CN110580439A - Driving support device - Google Patents

Driving support device Download PDF

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Publication number
CN110580439A
CN110580439A CN201910491284.1A CN201910491284A CN110580439A CN 110580439 A CN110580439 A CN 110580439A CN 201910491284 A CN201910491284 A CN 201910491284A CN 110580439 A CN110580439 A CN 110580439A
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CN
China
Prior art keywords
sign
road
notification
information
host vehicle
Prior art date
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Granted
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CN201910491284.1A
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Chinese (zh)
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CN110580439B (en
Inventor
长嶋太良
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Suzuki Motor Corp
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Suzuki Motor Corp
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Publication of CN110580439A publication Critical patent/CN110580439A/en
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Publication of CN110580439B publication Critical patent/CN110580439B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)

Abstract

The invention provides a driving assistance device capable of preventing error notification of a drive-in prohibition sign and continuous sending of the error notification. A driving assistance apparatus, comprising: an imaging unit (2) that images an image in front of the vehicle (1); a recognition processing unit (64) that recognizes a road traffic sign from the image captured by the imaging unit (2); and an output processing unit (65) that notifies the passenger of information relating to the road traffic sign, wherein when the information relating to the no-entry sign or the one-way passage sign is being notified, the output processing unit (65) ends or changes the notification of the information relating to the no-entry sign or the one-way passage sign if the recognition processing unit (64) recognizes a road traffic sign other than the specific sign that prohibits the vehicle (1) from passing.

Description

Driving support device
Technical Field
The present invention relates to a driving assistance device.
Background
patent document 1 discloses a technique for determining whether or not to notify a driver of a drive-in prohibition flag based on a set position and a direction of the flag when the drive-in prohibition flag is detected.
documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2017-102665
Disclosure of Invention
Problems to be solved by the invention
however, as described in patent document 1, when the entrance prohibition flag is detected by the camera and notified to the driver, an object other than the entrance prohibition flag may be erroneously detected as the entrance prohibition flag and notified erroneously.
In such a case, since the entry prohibition flag does not originally exist, even if the determination of the installation position or orientation is correct, the erroneous notification is performed, and improvement is desired.
Therefore, an object of the present invention is to provide a driving assistance device capable of preventing an erroneous notification of a drive prohibition flag and a continuation of the erroneous notification.
means for solving the problems
in order to solve the above problem, the present invention provides a driving assistance device including: an image pickup unit that picks up an image of the front of the vehicle; an identification processing unit that identifies a road traffic sign from the image; and an output processing unit that notifies the passenger of information relating to the road traffic sign, wherein when the information relating to the no-entry sign or the one-way passage sign is being notified, if the identification processing unit identifies a road traffic sign other than the specific sign that prohibits the own vehicle from passing, the output processing unit ends or changes the notification of the information relating to the no-entry sign or the one-way passage sign.
ADVANTAGEOUS EFFECTS OF INVENTION
Thus, the invention can prevent the error notice of the driving prohibition mark and the continuous sending of the error notice.
Drawings
Fig. 1 is a block diagram of a driving assistance device according to an embodiment of the present invention.
Fig. 2 is a diagram showing an example of display of a notification unit of the driving assistance device according to the embodiment of the present invention.
Fig. 3 is a diagram showing an example of a specific flag of the driving assistance device according to the embodiment of the present invention.
Fig. 4 is a flowchart showing the procedure of the entry prohibition flag notification processing of the driving assistance apparatus according to the embodiment of the present invention.
Fig. 5 is a flowchart showing the procedure of the entry prohibition flag notification termination process of the driving assistance apparatus according to the embodiment of the present invention.
Fig. 6 is a diagram for explaining the effect of the entry prohibition flag notification processing and the entry prohibition flag notification end processing in the driving assistance device according to the embodiment of the present invention.
Fig. 7 is a diagram showing an example 1 of the effect of the plural entry prohibition flag recognition processing of the driving assistance device according to the embodiment of the present invention.
Fig. 8 is a diagram showing a 2 nd example of the effect of the plural entry prohibition flag recognition processing of the driving assistance device according to the embodiment of the present invention.
