JP2007207274A - Start annunciation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent start delay by annunciating to a driver that, after a vehicle running on a road stops behind a preceding vehicle, the driver's own vehicle can be started because the preceding vehicle has been started; and to reduce generation of erroneous annunciation when another object has intruded between the preceding vehicle and the own vehicle. <P>SOLUTION: A rear part of the preceding vehicle is imaged from a TV camera 1 mounted on a vehicle, and a monitoring line setting circuit 4 sets a monitoring line on the image. A movement change level calculation circuit 5 calculates movement of a noticed pixel on the monitoring line, and a preceding vehicle start detection circuit 7 determines the start of the preceding vehicle to annunciate it from an annunciation device 8 when the movement exceeds a predetermined level in a predetermined direction. When a start restraint information detection circuit 60 detects information that the own vehicle must not be started, that is, start restraint information 61 even when the preceding vehicle is detected by the preceding vehicle start detection circuit 7, and restrains the annunciation of the preceding vehicle start. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a start notification device that automatically detects the start of a preceding vehicle on the same lane of a road and notifies a driver of necessary information.

When driving a vehicle such as an automobile, pay attention to the front, back, left and right of the vehicle so that it does not come into contact with other vehicles, and must follow the start of the preceding vehicle without delay while the signal is stopped or traffic is stopped. Don't be. In such a case, the driver's fatigue increases because he / she must always keep an eye on the situation of the previous vehicle. Reacting to the behavior of the front car without delay is necessary for smooth traffic flow and ensuring safety, but it is quite difficult to keep monitoring.
Therefore, for example, Patent Literature 1 proposes a device for monitoring the periphery of the host vehicle, and analyzing and processing the image to provide the driver with necessary attention information as a vehicle periphery monitoring device. The device described in this publication is a device that can monitor all directions around the host vehicle. However, the present invention is more reliable and practical by focusing on information related to starting the front vehicle, which is extremely important for driving. Aim to increase. The above publication also discloses a forward monitoring device for confirming the start of the front vehicle, which will be described below.
JP-A-7-239998

FIG. 17 is a functional block diagram showing the configuration of the conventional forward monitoring apparatus disclosed in the above publication, FIG. 18 is a functional block diagram showing a specific configuration of the forward motion vector computing means 203 in FIG. 17, and FIG. It is a functional block diagram which shows the specific structure of the front vehicle start direction pattern extraction means 206 in the inside.
In FIG. 17, reference numeral 200 denotes a forward monitoring apparatus, which is composed of the following means 201-209. Reference numeral 201 denotes a front photographing unit that includes an image sensor such as a CCD camera and generates a front current image Gf. Reference numeral 202 denotes a previous image storage unit that stores the current image Gf until the next photographing timing and generates a previous image Gf ′. is there. Reference numeral 203 denotes forward motion vector calculation means for calculating the forward motion vector Vf based on the previous image Gf ′ and the current image Gf that are different in time series, and includes means 203a to 203c shown in FIG. Details of FIG. 18 will be described later.

  Reference numeral 204 denotes a forward motion vector direction detecting means for detecting a forward motion vector direction and Df based on the forward motion vector Vf. Among the forward motion vectors Vf, a predetermined value or more (such as approaching) within the forward calculation regions Rf ′ and Rf. The direction Df of the forward motion vector Vf having the magnitude (corresponding to the magnitude indicating the behavior) is output.

  Reference numeral 205 denotes own vehicle stop determination means for outputting a determination result P or D indicating the stop state or the running state of the own vehicle based on the forward motion vector direction Df. For example, when there is no divergence direction pattern of the background image, The determination result P of the vehicle stop state is output.

  Reference numeral 206 denotes front vehicle start direction pattern extraction means for extracting the forward start direction pattern FP in response to the determination result P indicating the stop state of the host vehicle, and is composed of means 206a to 206c shown in FIG. Description of FIG. 19 will be described later.

  Reference numeral 207 denotes a forward vehicle direction pattern extraction means having the same functional configuration as that of FIG. 19 (front vehicle start direction pattern extraction means 206). In response to a determination result D indicating the running state, a forward motion vector during traveling of the host vehicle. With reference to Vf and the like, a combination of front blocks having the same direction pattern as the image movement pattern of the forward approaching vehicle (including the forward interrupting vehicle and the like) is extracted as the forward vehicle direction pattern FD. At this time, a background pattern or the like that diverges at high speed corresponding to the traveling speed is deleted.

  Reference numeral 208 denotes front vehicle start detection means for detecting a front start vehicle based on the front vehicle start direction pattern FP when the host vehicle is stopped, and the front vehicle is determined from the front motion vector Vf in the front block included in the front vehicle start direction pattern FP. Detect start. Reference numeral 209 denotes a forward approaching vehicle detection unit that detects a forward approaching vehicle based on the forward vehicle direction pattern FD during traveling of the host vehicle.

  In FIG. 18, reference numeral 203a denotes a forward calculation area setting means for setting the forward calculation areas Rf ′ and Rf for each image. Reference numeral 203b denotes a forward block dividing means for dividing each forward calculation area into forward blocks Bf ′ and Bf.

In FIG. 19, reference numeral 206a denotes a front vehicle start motion vector monitoring area setting means.
Reference numeral 206b denotes front vehicle start moving vector direction monitoring means. 206c is a front vehicle start direction pattern detection means for detecting a front vehicle start direction pattern FP in response to a determination result P indicating a stop state.

Next, a specific vehicle behavior detection processing operation will be described with reference to the flowchart of FIG.
20, each step S1 to S9 corresponds to the processing operation of each means 201 to 209 in FIG.
First, the front photographing unit 201 photographs the front of the host vehicle (step S1), and the previous image Gf ′ and the current image Gf that are different in time series are acquired via the previous image storage unit 202 (step S2).

  Next, the forward motion vector computing means 203 computes the forward motion vector Vf based on the images Gf ′ and Gf (step S3). That is, the forward computation area setting means 203a sets the forward computation areas Rf ′ and Rf at predetermined positions in the images Gf ′ and Gf, and the forward block dividing means 203b further assigns each forward computation area to a plurality of forward blocks Bf. The forward motion vector detection means 203c detects the forward motion vector Vf of the image in each forward block (step S3).

