JP3070277B2 - Preceding vehicle detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a preceding vehicle detecting device applied to, for example, a vehicle automatic traveling control device or a rear-end collision prevention alarm device, that is, a device for detecting the position of a preceding vehicle traveling in front of a host vehicle. About.

[0002]

2. Description of the Related Art As a conventional preceding vehicle detection device, there is one which uses reflection of electromagnetic waves as described in, for example, JP-A-61-23985. In this method, an electromagnetic wave (eg, laser light) is emitted while sweeping a predetermined angle in front of a vehicle, a reflected wave from a reflector is received, and a propagation delay time from emission to reception of the electromagnetic wave is determined for each predetermined sweep angle. By calculating the distance from the vehicle to the reflector, the distance and direction from the host vehicle to the reflector are detected, and information on the direction and distance from the host vehicle to the reflector can be obtained. In general, a vehicle is provided with a reflex reflector at the rear in order to improve visibility from the rear, and the reflex reflector serves as a reflector, and the electromagnetic wave such as a laser beam is used. To reflect
It can be easily detected. In addition, a device that recognizes a preceding vehicle or a road by inputting a scene in front of the vehicle using a television camera or the like directed toward the front of the vehicle and performing image processing on the input image has been considered. I have.

[0003]

However, the above-mentioned conventional preceding vehicle detecting apparatus has the following problems. First, in a preceding vehicle detection device using reflection of electromagnetic waves, such as a laser radar, the accuracy of calculating the distance to the reflector is not very good just by measuring the propagation delay time when an electromagnetic wave is emitted once. m. Therefore, in the conventional laser radar device, accuracy is improved by radiating electromagnetic waves several times in the same direction, averaging distances measured from respective propagation delay times, and statistically processing the distances. Therefore, to improve the accuracy, it is necessary to increase the number of measurements to be averaged.However, since it is necessary to detect a wide-range reflector in front of the vehicle on the assumption of a curved road or the like, the number of measurements in one direction is required. Cannot be increased, and the distance accuracy deteriorates. Even if the distance accuracy could be measured with almost satisfactory accuracy, when detecting the relative speed between the own vehicle and the preceding vehicle,
Since the change in distance is detected by differentiating the obtained distance data, if the sweep is performed in a very short cycle in order to increase the number of times of measurement, the accuracy of the speed is greatly reduced with respect to the accuracy of the distance. . Therefore, when applied to an automatic traveling device, control accuracy in performing vehicle motion control is reduced, and when applied to an approach notification device such as a vehicle, it becomes difficult to generate appropriate notification. There was a problem. Another problem related to laser radar is that, in addition to the reflex reflector of the preceding vehicle on the actual road, it is installed on the reflex reflector of the vehicle traveling in the next lane or on the roadside zone of the road There is also a reflector such as a corner reflector on the guardrail, and there is a problem that it is difficult to select only the data of the preceding vehicle from the data of these many reflectors. In particular, it is very difficult to distinguish the reflex reflector of a vehicle traveling in the adjacent lane from that of a preceding vehicle, and it is difficult to judge it only from information of the laser radar device.

[0004] In a preceding vehicle detection device that recognizes a preceding vehicle by processing an image from a television camera, it is relatively easy to identify the presence of an object in front and the white line that is a lane boundary. However, it is very difficult to detect the distance from the vehicle (television camera) to the object. Accordingly, for example, an apparatus (for example, described in Japanese Patent Application Laid-Open No. 60-37011) that detects a lateral position of a preceding vehicle or a host vehicle and performs steering control of automatic traveling has been developed. It is difficult to detect the vehicle speed and control the speed of the own vehicle or to accurately notify the approach of the vehicle.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and is capable of accurately detecting a distance and a direction to a preceding vehicle, and a relative speed obtained from a change in the distance. It is an object to provide a vehicle detection device.

