CN104192065A - Automobile periphery monitoring device capable of distinguishing monitored objects - Google Patents
Automobile periphery monitoring device capable of distinguishing monitored objects Download PDFInfo
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- CN104192065A CN104192065A CN201410409755.7A CN201410409755A CN104192065A CN 104192065 A CN104192065 A CN 104192065A CN 201410409755 A CN201410409755 A CN 201410409755A CN 104192065 A CN104192065 A CN 104192065A
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Abstract
The invention provides an automobile periphery monitoring device capable of distinguishing monitored objects. For example, when the automobile periphery monitoring device (1) is used, a passenger on an automobile (10) can be aware of an existing monitored object through a visual method and can know the variety of the monitored object according to different display manners for expressing the existing monitored object in images, displayed on an HUD (7), on the periphery of the automobile. The passenger on the automobile (10) can know that the monitored object is one of a person or a quadruped according to different design manners of a first mark (M1) and a second mark (M2) displayed on the HUD (7) or different design manners of a first frame (F1) and a second frame (F2).
Description
Technical field
The present invention relates to a kind of automobile surrounding control monitor unit of distinguishing monitored object, the image that the camera head on this automobile photographed is carried in described automobile surrounding control monitor unit utilization, when vehicle, touch the possibility of monitored object when larger, by informing device, to the occupant on this automobile, inform and have this monitored object.
Background technology
In the prior art, someone proposes following a kind of vehicle periphery monitoring device,, by its according to be present in vehicle periphery the monitored targets such as animal in position data in the same time not, obtain the motion-vector of this monitored target in real space, and then according to the size of the possibility of this motion-vector judgement vehicle touching monitored target, if be judged to be, produce the possibility of touching when larger, this result of determination is informed to chaufeur (with reference to No. 2001-006096, Japanese patent of invention Publication JP).
But, if monitored to as if during the quadrupeds such as pedestrian or people by bike or deer or dog, for automobile driver, although Useful Information is the kind of knowing this monitored object, but while being just apprised of result of determination, chaufeur cannot be known the kind of monitored object.
Summary of the invention
To this, the object of the present invention is to provide following a kind of automobile surrounding control monitor unit of distinguishing monitored object, that is, when being informed that by this automobile surrounding control monitor unit occupant on automobile exists monitored object, can make this occupant know the kind of this monitored object.
To achieve these goals, automobile surrounding control monitor unit of the present invention is, the image that the camera head on this automobile photographed is carried in described automobile surrounding control monitor unit utilization, when automobile, touch the possibility of monitored object when larger, by informing device, to the occupant on this automobile, inform and have this monitored object.This automobile surrounding control monitor unit has: monitored object drawing mechanism, and it is used for from the above-mentioned image photographing, and the image-region that is equivalent to above-mentioned monitored object is extracted out as monitored subject area; Monitored object kind decision mechanism, its according to the shape of the above-mentioned monitored subject area of being extracted out by above-mentioned monitored object drawing mechanism and size judge above-mentioned monitored to as if people or quadrupeds; Inform control mechanism, it,, according to the difference of the kind of the above-mentioned monitored object of being judged by above-mentioned monitored object kind decision mechanism, is informed and is had above-mentioned monitored object by above-mentioned informing device by different way.
Automobile surrounding control monitor unit of the present invention also has range acquisition mechanism, by it, measures the distance between above-mentioned automobile and above-mentioned monitored object.By above-mentioned monitored object kind decision mechanism, take the above-mentioned distance that above-mentioned range acquisition mechanism records and below reference range, as condition, carry out the judgement of the kind of above-mentioned monitored object, when be judged to be above-mentioned monitored to as if during people, by above-mentioned, inform that control mechanism carries out first and informs processing, and inform and have above-mentioned monitored object by above-mentioned informing device.When be judged to be above-mentioned monitored to as if during quadrupeds, by above-mentioned, inform that control mechanism is different from first and informs that second of processing informs processing, and inform and have above-mentioned monitored object by above-mentioned informing device.When if above-mentioned distance is longer than reference range, above-mentioned monitored object kind decision mechanism is not judged the kind of above-mentioned monitored object, and inform that by above-mentioned control mechanism is different from above-mentioned first and informs and process and above-mentioned second inform that the 3rd of processing informs processing, and inform and have above-mentioned monitored object by above-mentioned informing device.
