【特許請求の範囲】
【請求項１】自車両進行方向の走行路方向に指向させて撮像する撮像手段と、この撮像手段からの撮像信号から得られる画像情報を基に上記自車両の進行方向を認識する認識手段とを備えた車両の進行方向認識装置において、
上記撮像手段の指向する方向を少なくとも上記自車両進行方向の走行路の勾配の変化に応じて可変に設定する指向方向設定手段と、この指向方向設定手段で設定した方向に上記撮像手段の指向する方向を変更する指向方向変更手段とを具備したことを特徴とする車両の進行方向認識装置。
【請求項２】自車両進行方向の走行路方向に指向させて撮像する撮像手段と、この撮像手段からの撮像信号から得られる画像情報を基に上記自車両の進行方向を認識する認識手段とを備えた車両の進行方向認識装置において、
上記撮像手段の指向する方向を上記自車両進行方向の走行路の屈曲状態に応じて可変に設定する指向方向設定手段と、この指向方向設定手段で設定した方向に上記撮像手段の指向する方向を変更する指向方向変更手段とを具備したことを特徴とする車両の進行方向認識装置。
【請求項３】自車両進行方向の走行路方向に指向させて撮像する撮像手段と、この撮像手段からの撮像信号から得られる画像情報を基に上記自車両の進行方向を認識する認識手段とを備えた車両の進行方向認識装置において、
上記撮像手段の指向する方向を少なくとも上記自車両進行方向の走行路の勾配の変化と上記自車両進行方向の走行路の屈曲状態に応じて可変に設定する指向方向設定手段と、この指向方向設定手段で設定した方向に上記撮像手段の指向する方向を変更する指向方向変更手段とを具備したことを特徴とする車両の進行方向認識装置。
【請求項４】位置と高度情報を得るナビゲーション装置を搭載し、上記指向方向設定手段は、上記自車両の走行路の現在の勾配を上記位置と高度情報を基に演算し、上記自車両進行方向の走行路の勾配の変化を上記自車両進行方向の画像情報上で上記自車両の走行路の左側道路端と右側道路端とを進行方向に延出して求めた交点の上下方向の位置変化で求め、上記現在の勾配と上記自車両進行方向の走行路の勾配の変化に応じて可変に設定することを特徴とする請求項１又は請求項３記載の車両の進行方向認識装置。
【請求項５】 上記指向方向変更手段は、上記撮像手段に内蔵された撮像素子からの入力素子の範囲を電気的にシフトすることで、上記撮像手段の指向する方向を変更することを特徴とする請求項１乃至請求項４の何れか一つに記載の車両の進行方向認識装置。
[Claims]
1. An imaging means for imaging by directing the vehicle in the traveling path direction in the traveling direction of the own vehicle, and a recognition means for recognizing the traveling direction of the own vehicle based on image information obtained from an imaging signal from the imaging means. In the traveling direction recognition device of the vehicle equipped with
A directivity direction setting means that variably sets the direction in which the image pickup means is directed at least according to a change in the gradient of the traveling path in the traveling direction of the own vehicle, and a direction in which the image pickup means is directed in the direction set by the directivity direction setting means. A vehicle traveling direction recognizing device including a directivity direction changing means for changing a direction.
2. An imaging means that directs an image in a traveling path direction in the traveling direction of the own vehicle, and a recognition means that recognizes the traveling direction of the own vehicle based on image information obtained from an imaging signal from the imaging means. In the traveling direction recognition device of the vehicle equipped with
The directivity direction setting means for variably setting the direction in which the image pickup means is directed according to the bending state of the traveling path in the traveling direction of the own vehicle, and the direction in which the image pickup means is directed in the direction set by the directivity direction setting means. A vehicle traveling direction recognition device provided with a directivity direction changing means for changing.
3. An imaging means for imaging by directing the vehicle in the traveling path direction in the traveling direction of the own vehicle, and a recognition means for recognizing the traveling direction of the own vehicle based on image information obtained from an imaging signal from the imaging means. In the traveling direction recognition device of the vehicle equipped with
A directional direction setting means for variably setting the direction in which the imaging means is directed according to at least a change in the gradient of the traveling path in the traveling direction of the own vehicle and a bending state of the traveling path in the traveling direction of the own vehicle, and the directional direction setting. A vehicle traveling direction recognizing device including a directional direction changing means for changing the direction in which the imaging means is directed in a direction set by the means.
4. The navigation device for obtaining position and altitude information is mounted, and the direction direction setting means calculates the current slope of the traveling path of the own vehicle based on the position and altitude information, and advances the own vehicle. The change in the slope of the traveling path in the direction is obtained by extending the left side road end and the right side road end of the own vehicle traveling path in the traveling direction on the image information of the own vehicle traveling direction. The vehicle traveling direction recognition device according to claim 1 or 3, wherein the vehicle is variably set according to a change in the current gradient and the gradient of the traveling path in the traveling direction of the own vehicle.
[Claim 5] The directivity direction changing means is characterized in that the directivity direction of the image pickup means is changed by electrically shifting the range of the input element from the image pickup element built in the image pickup means. The vehicle traveling direction recognition device according to any one of claims 4.
すなわち、画像情報上で、この交点が通常より上側に位置する場合は自車両進行方向の走行路の勾配が増加することが判定でき、交点が通常より下側に位置する場合は自車両進行方向の走行路の勾配が減少することが判定できる。そして、通常範囲から上又は下にずれている場合に、交点が通常位置に戻るように、ナビゲーション装置からの位置と高度情報を基に演算した走行路の現在の勾配での撮像手段の指向する方向を可変する。さらに、請求項５記載の発明による車両の進行方向認識装置は、請求項１乃至請求項４の何れか一つに記載の車両の進行方向認識装置において、上記指向方向変更手段は、上記撮像手段に内蔵された撮像素子からの入力素子の範囲を電気的にシフトすることで、上記撮像手段の指向する方向を変更するものである。
That is, on the image information, it can be determined that the slope of the traveling path in the direction of travel of the own vehicle increases when this intersection is located above the normal direction, and when the intersection is located below the normal direction, the direction of travel of the own vehicle It can be determined that the slope of the traveling path is reduced. Then, the image pickup means is directed at the current gradient of the traveling path calculated based on the position from the navigation device and the altitude information so that the intersection returns to the normal position when it deviates from the normal range up or down. Change the direction. Further, the vehicle traveling direction recognizing device according to the fifth aspect of the invention is the vehicle traveling direction recognizing device according to any one of claims 1 to 4, wherein the directional direction changing means is the imaging means. By electrically shifting the range of the input element from the image pickup device built in the image sensor, the direction in which the image pickup means is directed is changed.