JP2015125708A5

JP2015125708A5 -

Info

Publication number: JP2015125708A5
Application number: JP2013271586A
Authority: JP
Filing date: 2013-12-27
Publication date: 2016-11-10
Anticipated expiration: 2033-12-27

Description

本発明による信号機認識装置は、自車両前方の走行環境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から主信号機、及び該主信号機よりも手前にあり該主信号機と同じ動作をする補助信号機を認識する信号機認識手段と、認識した前記補助信号機の情報を格納する記憶手段とを備え、前記信号機認識手段は、前記車載カメラで撮影した画像から撮像面上の前記補助信号機の設置位置を求め、該設置位置から画角外れとなる距離を算出する画角外れ距離算出手段と、前記自車両と前記補助信号機との間の距離が前記画角外れとなる距離に達したか否かを判定する画角外れ判定手段と、前記画角外れ判定手段で前記自車両と前記補助信号機との間の距離が前記画角外れとなる距離に達した後に画角外れと判定した場合、前記画角外れとなる距離を基準に前記自車両の移動距離に基づいて該自車両と前記補助信号機との間の距離を推定すると共に、前記主信号機の動作を該補助信号機の動作として設定する画角外れ信号機推定手段とを備える。 The traffic signal recognition device according to the present invention includes an in-vehicle camera that captures a traveling environment in front of the host vehicle, a main signal from an image captured by the in-vehicle camera, and an auxiliary that is in front of the main signal and performs the same operation as the main signal. A traffic light recognition means for recognizing a traffic light; and a storage means for storing information of the recognized auxiliary traffic light, wherein the traffic light recognition means determines an installation position of the auxiliary traffic light on an imaging surface from an image taken by the in-vehicle camera. And determining whether or not the distance between the vehicle and the auxiliary traffic signal has reached the distance that is out of the angle of view, and the distance between the vehicle and the auxiliary signal device that calculates the distance that is out of the angle of view from the installation position. When it is determined that the angle of view is out of view after the distance between the host vehicle and the auxiliary traffic signal reaches the distance that is out of the angle of view by the angle-of-view determination unit and the angle-of-view determination unit. Off-corner With said composed distance criterion based on the movement distance of the vehicle to estimate the distance between the auxiliary traffic and the vehicle, the main traffic operated angle out traffic estimation to be set as the operation of the auxiliary signal machine Means.

Claims

An in-vehicle camera that captures the driving environment in front of the vehicle,
A traffic light recognition means for recognizing a main traffic light from an image photographed by the in-vehicle camera, and an auxiliary traffic light in front of the main traffic light and performing the same operation as the main traffic light;
Storage means for storing information of the recognized auxiliary signal device,
The traffic signal recognition means
An angle-of-view distance calculation unit that calculates an installation position of the auxiliary signal device on an imaging surface from an image captured by the in-vehicle camera, and calculates a distance that is out of an angle of view from the installation position;
An angle-of-view determination means for determining whether or not the distance between the host vehicle and the auxiliary traffic signal has reached a distance that is out of the angle of view;
If the distance between the auxiliary traffic and the vehicle at the angle of view out determination means determines that the angle deviates after reaching the distance at which said field angle out, the distance becoming the angle deviates to a reference together to estimate the distance between the auxiliary traffic and the vehicle based on the travel distance of the vehicle, that the operation of the main traffic signal and a field angle out traffic estimating means for setting the operation of the auxiliary signal unit A traffic light recognition device.

The angle-of-view determination unit determines that the angle of view is out of position after a predetermined time has elapsed after determining that the distance between the host vehicle and the auxiliary traffic signal has reached a distance that is out of the field of view. The traffic light recognition apparatus according to claim 1.

The traffic signal recognizing means includes distance information between the host vehicle and the auxiliary signal set by the out-of-angle signal estimating means and operation information of the auxiliary signal set in the storage means. 3. The traffic signal recognizing device according to claim 1, further comprising storage information moving means for moving from the storage unit to the off-angle signal signal storage unit.

The traffic signal recognizing means determines whether or not the distance information stored in the out-of-field signal storage unit is 0 or less, and clears the distance information and the operation information when the distance information is 0 or less. 4. The traffic signal recognizing device according to claim 3 , further comprising traffic signal information clearing means.