JP2007334763A - Vehicular periphery monitoring system, vehicle, vehicular periphery monitoring program, constitution method for vehicular periphery monitoring system, and server - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular periphery monitoring system or the like, for recognizing an object such as the human being or the like around a vehicle, based on an infrared image obtained through an on-vehicle infrared imaging device as required, while avoiding wasteful use of an image processing capacity. <P>SOLUTION: This vehicular periphery monitoring system 10 determines whether it is difficult for a driver to visually confirm an object P around the vehicle 1 depending on whether a brightness variable X<SB>L</SB>expressing brightness around the vehicle 1 is a reference value x<SB>0</SB>or more. The object P is recognized based on the infrared image obtained through an infrared camera 102, only when the periphery of the vehicle is bright to an extent that it is difficult for the driver to confirm visually the object P around the vehicle 1. The object P is not recognized based on the infrared image, when the driver can confirm visually the object P in the periphery of the vehicle 1. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring system, a vehicle equipped with the vehicle periphery monitoring system, a program for providing the vehicle periphery monitoring function to an in-vehicle computer, a method for configuring the vehicle periphery monitoring system, and a server for executing the method About.

Using a visible light image obtained through a vehicle-mounted CCD camera and an infrared light image obtained through a vehicle-mounted infrared camera in a mutually complementary manner, the presence or absence of a target object such as a person around the vehicle is determined. A system has been proposed (see, for example, Patent Documents 1 and 2).
JP 2000-030197 A JP 2004-257924 A

  However, it is wasteful in image processing capability to operate the system until the surroundings of the vehicle are brightly illuminated by sunlight or the like and the driver can visually recognize the presence or absence of the target object in front of the vehicle. It is. It is also useless to inform the driver of the presence of the target object according to the determination result of the system until the driver recognizes that the target object is in front of the vehicle. In this case, notifying the presence of the target object may rather disturb the driver.

  On the other hand, even if the surroundings of the vehicle are brightly illuminated, the entire field of view becomes whitish as shown in FIG. 7 due to backlight or the like, and the target object P (in the figure in the figure) in front of the vehicle for the driver. It may be difficult to visually recognize the presence or absence of the frame f.

  Therefore, the present invention detects the presence of a target object such as a person around the vehicle based on an infrared light image obtained through an in-vehicle infrared light imaging device as necessary while avoiding waste of image processing capability. A vehicle periphery monitoring system that can be recognized, a vehicle equipped with the vehicle periphery monitoring system, a program for providing the vehicle periphery monitoring function to an in-vehicle computer, a method of configuring the vehicle periphery monitoring system, and a server that executes the method Providing is a solution issue.

  A vehicle periphery monitoring system according to the present invention for solving the above problems is a system for monitoring the periphery of a vehicle based on an infrared light image obtained through an in-vehicle infrared light imaging device, and is an environmental factor of the vehicle The first processing unit for determining whether or not the surrounding brightness of the vehicle satisfies the environmental requirements set in view of the influence on the driver's field of view, and the environmental factor is determined by the first processing unit And a second processing unit for recognizing presence or absence of a target object around the vehicle based on the infrared light image when it is determined that the environmental requirement is satisfied.

  According to the vehicle periphery monitoring system of the present invention, whether or not the “environmental factor” of the vehicle satisfies the “environment requirement” is whether or not it is difficult for the driver to visually recognize the presence or absence of the target object around the vehicle. It is determined according to whether or not. The “environmental requirement” is set in view of the influence of the brightness around the vehicle on the driver's field of view. Based on the infrared light image only when the environmental factor satisfies the environmental requirements, that is, when the periphery of the vehicle is bright enough to make it difficult for the driver to visually recognize the presence or absence of the target object around the vehicle. The presence or absence of the target object is recognized. On the other hand, when the environmental factor does not satisfy the environmental requirements, the presence or absence of the target object based on the infrared light image is not recognized when the driver can visually recognize the presence or absence of the target object around the vehicle.

