JP2009230560A - Signal recognition device and signal recognition processing program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a driver to quickly recognize the status of a traffic light, using a simpler configuration. <P>SOLUTION: When a vehicle arrives at a point 100 m apart from an intersection with traffic lights, it is determined that the image of a traffic light is included, and the luminescent color of the traffic light is recognized. When the luminescent color is green, display indicating that effect is made in a display part 6, and a voice message "The traffic light of 100 m beyond is green. Please drive in a safe manner." is generated. After this, at a stage progressed 50 m, when the luminescent color changes from green to yellow for example, the display element 6 changes the display, and a voice message "The traffic signal 50 m ahead is yellow. Please stop without straining." is issued from a sound generating part 7. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a signal recognition apparatus and a signal recognition processing program.

  In recent years, traffic accidents have frequently occurred at intersections, and these accidents are often caused by oversight of signals or neglect of signals. Various proposals have been made in the past for preventing such accidents and ensuring the safety of vehicle travel.

  For example, in Patent Document 1, it is detected that a vehicle has approached within a predetermined distance from an intersection where a traffic signal is installed by measuring the position of the vehicle using a GPS installed in the vehicle, and is imaged by an imaging device. A traffic light is detected from an image in front of the vehicle, and the color of the light that is lit by this traffic light is determined. When the determined traffic light color is a predetermined color, the vehicle speed detected by the vehicle speed sensor exceeds the predetermined speed. In such a case, a configuration for warning the driver is disclosed.

Further, in Patent Document 2, an imaging device such as a TV camera is provided in a vehicle, a road and an intersection are recognized from the captured image in front of the vehicle, and when the intersection is recognized, a traffic light in the intersection is detected from the image of the intersection. A configuration is disclosed in which a signal is recognized using a two-stage image recognition technique of recognition, and the state of the signal is detected and notified to the driver.
JP 2007-293557 A Japanese Patent No. 2570378

  However, in the configuration of Patent Document 1, in addition to the imaging device, a device for measuring the position of the vehicle such as GPS, and map information indicating the position of the intersection are required, and the device itself is complicated and expensive. There is a problem to become.

Further, in the configuration as in Patent Document 2, since a road and an intersection are first recognized from the captured image, and the recognition range is narrowed to recognize the traffic signal, the processing is performed. There is the problem of complexity and time. For this reason, even if a signal is recognized once and its state is detected, it is dangerous if a warning is not given to the driver immediately if the state of the signal changes immediately after the detection. The vehicle is always traveling at high speed, and it cannot be predicted when the traffic light will change state.
If time-consuming processing is performed twice as in Patent Document 2, it takes time to recognize such a change in the traffic light and give a warning to the driver, which may be more dangerous.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to allow a driver to quickly recognize the state of a traffic light with a simpler configuration.

  In order to achieve the above object, a signal recognition device according to the present invention includes an image pickup unit that is attached to the front of a vehicle and picks up a visual field in the front direction of the vehicle, and an image picked up at a focal length specified by the image pickup unit. Recognizing means for recognizing an image of a traffic light, and when the traffic light is not recognized by the recognizing means, the focal length of the imaging means is set to a preset distance, and when the previous traffic light is recognized, the focus is on the recognized traffic light. Automatic focal length tracking means for controlling the focal length of the imaging means so as to match, state change detection means for detecting the state of the traffic light recognized by the recognition means and detecting a change in the state, and this state And a warning means for giving a warning corresponding to the change in the state when the change in the state is detected by the change detection means. .

  Further, it is desirable that the warning means notifies a voice message representing the change in the state.

  Further, it is preferable that the warning means displays the change in the state on a connected display means.

  The warning means preferably issues a warning based on the focal length controlled by the automatic focal length tracking means when giving a warning corresponding to the change in the state.

  Further, the signal recognition processing program of the present invention is a computer mounted on the front side of the vehicle and applied to a signal recognition apparatus having an image pickup means for picking up a field of view in the front direction of the vehicle. A recognition step for recognizing an image of a traffic light from an image captured in step (a), and if the traffic light is not recognized by the recognition step, the focal length of the imaging means is set to a preset distance. An automatic focal length tracking step for controlling the focal length of the imaging means so as to focus on the recognized traffic signal, and a status change for detecting the status of the traffic signal recognized by the recognition step and detecting a change in the status If a change in the state is detected by the detection step and the state change detection step, Characterized in that to execute a warning step of warning corresponding to reduction.