[0006]

Means for Solving the Problems In order to achieve the above object, the present invention is configured as described in the claims. FIG. 1 is a diagram corresponding to the claim of the first aspect. In FIG. 1, reflector detecting means 1
Emits an electromagnetic wave in the traveling direction of the vehicle while sweeping a predetermined angle range, receives a reflected wave from a reflector, and reflects the wave based on a propagation delay time from emission to reception of the electromagnetic wave at each predetermined sweep angle. By calculating the distance to the body, the distance and direction from the host vehicle to the reflector are detected. The reflector detecting means 1 corresponds to, for example, a laser light sweep direction detecting device 11, a laser light sweeping device 13, and a laser radar device 21 in the embodiment of FIG. The photographing means 3 photographs a scene ahead of the own vehicle in the traveling direction. This photographing means 3 corresponds to, for example, the television camera 23 in the embodiment of FIG. Further, the image recognizing means 5 processes the image in front of the vehicle taken by the photographing means 3 to detect the lane in which the own vehicle travels.
A preceding vehicle existing ahead in the lane in which the own vehicle travels is detected. This image recognition means 5 is, for example, shown in FIG.
Corresponds to the image processing circuit 25 and the preceding vehicle detection circuit 27 in the embodiment. In addition, the sweep direction changing means 7
The direction of sweeping the electromagnetic wave of the reflector detecting means 1 is changed to the image recognizing means 5.
Is changed to the direction in which the preceding vehicle is detected. The sweep direction changing means 7 corresponds to, for example, a portion of the preceding vehicle existing direction detection circuit 33 and the laser light sweep device 13 in the embodiment of FIG. Further, the preceding vehicle position output means 9 outputs the distance and direction to the reflector detected by the reflector detecting means 1 as the distance and direction of the preceding vehicle. The preceding vehicle position output means 9 corresponds to, for example, a part of the signal processing circuit 31 in the embodiment of FIG.

Next, FIG. 2 is a diagram corresponding to the claim of the second aspect of the present invention. In FIG. 2, a reflector detecting means 1 emits an electromagnetic wave in the traveling direction of the vehicle while sweeping a predetermined angle range, receives a reflected wave from the reflector, and receives from a radiation of the electromagnetic wave at each predetermined sweep angle. The distance and direction from the host vehicle to the reflector are detected by calculating the distance to the reflector based on the propagation delay time up to the vehicle. The reflector detecting means 1 corresponds to, for example, a laser light sweep direction detecting device 11, a laser light sweeping device 13, and a laser radar device 21 in the embodiment of FIG. The photographing means 3 photographs a scene ahead of the own vehicle in the traveling direction.
This photographing means 3 corresponds to, for example, the television camera 23 in the embodiment of FIG. Further, the image recognition means 5
The image in front of the vehicle taken by the photographing means 3 is processed to detect the lane in which the own vehicle is traveling.
A preceding vehicle existing ahead in the detected lane in which the host vehicle travels is detected. This image recognition means 5 corresponds to, for example, a portion of an image processing circuit 25 and a preceding vehicle detection circuit 27 in the embodiment of FIG. The preceding vehicle distance / direction selecting means 8 calculates the distance / direction detected by the reflector detecting means 1.
Only the information of the direction in which the preceding vehicle exists, which is detected by the image recognizing means 5, is selected from the direction information. The preceding vehicle distance / direction selecting means 8 includes, for example, a preceding vehicle existing direction detecting circuit 33 and a signal processing circuit 32 in the embodiment of FIG.
Corresponds to a part of Further, the preceding vehicle position output means 9 outputs the distance and direction selected by the preceding vehicle distance / direction selecting means 8 as the distance and direction of the preceding vehicle. The preceding vehicle position output means 9 corresponds to, for example, a part of the signal processing circuit 32 in the embodiment of FIG.

