JP2010276557A - Spectrum measuring device for moving body - Google Patents

Spectrum measuring device for moving body Download PDF

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JP2010276557A
JP2010276557A JP2009131584A JP2009131584A JP2010276557A JP 2010276557 A JP2010276557 A JP 2010276557A JP 2009131584 A JP2009131584 A JP 2009131584A JP 2009131584 A JP2009131584 A JP 2009131584A JP 2010276557 A JP2010276557 A JP 2010276557A
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slit
scanning
information
spectrum
driver
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JP2009131584A
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JP5458674B2 (en
Inventor
Masahito Endo
Ryushi Funayama
Shinya Kawamata
Kenichi Kitahama
Yasukata Yokochi
Yasuhiro Yoshida
謙一 北浜
康浩 吉田
進也 川真田
泰容 横地
竜士 船山
雅人 遠藤
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Toyota Motor Corp
トヨタ自動車株式会社
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Abstract

An object of the present invention is to make it possible to identify a measurement target with high accuracy using observation data obtained by a spectrum sensor mounted on a moving body such as a vehicle, and to obtain more appropriate information required as the observation data.
A spectrum sensor capable of measuring wavelength information and light intensity information is mounted on a vehicle, and measurement objects around the vehicle are identified based on spectrum data of observation light detected by the spectrum sensor. In the spectrum sensor 100, spectrum data is acquired by causing the imaging device to receive light while spectrally separating light images sequentially taken by scanning of the slit 102 for each wavelength. Then, the scanning area of the slit 102 is controlled based on at least one of the environmental information and the driver information including the driving operation.
[Selection] Figure 1

Description

  The present invention relates to a spectrum measuring apparatus for a mobile object that identifies a measurement object from spectrum data of the measurement object measured by a spectrum sensor mounted on a mobile object such as a vehicle.

  In recent years, vehicles such as automobiles are often equipped with devices that support driving and decision making by recognizing the state of pedestrians and traffic lights that dynamically change around the vehicle. Not a few. Many of such devices capture the state of traffic lights, pedestrians, and the like with a CCD camera, etc., recognize the state by processing the captured image in real time, and recognize the result of the above-described driving. It is used for support. However, since the shape of the pedestrian usually changes variously depending on the size and orientation, the presence or absence of belongings, and the like, it is difficult to accurately recognize the presence from the shape obtained based on the image processing. In general, a traffic light has high standard for size and color, but it is difficult to avoid inconveniences such as change in shape depending on the viewing angle, and shape recognition through image processing is still limited.

  On the other hand, Patent Document 1 describes a remote sensing technique using spectrum data collected by a spectrum sensor as a technique for recognizing a measurement target. In other words, here, measurements that are difficult to recognize only from the visible light region, such as forests, fields, urban areas, etc., from multispectral image data including invisible regions captured by a spectrum sensor mounted on an aircraft or satellite. The object is classified and characterized, and the measurement object is identified based on the data thus classified and characterized.

JP 2000-255102 A JP 2006-145362 A

  In this way, in the spectrum sensor, the luminance value (light intensity) of each wavelength band including the invisible region is observed, so the characteristic specific to the measurement object can be known by comparing the luminance value for each wavelength. As a result, the identification becomes possible. In recent years, a hyperspectral sensor having a wide imaging bandwidth and a high resolution of several nanometers to several tens of nanometers has been put to practical use as such a spectral sensor. In this hyperspectral sensor, spectral data is obtained by causing the image sensor to receive light while spectrally separating light images sequentially taken by scanning of the slit for each wavelength (see Patent Document 2).

  Therefore, recently, it is considered that such a spectrum sensor is mounted on a vehicle such as an automobile and various measurement objects around the vehicle are identified using spectrum data (hyperspectral data) captured by the spectrum sensor. . However, when it becomes spectrum data by such a hyperspectral sensor, the number of data is enormous, so the increase in time required for the data processing cannot be ignored, especially when trying to observe various measurement objects around the vehicle, Information necessary for such a moving body such as a vehicle cannot always be acquired appropriately.

  The present invention has been made in view of such circumstances, and the object thereof is to enable highly accurate identification of a measurement target by observation data from a spectrum sensor mounted on a moving body such as a vehicle. An object of the present invention is to provide a moving body spectrum measuring apparatus that enables more appropriate acquisition of information required as observation data.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
According to the first aspect of the present invention, a spectrum sensor capable of measuring wavelength information and light intensity information is mounted on a moving body, and measurement around the moving body is performed based on spectrum data of observation light detected by the spectrum sensor. A spectrum measuring apparatus for a moving body for identifying a target, wherein the spectrum sensor acquires spectrum data by causing an image sensor to receive a light image that is sequentially captured for each wavelength by scanning a slit. The gist of the invention is that the moving body is provided with a slit scanning controller that controls the scanning area of the slit based on at least one of the environment information and driver information including driving operation.

