether the vehicle is traveling in the reverse direction.

  In the above aspect, for example, the component is, for example, A) a merged sign that looks like a V shape from the forward direction and looks like a square shape from the reverse direction, and B) looks like a> shape from the forward direction, and vice versa. From the direction, it looks like a letter on the right curve, or from the forward direction, it looks like a letter, and from the opposite direction, it looks like a letter, or C) It is an illumination device installed on the tunnel ceiling so that the interval changes from dense to coarse when viewed from the direction, and the interval changes from coarse to dense from the opposite direction.

  In the case of A), the determination unit determines that the host vehicle is running backward on the road when it is determined that the component imaged by the imaging unit is in the shape of a square.

  In the case of B), the vehicle reverse running detection device is further provided with detection means for detecting the steering direction of the host vehicle, and the determination means is 1) when the host vehicle is steered to the right by the detection means. When it is determined that the component imaged by the imaging means is <-shaped, or 2) the configuration imaged by the imaging means when the vehicle is steering left by the detection means When it is determined that the object has a> character shape, it is determined that the host vehicle is running backward on the road.

  In the case of C), when the determination unit determines that the installation interval of the lighting equipment imaged by the imaging unit is changing from coarse to dense, the host vehicle is running backward on the road. Is determined.

  According to the above aspect, since it is possible to determine whether or not the host vehicle is running backward using an existing roadside structure, it is necessary to install new equipment or paint display on the roadside. The configuration / structure can be simplified compared to the apparatus / system.

  Moreover, according to the said one aspect | mode, it determines whether the own vehicle is carrying out reverse running using the asymmetrical structure from which a view differs when it sees from a forward direction, and when it sees from a reverse direction. Therefore, it can be said that the difference is easier to discriminate than the case of detecting the difference between the front and back of the road sign, and the reliability of the reverse running detection is further increased.

  In the above aspect, the vehicle reverse running detection device outputs, for example, a voice message or a buzzer sound when the determination means determines that the host vehicle is traveling in the reverse direction on the road. Accordingly, it is preferable to further include a warning unit that issues a warning to the driver of the host vehicle. In this case, the vehicle reverse running detection device further includes an automatic brake unit that automatically applies a brake when the vehicle does not decelerate within a predetermined time after the alarm is issued by the alarm unit. It may be. However, since there may be a case where the vehicle is running backward for a valid reason such as a U-turn due to traffic closure, when the automatic brake means is provided, the vehicle reverse running detection device is further disposed in the vehicle interior. It is preferable to have an automatic brake operation prohibiting means for prohibiting the operation of the automatic brake means when operated by the driver of the vehicle after the warning is issued by the warning means.

  ADVANTAGE OF THE INVENTION According to this invention, the reverse running detection apparatus for vehicles which detects a reverse running reliably with a simple structure can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. The basic concept of image recognition processing for recognizing a sign display using an in-vehicle camera, main hardware configuration, operating principle, basic control method, and the like are known to those skilled in the art, so a detailed description will be given. Omitted.

  FIG. 1 is a schematic configuration diagram of a vehicle reverse running detection apparatus 100 according to an embodiment of the present invention.

  The reverse running detection apparatus 100 includes an imaging unit 101 that images a scene outside the vehicle in front of the host vehicle so that at least a road and a road accessory are included. The imaging unit 101 is typically an image recognition camera, such as a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal-Oxide Semiconductor) camera.

  The reverse running detection device 100 further includes a steering direction detection unit 102 that detects steering running of the host vehicle. For example, the steering direction detection unit 102 may acquire the output of the steering angle sensor and detect the steering direction based on the sensor output, or may acquire the road shape ahead of the traveling direction of the host vehicle from the car navigation system. Thus, the steering direction may be determined.

  The reverse running detection apparatus 100 further has various asymmetric road accessory components as judgment criteria used for reverse running determination described later, as seen from the forward direction and from the reverse direction. It has the memory | storage part 103 which memorize | stores and hold | stores the information (asymmetrical structure information) regarding the appearance in advance. The storage unit 103 may be a storage medium of any format / standard.

  The reverse running detection apparatus 100 further includes an alarm output unit 104 that issues an alarm to the own vehicle driver when it is determined that the own vehicle is running backward. The alarm output from the alarm output unit 104 may be in any form as long as it aims to warn the driver of the host vehicle that the host vehicle is running backward. For example, the host vehicle may run backward. A voice message including the content indicating that the vehicle is in operation is output and / or a buzzer is sounded in the passenger compartment.

  The reverse running detection apparatus 100 further controls each component of the reverse running detection apparatus 100 in an integrated manner, and includes a control unit 105 configured to have an image recognition processing function of an image captured by the imaging unit 101. Have The control unit 105 is, for example, an ECU (Electronic Control Unit).

