JP2008052493A - Apparatus for confirming vehicle road condition - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a driver to recognize the position of an oncoming vehicle even on a blind road. <P>SOLUTION: A camera for photographing surroundings and a transmitter for transmitting video data photographed by the camera are installed in a curve mirror. A vehicle is provided with a communication part 8 for receiving the video data photographed by the camera on the curve mirror and a video data analysis part 18 for analyzing the video data received by the communication part 8. The video data analysis part 18 detects presence of an oncoming vehicle and determines a distance of the oncoming vehicle from the curve mirror and whether the oncoming vehicle is moved to a direction approaching to the curve mirror or not. When the oncoming vehicle exists within a prescribed distance and moves in the approaching direction, the driver is informed of the presence and approach of the oncoming vehicle by a display part 5 and a speaker 6. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicular road condition confirmation device that detects and notifies the approach of a counterpart vehicle or the like imaged on a curved mirror.

  In recent years, for the purpose of reducing traffic accidents, roads have been widened and road prospects have been improved. Further, for example, a collision prevention measure is provided such that a curved mirror is provided on a T-shaped road with poor visibility so that the existence of the counterpart vehicle can be visually recognized by an image projected on the curved mirror.

On the other hand, the construction of a system that links roads and vehicles with information technology is in progress. For example, in Patent Document 1, a radio wave reflector is provided on a curve mirror so that radio waves transmitted from a vehicle are reflected by the radio wave reflector and received by the counterpart vehicle so that the presence of the counterpart vehicle can be detected. I have to.
JP 11-353596 A

  It is difficult to see the distance to the opponent vehicle in the image on the curved mirror. For this reason, if the vehicle is started on the assumption that it can go first, there is a problem that the opponent vehicle approaches immediately and suddenly brakes or a contact accident occurs in time.

Even in the system described in Patent Document 1, even if the presence of the counterpart vehicle can be detected, the distance from the counterpart vehicle cannot be detected, and thus the same problem occurs.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicular road state confirmation device that can recognize the position of a counterpart vehicle even on a road with poor visibility.

According to the first aspect of the present invention, even when an obstacle, for example, the other party vehicle is in a hidden position on a road with poor visibility, the other side vehicle is detected based on the image taken by the photographing means of the curve mirror with the photographing means. When the position is detected and, for example, the vehicle is approaching a position where the opponent vehicle collides, this can be notified to the user.
According to the invention of claim 2, for example, when the opponent vehicle is within a predetermined distance and is moving in the approaching direction, when the opponent vehicle is stopped and there is no danger of a collision or the like, There is no hassle of being notified.
According to the invention of claim 3, for example, the position of the opponent vehicle, the movement situation, etc. can be visually recognized by the display means.

Hereinafter, an embodiment in which a car navigation device has the function of a vehicle road condition confirmation device of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram functionally showing the overall configuration of the car navigation apparatus. As shown in the figure, the car navigation device 1 includes a calculation unit 2, a current position measurement unit 3 as a current position detection unit, a map data storage unit 4 as a map data acquisition unit, a display unit 5 as a display unit, a speaker. 6. An input unit 7 as an input means, a communication unit 8 and the like are provided.

  The current position measuring unit 3 includes a gyroscope 9 that detects the pitch angle of the vehicle, a G sensor 10 that detects the rolling angle of the vehicle, a distance sensor 11 that detects a travel distance, and a GPS (Global Positioning System) receiver 12. Etc. are connected. Since these sensors 9 to 12 have detection errors of different properties, combining these sensors 9 to 12 enables highly accurate position detection while correcting the detection errors. Then, the current position measuring unit 3 determines the current position of the vehicle based on the detection results of these sensors 9-12.

  The map data storage unit 4 is composed of an information recording medium such as a DVD-ROM and a reading device that reads map data from the information recording medium. The map data, map matching data, and the route are voiced by the reading device. The data for guidance is read and given to the calculation unit 2. Map data is obtained by dividing each road on the map at a plurality of nodes such as intersections and defining each node as a link so that a road map can be constructed by connecting the links. It has become.

  Also, in the map data, when setting the guide route, if the waypoint or destination is entered as a place name, building name, facility name, telephone number, etc., the place name, building name, facility Map index data configured by associating names, telephone numbers, and the like with the corresponding coordinates on the map is configured. Further, in the map data, genre-specific data is configured so that a waypoint and a destination can be searched from the genre.

