JP2006281898A - Traveling support device, traveling support method, traveling support program and storage medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve milage by minimizing accelerating traveling or decelerating traveling in stopping a vehicle. <P>SOLUTION: In this traveling support device, an input part 201 accepts input of a peripheral image of the traveling vehicle. A detection part 202 detects specified color information from the image inputted by the input part 201. A specification part 203 specifies, upon detection of color information, an object in the periphery of the vehicle on the basis of the color information detected by the detection part 202, and a calculation part 204 calculates the distance of the object specified by the specification part 203 from the vehicle. An output part 206 outputs, on the basis of the distance calculated by the calculation part 204 and the traveling speed of the vehicle, a change instruction related to traveling of the vehicle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a driving support device, a driving support method, a driving support program, and a recording medium that instruct a change related to driving of a vehicle. However, the use of the present invention is not limited to the travel support device, the travel support method, the travel support program, and the recording medium.

  Conventionally, driving of a vehicle is controlled based on signal information and information on the preceding vehicle (speed, distance between vehicles), the vehicle is stopped safely with a red signal, and unnecessary acceleration / deceleration is avoided between signals during driving to improve fuel efficiency. 2. Description of the Related Art A vehicle driving support device linked to a signal that ensures improvement and a comfortable ride is known (for example, see Patent Document 1 below).

JP 2003-39975 A

  However, in the above-described conventional technology, signal information is acquired by infrastructure, and information on a preceding vehicle is acquired by a radar or a camera. Therefore, there is a problem that control becomes complicated when both the signal and the preceding vehicle are considered. It was.

  Further, the vehicle travel is controlled only by acceleration travel and deceleration travel, so that there is a problem that fuel consumption is increased and wear of brake pads and tires is increased.

  The driving support apparatus according to the first aspect of the present invention includes an input unit that receives an input of an image around a vehicle that is running, a detection unit that detects specific color information from an image input by the input unit, and the detection unit. Based on the color information detected by the above, the specifying means for specifying the object around the vehicle, the calculating means for calculating the distance between the object specified by the specifying means and the vehicle, and calculated by the calculating means Output means for outputting a change instruction relating to travel of the vehicle based on the distance and the travel speed of the vehicle.

  According to a sixth aspect of the present invention, there is provided a driving support device that includes an input unit that receives an input of an image around a running vehicle, a detection unit that detects specific color information from an image input by the input unit, Based on the color information detected by the detecting means, a specifying means for specifying an object around the vehicle, a calculating means for calculating a distance between the object specified by the specifying means and the vehicle, and a calculation by the calculating means Control means for controlling the travel of the vehicle based on the measured distance and the travel speed of the vehicle.

  According to a seventh aspect of the present invention, there is provided a driving support method including an input step of receiving an input of an image around a running vehicle, a detection step of detecting specific color information from an image input by the input step, Based on the color information detected by the detecting step, a specifying step for specifying an object around the vehicle, a calculating step for calculating a distance between the object specified by the specifying step and the vehicle, and a calculation by the calculating step An output step of outputting a change instruction relating to the traveling of the vehicle based on the measured distance and the traveling speed of the vehicle.

  According to an eighth aspect of the present invention, there is provided a driving support method including an input step of receiving an input of an image around a running vehicle, a detection step of detecting specific color information from the image input by the input step, Based on the color information detected by the detecting step, a specifying step for specifying an object around the vehicle, a calculating step for calculating a distance between the object specified by the specifying step and the vehicle, and a calculation by the calculating step And a control step for controlling the travel of the vehicle based on the measured distance and the travel speed of the vehicle.

  A driving support program according to a ninth aspect of the invention causes a computer to execute the driving support method according to the seventh or eighth aspect.

  According to a tenth aspect of the present invention, a recording medium according to the tenth aspect of the present invention is a computer-readable recording medium in which the driving support program according to the ninth aspect is recorded.

  Exemplary embodiments of a driving support device, a driving support method, a driving support program, and a recording medium according to the present invention will be explained below in detail with reference to the accompanying drawings.

(Hardware configuration of driving support device)
First, the hardware configuration of the driving support apparatus according to the embodiment of the present invention will be described. FIG. 1 is a block diagram showing a hardware configuration of a travel support apparatus according to an embodiment of the present invention.

  In FIG. 1, the driving support device includes a CPU 101, a ROM 102, a RAM 103, an HDD (hard disk drive) 104, an HD (hard disk) 105, an FDD (flexible disk drive) 106, and an example of a removable recording medium. FD (flexible disk) 107, display 108, I / F (interface) 109, input device 110, speaker 111, speed sensor 112, and camera 113. Each component is connected by a bus 100.

