JP2014517396A - A method for deducing surrounding information by recognizing the rear lamps of a vehicle traveling ahead - Google Patents

A method for deducing surrounding information by recognizing the rear lamps of a vehicle traveling ahead Download PDF

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JP2014517396A
JP2014517396A JP2014511740A JP2014511740A JP2014517396A JP 2014517396 A JP2014517396 A JP 2014517396A JP 2014511740 A JP2014511740 A JP 2014511740A JP 2014511740 A JP2014511740 A JP 2014511740A JP 2014517396 A JP2014517396 A JP 2014517396A
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tracked
vehicle traveling
traveling ahead
deducing
vehicle
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JP2014517396A5 (en
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フィッシャー・マルク
ウルプリヒト・ディルク
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Conti Temic Microelectronic GmbH
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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
    • B60Q1/06—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 adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—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 adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/12—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 adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/114—Vehicle acceleration or deceleration
    • 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
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/31—Atmospheric conditions
    • B60Q2300/312—Adverse weather
    • 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
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/322—Road curvature
    • 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
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/324—Road inclination, e.g. uphill or downhill
    • 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
    • B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping

Abstract

本発明は、請求項１に記載のプレアンブルに係る前方を走行中の車両の後方ランプ類を認識することによる、以下のステップを包含する周辺情報の演繹方法に関する。：
−車両の前方周辺部を捉えるカメラを用いて画像シーケンスの撮影する。
−画像シーケンスから、前方を走行中の車両の後方ランプ類を演繹し、トラッキング（追跡）する。
−トラッキングされた後方ランプ類の位置と動きを分析し、この分析から周辺情報を演繹する。The present invention relates to a method for deducing peripheral information including the following steps by recognizing rear lamps of a vehicle traveling in front of a preamble according to claim 1. :
-Taking an image sequence using a camera that captures the front periphery of the vehicle.
Deduct and track the rear ramps of the vehicle traveling ahead from the image sequence.
-Analyzing the position and movement of the tracked rear ramps and deducing surrounding information from this analysis.

Description

本発明は、請求項１に記載のプレアンブルに係る前方を走行中の車両の後方ランプ類を認識することによる周辺情報の演繹方法に関する。該周辺情報は、特に、ドライバー・アシスタント・システムに提供される。   The present invention relates to a method for deducing surrounding information by recognizing rear lamps of a vehicle traveling in front of a preamble according to claim 1. The peripheral information is provided in particular to the driver assistance system.

車両の後方ランプ類やライト類と言う用語には、本件発明においては、例えば、以下に挙げる車両に取り付けられている発光手段が包含されている：バックアップランプ／ライト、テールランプ／ライト、ブレーキランプ／ライト、及び、リヤフォグランプ／ライト。   The terms rear lamps and lights of the vehicle include, for example, the following light emitting means attached to the vehicle in the present invention: backup lamp / light, tail lamp / light, brake lamp / Light and rear fog lamp / light.

尚、前方を走行中の車両の後方ランプ類の認識は、本発明の対象には含まれない。特に、ロービーム／ハイビームの自動切り替えを実施するドライバー・アシスタント機能は、認識された後方ランプ類に関する情報を、前方を走行している車両を眩惑させないために、ハイビームの制御に用いている。このドライバー・アシスタント機能の一例は、特許文献１に開示されている。   Note that recognition of rear lamps of a vehicle traveling ahead is not included in the subject of the present invention. In particular, a driver / assistant function that automatically switches between a low beam and a high beam uses information on recognized rear lamps to control a high beam so as not to dazzle a vehicle traveling ahead. An example of this driver / assistant function is disclosed in Patent Document 1.