  As described above, if the scanning region of the slit is controlled based on at least one of the environment information of the moving object and the driver information including the driving operation, the scanning of the slit corresponding to this scanning region, and thus the scanning It is possible to acquire spectrum data of a measurement object corresponding to the region. As a result, it is possible to appropriately acquire information required as the observation data as well as to accurately identify the measurement object based on the observation data detected by the spectrum sensor mounted on the moving body.

  According to a second aspect of the present invention, in the spectrum measuring apparatus for a moving body according to the first aspect, the scanning region of the slit controlled by the slit scanning controller is configured to set a scanning start position and a scanning direction of the slit. It is a summary.

  As in the above configuration, if the slit scanning region is controlled as the setting of the scanning start position and scanning direction of the slit, the measurement object is measured through the scanning of the slit corresponding to the set scanning start position and scanning direction. Spectral data is acquired sequentially. As a result, the required observation data among the measurement objects can be preferentially acquired according to the environment information of the moving body and the driver information including the driving operation.

  According to a third aspect of the present invention, in the spectrum measuring apparatus for a moving body according to the second aspect, the scanning region of the slit controlled by the slit scanning controller further includes setting of a scanning end position of the slit. This is the gist.

  As described above, if the slit scanning end position is set together with the slit scanning start position and the scanning direction, the slit scanning area corresponds to the driver's information including the environmental information of the moving body and the driving operation. Will be restricted. For this reason, it is possible to acquire spectrum data within the limited slit scanning range, and to suppress the data amount to the minimum necessary for identifying the measurement object based on the spectrum data of the measurement object. Become. This makes it possible to acquire the required spectrum data of the measurement object in a manner close to real time, and to increase the processing speed for identifying the measurement object based on the spectrum data.

  According to a fourth aspect of the present invention, in the mobile spectrum measuring apparatus according to the second or third aspect, the slit scanning controller is an emergency estimated from driver information including acquired environmental information and driving operation. The gist of the invention is to control the scanning region of the slit in such a manner that it is possible to preferentially identify a measurement object having high characteristics.

  According to the above configuration, the scanning region of the slit is controlled corresponding to the measurement object with high urgency, and the spectrum data of the measurement object with high urgency is preferentially acquired. Thereby, the processing speed concerning identification of the measuring object based on the spectrum data acquired with priority is further increased.

  According to a fifth aspect of the present invention, in the spectrum measuring apparatus for a moving body according to the fourth aspect, the moving body includes a steering steering, and driver information including the driving operation is provided in the steering. The gist of the present invention is the steering angle information of the steering detected by the snake angle sensor.

  The measurement object to be identified changes with the movement of the moving body. In particular, it is necessary to identify the measurement object newly detected when the steering angle of the moving body changes. In this regard, as described above, if the control of the scanning area of the slit is performed based on the steering angle information detected by the steering angle sensor provided in the steering of the moving body, a new one is generated as the moving body moves. Therefore, it is possible to prioritize identification of the measurement object detected in (1).

  The invention according to claim 6 is the spectrum measuring apparatus for moving body according to claim 4 or 5, wherein the moving body is provided with a face direction detection sensor for detecting a face direction of the driver, The summary of the driver information including the driving operation is information indicating the direction of the driver's face detected by the face direction detection sensor.

  Usually, the driver's face direction including the driving operation of the moving body is correlated with the driver information including the driving operation of the moving body. For example, the direction of the driver's face or the opposite direction is desired by the driver. It is possible to determine the direction in which there is a measurement object that should be alerted to the driver. Therefore, as described above, if the slit scanning area is controlled based on information indicating the driver's face direction detected by the face direction detection sensor, the driver desires or It becomes possible to prioritize identification of necessary measurement objects that should be alerted.

  The invention according to claim 7 is the spectrum measuring apparatus for moving body according to any one of claims 4 to 6, wherein the moving body is provided with a line-of-sight detection sensor for detecting a direction of the driver's line of sight. The gist of the driver information including the driving operation is information indicating the direction of the driver's line of sight detected by the line-of-sight detection sensor.

  Usually, the driver's line-of-sight direction and the identification information of the measurement object required for the driver are correlated. That is, there is usually a measurement object that needs to be identified for the driver in the direction in which the driver is gazing. Conversely, the identification information of the measurement object that exists in a direction different from the driver's line of sight can also be useful identification information for the driver, such as calling attention. Therefore, as described above, priority is given to the identification of the measurement object necessary for the driver even if the scanning region of the slit is controlled based on the information indicating the direction of the driver's line of sight detected by the line-of-sight detection sensor. Can be performed.

  The invention according to claim 8 is the mobile object spectrum measuring apparatus according to any one of claims 1 to 7, wherein the environmental information of the mobile object is identified based on the respective spectrum data. The gist is that it is acquired as a state.