Description of the reference numerals
1. A vehicle; 2. an image pickup unit; 3. a notification unit; 6. a control unit; 64. a recognition processing unit; 65. an output processing unit; 66. and a restriction information determination unit.
Detailed Description
A driving assistance device according to an embodiment of the present invention includes: an image pickup unit that picks up an image of the front of the vehicle; a recognition processing unit that recognizes a road traffic sign from the image; and an output processing unit that notifies the passenger of information relating to the road traffic sign, wherein the output processing unit ends or changes the notification of the information relating to the entrance prohibition sign or the one-way passage sign when the identification processing unit identifies the road traffic sign other than the specific sign that prohibits the vehicle from passing through, while the information relating to the entrance prohibition sign or the one-way passage sign is being notified.
Thus, the driving assistance device according to the embodiment of the present invention can prevent the erroneous notification of the entry prohibition flag and the continued issuing of the erroneous notification.
[ examples ] A method for producing a compound
next, a driving assistance device according to an embodiment of the present invention will be described in detail with reference to the drawings.
In fig. 1, a vehicle 1 mounted with a driving assistance device according to an embodiment of the present invention includes an imaging unit 2, a notification unit 3, a communication unit 4, a map information management unit 5, and a control unit 6.
The imaging unit 2 is constituted by, for example, a camera or the like, and images the front of the vehicle 1. The imaging unit 2 outputs the captured image to the control unit 6.
The notification unit 3 is configured by, for example, a monitor device, a speaker, a lamp, a meter, a buzzer, and the like, and notifies the driver of various information by visual sense, auditory sense, and the like.
the communication unit 4 communicates with a server device outside the vehicle, a roadside communication device provided near the road, and the like to transmit and receive information.
The map information management Unit 5 is constituted by a computer Unit including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash Memory, a hard disk device, an input port, and an output port.
The ROM of the map information management unit 5 stores various control constants, various maps, and the like, and also stores a program for causing the computer unit to function as the map information management unit 5. That is, the CPU executes the program stored in the ROM, and the computer unit functions as the map information management unit 5.
A GNSS (Global Navigation Satellite System) receiver 53 and various sensor components including an acceleration sensor, not shown, are connected to an input port of the map information management unit 5.
The GNSS receiver 53 receives radio waves from GNSS satellites via a GNSS antenna, not shown, and acquires the latitude, longitude, and the like of the current position from information included in the received radio waves. The acceleration sensor detects the acceleration of the vehicle 1.
The map information management unit 5 and the control unit 6 mutually transmit and receive signals such as control signals through an in-vehicle LAN (Local Area Network) based on specifications such as CAN (Controller Area Network).
The map information management unit 5 functions as a static information storage unit 51, and the static information storage unit 51 manages static map information including information on road traffic signs, information on traffic lights, information on lanes of roads, and the like, which are stored in the hard disk device, for example, for each road link.
The road link represents, for example, a road section between two nodes of nodes such as an intersection and a connection point of a road.
The map information management unit 5 functions as a dynamic information acquisition unit 52, and the dynamic information acquisition unit 52 acquires dynamic information such as road traffic information, road restriction information, road construction information, traffic congestion information, accident information, ITS (Intelligent Transport Systems) information, and weather information from a server device, a roadside communication device, and the like via the communication unit 4.
The map information management unit 5 can detect the current position of the host vehicle by the GNSS receiver 53, the acceleration sensor, and the like.
The map information management unit 5 acquires a road link at the current position from the current position, and acquires map information such as information on a road traffic sign, information on a traffic light, information on a road type, and information on road attributes, which are stored in association with the road link.
The map information management unit 5 acquires traffic information such as traffic jam information and accident information around the current position, weather information, and the like.
The map information management unit 5 transmits the acquired map information, traffic information, weather information, and the like to the control unit 6. The map information management unit 5 transmits map information, traffic information, weather information, and the like acquired when a road link changes, when information is acquired from a server device, a roadside communication device, and the like, for example, to the control unit 6.
The control section 6 is constituted by a computer unit including a CPU, a RAM, a ROM, a flash memory, an input port, and an output port.
the ROM of the control unit 6 stores various control constants, various maps, and the like, and also stores a program for causing the computer unit to function as the control unit 6. That is, the CPU executes the program stored in the ROM, and the computer unit functions as the control unit 6.