他の例としては、ブレーキランプの作動の認識が挙げられる。特許文献２には、前方を走行中の車両の画像をセンサーによって捉え、ブレーキランプの点灯を認識すると警告装置、及び／或いは、ドライバー・アシスタント・システムにおいて用いることのできるシグナルを発する前方を走行中の車両のブレーキランプの作動を認識する方法が開示されている。   Another example is the recognition of the operation of the brake lamp. In Patent Document 2, when an image of a vehicle traveling in front is captured by a sensor and a brake lamp is turned on, a warning signal and / or a signal that can be used in a driver / assistant system is emitted. A method for recognizing the operation of a brake lamp of a vehicle is disclosed.

即ち、ブレーキランプが作動したことを認識することにより、前方を走行中の車両が制動していると判断している。   That is, by recognizing that the brake lamp has been activated, it is determined that the vehicle traveling ahead is braking.

欧州特許第２０５７５８３号明細書European Patent No. 2057583 欧州特許第１８５１６８１号明細書European Patent No. 1851681

よって本発明の課題は、車両の後方ランプ類の認識に基づいて、様々なドライバー・アシスタント機能において用いることのできる付加的な、或いは、改善された車両周辺情報を提供することである。   Accordingly, an object of the present invention is to provide additional or improved vehicle periphery information that can be used in various driver / assistant functions based on recognition of rear lamps of the vehicle.

この課題は、前方を走行中の車両の後方ランプ類の、画像シーケンスにおいて割出され、トラッキングされる、即ち、追跡される位置、並びに、動きを分析することによって解決される。該画像シーケンスは、車両前方周辺部を捉える一台のカメラによって撮影される。そして、該分析の実施により要求されている周辺情報が推理される。   This problem is solved by analyzing the rear ramps of the vehicle traveling ahead, which are indexed and tracked in the image sequence, i.e. the tracked position and the movement. The image sequence is photographed by a single camera that captures the vehicle front periphery. Then, the peripheral information requested by the execution of the analysis is inferred.

本発明は、前方を走行中の車両の挙動から情報を得ることが出来ると言うアイデアに基づいている。前方を走行中の車両は、その後方に取り付けられているランプ類によって認識される。例えば、ハイビーム・アシスタント・システムにおいて用いることができるようなランプ情報は、更なる周辺情報の推理に用いることができる。   The present invention is based on the idea that information can be obtained from the behavior of a vehicle traveling ahead. A vehicle traveling ahead is recognized by lamps attached behind the vehicle. For example, lamp information such as can be used in a high beam assistant system can be used to infer further ambient information.

後方ランプ類は、その位置と動きから、車両挙動の暗示的な推理を可能にしている。そしてこの車両挙動がさらに、周辺に関する暗示的な推理を可能にしている。該後方ランプ類が、前方を走行中の車両に帰属していると言う仮定から、以下のような様々な仮定が可能になる。   The rear lamps enable implicit inference of vehicle behavior from their position and movement. And this vehicle behavior further allows for implicit inferences about the periphery. From the assumption that the rear lamps belong to the vehicle traveling ahead, the following various assumptions are possible.

例えば：
−前方を走行中の車両は、通常、同じ走行レーン上にある。
−前方を走行中の車両は、全く自由ではなく、物理的に可能な挙動しかとり得ない。
−後方ランプ類の路面からの高さは、制限された範囲内である。 For example:
-Vehicles traveling ahead are usually on the same lane.
-A vehicle traveling ahead is not free at all and can only be physically possible.
-The height of the rear ramps from the road surface is within a limited range.

更なる特徴として、これらの情報は、前方の道路区間に関連するものであり、よって、予測を可能にすることが挙げられる。   As a further feature, this information is related to the road segment ahead, thus enabling prediction.

基本的に、個々の後方ランプ類を分析することが可能である。但し、ここでは、二輪の車両に対しては、三輪の、或いは、それ以上の車輪を有する車両よりも物理的制限が少ないことは、考慮されなければならない。   Basically it is possible to analyze individual rear lamps. However, it should be taken into account here that the two-wheeled vehicle has less physical restrictions than a vehicle with three or more wheels.