  According to the above configuration, for example, when the measurement target is a pedestrian, the slit is based on the state of the measurement target, such as whether the measurement target is an adult, a child, or an elderly person, and whether the measurement target is approaching a moving object. The scanning area can be controlled. Thereby, it becomes possible to perform appropriate identification according to the state of the measurement target.

  The invention according to claim 9 is the spectrum measurement device for mobile body according to any one of claims 1 to 7, wherein the environmental information of the mobile body is based on position information of the mobile body obtained from navigation. The gist is that it is acquired as the probability of appearance or the direction of appearance of the measurement object.

  The environmental information of the moving body changes depending on the position of the moving body. For example, while there are many pedestrians and traffic lights as measurement targets in urban areas, there are many animals and plants as measurement targets in mountain roads and the like. . In this regard, as in the above configuration, the scanning of the slit 102 is performed if it is acquired as the appearance probability or the possibility of the appearance direction of the measurement object based on the position information of the moving body obtained from the navigation mounted on the moving body. The region can be set in advance to a region where the appearance of the measurement target is predicted, and as a result, the spectrum data of the measurement target can be appropriately acquired by the spectrum sensor 100.

The gist of the invention according to claim 10 is the spectrum measuring apparatus for moving body according to any one of claims 1 to 9, wherein the moving body is an automobile traveling on a road surface.
The present invention is particularly effective when applied to an automobile as a moving body on which the spectrum sensor is mounted as described above, and appropriate information for supporting the movement of the moving body can be obtained by the above configuration. Acquisition is possible.

The block diagram which shows the structure about 1st Embodiment which applied the spectrum measuring apparatus for moving bodies concerning this invention to a vehicle, especially a motor vehicle. (A) is a front view which shows the schematic structure about an example of the slit of the spectrum sensor (hyperspectral sensor) employ | adopted as the apparatus of the embodiment. (B) is a front view which shows the drive aspect of the slit. (A) And (b) is a figure which shows typically an example of the scanning start position and scanning direction about the slit scanning control by the apparatus of the embodiment. (A) is a front view which shows typically the schematic structure about the other example of the slit of the spectrum sensor (hyperspectral sensor) employ | adopted as the apparatus of the embodiment. (B) is a front view schematically showing a driving mode of the slit. (A) And (b) is a figure which shows typically an example of the scanning start position and scanning direction about the slit scanning control by the apparatus of the embodiment. (A)-(c) is a figure which shows an example of the scanning area control of the slit by the apparatus of the embodiment. The flowchart which shows the control procedure about the scanning area control of the slit performed in the slit scanning controller of the apparatus of the embodiment. (A) is a figure which shows typically an example of steering operation by a driver | operator about 2nd Embodiment which applied the spectrum measuring apparatus for moving bodies concerning this invention to a vehicle, especially a motor vehicle. (B) is a figure which shows typically an example of the scanning start position and scanning direction about the slit scanning control by the apparatus of the embodiment. The flowchart which shows the control procedure about the scanning area control of the slit performed in the slit scanning controller of the apparatus of the embodiment. (A) is a figure which shows typically an example of the scanning end position of a slit about 3rd Embodiment which applied the spectrum measuring apparatus for moving bodies concerning this invention to a vehicle, especially a motor vehicle. (B) is a figure which shows typically an example of a scanning start position and a scanning direction about the slit scanning of the embodiment. The flowchart which shows the control procedure about the scanning area control of the slit performed in the slit scanning controller of the apparatus of the embodiment. The figure which shows typically an example of the environmental information with respect to vehicles about other embodiment which applied the spectrum measuring apparatus for moving bodies concerning this invention to vehicles, especially a motor vehicle. (A) And (b) is a figure which shows typically an example of the scanning start position of a slit, and a scanning direction about other embodiment of the spectrum measuring apparatus for moving bodies concerning this invention.

(First embodiment)
FIG. 1 shows a schematic configuration of a first embodiment that embodies a spectrum measuring apparatus for a moving body according to the present invention.

  As shown in FIG. 1, the moving body spectrum measuring apparatus includes a spectrum sensor 100 that is mounted on a vehicle such as an automobile and can measure wavelength information and light intensity. In this spectrum sensor 100, first, when observation light to be measured is detected through the lens 101, this observation light is captured as an optical image by scanning the slit 102. Such an optical image is spectrally separated by the spectroscope 103 for each wavelength and then received by the image sensor 104, thereby being read into the spectral data processing unit 110 as spectral data (hyperspectral data) to be measured.

  In this spectrum data processing unit 110, based on the spectrum data to be measured acquired by the spectrum sensor 100, whether or not there are pedestrians, traffic lights, obstacles, etc. around the vehicle, The surrounding environment information of the vehicle, such as whether or not a child or an elderly person, the color state of a traffic light, etc. is identified.

  Then, such identification information of the measurement object is input to an HMI (Human Machine Interface) 120 and a vehicle controller 130, respectively. Among these, in the HMI 120, based on the identification information from the spectrum data processing unit 110, for example, voice information such as “there is a pedestrian ahead”, “the traffic light is red”, and the like are given to the driver. Be notified. Similarly, in the vehicle controller 130 to which the identification target to be measured is input, vehicle control such as vehicle brake control is performed based on the identification information transmitted from the spectrum data processing unit 110.