Various sensor members including the imaging unit 2 are connected to an input port of the control unit 6. Various kinds of members to be controlled including the notification unit 3 are connected to the output port of the control unit 6.
The control unit 6 functions as an image reading unit 61 that reads image data captured by the imaging unit 2. The control unit 6 functions as an image processing unit 62 that performs predetermined image processing on the image data read by the image reading unit 61.
The control unit 6 functions as a detection processing unit 63, and the detection processing unit 63 sets an object to be recognized, for example, when predetermined recognition processing is performed on the image data subjected to the image processing by the image processing unit 62.
The control unit 6 functions as a recognition processing unit 64, and the recognition processing unit 64 recognizes road traffic signs, characters, signs, persons, automobiles, traffic lights for pedestrians, entrances and exits of toll booths, lanes of roads, and the like in front of the vehicle from the image data image-processed by the image processing unit 62 in accordance with the setting of the detection processing unit 63.
the control unit 6 functions as an output processing unit 65 that notifies the driver of the road traffic sign recognized by the recognition processing unit 64 by the notification unit 3.
The control unit 6 functions as a restriction information determination unit 66 that determines restriction information on a road segment on which the vehicle 1 travels.
When the road traffic sign is recognized by the recognition processing part 64, the control part 6 notifies the existence of the road traffic sign through the notification part 3.
The notification unit 3 displays an image of the recognized road traffic sign to notify the presence of the road traffic sign, for example, as shown in fig. 2.
In fig. 2, the notification section 3 displays images of road traffic signs in two areas a and B. For example, in the area a, an image of a road traffic sign shown at the root of the arrow in the figure is displayed, and in the area B, an image of a road traffic sign shown at the root of the arrow in the figure is displayed.
When the notification unit 3 notifies the presence of the road traffic sign, the control unit 6 terminates the notification indicating the presence of the road traffic sign when a predetermined notification completion condition is satisfied.
The notification end condition includes a condition that the travel route of the host vehicle is changed, a road link on which the host vehicle travels is changed, and the like.
When the entry prohibition flag is recognized by the image recognition processing and the map information stored in the map information management unit 5 includes one-way traffic information indicating that there is one-way traffic in at least 1 road link existing in the traveling direction of the own vehicle, the control unit 6 causes the notification unit 3 to notify the recognized entry prohibition flag. For example, when the host vehicle travels toward an intersection, there are 3 road segments starting from a node of the intersection in the traveling direction of the host vehicle. The case where one-way traffic information is contained in at least 1 of the 3 road segments is also included in the above case.
When the road link including the one-way traffic information is adjacent to the current road link, the control unit 6 may cause the notification unit 3 to notify the recognized entry prohibition flag.
When the entry prohibition flag is recognized by the image recognition processing, the control unit 6 causes the notification unit 3 to perform the 1 st notification mode.
When the entry prohibition flag is recognized by the image recognition processing, if the map information stored in the map information management unit 5 includes information that there is one-way traffic information in at least 1 road segment existing in the traveling direction of the host vehicle and it is determined that the host vehicle passes the recognized entry prohibition flag, the control unit 6 determines that the road segment on which the host vehicle travels is the entry prohibition segment and causes the notification unit 3 to perform the 2 nd notification method different from the 1 st notification method.
Here, the 1 st notification method is, for example, lighting of a lamp, and the 2 nd notification method is, for example, blinking of a lamp. The 1 st notification method and the 2 nd notification method may be notification by sound or notification by warning display. The 1 st notification mode is a notification with the entry prohibition flag as a content, and the 2 nd notification mode is a notification with the reverse travel state as a content.
When the notification unit 3 notifies the entry prohibition flag, the control unit 6 ends the notification of the entry prohibition flag if a road traffic sign other than the specific sign prohibiting the passage of the own vehicle is recognized by the image recognition processing. The specific mark is a road traffic mark for prohibiting the passage of vehicles as shown in fig. 3. The specific mark may include a one-way passage mark or a pedestrian-dedicated road traffic mark that allows passage only in a direction opposite to the traveling direction of the vehicle.
when the notification unit 3 notifies the entry prohibition flag, the control unit 6 may change the notification of the entry prohibition flag if a road traffic sign other than the specific sign prohibiting the passage of the host vehicle is recognized by the image recognition processing. The change of the notification means, for example, turning on the blinking of the lamp, or weakening or reducing the display.