代案的には、一台の車両に帰属させることができるランプ・ペアのみを分析することも可能である。後者の実施形態では、双方の後方ランプ類を結ぶ線は、基本的に、路面と平行であると矛盾なく仮定できる。   Alternatively, it is possible to analyze only lamp pairs that can be attributed to a single vehicle. In the latter embodiment, it can be assumed consistently that the line connecting both rear lamps is basically parallel to the road surface.

本発明は、以下の技術的長所を有している：   The present invention has the following technical advantages:

前方を走行中の車両の後方ランプ類から演繹された情報は、堅牢である、特に、暗い、或いは、見通しが悪い時でも信頼性高く演繹されることができる。例えば、カメラ・ベースのレーン認識システムは、このような状況において、車線マークが、はっきりと認識できない場合、機能しない、或いは、機能的に制限される。しかし、見通しが悪い、或いは、暗い時には、前方を走行中の車両の後方ランプ類が点灯され、認識可能であるため、前方のレーンを推定できる。   Information deduced from the rear ramps of a vehicle traveling ahead is robust, and can be deduced reliably, especially when it is dark or has poor visibility. For example, camera-based lane recognition systems do not work or are functionally limited in such situations if the lane mark cannot be clearly recognized. However, when the line of sight is poor or dark, the rear lamps of the vehicle traveling ahead are turned on and can be recognized, so the front lane can be estimated.

例えば、車載されているハイビーム・アシスタント・システムによって認識され、トラッキングされた後方ランプ類の値は、既に用いることができる。   For example, the values of the rear lamps recognized and tracked by the on-board high beam assistant system can already be used.

ランプ情報を用いることにより、先天的（アープリオリ的）知識を高いレベルで活用できる。   By using lamp information, it is possible to use innate (appriori) knowledge at a high level.

演繹される情報は、車両前方での出来事や道路区間に関するものである。   The information deduced relates to events ahead of the vehicle and road segments.

本発明は、カメラ、並びに、前方を走行中の車両の後方ランプ類の認識から周辺情報を割出す手段を包含する装置にも関する。   The present invention also relates to an apparatus including a camera and means for determining surrounding information from recognition of rear lamps of a vehicle traveling ahead.

本発明の更なる好ましい実施形態は、従属請求項、並びに、下記、実施例において開示されている。   Further preferred embodiments of the invention are disclosed in the dependent claims as well as in the examples below.

以下、本発明を、実施例に基づいて説明する。   Hereinafter, the present invention will be described based on examples.

先ず、以下の周辺情報を得ることが可能である：
ａ）一組の、或いは、複数組のランプ・ペアの左右方向への動き（特徴ある運動パターン）から、車線が、（急）カーブしていることを演繹することができる。 First, it is possible to obtain the following peripheral information:
a) It can be deduced that the lane is curving (abruptly) from the movement (characteristic movement pattern) of one set or a plurality of lamp pairs in the left-right direction.

即ち、以下の運動パターンが認識できる：前方を走行中の車両のランプは、直線道路ではほとんど動かない。しかし、カメラを搭載している車両がまだ直線区間にいる時に、前方を走行中の車両が、カーブに差し掛かると、前方を走行中の車両のランプは、横方向に急に動く。これにより、前方を走行中の車両からカーブを予測することができる。更に、この仮説を支持する前方を走行中の車両が、複数ある場合、カーブまでの距離の推定の精度が高まる。   That is, the following movement patterns can be recognized: The ramp of the vehicle traveling ahead moves little on a straight road. However, when the vehicle carrying the camera is still in the straight section and the vehicle traveling ahead approaches the curve, the ramp of the vehicle traveling forward moves suddenly in the lateral direction. Thereby, a curve can be predicted from a vehicle traveling ahead. Furthermore, when there are a plurality of vehicles traveling ahead that support this hypothesis, the accuracy of the estimation of the distance to the curve increases.

