JP3510296B2 - The display mechanism of the vehicle travel control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving control device for an automobile.
It relates to a display mechanism. To explain in more detail,
Tracking the preceding vehicle while maintaining the target inter-vehicle distance according to the vehicle speed
The image of the tracked vehicle displayed on the monitor when traveling while
The image can be clearly displayed in distinction from other vehicle images.
That's what I did. [0002] 2. Description of the Related Art In order to reduce the driving operation of a car, a certain
High-speed traveling equipment is put to practical use, and an inter-vehicle distance control device is developed.
Have been. [0003] The "constant speed traveling device"
Speed Control and Cruise Control
Le ". In vehicles equipped with this device,
Press the set switch and release the accelerator pedal.
However, the vehicle travels while maintaining the set vehicle speed. Set vehicle speed
Can be changed by operating the control switch
You. Driver steps on brakes or clutches
Operation, such as shifting gears, this function
It is to be canceled. [0004] The safety when using the above-mentioned constant speed traveling device is reduced.
In order to ensure integrity, the following functions may be added.
is there. That is, the distance from the preceding vehicle is detected by a laser radar, etc.
When an abnormal approach to the preceding vehicle occurs,
Call attention to the divers and set the gearshift to 4th gear (over
Drive) downshifted to 3rd gear and engine brake
Deceleration due to overdrive off
You. On the other hand, an automobile equipped with an "inter-vehicle distance control device"
Then, when you press the set switch, the vehicle speed at that time
Calculates the target inter-vehicle distance from
Detects and sets the inter-vehicle distance with the preceding vehicle to the target inter-vehicle distance.
Control the engine output and brakes to track the preceding vehicle
And run. In this case, detection of the inter-vehicle distance with the preceding vehicle
Can be processed by image processing of the image
-Obtained by radar or the like. In the conventional "constant speed traveling device",
If the driver catches up with the slower preceding vehicle, the driver
And release the constant speed control. That
Therefore, operation becomes frequent on congested roads,
Danger increases with defeat. On the other hand, the conventional
In "place", control cannot be performed when there is no preceding vehicle. [0007] The inventor of the present application has proposed a method for controlling the distance between a constant speed traveling device and a vehicle
"Automobile driving control device with the function of distance control device"
Is being developed. This "vehicle driving control device"
For cars equipped with, details will be described later, but there is no preceding car
If the vehicle is traveling at a constant speed at the set speed and there is a preceding vehicle,
Keeps track of the preceding vehicle while maintaining the target inter-vehicle distance.
When the vehicle is interrupted or when the high-speed vehicle becomes the low-speed preceding vehicle
Perform deceleration control when catching up. This "car driving
Control device when driving on the main line of a highway.
In other words, the driver can drive simply by operating the steering wheel.
Easy drive can be realized. And a little
Abnormal approach or collision with a vehicle ahead even if you look aside or sleep
And the danger of safety
Improvement can also be expected. [0008] SUMMARY OF THE INVENTION
If the control unit controls the following distance, the target following distance
While following the preceding vehicle while maintaining the distance,
Is referred to as “tracking control”). In this case, follow
The vehicle is detected by image processing and displayed on the display.
ing. However, the display shows the
In addition, ahead of the vehicle in the next lane or tracker
Other vehicles, such as the vehicle in which they are, are also displayed at the same time. this
Therefore, just looking at the display,
Drivers cannot immediately know if they are
You may feel it. The present invention relates to this "vehicle travel control device".
The vehicle that is being tracked when performing tracking travel control in
Is clearly distinguished from other vehicles on the display
The purpose is to be able to. [0010] The present invention to achieve the above object is provided by
Of the other situation through a pair of optical systems
Camera means for obtaining images one after another;
From the imageEllipse surrounded by symmetrical straight lines
AExtract this extractedareaSearch over time
With this, the vehicle image showing the vehicle is recognized, and
By comparing the position of the vehicle image in the
Detects the distance to both, and shows the driving lane from the image
By extracting the white line, the lane where the vehicle is traveling
An image processing unit to be recognized, and the own vehicle recognized by the image processing unit
A target that recognizes vehicles on the lane as target tracking vehicles
A tracking vehicle recognizing unit, a monitor that displays a captured image,
The target tracking vehicle among the vehicles displayed on the monitor
Around the center of the vehicle according to the distance to the target tracking vehicle.