  The operation / driver information acquisition device 140 for acquiring vehicle driving operation or driver information includes a steering angle of steering as vehicle operation information detected by a snake angle sensor provided in the steering of the vehicle. Information, information indicating the direction of the driver's face detected by the face direction detection sensor that detects the driver's face direction, and the driver's line of sight detected by the line-of-sight detection sensor that detects the direction of the driver's line of sight Driver information such as information indicating the direction of the vehicle is captured.

  The slit scanning calculator 150 that calculates the scanning region of the slit 102 receives the identification information by the spectrum data processing unit 110 and the driver information including the driving operation by the operation / driver information acquisition device 140. In the slit scanning calculator 150, the scanning area of the slit 102 is set based on at least one of these pieces of information. Then, the scanning control of the slit 102 according to the scanning region set in this way is executed by the slit scanning controller 160.

  Next, a schematic configuration and a driving mode of the slit 102 constituting the spectrum sensor 100 will be described with reference to FIGS. 2A and 2B show a configuration example of the slit 102T when the scanning region is set in the left-right direction, and FIGS. 3A and 3B show the left-right direction by the slit 102T. An example of scanning in the direction is shown. 4A and 4B show a configuration example of the slit 102Y when the scanning region is set in the vertical direction, and FIGS. 5A and 5B show the vertical direction of the slit 102Y. An example of scanning in the direction is shown.

First, as shown in FIG. 2A, the slit 102T is configured by arranging a plurality of plate-like slit plates 102T 1 to 102Tn vertically adjacent to each other. These slit plates 102T 1 to 102Tn are respectively provided with actuators M 1 to Mn as driving sources at their lower ends. Then, for example, as shown in FIG. 2 (b), when the actuator M 3 of the actuator M 1 to Mn constituting the slit 102T is driven, to rotate the slit plate 102T 3 along with their drive, so the gap S is formed between the slit plate 102T 2 and 102T 4 adjacent to the slit plate 102T 3. The observation light from the lens 101 is taken into the spectroscope 103 through the gap S.

Here, for example, as shown in FIG. 3A, when the spectrum data of the measurement object existing on the left side among the measurement objects in front of the vehicle is preferentially acquired, the slit plate 102T at the left end of the slits 102T is obtained. The slit plates 102T 1 to 102Tn are sequentially rotated in the right direction from 1 to the rightmost slit plate 102Tn. As a result, the spectrum data processing unit 110 sequentially acquires the spectrum data of the measurement target existing at the left end among the measurement targets in front of the vehicle.

Further, as shown in FIG. 3B, for example, when the spectrum data of the measurement object existing on the right side among the measurement objects in front of the vehicle is preferentially acquired, from the slit plate 102Tn at the right end of the slit 102T. each slit plate 102T 1 ~102Tn toward the left direction is sequentially rotated driven to the left edge of the slit plate 102T 1. Thereby, the spectrum data processing unit 110 sequentially acquires the spectrum data of the measurement target existing at the right end among the measurement targets in front of the vehicle.

As described above, according to the slit 102T formed of the slit plates 102T 1 to 102Tn that are vertically adjacent, it is possible to set the scanning region of the slit 102T through selective scanning in the left-right direction.

On the other hand, as shown in FIG. 4A, it is also possible to configure the slit 102 by arranging a plurality of plate-like slit plates 102Y 1 to 102Ym horizontally adjacent to each other. That is, the slit plates 102Y 1 to 102Ym are also provided with actuators M 1 to Mm as drive sources at the lower ends thereof. Even by this slit 102Y, as shown in FIG. 4 (b), when the actuator M 3 of the actuator M 1 ~Mm constituting the slit 102 is driven, the slit plate 102Y 3 along with its drive There is rotated, so that the gap S is formed between the slit plate 102Y 2, and 102Y 4 adjacent to the slit plate 102Y 3. The observation light from the lens 101 is taken into the spectroscope 103 through the gap S.

Then, as shown in FIG. 5A, for example, when the spectrum data of the measurement object existing on the lower side among the measurement objects in front of the vehicle is acquired with priority, the slit plate 102Y at the lower end of the slits 102Y. The slit plates 102Y 1 to 102Ym are sequentially rotated in the upward direction from 1 to the upper slit plate 102Ym. As a result, the spectrum data processing unit 110 sequentially acquires the spectrum data of the measurement target existing below the measurement target in front of the vehicle.

Further, as shown in FIG. 5 (b), for example, when the spectrum data of the measurement object existing on the upper side among the measurement objects in front of the vehicle is preferentially acquired, from the slit plate 102Ym at the upper end of the slit 102Y. It is sequentially rotated driven toward the downward direction to the slit plate 102Y 1 of the lower end. As a result, the spectrum data processing unit 110 sequentially acquires the spectrum data of the measurement target existing on the upper side among the measurement targets in front of the vehicle.

