JP2007240277A - Distance measuring device/imaging device, distance measuring method/imaging method, distance measuring program/imaging program, and storage medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To acquire distance information not including a wrong detection value, even when using a distance measuring device equipped with a radar. <P>SOLUTION: This distance measuring device 1 is equipped with a discrimination part 21 for discriminating an object positioned in an imaging visual field by processing an image outputted from an imaging part 10, a detection condition setting part 31 for setting a domain where a prescribed kind of an object is positioned as a detection suppression range based on a discrimination result by the discrimination part 21, and the radar 60 for detecting the distance to the object positioned out of the detection suppression range in the detection range. In the distance measuring device 1, since the radar 60 does not perform detection processing to the detection suppression range where the prescribed kind of the object is positioned, the distance information not including a wrong detection value can be acquired. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a distance measuring device / imaging device, a distance measuring method / imaging method, a distance measuring program / imaging program, and a storage medium that detect a distance to an object located within a detection range.

  In recent years, with the popularization of vehicles, various devices mounted on vehicles have been put into practical use. As such a vehicle-mounted device, there is a distance measuring device that measures an inter-vehicle distance between the host vehicle and a preceding vehicle and performs various processes such as alarm output based on the measured inter-vehicle distance.

  Conventionally, as such a distance measuring device, a distance measuring device including a radar has been proposed (see Patent Document 1). This radar distance measuring device detects the presence of an obstacle and the distance to the obstacle by transmitting a transmitted wave such as a laser beam in the forward direction and detecting a reflected wave from an obstacle such as a preceding vehicle. is doing.

Japanese Utility Model Publication No. 63-43172

  However, the conventional radar distance measuring device has a problem that accurate distance information cannot be acquired at all detection points in the detection range. For example, when there is an object covered with glass, the transmitted wave is transmitted through the glass part, and the transmitted wave is reflected by the object inside the glass. Therefore, the conventional radar distance measuring device is in spite of the presence of glass. This is because it was recognized that there was no glass and incorrect distance information was detected.

  The present invention has been made in view of the above-described drawbacks of the prior art, and distance measurement that can acquire distance information that does not include a false detection value even when a distance measurement device equipped with a radar is used. An object is to provide a device / imaging device, a distance measurement method / imaging method, a distance measurement program / imaging program, and a storage medium.

  In order to solve the above-described problems and achieve the object, a distance measuring device according to the present invention has a detection means for detecting a distance to an object located within a detection range, and an imaging field of view including at least the detection range. An imaging unit that generates an image signal group corresponding to the imaging field; an identification unit that processes the image signal group to identify an object located in the imaging field; and an identification result of the identification unit. Detection condition setting means for setting a detection suppression range within the detection range of the detection means, and the detection means sets a distance to an object located outside the detection suppression range set by the detection condition setting means. It is characterized by detecting.

  In the distance measuring apparatus according to the present invention, the detection condition setting unit sets a range corresponding to a predetermined object among the objects identified by the identification unit as the detection inhibition range.

  The distance measuring device according to the present invention is characterized in that the distance measuring device is mounted on a vehicle.

  The imaging apparatus according to the present invention includes an imaging unit that generates an image signal group corresponding to an imaging field, an identification unit that processes the image signal group and identifies an object located in the imaging field, and the identification Based on the identification result of the means, setting means for setting a suppression area for suppressing the distance measurement of the external distance measuring device in the imaging field of view, and a control signal for the suppression area set by the setting means are output to the external device And a control means.

  In the imaging apparatus according to the present invention, the control unit outputs an instruction to measure the distance to an object located outside the suppression area set by the setting unit to the external device.

  Further, the distance measuring method according to the present invention is a distance measuring method for detecting a distance to an object located within a detection range, and an imaging step for generating an image signal group corresponding to an imaging field including at least the detection range; An identification step of processing the image signal group to identify an object located in the imaging field; a detection condition setting step of setting a detection suppression range in the detection range based on an identification result of the identification means; And a detection step of detecting a distance to an object located outside the detection suppression region set in the detection condition setting step.