  Here, the CPU 101 governs overall control of the driving support device. The ROM 102 stores a program such as a boot program. The RAM 103 is used as a work area for the CPU 101. The HDD 104 controls reading / writing of data with respect to the HD 105 according to the control of the CPU 101. The HD 105 stores data written under the control of the HDD 104.

  The FDD 106 controls reading / writing of data with respect to the FD 107 according to the control of the CPU 101. The FD 107 stores data written under the control of the FDD 106 or causes the travel support device to read data stored in the FD 107.

  In addition to the FD 107, the removable recording medium may be a CD-ROM (CD-R, CD-RW), MO, DVD (Digital Versatile Disk), memory card, or the like. The display 108 displays data such as a document, an image, and function information as well as a cursor, an icon, or a tool box. As this display 108, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.

  The I / F 109 is connected to a network such as the Internet through a communication line, and is connected to other devices via this network. The I / F 109 controls a network and an internal interface, and controls data input / output from an external device. For example, a modem or a LAN adapter may be employed as the I / F 109.

  The input device 110 includes keys for inputting characters, numbers, various instructions, and the like, and inputs data. Moreover, a touch panel type input pad or a numeric keypad may be used. The speaker 111 reproduces the guidance sound.

  The speed sensor 112 detects the speed of the running vehicle. The camera 113 is provided in the vehicle and photographs the surroundings of the vehicle. The camera 113 may be configured to capture a moving image shot by a video camera.

(Functional configuration of the driving support device)
Next, a functional configuration of the driving support apparatus according to the embodiment of the present invention will be described. FIG. 2 is an explanatory diagram showing an example of a functional configuration of the driving support apparatus according to the embodiment of the present invention. In FIG. 2, the driving support apparatus includes an input unit 201, a detection unit 202, a specification unit 203, a calculation unit 204, an extraction unit 205, an output unit 206, and a control unit 207.

  The input unit 201 receives an input of an image around a running vehicle. Here, the vehicle periphery includes the front, rear, and left and right sides of the vehicle. The image means an image taken at a specified interval by a camera attached to the vehicle. The designated interval refers to an interval of shooting time, an interval of distance, and the like. It is also possible to set a shooting interval in proportion to the speed of the vehicle. These shooting intervals may be controlled by a computer, and the user may arbitrarily set the shooting intervals.

  Here, the captured image around the vehicle will be described. FIG. 3 is an explanatory diagram illustrating an example of a photographed image around the vehicle (front). In FIG. 3, the traffic light 301 lights a red signal. The preceding vehicle 302 is a vehicle that is traveling in front of the user, and the brake lamp 303 is lit because the vehicle is decelerating.

  Returning to the description of FIG. 2, the detection unit 202 detects specific color information from the image input by the input unit 201. Here, the specific color information refers to red color information. Specifically, for example, when there is a red signal or color information of the brake lamp 303 of the preceding vehicle 302 in the input image, the color information is detected.

  The image input by the input unit 201 is converted into a color system having a hue such as HLS as one parameter, and a “red region” is detected as color information. The HLS refers to three components of a color model of hue (hue), luminance (lightness), and saturation (saturation). Hue is the hue, saturation is the amount of pigment in the hue, and lightness is the overall brightness.

  Here, the red region in the hue circle will be described. FIG. 4 is an explanatory diagram showing a red region between hues. In FIG. 4, the hue circle 400 includes a red region 401, a blue region 402, and a green region 403. When the input image includes color information corresponding to the red region 401 shown in the hue circle 400, red color information is detected.

  Next, the detected red color information will be described. FIG. 5 is an explanatory diagram showing red color information detected from the image shown in FIG. In FIG. 5, a black circle 501 is red color information of the traffic signal 301 of the image shown in FIG. A square 502 is red color information of the brake lamp 303 shown in FIG.

  Returning to FIG. 2, the detection unit 202 detects color information that prompts the vehicle to stop from the image. Here, the color information that prompts the vehicle to stop means the red signal and the color information of the brake lamp 303 described above. Further, the present invention is not limited to these as long as it prompts the vehicle to stop, and may be, for example, a crossing alarm.

  The specifying unit 203 specifies an object around the vehicle based on the color information detected by the detecting unit 202. Specifically, the object around the vehicle means, for example, the traffic light 301 or the preceding vehicle 302 in front of the vehicle shown in FIG.

  The specifying unit 203 specifies an object in front of the vehicle as a traffic light based on the color information detected by the detecting unit 202. The specifying unit 203 specifies an object ahead of the vehicle as the brake lamp 303 of the preceding vehicle 302 of the vehicle based on the color information detected by the detecting unit 202.