As described above, according to the slit 102Y formed of the slit plates 102Y 1 to 102Ym that are horizontally adjacent to each other, it is possible to set the scanning region of the slit 102Y through selective scanning in the vertical direction of the slit 102Y.

Next, the control of the scanning area of the slit 102 performed by the slit scanning controller 160 under such a premise will be described with reference to FIG. In this example, as shown in FIG. 2, the slits 102 (102T) in which the slit plates 102T 1 to 102Tn are vertically arranged are employed.

  First, for example, if the vehicle starts traveling on the road in the environment shown in FIG. 6A, acquisition of spectrum data to be measured by the spectrum sensor 100 is started accordingly. Here, immediately after the vehicle is driven, the spectrum data processing unit 110 has not yet identified the measurement target, so the slit scanning region of the slit 102 is set based on the vehicle position information. That is, in consideration of the fact that the measurement target that is highly urgent for the driver is a pedestrian, the spectral data on the sidewalk side where the pedestrian normally exists is preferentially acquired.

  Then, as shown in FIG. 6 (a), the slit 102 is controlled through the control of the scanning area by the slit scanning calculator 150 in order to preferentially identify the measurement object on the sidewalk side, that is, the left side when viewed from the front of the driver. Scan from the left end to the right end. As a result, the spectrum data processing unit 110 sequentially captures the spectrum data of the measurement object from the left to the right as viewed from the front of the driver.

  Thus, if one of the measurement objects ahead of the vehicle is identified as “pedestrian”, for example, as shown in FIG. 6B based on the spectrum data captured by the spectrum data processing unit 110, the spectrum data The degree of urgency is determined based on a database for determining the urgency of the measurement object stored in the processing unit 110. Thus, based on this database, for example, the priority order is set on the assumption that the information on the “pedestrian” among the measurement objects existing in front of the vehicle has the highest urgency.

  In order to preferentially monitor the state of the measurement object with high urgency based on this priority, as shown in FIG. 6C, the scanning start position of the slit 102 is the right end when viewed from the front of the driver. The scanning direction of the slit 102 is set so as to scan from the right end to the left end when viewed from the front of the driver. Thereby, the spectrum data of the “pedestrian” having the highest urgency among the measurement objects is preferentially acquired. The spectrum data processing unit 110 continuously monitors the identification information of the “pedestrian”, and the “pedestrian” is an adult, a child, or an elderly person based on the spectrum data detected each time. Detailed identification is performed, such as whether or not there is.

Next, the control procedure of the scanning area of the slit 102 executed by the slit scanning calculator 150 will be described with reference to FIG.
As shown in FIG. 7, when the control of the scanning region of the slit 102 is started, first, the detection band and resolution of the spectrum sensor 100 are initialized (step S100). When the current information level of the driver information including the environmental information and the driving operation is acquired, the spectrum data to be measured is acquired based on the detection of the observation light by the spectrum sensor 100 (steps S101 and S102).

In this way, environmental information of the vehicle is acquired based on the spectrum data to be measured (step S103). Based on this environmental information, whether there are traffic weak persons such as pedestrians, bicycles, motorcycles, etc. The presence / absence of emergency information such as whether there is a traffic light or whether there is a new detection area is determined (step S104). In this way, the slit scanning calculator 150 executes acquisition of environmental information based on detection by the spectrum sensor 100 until the presence of emergency information is confirmed (steps S102 to S104).

  Then, once the presence of the emergency information is confirmed, the part where the measurement object with the highest urgency is acquired in the scanning region of the slit 102 is identified (steps S104: YES, S05). Then, according to the specified slit scanning region, first, setting is made as to whether or not the slit 102 is to be started from the left end, right end, upper end, or lower end (step S106). When the scanning start position of the slit 102 is set in this way, the scanning direction of the slit 102 is similarly set according to the specified slit scanning region (step S107). As a result, the spectrum data of the part where the emergency information exists is preferentially acquired.

As described above, according to the moving body spectrum measuring apparatus of the present embodiment, the effects listed below can be obtained.
(1) The scanning start position and the scanning direction of the slit 102 are set according to the environmental information of the vehicle. Thereby, it is possible to sequentially acquire the spectrum data according to the scanning start position and the scanning direction, and it is possible to appropriately acquire the spectrum data necessary for identifying the measurement target.

  (2) The scanning region of the slit 102 is set based on the site where the measurement object having the highest urgency exists. As a result, even when there are multiple measurement targets, the spectrum data of the most urgent measurement target among the measurement targets is acquired at an early stage, and as a result, the measurement target based on the spectrum data is obtained. The processing speed required for identification is increased.

  (3) The scanning region of the slit 102 is set based on the position information of the vehicle until the environmental information of the measurement target is acquired based on the spectrum data detected by the spectrum sensor 100. This makes it possible to acquire more appropriate spectrum data when identifying the measurement target.