  The imaging method according to the present invention includes an imaging step for generating an image signal group corresponding to an imaging field, an identification step for processing the image signal group to identify an object located in the imaging field, and the identification Based on the identification result in the step, a setting step for setting a suppression area for suppressing the distance measurement of the external distance measuring device in the imaging field of view, and a control signal related to the suppression area set in the setting step are output to the external device And a control step.

  In the imaging method according to the present invention, the control step outputs an instruction to measure the distance to an object located outside the suppression area set in the setting step to the external device.

  The distance measurement program according to the present invention is a distance measurement program for detecting a distance to an object located within a detection range, and generates an image signal group corresponding to an imaging field including at least the detection range, and the image signal The group is processed to identify an object located in the imaging field of view, a detection suppression range in the detection range is set based on the identification result, and the distance to the object located outside the set detection suppression area is determined. It is characterized by detecting.

  The imaging program according to the present invention generates an image signal group corresponding to an imaging field, identifies the object located in the imaging field by processing the image signal group, and performs the imaging based on an identification result. A suppression area for suppressing the distance measurement by the external distance measuring device in the field of view is set, and a control signal related to the set suppression area is output to the external apparatus.

  The imaging program according to the present invention is characterized in that the imaging program outputs an instruction to measure the distance to an object located outside the set suppression area to the external device.

  The storage medium according to the present invention generates an image signal group corresponding to an imaging field including at least the detection range, processes the image signal group to identify an object located in the imaging field, and performs an identification result. And a distance measurement program for setting a detection suppression range within the detection range and detecting a distance to an object located outside the set detection suppression region.

  The storage medium according to the present invention generates an image signal group corresponding to an imaging field, identifies the object positioned in the imaging field by processing the image signal group, and performs the imaging based on the identification result. A suppression area for suppressing distance measurement by an external distance measuring device in the field of view is set, and an imaging program for outputting a control signal related to the set suppression area to the external apparatus is stored.

  According to the distance measuring device / imaging device according to the present invention, the detection condition setting unit that sets the detection suppression range within the detection range of the detection unit based on the identification result of the identification unit is included, so that no false detection value is included. The distance information can be acquired quickly, and various safe driving support processes based on the distance information can be accurately performed. Further, by using the distance measurement method / imaging method, the distance measurement program / imaging program, and the storage medium according to the present invention, it is possible to acquire distance information that does not include a false detection value.

  Hereinafter, with reference to the drawings, a distance measurement device / imaging device, a distance measurement method / imaging method, a distance measurement program / imaging program, and a storage medium according to an embodiment of the present invention will be described. This will be described as an example. Various safe driving support processes are performed by other devices based on the distance information output by the distance measuring device. In addition, this invention is not limited by this embodiment. In the description of the drawings, the same parts are denoted by the same reference numerals.

  First, the distance measuring device according to the embodiment will be described. The distance measuring device according to the present embodiment sets a detection suppression range within the radar detection range based on the identification result by the identification unit. FIG. 1 is a block diagram showing a schematic configuration of the distance information device according to the present embodiment.

  As shown in FIG. 1, the distance measuring apparatus 1 according to the present embodiment has an imaging field including at least a detection range of the radar 60, and generates an image signal group corresponding to the imaging field, An image processing unit 20 that processes an image signal group generated by the imaging unit 10, a control unit 30 that controls each process and operation of each component that configures the distance measuring device, and outputs various information including distance information. The output unit 40 includes a storage unit 50 that stores various types of information including distance information, and a radar 60 that detects a distance to an object located within a predetermined detection range. The imaging unit 10, the distance calculation unit 20, the output unit 40, the storage unit 50, and the radar 60 are electrically connected to the control unit 30. The image processing unit 20 includes an identification unit 21, and the control unit 30 includes a detection condition setting unit 31.