  This makes it possible to recognize the presence of a target object such as a person around the vehicle based on an infrared light image obtained through an in-vehicle infrared light imaging device, if necessary, while avoiding waste of the image processing capacity of the system. Can be done. In particular, the situation is such that the vehicle is traveling toward the sun, such as when the vehicle is traveling toward the sun, and the sunlight is reflected by water or ice that covers the road surface on which the vehicle is traveling. The true value can be demonstrated in any situation.

  Further, in the vehicle periphery monitoring system according to the present invention, the first processing unit measures a luminance variable representing the brightness of the periphery of the vehicle based on an output signal from a vehicle-mounted visible light sensing device as the environmental factor, and the luminance Whether the environmental factor satisfies the environmental requirement is determined based on the fact that the variable is a reference value or more as the environmental requirement.

  According to the vehicle periphery monitoring system of the present invention, when the brightness variable is equal to or higher than the reference value, that is, the periphery of the vehicle is bright enough to make it difficult for the driver to visually recognize the presence or absence of the target object. Only in the case, the presence or absence of the target object is recognized based on the infrared light image. This makes it possible to recognize the presence of a target object such as a person around the vehicle based on an infrared light image obtained through an in-vehicle infrared light imaging device, if necessary, while avoiding waste of the image processing capacity of the system. Can be done.

  Furthermore, in the vehicle periphery monitoring system of the present invention, the first processing unit sets the luminance variable based on the luminances of a plurality of pixels constituting a visible light image obtained through a visible light imaging device as the visible light sensing device. The measurement is performed, and the second processing unit recognizes the presence or absence of a target object around the vehicle based on the infrared light image partially or entirely overlapped with the visible light image.

  According to the vehicle periphery monitoring system of the present invention, it is determined whether or not it is difficult for the driver to visually recognize the target object in the vicinity of the vehicle, based on the luminances of a plurality of pixels constituting the visible light image around the vehicle. . Further, based on the infrared light image that overlaps a part or all of the visible light image, the presence or absence of the target object in the real space region that is difficult to visually recognize and is brightly illuminated to some extent can be recognized.

  In the vehicle periphery monitoring system of the present invention, the first processing unit creates a luminance histogram for a plurality of pixels constituting the visible light image, and measures an area of a portion where the luminance in the histogram is equal to or greater than a threshold as the luminance variable. It is characterized by doing.

  According to the vehicle periphery monitoring system of the present invention, based on the luminance histogram in the visible light image, it is determined whether it is difficult for the driver to visually recognize the target object around the vehicle.

  Furthermore, the vehicle periphery monitoring system of the present invention is characterized in that the first processing unit measures the traveling state of the vehicle as the environmental factor based on at least an output signal from an on-vehicle traveling state measuring device.

  According to the vehicle periphery monitoring system of the present invention, when the traveling state of the vehicle satisfies the environmental requirements, that is, to the extent that it is difficult for the driver to visually recognize the presence or absence of the target object around the vehicle. Only when the periphery is bright, the presence or absence of the target object is recognized based on the infrared light image. This makes it possible to recognize the presence of a target object such as a person around the vehicle based on an infrared light image obtained through an in-vehicle infrared light imaging device, if necessary, while avoiding waste of the image processing capacity of the system. Can be done.

  In the vehicle periphery monitoring system of the present invention, the first processing unit measures the traveling direction of the vehicle based on an output signal from a gyro sensor serving as the traveling state measuring device, and the position as the traveling state measuring device. Based on the output signal from the measuring device, the sun direction as seen from the position of the vehicle is measured, and the degree of coincidence between the traveling direction of the vehicle and the sun direction as seen from the position of the vehicle is measured as the environmental factor. It is characterized in that whether the environmental factor satisfies the environmental requirement is determined as the environmental requirement that the degree of match is equal to or higher than a reference value.

  According to the vehicle periphery monitoring system of the present invention, when the degree of vehicle orientation that matches the direction of the sun seen from the vehicle is equal to or greater than a reference value, that is, an object in front of the vehicle, particularly in front of the vehicle. Only when there is a possibility that it is difficult for the driver to visually recognize the presence or absence of an object, the presence or absence of the target object is recognized based on the infrared light image.