Subsequently, the forward motion vector direction detection means 204 detects the direction Df of the forward motion vector having a magnitude greater than or equal to a predetermined value in each forward computation region among the forward motion vectors Vf in each forward block (step S4). The own vehicle stop determining means 205 determines whether or not the own vehicle is stopped (step S5).
If it is determined in step S5 that the host vehicle is stopped (that is, YES), the front vehicle start direction pattern extraction unit 206 extracts the front vehicle start direction pattern FP in response to the determination result P indicating the stop state. (Step S6).

  That is, the front vehicle start motion vector monitoring region setting means 206a sets the front vehicle start motion vector monitoring regions RWf ′ and RWf at the front vehicle and its peripheral positions in each front calculation region, and the front vehicle start motion vector direction monitoring means. 206b monitors the forward motion vector direction Df within the front vehicle start motion vector monitoring area to generate the front vehicle start motion vector direction DVf, and the front vehicle start direction pattern detection means 206c generates the front vehicle start motion vector direction DVf. Based on the above, the front block including the motion vector having the same direction pattern as the image motion of the forward start vehicle is detected as the front vehicle start direction pattern FP.

On the other hand, when it is determined in step S5 that the host vehicle is traveling (that is, NO), the forward vehicle direction pattern extraction unit 207 extracts the forward vehicle direction pattern FD in response to the determination result D indicating the traveling state ( Step S7).
That is, when one or more forward motion vector monitoring areas are set at predetermined positions in the forward calculation area, each forward motion vector direction Df is monitored in the forward motion vector monitoring area, and a forward approaching vehicle or an interrupting vehicle exists The forward block including the forward motion vector having the same direction pattern as the image motion direction pattern assumed in the above is extracted as the forward vehicle direction pattern FD.

  Finally, the front vehicle start detection unit 208 detects a front start vehicle based on the forward motion vector in the front vehicle start direction pattern FP (step S8), and the front approaching vehicle detection unit 209 detects the front vehicle start direction pattern FD. A forward approaching vehicle is detected based on the forward motion vector (step S9). In this way, the behavior (start or approach) of the preceding vehicle can be detected.

  Next, specific positions of the forward calculation area Rf and the forward block Bf set for the forward image Gf will be described with reference to the explanatory diagram of FIG. In FIG. 21, V and H are the number of pixels in the vertical and horizontal directions of the image Gf, and RWf3 is a forward motion vector monitoring region (or forward start motion vector monitoring region) for a forward approaching vehicle (or a forward start vehicle). .

  The forward calculation area Rf occupies the area from the bottom of the image vertical direction V to 3/4, and the forward motion vector monitoring areas RWfl and RWf2 for the interrupting vehicle are above the position 1/6 from the bottom of the image vertical direction V. The forward motion vector monitoring area RWf3 for the approaching vehicle occupies a center half area in the horizontal direction H of the image in the forward calculation area Rf.

  The forward block Bf limited to calculate the forward motion vector has a size of 10 × 10 pixels, and divides the forward computation area Rf in the forward image Cf into a plurality of parts. A forward motion vector is calculated in these forward blocks Bf. In addition, in the detection of the forward motion vector Vf in the above-described forward block Bf (step S3), a known all-point matching method is used.

  As described above, the conventional start notification device is provided with the imaging means for imaging the front, continuously capturing the images, and preliminarily capturing the images in a two-dimensional processing region (that is, extending in the vertical and horizontal directions). Further, this processing area is divided into a plurality of two-dimensional blocks (also spreading in the vertical and horizontal directions). Then, the motion vector in each block is obtained. First, the stop of the host vehicle is detected by a combination of blocks in which the motion vector in the block indicates a pattern indicating the stop state of the host vehicle. The start of the front vehicle is detected by a combination of blocks in which the same pattern as that of the vector is obtained.

The conventional start notification device needs to process a two-dimensional image area of a certain size in order to detect the start of the preceding vehicle, and the amount of data to be processed is large, so the scale of the processing device increases. There existed a subject that processing speed was slow and cost became high. In addition, for example, when there is no front vehicle in the screen, there is a possibility that a false alarm occurs when there is no image of the front vehicle in the screen.
Also, after both the vehicle and the front vehicle are stopped, if the driver starts carelessly without confirming the front according to the notification of the start notification device, a person, a bicycle, or a motorcycle may If there is an intrusion between the vehicle and the front car, there is a possibility of collision with the intruder.

The start notification device according to the present invention includes a photographing unit that photographs the front of the host vehicle and generates a plurality of images.
Based on the change on the screen including the image, it is detected whether or not the front vehicle has started, and when detecting that the vehicle has started, a front vehicle start detection means for outputting a start detection signal,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
An intrusion detection area setting means for setting an intrusion detection area in the screen, an intrusion detection means for detecting that another object has entered the front of the vehicle from the image of the intrusion detection area, and the intrusion detection means is an intrusion of another object. When the vehicle is detected, the notification of the preceding vehicle start by the notification means is stopped.

A front vehicle start detection means for detecting whether or not the front vehicle has started and outputting a start detection signal when detecting that the vehicle has started;
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
An in-vehicle display device, and a start detection operation control circuit that operates the start notification device while the in-vehicle display device is operating, and stops the operation of the start notification device when the in-vehicle display device is stopped. is there.

A front vehicle start detection means for detecting whether or not the front vehicle has started and outputting a start detection signal when detecting that the vehicle has started;
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
Own vehicle stop detection means for detecting the stop of the own vehicle;
Vehicle presence detecting means for detecting the presence or absence of a preceding vehicle; detecting that the own vehicle stop is detected by the own vehicle stop detecting means; and when the vehicle presence detecting means determines that there is no preceding vehicle, the notification The operation of the means is stopped.