The notification of the entry prohibition flag is a display of the entry prohibition flag and a notification including the 1 st notification mode and the 2 nd notification mode.
When the notification unit 3 notifies the entry prohibition flag, the control unit 6 ends the notification of all the information on the road traffic sign including the notification of the entry prohibition flag if the road traffic sign other than the specific sign is not recognized by the image recognition processing and the notification end condition is satisfied.
When the notification unit 3 notifies the entry prohibition flag, the control unit 6 terminates or changes the notification of only the entry prohibition flag if the road traffic sign other than the specific sign is recognized by the image recognition processing.
The drive prohibition flag notification process by the driving assistance device according to the present embodiment configured as described above will be described with reference to fig. 4. Note that the entry prohibition flag notification process described below is started when the control unit 6 starts operating, and is executed at preset time intervals.
In step S1, the control unit 6 determines whether or not the entry prohibition flag is recognized from the image captured by the imaging unit 2. If it is determined that the entry prohibition flag is not recognized, the control unit 6 repeats the process of step S1.
When it is determined in step S1 that the entrance prohibition flag is recognized, the control unit 6 causes the notification unit 3 to perform the 1 st notification mode of the entrance prohibition flag in step S2.
In step S3, the control unit 6 determines whether or not one-way traffic information is present in the next road link present in the traveling direction of the own vehicle. If it is determined that the one-way traffic information is not present in the next road link, the control unit 6 ends the processing.
If it is determined in step S3 that the one-way traffic information is present in the next road link, the control unit 6 determines in step S4 whether or not the vehicle passes the recognized entry prohibition flag. If it is determined that the entry prohibition flag has not passed, the control unit 6 repeats the process of step S4.
If it is determined in step S4 that the entrance prohibition flag has passed, the control unit 6 causes the notification unit 3 to perform the 2 nd notification mode of the entrance prohibition flag in step S5, and ends the process.
The drive prohibition flag notification termination process according to the driving assistance apparatus of the present embodiment will be described with reference to fig. 5. Note that the entry prohibition flag notification termination process described below is started when the control unit 6 starts operating, and is executed at preset time intervals.
In step S11, the control unit 6 determines whether or not the entry prohibition flag is being notified. If it is determined that the entrance prohibition flag is not being notified, the control unit 6 repeats the process of step S11.
If it is determined in step S11 that the entrance prohibition flag is being notified, the control unit 6 determines in step S12 whether or not a road traffic flag other than the specific flag is recognized. When it is determined that a road traffic sign other than the specific sign is recognized, the control unit 6 ends the notification of only the entrance prohibition sign in step S13, and ends the process.
When it is determined in step S12 that no road traffic sign other than the specific sign is recognized, the control unit 6 determines in step S14 whether or not the notification end condition is satisfied. When determining that the notification end condition is not satisfied, the control unit 6 returns the process to step S12.
When it is determined in step S14 that the notification end condition is satisfied, the control unit 6 ends the notification of all the road traffic signs and ends the process in step S15.
As described above, since the presence of the no-entry mark is notified on the condition that the no-entry mark is recognized from the image captured by the imaging unit 2 and the one-way traffic information is included in the road link following in the traveling direction of the host vehicle, even when the object shown in fig. C is erroneously recognized as the no-entry mark as shown in fig. 6, if the one-way traffic information is not included in the road link following in the traveling direction of the host vehicle, the notification is not performed with the presence of the no-entry mark as a content, and therefore, even when the object other than the no-entry mark is erroneously recognized as the no-entry mark in the image recognition processing, the information on the no-entry mark can be appropriately notified without making a false determination.
In fig. 6, even when the object shown in fig. C is erroneously recognized as the no-entry marker and the information on the road link following in the traveling direction of the host vehicle cannot be acquired, if the road traffic marker D other than the specific marker is recognized, the notification containing the presence of the no-entry marker is terminated, and therefore, even when the object that is not the no-entry marker is erroneously recognized as the no-entry marker in the image recognition processing, the information on the no-entry marker can be appropriately notified without making an erroneous determination.