  Furthermore, in the vehicle periphery monitoring system of the present invention, the first processing unit measures the position of the vehicle as the environmental factor based on an output signal from a position measuring device as the traveling state measuring device, and the position is a map. It is characterized by determining whether or not the environmental factor satisfies the environmental requirement as the environmental requirement that the region is in a switching region from a dark region to a bright region obtained from an information source.

  According to the vehicle periphery monitoring system of the present invention, when the position of the vehicle is in the switching region from the dark region to the bright region, that is, the object in the periphery of the vehicle by switching the periphery of the vehicle from the dark state to the bright state. Only when there is a possibility that it is difficult for the driver to visually recognize the presence or absence of an object, the presence or absence of the target object is recognized based on the infrared light image.

  In addition, the vehicle periphery monitoring system of the present invention evaluates the possibility of contact between the vehicle and the target object based on the time-series measurement position of the target object whose existence is recognized by the second processing unit. A processing unit is further provided.

  According to the vehicle periphery monitoring system of the present invention, the infrared light image is displayed only when the periphery of the vehicle is bright enough to make it difficult for the driver to visually recognize the presence or absence of the target object around the vehicle as described above. Since the presence / absence of the target object can be recognized with high accuracy based on this, the possibility that the vehicle and the target object come into contact can be evaluated with high accuracy.

  Furthermore, in the vehicle periphery monitoring system according to the present invention, the third processing unit outputs information for informing or emphasizing the presence of the target object based on the evaluation of the possibility of contact between the vehicle and the target object. It is made to output to an apparatus, or the behavior of the said vehicle is controlled, or it is made to control by vehicle equipment.

  According to the vehicle periphery monitoring system of the present invention, since the possibility of contact between the vehicle and the target object can be evaluated with high accuracy as described above, from the viewpoint of avoiding contact between the vehicle and the target object, the target object or Information emphasizing the plurality of target portions can be appropriately output. Here, the output of information means that the information is output in any form that allows the driver of the vehicle to recognize the information through the five senses, such as vision, hearing, and touch. This allows the driver of the vehicle to recognize the presence of the target object and appropriately control the behavior of the vehicle such as vehicle deceleration and steering in order to avoid contact between the vehicle and the target object.

  Further, the in-vehicle device is controlled based on the possibility of contact between the vehicle and the target object evaluated with high accuracy as described above. Thereby, from the viewpoint of avoiding contact between the vehicle and the target object, the behavior of the vehicle such as deceleration or steering of the vehicle can be appropriately controlled.

  The vehicle of the present invention for solving the above-mentioned problems is characterized in that the infrared light imaging device, the visible light sensing device, and the vehicle periphery monitoring system are mounted.

  According to the vehicle of the present invention, the presence or absence of the target object is determined based on the infrared light image only when the periphery of the vehicle is bright enough to make it difficult for the driver to visually recognize the presence or absence of the target object around the vehicle. Be recognized. As a result, the presence of a target object such as a person around the vehicle can be recognized based on the infrared light image as necessary while avoiding waste of the image processing capability of the system.

  The vehicle periphery monitoring program for solving the above-mentioned problem is a program for giving an in-vehicle computer a function of monitoring the periphery of a vehicle based on an infrared light image obtained through an in-vehicle infrared light imaging device, A first processing function for determining whether an environmental factor of the vehicle satisfies an environmental requirement set in view of the influence of brightness around the vehicle on the driver's field of view, and the first processing function When it is determined that the environmental factor satisfies the environmental requirement, a second processing function for recognizing the presence or absence of a target object around the vehicle based on the infrared light image is provided to the in-vehicle computer. .

  According to the vehicle periphery monitoring program of the present invention, from the viewpoint of avoiding waste of the image processing capability of the system (on-vehicle computer), it is difficult to visually recognize the presence or absence of a target object around the vehicle. Only when the periphery of the vehicle is bright, a function for monitoring the periphery of the vehicle is given to the in-vehicle computer so that the presence or absence of the target object can be recognized based on the infrared light image.