[0008]

As described above, according to the first aspect of the present invention, the lane in which the host vehicle travels is detected by image processing.
Further, a preceding vehicle is detected in the lane in which the own vehicle travels, and a sweeping direction of the electromagnetic wave in the reflector detecting means is changed based on the detection result. It is configured to sweep only. Therefore, the preceding vehicle can be reliably detected, and the number of times of detection of the distance to the preceding vehicle per unit time can be increased in order to prevent unnecessary portions from being swept. Therefore, the distance and direction to the preceding vehicle, and The relative speed between the host vehicle and the preceding vehicle obtained from the change in the distance can be accurately detected. Further, in the invention described in claim 2, the lane in which the vehicle travels is detected by image processing ,
Further, by detecting the preceding vehicle in the lane in which the own vehicle travels, and setting the input range of the data detected by the reflector detecting means based on the result, data in only the direction in which the preceding vehicle exists can be obtained. Is configured to be processed. Therefore, the preceding vehicle can be reliably detected, and the amount of data processing is reduced. Therefore, the distance and direction to the preceding vehicle, and the relative speed obtained from the change in the distance can be accurately detected.

[0009]

Embodiments of the present invention will be described below. FIG.
FIG. 1 is a block diagram of one embodiment of the present invention. FIG. 3 illustrates a case where the present invention is applied to an inter-vehicle distance control device that automatically controls the inter-vehicle distance between the host vehicle and the preceding vehicle to be equal to or greater than a predetermined safe distance. In FIG. 3, a laser radar device 21 includes a light transmitter 15 that emits laser light, a light receiver 17 that receives reflected light of the laser light output from the light transmitter 15, and emission of laser light in the light transmitter 15. And a distance detecting circuit 19 for detecting a distance to the reflector based on the propagation delay time of the laser light from the light receiving device 17 to the reception of the reflected light. The output of the distance detection circuit 19 is sent to a signal processing circuit 31. Further, the laser light emitted from the light transmitter 15 of the laser radar device 21 is controlled by the laser light sweeping device 13 so as to be swept right and left around the forward direction of the vehicle. The laser light sweeping device 13 uses, for example, a mirror to project laser light in the left-right direction, for example, with an amplitude of about ± 10 degrees and a frequency of 10 degrees.
The sweeping is performed at about Hz, and the sweeping angle (direction) can be changed by a command value from the preceding vehicle existing direction detection circuit 33. The sweep angle of the laser light sweep device 13 is detected by the laser light sweep direction detection device 11 and supplied to the signal processing circuit 31.

As described above, the signal processing circuit 31 receives the distance signal from the distance detection circuit 19 and the sweep angle signal from the laser light sweep direction detection device 11. Therefore, the signal input to the signal processing circuit 31 is a signal having information on the distance to the reflector at each predetermined sweep angle, that is, the distance and direction from the own vehicle to the reflector. The signal processing circuit 31 outputs the information on the distance and the direction as the distance and the direction with respect to the preceding vehicle. A value obtained by differentiating the distance to the preceding vehicle, that is, a change in the distance is a relative speed between the own vehicle and the preceding vehicle. The signal processing circuit 31 is also supplied with the vehicle speed signal of the host vehicle from the vehicle speed sensor 35, and is used for rear-end collision prevention calculation and the like. As described above, the signal processing circuit 31 outputs information on the distance to the preceding vehicle, the direction, the relative speed, and the speed of the host vehicle, and sends the information to the vehicle motion control circuit 37. The laser light sweep direction detecting device 11 includes the laser light sweep device 13.
For example, when a step motor is used as means for controlling the mirror, a device that outputs a sweep angle corresponding to the number of pulses for driving the step motor can be used. In the case where, for example, a galvanometer type is used as the laser beam sweeping device 13, a device that outputs a control signal for controlling the galvanometer as a signal corresponding to the sweep angle can be used.

The image processing device 29 includes a television camera 23 for capturing an image in front of the host vehicle, an image processing circuit 25 for processing the captured image, and an image processing circuit 2.
A preceding vehicle detection circuit 27 for detecting a preceding vehicle from the processing result of step 5, and sweeps an electromagnetic wave in a direction in which the preceding vehicle is detected to the laser beam sweeping device 13 via a preceding vehicle existing direction detection circuit 33. To the command value. In addition,
The signal processing circuit 31, the image processing circuit 25, and the preceding vehicle detection circuit 27 can be constituted by, for example, a microcomputer.