And a frame setting unit for setting and displaying a frame.
And [0011] According to the present invention, tracking is performed during tracking travel control.
Distinguish vehicle from other vehiclesWhile the condition is dangerous or cheap
Determine if it is in all statesAnd display it on the display. [0012] 【Example】 <Overall description of the "vehicle control device">
A description is now given of a traveling control device for a vehicle that is being developed.
This travel control device for automobiles is dedicated to expressways and automobiles.
Driving on a road (hereinafter, "expressway" is represented on both sides)
Used when FIG. 1 shows an automatic vehicle equipped with a traveling control device for an automobile.
Indicates a car. In the figure, 1 is a stereo camera and 2 is
Laser radar, 3 is throttle actuator, 4 is brake
Rake actuator, 5 is operation switch and information display
Unit, 6 is a controller, 7 is a vehicle speed sensor, 7a is a hand
Angle sensor, 7b is a brake switch, 7c is a brake
7d is an accelerator pedal switch.
You. FIG. 2 is a front view of the stereoscopic camera 1.
As shown in the figure, two C
CD cameras 11 and 12 are placed horizontally.
Electronic components such as video board and aperture board are mounted in D13
are doing. This stereoscopic camera 1 is used in a room
Mounted near the mirror. Each camera 11, 1
The viewing angles in the horizontal plane of No. 2 are each 23 degrees. Soshi
A video signal indicating an image captured by the camera 11 or 12
It is sent to the controller 6. Images taken by two cameras 11 and 12
Is processed by the image processing unit of the controller 6.
With this, the following recognition is made.   Recognition of the preceding car (preceding car).   Of the multiple lanes (lanes) of the highway,
Recognition of the white line indicating the lane in which you are traveling.   Recognition of the inter-vehicle distance between the preceding vehicle and the own vehicle. [0016]TipRecognition of a train is as follows
And do it. That is, a vertical straight line from the imageSurrounded by
Areas are extracted and the extracted areas are symmetrical and
OneThe position moves too much in the image being imported one after another
Those that do not exist are recognized as preceding vehicles. The white line indicating the traveling lane of the vehicle described above
The recognition is performed, for example, as follows. That is, in FIG.
As shown in FIG.
And then, as shown in FIG.
Check the brightness of the pixels along the four lines W1 to W4,
Point is selected as a white line candidate, as shown in FIG.
Is a line segment interpolated and connected between the upper candidate point and the lower candidate point.
Is extracted as a white line. The inter-vehicle distance between the preceding vehicle and the own vehicle described above.
The recognition of separation is performed as follows. That is, a stereoscopic camera
From the two cameras 11 and 12 of FIG.
Two images are obtained as shown in FIG. Right image
The same image as the car image surrounded by the window on the left
The image is slightly shifted in the horizontal direction. So c
The car image on the right, surrounded by windows, is
Best match while shifting one pixel at a time
Find the position of the image. At this time, as shown in FIG.
The focal length of the lenses 1 and 12 is f, the left and right cameras 11 and 1
2, the distance between the optical axes is L, the pixel pitch of the CCD is P,
4 (a) and 4 (b), the left and right vehicle images match.
Assuming that the number of pixels that have shifted the right image by n is n,
Distance (inter-vehicle distance) R to the car
According to the principle, it can be calculated by the following equation. R = (f · L) / (n · P) On the other hand, the laser radar 2 is located on the right side of the front end of the vehicle.
And one at the left of the front end. Laser Les
The divergence angle of the laser beam emitted from the radar 2 is 2 degrees.
You. And the laser beam is emitted from the laser radar 2
The laser beam reflected from the object from
By measuring the time it takes to return to Zadar 2
Thus, the distance to the object can be measured. The laser radar 2 has a long distance (100 m to several hundreds).
m) the presence or absence of the object can be detected in a short time
However, it cannot be determined whether or not the object is a car.