  The construction method of the vehicle periphery monitoring system of the present invention for solving the above-described problem is characterized in that a part or all of the vehicle periphery monitoring program is downloaded to an in-vehicle computer in order to constitute the vehicle periphery monitoring system. To do.

  According to the method of the present invention, from the viewpoint of avoiding waste of image processing capability of the system (vehicle-mounted computer), it is difficult for the driver to visually recognize the presence or absence of the target object around the vehicle. A system that monitors the periphery of a vehicle so that the presence or absence of a target object can be recognized based on an infrared light image only when the image is bright is configured by downloading a part or all of the program to an in-vehicle computer at an arbitrary timing Can be done.

  A server according to the present invention for solving the above-described problems is characterized by executing the method.

  According to the server (server computer) of the present invention, it is difficult for the driver to visually recognize the presence or absence of the target object in the vicinity of the vehicle from the viewpoint of avoiding waste of image processing capability of the system (vehicle computer). A system for monitoring the periphery of a vehicle so that the presence or absence of a target object can be recognized based on an infrared light image only when the periphery of the vehicle is bright. It can be configured by downloading part or all.

  Embodiments of a vehicle periphery monitoring system, a vehicle, a vehicle periphery monitoring program, a vehicle periphery monitoring system configuration method, and a server according to the present invention will be described with reference to the drawings. FIG. 1 is a configuration explanatory diagram of a vehicle, a vehicle periphery monitoring system and a server according to the present invention, FIG. 2 is a configuration explanatory diagram of a vehicle periphery monitoring system according to the present invention, and FIGS. 3 to 7 are vehicle periphery monitoring according to the present invention. It is explanatory drawing regarding the function of a system.

  The configuration of the vehicle, the vehicle periphery monitoring system, and the server according to the present invention will be described with reference to FIG.

  As shown in FIG. 1, a vehicle 1 includes a vehicle periphery monitoring system 10 and a pair of infrared cameras (infrared light imaging devices) disposed substantially symmetrically at the center in the vehicle width direction at the front portion of the vehicle 1. 102, a CCD camera (visible light imaging device) 103 directed to the front of the vehicle 1 through the front window, a HUD 104 arranged so as not to obstruct the driver's view in the front window, and a speaker 105 are mounted. ing. As shown in FIG. 2, various sensors such as a yaw rate sensor 122 and a speed sensor 124 are mounted on the vehicle 1.

  The vehicle periphery monitoring system 10 is a system that monitors the periphery of a vehicle based on images obtained through a pair of in-vehicle imaging devices. The vehicle periphery monitoring system 10 is stored in a memory and an ECU or a computer (configured by a CPU, ROM, RAM, I / O, etc.) as hardware mounted on the vehicle 1, and has various functions in the computer. And a vehicle periphery monitoring program of the present invention as software for providing The vehicle periphery monitoring program may be stored in the memory (ROM, etc.) of the in-vehicle computer from the beginning, but a part or all of this program is stored in the server at any timing such as when there is a request from the in-vehicle computer. 20 may be downloaded to the in-vehicle computer via a network and stored in its memory (EEPROM, RAM, etc.).

  As shown in FIG. 2, the vehicle periphery monitoring system 10 includes a first processing unit 11, a second processing unit 12, and a third processing unit 13.

  The first processing unit 11 represents a luminance variable (corresponding to an “environment factor”) representing the brightness of the surroundings of the vehicle 1 based on an output signal from the CCD camera 103 and thus a visible light image obtained through the CCD camera 103. taking measurement. Further, the first processing unit 11 determines whether or not the measured luminance variable is equal to or greater than a reference value stored in the memory (corresponding to “determine whether or not environmental requirements are satisfied”). The environmental requirement, that is, the reference value is set in consideration of the influence of the brightness around the vehicle 1 on the driver's field of view.