(Second Embodiment)
Hereinafter, a second embodiment of the movable body spectrum sensor measuring apparatus according to the present invention will be described with reference to FIGS. In the second embodiment, the control of the scanning region of the slit 102 is based on the steering angle information of the steering in the driver information including the driving operation acquired by the operation / driver information acquiring device 140. The basic configuration is the same as that of the first embodiment.

  That is, as shown in FIG. 8A, when the steering ST is turned to the right, for example, by the driver's steering operation, new environmental information is displayed on the right side as viewed from the front of the driver. Will be entered. Therefore, in the present embodiment, an area where new environmental information is detected is specified based on the steering angle information of the steering ST, and the new environmental information is preferentially detected.

That is, first, when it is determined that the steering wheel ST is turned rightward based on the steering angle information of the steering wheel ST, as shown in FIG. 8B, the scanning start position of the slit 102 is viewed from the front direction of the driver. The scanning direction of the slit 102 is set so as to scan from the right end to the left end when viewed from the front of the driver. Thereby, even if the environmental information to be detected changes as the vehicle travels, the newly detected environmental information is preferentially acquired.

Next, the control procedure of the scanning area of the slit 102 executed by the slit scanning calculator 150 will be described with reference to FIG.
As shown in FIG. 9, when the control of the scanning region of the slit 102 is started, first, the detection band and resolution of the spectrum sensor 100 are initialized (step S200). Then, the current information level of the driver information including the environment information and the driving operation is acquired (step S201). Here, for example, when it is determined that the steering angle information of the steering ST among the pieces of information is most useful in setting the scanning region of the slit 102, the steering angle information of the steering ST sets the scanning region of the slit 102. It is acquired as information necessary for this (step S202). When the steering angle information is acquired in this way, the side on which the steering ST has been turned off is specified as a part where new environmental information is detected based on the steering angle information (step S203). Then, in accordance with the specified slit scanning region, first, it is set whether or not the slit 102 is to be started from either the left end or the right end (step S204). When the scanning start position of the slit 102 is set in this way, the scanning direction of the slit 102 is similarly set according to the specified slit scanning region (step S205). As a result, spectrum data to be newly detected is preferentially acquired.

As described above, according to the moving body spectrum measuring apparatus of the present embodiment, the effects listed below can be obtained.
(1) The scanning start position and scanning direction of the slit 102 are set based on the steering angle information of the steering ST. Thereby, it is possible to sequentially acquire the spectrum data according to the scan start position and the scan direction, and it is possible to appropriately acquire the spectrum data necessary for identifying the measurement target.

  (2) The scanning start position of the slit 102 is set in the same direction and manner as the side where the steering wheel ST is turned off. As a result, new environmental information is preferentially detected even when the environmental information fluctuates due to the driving operation of the vehicle.

(Third embodiment)
The third embodiment of the moving body spectrum sensor measuring apparatus according to the present invention will be described below with reference to FIGS. In the third embodiment, the scanning end position is set in conjunction with the setting of the scanning start position and the scanning direction, thereby performing limited control of the scanning region of the slit 102.

  That is, as shown in FIG. 10A, for example, it is assumed that a pedestrian is detected by scanning the slit 102 in the right direction from the left end to the left end of the scanning region. When the pedestrian is identified as emergency information when the pedestrian is detected, the scanning of the slit 102 is temporarily interrupted in the middle of the slit scanning area because necessary environmental information is acquired. When the scanning of the slit 102 is interrupted in this way, the slit 102 is returned to the scanning start position, and acquisition of environmental information by the slit 102 is started again. As a result, the scanning region of the slit 102 is limited between the scanning start position and the scanning end position, and the spectrum data processing unit 110 has the minimum spectrum data necessary for identifying environmental information. It will be captured.

Further, for example, when the environmental information existing on the left side in the front direction of the driver is identified as highly urgent information, first, as shown in FIG. The center of the scanning area of the slit 102 is set, and the scanning direction of the slit 102 is set to the left. This also limits the scanning region of the slit 102 between the scanning start position and the scanning end position, and the spectrum data processing unit 110 has the minimum spectrum data necessary for identifying environmental information. It will be captured.

Next, the control procedure of the scanning area of the slit 102 executed by the slit scanning calculator 150 will be described with reference to FIG.
As shown in FIG. 11, when the control of the scanning area of the slit 102 is started, first, the detection band and resolution of the spectrum sensor 100 are initialized (step S300). When the current information level of the driver information including the environment information and the driving operation is acquired, spectrum data to be measured is acquired based on detection of observation light by the spectrum sensor 100 (steps S301 and S302).