  Specifically, when a red pixel portion (for example, black circle 501) is larger than a predetermined area, it is determined for each pixel portion whether the pixel is a red signal or a brake lamp 303. . For example, if the detected red pixel is above the image and the shape of the pixel is circular, the object related to color information is identified as a red signal. When the red color information is below the image, the brake lamp 303 is specified. In addition, when a pixel is smaller than a predetermined area, these specific processes are not performed.

  The calculating unit 204 calculates the distance between the object specified by the specifying unit 203 and the vehicle. Specifically, the distance from the vehicle to the red signal or brake lamp 303 specified by the specifying unit 203 is calculated. Here, a method for calculating the distance will be described. FIG. 6 is an explanatory diagram showing an example of a method for calculating the distance from the vehicle to the brake lamp 303.

  In FIG. 6, it is assumed that the horizontal angle of view of the camera is θ and the number of pixels in the horizontal direction of the captured image is W. Then, the number of pixels x between the brake lamp pairs (between two brake lamps 303) detected by the detection unit 202 is counted. Here, let the distance to the brake lamp 303 to be calculated be L1. In addition, the width between the brake lamps 303 of the vehicle is generally 2 m, and is obtained by the following equation (1).

  L1 = W / (x × tan (θ / 2)) (1)

  For example, when θ = 50 °, W = 1600 pixels, and the number of detected pixels x x 50 pixels between brake lamp pairs, substituting these values into equation (1) yields L1 = 68.7 (m). .

  Next, a method for measuring the distance to the red signal will be described. First, the number of pixels having the diameter of the pixel relating to the color information of the red signal detected by the detection unit 202 is counted, and the value is set as y. The diameter of the traffic light 301 is 25 cm to 45 cm, but since 30 cm is generally used in many cases, the diameter is 30 cm here. W and θ are obtained by the following equation (2), using the same value as that when the distance from the vehicle to the brake lamp 303 is calculated, with the distance from the vehicle to the traffic light 301 being L2.

  L2 = 0.15 × W / (y × tan (θ / 2) (2)

  For example, when θ = 50 °, W = 1600 pixels, and the number y of pixels of the detected signal diameter = 10 pixels, substituting these values into Equation (2) yields L2 = 51.5 (m).

  Returning to the description of FIG. 2, when a plurality of distances are calculated by the calculation unit 204, the extraction unit 205 extracts the shortest distance from the plurality of distances. Specifically, when red color information of the traffic light 301 and color information of the brake lamp 303 of the preceding vehicle 302 are detected from an image in front of the user's vehicle, the user's vehicle, the traffic light 301 and the preceding vehicle are detected. The distance to 302 is calculated, and the distance closer to the user's vehicle is extracted. For example, in the case of the image information shown in FIGS. 3 and 4, the distance from the user's vehicle to the preceding vehicle 302 is extracted.

  The output unit 206 outputs a change instruction related to the traveling of the vehicle based on the distance calculated by the calculating unit 204 and the traveling speed of the vehicle. Here, specifically, the vehicle traveling is, for example, “accelerated traveling” when traveling by stepping on an accelerator, “decelerated traveling” when traveling by stepping on a brake during traveling, acceleration The case where the vehicle keeps running with the foot away from the accelerator while running is called “inertial running”.

  Next, a method for calculating the traveling distance of inertial traveling will be described. FIG. 7 is an explanatory diagram showing a method for calculating the travel distance of inertial travel. In FIG. 7, the vertical axis represents speed and the horizontal axis represents time. The coasting start point 701 to the deceleration point 702 is a section in which coasting is performed. Further, the area from the deceleration point 702 to the stop position 703 is a section where the vehicle travels at a reduced speed. Further, the area of the trapezoid 704 is a travel distance in coasting, and the area of the triangle 705 is a travel distance in deceleration traveling. In addition, for the calculation of the traveling distance of inertial traveling, the gradient of the road may be calculated, and the traveling distance of inertial traveling may be calculated in consideration of the gradient.

  In order to issue a change instruction regarding vehicle travel, first, the speed of the current user's vehicle is detected, and the vehicle speed (deceleration point speed) at the deceleration point 702 when shifting to inertial traveling from that speed is calculated. To do. Specifically, the deceleration point 702 is a point before the distance designated by the user from the stop position. For example, when setting 30m before the stop position and stopping at the traffic light 301, the deceleration point is 30m before the traffic light 301.

  In addition, the deceleration point speed is set in advance (for example, “30 km / h”), and when it matches the calculated deceleration point speed, the user is instructed to change from acceleration traveling to inertial traveling. Output. As an output method, the information may be output by voice using a speaker, or the change information may be displayed on a liquid crystal monitor or the like attached in the vehicle.