When the first processing unit 11 determines that the brightness variable is greater than or equal to the reference value, the second processing unit 12 is a target such as a person in front of the vehicle 1 based on an infrared light image obtained through the infrared camera 102. The third processing unit 13 that recognizes the presence or absence of the object P evaluates the possibility of contact between the target object P recognized by the second processing unit 12 and the vehicle 1. In addition, the third processing unit 13 displays an image for informing or emphasizing the presence of the person P on the HUD (information output device) 104 according to the evaluation of the possibility of contact between the vehicle 1 and the person P. To control the operation.

  Functions of the vehicle 1 and the vehicle periphery monitoring system 10 configured as described above will be described with reference to FIGS.

  First, the first processing unit 11 executes “first processing” (S11 in FIG. 3).

The first processing unit 11 creates a luminance histogram based on the visible light image ahead of the vehicle 1 obtained through the CCD camera 103 (FIG. 3 / S111). As a result, as shown in FIG. 4, a histogram is created with the luminance i on the vertical axis and the total number (frequency) H [i] of pixels with the luminance i in the visible light image on the horizontal axis. Further, the first processing unit 11 measures a luminance variable x _L that represents the brightness of the surroundings of the vehicle 1 (particularly forward) based on the histogram (FIG. 3 / S112). For example, in the histogram shown in FIG. 4, the area of the portion (shaded portion) having the luminance reference value i ₀ or more is measured as the luminance variable x _L. Since the histogram tends to shift to the right as the periphery of the vehicle 1 becomes brighter, the luminance variable x _L increases. For example, in a situation where the periphery of the vehicle 1 is reasonably bright, a histogram as shown by a broken line in FIG. 4 is created, whereas in a situation where the periphery of the vehicle 1 is excessively bright, it is indicated by a solid line in FIG. In addition, a histogram closer to the right side (high luminance side) than the histogram indicated by the broken line is created. Further, the first processing unit 11 determines whether or not the measured luminance variable x _L is equal to or greater than the reference value x ₀ stored in the memory (S113 in FIG. 3).

When the first processing unit 11 determines that the luminance variable x _L is greater than or equal to the reference value x ₀ (FIG. 3 / S113... YES), the second processing unit 12 executes “second processing” (FIG. 3 / S12).

  The second processing unit 12 determines the presence or absence of the target object P in front of the vehicle 1 based on the infrared light image obtained through the infrared camera 102 (S122 in FIG. 3). Specifically, a grayscale image obtained by A / D conversion of an infrared light image is binarized, and a line composed of horizontally continuous high-brightness pixels is extracted from the binarized image. (Run-length data conversion processing is executed), and a line with a high degree of overlap of lines having different heights is recognized as the target object P. Such a method for recognizing the target object P is described in, for example, Japanese Patent Application Laid-Open No. 2001-6096, and thus detailed description thereof is omitted in this specification.

  When it is determined by the second processing unit 12 that the target object exists (FIG. 3 / S122... YES), the third processing unit 13 executes “third processing”.

  The third processing unit 13 uses the parallax of the pair of infrared cameras 102 to measure the position of the center of gravity of the target object P recognized by the second processing unit 12 in the real space (FIG. 3 / S131). At this time, the third processing unit 13 corrects the positional deviation in the image due to the turning of the vehicle 1 based on the outputs of the yaw rate sensor 122 and the speed sensor 124. The measurement position of the target object P corrected for the turning angle is stored in the memory in time series. As shown in FIG. 1, the real space position is the origin O at the midpoint of the mounting position of the pair of infrared cameras 102, and the horizontal, vertical and front-rear directions are the X, Y and Z axes, respectively. Means a position in the coordinate system. Since the method for measuring the real space position and the method for correcting the turning angle are described in, for example, Japanese Patent Application Laid-Open No. 2001-6096, detailed description thereof is omitted in this specification.

Further, the third processing unit 13 reads the time-series measurement position of the target object P from the memory, and based on the read time-series measurement position, the relative speed (magnitude and size) of the target object P with respect to the vehicle 1 as a reference. Including direction.) V _s is calculated (FIG. 3 / S132).