  Thus, the vehicle environment information is acquired based on the spectrum data to be measured (step S303). Based on this environment information, whether there are traffic weak persons such as pedestrians, bicycles, and motorcycles around the vehicle, The presence / absence of emergency information such as whether there is a traffic light or whether there is a new detection area is determined (step S304). In this way, the slit scanning calculator 150 executes acquisition of environmental information based on detection by the spectrum sensor 100 until the presence of emergency information is confirmed (steps S302 to S304).

  Then, once the presence of the emergency information is confirmed, the part of the scanning region of the slit 102 where the measurement object with the highest urgency is acquired is specified (steps S304: YES, S05). Then, in accordance with the specified slit scanning area, first, it is set whether or not to start the slit 102 from the entire scanning area (step S306). Next, when the scanning start position of the slit 102 is set, the scanning direction of the slit 102 is similarly set in accordance with the specified slit scanning region (step S307). Thus, when the scanning end position of the slit 102 is further set, the scanning area of the slit 102 is limited between the scanning start position and the scanning end position of the slit 102. As a result, the spectrum data of the part where the emergency information exists is limited and acquired.

  As explained above, according to the spectrum measuring apparatus for a moving body according to the present embodiment, effects similar to the effects (1) to (3) according to the first embodiment can be obtained, and further below The effects listed in the above are also obtained.

  (4) The scanning area of the slit 102 is limited by the scanning start position, scanning end position, and scanning direction of the slit 102. As a result, the spectrum data acquired through the scanning of the slit 102 is limited to the minimum necessary, and as a result, the speed for identifying the environmental information can be improved.

(Other embodiments)
In addition, the said embodiment can also be implemented with the following forms.
In the first embodiment, the scanning area of the slit 102 is controlled in such a manner that environmental information with high urgency is preferentially acquired, but the slit is based on the environmental information detected by the spectrum sensor 100. As long as it controls the scanning area 102, the setting of the priority of urgency may be omitted.

  In the second embodiment, the scanning start position of the slit 102 is set in the same direction as the direction in which the steering wheel ST is turned off. The scanning start position of the slit 102 can be set on the side opposite to the direction in which the steering ST is turned, and the scanning start position of the slit 102 is not limited to these.

  In the second embodiment, the scanning area of the slit 102 is set according to the scanning start position and the scanning direction. Not limited to this, as shown in FIGS. 10A and 10B, the scanning region of the slit 102 is set by setting the scanning start position and the scanning end position of the slit 102 based on each steering information of the steering ST. May be limited.

  In the second embodiment, the scanning area of the slit 102 is controlled based on the steering angle information of the steering wheel ST among the driving information including the driving operation. For example, based on driver information such as information indicating the face direction of the driver detected by the face direction detection sensor, information indicating the direction of the driver's line of sight detected by the line of sight detection sensor, and the like. The scanning area of the slit 102 may be controlled. That is, since the face direction of the driver of the moving body and the driver information including the driving operation of the moving body are in a correlated relationship, for example, the direction of the driver's face or the opposite direction is, for example, It is possible to determine the direction in which there is a measurement object desired by the driver or to be alerted to the driver. As a result, it is possible to prioritize identification of a measurement object that is desired by the driver or that should be alerted to the driver. On the other hand, the driver's line-of-sight direction and the identification information of the measurement object required for the driver are correlated. That is, there is usually a measurement object that needs to be identified for the driver in the direction in which the driver is gazing. Conversely, the identification information of the measurement object that exists in a direction different from the driver's line of sight can also be useful identification information for the driver, such as calling attention. Thereby, it becomes possible to prioritize the identification of the measurement object required for the driver.

  In the first embodiment, the scanning region of the slit 102 is controlled based on environmental information detected by the spectrum sensor 100. In the second embodiment, the scanning area of the slit 102 is controlled based on driver information including driving operation. However, the scanning region of the slit 102 may be controlled based on both the environmental information detected by the spectrum sensor 100 and the driver information including the driving operation.

  In the first embodiment, the measurement target identification information identified by the spectrum data processing unit 110 is used as the environmental information for the vehicle. Not limited to this, as shown in FIG. 12, the environmental information for the vehicle 200 is acquired as the appearance probability or the possibility of the appearance direction of the measurement object based on the position information of the host vehicle 200 obtained from the navigation mounted on the vehicle 200. You may make it do. That is, when the traveling position of the vehicle 200 is an urban area or the like, the appearance probability of the pedestrian 201, the guard rail 202, the oncoming vehicle 203, the traffic light 204, and the like as the measurement target is increased. In addition, the appearance directions of these measurement objects 201 to 204 can be predicted in advance based on the position information of the host vehicle 200. On the other hand, when the traveling position of the vehicle is a mountain road or the like, there is a high probability that animals and plants exist as measurement targets, and the appearance direction can be predicted in advance based on the position information of the host vehicle 200. For this reason, if it is assumed that an area that is highly likely to be present based on the position information of the host vehicle 200 obtained from navigation is set as the scanning area of the slit 102, the appropriate spectral data of the measurement object can be obtained. Acquisition is possible.