On the other hand, in image processing using a camera, the
Can be accurately determined, but until
Takes a long time. So laser radar
2. The presence or absence of the object is detected according to 2, and the object is present
After checking the camera image, focus on the detection area
Assign roles so that image processing is performed and the presence or absence of a car is detected.
May be. In this way, the preceding vehicle can be quickly and accurately
Can be detected. In addition, a car running on a highway is moved upward.
As shown in FIG.
Laser beam 2a travels in a straight line while camera 1
Is 23 degrees, so that another vehicle is
First, the laser beam 2a
Reflects on the car (other cars interrupted at this time
Is not in the field of view 1a of the camera 1). Therefore,
Detection of a car entering the car can be detected first and a response can be made
The fastest laser radar 2 is in charge. Note that in FIG.
8, 8a and 8b are white lines. Continuous white line 8 is fast
At the end of the road, dotted white lines 8a and 8b separate lanes
In position. The throttle valve is controlled by a command from the controller 6.
Actuator 3 operates and throttle opening increases
The engine speed increases and the vehicle speed increases
Become. Conversely, as the throttle opening decreases,
The brakes are activated and decelerate. Tracking running described later
Control and cruise control are performed by adjusting the throttle opening
I do. Also, the brake is activated by the command of the controller 6.
When the brakes are activated by the operation of the
Go. This sudden deceleration is caused by another car
Or when performing the brake control described later,
The vehicle that was traveling at a distance approaches the preceding vehicle that is traveling at low speed.
And the inter-vehicle distance becomes shorter than the safe inter-vehicle distance
And so on. In this system, the controller 6
Due to command, sudden deceleration may occur even if sudden deceleration occurs
There is no sudden stop, the driver depresses the brake pedal
Therefore, it is performed only. Next, based on FIG.
The outline of the traveling control to be performed is described. Controller 6
The image processing unit 61 is an image captured by the stereoscopic camera 1
Is processed in the vehicle recognition unit 61a.
The lane recognition unit 61b recognizes the image of the car
Recognizes inter-vehicle distance by recognizing the white line indicating the lane in which the vehicle is traveling
The unit 61c recognizes the inter-vehicle distance between the preceding vehicle and the own vehicle.
You. The target tracking vehicle recognition unit 62 is a vehicle in which the own vehicle is traveling.
If there is a car ahead of the line, target this car
Recognize as a tracking vehicle. The target tracked vehicle is recognized by the target tracked vehicle recognition unit 62.
When both are recognized, the setting command unit 63 performs the tracking drive control.
do. In other words, the setting command unit 63 is the inter-vehicle distance recognition unit 61c.
Or the car to the target tracking vehicle using the laser radar 2
The distance D is determined, and the vehicle speed obtained from the vehicle speed sensor 7 is
Vehicle speed V_aMultiplied by the set time (for example, 2 seconds)
Distance D₀Ask for. And the actual inter-vehicle distance D is the target inter-vehicle distance.
Distance D₀Throttle actuator to equal
Engine 3 to operate the engine (∽ throttle opening)
Control. In this way, the vehicle speed
Target inter-vehicle distance D ₀Tracking the target tracking vehicle with
The own vehicle is running while doing. Therefore, the target tracking vehicle
Is traveling at high speed (for example, 120 km / h)
Target inter-vehicle distance D₀Becomes longer (for example, 66.7 m)
The vehicle runs at high speed while tracking the target tracking vehicle (for example, 120
km / h). Also, the target tracking vehicle runs at a low speed (for example, 6
0 km / h), the target following distance D₀Is short
(For example, 33.3m), the vehicle tracks the target tracking vehicle
While traveling at a low speed (for example, 60 km / h). During tracking control, target tracking is performed.
The vehicle travels at high speed and goes ahead of its own
The target tracking vehicle is captured by the laser 1 and the laser radar 2.
Or the target tracking vehicle moves to another lane.