  The display unit 5 includes a display screen such as a liquid crystal display, and can display map data, characters, symbols, or the like on the display screen. The input unit 7 is used for inputting data and inputting various setting items. For example, the input unit 7 includes various switches such as a touch panel or a mechanical switch provided integrally with the display unit 5. Yes.

  The calculation unit 2 includes a display control unit 13, a route calculation unit 14, a route guidance control unit 15, a voice control unit 16, a response control unit 17 as a response control unit, a video data analysis unit 18 as an image data analysis unit, and the like. ing. The display control unit 13 acquires current position information from the current position measurement unit 3, and displays a road map around the current position on the display screen of the display unit 5 based on the map data acquired from the map data storage unit 4. The pointer indicating the current position and the traveling direction of the vehicle is displayed on the road map on the display screen.

  The route calculation unit 14 functions as a guide route search unit, and searches for a route from the current position to the destination. When a waypoint is designated, the route calculation unit 14 searches for a route that passes through the route point and reaches the destination. The waypoints and destinations are input from the input unit 7 as waypoint setting means and destination setting means. In this case, the waypoints and destinations can be entered using a method of specifying any point on the map displayed on the display screen of the display unit 5, a method of specifying a place name, etc., a telephone number, and a facility name. You can choose from the methods to do.

  When the waypoint and the destination are set from the input unit 7, the route calculation unit 14 passes the guide route from the current position to the destination or the route from the current position based on the map data in the map data storage unit 4. To find the route to the destination. In this case, the route calculation unit 14 searches for a plurality of routes on the condition of distance priority, toll road priority, and the like. When the user performs an input operation for designating (setting) a desired guide route from among the plurality of routes, the route is set as the guide route and stored in the route storage unit 19. The Dijkstra method or the like is used as a method for searching for a guidance route.

  The route guidance control unit 15 functioning as a route guidance unit and a route control unit reads out the guidance route stored in the route storage unit 19 and displays the guidance route on the road map of the display unit 5 via the display control unit 13. To display. Then, the route guidance control unit 15 acquires the current position from the current position measurement unit 3, and when the vehicle approaches the intersection to be changed, the name of the intersection is displayed on the display screen of the display unit 5 via the display control unit 13. Displays the distance to the intersection. In addition, the route guidance control unit 15 issues an instruction to the voice control unit 16 in order to provide guidance on the route at the intersection along with the display of the name of the intersection and the distance to the intersection. The voice control unit 16 reads information stored as digital data in the voice storage unit 20 based on an instruction from the route guidance control unit 15, converts the information into an analog signal, and drives the speaker 6. As a result, a route instruction such as “Approximately *** m ahead intersection is in the * direction” is given by voice from the speaker 6 to guide the route.

  The response control unit 17 acquires the current position from the current position surveying unit 3 and acquires map data around the current position from the map data storage unit 4. In the present embodiment, the map data is provided with the position data of the intersection where the curved mirror with camera (curved mirror with photographing means) 21 as shown in FIG. 2 is installed. Then, the response control unit 17 calculates the distance from the current position to the intersection where the camera-equipped curve mirror 21 is installed based on the map data, and activates the communication unit 8 when the distance becomes less than a predetermined distance. Yes. The distance from the current position to the intersection where the curved mirror with camera 21 is installed is calculated based on the road length (link length).

  The communication unit 8 receives image data from a curved mirror 21 with a camera (hereinafter simply referred to as a curved mirror 21). The video data analysis unit 18 analyzes the image data received by the communication unit 8 and sends the analysis data to the response control unit 17. The response control unit 17 performs necessary processing based on the analysis data sent from the video data analysis unit 18.

  The curved mirror 21 is installed at a road with poor visibility, such as a T-shaped intersection where the other party vehicle is hidden by a building or the like, and a mirror surface portion 23 made of, for example, a convex mirror is attached to the upper end of the column 22. Become. In the mirror surface portion 23, surrounding roads are projected, and from one road that intersects at an intersection, another road can be seen by an image projected on the mirror surface portion 23.

  On the upper part of the mirror surface part 23, a camera 24 capable of color photographing as photographing means and an antenna 25 of a transmitter (not shown) as transmitting means are provided. The camera 24 includes, for example, a wide-angle lens, and detects (images) the light (image) collected by the wide-angle lens by a CCD area sensor as an image detection unit. The analog video signal detected by the CCD area sensor is digitally converted by a capture board or the like and then transmitted from the antenna 25 to the periphery by radio waves. Note that the vehicle-side communication unit 8 and the road-side transmitter employ a short-range wireless communication system.