When the plurality of entrance prohibition flags are recognized by the image recognition processing, if the average value of the distances in the direction perpendicular to the traveling direction of the host vehicle between the straight line passing through the center of the host vehicle and extending in the traveling direction of the host vehicle and the straight line passing through the center between the plurality of entrance prohibition flags is equal to or less than the predetermined threshold value, the control unit 6 determines that there is an entrance prohibition flag directed toward the road on which the host vehicle is traveling, and determines that the host vehicle is traveling in the wrong direction on the one-way passage when the entrance prohibition flags pass through the flag.
When it is determined that the entrance prohibition flag toward the road on which the host vehicle is traveling is present among the plurality of entrance prohibition flags, the one-way traffic information is included in at least 1 road segment present in the traveling direction of the host vehicle, and it is determined that the host vehicle passes the recognized entrance prohibition flag, the control unit 6 determines that the road section on which the host vehicle is traveling is the entrance prohibition section.
For example, as shown in fig. 7, when the plurality of entrance prohibition flags E, F for the road of L2 are recognized, the average value of the distances between the vehicle 1 traveling on the road of L1 and the plurality of entrance prohibition flags is a value G and exceeds a threshold value, and it is determined that there is no entrance prohibition flag toward the road on which the vehicle is traveling.
The average value of the distances between the vehicle traveling on the road at L2 and the plurality of entry prohibition markers is equal to or less than the threshold value, and it is determined that the entry prohibition marker exists toward the road on which the host vehicle is traveling.
Similarly to the road of L1, the average value of the distances between the vehicle traveling on the road of L3 and the plurality of entrance prohibition flags exceeds the threshold value, and it is determined that there is no entrance prohibition flag directed toward the road on which the vehicle is traveling.
For example, as shown in fig. 8, when a plurality of entrance prohibition flags, such as the entrance prohibition flag H for the road at L4 and the entrance prohibition flag I for the road at L5, are recognized, the average value of the distances between the vehicle 1 traveling on the road at L4 and the plurality of entrance prohibition flags is J value and is equal to or less than the threshold value, and it is determined that there is an entrance prohibition flag toward the road on which the host vehicle is traveling.
The average value of the distances between the vehicle traveling on the road at L5 and the plurality of entrance prohibition markers is also equal to J and equal to or less than the threshold value, and it is determined that there is an entrance prohibition marker heading toward the road on which the vehicle is traveling.
With this arrangement, the entry prohibition flag for the other adjacent road is not erroneously recognized as the entry prohibition flag for the road on which the host vehicle is traveling, and information on the entry prohibition flag can be appropriately notified.
In this way, in the above-described embodiment, the entry prohibition flag is recognized from the image captured by the image capturing unit 2, and the presence of the entry prohibition flag is notified on the condition that the one-way traffic information is included in the road link following in the traveling direction of the own vehicle, so that even when an object other than the entry prohibition flag is erroneously recognized as the entry prohibition flag in the image recognition processing, no erroneous notification is issued, and information relating to the entry prohibition flag can be appropriately notified.
Further, since the entrance prohibition flag is recognized from the image captured by the imaging unit 2, and it is determined that the road section on which the host vehicle is traveling is the entrance prohibition section when the one-way traffic information is included in the road link following the host vehicle in the traveling direction and it is determined that the host vehicle passes the recognized entrance prohibition flag, even when an object that is not the entrance prohibition flag is erroneously recognized as the entrance prohibition flag in the image recognition processing, it is possible to appropriately perform the determination regarding the entrance prohibition flag without performing erroneous determination.
Further, since the 1 st notification mode is performed when the no entry flag is recognized and the 2 nd notification mode is performed on the condition that the one-way traffic information is included in the following road link when the no entry flag passes after that, the reliability of the no entry flag is improved while the information on the no entry flag is notified, and when the no entry flag passes, the notification of the notice can be further performed, and the information on the no entry flag can be appropriately notified.