The setting command unit 63 returns to the current vehicle
Is a preset holding time (for example, 2 seconds)
So that the throttle actuator 3
Control the throttle opening (∽engine speed)
You. In other words, shift from tracking driving control to vehicle speed holding control
(See FIG. 8). Before the above-mentioned holding time elapses, another
When the oncoming vehicle is recognized as the target tracking vehicle,
When the vehicle ahead can be captured in the lane,
The tracking travel control described above is performed. Elapsed retention time described above
Then, the process proceeds to the constant speed traveling control described below (see FIG. 8). When the control is shifted to the constant speed running control, the setting command section 63
Is the speed at which the preceding vehicle can no longer be
Set speed V set in advance_sSo that your car will run
Throttle opening by throttle actuator 3 (∽
Engine speed). Under constant speed driving control
When the target tracking vehicle has been captured, control is passed to tracking driving control (FIG. 8).
reference). In addition, tracking driving control, vehicle speed holding control, and constant speed driving
Interruption by laser radar 2 during line control
When the presence of a wheel is detected, the control shifts to interrupt control.
The setting command unit 63 will close the throttle fully for a certain period of time.
The throttle actuator 3 is controlled. all
After a certain time to close, the target tracking vehicle can be
When it is possible, shift to tracking driving control and capture the target tracking vehicle
If it is not possible, the routine shifts to the constant speed running control (see FIG. 8). Tracking running control, vehicle speed holding control, constant speed running control
Control, the safety inter-vehicle distance (own vehicle
Is determined by the relative speed of the vehicle and the traveling vehicle, and the speed of the own vehicle.)
When it detects that a preceding vehicle is
Shifts to deceleration running control. That is, the setting command section 63
Operates the throttle actuator 3 and
Fully closed and brake actuator 4
Operate the brake to decelerate. This deceleration running
The control is performed for the vehicle traveling at high speed to the preceding vehicle traveling at low speed.
When the car catches up or when the preceding car suddenly slows down
And so on. And the deceleration control
It is performed until the inter-vehicle distance returns to the safe inter-vehicle distance. Deceleration
When the target tracking vehicle can be captured when control is completed
Shifts to tracking driving control and cannot capture the target tracking vehicle
At this time, the process shifts to the vehicle speed holding control (see FIG. 8). Tracking running control, vehicle speed holding control, constant speed running control
Control, interrupt control, and deceleration
The divers operate the accelerator pedal, brake pedal and turn signal.
When it is made, it shifts to manual operation. At this time
Are transmitted from the setting command section 63 to the throttle actuator 3 and
Release the control command to the brake and brake actuators 4
Give priority to the operation of the transferee. Set during manual operation
When a switch (to be described later) is turned on, tracking driving control and constant speed driving are performed.
Transfer to control. Next, an operation / switch information display unit will be described with reference to FIG.
5 will be described. 51 is a main power switch.
When turned on, the travel control device and throttle actuator
Power to the drive unit of the brake and brake actuators,
When turned OFF, the control output is cleared and the actuator
Turn off the drive power of the data and end the program. 52 is
This is a control switch.
Tracking running control or constant speed running control is performed according to running conditions.
And the vehicle speed when inserted into the set
Set speed V in control mode_sBecomes Control switch 52
When the driver enters the cancel side, normal manual operation by the driver is performed.
It becomes a mode to perform the rotation. 53 is an increase / decrease switch.
Set when throwing to the + side in high-speed driving control mode
Speed V_sBecomes larger, and when it is turned to the negative side, the set speed V_sBut
It becomes smaller and moves to the + side in the case of the tracking control mode.
Once inserted, the target inter-vehicle distance increases once the vehicle speed increases
D₀Becomes smaller and the target distance D₀But
growing. Numeral 54 denotes a vehicle speed display unit, which is usually a vehicle of the own vehicle.
Displays speed (km / h). 55 is an inter-vehicle distance display section.
And displays the distance between the vehicle and the target tracking vehicle. Also track
Turn the increase / decrease switch 53 to the + or-side in the line control mode
Then, the corrected target inter-vehicle distance D₀Is the distance display section 5
5 and the increase / decrease speed in the cruise control mode.
When the switch 53 is inserted to the + or-side, the corrected set speed
Degree V_sIs displayed on the vehicle speed display section 54. Reference numeral 56 denotes a tracking ramp, and 57 denotes a constant speed ramp.