When adopting automobile surrounding control monitor unit of the present invention, can be according to the difference that represents to exist the informing mode of monitored object, occupant on automobile can be awared and exist monitored object can know its kind again.In addition, so-called " image photographing ", except photographed original image, also comprises this original image is carried out to image processing and the working chart picture that obtains.In addition, in view of monitored object from automobile more away from the lower situation of judgement precision of this monitored object kind, so only, when this judges the state of precision in certain altitude, inform according to the difference of the kind of monitored object that by different way automobile driver exists this monitored object.Therefore can avoid occurring following situation, that is, because of automobile surrounding control monitor unit, the mistake of the kind of monitored object be judged, in wrong mode, inform that automobile driver exists this monitored object.Also have, can be according to the difference that represents to exist the informing mode of monitored object, occupant on automobile can not only be awared and exist monitored object can know its kind again, but also can recognize the length of the distance between automobile and this monitored object.
Automobile surrounding control monitor unit of the present invention also has the speed of a motor vehicle and measures mechanism, by it, measures the speed of above-mentioned automobile.Also can inform that control mechanism is according to the difference of the kind of the above-mentioned monitored object of being judged by above-mentioned monitored object kind decision mechanism by above-mentioned, according to the speed of being measured the speed of the above-mentioned automobile that mechanism records by the above-mentioned speed of a motor vehicle, by above-mentioned informing device, inform and have above-mentioned monitored object by different way again.
While adopting automobile surrounding control monitor unit of the present invention, can there is according to expression the difference of the informing mode of monitored object, occupant on automobile can not only be awared and exist monitored object can know its kind again, but also can know the speed of the speed of automobile.
Automobile surrounding control monitor unit of the present invention also has image display device, as above-mentioned informing device, by it, shows the image of above-mentioned motor vehicle environment.Can, according to the difference of the kind of the above-mentioned monitored object of being judged by above-mentioned monitored object kind decision mechanism, on above-mentioned image display device, represent to exist by different way above-mentioned monitored object.
While adopting automobile surrounding control monitor unit of the present invention, can according to the expression in the image of automobile surrounding, there is the difference of the display mode of monitored object, make the occupant on automobile can aware and exist monitored object can know its kind again by visual method.
Above-mentioned automobile surrounding control monitor unit also has sound-producing device, and as above-mentioned informing device, it can send the sound that represents to exist above-mentioned monitored object.Can, according to the difference of the kind of the above-mentioned monitored object of being judged by above-mentioned monitored object kind decision mechanism, by above-mentioned sound-producing device, send the sound of different modes to represent to exist above-mentioned monitored object.
When with automobile surrounding control monitor unit of the present invention, can according to expression, there is the difference of the tune of monitored object, make the occupant on automobile can aware and exist monitored object can know its kind again by the sense of hearing.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of automobile surrounding control monitor unit in explanation the present invention.
Fig. 2 is the schematic diagram that explanation is equipped with the vehicle of automobile surrounding control monitor unit.
Fig. 3 means the diagram of circuit of the function of automobile surrounding control monitor unit.
Fig. 4 is the different schematic diagrams of informing processing of explanation.
The specific embodiment
The following describes a kind of embodiment of distinguishing the automobile surrounding control monitor unit of monitored object of the present invention.
First the structure of automobile surrounding control monitor unit in present embodiment is described.As shown in Fig. 1 and Fig. 2, automobile surrounding control monitor unit has graphics processing unit 1.Graphics processing unit 1 was both connected with the pair of right and left infrared pick-up head (being equivalent to " camera head " of the present invention) 2R, the 2L that are used for taking vehicle front situation, be connected with following sensor again,, yaw rate sensor 3, as measure automobile 10 motoring condition sensor its be used for measuring the lateral angle speed of automobile 10; Car speed sensor 4, it is used for measuring the moving velocity (speed of a motor vehicle) of automobile 10; Braking sensor 5, whether its chaufeur that is used for measuring automobile 10 has operated drg.