Also, photographing means for photographing the front of the host vehicle and generating a plurality of images,
Based on the change on the screen including the image, it is detected whether or not the front vehicle has started, and when detecting that the vehicle has started, a front vehicle start detection means for outputting a start detection signal,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
An image processing availability determination unit that determines whether image processing is possible by determining quality of an image captured by the imaging unit, and when the image processing availability determination unit determines that image processing is not possible, While stopping the processing operation of the front vehicle start detection means, the notification means notifies the stop of the operation of the start detection device.

Further, when the own vehicle stops, a signal position detecting means for detecting presence / absence of a traffic signal with respect to the own vehicle traveling lane and a position on the image from within the image, and a signal determination means for determining the meaning of the display of the traffic signal. ,
When a traffic light is detected by the traffic light position detection means, the notification device is turned on / off based on the determination result of the signal determination means, and when no traffic light is detected by the traffic light position detection means The ON operation of the notification device is continued.

Also, photographing means for photographing the front of the host vehicle and generating a plurality of images,
Based on the change on the screen including the image, it is detected whether or not the front vehicle has started, and when detecting that the vehicle has started, a front vehicle start detection means for outputting a start detection signal,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
Switch means for turning on and off the operation of the photographing means is provided, and the switch means is turned on when the own vehicle stop detecting means detects the stop of the own vehicle.

In addition, a photographing means having a shutter that can be opened and closed while photographing the front of the host vehicle to generate a plurality of images and protecting the lens,
Based on the change on the screen including the image, it is detected whether or not the front vehicle has started, and when detecting that the vehicle has started, a front vehicle start detection means for outputting a start detection signal,
Notifying means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible,
The photographing means controls to open the shutter while the own vehicle stop detecting means detects the stop of the own vehicle, and to close the shutter when no stop is detected.

A front vehicle start detection means for detecting whether or not the front vehicle has started and outputting a start detection signal when detecting that the vehicle has started;
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
A start operation detection possibility calculating means for calculating the probability of the start detection signal by detecting the approach of the preceding vehicle within a predetermined time before the stop of the own vehicle;
When the start motion detection possibility calculation means determines that the possibility of start detection by the front vehicle start detection means is low, the possibility of detection omission of the front vehicle start detection signal is notified.

  The start notification device of the present invention can reduce false alarms by stopping the start notification operation when an intruder enters between the host vehicle and the front vehicle.

  Moreover, when the video or characters are displayed on the in-vehicle display, the start notification is made possible, so that false alarms can be reduced.

  Moreover, when there is no front vehicle, false alarms can be reduced by stopping the start notification operation.

  Further, when the image processing is impossible, the false notification can be reduced by stopping the start notification operation.

  In addition, since the start notification is activated when the signal is ready to start and the start of the preceding vehicle is detected, the reliability when the intersection stops is improved.

  In addition, by operating the camera only when the host vehicle is in a stopped state, it is possible to extend the life of the camera and reduce power consumption.

  Further, only when the host vehicle is in a stopped state, by opening the shutter of the camera, it is possible to extend the life of components such as an image sensor, a lens, and an optical filter of the camera.

  In addition, it is possible to increase the reliability of the user by determining in advance the possibility of start detection and notifying the driver.

Related technology
FIG. 1 is a block diagram showing a configuration of a start notification device according to Related Art 1 of the present invention. In FIG. 1, 1 is a TV camera (hereinafter also referred to as a TV camera) that is mounted on a vehicle and photographs the front of the vehicle, 2 is a TV camera control circuit that controls the TV camera 1, and 3 is a screen shot by the TV camera 1. A frame memory to be stored, 4 is a monitoring line setting circuit (also referred to as monitoring line setting means) for setting a monitoring line in the stored screen, and 5 is a movement change degree for calculating a movement change degree of the position of the target pixel on the monitoring line. An arithmetic circuit (movement change degree calculation means), 6 is a movement change degree integration circuit (movement change degree integration means) that integrates the movement change degree output from the movement change degree calculation circuit 5, and 7 is an analysis of the movement change degree integration result. A front vehicle start detection circuit (front vehicle start detection means) for detecting the start of the former, and 8 an alarm device (notification means) for notifying the driver of the start of the front vehicle by sound, light, vibration, display on the screen or the like Or notification Location and is also referred to).

Next, the operation will be described. The TV camera 1 mounted on the vehicle images the front of the host vehicle at an arbitrary frame interval according to the TV camera control circuit 2. The frame memory 3 stores data obtained by digitally converting the imaging signal of the TV camera 1 for a predetermined time (or a predetermined number of frames). This data is basically two-dimensional image data. Hereinafter, the horizontal direction will be described as the X direction and the vertical direction as the Y direction. The monitoring line setting circuit 4 sets a monitoring line 21 composed of a linear pixel group used for the process for detecting the start of the preceding vehicle on the two-dimensional image (screen).
In the following explanation, it is assumed that a two-dimensional image is once taken into the frame memory 3 as described above. However, only the pixel values of the monitoring line may be taken into the frame memory.

  Examples of monitoring line settings in the monitoring line setting circuit 4 are shown in FIGS. 2 to 6 show captured images of the front car. In the figure, 20 is an image of the front vehicle in the screen (not specifically described in the following description), 21 is a monitoring line set over the image 20 of the preceding vehicle, and 22 is installed on both sides of the monitoring line 21. The extracted image data area. As shown in the figure, the monitoring line 21 is a line having a certain length (a straight line or a curve having a narrow width (for example, one pixel)). For example, as shown in FIG. It is set in advance to a position where it is expected that it will be applied to 20 car bodies. FIG. 2 shows a case where one monitoring line 21 is set so as to be substantially vertical, and the determination of front vehicle detection described later is performed using the luminance value of the pixel of interest on the monitoring line 21. A plurality of monitoring lines 21 may be set as shown in FIGS. The plurality of monitoring lines are preferably arranged at positions where they are not in contact with each other as shown in FIG. 3, and in this case, there is an effect of increasing the degree of freedom of the determination method of the detection of the start of the front vehicle described later.

