JP2006168459A - Vehicle surrounding supervisory alarm apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle rear supervisory alarm apparatus capable of issuing correct warning by positively performing vehicle rear supervision and exactly detecting an obstacle. <P>SOLUTION: The presence of an object within a dangerous area 27 is preliminarily detected with a shooting image of a television camera 1, and the presence of the obstacle is determinately detected in accordance with a position on an image data 29, of a beam spot 32 formed as a result of an optical beam 31 emitted from an optical beam emitting section 2 hitting the obstacle. This permits correct grasp of the presence of the obstacle within the dangerous area 27 and annunciate the presence of the obstacle by warning, thus the vehicle can reverse or run safely. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle surrounding monitoring alarm device for confirming the presence of an obstacle or the like behind a vehicle and issuing a warning so that the distance to the obstacle can be accurately grasped with a simple configuration.

  Various devices have been proposed for informing the driver of the presence of obstacles or the like behind the vehicle when the vehicle is retracted, such as in a garage. For example, there is a back sonar vehicle rear monitoring device using ultrasonic waves. This is because an ultrasonic oscillator and an ultrasonic receiver are embedded in a rear bumper, etc., and ultrasonic waves are transmitted from the ultrasonic oscillator toward the rear of the vehicle, and the reflected waves are received by the ultrasonic receiver. The distance to the obstacle is measured from the reception time difference, and an alarm is issued when the distance approaches a certain distance. Further, there has been proposed a display in which the measured distance is displayed in the inner mirror (see Patent Document 1).

As another example, a TV camera is used to capture an image of the rear of the vehicle with the TV camera, and the image is displayed on a TV monitor disposed near the driver's seat. In imaging, there is one in which an infrared light beam is emitted to determine an imaging area of a television camera (see Patent Document 2).
Japanese Patent Publication No. 04-025174 Japanese Patent Application Laid-Open No. 09-039658

  However, the back sonar using ultrasonic waves has low distance detection accuracy depending on the shape, position, etc. of the obstacle, and may not be useful for stopping the vehicle by moving it back to the position closest to the obstacle. There were many. In addition, an arithmetic device for calculating the distance is necessary, and there is a problem that it is expensive. In addition, in the case where the imaging area of the TV camera is determined by the infrared light beam, even if the imaging area is specified, if the operator (driver) gets used to safe driving, the monitor screen will be overlooked and an accident will occur. In the past, none of the conventional vehicle rear-viewing devices has been sufficiently useful.

  The present invention has been made in view of the above-described conventional problems, and the object thereof is to reliably monitor the surroundings of the vehicle, and to accurately detect obstacles and issue a correct alarm. It is to provide a vehicle surrounding monitoring alarm device.

  The present invention is a television camera that is arranged at the rear of the vehicle and captures an image of a predetermined area behind the vehicle, and a light beam that is attached to the lower body of the vehicle and emits a fan-shaped parallel light beam toward the rear of the vehicle. Obstacle analysis for analyzing whether there is an obstacle in the vicinity of the position just behind the vehicle based on the image of a predetermined area behind the vehicle and the irradiation spot image of the parallel light beam captured by the TV camera. And alarm means for notifying that an obstacle exists near the position immediately behind the vehicle based on the analysis result of the obstacle analyzing means. In the present invention, a predetermined area behind the vehicle is set as a dangerous area when the vehicle backs, and the captured image data of the area on the ground of the dangerous area is used as the first reference data, and the dangerous area The captured image data of the area when the parallel light beam is irradiated onto the object standing on the boundary of the second reference data is used as the second reference data, the existence of the object is recognized in the area of the first reference data, and the second reference data When an irradiation spot is recognized in the area, it is determined that there is an obstacle behind the vehicle. Furthermore, it is also possible to provide a monitor for displaying an image captured by the television camera in this configuration.

  According to this, a beam formed by preliminarily detecting the presence of an obstacle in a predetermined area (in a dangerous area) from a captured image of a television camera, and the light beam emitted from the light beam emitting unit hits the obstacle. The presence of an obstacle is deterministically detected based on the position of the spot on the image data. Therefore, the presence of an obstacle in the danger area can be accurately grasped, and the presence of the obstacle is notified by an alarm, so that the vehicle can safely move backward.

  As described above, according to the present invention, it is possible to accurately grasp the presence of an obstacle behind the vehicle by image processing that can be executed by a relatively simple process, and to notify the presence of the obstacle by an alarm. Thus, the vehicle can safely move backward.