In addition, graphics processing unit 1 is also connected with following device, that is, loud speaker 6 (being equivalent to " sound-producing device " of the present invention), its be used for sending by the transmission such as sound, can by Auditory Perception to the information of informing; HUD (head-up display is equivalent to " image display device " of the present invention) 7, it is arranged near front windshield, be used for showing the image that photographed by infrared pick-up head 2R, 2L and can be by the visual information of informing of confirming.
In addition, when distance with between radar measuring vehicle and monitored object, can also on vehicle 10, only carry an infrared pick-up head.Also can be with the read-out of the motoring conditions such as the speed of a motor vehicle of display automobile 10 or the read-out with on-vehicle navigation apparatus as image display device, with replace HUD or arrange with this HUD is parallel.
Graphics processing unit 1 consists of ECU (electronic control unit), described ECU by memory devices such as A/D transformation loop, CPU, RAM, ROM with I/O loop and the bus that is used for being connected them form.By graphics processing unit 1 (at length saying, is memory device or the CPU that carries out computing according to the program being stored in memory storage), form " monitored object drawing mechanism " of the present invention, " monitored object kind decision mechanism " and " informing control mechanism ".
By infrared pick-up head 2R and 2L, yaw rate sensor 3, the analog signal of car speed sensor 4 and braking sensor 5 outputs is able to digitized processing through A/D transformation loop, according to being measured by the data of CPU digitized processing, be people (pedestrian, people by bike or ride in the occupant on motor bike) or quadrupeds (deer, horse or dog etc.) etc. monitored object, when measured monitored object meet regulation inform condition time, by loud speaker 6 or HUD7, inform that chaufeur exists monitored object or informs the size of the possibility of the monitored object of automobile 10 touching.
As shown in Fig. 2, be used for taking the infrared pick-up head 2R of the place ahead situation of automobile 10, the front portion that 2L is arranged on automobile 10 (in figure, being front grill portion).The infrared pick-up head 2R on right side is arranged on the position of keeping right than the center of the overall width direction of automobile 10, the infrared pick-up head 2L in left side is arranged on the position keeping left than the center of the overall width direction of automobile 10, and described two setting positions are symmetrical state with respect to the center of overall width direction.The optical axis of infrared pick-up head 2R, 2L is parallel to each other and extend along the fore-and-aft direction of automobile 10, and the height on described optical axis distance road surface equates, they are fixed on automobile 10 in this way.Infrared pick-up head 2R, 2L have photo sensitivity to the light of far-infrared rays wavelength region, so they have following characteristic, that is, the temperature of the object being taken is higher, the intensity higher (that is, the gray scale of picture signal is larger) of the picture signal of its output.
Then explanation has the function of the automobile surrounding control monitor unit of said structure.In addition, because the details that image is processed is open by Japanese patent of invention Publication JP 2001-006096 and JP 2007-310705, so it is sketched at this.
First, the infrared view signal input picture processing unit 1 being photographed by infrared pick-up head 2R, 2L, described infrared view signal, by A/D conversion process, generates gray level image according to the infrared view signal through A/D conversion process.Be taken as the gray level image (image right) of benchmark image by binary Images Processing.Using region corresponding with monitored object in bianry image as monitored subject area S, extract out afterwards (STEP002 in Fig. 3).
Specifically, the number of lines of pixels certificate that forms gray scale upper zone in bianry image is transformed to run length encoded data, and in benchmark image, have in a longitudinal direction on the line of lap and mark label (mark), each line is drawn out of as monitored subject area S.Thus, shown in (a) in Fig. 4～(c), by the higher pixel of gray scale (pixel of pixel value=1), concentrated and the gray scale that forms is used as monitored subject area S compared with high region and extracts out.