Further, the vehicle motion control circuit 37 can follow the preceding vehicle while maintaining a safe inter-vehicle distance based on the given distance, direction, relative speed and own vehicle speed to the preceding vehicle. A command value is output to the actuator 39. By controlling the steering device 41 such as a throttle valve, a brake, and a steering wheel by the actuator 35, the vehicle can safely follow the vehicle.

Next, before describing the overall operation of this embodiment, a method of recognizing a preceding vehicle will be described first. FIG.
FIG. 4 is a plan view schematically showing a state in which the host vehicle is traveling on a gentle right curve. In FIG. 4, laser light emitted from a laser radar device 21 (not shown)
It is swept left and right around 5. In addition, the laser beam sweeping device 13 can set a sweeping range freely according to a command value from the preceding vehicle existing direction detection circuit 33 within the maximum -θM to θM in accordance with the angle of view of the television camera 23. I have. In addition, 53 and 54 are reflectors provided on the roadside zone (for example, cat eye),
45 is a preceding vehicle, 46a and 46b are reflex reflectors attached to the preceding vehicle, 49 is a center line, and 47 and 51 are roadside lines.

FIG. 5 is a diagram showing an image in front of the vehicle taken from the television camera 23 in the state of FIG. 4. Images of the same ones as those in FIG. I have. That is, 45 'is an image of the preceding vehicle, 53' and 54 'are reflectors provided on the left and right roadside zones, 49' is a center line, 47 'and 5'
1 'shows an image of a line indicating a roadside. Image processing is performed on this image to recognize the preceding vehicle. First, a center line 49 'and white lines 47' and 51 'at the roadside are detected by using an edge detection method. Further, the lane in which the own vehicle is traveling is determined. This includes 47 ', 4
It is determined which of the regions surrounded by the three curves 9 'and 51' includes the origin (X = 0, Y = 0), and it is assumed that the included region is the own lane. Next, the left and right boundaries (49 'and 51' in this case) constituting the own lane are determined, and data outside the boundary is erased to obtain an image as shown in FIG.
In FIG. 6, a curve dividing the own lane into two, that is, a curve 57 passing through the center in the X direction between boundaries 49 'and 51' is represented by Y = 0.
Pull down from the side (downward in the drawing) until you find an image. The edge in the vertical direction (Y direction) is detected near the end point of the curve 57, and the leftmost edge 59 and the rightmost edge 61 of the vertical edge are determined. The area between these two edges 59 and 61 (X
a ≦ X ≦ Xb) is the direction in which the preceding vehicle exists, and the preceding vehicle 45 ′ can be recognized. Further, by converting this area into a sweep direction (angle) and determining a command value for changing the sweep direction, the laser beam can be swept only in the direction of the preceding vehicle.

FIG. 7 is a flowchart showing a processing procedure for detecting the distance and direction to the preceding vehicle in the embodiment of FIG. Hereinafter, the operation of the embodiment shown in FIG. 3 will be described based on FIG. The processing procedure shown in FIG. 7 is roughly divided into an image capturing unit 101 that captures an image in front of the own vehicle from a television camera, a preceding vehicle detecting unit 103 that performs image processing on the captured image to recognize a preceding vehicle, If there is a preceding vehicle, a sweep angle range is calculated from a region in the image of the preceding vehicle, and the value is calculated by using the calculated value.
3, a sweep angle range output unit 105, a distance detection unit 107 that detects the distance to the preceding vehicle by the laser radar device 21, and a preceding vehicle position output unit that outputs the position of the preceding vehicle from the detected distance and angle. 109.

Next, the processing procedure will be described in detail. First,
In step 101, an image in front of the host vehicle is captured from the television camera 23. Next, in the preceding vehicle detection unit 103,
In step 121, a preceding vehicle is detected. Here, the preceding vehicle can be recognized using the method described above. In step 123, it is determined whether or not there is a preceding vehicle. If there is no preceding vehicle, the process returns to the image capturing section in step 101 to capture the next image. If there is a preceding vehicle, the next sweep angle range output unit 105 detects the distance to the preceding vehicle.
Proceed to.