  Embodiments of the present invention will be described below.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram schematically showing a configuration of a vehicle rear monitoring alarm device according to an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a television camera, and this television camera 1 is attached, for example, at the center position in the vehicle width direction at the rear roof portion of the vehicle, and obliquely downward toward the rear of the vehicle. Reference numeral 2 denotes a light beam emitting portion, and this light beam emitting portion 2 is disposed, for example, near the rear bumper of the vehicle. From the light beam emitting unit 2, for example, a light beam 3 emitted from a light emitting diode or a laser device and refracted into a fan shape by a lens and made into a parallel light beam is emitted toward the rear horizontal direction of the vehicle. Alternatively, the light beam emitting unit 2 emits a light beam 3 emitted from a light emitting diode or a laser device and scanned into a fan-shaped parallel beam by a rotating operation of a reflecting mirror toward the rear horizontal direction of the vehicle.

  Reference numeral 4 denotes an analysis device as an obstacle analysis unit connected to the television camera 1 and the light beam emitting unit 2, and 5 denotes a television monitor installed near the driver's seat inside the vehicle and connected to the analysis device 4. An alarm device is incorporated in the television monitor 5. As an alarm notification method, a method using sound, a method using flashing light, a method of displaying a message on the screen of the television monitor 5, or a combination thereof is used.

  FIG. 2 is a cross-sectional view showing an example of a projector used in the light beam emitting section 2. The projector 6 includes a housing 7 that opens in the light beam emitting direction, a light-emitting lamp 8 that is provided in an inner part of the housing 7, and a condenser lens 9 that is disposed in the opening of the housing 7. FIG. 3 is a diagram showing the configuration of the condenser lens 9. The condensing lens 9 is formed of a solid body having a circular or oval cross section and bent in an arc shape as a whole, and is formed of a light transmitting material such as glass. 3A shows a plan view in a state where the condenser lens 9 is incorporated in the housing 7, and FIG. 3B shows a cross section BB in the central portion of the condenser lens 9 and a cross section CC in the end face portion. An example in which is circular. FIG. 3C shows an example in which the cross section B-B in the central portion of the condenser lens 9 and the cross section C-C in the end surface portion are oval.

  FIG. 4 is a cross-sectional view showing another example of a projector used in the light beam emitting section 2. The projector 10 includes a housing 11 that opens in the light beam emitting direction, a first light-emitting lamp 12 that is provided inside the housing 11, and a first light-emitting lamp 12 that is provided inside the housing 11 separately from the first light-emitting lamp 12. 2 light-emitting lamps 13 and a condenser lens 14 disposed in the opening of the housing 11 corresponding to the first light-emitting lamp 12. In this example, the second light-emitting lamp 13 is installed so as to be directed obliquely downward, and works to erase a shadow (shadow of an object such as an obstacle) formed on the ground.

  FIG. 5 is a block diagram showing an outline of the circuit configuration of the analysis device 4. The analysis device 4 receives and distributes a video signal (NTSC signal) from the television camera 1, and a color signal that distributes the video signal distributed in the distributor 15 into a video signal and a synchronization signal for each color. / Synchronous signal distributor 16, AD converter 17 that converts a video signal from an analog signal to a digital signal, an N-screen image memory 18 that stores a digitized video signal, and the overall operation of the analysis device 4. To a microcomputer 19 as a control means, a program memory 20 in which a program for performing various processing operations in the analysis device 4 is stored, a memory 21 in which processing data generated in the processing operation is stored, and the television monitor 5 The output image memory 22 that generates the screen data to be sent, and the image data generated by the output image memory 22 Formed by and a warning display superposition device 23 for superimposing the broadcast display signal.

  The operation of the vehicle rear monitoring alarm device having the above configuration will be described below.