  The imaging unit 10 detects received light realized by an optical system such as a lens that collects light incident from a predetermined viewing angle and a mirror that reflects incident light, and a CCD or CMOS, and converts it into an analog image signal. An image sensor for conversion, an analog / digital (A / D) converter that converts an analog image signal output from the image sensor into a digital image signal, and a digital image that stores the digital image signal and corresponds to one captured image A frame memory for outputting image signal groups as needed, and outputting image signal groups corresponding to the imaging field of view.

  The image processing unit 20 has a function of processing the image signal group output from the imaging unit 10. The identification unit 21 processes the image signal output from the imaging unit 10 to identify an object located in the imaging field of view, and outputs the identification result to the control unit 30. The identification unit 21 performs a predetermined correction process on the image signal group output from the imaging unit 10 and then performs feature extraction to obtain feature amounts such as feature parameters and feature vectors. Next, the identifying unit 21 identifies the type of the object to which the feature amount belongs using the obtained feature amount.

  Here, as the feature extraction method, the edge extraction method that extracts the edge of the object by detecting the change point of density, the region segmentation method that differentiates the image into small regions with certain features, and the uniqueness of the texture itself from the image There is a texture extraction method that extracts features and models them. In addition, as a discrimination method, a pattern matching method for determining the identity by superimposing a preset standard pattern and a recognition target pattern, calculating the co-occurrence probability of the feature vector of the input image and each object type, and the co-occurrence probability is Statistical identification method in which the largest object type is the object type to which the input image belongs, structural identification method to extract the edge and feature points, graph the structure of the input image, and identify the target object type from the similarity of the graph, etc. There is. When the imaging unit 10 includes a polarizing plate, the identification unit 21 can identify that the object is made of a glass material by processing the image signal acquired through the polarizing plate. . Further, when the movement state of the extracted feature points is inconsistent with the normal movement state, the identification unit 21 can identify that the object is a mirror.

  The control unit 30 is realized by a CPU or the like that executes a processing program stored in the storage unit 50, and controls each process or operation of the imaging unit 10, the distance calculation unit 20, the output unit 40, the storage unit 50, and the radar 60. To do. The control unit 30 performs predetermined input / output control on information input / output to / from each of these components and performs predetermined information processing on the information.

  The detection condition setting unit 31 sets a detection suppression range within the detection range of the radar 60 based on the identification result of the identification unit 21. The detection condition setting unit 31 causes the radar 60 to detect a distance to an object located outside the detection suppression range in the detection range. The detection condition setting unit 31 sets, in the detection inhibition range, an object of a predetermined type or an area where a predetermined part of the object is located among the types of objects identified by the identification unit 21.

  The output unit 40 is realized by a liquid crystal display, an organic electroluminescence display, or the like, and displays and outputs various display information such as an image captured by the imaging unit 10 in addition to the distance information. Moreover, the output part 40 is further provided with a speaker, and outputs various audio | voice information, such as a warning audio | voice which alert | reports that it approached the preceding vehicle C other than distance information.

  The storage unit 50 includes a ROM in which various types of information such as processing programs are stored in advance, and a RAM in which calculation parameters for each processing, various types of information output from various components, writing information, audio information, and the like are stored. .

  Under the control of the control unit 30, the radar 60 detects a distance to an object located outside the detection range within the detection range set by the detection condition setting unit 31. The radar 60 transmits a predetermined transmitted wave, receives a reflected wave reflected by the object surface, and a distance from the radar 60 to the object that reflects the transmitted wave based on the transmission state and the reception state. And the direction in which the object is located. The radar 60 determines the distance based on the transmission angle of the transmitted wave, the incident angle of the reflected wave, the reception intensity of the reflected wave, the time from transmission of the transmitted wave to reception of the reflected wave, frequency change of the reflected wave, and the like. The distance from the measuring device 1 to the object reflecting the transmitted wave is detected. The radar 60 outputs detection data in which the detection distance value to an object located within the detection range is associated with the position information within the detection range to the control unit 30. The radar 60 transmits laser light, infrared rays, or millimeter waves as a transmission wave.