  In each of the above embodiments, the scanning region of the slit 102 is controlled based on environmental information for the vehicle or driver information including driving operation. For example, the scanning region of the slit 102 may be controlled based on a driver's command.

In each of the above-described embodiments, the slits 102 are a plurality of slit plates 102T 1 to 102Tn, 102Y 1 to 102Ym and actuators M 1 to Mn arranged vertically or horizontally as shown as an example in FIGS. , M 1 to Mm. The present invention is not limited to this, and it is also possible to capture an optical image of observation light through the slits 102T and 102Y shown in FIGS. As a result, the degree of freedom in controlling the scanning region of the slit 102 can be increased, and as a result, a more limited setting of the scanning region of the slit is possible.

  In each of the above embodiments, the scanning direction of the slit 102 is set to the vertical direction or the horizontal direction. For example, as shown in FIG. 13A, it is also possible to set the scanning start position of the slit 102 to the lower left of the scanning area and scan in an oblique direction from the set position to the upper right. It is. Further, as shown in FIG. 13B, it is also possible to set the scanning start position and the scanning direction of the slit 102 in such a manner that the pair of slits 102 intersect. Further, as described above, these slits 102 may be combined in a double manner.

  In each of the above embodiments, a vehicle such as an automobile is assumed as a moving body on which the spectrum sensor is mounted. However, the moving body may be a motorcycle, a robot, or the like that travels on a road surface. Further, the present invention is not limited to this, and the present invention can be applied to any mobile body that is equipped with a spectrum sensor and that identifies a measurement object based on spectrum data detected by the spectrum sensor.

100 ... spectrum sensor, 101 ... lens, 102 ... slits, 102T 1 ~102Tn, 102Y 1 ~102Yn ... slit plate, 103 ... spectrometer, 104 ... imaging element, 110 ... spectral data processing unit, 120 ... HMI (Human Machine -Interface), 130 ... Vehicle controller, 140 ... Operation / driver information acquisition device, 150 ... Slit scanning calculator, 160 ... Slit scanning controller, 200 ... Vehicle, 201 ... Pedestrian, 202 ... Guardrail, 203 ... Opposite Vehicle, 204, traffic light, M 1 to Mn, Mm, actuator, ST, steering.

Claims (10)

  1. Spectral measurement for mobile objects equipped with a spectrum sensor capable of measuring wavelength information and light intensity information and identifying measurement objects around the mobile object based on the spectrum data of observation light detected by this spectrum sensor A device,
    The spectrum sensor obtains spectrum data by causing the image sensor to receive light while spectrally separating light images sequentially taken by scanning of the slit for each wavelength,
    The mobile object is provided with a slit scanning controller for controlling a scanning region of the slit based on at least one of the environment information and driver information including driving operation. apparatus.
  2. The movable body spectrum measuring apparatus according to claim 1, wherein a scanning region of the slit controlled by the slit scanning controller is a setting of a scanning start position and a scanning direction of the slit.
  3. The mobile body spectrum measuring apparatus according to claim 2, wherein the scanning region of the slit controlled by the slit scanning controller further includes setting of a scanning end position of the slit.
  4. ☆ Priority The slit scanning controller controls the scanning area of the slit in such a manner that it is possible to preferentially identify a highly urgent measurement object estimated from acquired environmental information and driver information including driving operation. The spectrum measuring apparatus for moving bodies according to claim 2 or 3.
  5. The moving body according to claim 4, wherein the moving body includes a steering steering, and the driver information including the driving operation is steering angle information of a steering detected by a snake angle sensor provided in the steering. Spectrum measuring device.
  6. The moving body is provided with a face direction detection sensor for detecting the face direction of the driver, and the driver information including the driving operation indicates the face direction of the driver detected by the face direction detection sensor. It is information, The spectrum measuring apparatus for mobile bodies of Claim 4 or 5.
  7. The moving body is provided with a line-of-sight detection sensor for detecting the direction of the driver's line of sight, and the driver information including the driving operation is information indicating the direction of the driver's line of sight detected by the line-of-sight detection sensor. The mobile spectrum measuring apparatus according to any one of claims 4 to 6.
  8. The mobile body spectrum measuring apparatus according to any one of claims 1 to 7, wherein the environmental information of the mobile body is acquired as a state of a measurement target identified based on each time spectrum data.
  9. The environment information of the mobile body is acquired as the appearance probability or the possibility of the appearance direction of the measurement object based on the position information of the mobile body obtained from navigation. The mobile body according to any one of claims 1 to 7. Spectrum measuring device.
  10. The spectrum measuring apparatus for moving body according to any one of claims 1 to 9, wherein the moving body is an automobile traveling on a road surface.
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JPH06321011A (en) * 1993-05-17 1994-11-22 Mitsubishi Electric Corp Peripheral visual field display
JPH11194091A (en) * 1997-08-20 1999-07-21 Daimler Benz Ag Determining method of road surface condition and implementation apparatus thereof
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