JP2001101573A - Device for discriminating moving direction of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device which can discriminate the moving direction of a vehicle without receiving data from the steering apparatus and transmission of the vehicle. SOLUTION: The device for discriminating the moving direction of a vehicle stores picture data taken with a camera which photographs at least one direction around a vehicle (S2) and specifies an object standing still on a road as a feature section (S6). Then, the device finds the motion vector of the vehicle from the coordinate position of the feature section ΔT seconds before (S12) and discriminates the moving direction of the vehicle from the sign of the component of the motion vector (S14).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for determining a moving direction of a vehicle, and more particularly to a device for determining a moving direction of a vehicle based on an image taken from the vehicle.

[0002]

2. Description of the Related Art Conventionally, as a device for determining a moving direction of a vehicle, there is a device for determining a moving direction of a vehicle from a shift position of a transmission, for example. According to this device, when the shift is at the reverse position (REVERSE), the moving direction is determined to be the reverse direction, and a reverse signal can be output.

Further, as a device for determining the moving direction of a vehicle, there is, for example, a device for determining the moving direction of a vehicle from a steering wheel rotation angle of a steering device. According to this device, it is possible to determine from the rotation angle of the steering wheel that the vehicle is turning rightward, turn leftward, or the like, and output a moving direction signal.

[0004]

However, in the conventional vehicle moving direction discriminating device, it is necessary to receive data from another device such as a transmission or a steering device. For this reason, since it is necessary to wire between the devices in the vehicle, it is difficult to mount the vehicle moving direction discriminating device.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has as its object to determine the moving direction of a vehicle in which the moving direction of the vehicle can be determined without receiving data from a steering device, a transmission, or the like. It is to provide a device.

[0006]

According to a first aspect of the present invention, there is provided a vehicle moving direction discriminating apparatus for discriminating a moving direction of a vehicle. An image pickup means for picking up an image in a predetermined direction, an image processing means connected to the image pickup means for processing image data picked up by the image pickup means, and an image processing means connected to the image processing means for processing by the image processing means. Determining means for determining the moving direction of the vehicle based on the obtained image data.

According to the first aspect of the present invention, the imaging means captures an image in at least one predetermined direction around the vehicle. The image processing means performs data processing on the captured image data. The determining means determines a moving direction of the vehicle based on the image data processed by the image processing means. Thus, the direction in which the vehicle moves can be determined based on the captured image. As a result, it is possible to provide a moving direction discriminating apparatus that does not need to receive data from a steering device, a transmission, or the like, and that can determine the moving direction of the vehicle.

According to a second aspect of the present invention, in addition to the configuration of the first aspect of the invention, the image pickup means includes an image in at least one predetermined direction centered on the vehicle. The determination means includes means for imaging at a predetermined time interval, and the determination means includes means for determining a moving direction of the vehicle based on a plurality of image data processed by the image processing means.

According to the second aspect of the present invention, the imaging means captures images at predetermined time intervals. The determining means determines a moving direction of the vehicle based on the plurality of image data. Thus, the moving direction of the vehicle can be determined based on the plurality of captured images. As a result, it is possible to provide a moving direction discriminating apparatus that does not need to receive data from a steering device, a transmission, or the like, and that can determine the moving direction of the vehicle.

According to a third aspect of the present invention, in the vehicle moving direction discriminating apparatus, in addition to the configuration of the second aspect, the image processing means specifies a characteristic object from image data captured by the image capturing means. The determining means includes means for determining the moving direction of the vehicle based on the moving direction of the feature in the plurality of image data processed by the image processing means.

According to the third aspect of the present invention, the image processing means specifies the feature from the image data picked up by the image pickup means. The determining means determines the moving direction of the vehicle based on the moving directions of the features of the plurality of image data. Thereby, based on the features of the plurality of captured images,
The direction in which the vehicle moves can be determined. As a result, it is possible to provide a moving direction discriminating apparatus that does not need to receive data from a steering device, a transmission, or the like, and that can determine the moving direction of the vehicle.

According to a fourth aspect of the present invention, in the vehicle moving direction discriminating apparatus, in addition to the configuration of the third aspect of the present invention, the image processing means includes a feature of the image data from the image data picked up by the imaging means. And a means for specifying a characteristic object from the extracted imaged object based on the degree of similarity between the pattern of the extracted imaged object and a predetermined pattern.

According to the fourth aspect of the present invention, the image processing means extracts an imaged object included in the image data from the image data picked up by the image pickup means based on the brightness of the pixels of the image data. Further, the image processing means specifies a feature from the extracted imaged object based on the similarity between the extracted pattern of the imaged object and a predetermined pattern. As a result, there is no need to receive data from the steering device, the transmission, and the like, and the moving direction of the vehicle can be determined.
A moving direction determination device can be provided.

According to a fifth aspect of the present invention, in addition to the structure of the first aspect of the invention, the vehicle moving direction discriminating device includes a front direction and a rear direction of the vehicle in a predetermined direction. At least one is included.

According to the fifth aspect of the present invention, the imaging means captures an image of the vehicle in the front direction or the rear direction. The determining means determines the moving direction of the vehicle based on the image data of the vehicle in the forward or rearward direction. Thus, the moving direction of the vehicle can be determined based on the captured forward or rearward image. As a result, the steering system,
It is possible to provide a moving direction discriminating apparatus that does not need to receive data from a transmission or the like and can determine a moving direction of a vehicle.

According to a sixth aspect of the present invention, in addition to the structure of the first aspect of the invention, the vehicle moving direction discriminating device includes a right direction and a left direction of the vehicle in the predetermined direction. At least one is included.

According to the sixth aspect of the present invention, the image pickup means picks up an image in the right or left direction of the vehicle. The judging means judges the moving direction of the vehicle based on the rightward or leftward image data of the vehicle. Thus, the moving direction of the vehicle can be determined based on the captured rightward or leftward image. As a result, the steering system,
It is possible to provide a moving direction discriminating apparatus that does not need to receive data from a transmission or the like and can determine a moving direction of a vehicle.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, repetition of detailed description thereof will be appropriately omitted.

<First Embodiment> Referring to FIG. 1, a vehicle moving direction discriminating apparatus according to a first embodiment of the present invention includes a forward sensor camera 10 for capturing an image of a forward direction of a vehicle, and a forward sensor camera. 10, an image memory unit 12 for storing captured image data, an image processing unit 14 connected to the image memory unit 12 for processing image data, an image processing unit 14, and a display control unit 18 described later. A central unit that is connected and determines the moving direction of the vehicle based on the image data processed by the image processing unit 14, outputs a processing command to the image processing unit 14, and outputs a display instruction to the display control unit 18. The processing unit 16 is connected to the image processing unit 14 and the central processing unit 16, and the front direction sensor camera 10
A display control unit 18 that outputs the captured image of the vehicle to a monitor 20 described later, or outputs the moving direction of the vehicle determined by the central processing unit 16 to the monitor 20, and a monitor 20 connected to the display control unit 18. including.

The front direction sensor camera 10 is mounted on the vehicle so as to capture an image of the front of the vehicle. The captured image is
The data is output to the image memory unit 12 in a digital signal format.
FIG. 2 shows an image captured by the forward sensor camera 10.
5 shows a display example when output to the monitor 20.

The image memory section 12 has a RAM (Random Acc.)
ess memory). The image memory unit 12 can store image data input from the forward sensor camera and can read and write data from the image processing unit 14, and is not limited to a specific one.

The image processing section 14 has an image processing CPU (Ce
image processing RO that stores an image processing program to be executed by the CPU and the image processing CPU.
M (Read Only Memory) and an image processing RAM for storing intermediate data for image processing. Image processing CPU
Reads data stored in a digital signal format from the image memory unit 12, performs noise signal removal, binarization processing, template-based pattern matching processing, and the like.

The central processing unit 16 includes a CPU, a ROM storing programs and data executed by the CPU, and a RAM storing intermediate data.

The display control unit 18 converts (for example, digital-analog conversion) the image data output from the image processing unit 14 based on the image signal input format (for example, analog format) of the monitor 20. Further, the display control unit 18 can superimpose and display the moving direction data of the vehicle determined by the central processing unit 16 on the monitor 20. The moving direction data of the vehicle determined by the central processing unit can be output to, for example, a car navigation device (not shown).

Referring to FIG. 3, the vehicle moving direction discriminating apparatus operates as follows. First, step 2 (hereinafter referred to as
In step S, the central processing unit 16 instructs the image processing unit 14 to store the image data captured by the forward sensor camera 10 in the image memory unit 12. In S4, the image processing unit 14 performs, as pre-processing on the stored image data, noise removal processing, binarization processing based on brightness for each image, and processing of an imaged object from the binarized image data. A process for extracting a contour line is performed.

In S6, the image processing section 14 specifies a characteristic portion for the preprocessed image data. The process of specifying this characteristic portion is performed as follows. The template figure stored in the image processing RAM of the image processing unit 14 is read. This template figure is a figure of all or a part of a stationary object provided on the road, such as a traffic light (42 in FIG. 2) and a road sign (52 in FIG. 2), which can be imaged by the forward sensor camera 10. is there. The calculation of the similarity between the image data of the imaged object extracted in the pre-processing and the image data of the template figure is performed for the entire imaging region. As a result of the similarity calculation, an imaged object having the highest similarity to each template figure is specified as a characteristic portion. Predetermined coordinate data of the specified feature (for example, an image processing RAM together with a template)
In the imaging area which is relatively the same as the coordinates on the template stored in the image data, and a template identifier that can uniquely identify the type of the template for the specified feature.

In S8, the image processing unit 14 stores the coordinate data of the characteristic part and the template identifier determined in S6 in the image processing RAM. In S10, the image processing CPU of the image processing unit 14 reads the coordinate data and the template identifier of the characteristic part ΔT seconds ago from the image processing RAM. If the characteristic part coordinate data before ΔT seconds is not stored in S10 (initial state), the processing after S12 is not performed, and the image data is fetched from the forward sensor camera 10 to the image data storage unit 12 again. .

In S12, the CPU for image processing sets the coordinate data of the characteristic part ΔT seconds ago as the start point and the coordinate data determined in S6 as the end point for each template identifier.
Calculate the coordinate vector for each feature. The calculated vector data is transmitted to the central processing unit 16.

At S14, central processing unit 16 determines whether or not the Y component of the vector data is +. At this time, referring to FIG. 2, the vector coordinate origin is set at the point at infinity in front of the vehicle as the origin 34. X axis 3 horizontally
0, the Y axis 32 is set in the vertical direction, and the X axis is the origin 34
The center is set to the + side toward the outside of the screen, and the lower side of the Y axis is set to the + side. If the Y component is + (YE in S14)
S), the process is moved to S16. On the other hand, if the Y component is not + (NO in S14), the process proceeds to S18.
With reference to FIG. 2, a case where the characteristic portion is the traffic light 42 and the road sign 52 will be described. The traffic light 40 in the image before ΔT seconds and the road sign 50 in the image before ΔT seconds are shown by dotted lines in FIG. When the vehicle is moving forward, the movement vector 44 and the movement vector 54 are respectively shown in FIG. 2 from the traffic light 42 after ΔT seconds captured by the vehicle front camera 10 and the road sign 52 in the image after ΔT seconds. Asked to do so. The Y components of these vectors are all +. Thus, the moving direction of the vehicle can be determined based on the sign of the Y component of the moving vector.

At S16, central processing unit 16 outputs advance information to display control unit 18 and the like, and display control unit 18 outputs advance information to monitor 20.

At S18, central processing unit 16 outputs the retreat information to display control unit 18 and the like, and display control unit 18 outputs the retreat information to monitor 20.

At S20, central processing unit 16 determines whether to end the determination of the vehicle moving direction. This determination is made, for example, when the main key of the vehicle is turned off. When it is determined that the determination process is completed (S2
(YES at 0), the process ends. On the other hand, if it is determined that the determination process is not completed (NO in S20), the process proceeds to S
Moved to 22.

At S22, ΔT from the previous image data storage
It is determined whether the second has elapsed. If ΔT seconds have elapsed, the process returns to S2. On the other hand, if ΔT seconds have not elapsed (NO in S22), the process returns to S22, and waits for ΔT seconds to elapse.

After returning to S2, the characteristic portion is specified again in S6. At this time, the characteristic portion is specified ΔT seconds ago, and the characteristic portion is identified from the template identifier stored in the image processing RAM. The similarity calculation is performed for the entire imaging region using the template figure to be obtained.

The operation of the vehicle moving direction discriminating apparatus based on the above structure and flowchart will be described.

Forward sensor camera 1 for imaging the front of the vehicle
The image picked up by 0 is stored in the image memory unit 12 (S2). Next, preprocessing is performed on the image data by the image processing unit 14 (S4), and a characteristic portion is specified (S4).
6). The coordinates of the characteristic portion (the traffic light and the road sign in FIG. 2) are stored (S8), and the movement vector is calculated from the characteristic portion coordinates ΔT seconds ago (S12). In S14, it is determined that the Y component of the coordinate vector is + (YE in S14).
S), forward information is output (S16). If the main key of the vehicle has not been turned off, the determination process does not end (NO in S20), and after ΔT seconds have elapsed (YE in S22).
S), the image data is stored in the image memory unit 12 again.

On the other hand, if it is determined in S14 that the Y component of the coordinate vector is not + (NO in S14), retreat information is output (S18).

As described above, Embodiment 1 of the present invention
Can determine the moving direction of the vehicle based on the image data obtained by imaging the front. As a result, it is possible to provide a vehicle moving direction determining device that can determine the moving direction of the vehicle without receiving data from a steering device, a transmission, or the like of the vehicle.

In this embodiment, the image in front of the vehicle is used, but an image behind the vehicle may be obtained by a camera provided at the rear of the vehicle, and the data may be used.

<Second Embodiment> Next, a description will be given of a vehicle moving direction determining apparatus according to a second embodiment of the present invention.

Referring to FIG. 4, in the present embodiment, a left / right sensor camera 22 provided in front of the vehicle is used instead of front sensor camera 10 in the first embodiment. The program executed by the CPU of the central processing unit 16 is a separate program from the program in the first embodiment.
Is stored in the ROM. Since the other device configuration is the same as that of the first embodiment, detailed description will not be repeated here.

Referring to FIG. 5, left-right sensor camera 2
2 is a composite image of the leftward image 64 and the rightward image 66. The coordinate axes of the vector are the X-axis 6 in the horizontal direction, with the infinite point at the side of the vehicle as the left and right ends of the screen.
0 is set and the Y axis 62 is set in the vertical direction. Further, the X axis is set on the + side with the origin 68 as the center toward the outside of the screen.

Referring to FIG. 6, the operation of the vehicle moving direction discriminating apparatus in the present embodiment is the same as that in the first embodiment.
14 is replaced with S24.

In S24, it is determined whether or not the X component of the movement vector of the characteristic portion obtained in S12 is +. If the X component is + (YES in S24), the process proceeds to S16. On the other hand, if the X component is not + (N at S24)
O), the process is moved to S18. With reference to FIG. 5, a case where the characteristic portion is a road sign 72 and a road display 82 drawn on the road will be described. The road sign 70 in the image before ΔT seconds and the road display 80 before ΔT seconds are shown by dotted lines in FIG. When the vehicle is moving forward, the road sign 72 and the road sign 8 after ΔT seconds captured by the left / right sensor camera 22 are displayed.
2 and the movement vector 74 and the movement vector 8 respectively.
4 are obtained as shown in FIG. The X components of these vectors are all +. Thus, the moving direction of the vehicle can be determined based on the sign of the X component of the moving vector.

As described above, the same effect as in the first embodiment can be realized in the vehicle moving direction discriminating apparatus according to the present embodiment.

<Embodiment 2 Modification> In this modification, the target area for calculating the similarity in specifying the characteristic portion (S6) in Embodiment 2 is changed according to the vehicle speed.

When the vehicle speed is A [km / h] (a [m / se
c]), the vehicle traveling for ΔT seconds has a distance of aΔT
[M]. Assuming that the number of pixels per 1 m in the image data is N [pixels / m], the distance traveled by the vehicle during ΔT seconds is aNΔT [pixels] on the image data. S6
, The image data of the template figure based on the template identifier of the feature, and ± a
The similarity calculation with the image data in the area centered on the coordinates shifted in the X-axis direction by NΔT [pixels] is performed.

As a result, the processing speed is increased as compared with the processing for the entire image area in S6.

The embodiments disclosed this time are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a vehicle moving direction determination device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating an example of a captured image of the vehicle moving direction determination device according to Embodiment 1 of the present invention.

FIG. 3 is a flowchart illustrating a procedure of a discriminating process of the vehicle moving direction discriminating apparatus according to the first embodiment of the present invention.

FIG. 4 is a configuration diagram of a vehicle moving direction determination device according to Embodiment 2 of the present invention.

FIG. 5 is a diagram illustrating an example of a captured image of a vehicle moving direction determination device according to Embodiment 2 of the present invention.

FIG. 6 is a flowchart showing a procedure of a discriminating process of a vehicle moving direction discriminating apparatus according to Embodiment 2 of the present invention.

[Explanation of symbols]

10 forward sensor camera, 12 image memory unit, 14
Image processing unit, 16 central processing unit, 18 display control unit, 2
0 monitor, 22 left and right direction sensor camera, 30, 60
X axis, 32,62 Y axis.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H04N 5/225 H04N 7/18 K 7/18 G06F 15/62 380 15/70 410 F-term (reference) 5B057 AA16 BA02 CA06 CA12 CA16 CE02 CE12 DA07 DB02 DB08 DC02 DC33 5C022 AA04 AB61 AB68 AC01 AC13 AC42 AC69 5C054 AA01 FC05 FC12 FC13 FE13 HA30 5H180 AA01 BB15 CC04 5L096 AA07 BA04 CA02 EA05 FA69 HA04 HA08 JA09

Claims (6)

[Claims] 1. An apparatus for determining a moving direction of a vehicle, comprising: an imaging unit provided in the vehicle for imaging an image in at least one predetermined direction around the vehicle; An image processing unit connected to the image processing unit for processing image data captured by the imaging unit; and a moving direction of the vehicle based on the image data processed by the image processing unit and connected to the image processing unit. A vehicle moving direction discriminating device including a judging means for judging. 2. The image capturing means includes means for capturing an image in at least one predetermined direction centering on the vehicle at predetermined time intervals, and wherein the determining means includes The apparatus according to claim 1, further comprising a unit configured to determine a moving direction of the vehicle based on the plurality of pieces of processed image data. 3. The image processing means includes means for specifying a characteristic object from the image data picked up by the image pick-up means, and the judging means includes a plurality of image data processed by the image processing means. Based on the moving direction of the feature, including means for determining the moving direction of the vehicle,
The vehicle moving direction determination device according to claim 2. 4. The image processing unit includes: a unit configured to extract a captured object from image data captured by the imaging unit based on characteristics of image data; a pattern of the extracted captured object; Based on the similarity of
The vehicle moving direction discriminating apparatus according to claim 3, further comprising: means for specifying a characteristic object from the extracted imaged object. 5. The vehicle moving direction discrimination device according to claim 1, wherein the predetermined direction includes at least one of a forward direction and a rearward direction of the vehicle. 6. The vehicle moving direction determining device according to claim 1, wherein the predetermined direction includes at least one of a right direction and a left direction of the vehicle.