  According to the present invention, it is possible to recognize a state of a traffic light in front of a vehicle traveling with a simple configuration without requiring a GPS or the like and to issue a warning to a driver. In particular, the traffic signal is first recognized with an image captured at a fixed focal length, and then focused on the recognized traffic signal to detect whether a change in state has occurred only in the image portion of the traffic signal. This eliminates the need for complicated and time-consuming image recognition processing as in the prior art, and makes it possible to give an appropriate warning to the driver in response to a sudden change in the state of the traffic light.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a circuit block diagram of the signal recognition apparatus according to the present embodiment.
The camera unit 1 is attached to the front of the vehicle and images a forward visual field that is the traveling direction of the vehicle. An image captured by the camera unit 1 is input to the traffic light detection color recognition unit 2.

  The traffic light detection color recognition unit 2 captures image data captured by the camera unit 1 and determines whether or not the captured image data includes a traffic signal image. If there is an image of the traffic light, the state of the traffic light, that is, the emission color (red, blue, yellow) is detected, and further, the state change of the emission color is detected.

On the other hand, the automatic focal length tracking unit 3 controls the focal length of the camera unit 1. When the power source (not shown) is turned on and the camera unit 1 is activated, the automatic focal length tracking unit 3 sets the focal length of the camera unit 1. It is set to 100 m. Then, when an image of the traffic light is recognized by the traffic light detection color recognition unit 2, an operation of changing the focal length of the camera unit 1 is performed so as to focus on this traffic light. This operation is controlled by the traffic light detection color recognition unit 2.
The light emission color of the traffic light detected by the traffic light detection color recognition unit 2 and the change in the light emission color are supplied to the character image conversion unit 4 and the voice message conversion unit 5. In the present embodiment, the character image conversion unit 4 and the voice message conversion unit 5 are also supplied with data representing the focal length set by the automatic focal length tracking unit 3, that is, the distance to the traffic light.

  The character image conversion unit 4 generates display data based on the supplied emission color of the traffic light, the change in the emission color, and the data representing the distance to the traffic signal, and displays the display data on the connected display unit 6. Similarly, the voice message conversion unit 5 creates a voice message based on the supplied emission color of the traffic light, the change in the emission color, and the data representing the distance to the traffic signal, and is connected to the sounding unit 7 connected thereto. Pronounce.

  FIGS. 2A and 2B are diagrams showing the display contents of the display unit 6. FIG. 2 (a) shows the display contents when the vehicle reaches the point 100m before the traffic light. In the figure, a mark 6a indicates a vehicle, and when a traffic light is detected, a mark 6b representing the traffic light is displayed and a mark 6c indicating which color is emitting light is displayed. Here, since the traffic light is lit in blue, the mark 6c is displayed in the blue portion. At the same time, the sound generator 7 notifies the driver by issuing a voice message "The traffic light 100m ahead is blue. Please drive safely."

  FIG. 2 (b) shows a case where the signal changes from blue to yellow when the vehicle approaches 50m after that. In this case, the mark 6a indicating the vehicle is displayed close to the mark 6b indicating the traffic light, and the mark 6c indicating the light emission of the signal moves to the central yellow portion. At the same time, the sound generation unit 7 notifies the driver by issuing a voice message “The signal 50 meters ahead is yellow. Please stop without overdoing it.”

In this embodiment, the traffic light detection color recognition unit 2 of FIG. 1 is configured by a computer and configured to perform processing based on a program stored in advance.
FIG. 3 is a flowchart showing the processing of the traffic light detection color recognition unit 2.
First, when the power is turned on and the camera unit 1 is activated, the focal length of the camera unit 1 is set to 100 m with respect to the automatic focal length tracking unit 2 (step S1). Subsequently, image data picked up by the camera unit 1 having the focal length set in this way is captured (step S2), and it is determined whether or not the image of the traffic light is included in this image data (step S3). If it is determined that an image of the traffic light is included, it is determined what the light emission color of the traffic light is (step S4).

  If it is determined that the signal emission color is blue, blue processing is performed (step S5). Specifically, a voice or display message corresponding to the light emission color (blue) recognized as the focal length set by the camera unit 1 at this time is created. For example, when the focal length is Xm, that is, when reaching the point Xm from the intersection where the traffic light is, the character image conversion unit 4 and the voice message conversion unit 5 indicate that the signal Xm ahead is blue. Please generate a voice message and a corresponding image message.

  If the signal emission color is determined to be yellow, yellow processing is performed (step S6). Specifically, the character image conversion unit 4 and the voice message conversion unit 5 generate a voice message and a corresponding image message “The signal ahead of Xm is yellow.

If it is determined that the signal emission color is red, red processing is performed (step S7). Specifically, the character image conversion unit 4 and the voice message conversion unit 5 generate a voice message and a corresponding image message “The Xm ahead signal is red. Please stop.”
After any of the processes in steps S5 to S7 is performed, the process proceeds to step S8. On the other hand, if it is determined in step S3 that the image of the traffic light is not included, the process proceeds directly to step S8 without performing the processes in steps S4 to S7.