In the sweep angle range output unit 105, first, in step 125, when the preceding vehicle is detected, the boundary values Xa, X of the area where the preceding vehicle exists (Xa ≦ X ≦ Xb) are detected.
The sweep angle ranges θa and θb are calculated from b. This calculation formula is shown in the following (Formula 1) and (Formula 2) formulas. θa = K1 × Xa (Equation 1) θb = K1 × Xb (Equation 2) Here, K1 is a constant. Next, in step 127,
θa and θb are output to the laser light sweeping device 13.

Next, in step 129, the distance detecting section 107 sets variables j and ΔL for calculation to 0. Note that the above variable j is the number of times the distance has been detected in one sweep, and ΔL is the integrated value of the detected distance L. Thereafter, in steps 131 to 145, the sweep angle θ is swept in the range of θa ≦ θ ≦ θb at intervals of Δθ to detect the distance. First, θ is set to the initial value θa (step 131), the sweep angle command value θ is output (step 133), the detected distance L at that time is read (step 135), and only the data when the distance is detected is read. The sum is calculated (step 141), and the distance is detected until the sweep angle becomes θb. Thereafter, an average value Lm of the data for which the distance has been detected in step 147, that is, a value obtained by dividing the integrated value of the detected distance L by the number of times j is calculated.

Finally, the preceding vehicle position output unit 109 determines whether or not the distance is detected by the distance detection unit 107.
If there is no preceding vehicle, it is determined that the preceding vehicle detected by the preceding vehicle detection unit 103 has been erroneously detected, and the process returns to the first step 101 without performing any operation. If the distance is detected, the position (θm, Lm) of the preceding vehicle is output (step 15).
1) Return to step 101. The direction θm of the preceding vehicle is as follows: θm = (θa + θb) / 2 (Equation 3)

As described above, in the embodiment shown in FIGS. 3 and 7, a preceding vehicle is detected by image processing.
The sweep direction of the electromagnetic wave in the laser radar is changed based on the result, and only the direction in which the preceding vehicle exists is swept. Therefore, the preceding vehicle can be reliably detected, and only the really necessary narrow range is swept, so that the number of times of detecting the distance to the preceding vehicle per unit time can be increased. Therefore, it is possible to accurately detect the distance and direction to the preceding vehicle, and the relative speed between the own vehicle and the preceding vehicle obtained from the change in the distance.

Next, FIG. 8 is a block diagram of a second embodiment of the present invention. FIG. 8 illustrates a case where the present invention is applied to an inter-vehicle distance control device that automatically controls the inter-vehicle distance between the host vehicle and the preceding vehicle to be equal to or longer than a predetermined safety distance. The configuration of FIG. 8 is almost the same as the embodiment of FIG. 3, and only different points will be described below. First, the laser beam sweeping device 13 can change the sweep angle range in the embodiment of FIG. 3, but in the present embodiment, the sweep angle range is adjusted to the angle of view −θM to θM of the television camera 23. The sweep angle range is fixed. The output of the preceding vehicle presence direction detection circuit 33 is sent to the signal processing circuit 32 as information on the processing angle ranges θa and θb for processing data.
In addition, the signal processing circuit 32 determines the range in which the distance information sent from the laser radar device 21 is fetched as data in the distance information sent from the laser radar device 21 to perform a processing operation according to the data processing angle ranges θa and θb sent from the preceding vehicle presence direction detection circuit 33. Limited,
Distance calculation is performed only within that range. Other parts are the same as those in FIG.