  Next, the flow of the reverse running determination process performed by the vehicle reverse running detection device 100 having such a configuration will be described for each asymmetric roadside component used for reverse running determination.

  A first specific example of a roadside structure that is asymmetrical in the forward / reverse direction of the road is the main line M and the branch line B at the entrance / exit to the interchange, parking area / service area, etc. as shown in FIG. This is a merging flow sign P painted in the boundary area.

  In this case, paying attention to the fact that the shape of the existing merged sign P is V-shaped when viewed from the forward direction A, and when it is recognized that the merged sign P appears to be a U-shaped, the vehicle It is determined that the vehicle is running backward.

  FIG. 3 is a flowchart showing the flow of processing in the case where reverse running determination is made based on the division / merge sign P as described above.

  First, the control unit 105 performs image recognition processing on the image captured by the image capturing unit 101, and determines whether or not a merging / flowing sign P as illustrated in FIG. 2 is detected in front of the host vehicle (S301). ).

  If the merging / unmating sign P is not detected (“NO” in S301), no special processing is performed, and one routine of this flow is terminated.

  On the other hand, when the merging / unmating sign P is detected in front of the host vehicle (“YES” in S301), the control unit 105 then determines whether the display shape of the merging / unmating sign P that has been image-recognized is a “∧” shape. It is determined whether or not (S302).

  When it is determined that the image-recognized merging sign P is not in a letter shape, in other words, when it is determined that the image-recognized merging sign P is in a V-shape (“NO” in S302), The control unit 105 determines that the host vehicle is traveling in the forward direction A (FIG. 2), does not perform any special processing, and ends one routine of this flow.

  On the other hand, if it is determined that the image-recognized merging / unmating sign P is in the shape of a letter (“YES” in S302), the control unit 105 runs backward in the direction opposite to the forward direction A. It judges that it is a thing and it instructs the alarm output unit 104 to output a predetermined reverse running alarm (S303).

  In this way, by using the merging and merging indication P in which the display shape is asymmetric when viewed from the forward direction and when viewed from the reverse direction, reverse running at the time of merging is detected and an alarm is output. be able to.

  A second specific example of a roadside structure that is asymmetric in the forward / reverse direction of the road is a line-of-sight guidance sign S installed on a curved road as shown in FIG.

  In this case, the display of the existing line-of-sight guidance sign S is as follows: 1) If the road is a left curve as shown in FIG. In the case of a right curve road as shown in Fig. 2, it is noted that the shape of the line-of-sight guidance sign S appears to be a letter-like shape on the left-curved road, paying attention to the fact that it is> character-like when viewed from the forward direction A. And when it is recognized that it looks like a letter on the right curve road, it is determined that the host vehicle is running backward.

  FIG. 5 is a flowchart showing the flow of processing in the case where reverse running determination is made based on the line-of-sight guidance sign S as described above.

  First, the control unit 105 performs image recognition processing on the image captured by the imaging unit 101, and determines whether or not the line-of-sight guidance sign S as shown in FIG. 4 is detected in front of the host vehicle (S501). ).

  If the line-of-sight guidance mark S is not detected (“NO” in S501), no special processing is performed, and one routine of this flow is terminated.

  On the other hand, when the line-of-sight guidance sign S is detected in front of the host vehicle (“YES” in S501), the control unit 105 then determines that the steering direction of the host vehicle acquired from the steering direction detection unit 102 is the left direction (left turn). ) Is determined (S502).

  When it is determined that the host vehicle is steered to the left (“YES” in S502), the control unit 105 determines that the host vehicle is traveling on the left curve road, and then the line of sight that has been image-recognized. It is determined whether or not the display of the guidance sign S is “>” (S503).

  When it is determined that the image-recognized line-of-sight guidance sign S is not in a letter shape, in other words, when it is determined that the image-recognized line-of-sight guidance sign S is in a letter shape (“NO” in S503), The control unit 105 determines that the host vehicle is traveling in the forward direction A (FIG. 4A), does not perform special processing, and ends one routine of this flow.

  On the other hand, when it is determined that the image-recognized line-of-sight guidance sign S has a letter shape (“YES” in S503), the control unit 105 runs backward in the direction opposite to the forward direction A. It judges that it is a thing and it instructs the alarm output unit 104 to output a predetermined reverse running alarm (S505).

  If it is determined that the host vehicle is not steered to the left, in other words, if it is determined that the host vehicle is steered to the right (“NO” in S502), the control unit 105 determines that the host vehicle is to the right. It is determined that the vehicle is traveling on a curved road, and then it is determined whether or not the display of the line-of-sight guidance sign S that has been image-recognized is a “<” character (S504).