The operation of the movement change degree calculation circuit 5 will be described in the case where the monitoring line 21 is set as shown in FIG. The luminance value of the pixel (x, y) (referred to as the pixel of interest) on the monitoring line 21 at a certain time t is g (t, x, y), and the time p (p is one to several frames before the time t). Assuming that the luminance value of the same pixel at (1 frame = 1/30 (second))) is g (p, x, y), the movement change rate Ov is obtained by the following equation.
Ov (x, y) = (g (t, x, y + 1) -g (t, x, y-1)) * (g (t, x, y) -g (p, x, y)) (1)
Ov is a negative value when the change in the luminance value of the pixel occurs in the direction from the bottom to the top on the screen in the process from the past time to the predetermined time, and conversely, the change in the luminance value of the pixel changes. When it occurs in the direction from top to bottom on the screen, it is a positive value. The movement change degree integration circuit 6 integrates the output values of the movement change degree calculation circuit 5 obtained for each pixel on the monitoring line 21. (g (t, x, y) −g (p, x, y)) is a means for obtaining the first difference value. (g (t, x, y + 1) −g (t, x, y−1)) is a means for obtaining the second difference value.

  Here, the luminance change when the front vehicle starts will be described with reference to FIG. In FIG. 7, 30 is a vanishing point, and 31 is an optical flow (motion vector). When the camera faces the road ahead of the host vehicle, the optical flow 31 of the front vehicle in the screen is observed to go to one vanishing point 30. Therefore, when the front vehicle starts forward from the stop, the luminance change of the front vehicle portion below the vanishing point 30 is directed from the lower side to the upper side, and conversely, the front vehicle portion above the vanishing point 30. The change in luminance changes from the top to the bottom. On the other hand, when the front car starts backward (approaching), the change in the brightness of the part of the front car below the vanishing point goes from the top to the bottom, and conversely, the luminance of the front car above the vanishing point The change in the luminance of the part is directed from below to above.

Based on the above, a start determination method of the front vehicle start detection circuit 7 will be described. The front vehicle start detection circuit 7 determines the determination method of the front vehicle start detection based on the relationship between the installation position of the monitoring line 21 and the vanishing point 30. For example, when the monitoring line 21 is installed below the vanishing point 30, the absolute value of the integrated value obtained by the movement change integration circuit 6 of the output value of the calculation result of the expression (1) is equal to or less than a predetermined value. It is a negative value and its absolute value from the state where it is more than a predetermined time (it is not always 0 when stopped due to noise, etc.) When the vehicle exceeds a predetermined threshold, it is determined that the preceding vehicle has started.
Similarly, when the integrated value by the movement change rate integrating circuit 6 is a positive value and the absolute value exceeds a predetermined threshold value, it is determined that the front vehicle has moved backward (approached).

Next, when the monitoring line 21 is installed above the vanishing point 30, the integrated value of the calculation result of Equation (1) is a positive value, and the absolute value exceeds a predetermined threshold value. When it becomes, it determines with the front vehicle having started. Similarly, when the integrated value by the movement change degree integrating circuit 6 is a negative value and the absolute value exceeds a predetermined threshold value, it is determined that the front vehicle has moved backward (approached).
In addition, when a part of the monitoring line 21 is below the vanishing point 30 and the rest is above the vanishing point 30, the above two determination methods are selected and performed with the vanishing point 30 as a boundary. As described above, since the position of the vanishing point and the determination method are related, means for manually setting the position of the vanishing point 30 in advance or means for automatically detecting from the image processing (both vanishing point setting means) And determining the setting position of the monitoring line 21 or determining the determination method based on the output, the reliability of the determination can be improved.

  Next, a determination method when two monitoring lines 21 are set as shown in FIG. 3 will be described. Since the number of the monitoring lines 21 is two, the degree of freedom of determination is expanded. For example, the front vehicle start detection may be detected only when the above determination condition is satisfied for each of the two monitoring lines 21. Further, when the determination condition is satisfied in any one of the monitoring lines 21, it is possible to detect that the front vehicle has started. The former is effective in reducing the occurrence of false notifications, and the latter is effective in reducing detection omissions. Alternatively, the determination may be made by setting one threshold value together with two monitoring lines. In the case where there are three or more monitoring lines, different effects can be obtained by adopting the same combination method.

A determination method when a plurality of monitoring lines are set to cross as shown in FIG. 4 will be described. In FIG. 4, when the monitoring line 21 is installed with a certain inclination with respect to the vertical direction, or as shown in FIG. 5, for example, two lines toward the vanishing point direction are connected in an inverted V shape. This includes the case of a curved line such as a curved line and a curve of the disappearance line due to the aberration of the wide-angle lens. This corresponds to the case where the optical flow occurs diagonally or sideways when the front vehicle starts. At this time, the operation of the movement change degree calculation circuit 5 is such that the luminance value of the element (n) of the one-dimensional data string corresponding to the pixel on the monitoring line at a certain time t is g (t, n) and the time past t Let the luminance value of the same element of p (p is the same as described above) be g (p, n). The movement change degree Ov ′ is obtained by the following equation.
Ov '(n) = (g (t, n + 1) -g (t, n-1)) * (g (t, n) -g (p, n)) (2)
The following determination is the same as in FIGS. 2 and 3, and a description thereof will be omitted.
In this way, it is possible to determine the movement change amount in a plurality of directions. Furthermore, when the monitoring line 21 is vertical as shown in FIGS. 2 and 3, if the monitoring line 21 is hung on the edge portion close to the vertical direction of the image of the preceding vehicle, the movement change degree cannot be obtained well. If it is slanted, it is possible to obtain an effect that the degree of movement can be obtained well from both the vertical and horizontal edge portions. The vertical monitoring line is called the vertical monitoring line, the horizontal monitoring line is called the horizontal monitoring line, and at least one of the extension lines of the vertical monitoring line is directed to either the upper side or the lower side of the screen, and the horizontal monitoring line is the left side or Heading to one of the right side.