Next, before describing the overall operation of the present embodiment, a method of recognizing a preceding vehicle will be described first. FIG.
Is the laser radar device 21 in the running state of FIG.
FIG. 6 is a diagram showing a detection distance detected by a scanning angle with respect to a sweep angle. FIG. 9 shows the reflected signals 53 ″ and 54 ″ of the reflectors 53 and 54 installed on the left and right roadside zones and the preceding vehicle 45.
The reflected signals 46a "and 46b" of the reflex reflectors 46a and 46b are displayed. Further, the vehicle body center line 55 is a line having a sweep angle of 0 degree, and -θ
The sweep is performed in the range of M to + θM. As can be seen from FIG. 9, the detection results of the laser radar device 21 show not only the reflection signals 46 a ″ and 46 b ″ of the reflex reflectors 46 a and 46 b of the preceding vehicle 45 but also the reflections of the roadside reflectors 53 and 54. Many signals 53 "and 54" are detected, and it is very difficult to determine only the reflection signal of the preceding vehicle 45 from these reflection signals. Therefore, in this state, the reflex reflector 46a ″,
Therefore, as described in the embodiment of FIG. 3, the range of the direction in which the preceding vehicle exists (θa ≦ θ ≦ θb) is obtained from the image information, and the reflection existing in this range is determined. The signal may be recognized as that of the preceding vehicle.

Next, FIG. 10 is a flowchart showing a processing procedure for detecting the distance and direction to the preceding vehicle in the embodiment of FIG. Hereinafter, the operation of the embodiment shown in FIG. 8 will be described based on FIG. The processing procedure shown in FIG. 10 is roughly divided into an angle / distance calculation unit 201 that calculates and stores a detection distance for each sweep angle, an image capture unit 203 that captures an image ahead of the vehicle from a television camera, A preceding vehicle detecting unit 205 that performs image processing on the image obtained to recognize the preceding vehicle, a preceding vehicle existing direction calculating unit 207 that calculates the existing direction of the preceding vehicle when there is a preceding vehicle, and a distance to the preceding vehicle. A preceding vehicle distance calculation unit 209 to calculate;
It is divided into a preceding vehicle position output unit 211 that outputs the position of the preceding vehicle.

Next, the processing procedure will be described in detail. angle·
In the distance calculation unit 201, first, steps 221 and 223
Sets the variables k and i for processing to 0. That is, the laser is swept from the angle-[theta] M to [theta] M, during which the laser is output every 2 [theta] M / Kmax, and Kmax outputs are performed per sweep. The variable k is the number of the laser output in this one sweep, and the maximum value is Kmax
It is. The variable i is the number of times that the distance has been detected in one sweep. Next, in step 225, the traveling vehicle speed of the own vehicle is read from the vehicle speed sensor 35. Steps 227 to 241 form a loop. This loop is performed for each laser output. When one sweep is completed, the process proceeds to step 243 to the next image capturing unit 203. In this loop, first, the sweep angle θ is read from the laser beam sweep direction detecting device 11 (step 2).
27, 229), the detection distance L is read from the distance detection circuit 19 (step 231). If there is no distance detection, the process proceeds to step 239. If there is a distance detection, the process proceeds to step 235 (step 233). In steps 235 and 237, data is taken into the array D (i) only when the distance is detected. The array D (i) is an array for storing two data of the angle θ and the distance L, and inputs the obtained angle θ and the distance L. Thereafter, the next sweep angle command value is output (step 239). If k is smaller than Kmax, the current sweep is not yet completed, and the process returns to step 227. If k is equal to or larger than Kmax, all data obtained by the current sweep is output. Assuming that it has been detected and acquired, the number of times of distance detection in the current sweep is substituted for Imax (step 243), and the process proceeds to the next image capturing unit 203.

Next, the image capturing section 203 captures an image ahead of the host vehicle from the television camera. Next, the preceding vehicle detection unit 205 detects a preceding vehicle in step 245. Here, the preceding vehicle can be recognized using the method described with reference to FIGS. And
At step 247, it is determined whether a preceding vehicle exists,
If there is no preceding vehicle, the angle / distance calculation unit 20
Returning to step 1, the next processing is performed. If there is a preceding vehicle, the process proceeds to the next preceding vehicle existing direction calculation unit 207 to detect the distance to the preceding vehicle. The preceding vehicle existing direction calculation unit 207 calculates the processing angle ranges θa and θb for processing data from the boundary values Xa and Xb of the area where the preceding vehicle exists (Xa ≦ X ≦ Xb) when the preceding vehicle is detected. This calculation formula is shown in the following (Formula 4) and (Formula 5). θa = K1 × Xa (Equation 4) θb = K1 × Xb (Equation 5) In the above equation, K1 is a constant.