Further, the third processing unit 13 evaluates the possibility of contact between the vehicle 1 and the target object P (FIG. 3 / S133). For example, as shown in FIG. 6, the product of the relative speed v _s of the target object P with respect to the vehicle 1 and the margin time T (v _s × T) rather than the triangular area A _{0 that} can be monitored by the infrared camera 102. A low triangular area (alarm determination area) is defined. Among the triangular regions, a first region (approaching determination region) A ₁ having a width in the X direction centered on the Z axis of α + 2β (α: vehicle width, β: margin width) and the first region A ₁ The left and right second areas (intrusion determination areas) A _2L and A _2R are defined. When the target object P is in the first area A ₁ or when the human P is in the left and right second areas A ₂ and enters the first area A ₁ in view of the relative velocity vector v _s. Is predicted, the possibility that the target object P and the vehicle 1 will contact each other is highly evaluated.

  Then, when the third processing unit 13 highly evaluates the possibility of contact between the vehicle 1 and the target object P (FIG. 3 / S134... YES), the third processing unit 13 executes “first control processing” (FIG. 3 / S135). Thereby, for example, in order to emphasize the presence of the person P, a sound such as “beep” is output from the speaker 105 as the first information. Note that a rectangular orange frame f surrounding the target stage P may be displayed on the HUD 104 as shown in FIG. 7 as the first information. Further, the shape and size of the frame f may be arbitrarily changed.

  On the other hand, if the third processing unit 13 determines that the possibility that the vehicle 1 and the human P are in contact with each other is low (FIG. 3 / S134... NO), the third processing unit 13 executes a “second control process” (FIG. 3 / S136). Thus, for example, in order to conspicuously emphasize the presence of the human P, a voice shorter than the first information (or having a lower volume) such as “beep” is output from the speaker 105 as the second information. As shown in FIG. 7 as the second information, a rectangular yellow frame f surrounding the target object P may be displayed on the HUD 104 as “second information”.

According to the vehicle periphery monitoring system 10 of the present invention that exhibits the above function, whether or not it is difficult for the driver to visually recognize the presence or absence of the target object P around the vehicle 1 depends on the brightness of the periphery of the vehicle 1. Is determined in accordance with whether or not the luminance variable x _L representing is equal to or greater than the reference value x ₀ (S113 in FIG. 3). The presence or absence of the target object is recognized based on the infrared light image only when the periphery of the vehicle 1 is bright enough to make it difficult for the driver to visually recognize the presence or absence of the target object P around the vehicle 1. (FIG. 3 / S113... YES, S12). On the other hand, when the driver can visually recognize the presence or absence of the target object P around the vehicle 1, the presence or absence of the target object P based on the infrared light image is not recognized (FIG. 3 / S113... NO).

  Thus, the presence of the target object P such as a human in the vicinity of the vehicle 1 based on the infrared light image obtained through the infrared camera 102 as necessary, while avoiding waste of the image processing capability of the vehicle periphery monitoring system 10. Can be recognized. In particular, the vehicle 1 is traveling east in the early morning, such as when the vehicle 1 is traveling with its front facing the sun, or water or ice covering the road surface on which the vehicle 1 is traveling. The true value can be exhibited in the situation where light is reflected.

  Further, if the periphery of the vehicle 1 is bright enough to make it difficult for the driver to visually recognize the presence or absence of the target object P around the vehicle 1 as described above, the presence or absence of the target object P based on the infrared light image Can be recognized with high accuracy, the possibility that the vehicle 1 and the target object P are in contact with each other can be evaluated with high accuracy.

  Furthermore, since the possibility of contact between the vehicle 1 and the target object P can be evaluated with high accuracy as described above, the target object P or a portion thereof is emphasized from the viewpoint of avoiding contact between the vehicle 1 and the target object P. The first or second information to be displayed can be appropriately displayed (output) on the HUD 104 (FIG. 3 / S135, S136, FIG. 7). This allows the driver of the vehicle 1 to recognize the presence of the target object P and appropriately control the behavior of the vehicle 1 such as deceleration or steering of the vehicle 1 in order to avoid contact between the vehicle 1 and the target object P. Can do.