Next, the determination method of FIG. 6 will be described. In FIG. 6, an image data extraction region 22 (linear region) is set on both sides of the monitoring line 21. As a result, for each pixel of the monitoring line 21, as shown in FIG. 8, the movement change degree in a plurality of directions can be obtained using the luminance values of the pixels on the monitoring line 21 and the pixels on the image data extraction area 22. It is possible to determine the direction in which the degree of movement change is large as the movement change direction of the pixel.
For the movement direction other than the direction of the monitoring line 21 shown in the equation (1), the lateral movement change degree is Oh (x, y), the oblique movement change degree is Oc1 (x, y), Oc2 (x, y)
Oh (x, y) = (g (t, x + 1, y) -g (t, x-1, y)) * (g (t, x, y) -g (p, x, y)) (3)
Oc1 (x, y) = (g (t, x-1, y + 1) -g (t, x + 1, y-1)) * (g (t, x, y) -g (p, x , y)) ・ ・ （４）
Oc2 (x, y) = (g (t, x + 1, y + 1) -g (t, x-1, y-1)) * (g (t, x, y) -g (p, x , y)) ・ ・ （5）
Indicated by As described above, the start of the front vehicle can be detected.

The reporting device 8 notifies the driver that the front vehicle has started when the front vehicle start detection circuit 7 detects the start of the front vehicle. For example, the alarm device 8 may notify by sound, voice, or vibration, and if a monitor for navigation or TV is mounted, characters may be displayed on the monitor. In this case, when an image is displayed on the screen, only the characters may be displayed without displaying the image, or the image and the characters may be displayed in a superimposed manner.
The TV camera 1, the TV camera control device 2, and the frame memory 3 are photographing means referred to in the present invention.

Related technology
FIG. 9 is a block diagram showing the configuration of the start notification device according to Related Technique 2 of the present invention. In FIG. 9, 50 detects whether the host vehicle is running or stopped by means different from the front vehicle start detection circuit 7, and transmits the detected signal to the front vehicle start detection circuit 7. The operation of the front vehicle start detection circuit 7 is stopped during traveling, and a stop detection circuit (own vehicle stop detection means) for starting the operation of the front vehicle start detection circuit 7 when the vehicle is stopped.

Next, the operation will be described.
In Related Art 1, the front vehicle start detection circuit 7 determines that both the own vehicle and the front vehicle are stopped by the degree of change in movement being a value close to 0 for a predetermined time or more. In this case, even when both the host vehicle and the preceding vehicle are exercising at a constant speed, the degree of change in movement is 0, and it may be erroneously detected that the vehicle has stopped. In order to avoid such erroneous detection, the vehicle is provided with a stop detection circuit 50 that detects that the host vehicle is stopped (or running).
Since there are a plurality of methods for operating the stop detection circuit 50, description will be made sequentially.
First stop detection method.
A vehicle speed pulse signal used for the speedometer of the host vehicle is received, and it is detected from this signal that the vehicle speed of the host vehicle has become zero. This stop signal is sent to the front vehicle start detection circuit 7 to execute the detection operation.

Second stop detection method.
The stop detection circuit 50 uses a signal that the side brake is turned on. This detects the stop of the vehicle. The subsequent processing is the same as that of the first method.

Third stop detection method.
Stop detection circuit 50 receives a signal from an acceleration sensor or a vibration sensor attached to the vehicle body, and after deceleration in the traveling direction has continued for a certain period of time, deceleration or acceleration has substantially continued for a predetermined time or more. To detect the stop of the vehicle. In this case, since the output of the acceleration sensor becomes 0 when exercising at a constant speed, there is a possibility of misrecognition as in the case of the related technique 1, but it is not affected by the image. Further, there is no need to obtain other information from the vehicle side, and an independent configuration can be obtained, so that the configuration of the apparatus is simplified. When the vibration sensor is used, a specific vibration form obtained while the vehicle is stopped and running is stored in advance, and it is determined whether the vehicle is running or stopped from the detected vibration form.
The subsequent processes are the same as those of the first and second methods.

Embodiment 1 FIG.
FIG. 10 is a block diagram showing a configuration of the start notification device according to Embodiment 1 of the present invention. In FIG. 10, reference numeral 60 is a start suppression information detection circuit, 61 is start suppression information, 62 is a start detection operation control circuit, and others are the same as in FIG.
Next, the operation will be described.
The start suppression information detection circuit 60 detects the information that the host vehicle should not start, that is, the start suppression information 61 even when the front vehicle start detection circuit 7 detects the front vehicle start.
Here, a plurality of embodiments of the start suppression information 61 will be described.

First start suppression information.
After both the host vehicle and the front vehicle are stopped, if the driver inadvertently starts following the notification from the start notification device without checking the front, people, bicycles, motorcycles, etc. If it enters between cars, it may collide with intruders. In order to avoid this, when the start suppression information 61 that there is an intruder is obtained, the notification of detection of the start of the preceding vehicle is suppressed, or the driver is inadvertently notified that the start is different from the normal start. Suppress.

There is a method of detecting an intruder by setting an intrusion detection area on the screen of the front vehicle start detection camera 1 (intrusion detection area setting means) and detecting it by image processing. As an image processing method, for example, a screen immediately after the stop is held as a background screen, and a background difference image with a screen obtained thereafter is obtained and extracted. The area representing this change is close to the size and shape of a person or the like assumed in advance, and the displacement of the area in time changes laterally on the screen, that is, from the left to the right of the screen, or to the right It is determined that there is an intruder when it is displaced from left to right (referred to as intrusion detection means). In this way, when the start suppression information detection circuit 60 obtains predetermined start suppression information 61, this signal is output to the start detection operation control circuit 62.
When the start suppression information is transmitted, the start detection operation control circuit 62 A) stops the operation of the front vehicle start detection circuit 7 or B) stops the notification operation of the notification device 8 Or C) The content of the notification is issued with a content (such as changing the sound or changing the display content of the characters) different from the notification related to the normal front vehicle start detection. As another method for detecting an intruder, an optical transceiver may be provided and the intruder may be detected by optical cutting.