(Reference data registration operation)
In this device, in order to generate and register the first reference data for judging whether there is an obstacle or not, the alarm target area is limited, and the inside of the target is set for every fixed dimension (for example, every 20 cm vertically and horizontally). Draw a matrix line by painting the squares on the reference floor (or the ground). FIG. 6 is a diagram showing the status of the reference data registration operation. In FIG. 6, the code | symbol 25 represents a vehicle. 26 is a signal cable that connects the TV camera 1, the analyzer 4, and the TV monitor 5 to serve as a video signal transmission path, 27 is an alarm area frame that defines an alarm area set in accordance with the dangerous area, and 28 is an alarm. The matrix line drawn in the area frame 27 is represented. The alarm area frame 27 is set in accordance with an area that is recognized as dangerous if an obstacle is present when the vehicle backs up. For example, in the example shown in the plan view of FIG. The range of 8 meters and 2 meters behind the vehicle is set as the warning area. Then, as shown in the side view of FIG. 6B, the television camera 1 is installed on the upper part of the vehicle in a slightly obliquely downward direction so as to cover and capture the alarm area. FIG. 6C shows an alarm area frame 27 and a matrix line 28 that are imaged by the TV camera 1 and displayed on the TV monitor 5. The alarm area frame 27 has a substantially trapezoidal shape, and the matrix line is ahead. It is indicated by a radial line that becomes narrower as it goes. The video image data is stored in the memory 21 as first reference data (standard data).

  Furthermore, in this apparatus, in order to generate and register the second reference data for determining whether there is an obstacle or not, a panel is provided on three sides excluding the side in contact with the vehicle 25 among the four sides of the alarm area frame 27. The TV camera 1 captures a state in which fan-shaped parallel beam light is emitted from the light beam emitting unit 2 and the light beam irradiates the panel. FIG. 7 shows an operation situation when registering the second reference data. FIG. 7A is a plan view and FIG. 7B is a side view. In these drawings, reference numeral 30 denotes a panel that is erected on three sides of the four sides of the alarm area frame 27 excluding the side that contacts the vehicle 25. When the fan-shaped parallel beam 31 is emitted from the light beam emitting unit 2, a linear irradiation unit is formed at a height position where the beam light hits the panel 30. This linear irradiation part becomes a bright line and is imaged by the television camera 1, and a bright line frame 29 is displayed on the television monitor 5 as shown by a one-dot chain line in FIG. The bright line image data in this video is stored in the memory 21 as second reference data (standard data).

  FIG. 8 is a flowchart for explaining the reference data registration operation. When this registration operation starts, the matrix line 28 shown in FIG. 6 and the panel 30 shown in FIG. At this time, the panel 30 is irradiated with the light beam 31 emitted from the light beam emitting unit 2. The video signal picked up by the television camera 1 is input to the analysis device 4 (step ST1), and the video signal is distributed by the distributor 15 (step ST2). One of the video signals distributed by the distributor 15 is sent to the television monitor 5 for display as an image, and the television monitor 5 displays the situation behind the vehicle in real time. The other of the video signals distributed by the distributor 15 is separated into R, G, and B signals by the color signal distributor 16 (step ST3), and the color-specific signals (R, G, and B) are converted into analog signals by the AD converter 17. The signal is converted into a digital signal (step ST4), and the digitized video signal is recorded as a still image in the N-screen image memory 18 (step ST5). On the other hand, the microcomputer 19 analyzes the captured still image of the matrix line 28, records the matrix line 28 position and the pixel position recorded on the still image 1: 1, and the rear side of the matrix line 28. The distance is recorded and registered in the memory 21 as first reference data (step ST6). Further, the microcomputer 19 analyzes the still image of the panel 30 irradiated with the imaged beam light 31, and the bright spot spot line position and the pixel position on the panel 30 recorded on the still image are 1: 1. The outer frame line data of the bright spot is recorded and registered in the memory 21 as second reference data (step ST7). The registration operation of the reference data is completed by registering the first reference data and the second reference data.

(Actual operation)
A case will be described in which the analysis device 4 actually performs vehicle rear monitoring and alarm operation in a state where the first and second reference operations are registered in the memory 21 as described above. FIG. 9 is a flow chart for explaining the first half of the vehicle rear monitoring and alarm operation, and FIG. 10 is a flow chart for explaining the second half of the vehicle rear monitoring and warning operation. When this vehicle rear monitoring and alarm operation is started, an image of the scene in the scene where the vehicle actually backs is captured by the television camera 1. The video signal picked up by the television camera 1 is input to the analysis device 4 (step ST11), and the video signal is distributed by the distributor 15 (step ST12). One of the video signals distributed by the distributor 15 is sent to the television monitor 5 for display as an image (arrow B in FIGS. 9 and 10), and the television monitor 5 shows the situation behind the vehicle in real time. Is displayed. The other of the video signals distributed by the distributor 15 is separated into R, G, and B signals by the color signal distributor 16 (step ST13), and the color-specific signals (R, G, and B) are converted into analog signals by the AD converter 17. The signal is converted into a digital signal (step ST14), and the digitized video signal is recorded as a still image in the N-screen image memory 18 (step ST15).