  In the above embodiment, the brightness around the vehicle 1 is evaluated based on the visible light image obtained through the CCD camera 103 (FIG. 3 / S11). However, the luminance mounted on the vehicle 1 as another embodiment is described. The brightness around the vehicle 1 may be evaluated based on the luminance measured by the meter.

  In the embodiment, the third processing unit 13 displays the first or second information that emphasizes the presence of the target object on the HUD 104 as the first or second control processing (FIG. 7). As a form, the third processing unit 13 controls in-vehicle devices such as a steering system and a brake system in order to control the behavior of the vehicle 1 as the first or second control processing, or controls the behavior of the vehicle 1 in the in-vehicle devices. You may let them. According to the vehicle periphery monitoring system 10 having the above configuration, the in-vehicle device is controlled based on the possibility of contact between the vehicle 1 and the human P evaluated with high accuracy as described above. From the viewpoint of avoiding this contact, the behavior of the vehicle 1 such as deceleration and steering can be appropriately controlled.

  In the above embodiment, it is determined whether or not the environmental factor of the vehicle 1 satisfies the environmental requirements depending on whether or not the luminance variable is greater than or equal to the reference value (see FIG. 3 / S111 to S113). As a form, it may be determined whether or not the traveling state (environmental factor) of the vehicle 1 satisfies the environmental requirements.

  For example, the first processing unit 11 measures the traveling direction of the vehicle 1 based on an output signal from an in-vehicle gyro sensor (traveling state measuring device), and from a position measuring device (such as a navigation device) using a GPS function or the like. After measuring the direction of the sun as seen from the position of the vehicle 1 based on the output signal, the degree of coincidence in both directions is measured as an environmental factor, and the environmental factor is determined depending on whether the degree of coincidence is equal to or greater than a reference value. It may be determined whether environmental requirements are satisfied. For example, an inner product of a unit vector representing the traveling direction of the vehicle 1 and a unit vector representing the sun direction viewed from the vehicle 1 is measured as the degree of coincidence between the two directions. Accordingly, the presence or absence of the target object P is recognized based on the infrared light image only when it is difficult for the driver to visually recognize the presence or absence of the target object P particularly in front of the vehicle 1 by the sunlight. (See FIG. 3 / S12).

  In addition, the first processing unit 11 measures the position of the vehicle 1 as an environmental factor based on an output signal from the position measuring device, and the position is obtained from a map information source (such as a memory or an external map information server). Whether the environmental factor meets environmental requirements depending on whether it is in a switching area (near the exit of a tunnel or the like) from a bright area (eg outside a tunnel or forest road) (eg inside a tunnel or forest road) It may be determined. As a result, the infrared light image is displayed only when it is difficult for the driver to visually recognize the presence or absence of the target object P in the vicinity of the vehicle 1 by switching the periphery of the vehicle 1 from a dark state to a bright state. The presence or absence of the target object P is recognized based on (see FIG. 3 / S12).

Configuration diagram of vehicle, vehicle periphery monitoring system and server of the present invention Configuration explanatory diagram of the vehicle periphery monitoring system of the present invention Explanatory drawing about the function of the vehicle periphery monitoring system of the present invention Explanatory drawing about the function of the vehicle periphery monitoring system of the present invention Explanatory drawing about the function of the vehicle periphery monitoring system of the present invention Explanatory drawing about the function of the vehicle periphery monitoring system of the present invention Explanatory drawing about the function of the vehicle periphery monitoring system of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Vehicle periphery monitoring system, 11 ... 1st process part, 12 ... 2nd process part, 13 ... 3rd process part, 20 ... Server, 102 ... Infrared camera (infrared light imaging device), 103 ... CCD camera (visible light imaging device (visible light sensing device)), 104... HUD (information output device (in-vehicle device)), 105. Speaker (information output device (in-vehicle device)), 122... Yaw rate sensor, 124.