In step S8, it is determined whether or not the same processing as in the previous step, that is, one round before this flowchart was performed in the processing in steps S1 to S7.
Here, for example, when it was determined that the signal of the traffic light was not included in the previous processing, but reached the point 100 m from the intersection of the current traffic light and the image of the traffic light is included, or the presence of the traffic light For example, if the light emission color of the traffic light changes from blue to yellow after the recognition, the determination in step S8 is NO, and the voice message and display message created in any of steps S5 to S7 are displayed on the display unit 6 and The sound is output to the sound generator 7 (step S9).

Specifically, if it reaches 100m from the intersection with a traffic light and it is determined that an image of the traffic light is included, data representing the light emission color of the traffic light is supplied, and if the light emission color is blue 2A is displayed on the display unit 6, and a voice message “The traffic light 100m ahead is blue. Please drive safely.” Is generated from the sound generation unit 7.
In addition, when the light emission color changes from blue to yellow, for example, at the stage of 50 m after the traffic light is recognized at the point of 100 m, the display unit 6 changes to the display as shown in FIG. Part 7 issues a voice message "The signal 50 meters ahead is yellow. Please stop without overdoing it."

On the other hand, if it is determined in step S8 that the same process as the previous process has been performed, the process of step S9 is skipped.
Thereafter, the process proceeds to step S10, where it is determined whether or not the recognized traffic signal is in focus on the camera unit 1. If not, the automatic focal length tracking unit 3 focuses the signal on the traffic signal (step S11). ). If it is in focus, step S11 is skipped. Thereafter, image data is further captured from the camera unit 1 (step S12), and it is determined whether or not an image of a traffic light exists in the captured image data (step S13). If the presence of the traffic light image is confirmed, the process returns to step S3. If the traffic light image is not confirmed, the process returns to step S1 again and the focal length of the camera unit 1 is reset to 100 m. To capture the image data.

As described above, according to the present embodiment, it is possible to recognize the state of the traffic light in front of the traveling vehicle and issue a warning to the driver. Since this recognition is performed only by the camera unit 1, there is no need for GPS or map information for positioning the position of the vehicle as in the prior art.
In addition, the traffic signal is first recognized with an image captured at a fixed focal length, and then the focus is set on the recognized traffic signal to detect whether a state change has occurred only in the image portion of the traffic signal. This eliminates the need for complex and time-consuming image recognition processing as in the past, and even when the traffic light suddenly changes, it is possible to immediately give an appropriate warning to the driver. .

  In the present embodiment, the focal length of the camera unit 1 is initially set to 100 m, but is not limited to this, and may be shorter or longer. In the present embodiment, the voice message for giving a warning to the driver is generated by including the distance to the traffic signal in the message, but may be a voice message that merely represents a change in the status of the traffic signal.

It is a circuit block diagram of the signal recognition apparatus by this embodiment. It is a figure which shows the display content of the display part. The flowchart showing the process of the traffic light detection color recognition part 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Camera part 2 Traffic light detection color recognition part 3 Automatic focal distance tracking part 4 Character image conversion part 5 Voice message conversion part 6 Display part 7 Sounding part

Claims (5)

An imaging means attached to the front of the vehicle for imaging a visual field in the front direction of the vehicle;
A recognizing unit for recognizing an image of a traffic light from an image captured at a focal length specified by the imaging unit;
When the traffic light is not recognized by the recognizing device, the focal length of the imaging device is set to a preset distance. Automatic focal length tracking means for controlling,
A state change detecting means for detecting the state of the traffic light recognized by the recognizing means and detecting a change in the state;
If the state change is detected by the state change detecting means, warning means for giving a warning corresponding to the state change;
A signal recognition device.   The signal recognizing apparatus according to claim 1, wherein the warning means notifies a voice message representing the change in the state.   The signal recognition apparatus according to claim 1, wherein the warning unit displays the change in the state on a connected display unit.   The signal recognition apparatus according to claim 1, wherein the warning unit performs a warning based on a focal length controlled by the automatic focal length tracking unit when performing a warning corresponding to the change in the state. A computer that is attached to the front of a vehicle and that is applied to a signal recognition device having an image pickup unit that picks up a field of view in the front direction of the vehicle,
A recognition step for recognizing an image of a traffic light from an image captured at a focal length specified by the imaging means;
When the traffic signal is not recognized by this recognition step, the focal length of the imaging means is set to a preset distance, and when the previous traffic signal is recognized, the focal length of the imaging means is focused on the recognized traffic light. Automatic focal length tracking step to control,
Detecting a state of the traffic signal recognized by the recognition step, and detecting a change in the state;
When the state change is detected by the state change detection step, a warning step for giving a warning corresponding to the state change;
A program for signal recognition processing to execute.

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