Second start suppression information.
As a case where the driver is likely to look away from the front, there is a case where an in-vehicle display is viewed. That is, it is a case where navigation information or Internet information is being viewed. The start notification device is intended to prevent the driver from paying attention to this information and avoiding delay in noticing that the front car has started. In many cases, the start notification is not necessary. Therefore, when it is detected as the start suppression information 61 that the in-vehicle display is off, it is output to the start detection operation control circuit 62 and the operation is stopped. Since the subsequent operation is the same as that of the first start suppression information, the description thereof is omitted. In other words, the start notification can be made only when the in-vehicle display is on. In addition, a function may be prepared so that the driver can set whether to suppress the start notification operation when the in-vehicle display is off in advance.

Third start suppression information.
The start notification device is premised on the presence of a preceding vehicle. However, there are cases where there is no front vehicle, such as when stopping at the head of the intersection. In this case, the output of the detection of the start of the front vehicle is not necessary (even if it is false) Therefore, it is determined whether or not there is a vehicle ahead (referred to as vehicle presence detection means), and if there is no vehicle, it is output to the start detection operation control circuit 62 as start suppression information 61 and the operation of the start notification device is controlled. Stop. Subsequent operations are the same as above. As for the method of detecting the presence or absence of the front car, it may detect the rear part of the car by analyzing the image of the camera 1, but there are several other methods such as a method using a laser and a method using an ultrasonic wave. Since this method is publicly known, detailed description is omitted.

Fourth start suppression information.
The front vehicle start detection circuit 7 determines the start of the front vehicle using image processing as described in Related Art 1. In this case, if there is any defect in the captured image itself, the reliability of the image processing result is lowered, so it is necessary to suppress the start notification. For this reason, means for determining whether the camera is operating normally, such as smearing or halation in the image of the camera, or if the overall image is too dark or too bright, A means (referred to as “image processing availability determination means”) that is obtained from the luminance information of the image is provided, and when it is detected that image processing is impossible, it is output to the start detection operation control circuit 62 as start suppression information 61 and the operation of the start notification device. To stop. Subsequent operations are the same as above.

5th start suppression information.
When the host vehicle is stopped to make a right or left turn, it is considered that the start notification function is basically unnecessary. Accordingly, when it is detected as the start suppression information 61 that one of the left and right winkers is on, the start suppression information 61 is output to the start detection operation control circuit 62. Since the subsequent operation is the same as that of the first start suppression information, the description thereof is omitted.

Sixth start suppression information.
When the driver himself judges that the notification operation of the front vehicle start notification is unnecessary, the stop of the operation is input by a vehicle-mounted display such as a switch or a touch panel provided in the notification device 8. When the stop of the operation is input, it is output to the start detection operation control circuit 62 as start suppression information 61. Since the subsequent operation is the same as the description of the first start suppression information, the description is omitted.
When the operation is stopped by this switch, any of the following operation patterns can be selected. When the operation of the vehicle-mounted display that has been used is stopped after pressing this switch, this switch is reset and the alarming operation is resumed. Second, the start of the first vehicle after pressing this switch resets this switch and restarts the notification operation. Thereafter, the normal start notification operation is continued until the switch is pressed again.

Seventh start suppression information.
When the driver sets the gear to the drive mode or the reverse mode, it is considered that the start detection operation is unnecessary. Further, it is considered that the start notification operation may be performed when the neutral is set. Therefore, the gear operation mode is output to the start detection operation control circuit 62 as the start suppression information 61. Since the subsequent operation is the same as the description of the first start suppression information, the description is omitted.

Embodiment 2. FIG.
FIG. 11 is a block diagram illustrating a configuration of the start notification device according to the second embodiment. In the figure, 70 is a road traffic signal position detection circuit (hereinafter referred to as a signal position detection circuit or signal position detection means), 71 is a road traffic signal display state determination circuit (hereinafter referred to as a signal determination circuit), The same as 9.
Next, the operation will be described. The signal position detection circuit 70 detects the signal position from the image. An example of the signal position detection method will be described below. Edges are detected from the image using a Sobel filter or the like. Then, a portion where the edge forms a circle having a predetermined size is detected. When three circles exist within a predetermined distance, or when at least one circle is detected and then a similar circle is detected in the vicinity of the circle, it is determined that there is a signal, and the position is output. .

  In the above description, the signal position detection circuit 70 is automatically determined from an image, but it may be determined by a driver's instruction. That is, when a vehicle-mounted display is installed and the image of the front-vehicle detection camera 1 is displayed on the in-vehicle display when the host vehicle is stopped, the driver touches the display touch with a mouse or a finger (when the touch panel is mounted). The location of the signal is specified using a pointer function such as). The signal position detection circuit 70 outputs (that is, stores) the designated position.

  The signal determination circuit 71 (signal determination means) determines that the signal has changed from red to blue or blinking in blue arrows, yellow or red (in short, the vehicle has changed to a signal that allows the vehicle to travel). Here, an example of the determination method of the signal determination circuit 71 is shown. The signals are arranged in the order of blue, yellow, and red from the left (or from the top). In the stop state, since the luminance of red is higher than the others, it is considered that at least a red circle is obtained. Therefore, it can be determined that the signal has changed from red to blue by detecting a decrease in luminance in the obtained circle. Furthermore, if a circle is present at a certain distance from the red in the left direction, the brightness is increased, or if the circle is not present, the brightness is increased, resulting in a circular shape. It may be determined that the signal has changed from red to blue due to the occurrence of a shaped edge, or both may be determined. Each case can be dealt with in the case of an arrow or blinking.

As described above, when it is detected that the change in the signal has changed to a state in which the host vehicle can travel, and when the front vehicle start detection circuit 7 detects the start of the front vehicle, the start notification device 8 To inform the driver of the departure.
If no signal is detected by the signal position detection circuit 70, the start notification device 8 is detected when the front vehicle start detection circuit 7 detects the start of the front vehicle, as in the related art 1. To inform the driver of the departure.