Next, obtain center-of-gravity position (position in benchmark image), area and the external tetragonal aspect ratio ratio corresponding to each monitored object.In addition, in the different moment, monitored object is carried out to tracking process, then to each calculation process cycle monitoring to monitored object whether be that same monitored object carries out determination processing.Also have, read the output valve (speed of a motor vehicle value of measuring and the lateral angle speed value of measuring) of car speed sensor 4 and yaw rate sensor 5.
In addition, at the external tetragonal aspect ratio ratio of calculating with when the different moment is carried out tracking process to monitored object, from benchmark image, region corresponding to each monitored object (for example, the external quadrilateral area corresponding with monitored object) extracted out as searching image.By degree of correlation computing, just can from left-side images, search the image corresponding with searching image (correspondence image) again and by its extraction.
In addition, obtain vehicle 10 to (distance of vehicle 10 on the fore-and-aft direction) z of the distance in real space (STEP004 in Fig. 3) of monitored object.In addition, obtain each monitored object in real space position (with the relative position of automobile 10).Also have, according to the X coordinate in the real space position (X, Y, Z) (with reference to Fig. 2) of the monitored object of time series data correction of lateral angle speed.In addition, obtain the vector that relatively moves (STEP006 in Fig. 3) of monitored object and automobile 10.
Also have, judge the size (STEP008 in Fig. 3) that produces the possibility of touching between automobile 10 and monitored object.In addition, because its decision method was at length disclosed by Japanese patent of invention Publication JP 2001-006096 and JP 2007-310705, so it is sketched at this.
First, judge that distance z in real space is whether at relative velocity Vs with set aside some time below T product numerical value.In addition, the distance z in being judged to be real space judges when this numerical value is following whether monitored object is approaching (the first touching determination processing) in determinating area.
Approach symmetrical extension of the left and right directions of determinating area in the place ahead of automobile 10, its width is that the width of vehicle 10 adds deviation value numerical value afterwards.When the result of determination of the first touching determination processing is when being, the possibility that is judged to be monitored object touching automobile 10 is larger.
When the result of determination of the first touching determination processing is while being no, further judge whether monitored object is approaching the determinating area that enters in determinating area outside, and whether the vector that relatively moves of monitored object is towards approaching determinating area (the second touching determination processing).When the result of determination of the second touching determination processing is that to be judged to be the possibility of monitored object touching automobile 10 while being larger.
When being judged to be the possibility of the monitored object of automobile 10 touching large while being (result of determination of the first or second touching determination processing for) (when the STEP008 in Fig. 3 is), further judge whether monitored object is that artificial structure waits it to exist sending the lower object (STEP010 in Fig. 3) of essentiality of the information of informing, if the monitored object recording is while having the monitored object of the resemblance that does not belong to pedestrian or quadrupeds, be judged to be this monitored object for artificial structure.
When the possibility that is judged to be the monitored object of automobile 10 touching is during hour (when the result of determination of the first or second touching determination processing is no) when no (STEP008) in Fig. 3, or to be judged to be monitored object be not while informing object when no (STEP010) in Fig. 3, informing of chatting after not carrying out processed and repeatedly extracted processing after monitored subject area S (with reference to the STEP002 in Fig. 3 etc.) out.
When being judged to be monitored object and being not the objects such as artificial structure, (when the STEP010 in Fig. 3 is) judges that the distance z of monitored object in real space is whether below threshold value zth (STEP012 in Fig. 3) again.The judgement precision of the kind of the monitored object of threshold value zth consideration is set.When being judged to be the distance z of monitored object in real space below threshold value zth when (when the STEP012 in Fig. 3 is), then judge whether this monitored object is pedestrian or rides in the occupant (STEP014 in Fig. 3) on bicycle.
In addition, when being judged to be when monitored object is not people when no (STEP014) in Fig. 3, judge again whether this monitored object is the quadrupeds (STEP016 in Fig. 3) such as deer, horse or dog.Specifically, monitored to liking people or quadrupeds according to characteristic quantity judgements such as the shape of the monitored object region S in gray level image or size or intensity profile.