Further, since the notification is terminated when a road traffic sign other than the specific sign directed to the host vehicle is recognized when the notification is made with the entry prohibition sign and the reverse travel state as contents, it is possible to prevent the erroneous notification with the entry prohibition sign and the reverse travel state as contents, regardless of the situation where the road on which the host vehicle intends to enter or the road on which the host vehicle is traveling is not the entry prohibition road.
For example, even when it is determined that the host vehicle has entered the no-entry road and the content is notified, since the road traffic sign directed toward the host vehicle is present when the front side of the road traffic sign other than the specific sign is recognized, it is determined that the road on which the host vehicle is traveling is not actually the no-entry road, and the notification can be terminated or changed, so that it is possible to prevent the erroneous notification from being continuously issued.
In addition, when the notification end condition is satisfied, the notification of all the information on the road traffic sign is ended, whereas when the road traffic sign other than the specific sign is recognized and it is determined that the road on which the host vehicle is traveling is not the entry-prohibited road, the notification of only the entry-prohibited sign is ended or changed, so that it is possible to prevent the erroneous notification of the entry-prohibited sign from being continuously issued, and it is possible to appropriately deal with the accurate notification and the erroneous notification and provide the accurate information to the driver.
When the notification end condition is set to a condition that the road on which the host vehicle is traveling has changed, the road traffic sign that ends the notification when the notification end condition is satisfied can be made different from the road traffic sign that ends the notification when the road on which the host vehicle is traveling is determined not to be a prohibited road by recognizing a road traffic sign other than the specific sign, and thus, accurate notification and erroneous notification can be appropriately handled, and accurate information can be provided to the driver.
In the present embodiment, the example in which the control unit 6 performs various determinations and calculations based on the various sensor information has been described, but the present invention is not limited to this, and various determinations and calculations may be performed by an external device based on the detection information of the various sensors transmitted from the communication unit 4, and various controls may be performed by receiving the determination results and calculation results by the communication unit 4 and using the determination results and calculation results received by the communication unit 4.
Although the embodiments of the present invention have been disclosed, it will be apparent to those skilled in the art that modifications may be made without departing from the scope of the invention. And all such modifications and equivalents are intended to be included in the claims.

Claims (5)

1. A driving assistance apparatus, comprising:
An image pickup unit that picks up an image of the front of the vehicle;
an identification processing unit that identifies a road traffic sign from the image; and
An output processing unit that notifies the occupant of information relating to the road traffic sign,
It is characterized in that the preparation method is characterized in that,
When the output processing unit is notifying information on a no-entry mark or a one-way passage mark, if the recognition processing unit recognizes a road traffic mark other than a specific mark for prohibiting passage of the host vehicle, the output processing unit ends or changes the notification of the information on the no-entry mark or the one-way passage mark.
2. The driving assistance apparatus according to claim 1,
The output processing unit may be configured to, when information on a plurality of road traffic signs including the no-entry sign or the one-way passage sign is being notified, end all of the notifications of the information on the road traffic signs when a predetermined notification end condition is satisfied, and end or change only the notifications of the information on the no-entry sign or the one-way passage sign when a road traffic sign other than the specific sign is recognized by the recognition processing unit.
3. The driving assistance apparatus according to claim 2,
The notification end condition is that the host vehicle has changed a travel route or a road link has changed.
4. The driving assistance apparatus according to any one of claims 1 to 3,
The specific mark includes at least 1 or more of a no entry mark, a no passage mark related to a road, and a one-way passage mark that allows only a passage in a direction opposite to a traveling direction of the host vehicle.
5. A driving assistance apparatus, comprising:
An image pickup unit that picks up an image of the front of the vehicle;
an identification processing unit that identifies a road traffic sign from the image; and
A restriction information determination unit that determines restriction information of a road section on which the host vehicle travels,
It is characterized in that the preparation method is characterized in that,
When the restriction information determination unit determines that the current road section on which the host vehicle is traveling is the road section on which the host vehicle is restricted, if the recognition processing unit recognizes a road traffic sign other than a specific sign that prohibits the host vehicle from passing, it is determined that the road section on which the host vehicle is traveling is not the road section on which the host vehicle is restricted.
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JP7081316B2 (en) 2022-06-07
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