  Next, of the processing operations performed by the distance measuring device 1, processing operations until the radar 60 outputs detection data will be described. FIG. 2 is a flowchart showing a processing procedure until the radar 60 completes outputting detection data in the distance measuring apparatus 1.

  As shown in FIG. 2, first, the control unit 30 instructs the imaging unit 10 to perform an imaging process (step S <b> 102), and the imaging unit 10 captures a predetermined imaging field of view under the control of the control unit 30. The imaging process is performed and an image signal group is output. Next, the control unit 30 processes the image signal group output from the imaging unit 10 and instructs the identification unit 21 to perform identification processing for identifying an object located in the imaging field of view (step S104). The identification unit 21 performs an identification process in accordance with an instruction from the control unit 30, and after the identification process in the identification unit 21 is finished, the identification unit 21 associates an identification result that associates the identified object type with position information in the imaging field of view. 30 is output.

  And the control part 30 receives the identification result output from the identification part 21 (step S106), and the detection condition setting part 31 sets the detection suppression range of the radar 60 based on this identification result (step). S108). The detection condition setting unit 31 instructs the radar 60 to detect a distance to an object located outside the detection suppression range in the detection range (step S110). In accordance with this instruction, the radar 60 performs detection processing for detecting the distance to an object located outside the detection suppression range in the detection range, and outputs detection data to the control unit 30 after the detection processing. The control unit 30 receives this detection data as a detection result (step S112), and outputs this detection data as distance data (step S114).

  Next, the processing procedure shown in FIG. 2 will be described by taking as an example the case where the area where the glass window is located is set as the detection inhibition range. Here, since a transmitted wave is transmitted through the glass portion, an erroneous detection value is likely to be detected by the radar 60 in a region where the glass window or the like is located. FIG. 3 is a diagram illustrating an example of an image captured by the imaging unit 10. The identification unit 21 identifies that the building 24 having the glass window 25 is included in the captured image by performing identification processing on the image shown in FIG. The identification unit 21 outputs an identification result indicating that the building 24 having the glass window 25 is located in the imaging field of view to the control unit 30. Based on the identification result, the detection condition setting unit 31 sets a region where the glass window 25 is located in the detectable range 33 as the detection inhibition range 34 as shown in FIG. As a result, the radar 60 performs detection processing in the detection range 35 shown in FIG. Therefore, as shown in FIG. 5, in the radar 60, the distance value is not detected in the non-detection area 64 corresponding to the detection suppression range 34, and each distance value is detected in an area other than the non-detection area 64. 63 is output.

  In the distance measuring device according to the prior art, the radar detects the distance value even for the region where the glass window is located. For this reason, as shown in FIG. 6, the radar outputs a distance result 163 including an erroneous detection region 164 caused by transmission of the transmitted wave through the glass portion, and accurately performs various safe driving support processes. I could not.

  On the other hand, in the distance measuring device 1 according to the present embodiment, the detection condition setting unit 31 locates an object of a predetermined type that causes erroneous detection of the radar 60 among the types of objects identified by the identification unit 21. An area is set as the detection suppression range. Further, the radar 60 detects a distance to an object located outside this detection inhibition range. For this reason, the detection result output from the radar 60 does not include a false detection value in the radar 60. As a result, the distance measuring apparatus 1 according to the present embodiment can output distance information including only accurate detection values, and can accurately perform various safe driving support processes based on the distance information. In addition, the distance measuring apparatus 1 according to the present embodiment sets a region where a predetermined type of object that causes erroneous detection of the radar 60 is located as a detection suppression range, and does not detect a distance to an object within the detection suppression range. . For this reason, the distance measuring apparatus 1 according to the present embodiment can shorten the detection processing time in the radar 60 and can output distance data quickly. Moreover, since the distance measuring device 1 according to the present embodiment can shorten the detection processing time, it is possible to reduce the power required in the device main body to output the distance data, thereby saving power. Can be achieved.