Embodiment 3 FIG.
FIG. 12 is a block diagram illustrating a configuration of the start notification device according to the third embodiment. In the figure, reference numeral 80 denotes a vehicle presence detection circuit that detects whether or not a preceding vehicle is present in front of the host vehicle, and the others are the same as those in FIGS. 10 and 11.
Next, the operation will be described. In the present embodiment, in addition to the configuration of the second embodiment, a vehicle presence detection circuit 80 that detects whether or not a preceding vehicle is present is added, and the function of suppressing the notification operation of the first embodiment is expanded. Is.

The stop detection circuit 50 detects the stop of the host vehicle even though the vehicle presence detection circuit 80 does not detect the presence of the preceding vehicle, and the signal position detection circuit 70 detects no signal. In this case, it is assumed that there is an abnormal state such as signal detection leakage. Therefore, in this case, the start detection information 61 is output to the start detection operation control circuit 62 to suppress the notification by the notification means 8 as in the first embodiment.
On the other hand, when a signal is detected by the signal position detection circuit 70, it is assumed that the vehicle is stopped at the head of the intersection, and when the signal determination circuit 71 detects that the signal has turned blue, The reporting means 8 reports that the vehicle is ready to start.

Embodiment 4 FIG.
FIG. 13: is a block diagram which shows the structure of the start notification apparatus which concerns on Embodiment 4 of this application. In the figure, reference numeral 90 denotes a camera on / off control circuit (referred to as switch means), and the others are the same as in FIG.
Next, the operation will be described. The start notification for the preceding vehicle may be operated only when the host vehicle is stopped. Therefore, the camera itself may be in an operable state only when the vehicle is in a stopped state. Accordingly, when the stop detection circuit 50 detects the stop of the host vehicle, the camera on / off control circuit 90 puts the camera into an operating state, and conversely when the host vehicle is moving, the camera operation is stopped. .

Embodiment 5 FIG.
FIG. 14 is a block diagram showing a configuration of a start notification device according to Embodiment 5 of the present application. In the figure, reference numeral 100 denotes a camera with a shutter having a light shielding and dustproof function, and 101 denotes a camera shutter control circuit. Others are the same as FIG.
Next, the operation will be described. The start notification for the preceding vehicle may be operated only when the host vehicle is stopped. The camera is always directed forward, and the imaging element and the lens are deteriorated by the direct sunlight of the sun, and the lens is contaminated by dust, exhaust gas, and the like. Therefore, when the stop detection circuit 50 detects the stop of the host vehicle, the camera shutter control circuit 101 opens the shutter, and conversely, when the host vehicle is moving, the camera shutter is closed. A controllable aperture may be used instead of the shutter. In this case, when the stop of the host vehicle is detected, the aperture is set to an appropriate state, and conversely, when the host vehicle is moving, control is performed so that the aperture is completely closed.

Related technology 3.
FIG. 15: is a block diagram which shows the structure of the start alerting device based on the related technique 3 of this application. In the figure, 110 is a movement change degree binarization circuit, and 112 is a front vehicle start detection circuit. Others are the same as FIG.
Next, the operation will be described. The degree of movement change for each pixel on the monitoring line is calculated by the same method as in Related Art 1. The movement change degree binarization circuit 110 binarizes the movement change degree for each pixel on the monitoring line with a predetermined threshold. If the value exceeding the threshold is “1” and the remaining is “0”, the moving change pixel integration circuit 111 calculates the total number of pixels that are “1”. When the threshold value is negative, “1” is set below the threshold and “0” is set for the rest. The front vehicle start detection circuit 112 determines that the front vehicle has started when the total number of pixels of the moving change pixel integration circuit 111 exceeds a predetermined threshold. At this time, as shown in the related art 1, the determination method of the detection of the start of the front vehicle differs depending on the relationship between the installation position of the monitoring line 21 and the vanishing point 30.

That is, when the monitoring line 21 is installed below the vanishing point 30, it is detected that the front vehicle has moved forward when the threshold value of the movement change degree binarization circuit 110 is negative. On the other hand, when it is positive, it means that the front vehicle has moved backward (approached). On the other hand, when the monitoring line 21 is installed above the vanishing point 30, when the threshold value of the movement change binarization circuit 110 is positive, it is detected that the front vehicle has moved forward. On the contrary, when it is negative, it means that the front vehicle has moved backward (approached).
In the present embodiment, basically, the monitoring line setting variations (FIGS. 2 to 6) described in the related art 1 can be determined based on a similar concept, and thus the same effect can be obtained. It is done.

Embodiment 6 FIG.
FIG. 16 is a block diagram showing a configuration of a start notification device according to Embodiment 6 of the present application. In the figure, reference numeral 120 denotes a start detection possibility determination circuit (start operation detection possibility determination means). Others are the same as FIG.
Next, the operation will be described. The detection of the start of the preceding vehicle is determined by a method based on Related Art 1. Here, the determination of detection by the front vehicle start detection circuit 7 is obtained from the degree of change in movement, but is basically obtained from the change in luminance on the monitoring line of the front vehicle. As a result, there is a high possibility that the start detection will be lost. Therefore, the start detection possibility determination circuit 120 fetches data on the monitoring line immediately after the stop of the host vehicle is detected by the stop detection circuit 50, and determines the possibility of start detection based on the content of the luminance pattern. As a determination method, for example, when the density change degree is small, that is, when there are few edges, it can be determined that the detection possibility is low. As another determination method, the degree of movement change for a predetermined time that occurs immediately before the host vehicle stops may be used. That is, in the case immediately before the stop, the directions of approach, distance, and movement are opposite to those in the case of starting, but when the degree of acceleration / deceleration is similar, the pattern is similar.

  Therefore, it can be considered that the start can be detected when the approach can be detected in the pattern immediately before the stop, and conversely, when the approach cannot be detected, there is a high possibility that the start cannot be detected. From the above, the start detection possibility determination circuit 120 uses the degree of movement change for a predetermined time immediately before the stop of the host vehicle, and detects the approach of the front vehicle by the same method except for the direction different from the start detection. Processing is performed to determine the possibility of detection. If it is determined by either method that the possibility of start detection is low, the start notification device 8 notifies the driver that there is a possibility of detection leakage. As a result, the driver can be aware of the detection leakage in advance, so that the effect of increasing the reliability of the apparatus can be obtained.