  Next, processing of image data transmitted from the curve mirror 21 in the above configuration will be described with reference to the flowchart of FIG. During the operation of the car navigation apparatus 1, the response control unit 17 acquires the current position of the host vehicle from the current position measurement unit 3 (step S <b> 1), and the current position surroundings (displayed on the display unit 5) from the map data storage unit 4. Map data in the area) is acquired and it is determined whether or not there is a place where the camera-equipped curve mirror 21 is installed (step S2: curve mirror installation determination means). If the camera-equipped curve mirror 21 is not installed around the current position (“NO” in step S2), the response control unit 17 returns to step S1 to acquire the current position again, and in step S2, the camera is located around the current position. It is determined whether there is a place where the attached curved mirror 21 is installed.

  When the curve mirror with camera 21 is installed around the current position, the response control unit 17 calculates the distance from the current position to the place where the curve mirror 21 is installed based on the map data (step S4: distance). Computing means). And the response control part 17 judges whether the distance is below a predetermined value (step S4: approach determination means), and when it is below a predetermined distance, the communication part 8 is started (step S5).

  The communication unit 8 receives the captured video data of the camera 24 transmitted from the antenna 25 of the curve mirror 21 with the activation (reception unit), and sends the video data to the video data analysis unit 18 (step S6). . Based on the video data received by the communication unit 8, the video data analysis unit 18 performs plane processing on the video imaged through the wide-angle lens (step S7). Planar processing is the same as the central part by correcting the peripheral distortion based on the focal length of the wide-angle lens (previously entered in the map data) because the periphery of the image captured with the wide-angle lens is distorted. This means that the image is processed without such distortion.

  The video data analysis unit 18 sends the plane-processed video data to the response control unit 17. Then, the response control unit 17 sends the plane-processed video data to the display control unit 13, and the display control unit 13 displays the plane-processed video data on, for example, one half of the screen of the display unit 5 (step S8). ). On the other hand, the response control unit 17 recognizes the road from the plane-processed video data and determines whether there is an obstacle on the road (step S9: obstacle detection means). Here, an example of road recognition will be described. In other words, the road is located at a specified portion in the video taken by the camera 24 fixed to the curve mirror 21. Therefore, the position of the road in this photographed video is put in, for example, map data. The response control unit 17 recognizes which part is the road from the position data of the road in the captured video, and if there is a part having a different brightness from the road on the recognized road, Recognize as an obstacle.

  If there is no obstacle on the road ("NO" in step S9), the response control unit 17 proceeds to step S10 to acquire the current position, and if the current position is not at the position that has passed the curve mirror 21, the next step In S11, “NO” is determined and the process returns to Step S9. Then, the response control unit 17 determines whether there is an obstacle on the road based on the video data that has been subjected to the plane processing again. When the current position is a position that has passed through the curve mirror 21 without detecting an obstacle on the road (“YES” in step S11), the response control unit 17 stops transmitting the video data to the display control unit 13. Then, the display of the captured image on the display unit 5 is stopped (step S12), and then the reception operation of the communication unit 13 is stopped (step S13), and the process returns to step S1.

  By the way, when there is an obstacle such as a vehicle on the other side road shielded by the building or the like, the response control unit 17 determines “YES” in step S9, and then detects the size of the obstacle. The distance from the curve mirror 21 is determined based on the size (step S14: approach distance detection means). In this case, the relationship between the size (area) of the obstacle and the distance is previously entered in the map data, and the distance is determined based on this data. The relationship data between the size of the obstacle and the distance was obtained by subjecting the video actually captured by the camera 24 to plane processing and measuring the size (area) on the plane processed image and the distance from the camera 24. Results are used.

  Next, the response control unit 17 determines whether or not the distance from the curve mirror 21 to the obstacle is equal to or less than a predetermined value (step S15: proximity determination unit). If the distance exceeds the predetermined distance, the response control unit 17 returns to step S9 through steps S10 and S11 described above, and again determines whether or not the distance to the obstacle on the road is equal to or smaller than a predetermined value ( Steps S14 and 15) are repeated. And when the own vehicle passes the curve mirror 21 as it is, the response control part 17 returns to step S1 through step S10 and step S11, "YES", step S12, and step S13.