Next, in the preceding vehicle distance calculating section 209, first, in step 251, the variables j and ΣL
Is set to 0. Note that the variable j is the number of times that the distance has been detected (the number of data) in the sweep of the data processing angle range (θa ≦ θ ≦ θb), and ΔL is the integrated value of the detection distance L in the data processing angle range. is there. Thereafter, in steps 253 to 265, the angle θa ≦ θ ≦ of all the reflector data D (i) for which the distance has been detected.
The detection distance L of the reflector included in the range of θb is averaged. That is, i = 0 in step 253, and steps 255 to 263 form a loop process. Angle θ
If (i) falls within the range of θa ≦ θ (i) ≦ θb, L (i) is added to ΔL (step 257), and j is set to 1
Number is increased (step 259). This process is repeated while incrementing i by one, and is repeated until data of all the reflectors is processed (up to i ≧ Imax). After that, the integrated value ΣL of the detected distance within the processing angle range is converted into an angle θ (i) where θa ≦ θ.
(I) The average value Lm is calculated by dividing by the number j of data included in the range of ≦ θb.

Lastly, the preceding vehicle position output unit 211 determines whether or not the preceding vehicle distance calculation unit 209 has detected the distance of the preceding vehicle.
It is determined that the preceding vehicle detected in step 5 was erroneously detected, and the process returns to the initial angle / distance detecting unit 201 without performing any operation. If the distance is detected, the position of the preceding vehicle (θm, Lm)
Is output (step 269), and the angle / distance detector 20
Return to 1. Here, the direction θm of the preceding vehicle is θm = (θa + θb) / 2 (Equation 6).

As described above, in the embodiment shown in FIGS. 8 and 10, the preceding vehicle is detected by image processing, and the processing range of the data detected by the laser radar is set based on the result. Thus, data is processed only in the direction in which the preceding vehicle exists. Therefore, since the preceding vehicle can be reliably detected and the amount of data processing is reduced, the distance and direction to the preceding vehicle, and the relative speed between the own vehicle and the preceding vehicle obtained from the change in the distance are accurately detected. You can do it.

[0029]

As described above, according to the first aspect of the present invention, the vehicle on which the own vehicle travels by image processing.
The vehicle on which the own vehicle travels after detecting the line
A preceding vehicle is detected in the line, and the sweep direction of the electromagnetic wave in the reflector detecting means is changed based on the result, so that only the direction in which the preceding vehicle exists is swept. Therefore, the preceding vehicle can be reliably detected,
Accurately detects the distance and direction to the preceding vehicle, and the relative speed obtained from the change in the distance, since the number of times of detection of the distance to the preceding vehicle can be increased per unit time so that unnecessary parts are not swept. You can do it. In addition, the preceding vehicle existing in the lane where the own vehicle runs
Is detected only outside the vehicle's lane.
Traveling of the vehicle without erroneously recognizing the obstacle
Only true obstacles (preceding vehicles) existing in the lane
It can be detected reliably. According to the second aspect of the present invention, the lane in which the own vehicle travels by image processing.
And the lane in which the detected vehicle travels
By detecting the preceding vehicle within the vehicle and setting the input range of the data detected by the reflector detecting means based on the result, data in only the direction in which the preceding vehicle exists is processed. Therefore, the preceding vehicle can be reliably detected, and the amount of data processing is reduced.
It is possible to accurately detect the distance and direction to the preceding vehicle and the relative speed obtained from the change in the distance. Ma
In addition, only the preceding vehicle existing in the lane
Objects that are outside the lane where the vehicle is running
The vehicle on which the host vehicle travels without erroneously recognizing
Accurately detect only true obstacles (preceding vehicles) existing in the line
Can be issued. Therefore, by applying the preceding vehicle detection device as described above to an automatic traveling control device of a vehicle, an approach notification device of a vehicle, or the like, it is possible to generate more accurate automatic traveling or an appropriate notification. can get.