  In the present embodiment, the case where the area where the object made of glass is located is set as the detection inhibition range, but the present invention is not limited to this, and the area where the object made of the mirror is located is detected. May be set as This is because irregular reflection of the transmitted wave on the mirror surface occurs and the detection value of the radar 60 at the location where the mirror is located is often an incorrect value. In addition, a region corresponding to a person or a person's face may be set as the detection suppression range.

  Further, in the present embodiment, the matching between the positional relationship in the image information group captured by the imaging unit 20 and the positional relationship in the detection range in the radar 60 is obtained in advance as follows, and each process is performed. For example, the distance measurement apparatus 1 performs an imaging process in the imaging unit 20 and a detection process in the radar 60 on an object whose shape is known, and the position of the known object in the imaging unit 20 and the position of the known object in the radar 60. Ask for. Thereafter, the distance measuring apparatus 1 obtains the relationship between the position of the known object in the imaging unit 20 and the position of the known object in the radar 60 by using the least square method or the like, and in the image information group captured by the imaging unit 20 The positional relationship and the positional relationship in the detection range of the radar 60 are matched.

  Further, in the distance measuring device 1, even when the imaging origin of the imaging unit 20 and the detection origin of the radar 60 are misaligned, the distance from the imaging point and the detection point to the distance measuring device 1 is sufficiently large. In this case, it can be considered that the imaging origin and the detection origin almost overlap each other. Further, when the positional relationship in the image information group captured by the imaging unit 20 and the positional relationship in the detection range in the radar 60 are accurately matched, the deviation between the imaging origin and the detection origin is determined by geometric transformation. It is also possible to correct.

  In the present embodiment, the distance measuring apparatus 1 including the radar 60 has been described. However, instead of the radar 60, a light source such as a semiconductor laser element, a light emitting diode, or a laser diode that transmits infrared light or visible light is used. The distance measuring device may include a detector that is realized by a light receiving element such as a photosensor that receives reflected light from an object.

  In the present embodiment, the distance measurement device 1 including the radar 60 has been described as an example. However, the image is not limited to the radar 60 and each image of the image signal group output from the imaging unit 10 using a so-called stereo method. The present invention can be applied to a distance measuring device including a distance detection unit that calculates a distance value corresponding to a signal. In this case, the detection condition setting unit 31 may set an area corresponding to an object of a predetermined type among the types of objects identified by the identification unit 21 as a detection suppression range. An area other than the area where the position is located may be set as the detection inhibition range.

  Further, as the present embodiment, the distance measuring device 1 mounted on the vehicle has been described as an example. However, the present invention is not limited to this, and may be applied to a distance measuring device mounted on another moving body. Further, the present invention is not limited to the distance measuring device mounted on the moving body, and may be applied to a distance measuring device that measures the distance within the detection range in a state of being fixed at a predetermined position, for example. Further, although the distance measuring device 1 has been described as the present embodiment, it is of course possible to be an imaging device that instructs an external device to measure the distance. In the distance measuring device 1, each process is performed by reading a program stored in a storage medium, storing the program in the storage unit 50, and reading the program.