  Next, the microcomputer 19 calls the still images sequentially from the N-screen image memory 18 and also calls the matrix line still images shown in FIG. The image and the current still image are compared and analyzed, and further compared with the still image of the matrix line as the first reference data (step ST16), and it is determined whether there is a difference between the two images (step ST17). ).

  The state of the still image when this determination operation is performed is shown in FIG. In FIG. 11, if the still images that follow each other remain (a), the determination result is not abnormal, that is, normal. On the other hand, when an obstacle such as a person enters the still image from the middle, and the relationship (a) and (b) occurs, it is determined as a preliminary abnormality, and the still image of the matrix line 28 ( Comparison analysis with the first reference data) is performed to analyze whether or not the person image is within the frame of the matrix line 28. In this analysis, when the person image does not fall within the frame of the matrix line 28, a conclusion that the person is normal is obtained. When the person image falls within the frame of the matrix line 28, a conclusion that the person image is abnormal is obtained. Therefore, in the processing of step ST16 and step ST17, it is concluded that the still image (b) shown in FIG. 11 is normal and the still image (c) is abnormal.

  If it is determined to be normal (no difference) in the determination operation, the process returns to step ST16, and the processes of step ST16 and step ST17 are repeated again for the next still image that is sequentially called. On the other hand, if it is determined that there is an abnormality (there is a difference) in the determination operation in step ST17, this is only an abnormality in the comparative analysis with the first reference data, so that an alarm is not immediately issued, Next, the microcomputer 19 has a bright spot on the detected still image, and whether this bright spot is present in the frame of the bright line image data shown in FIG. Is determined (step ST18).

  That is, even if it is determined that there is an abnormality by the determination operation in step ST16 and step ST17, it is merely determined that a planar foreign object exists in the area of the matrix line drawn on the ground, which is a shadow or height. There may be no or very low (sheets, etc.). Therefore, when it is determined that there is an abnormality in the determination operations of step ST16 and step ST17, it is the process of step ST18 that determines whether the cause of the abnormality is due to a three-dimensional obstacle. FIG. 12 shows the operation for determining the three-dimensional object. In FIG. 12, when a three-dimensional obstacle (for example, a person) exists in the area of the matrix line, a part of this person is hit by the parallel beam light 31 emitted from the light beam emitting unit 2, and the part. A bright spot 32 is formed on the screen, and this bright spot is picked up by a television camera. By the formation of the bright spot 32, a three-dimensional object such as a person is discriminated. Further, the microcomputer 19 analyzes whether the bright spot 32 is present in the bright line frame 29 of the second reference data. In this analysis, when the bright spot 32 is not within the bright line frame 29, it is concluded that there is no abnormality (normal). When the bright spot 32 is within the bright line frame 29, it is determined that there is an abnormality. A conclusion is drawn and judged as an alarm (step ST19). FIG. 11C shows the state of the still image when the presence / absence determination is made.

If it is determined that the determination is normal (no abnormality), the microcomputer 19 returns to step ST16 and repeats the determination process again for the next still images that are sequentially called. On the other hand, if it is determined in step ST19 that there is an abnormality, the microcomputer 19 compares the person (obstacle) in the still image with the matrix line registration position, and determines the distance from the vehicle 25 to the abnormality position. Next, the distance data to the abnormal position and the data screen such as an alarm screen and an alarm message are created (step ST21). The alarm data is
"There are obstacles behind" or "There are people behind."
May be a voice message. Next, when performing an alarm on the screen, the microcomputer 19 superimposes the data for the alarm screen on the real-time video data captured by the TV camera 1 and sent to the TV monitor 5 (step ST22), and the lower surface of the alarm is superimposed. The video signal is sent to the television monitor 5 (step ST23), and the television monitor 5 displays the situation and warning behind the vehicle in real time. In the case where the alarm is given by a voice message, the alarm data (voice) is sent to a speaker provided in the television monitor 5, and the alarm is notified by voice. Thus, a series of operation operations in the vehicle rear monitoring and alarm operation is completed.

  In the above-described embodiment, the TV camera 1 and the light beam emitting unit 2 are attached to the rear part of the vehicle 25 so as to perform rear monitoring and warning when the vehicle 25 is back. May be installed to monitor the entire surroundings of the vehicle 25 and issue an alarm if necessary.

  In the present invention, it is possible to accurately determine the presence of an obstacle around the vehicle by image processing that can be executed by a relatively simple process, and to notify the driver of the presence of the obstacle by an alarm. And the vehicle can safely reverse or run.