ｂ）一組の、或いは、複数組のランプ・ペアの左右方向への動き（特徴ある運動パターン、ａ）参照）から、左折／右折（ターン）を演繹することができる。この際、ケースａ）との区別としては、作動しているウインカーに関する情報が使用できる。   b) A left turn / right turn (turn) can be deduced from the movement of one or a plurality of lamp pairs in the left-right direction (see the characteristic movement pattern, a). At this time, as a distinction from case a), information on the operating blinker can be used.

ｃ）一組の、或いは、複数組のランプ・ペアの上下方向への動きから、路面の起伏、上り坂や下り坂を演繹することができる。   c) It is possible to deduct road undulations, uphill slopes and downhill slopes from the vertical movement of one or a plurality of lamp pairs.

ｄ）テールランプの密度から、交通量の多さや渋滞を演繹することができる。   d) From the density of the tail lamps, it is possible to deduct the heavy traffic and traffic jams.

ｅ）車両が数珠つなぎになっている時に、突然な輝度の上昇が、頻繁に起こる場合、ブレーキング・フェース（皆が制動しているタイミング）であることを演繹することができる。   e) If sudden increases in brightness occur frequently when the vehicles are chained together, it can be deduced that it is a braking face (when everyone is braking).

ｆ）前方を走行中の車両のリヤフォグランプからは、霧や非常に悪い視界を演繹することができる。この場合、認識されたリヤフォグランプの動きから推定された来たるべき（前方の）車線の位置（流れ）は、車両の左右方向へのガイダンスのサポートに用いることができる（特に、アウトバーン／高速道路など）。   f) Fog and very bad visibility can be deduced from the rear fog lights of the vehicle traveling ahead. In this case, the position (flow) of the coming (forward) lane estimated from the recognized movement of the rear fog lights can be used to support guidance in the lateral direction of the vehicle (especially the autobahn / highway Such).

ｇ）赤色の後方ランプ類の輝度の突然な上昇からは、前方を走行中のドライバーが、ブレーキをかけたことを演繹することができる。   g) From the sudden increase in brightness of the red rear lamps, it is possible to deduce that the driver traveling ahead has applied the brakes.

これらの、割出された周辺情報は、例えば、以下のようなドライバー・アシスタント機能において用いることができる：   These determined peripheral information can be used in, for example, the following driver / assistant functions:

ａ）急カーブ警告（左右の動きから）
ｂ）カーブライト（左右の動きから）
ｃ）車線の流れに関するガイド（左右の動きから）
ｄ）追越アシスタント（左右、及び、上下の動きから、リヤフォグランプが認識された時は推奨しない）
ｅ）路面の起伏に対するシャーシの設定変更（上下の動きから）
ｆ）交通ガイドのサポート（密度から）
ｇ）追突の恐れがある場合のブレーキの準備
ｈ）追突の恐れがある場合の警告
ｉ）ＰｒｅＣｒａｓｈ（プレ・クラッシュ）情報
ｊ）緊急ブレーキ・アシスタント
ｋ）緊急操舵アシスタント a) Sharp curve warning (from left and right movement)
b) Curve light (from left and right movement)
c) Lane guide (from left and right movements)
d) Passing assistant (not recommended when rear fog lights are recognized from left and right and up and down movements)
e) Chassis setting change for road undulations (from vertical movement)
f) Traffic guide support (from density)
g) Brake preparation for possible rear-end collision h) Warning for possible rear-end collision i) PreCrash information j) Emergency brake assistant k) Emergency steering assistant

Claims (9)