Claims (13)

A system for monitoring the periphery of a vehicle based on an infrared light image obtained through an in-vehicle infrared light imaging device,
A first processing unit that determines whether the environmental factor of the vehicle satisfies an environmental requirement set in view of an influence of brightness around the vehicle on a driver's field of view;
A second processing unit for recognizing presence or absence of a target object around the vehicle based on the infrared light image when the first processing unit determines that the environmental factor satisfies the environmental requirement. A vehicle periphery monitoring system characterized by that.   The first processing unit measures a luminance variable representing brightness around the vehicle based on an output signal from a vehicle-mounted visible light sensing device as the environmental factor, and the environment variable is determined to be greater than or equal to a reference value. 2. The vehicle periphery monitoring system according to claim 1, wherein it is determined whether the environmental factor satisfies the environmental requirement as a requirement.   The first processing unit measures the luminance variable based on the luminance of a plurality of pixels constituting a visible light image obtained through a visible light imaging device as the visible light sensing device, and the second processing unit The vehicle periphery monitoring system according to claim 2, wherein presence / absence of a target object around the vehicle is recognized based on the infrared light image partially or entirely overlapped with the light image.   The said 1st process part produces a brightness | luminance histogram about the some pixel which comprises the said visible light image, and measures the area of the part in which the brightness | luminance in the said histogram is more than a threshold value as said brightness | luminance variable. Vehicle perimeter monitoring system.   2. The vehicle periphery monitoring system according to claim 1, wherein the first processing unit measures the traveling state of the vehicle as the environmental factor based on at least an output signal from an in-vehicle traveling state measuring device.   The first processing unit measures a traveling direction of the vehicle based on an output signal from a gyro sensor as the traveling state measuring device, and the vehicle based on an output signal from a position measuring device as the traveling state measuring device. Measure the degree of coincidence between the traveling direction of the vehicle and the direction of the sun as seen from the position of the vehicle as the environmental factor after measuring the direction of the sun from the position of the vehicle, and the degree of coincidence is equal to or greater than a reference value. 6. The vehicle periphery monitoring system according to claim 5, wherein it is determined whether the environmental factor satisfies the environmental requirement.   The first processing unit measures the position of the vehicle as the environmental factor based on an output signal from a position measuring device as the traveling state measuring device, and the position is changed from a dark region obtained from a map information source to a bright region. The vehicle periphery monitoring system according to claim 5, wherein the environmental factor is determined as whether the environmental requirement is in the switching area of the vehicle, and the environmental factor satisfies the environmental requirement.   A third processing unit that evaluates the possibility of contact between the vehicle and the target object based on a time-series measurement position of the target object whose presence has been recognized by the second processing unit; The vehicle periphery monitoring system according to any one of claims 1 to 7.   Based on the evaluation of the possibility of contact between the vehicle and the target object, the third processing unit causes the in-vehicle information output device to output information that informs or emphasizes the presence of the target object, or the behavior of the vehicle The vehicle periphery monitoring system according to claim 8, wherein the vehicle periphery monitoring system is controlled or controlled by an in-vehicle device.   A vehicle comprising the infrared light imaging device, the visible light sensing device, and the vehicle periphery monitoring system according to any one of claims 1 to 9. A program for giving a vehicle-mounted computer a function of monitoring the periphery of a vehicle based on an infrared light image obtained through the vehicle-mounted infrared light imaging device,
A first processing function for determining whether or not the environmental factor of the vehicle satisfies an environmental requirement set in view of an influence of brightness around the vehicle on a driver's field of view, and the first processing function When it is determined that the environmental factor satisfies the environmental requirement, a second processing function for recognizing the presence or absence of a target object around the vehicle based on the infrared light image is provided to the in-vehicle computer. Vehicle periphery monitoring program.   A method for downloading part or all of the vehicle periphery monitoring program according to claim 11 to an in-vehicle computer in order to constitute the vehicle periphery monitoring system according to claim 1.   A server for executing the method according to claim 12.

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