JP2013147112A - 車両の走行環境認識装置 - Google Patents
車両の走行環境認識装置 Download PDFInfo
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- JP2013147112A JP2013147112A JP2012008347A JP2012008347A JP2013147112A JP 2013147112 A JP2013147112 A JP 2013147112A JP 2012008347 A JP2012008347 A JP 2012008347A JP 2012008347 A JP2012008347 A JP 2012008347A JP 2013147112 A JP2013147112 A JP 2013147112A
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- 238000001514 detection method Methods 0.000 claims abstract description 45
- 238000000034 method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Traffic Control Systems (AREA)
Abstract
【解決手段】夜間走行時において、車載カメラ3が先行車31を認識しない場合、車載カメラ3の露光量を第1露光量モードに設定する(S8)。又先行車31が認識されず、或いは対向車32の光源のみが認識された場合、車載カメラ3の露光量を第2露光量モードに設定する(S5)。第1露光量モードでは1フレーム毎に低輝度検出用露光量と高輝度検出用露光量とを交互に切替え、切換えた露光量毎に撮影する。第2露光量モードでは露光量を低輝度検出用楼量に固定する。
【選択図】図2
Description
2…ヘッドライト、
3…車載カメラ、
3a…メインカメラ、
3b…サブカメラ、
11…配光・露光量制御ユニット、
12…画像認識処理部、
13…配光制御部、
14…カメラ制御部、
21…オートライトスイッチ、
28a,31a,32a…光源、
31…先行車、
31a…テールライト、
31l…テールライト光、
32…対向車、
32a…ヘッドライト、
32l…ヘッドライト光
Claims (5)
- 車両に搭載されて該車両の前方を撮影する車載カメラと、
前記車載カメラで撮影した画像を取得して少なくとも先行車を認識し、該先行車の認識状況に応じてヘッドライトの配光と前記車載カメラの露光量とを設定する画像認識処理手段と、
前記画像認識処理手段で設定した配光に基づいて前記ヘッドライトの配光を動作させる配光制御手段と、
前記画像認識手段で設定した露光量に基づいて前記車載カメラの露光量を調整するカメラ制御手段と
を備える車両の走行環境認識装置において、
前記画像認識手段は前記先行車の認識状況に応じて、異なる露光量を切替え動作させる第1露光量モードと単独の露光量で固定する第2露光量モードとを選択し、選択した露光量モードで前記カメラ制御手段を露光動作させる
ことを特徴とする車両の走行環境認識装置。 - 前記第1露光量モードは低輝度検出用露光量と高輝度検出用露光量とを有し、前記画像認識手段は、該第1露光量モードを選択した場合、該低輝度検出用露光量と該高輝度検出用露光量とを画像信号の1フレーム毎に交互に設定する
ことを特徴とする請求項1記載の車両の走行環境認識装置。 - 前記第2露光量モードは低輝度検出用露光量であり、前記画像認識手段は前記先行車を認識した場合、該第2露光量モードを選択する
ことを特徴とする請求項1或いは2記載の車両の走行環境認識装置。 - 前記ヘッドライトの配光はハイビームとロービームであり、前記画像認識手段は、前記先行車と対向車とを認識しない場合、該配光をハイビームに設定し、該記先行車と該対向車との少なくとも一方が認識された場合、該配光をロービームに設定する
ことを特徴とする請求項1〜3の何れか1項に記載の車両の走行環境認識装置。 - 前記露光量は前記車載カメラに設けられている撮像素子に対する露光時間で設定する
ことを特徴とする請求項1〜4の何れか1項に記載の車両の走行環境認識装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012008347A JP5680573B2 (ja) | 2012-01-18 | 2012-01-18 | 車両の走行環境認識装置 |
DE102013100327A DE102013100327A1 (de) | 2012-01-18 | 2013-01-14 | Fahrzeugfahrtumgebungserkennungsvorrichtung |
CN201310013601.1A CN103213540B (zh) | 2012-01-18 | 2013-01-15 | 车辆的行驶环境辨识装置 |
US13/744,307 US9505338B2 (en) | 2012-01-18 | 2013-01-17 | Vehicle driving environment recognition apparatus |
Applications Claiming Priority (1)
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JP2012008347A JP5680573B2 (ja) | 2012-01-18 | 2012-01-18 | 車両の走行環境認識装置 |
Publications (2)
Publication Number | Publication Date |
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JP2013147112A true JP2013147112A (ja) | 2013-08-01 |
JP5680573B2 JP5680573B2 (ja) | 2015-03-04 |
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JP2012008347A Active JP5680573B2 (ja) | 2012-01-18 | 2012-01-18 | 車両の走行環境認識装置 |
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Country | Link |
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US (1) | US9505338B2 (ja) |
JP (1) | JP5680573B2 (ja) |
CN (1) | CN103213540B (ja) |
DE (1) | DE102013100327A1 (ja) |
Cited By (8)
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JP2017094967A (ja) * | 2015-11-25 | 2017-06-01 | 富士重工業株式会社 | 車外環境認識装置 |
WO2018110389A1 (ja) * | 2016-12-15 | 2018-06-21 | 株式会社小糸製作所 | 車両用照明システムおよび車両 |
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WO2019138827A1 (ja) * | 2018-01-12 | 2019-07-18 | 日立オートモティブシステムズ株式会社 | 物体認識装置 |
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JP5680573B2 (ja) | 2015-03-04 |
CN103213540A (zh) | 2013-07-24 |
CN103213540B (zh) | 2015-04-15 |
DE102013100327A1 (de) | 2013-07-18 |
US20130182111A1 (en) | 2013-07-18 |
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