  Returning to the description of FIG. 2, the output unit 206 outputs a change instruction related to the traveling of the vehicle based on the shortest distance extracted by the extracting unit 205 and the traveling speed of the vehicle. Specifically, for example, when the distance from the user's vehicle to the preceding vehicle 302 is extracted, the front of the preceding vehicle 302 is set as the stop position, and the coasting is changed to stop at that position. An instruction to that effect is output.

  The control unit 207 controls traveling of the vehicle based on the distance calculated by the calculating unit 204 and the traveling speed of the vehicle. Specifically, for example, when the vehicle is traveling automatically, the acceleration travel is changed to the inertia travel based on the calculated distance from the vehicle to the traffic light 301 or the preceding vehicle 302.

(Processing procedure of the driving support device)
Next, a processing procedure of the driving support apparatus according to the embodiment of the present invention will be described. FIG. 8 is a flowchart showing an example of a processing procedure of the driving support apparatus according to the embodiment of the present invention. In FIG. 8, first, an input of an image taken by a camera attached to the front outside the vehicle is received (step S801), and a red signal or a brake lamp 303 is detected (step S802).

  Next, it is determined whether the red signal or the brake lamp 303 is detected in the two continuous images (step S803). If not detected (step S803: No), the process proceeds to step S801. On the other hand, when the red signal or the brake lamp 303 is detected in the two continuous images (step S803: Yes), the distance from the vehicle to the object is calculated (step S804). Next, a travel distance when the current speed is changed to inertial travel is calculated (step S805).

  Then, based on the travel distance calculated in step S805, an instruction to change to inertial travel is instructed (step S806), and it is determined whether to continue the process (step S807). When the process is continued (step S807: Yes), the process proceeds to step S801. On the other hand, when the processing is not continued (step S807: No), the series of processing ends.

  Next, the detection process procedure of the red signal or brake lamp 303 shown in step S802 of FIG. 8 will be described. FIG. 9 is a flowchart illustrating an example of a detection process procedure of the red signal or the brake lamp 303. In FIG. 8, when input of an image is received (step S801), the input image is converted into a color system having a hue (step S901).

  Next, it is determined whether red color information is detected (step S902). When not detected (step S902: No), it transfers to step S801. On the other hand, when red color information is detected (step S902: Yes), it is next determined whether the pixel of the detected color information is a predetermined area or more (step S903). When smaller than a predetermined area (step S903: No), it transfers to step S801.

  On the other hand, if the area is equal to or larger than the predetermined area (step S903: Yes), it is next determined whether the pixel position is above the input image and circular (step S904). If it is above the image and is not circular (step S904: No), it is next determined whether the pixel position is below the image (step S905). If it is below the image (step S905: Yes), the brake lamp 303 is determined (step S906). On the other hand, if it is not below the image (step S905: No), the process proceeds to step S907.

  Then, it is determined whether all the detected red color information has been determined (step S907). If not determined (step S907: No), the process proceeds to step S903. On the other hand, if determined (step S907: Yes), the process proceeds to step S803.

  On the other hand, in step S904, when the pixel position is above the input image and is circular (step S904: Yes), the red signal is determined (step S908), and the process proceeds to step S907.

  Next, the processing procedure for calculating the distance from the vehicle to the object shown in step S804 in FIG. 8 will be described. FIG. 10 is a flowchart illustrating an example of a processing procedure for calculating the distance from the vehicle to the object.

  In FIG. 8, when the red signal or the brake lamp 303 is detected in two consecutive images (step S803: Yes), the number of pixels between the brake lamp pairs is counted (step S1001). To the brake lamp 303 is calculated (step S1002). Next, the number of pixels having a red signal diameter is counted (step S1003), and the distance from the vehicle to the red signal (signal 301) is calculated (step S1004). Then, the shortest distance is extracted from the calculated distances (step S1005), and the process proceeds to step S805.

  Next, the processing procedure for calculating the travel distance when the mode is changed to inertia travel shown in step S805 in FIG. 8 will be described. FIG. 11 is a flowchart illustrating an example of a processing procedure for calculating a travel distance when changing to inertial travel.

  In FIG. 8, when the distance from the vehicle to the object is calculated (step S804), the speed of the vehicle is detected (step S1101). Next, a distance shortly designated in advance from the stop position is set as a deceleration point (step S1102), and the speed at the deceleration point when changing to inertial running is calculated (step S1103).