Next, when be judged to be monitored to as if carry out " first informs processing " (STEP022 in Fig. 3) during people's (when the STEP014 in Fig. 3 is).Thereby can be sent continuously by loud speaker 6 the shorter sound of three " Pi, Pi, Pi ".In addition, as shown in (a) in Fig. 4, on HUD7, show and surround the rectangle first frame F1 of monitored object and represent monitored to liking the first mark M1 of people.
In addition, when be judged to be monitored to as if carry out " second informs processing " (STEP024 in Fig. 3) during quadrupeds (when the STEP016 in Fig. 3 is).Thereby can be sent continuously by loud speaker 6 the shorter sound of two " Pi, Pi ".In addition, as shown in (b) in Fig. 4, on HUD7, show and surround the octagon second frame F2 of monitored object and represent monitored to liking the second mark M2 of quadrupeds.
Also have, when being judged to be, when the distance z of monitored object in real space surpasses threshold value zth when no (STEP012) in Fig. 3, carry out " the 3rd informs processing " (STEP026 in Fig. 3).Thereby can be sent by loud speaker 6 the shorter sound of one " Pi ".In addition, as shown in (c) in Fig. 4, on HUD7, show to surround circle the 3rd frame F3 of monitored object and represent monitored to as if the 3rd mark M3 of the object such as the larger people of the possibility of touching automobile 10 or quadrupeds.
The design of the first frame F1～three frame F3 (comprise its shape, color or pattern, or their combination) all different.The design of the first mark M1～three mark M3 is also all different.Respectively inform that the sound sending in processing is also different.In addition, also can be in respectively informing processing one of them of a show tags or frame, or display frame and sounding when different, but only display frame or only sound.
When employing has the automobile surrounding control monitor unit of above-mentioned functions, can be according to the difference that represents to exist the informing mode of monitored object, occupant on automobile 10 can not only be awared and exist monitored object can know again its kind (with reference to the STEP022 in Fig. 3, STEP024).That is, can according to expression, there is the difference of the tune of passing through loud speaker 6 of monitored object, make the occupant on automobile can aware and exist monitored object can know its kind again by the sense of hearing.
For example, can be according to the difference of the tune by loud speaker 6, make occupant on automobile 10 know monitored to as if one of them of people or quadrupeds.Can, according to the difference that is presented at the display mode that represents to exist monitored object in the image of the automobile surrounding on HUD7, make the occupant on automobile 10 can aware and exist monitored object can know its kind again by visual method.For example, can be according to the difference that is presented at the design of the first mark M1 on HUD7 and the second mark M2, or according to the difference of the design of the first frame F1 and the second frame F2, make the occupant on automobile 10 know monitored to liking people or quadrupeds one of them (with reference to (a), (b) in Fig. 4).
Also have, in view of monitored object from automobile 10 more away from the lower situation of judgement precision of this monitored object kind, so only judge the state of precision in certain altitude at this,, the distance z of monitored object in real space is when threshold value zth is following, according to the difference of the kind of monitored object, there is this monitored object (with reference to (a) in the STEP012 in Fig. 4, Fig. 4～(c)) in the chaufeur of informing by different way vehicle 10.
Can avoid thus occurring following situation, that is, according to the mistake of the kind of 1 pair of monitored object of automobile surrounding control monitor unit, judge, with wrong way, inform that vehicle driver exists this monitored object.But, when even the distance z of monitored object in real space surpasses threshold value zth, also can inform and have this monitored object (with reference to (c) in the STEP026 in Fig. 4, Fig. 4), so now also can remind chaufeur to have this monitored object.
In addition, according to the difference of the kind of monitored object, then according to the length of the distance z in real space, inform that by different way chaufeur exists monitored object.Even if the distance z of monitored object in real space surpasses threshold value zth, also can judge the kind of this monitored object.