  On the other hand, when the distance from the curve mirror 21 to the obstacle is equal to or smaller than the predetermined value (“YES” in step S15), the response control unit 17 determines whether or not the obstacle is moving in the approach direction. (Step S16: Movement determination means). Whether the obstacle is moving in the approaching direction is determined based on whether the position of the obstacle on the captured image acquired this time is closer to the center of the captured image than the position of the obstacle on the previously acquired captured image. It depends on whether it has changed or not.

  When it is determined that the distance to the obstacle is equal to or less than the predetermined value and the obstacle is moving in the approaching direction (“YES” in step S15, “YES” in step S16), the response control unit 17 A notification command signal is sent to the display control unit 13 and the voice control unit 16. Then, the display control unit 13 displays, for example, characters such as “the opponent vehicle is approaching the intersection” on the display unit 5. In addition, the voice control unit 16 causes the speaker 6 to output a voice such as “the other vehicle is approaching the intersection” from the speaker 6 (step S17). In this case, the display unit 5 and the speaker 6 function as notification means.

  The notification operation as described above is performed until the vehicle passes through the curve mirror 21. When the vehicle passes through the curve mirror 21, the response control unit 17 displays the captured image on the display unit 5 and displays the notification on the display unit 5. The notification voice output from the speaker 6 is stopped (step S12), the operation of the communication unit 8 is stopped (step S13), and the process returns to step S1.

As described above, according to the present embodiment, when an opponent vehicle that is hidden behind a shield such as a building approaches an intersection at an intersection where the line of sight is not effective, this is detected and notified to the user. It is very effective in preventing accidents.
In this case, the approach notification of the opponent vehicle is displayed on the display unit 5, for example, a map near the installation location of the curve mirror 21 is enlarged and the position of the opponent vehicle is displayed on the enlarged map. The position of the opponent vehicle can be easily recognized.

The present invention is not limited to the embodiments described above and shown in the drawings, and can be expanded or changed as follows.
The data on the relationship between the size (area) of the obstacle on the photographed image of the camera 24 and the distance, the focal length of the wide-angle lens of the camera 24, the data on the road position on the photographed image of the camera 24, etc. are map data. It is not limited to the case of using the map data (using the map data storage unit 4 as a storage unit), but may be stored in another storage unit.
The notification may be performed on the condition that the distance from the intersection of the obstacle is not more than a predetermined value, and the movement determination may be excluded from the notification condition.
A plurality of cameras may be provided. In this way, it is not necessary to shoot with a wide-angle lens, and it is possible to eliminate the image plane processing (step S7).
The position where the curve mirror 21 is installed is not limited to the intersection.

1 is a functional block diagram of a car navigation device according to an embodiment of the present invention. Perspective view of curved mirror Flow chart for approach warning of opponent vehicle

Explanation of symbols

  In the figure, 1 is a car navigation device (vehicle road condition confirmation device), 3 is a current position measurement unit (current position detection unit), 4 is a map data storage unit (storage unit), and 5 is a display unit (display unit, notification). Means), 6 is a speaker (notification means), 8 is a communication section (reception means), 17 is a response control section (obstacle detection means, distance calculation means, approach distance detection means, movement determination means), and 18 is an image analysis section. , 21 is a curved mirror, 24 is a camera (photographing means), and 25 is an antenna (transmitting means).

Claims (3)

A storage means for storing position data of an installation location of a curve mirror with a photographing means, which is a curve mirror and includes a photographing means for photographing the periphery and a transmission means for transmitting image data photographed by the photographing means;
Current position detecting means for detecting the current position;
Distance calculating means for calculating a distance between the current position and the curve mirror with photographing means provided in the map data and the position data of the curve mirror with photographing means included in the map data; ,
Receiving means for receiving image data transmitted from the transmitting means of the curved mirror with photographing means when the distance calculated by the distance calculating means is a predetermined value or less;
Obstacle detection means for detecting an obstacle on the road based on the image data received by the reception means;
When an obstacle on the road is detected by the obstacle detecting means, an approach distance detecting means for detecting a distance from the curve mirror with the photographing means to the obstacle;
A road condition confirmation device for a vehicle, comprising: notification means for performing a notification operation when a detection distance by the approach distance detection means is a predetermined distance or less. When an obstacle on the road is detected by the obstacle detection means, a movement determination means for determining whether or not the obstacle is moving,
The notifying means performs a notifying operation when a detection distance by the approach distance detecting means is not more than a predetermined distance and the movement determining means determines that the obstacle is moving. The road condition confirmation device for a vehicle according to 1. 3. A vehicle road condition confirmation device according to claim 1, further comprising display means for displaying the image data received by the receiving means.

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