  When it is determined that the image-recognized line-of-sight guidance sign S is not <character-shaped, in other words, when it is determined that the image-recognized line-of-sight guidance mark S is> -shaped ("NO" in S504), The control unit 105 determines that the host vehicle is traveling in the forward direction A (FIG. 4B), does not perform special processing, and ends one routine of this flow.

  On the other hand, when it is determined that the image-recognized line-of-sight guidance sign S is <shaped (“YES” in S504), the control unit 105 runs backward in the direction opposite to the forward direction A. It judges that it is a thing and it instructs the alarm output unit 104 to output a predetermined reverse running alarm (S505).

  In this way, by using the line-of-sight guidance sign S whose display is asymmetrical when viewed from the forward direction and when viewed from the reverse direction, it is possible to detect reverse travel when traveling on a curved road.

  A third specific example of the roadside structure that is asymmetric in the forward / reverse direction of the road is an illumination L installed on the ceiling C in the tunnel T as shown in FIG.

  In this case, paying attention to the fact that the existing lighting L in the tunnel is installed at a relatively close interval at the entrance of the tunnel and at a relatively coarse interval at the exit of the tunnel, the own vehicle travels in the tunnel T. When it is recognized that the interval of the illumination L in the tunnel has changed from coarse to dense, it is determined that the host vehicle is running backward.

  FIG. 7 is a flowchart showing the flow of processing in the case where reverse running determination is made based on the tunnel illumination L (the installation interval).

  First, the control unit 105 performs image recognition processing on the image captured by the imaging unit 101, and determines whether or not the in-tunnel illumination L as shown in FIG. 6 is detected in front of the host vehicle (S701). ).

  If the tunnel illumination L is not detected (“NO” in S701), no special processing is performed, and one routine of this flow is terminated.

  On the other hand, when the tunnel illumination L is detected in front of the host vehicle (“YES” in S701), the control unit 105 then determines whether or not the installation interval of the tunnel illumination L that has been image-recognized is gradually narrowed. Judgment is made (S702).

  When it is determined that the installation interval of the image-recognized tunnel lighting L is not gradually reduced, in other words, when it is determined that the installation interval of the image-recognized tunnel illumination L is gradually increased ( The control unit 105 determines that the host vehicle is traveling in the forward direction A (FIG. 6), does not perform any special processing, and ends one routine of this flow.

  On the other hand, when it is determined that the installation interval of the tunnel-illuminated light L that has been image-recognized is gradually narrowed (“YES” in S702), the control unit 105 runs backward in the direction opposite to the forward direction A. It judges that it is carrying out, it is instruct | indicated to the warning output part 104, and a predetermined reverse running warning is output (S303).

  In this way, by using the change in the installation interval of the lighting L in the tunnel that is asymmetric between when viewed from the forward direction and when viewed from the reverse direction, the reverse travel while traveling in the tunnel is detected, and an alarm is issued. Can be output.

  Thus, according to the present embodiment, the merging / unmating sign P drawn at the merging / merging point, the line-of-sight guidance sign S installed on the curved road, the illumination L installed on the ceiling C in the tunnel T, and the like. Compared with devices / systems that require the installation of new equipment on the roadside or the display of paint because it is possible to determine whether the vehicle is running backward using existing roadside components Therefore, the structure and structure can be simplified.

  Further, according to the present embodiment, it is determined whether or not the host vehicle is running backward using an asymmetrical structure that is different in appearance when viewed from the forward direction and when viewed from the reverse direction. Therefore, it can be said that the difference between the forward direction and the reverse direction can be easily determined as compared with the case of detecting the difference between the front and the back of the road sign, and the reliability of the reverse running detection is further increased.

  In the above embodiment, as a specific example of an existing roadside structure in which the appearance is asymmetrical when viewed from the forward direction and when viewed from the reverse direction (different in appearance), Three types are shown: a drawn merging sign P (FIG. 2), a gaze guidance sign S (FIG. 4) installed on a curved road, and a tunnel illumination L (FIG. 6). As described above, the asymmetric components that can be used in the reverse running determination processing according to the present invention are not limited to these three types, and any existing asymmetrical appearance (detection state) in the forward direction and the reverse direction. Roadside components can be used.

  As examples other than the above three types, for example, 1) If millimeter waves are radiated toward the existing reflectors installed on the left and right sides of the road and the reflected waves can be received, the vehicle is traveling in the forward direction and must be received. 2) When the lane width is detected on a highway, etc., and a shoulder is detected on the left side in a left-handed country like Japan (or If the shoulder is detected on the right side in a right-handed country such as the United States, the vehicle is traveling forward, and if the shoulder is detected on the right side in a left-handed country such as Japan (or the United States) It is also possible to determine that the vehicle is running backward when the shoulder on the left side is detected in the right-hand traffic country.