Also can use the Second Threshold less than threshold value zth to replace this threshold value zth, then according to the distance z in real space whether at this comparing result below Second Threshold judge the length of the distance from automobile 10 to monitored object.For example, monitored to liking people (with reference to the STEP014 in Fig. 3) when being judged to be, more in short-term, or the distance z of this monitored object in real space is when longer, also the different mark of design can be presented on HUD7 respectively for the distance z of this monitored object in real space.When employing has the automobile surrounding control monitor unit of said structure, can there is according to expression the difference of the informing mode of monitored object, chaufeur can not only be awared and exist monitored object can know its kind again, and can also recognize the length of the distance between vehicle 10 and this monitored object.
In addition, also can replace by the size of the part corresponding with monitored object in the image photographing the distance of monitored object, and it is condition that this part size of take surpasses defined threshold, according to the difference of detected object kind, to chaufeur, informs and have this monitored object by different way.
Also have, also can be according to the difference of the kind of monitored object, then the speed of the speed of the automobile 10 recording according to the output signal by car speed sensor, to chaufeur, inform and have above-mentioned monitored object by different way.When employing has the automobile surrounding control monitor unit of said structure, can there is according to expression the difference of the informing mode of monitored object, chaufeur can not only be awared and exist this monitored object can know its kind again, and can also know the speed of the speed of automobile 10.
Claims (4)
1. the automobile surrounding control monitor unit that can distinguish monitored object, the image that the camera head on this automobile photographed is carried in described automobile surrounding control monitor unit utilization, when vehicle is touched the possibility of monitored object when larger, through informing device, to the occupant on this vehicle, inform and have described monitored object, it is characterized in that, described automobile surrounding control monitor unit has: monitored object drawing mechanism, by it, from the described image photographing, the image-region that is equivalent to described monitored object is extracted out as monitored subject area; Monitored object kind decision mechanism, its according to the shape of the described monitored subject area of extracting out via described monitored object drawing mechanism and size judge described monitored to as if people or quadrupeds; Inform control mechanism, it,, according to the difference of the kind of the described monitored object of judging via described monitored object kind decision mechanism, is informed and is had described monitored object by described informing device by different way; Range acquisition mechanism, by it, measure the distance between described automobile and described monitored object, by described monitored object kind decision mechanism, take the described distance that described range acquisition mechanism records and below reference range, as condition, carry out the judgement of the kind of described monitored object, when be judged to be described monitored to as if during people, by described, inform that control mechanism carries out first and informs processing, and inform and have described monitored object by described informing device; When be judged to be described monitored to as if during quadrupeds, by described, inform that control mechanism is different from first and informs that second of processing informs processing, and inform and have described monitored object by described informing device, when described distance is longer than reference range, described monitored object kind decision mechanism is not judged the kind of described monitored object, and inform that by described control mechanism is different from described first and informs and process and described second inform that the 3rd of processing informs processing, and inform and have described monitored object by described informing device.
2. according to a kind of automobile surrounding control monitor unit of distinguishing monitored object described in claim 1, it is characterized in that, also there is the speed of a motor vehicle and measure mechanism, by it, measure the speed of described automobile, by described, inform that control mechanism is according to the difference of the kind of the described monitored object of being judged by described monitored object kind decision mechanism, according to the speed of being measured the speed of the described automobile that mechanism records by the described speed of a motor vehicle, by described informing device, inform and have described monitored object by different way again.
3. according to a kind of automobile surrounding control monitor unit of distinguishing monitored object described in claim 1, it is characterized in that, also there is image display device, as described informing device, by it, show the image of described automobile surrounding, and according to the difference of the kind of the described monitored object of being judged by described monitored object kind decision mechanism, on described image display device, represent to exist by different way described monitored object.
4. according to a kind of automobile surrounding control monitor unit of distinguishing monitored object described in claim 1, it is characterized in that, also there is sound-producing device, as described informing device, by it, send the sound that represents to exist described monitored object, according to the difference of the kind of the described monitored object of being judged by described monitored object kind decision mechanism, by described sound-producing device, sent the sound of different modes to represent to exist described monitored object.
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Cited By (1)
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| CN105678864A (en) * | 2016-03-07 | 2016-06-15 | 深圳市金豪泰科技有限公司 | Driving monitoring device with HUD (Head Up Display) system and driving monitoring method |
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Application publication date: 20141210 |