The figure which shows schematically the structure of the vehicle back monitoring alarm apparatus as one embodiment of this invention. Sectional drawing which shows an example of the light projector used in the light beam emission part in the said embodiment (A) Plan view in a state in which the condensing lens is incorporated in the housing in the above embodiment (b) In the above embodiment, the cross section BB at the central portion and the cross section CC at the end surface portion of the condensing lens are circular. (C) The figure which shows an example in which the cross section BB in the center part of the condensing lens and the cross section CC in an end surface part are oval in the said embodiment. Sectional drawing which shows another example of the light projector used in the light beam emission part in the said embodiment. The block diagram which shows the outline | summary of the circuit structure of the analyzer in the said embodiment (A) Plan view showing the status of the first reference data registration operation in the embodiment (b) Side view showing the status of the first reference data registration operation in the embodiment (c) The embodiment The figure which shows the alarm area frame and matrix line which were imaged with the television camera in the form, and were displayed on the television monitor (A) Plan view showing the status of the second reference data registration operation in the embodiment (b) Side view showing the status of the second reference data registration operation in the embodiment (c) The embodiment The figure which shows the image data of the bright line frame obtained as 2nd reference data in form Flowchart explaining reference data registration operation in the embodiment Flowchart for explaining the first half of the vehicle rear monitoring and alarm operation in the embodiment. Flowchart for explaining processing steps in the latter half of the vehicle rear monitoring and alarm operation in the embodiment. The figure which shows the state of a still image when performing vehicle back monitoring operation | movement using the still image of a matrix line in the said embodiment. The figure which shows the operation state of a three-dimensional obstacle determination in the said embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Television camera 2 Light beam emission part 3 Light beam 4 Analyzer 5 Television monitor 15 Distributor 16 Color signal / synchronization signal distributor 17 AD converter 18 N screen image memory 19 Microcomputer 20 Program memory 21 Memory 22 Output image memory 23 Alarm display superimposer

Claims (5)

A television camera that is arranged at the rear of the vehicle and captures an image of a predetermined area behind the vehicle;
A light beam emitting part that is attached to the lower part of the vehicle body at the rear of the vehicle and emits a fan-shaped parallel light beam toward the rear of the vehicle;
Obstacle analysis means for analyzing whether there is an obstacle near the position immediately behind the vehicle based on an image of a predetermined area behind the vehicle imaged by the television camera and an irradiation spot image of the parallel light beam;
According to the analysis result of the obstacle analysis means, alarm means for notifying that there is an obstacle near the position immediately behind the vehicle,
A vehicle rear monitoring alarm device comprising: The obstacle analysis means sets a predetermined area behind the vehicle as a dangerous area when the vehicle backs, uses captured image data of an area on the ground of the dangerous area as first reference data, and the dangerous area The captured image data of the bright line area when the object standing on the boundary is irradiated with the parallel light beam is used as the second reference data, the existence of the object is recognized in the area of the first reference data, and the second reference data The vehicle rear monitoring alarm device according to claim 1, wherein when an irradiation spot is recognized in the bright line area, it is determined that there is an obstacle behind the vehicle. The vehicle rear monitoring alarm device according to claim 1, further comprising a monitor that displays an image captured by the television camera. A television camera that is arranged on the side of the vehicle and captures an image of a predetermined area on the side of the vehicle;
A light beam emitting part that is attached to the vehicle body lower part of the vehicle side part and emits a fan-shaped parallel light beam toward the vehicle side;
Obstacle analysis means for analyzing whether there is an obstacle in the vicinity of the vehicle side nearest position based on an image of a predetermined area on the side of the vehicle imaged by the television camera and an irradiation spot image of the parallel light beam; ,
According to the analysis result of the obstacle analysis means, alarm means for notifying that there is an obstacle near the vehicle side nearest position; and
A vehicle surroundings monitoring alarm device comprising: The obstacle analysis means sets a predetermined area on the side of the vehicle as a dangerous area when the vehicle travels, uses captured image data of an area on the ground of the dangerous area as first reference data, and the danger The captured image data of the bright line area when the object standing on the boundary of the area is irradiated with the parallel light beam is used as the second reference data, the existence of the object is recognized in the area of the first reference data, and the second reference 5. The vehicle surrounding monitoring alarm device according to claim 4, wherein when an irradiation spot is recognized in the bright line area of the data, it is determined that there is an obstacle on the side of the vehicle.

Images