  Then, it is determined whether the calculated speed is a deceleration point speed designated by the user (step S1104). When the speed is not the deceleration point speed (step S1104: No), the process proceeds to step S1101. On the other hand, in the case of the deceleration point speed (step S1104: Yes), the process proceeds to step S806.

  In the above-described embodiment, the front of the vehicle is recognized by the camera, but the rear may be recognized by a camera attached to the rear of the vehicle. When the vehicle behind the vehicle is recognized and there is no vehicle behind, or when the inter-vehicle distance is wide, the driving support device of the present invention may be operated.

  As described above, according to the travel support device, the travel support method, the travel support program, and the recording medium, when the vehicle is stopped, acceleration travel and deceleration travel can be reduced, and fuel consumption can be improved. Can do.

  Note that the driving support method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. Further, this program may be a transmission medium that can be distributed via a network such as the Internet.

It is a block diagram which shows the hardware constitutions of the driving assistance apparatus concerning embodiment of this invention. It is explanatory drawing which shows an example of a functional structure of the driving assistance apparatus concerning embodiment of this invention. It is explanatory drawing which shows an example of the image | photographed vehicle periphery (front) image. It is explanatory drawing which shows the red area | region between hues. It is explanatory drawing which shows the red color information detected from the image shown in FIG. It is explanatory drawing which shows an example of the calculation method of the distance from a vehicle to a brake lamp. It is explanatory drawing which shows the calculation method of the travel distance of inertial driving. It is a flowchart which shows an example of the process sequence of the driving assistance device concerning the Example of this invention. It is a flowchart which shows an example of a detection process procedure of a red signal or a brake lamp. It is a flowchart which shows an example of the process sequence which calculates the distance from a vehicle to an object. It is a flowchart which shows an example of the process sequence which calculates the travel distance at the time of changing to inertial driving.

Explanation of symbols

DESCRIPTION OF SYMBOLS 201 Input part 202 Detection part 203 Specification part 204 Calculation part 205 Extraction part 206 Output part 207 Control part 301 Traffic light 302 Prior vehicle 303 Brake lamp

Claims (10)

An input means for receiving an input of an image around the running vehicle;
Detecting means for detecting specific color information from the image input by the input means;
Identification means for identifying an object around the vehicle based on the color information detected by the detection means;
Calculating means for calculating a distance between the object specified by the specifying means and the vehicle;
Output means for outputting a change instruction relating to the travel of the vehicle based on the distance calculated by the calculation means and the travel speed of the vehicle;
A driving support apparatus comprising: The input means includes
Receiving input of an image ahead of the vehicle,
The detection means includes
The driving support device according to claim 1, wherein color information that prompts the vehicle to stop is detected from the image. The specifying means is:
The driving support apparatus according to claim 2, wherein the object in front of the vehicle is identified as a traffic light based on the color information detected by the detection means. The specifying means is:
3. The driving support apparatus according to claim 2, wherein an object ahead of the vehicle is identified as a brake lamp of a preceding vehicle of the vehicle based on color information detected by the detection means. In addition, when a plurality of distances are calculated by the calculation means, an extraction means for extracting the shortest distance from the plurality of distances,
The output means includes
5. The travel support according to claim 1, wherein a change instruction relating to travel of the vehicle is output based on the shortest distance extracted by the extraction unit and the travel speed of the vehicle. apparatus. An input means for receiving an input of an image around the running vehicle;
Detecting means for detecting specific color information from the image input by the input means;
Identification means for identifying an object around the vehicle based on the color information detected by the detection means;
Calculating means for calculating a distance between the object specified by the specifying means and the vehicle;
Control means for controlling the traveling of the vehicle based on the distance calculated by the calculating means and the traveling speed of the vehicle;
A driving support apparatus comprising: An input process for receiving an input of an image around the running vehicle;
A detection step of detecting specific color information from the image input by the input step;
A specifying step of specifying objects around the vehicle based on the color information detected by the detection step;
A calculating step of calculating a distance between the object specified by the specifying step and the vehicle;
An output step of outputting a change instruction relating to the travel of the vehicle based on the distance calculated by the calculation step and the travel speed of the vehicle;
A driving support method comprising: An input process for receiving an input of an image around the running vehicle;
A detection step of detecting specific color information from the image input by the input step;
A specifying step of specifying objects around the vehicle based on the color information detected by the detection step;
A calculating step of calculating a distance between the object specified by the specifying step and the vehicle;
A control step of controlling the traveling of the vehicle based on the distance calculated by the calculating step and the traveling speed of the vehicle;
A driving support method comprising:   A driving support program that causes a computer to execute the driving support method according to claim 7 or 8. A computer-readable recording medium on which the driving support program according to claim 9 is recorded.

Images