It is a block diagram of the start notification apparatus of the related art 1 of this invention. It is explanatory drawing of the monitoring line for demonstrating the operation | movement of FIG. It is explanatory drawing of another monitoring line. It is explanatory drawing of another monitoring line. It is explanatory drawing of another monitoring line. It is explanatory drawing of another monitoring line. It is explanatory drawing of the vanishing point for demonstrating the operation | movement of FIG. It is explanatory drawing of the moving direction detection containing an adjacent pixel. It is a block diagram of the start notification apparatus of the related technology 2 of this invention. It is a block diagram of the start notification apparatus of Embodiment 1 of this invention. It is a block diagram of the start notification apparatus of Embodiment 2 of this invention. It is a block diagram of the start notification apparatus of Embodiment 3 of this invention. It is a block diagram of the start notification apparatus of Embodiment 4 of this invention. It is a block diagram of the start notification apparatus of Embodiment 5 of this invention. It is a block diagram of the start alerting | reporting apparatus of the related technology 3 of this invention. It is a block diagram of the start notification apparatus of Embodiment 6 of this invention. It is a block diagram of the conventional start notification apparatus. It is a partial detailed explanatory view of FIG. It is a partial detailed explanatory view of FIG. It is a flowchart explaining the operation | movement of FIG. FIG. 18 is an explanatory diagram of a screen area for explaining the operation of FIG. 17.

Explanation of symbols

1 TV camera, 2 TV camera control circuit, 3 frame memory,
4 monitoring line setting circuit, 5 movement change calculation circuit, 6 movement change integration circuit,
7 Front car start detection circuit, 8 alarm device, 20 images, 21 monitoring line,
22 image data extraction area, 50 stop detection circuit,
60 start suppression information detection circuit, 61 start suppression information,
62 start detection operation control circuit, 70 signal position detection circuit, 71 signal determination circuit,
80 vehicle presence detection circuit, 90 camera ON / OFF control circuit,
101 camera shutter control circuit, 111 movement change binarization circuit,
112 Front vehicle start detection circuit, 120 Start detection possibility determination circuit.

Claims (8)

Photographing means for photographing the front of the host vehicle and generating a plurality of images;
Based on the change on the screen including the image, it is detected whether or not the front vehicle has started, and when detecting that the vehicle has started, a front vehicle start detection means for outputting a start detection signal,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
An intrusion detection area setting means for setting an intrusion detection area in the screen, an intrusion detection means for detecting that another object has entered the front of the vehicle from the image of the intrusion detection area, and the intrusion detection means is an intrusion of another object. When the vehicle is detected, the start notification device stops the operation of the preceding vehicle start notification by the notification means. Front vehicle start detection means for detecting whether or not the front vehicle has started, and outputting a start detection signal when detecting that the vehicle has started,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
An in-vehicle display device and a start detection operation control circuit that operates the start notification device while the in-vehicle display device is operating and stops the operation of the start notification device when the in-vehicle display device is stopped. A start notification device. Front vehicle start detection means for detecting whether or not the front vehicle has started, and outputting a start detection signal when detecting that the vehicle has started,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
Own vehicle stop detection means for detecting the stop of the own vehicle;
Vehicle presence detecting means for detecting the presence or absence of a preceding vehicle; detecting that the own vehicle stop is detected by the own vehicle stop detecting means; and when the vehicle presence detecting means determines that there is no preceding vehicle, the notification A start notification device characterized by stopping the operation of the means. Photographing means for photographing the front of the host vehicle and generating a plurality of images;
Based on the change on the screen including the image, it is detected whether or not the front vehicle has started, and when detecting that the vehicle has started, a front vehicle start detection means for outputting a start detection signal,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
An image processing availability determination unit that determines whether image processing is possible by determining quality of an image captured by the imaging unit, and when the image processing availability determination unit determines that image processing is not possible, A start notification device characterized in that the processing operation of the front vehicle start detection means is stopped and the notification means notifies the stop of the operation of the start detection device. When the host vehicle is stopped, a traffic signal position detecting means for detecting the presence / absence of a traffic signal with respect to the host vehicle traveling lane from the image and a position on the image, a signal determination means for determining the meaning of the display of the traffic signal
When a traffic light is detected by the traffic light position detection means, the notification device is turned on / off based on the determination result of the signal determination means, and when no traffic light is detected by the traffic light position detection means The start notification device according to claim 4, wherein the ON operation of the notification device is continued. Photographing means for photographing the front of the host vehicle and generating a plurality of images;
Based on the change on the screen including the image, it is detected whether or not the front vehicle has started, and when detecting that the vehicle has started, a front vehicle start detection means for outputting a start detection signal,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
A start notification device comprising switch means for turning on and off the operation of the photographing means, and turning on the switch means when the own vehicle stop detecting means detects the stop of the own vehicle. Photographing means having a shutter that can be opened and closed while photographing the front of the host vehicle to generate a plurality of images and protecting the lens,
Based on the change on the screen including the image, it is detected whether or not the front vehicle has started, and when detecting that the vehicle has started, a front vehicle start detection means for outputting a start detection signal,
Notifying means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible,
The shooting means controls to open the shutter while the own vehicle stop detecting means detects the stop of the own vehicle, and to close the shutter when the stop is not detected. apparatus. Front vehicle start detection means for detecting whether or not the front vehicle has started, and outputting a start detection signal when detecting that the vehicle has started,
Informing means for informing the driver of the host vehicle of the start detection signal and notifying that the start is possible;
A start operation detection possibility calculating means for calculating the probability of the start detection signal by detecting the approach of the preceding vehicle within a predetermined time before the stop of the own vehicle;
When the start motion detection possibility calculation means determines that the possibility of start detection by the front vehicle start detection means is low, the start notification is provided to notify the possibility of detection failure of the front vehicle start detection signal. apparatus.

Images