It is a block diagram showing a schematic structure of a distance measuring device concerning an embodiment. It is a flowchart which shows the process sequence until the output of distance data is completed in the distance measuring device shown in FIG. It is a figure explaining the setting of the detection conditions of the radar shown in FIG. It is a figure explaining the setting of the detection conditions of the radar shown in FIG. It is a figure which shows an example of the distance data output in the distance measuring device shown in FIG. It is a figure which shows an example of the distance data output in the conventional distance measuring device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Distance measuring device 10 Imaging part 20 Image processing part 21 Identification part 23 Image 24 Building 25 Glass window 30 Control part 31 Detection condition setting part 33 Detectable range 34 Detection inhibition range 35 Detection range 40 Output part 50 Storage part 60 Radar 63 Detection Result 64 Non-detection area 163 Detection result 164 False detection area

Claims (13)

Detection means for detecting a distance to an object located within the detection range;
An imaging field having an imaging field including at least the detection range, and generating an image signal group corresponding to the imaging field;
Identifying means for processing the image signal group to identify an object located in the imaging field;
Detection condition setting means for setting a detection inhibition range within the detection range of the detection means based on the identification result of the identification means;
With
The distance measuring device, wherein the detecting means detects a distance to an object located outside the detection inhibition range set by the detection condition setting means.   The distance measuring device according to claim 1, wherein the detection condition setting unit sets a range corresponding to a predetermined object among the objects identified by the identification unit as the detection suppression range.   The distance measuring device according to claim 1, wherein the distance measuring device is mounted on a vehicle. Imaging means for generating an image signal group corresponding to the imaging field;
Identifying means for processing the image signal group to identify an object located in the imaging field;
Based on the identification result of the identification means, setting means for setting a suppression area for suppressing the distance measurement of the external distance measuring device in the imaging field of view,
Control means for outputting a control signal related to the inhibition area set by the setting means to the external device;
An imaging apparatus comprising:   The imaging apparatus according to claim 4, wherein the control unit outputs an instruction to measure the distance to an object located outside the suppression area set by the setting unit to the external device. In a distance measurement method for detecting the distance to an object located within the detection range,
An imaging step for generating an image signal group corresponding to an imaging field including at least the detection range;
An identification step of processing the image signal group to identify an object located in the imaging field;
A detection condition setting step for setting a detection suppression range within the detection range based on the identification result of the identification means;
A detection step of detecting a distance to an object located outside the detection suppression region set in the detection condition setting step;
A distance measurement method comprising: An imaging step for generating an image signal group corresponding to the imaging field;
An identification step of processing the image signal group to identify an object located in the imaging field;
Based on the identification result in the identification step, a setting step for setting a suppression area for suppressing the distance measurement of the external distance measuring device in the imaging field of view;
A control step of outputting a control signal related to the inhibition region set in the setting step to the external device;
An imaging method comprising:   The imaging method according to claim 7, wherein the control step outputs an instruction to measure the distance to an object located outside the suppression area set in the setting step to the external device. In a distance measurement program that detects the distance to an object located within the detection range,
Generating an image signal group corresponding to an imaging field including at least the detection range;
Processing the image signal group to identify an object located within the imaging field;
Based on the identification result, set a detection suppression range within the detection range,
A distance measurement program for detecting a distance to an object located outside the set detection suppression area. Generate an image signal group corresponding to the imaging field of view,
Processing the image signal group to identify an object located within the imaging field;
Based on the identification result, set a suppression area to suppress the distance measurement of the external distance measuring device in the imaging field of view,
An imaging program that outputs a control signal related to the set inhibition region to the external device.   The imaging program according to claim 10, wherein the imaging program outputs an instruction to measure a distance to an object located outside the set suppression area to the external device. Generating an image signal group corresponding to an imaging visual field including at least a detection range;
Processing the image signal group to identify an object located within the imaging field;
Based on the identification result, set a detection suppression range within the detection range,
A storage medium for storing a distance measurement program for detecting a distance to an object located outside the set detection suppression area. Generate an image signal group corresponding to the imaging field of view,
Processing the image signal group to identify an object located within the imaging field;
Based on the identification result, set a suppression area to suppress the distance measurement of the external distance measuring device in the imaging field of view,
A storage medium that stores an imaging program for outputting a control signal related to the set inhibition region to the external device.

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