以下の：
−車両の前方周辺部を捉えるカメラを用いて画像シーケンスの撮影する、
−画像シーケンスから、前方を走行中の車両の後方ランプ類を割出し、トラッキング（追跡）する、
−トラッキングされた後方ランプ類の位置と動きを分析し、この分析から周辺情報を演繹する、
ステップを包含する前方を走行中の車両の後方ランプ類を認識することによる周辺情報の演繹方法。 below:
-Taking an image sequence using a camera that captures the front periphery of the vehicle,
-From the image sequence, the rear ramps of the vehicle traveling ahead are determined and tracked.
-Analyzing the position and movement of the tracked rear ramps and deducing the surrounding information from this analysis,
A method for deducing peripheral information by recognizing rear lamps of a vehicle traveling ahead including a step. 該周辺情報として、少なくとも、可能性のある車線の推移が、トラッキングされた後方ランプ類から演繹されることを特徴とする請求項１に記載の方法。   2. The method according to claim 1, wherein as the surrounding information, at least a possible lane transition is deduced from the tracked rear ramps. 付加的に、トラッキングされた後方ランプ類の数を分析し、周辺情報として、少なくとも、前方を走行中の車両の密度、及び／或いは、数珠つなぎの車列が、トラッキングされた後方ランプ類から演繹されることを特徴とする請求項１あるいは２に記載の方法。   In addition, the number of tracked rear ramps is analyzed and, as peripheral information, at least the density of the vehicle traveling ahead and / or the daisy chain is deduced from the tracked rear ramps. The method according to claim 1 or 2, wherein: 付加的に、トラッキングされた赤色の後方ランプ類の輝度が分析され、この分析から、前方を走行中の車両のブレーキ作動、及び／或いは、霧が、周辺情報として演繹されることを特徴とする先行請求項のうち何れか一項に記載の方法。   In addition, the brightness of the tracked red rear lamps is analyzed, and from this analysis, the brake operation and / or fog of the vehicle traveling ahead is deduced as ambient information. A method according to any one of the preceding claims. 数珠つなぎの車列が認識されている状況において、トラッキングされた後方ランプ類の突然な輝度の上昇が、頻繁に起こる場合、集団的ブレーキング・フェースが演繹されることを特徴とする請求項３あるいは４に記載の方法。   4. In a situation where a daisy chain is recognized, a collective braking face is deduced if a sudden increase in brightness of the tracked rear lamps occurs frequently. Alternatively, the method according to 4. トラッキングされた後方ランプ類の左右方向への動きからカーブ、或いは、車線の分岐が割出されることを特徴とする先行請求項のうち何れか一項に記載の方法。   A method according to any one of the preceding claims, characterized in that a curve or a lane branch is determined from the lateral movement of the tracked rear ramps. トラッキングされた後方ランプ類の水平方向への動きから路面の起伏、上り坂や下り坂が割出されることを特徴とする先行請求項のうち何れか一項に記載の方法。   A method according to any one of the preceding claims, characterized in that road undulation, uphill and downhill are determined from the horizontal movement of the tracked rear ramps. 画像シーケンスからの後方ランプ類の認識が、自動ライト制御やハイビーム・アシスタント・システムの方法に採用されることを特徴とする先行請求項のうち何れか一項に記載の方法。   A method according to any one of the preceding claims, characterized in that recognition of rear lamps from the image sequence is employed in automatic light control and high beam assistant system methods. 以下：
−車両前方の周辺部を捉え、画像シーケンスを撮影するカメラ、
−画像シーケンスから、前方を走行中の車両の後方ランプ類を演繹し、トラッキング（追跡）するための第一処理手段、
−トラッキングされた後方ランプ類の位置と動きを分析し、この分析から周辺情報を演繹するための第二処理手段、
−これを介して周辺情報が転送されるデータ転送ユニット、
を包含することを特徴とする前方を走行中の車両の後方ランプ類を認識することによって周辺情報を演繹する装置。 Less than:
-A camera that captures the image sequence by capturing the periphery of the vehicle front,
A first processing means for deducting and tracking the rear ramps of the vehicle traveling ahead from the image sequence;
-A second processing means for analyzing the position and movement of the tracked rear ramps and deducing the surrounding information from this analysis;
A data transfer unit through which peripheral information is transferred,
An apparatus for deducing peripheral information by recognizing rear lamps of a vehicle traveling forward.
JP2014511740A 2011-05-26 2012-05-08 A method for deducing surrounding information by recognizing the rear lamps of a vehicle traveling ahead Pending JP2014517396A (en)

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