  In the above embodiment, as an example, an alarm is given to the driver of the own vehicle when the reverse running of the own vehicle is detected. However, as will be apparent to those skilled in the art, the present invention is It is not limited to the embodiment.

  For example, as a modification of the above-described embodiment, the reverse running detection device 100 controls the operation of the braking system of the own vehicle, and a braking control unit that generates a braking force irrespective of the brake pedal operation of the own vehicle driver is provided. It is also possible to provide a warning to the driver of the host vehicle when a reverse running of the host vehicle is detected, and to brake and / or stop the host vehicle by applying an automatic brake. It is.

  In such a modification, it is conceivable that the own vehicle driver who has received the alarm depresses the brake pedal and decelerates and / or stops. Therefore, the deceleration operation by the own vehicle driver even if a predetermined time elapses from the alarm output. It is preferable that the automatic brake is applied only when the operation is not performed.

  In this case, it is further assumed that the predetermined time has passed at a position where the driver of the own vehicle can easily operate in the own vehicle compartment, considering that the vehicle may run backward for a valid reason such as a U-turn due to traffic closure. However, it is preferable to provide a switch that can prohibit / cancel the operation of the automatic brake so that the automatic brake does not operate.

  The present invention can be applied to any vehicle equipped with an image recognition camera. The power source type, fuel type, appearance design, weight, size, running performance, etc. of the target vehicle are all unquestioned.

It is a schematic block diagram of the reverse running detection device for vehicles concerning one example of the present invention. It is a figure which shows an example of the division | segmentation joining mark drawn by the division | segmentation junction point. It is a flowchart which shows the flow of a process when the reverse running detection apparatus for vehicles which concerns on one Example of this invention determines reverse running using a division | segmentation merging sign. It is a figure which shows an example of the gaze guidance sign installed in the curve road. It is a flowchart which shows the flow of a process when the reverse running detection apparatus for vehicles which concerns on one Example of this invention determines reverse running using a gaze guidance sign. It is a figure which shows an example of the installation space | interval of the illumination in a tunnel. It is a flowchart which shows the flow of a process when the reverse running detection apparatus for vehicles which concerns on one Example of this invention determines reverse running using the installation space | interval of the illumination in a tunnel.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Reverse running detection apparatus for vehicles 101 Imaging part 102 Steering direction detection part 103 Memory | storage part 104 Alarm output part 105 Main control part

Claims (7)

A vehicle reverse running detection device that is mounted on a vehicle and detects reverse running of the host vehicle,
An imaging means for imaging a component arranged with asymmetric regularity along a road;
Determination means for determining whether the host vehicle is traveling in the forward direction or the reverse direction on the road based on the regularity of the components imaged by the imaging means;
A reverse running detection device for a vehicle, comprising: The vehicle reverse running detection device according to claim 1,
The component is a merging sign that looks like a V shape from the forward direction and looks like a saddle shape from the reverse direction;
The determination means determines that the host vehicle is running backward on the road when it is determined that the component imaged by the imaging means is in a letter shape.
A reverse running detection device for a vehicle. The vehicle reverse running detection device according to claim 1,
It further has detection means for detecting the steering direction of the host vehicle,
The said structure looks like a letter from the forward direction and looks like a letter from the reverse direction, or looks like a letter from the forward direction, or looks like a letter from the forward direction. It is a gaze guidance sign for the left curve road that looks like a shape,
The determination unit determines that the component captured by the imaging unit is <character-shaped when the host vehicle is steering to the right by the detection unit, or the host vehicle by the detection unit Determining that the vehicle is traveling backward on the road when it is determined that the component imaged by the imaging means is a letter when the vehicle is steered to the left,
A reverse running detection device for a vehicle. The vehicle reverse running detection device according to claim 1,
The component is a lighting device installed on the tunnel ceiling so that the interval changes from dense to coarse when viewed from the forward direction, and the interval changes from coarse to dense from the reverse direction,
The determination unit determines that the host vehicle is running backward on the road when it is determined that the installation interval of the lighting device imaged by the imaging unit is changing from coarse to dense.
A reverse running detection device for a vehicle. The vehicle reverse running detection device according to any one of claims 1 to 4,
When it is determined by the determination means that the host vehicle is traveling in the reverse direction on the road, the vehicle further includes a warning unit that issues a warning to the driver of the host vehicle.
A reverse running detection device for a vehicle. The vehicle reverse running detection device according to claim 5,
An automatic brake means for automatically applying a brake when the vehicle does not decelerate within a predetermined time after the alarm is issued by the alarm means;
A reverse running detection device for a vehicle. The vehicle reverse running detection device according to claim 6,
An automatic brake operation prohibiting means for disabling the operation of the automatic brake means when operated by the driver of the vehicle after the warning is issued by the warning means, disposed in the vehicle interior of the host vehicle;
A reverse running detection device for a vehicle.

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