[Brief description of the drawings]

FIG. 1 is a diagram corresponding to claims of the invention described in claim 1;

FIG. 2 is a diagram corresponding to claims of the invention according to claim 2;

FIG. 3 is a block diagram of a first embodiment of the present invention.

FIG. 4 is a plan view schematically showing a state in which the host vehicle is traveling on a gentle right curve.

FIG. 5 is a view showing an image in front of the vehicle taken from the television camera 23 in the state of FIG. 4;

FIG. 6 is a diagram showing an image in which a portion outside the range of the own lane is deleted in FIG.

FIG. 7 is a flowchart showing a processing procedure for detecting a distance and a direction to a preceding vehicle in the embodiment of FIG. 3;

FIG. 8 is a block diagram of a second embodiment of the present invention.

9 shows a laser radar device 21 in the running state of FIG.
FIG. 6 is a diagram showing a detection distance detected by a sweep angle.

FIG. 10 is a flowchart showing a processing procedure for detecting a distance and a direction to a preceding vehicle in the embodiment of FIG. 8;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Reflector detection means 3 ... Photographing means 5 ... Image recognition means 7 ... Sweep direction changing means 8 ... Prior vehicle distance / direction selection means 9 ... Previous vehicle position output means 11 ... Laser beam sweep direction detection device 13 ... Laser beam sweep Device 15 ... Light transmitter 17 ... Light receiver 19 ... Distance detection circuit 21 ... Laser radar device 23 ... TV camera 25 ... Image processing circuit 27 ... Previous vehicle detection circuit 29 ... Image processing device 31 ... Signal processing circuit 33 ... Presence of vehicle Direction detection circuit 35 Vehicle speed sensor 37 Vehicle motion control circuit 39 Actuator 41 Operating device such as throttle valve, brake, steering wheel, etc.

Continuation of the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13/95 G01G 1/16 H04N 7/18

Claims (2)

(57) [Claims] 1. An electromagnetic wave is emitted in a traveling direction of a vehicle while sweeping a predetermined angle range, and a reflected wave from a reflector is received.
A reflector detecting means for detecting a distance and a direction from the host vehicle to the reflector by calculating a distance to the reflector based on a propagation delay time from emission of the electromagnetic wave to reception at each predetermined sweep angle; A photographing means for photographing a scene in front of the vehicle in the traveling direction; processing an image in front of the vehicle photographed by the photographing means to detect a lane in which the own vehicle travels;
The image recognition means for detecting a preceding vehicle existing ahead in the lane in which the own vehicle travels, and the electromagnetic wave sweeping direction of the reflector detecting means is set to the direction in which the preceding vehicle detected by the image recognition means exists. Sweep direction changing means for changing, and preceding vehicle position output means for outputting the distance and direction to the reflector detected by the reflector detecting means as the distance and direction of the preceding vehicle. Vehicle detection device. 2. An electromagnetic wave is emitted in the traveling direction of the vehicle while sweeping a predetermined angle range, and a reflected wave from a reflector is received.
A reflector detecting means for detecting a distance and a direction from the host vehicle to the reflector by calculating a distance to the reflector based on a propagation delay time from emission of the electromagnetic wave to reception at each predetermined sweep angle; A photographing means for photographing a scene in front of the vehicle in the traveling direction; processing an image in front of the vehicle photographed by the photographing means to detect a lane in which the own vehicle travels;
Image recognition means for detecting a preceding vehicle existing ahead in the lane in which the own vehicle travels ; and distance / direction information of the preceding vehicle detected by the image recognition means in the distance / direction information detected by the reflector detection means. Preceding vehicle distance / direction selecting means for selecting only information of the existing direction; preceding vehicle position output means for outputting the distance and direction selected by the preceding vehicle distance / direction selecting means as the distance and direction of the preceding vehicle; A preceding vehicle detection device comprising: