JP2006004223A - Traveling traffic lane recognition apparatus for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To specify a traffic lane precisely where a vehicle is traveling. <P>SOLUTION: A traveling traffic lane recognition apparatus 1 for a vehicle specifies a traffic lane where a vehicle is traveling on the road provided with a plurality of traffic lanes and is provided with a detecting means for detecting traveling situations of the vehicle and a recognition means for recognizing circumstances around the vehicle. Moreover, the apparatus is provided with a specifying means 2 for specifying a traffic lane where the vehicle is traveling on the basis of the traveling situation detected by the detecting means and the surrounding circumstances recognized by the recognition means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a traveling lane recognition device for a vehicle having a function of specifying a traveling lane when the vehicle is traveling on a road having a plurality of lanes.

  In the car navigation device, by map-matching the position detected by a position detector such as a GPS receiver and map data, the road on which the vehicle is traveling and the current position on the road are specified, A map (road map) and a current position are displayed on the display device. Here, there is a road having a plurality of lanes on one side, but it was not known which lane in the plurality of lanes the vehicle was traveling from the detection accuracy of the position detector and the accuracy of the map data. For this reason, in the conventional car navigation device, it is impossible to realize guidance that prompts the driver to change the lane in which the vehicle travels, that is, detailed guidance.

In addition, the structure described in patent document 1 is known as an example of the apparatus which estimates the driving lane of a vehicle. In this configuration, distance sensors are provided on both sides of the front part of the vehicle, the distances to obstacles (guardrails, etc.) on both sides of the vehicle are detected by these two distance sensors, and the vehicle travels based on these detected distances. It is configured to guess the inside lane.
JP 2003-1658591 A

In the case of the configuration of Patent Document 1, since the lane width is limited in advance, the lane cannot be accurately predicted on roads having different lane widths. In addition, there is a problem that a lane is erroneously detected when the road has no obstacle at the boundary with the opposite lane or when there is a vehicle running in parallel with the vehicle.
Accordingly, an object of the present invention is to provide a traveling lane recognition device for a vehicle that can accurately specify the lane in which the vehicle is traveling.

  The travel lane recognition device for a vehicle according to the present invention is a device for identifying a travel lane when the vehicle is traveling on a road having a plurality of lanes, and detecting the travel status of the vehicle. And means for recognizing a state around the vehicle, and a specifying unit for identifying a lane in which the vehicle travels based on the driving state detected by the detecting unit and the surrounding state recognized by the recognizing unit. It has the characteristics. In this configuration, the lane in which the vehicle travels is specified based on the driving situation detected by the detection means and the ambient state recognized by the recognition means, so that the lane identification accuracy is considerably higher than in the conventional configuration. Can do.

  Further, in the case of the above configuration, it is preferable that the detection unit includes a lane prediction unit that predicts an approach lane of the vehicle and a lane change detection unit that detects a lane change of the vehicle. Further, the recognizing means further comprises lane state recognizing means for recognizing lane states on both sides of the vehicle, and object motion state recognizing means for recognizing the motion states of the objects on both sides of the vehicle. preferable.

  Hereinafter, an embodiment in which the present invention is applied to a car navigation apparatus will be described with reference to the drawings. First, FIG. 1 is a block diagram schematically showing an electrical configuration of the car navigation device 1 of the present embodiment. As shown in FIG. 1, the car navigation apparatus 1 includes a control circuit 2, a position detector 3, an operation switch group 4, a map data input unit 5, a lane state recognition sensor (lane state recognition means) 6, , Object movement state recognition sensor (object movement state recognition means) 7, lane change detection sensor (lane change detection means) 8, display unit 9, audio output device 10, external memory 11, and remote control sensor 12 It consists of and.

  The control circuit 2 has a function of controlling the overall operation of the car navigation apparatus 1, and is configured to include a CPU, a ROM, a RAM, an I / O, and a bus (not shown) for connecting them. Yes. The position detector 3 includes a GPS (Global Positioning System) receiver 13, a gyroscope 14, a vehicle speed sensor 15, and a geomagnetic sensor 16. The position detector 3 is configured to detect the current position of the vehicle while interpolating with the four sensors 13 to 16, and has a highly accurate position detection function.

In addition, when position detection accuracy is not so required, the position detector 3 may be configured by any one of the four sensors 13 to 16 (or a combination of a plurality of sensors). Further, the position detector 3 may be configured by appropriately combining a steering sensor of a vehicle, a wheel sensor of a wheel, and the like.
The operation switch group 4 includes a touch switch (touch panel) provided on the upper surface of the display screen of the display unit 9 and a mechanical push switch (not shown) provided on the periphery of the display unit 9. .

The map data input unit 5 is composed of a reading device that can read a CD-ROM, DVD-ROM, HDD, memory, and the like, and is a device for inputting map data and the like.
As shown in FIG. 2, the lane condition recognition sensor 6 includes white line detection sensors 18 a and 18 b each composed of, for example, a CCD camera disposed at substantially the center of both side surfaces of an automobile (vehicle) 17. In this case, by performing image recognition processing on the image data detected by the white line detection sensors 18a and 18b, the lane states drawn on the road surfaces on both sides of the automobile 17 are “straight line”, “dashed line”, and “no line”. It is the structure which can recognize which is either.

The control circuit 2 is configured to predict the lane in which the automobile 17 is traveling based on the lane state recognized by the lane state recognition sensor 6. For example, when a “straight line” is detected on the left side of the automobile 17 and a “dashed line” is detected on the right side, the automobile 17 can be predicted to be currently traveling in the left lane.
As shown in FIG. 2, the object motion state recognition sensor 7 includes four infrared sensors 19 a, 19 b, 19 c, and 19 d disposed on the front and rear portions of both side surfaces of the automobile 17. Each of the infrared sensors 19a, 19b, 19c, and 19d projects an infrared ray, detects an object when receiving reflected light (infrared ray) reflected by the object (object), and detects an object when not receiving the reflected light. It has a configuration that does not detect.

Based on the detection signals of the four infrared sensors 19a, 19b, 19c, and 19d, whether or not the object around the automobile 17 (on both the left and right sides) is traveling in the same direction as the automobile 17 is determined. It is configured to recognize whether the vehicle 17 is running and to predict the travel lane of the automobile 17 from the recognition results.
Specifically, first, the moving direction of the object on one side viewed from the own car 17 is determined by the detection order (reaction order) of the front and rear infrared sensors 19a, 19b (19c, 19d). Next, based on the detection signals from the infrared sensors 19a and 19b (19c and 19d), the moving speed (relative speed) of the object with respect to the vehicle 17 is measured. From this measurement result and the moving speed of own car 17, whether the object is a stationary object, an automobile traveling in the same traveling direction, or in the opposite traveling direction (ie, oncoming lane) A) configured to recognize whether the car is traveling.

  Then, based on the recognition result, it is possible to predict the lane of the road on which the own automobile 17 is traveling, for example, as shown in the following table. In addition, the moving speed of own car 17 shall be 50 km, for example.

また、車線変更検出センサ８は、図２に示すように、自動車１７の下面の中央部において左右に離して配設された例えばＣＣＤカメラからなる２個の白線検出センサ２０ａ、２０ｂから構成されている。各白線検出センサ２０ａ、２０ｂは、検出した画像データを画像認識処理することにより、各センサ２０ａ、２０ｂの下方の道路の表面上に「直線」や「破線」等が描かれているか否かを検出することが可能になっている。

Further, as shown in FIG. 2, the lane change detection sensor 8 is composed of two white line detection sensors 20a and 20b composed of, for example, a CCD camera, which are disposed apart from each other at the center of the lower surface of the automobile 17. Yes. Each white line detection sensor 20a, 20b performs image recognition processing on the detected image data to determine whether or not “straight line”, “dashed line”, etc. are drawn on the surface of the road below each sensor 20a, 20b. It is possible to detect.

  In the case of this configuration, when the automobile 17 changes lanes, the two white line detection sensors 20a and 20b sequentially detect white lines. At this time, if the right white line detection sensor 20a detects the white line first and the left white line detection sensor 20b detects the white line later, it can be determined that the automobile 17 has moved to the right lane (lane change). . On the contrary, if the left white line detection sensor 20b detects the white line first and the right white line detection sensor 20a detects the white line later, it is determined that the automobile 17 has moved to the left lane (lane change). Can do.

  The display unit 9 is composed of, for example, a color liquid crystal display for displaying a map, and displays map data (road data, character data, background data, etc.), additional data such as a vehicle position mark, a guidance route, and the like. It is configured so that it can be displayed in an overlapping manner. The voice output device 10 has a function of outputting various voice guidance messages, operation sounds, and the like. The external memory 11 is configured by a reading device such as a memory stick, a memory card, or a magnetic tape, and is a device for inputting map data, music data, video data, and the like.

  The user is configured to give various operation signals to the control circuit 2 via the remote control sensor 12 by operating a remote controller (not shown). In addition, the control circuit 2 is connected to an external information supply center (for example, a VICS center or various other devices) via a communication device (not shown) (for example, a VICS communication device or a mobile phone (such as a dedicated mobile phone terminal or a general-purpose mobile phone)). Data can be transmitted to and received from an information center or the like.

  The control circuit 2 also has a function (route calculation function) for automatically calculating and setting an optimum route (guidance route) from the current position (departure point) to the destination. For example, the Dijkstra method is used as a method for automatically setting the optimum route. The destination can be set by the user by operating the operation switch group 4 or the remote controller. Then, the control circuit 2 executes a function for displaying the optimum route (guidance route) to the destination on the map displayed on the display unit 7 and a map matching process for positioning the current position on the map. It has a function to do.

  Furthermore, the control circuit 2 is configured to be able to predict the lane in which the automobile 17 enters based on the detection signals from the gyroscope 14 and the vehicle speed sensor 15 and the map data. For example, at the intersection of a general road (a road having a plurality of lanes on one side), when the automobile 17 makes a right turn or a left turn, it is difficult to determine which lane the car will enter. In such a case, the control circuit 2 determines the intersection size data (map data), the right turn (left turn) angle (detected value by the gyroscope 14) when the automobile 17 makes a right turn (left turn), the automobile 17 Based on the travel speed (detected value by the vehicle speed sensor 15), it is predicted which lane the vehicle has entered.

Specifically, it is assumed that it takes 10 seconds for the automobile 17 to turn 90 degrees when turning right (left turn), and the traveling speed at that time is 10 km. Then, when making a right turn (left turn)
(10/3600) * 10km
It will be advanced. Here, the size of the intersection is grasped from the map data, and the lane considered to be entered at the calculated travel distance is predicted to be the approach lane. In this case, the control circuit 2 has a function as lane prediction means. Instead of the gyroscope 14, a sensor (for example, a steering rotation sensor or a gyro sensor) that can acquire the right turn (left turn) angle of the automobile 17 may be used.

  In the case of the present embodiment, the detection means for detecting the traveling state (traveling state) of the automobile (vehicle) 17 from the control circuit (lane prediction means) 2 and the lane change detection sensor (lane change detection means) 8. Is configured. The lane condition recognition sensor (lane condition recognition means) 6 and the object movement condition recognition sensor (object movement condition recognition means) 7 recognize means for recognizing the state around the automobile (vehicle) 17. It is configured.

Next, the operation of the car navigation device 1 configured as described above, in particular, the control operation for recognizing a traveling lane will be described with reference to the flowchart of FIG.
First, in step S1 of FIG. 3, the control circuit 2 acquires information on the number of lanes of the road that is currently running from the map data. Then, it progresses to step S2, and the control circuit 2 estimates the lane into which the motor vehicle 17 approachs based on each detection signal from the gyroscope 14 and the vehicle speed sensor 15, and the information from map data. In this case, a counter indicating the predicted lane recognition level is incremented.

  Next, proceeding to step S3, the control circuit 2 determines whether the lane condition on both sides of the automobile 17 is “straight line”, “dashed line”, or “no line” by the lane condition recognition sensor 6 (white line detection sensors 18a, 18b). Recognize whether Further, the control circuit 2 predicts the lane in which the automobile 17 is traveling based on the recognized lane condition, and increments a counter indicating the recognized lane recognition level.

  In step S4, the control circuit 2 causes the object motion state recognition sensor 7 (infrared sensors 19a, 19b, 19c, 19d) to move the object around the vehicle 17 (on the left and right sides) in the same direction as the vehicle 17. Whether the vehicle is traveling or not is recognized, and the traveling lane of the automobile 17 is predicted from the recognition results. In addition, a counter indicating the predicted lane recognition level is incremented.

Then, it progresses to step S5, and if the control circuit 2 detects that the automobile 17 changed the lane to the left lane or the right lane by the lane change detection sensor 8 (white line detection sensors 20a, 20b), the lane after the lane change A counter indicating the recognition level is incremented.
Next, the process proceeds to step S6, and the control circuit 2 selects the lane having the largest counter value indicating the recognition level from the lanes predicted in the above-described four steps S2, S3, S4, and S5. Is identified (detected) as the lane in which the automobile 17 is traveling. In this case, the control circuit 2 has a function as specifying means of the present invention. And it progresses to step S7, it is judged whether it is drive | working the same road (or lane), and when drive | working the same road (or lane), it progresses to "YES", returns to step S3, The recognition process described above is repeatedly executed at set time intervals.

  Further, when the automobile 17 makes a left turn, a right turn, a lane change or the like, in step S7, the vehicle 17 does not travel on the same road (or lane), so the process proceeds to “NO” and returns to step S1. And the process mentioned above is repeatedly performed from the process (step S1) which acquires the data of the number of lanes of a road from map data, and an approach lane prediction process (step S2).

  According to the present embodiment having such a configuration, the approach lane of the automobile 17 is predicted, the lane conditions on both sides of the automobile 17 are recognized, the motion states of the objects on both sides of the automobile 17 are recognized, and further Since the lane change of the automobile 17 is detected and the lane in which the automobile 17 travels is specified based on these recognition results and detection results, the lane identification accuracy (recognition accuracy) compared to the conventional configuration. Can be high.

  In the above embodiment, the function of predicting the approach lane of the automobile 17, the function of detecting the lane change of the automobile 17, the function of recognizing the lane conditions on both sides of the automobile 17, and the objects on both sides of the automobile 17 However, the present invention is not limited to this, and some of the above four functions may be used in combination as appropriate, or sensor information detected by other sensors may be used. In addition, it can be configured to be used.

1 is a block diagram of a car navigation apparatus showing an embodiment of the present invention. The figure which shows the arrangement position of various sensors flowchart

Explanation of symbols

In the drawings, 1 is a car navigation device (running lane recognition device), 2 is a control circuit (lane prediction means, specifying means), 3 is a position detector, 5 is a map data input unit, and 6 is a lane state recognition sensor (lane state). Recognition means), 7 is an object motion state recognition sensor (object motion state recognition means), 8 is a lane change detection sensor (lane change detection means), 9 is a display unit, 14 is a gyroscope, 15 is a vehicle speed sensor, 17 Is an automobile (vehicle), 18a and 18b are white line detection sensors, 19a, 19b, 19c and 19d are infrared sensors, and 20a and 20b are white line detection sensors.

Claims (3)

When a vehicle is traveling on a road with multiple lanes, it identifies the lane that is traveling,
Detecting means for detecting a traveling state of the vehicle;
Recognizing means for recognizing a state around the vehicle;
A travel lane recognition device for a vehicle, comprising: specifying means for specifying a lane in which the vehicle travels based on a travel situation detected by the detection means and an ambient state recognized by the recognition means. The detection means includes
Lane prediction means for predicting the approach lane of the vehicle;
The vehicle lane recognition device for a vehicle according to claim 1, further comprising lane change detection means for detecting a lane change of the vehicle. The recognition means is
Lane condition recognition means for recognizing lane conditions on both sides of the vehicle;
3. The vehicle lane recognition device according to claim 1, further comprising object motion state recognition means for recognizing motion states of objects on both sides of the vehicle.

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