In the tracking control mode, only the tracking lamp 56 is lit.
However, in the constant speed control mode, only the constant speed lamp lights up,
In the manual operation mode, both the lamps 56 and 57 are turned on. Reference numeral 58 denotes a system abnormality lamp,
Lights when the system is abnormal. Reference numeral 59 denotes a monitor, which is a stereoscopic camera 1
Display the image obtained in
You. <Description of Parts Corresponding to the Points of the Present Invention
> Here, the part corresponding to the point of the present invention will be described.
You. Tracking travel control by the above-mentioned vehicle travel control device
In order to perform the tracking, the tracking is performed on the monitor 59 (see FIG. 9).
The image of the preceding vehicle is displayed.
Images of vehicles other than the one you are tracking are also displayed.
U. Therefore, just looking at the monitor 59 momentarily does not
The divers can recognize which vehicle they are tracking.
It can be scary. Therefore, in this embodiment, as shown in FIG.
Indicates the target tracking vehicle that is tracking on the monitor 59
The image was shown as surrounded by a frame 100. In other words,
As described above, the vehicle recognition unit 61a of the image processing unit 61 and the lane recognition
By the target tracking vehicle recognizing unit 62 based on the judgment of the recognition unit 61b.
Upon recognizing the target tracking vehicle, the frame setting unit 61d performs target tracking.
The coordinates of the center 101 of the vehicle (coordinates on the monitor) are represented by (x,
y). The frame setting section 61d recognizes the distance between vehicles.
The inter-vehicle distance detected by the recognition unit 61c is stored as z. So
Then, the frame setting unit 61d sets the frame around the coordinates (x, y).
100, and the width of the frame 100 is shown in FIG.
Thus, the distance is inversely proportional to the inter-vehicle distance z. Further, in the frame setting section 61d, a danger state or a safety
The color of the frame 100 is changed depending on whether the state is the state. Danger
Whether the vehicle is in the safe state or in the safe state is determined by the following time t
Evaluate in [seconds]. Inter-vehicle time t = inter-vehicle distance z [m] / vehicle speed [m / s] Therefore, for example, when the vehicle speed is 100 [km / h] (= 27 m / h)
If the inter-vehicle distance is 54 [m] in s), the inter-vehicle time t is 2
[Seconds]. Then, according to the correspondence shown in FIG.
Decide 100 colors. For example, it is a green frame when it is in a safe state
100 is displayed, and a red frame 100
Is displayed. [0039] The present invention has been described in detail with the embodiments.
According to the present invention, the image of the tracked vehicle displayed on the monitor is
The target is displayed on the monitor.
Quick and accurate identification of the tail vehicle can be distinguished from other vehicles.
You can really know and change the color of this frame to a safe state
Changes in response to a danger or safety condition.
Can be easily checked.Also, tracked vehicles
The size of the frame that surrounds the image according to the distance to the tracked vehicle
To change it, just look at the size of the frame
It is also possible to roughly determine the distance between the vehicles.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram showing an automobile provided with an automobile traveling control device. FIG. 2 is a front view showing a stereoscopic camera. FIG. 3 is an explanatory diagram showing a method of detecting a white line by image processing. FIG. 4 is an explanatory diagram showing a method of detecting an inter-vehicle distance by image processing. FIG. 5 is a principle diagram for calculating an inter-vehicle distance based on the principle of triangulation; FIG. 6 is a plan view showing an automobile running on a highway. FIG. 7 is a block diagram showing a controller. FIG. 8 is a state diagram showing a transition state of traveling control. FIG. 9 is a configuration diagram showing an operation switch / information display unit. FIG. 10 is a block diagram showing an embodiment of the present invention. FIG. 11 is a table showing the relationship between the distance between vehicles and the size of a frame. FIG. 12 is a relationship diagram showing a relationship between an inter-vehicle distance and a color of a frame. [Description of Signs] 1 Stereo camera 1a Field of view 11, 12 CCD camera 13 Body 2 Laser radar 2a Laser beam 3 Throttle actuator 32 Throttle command section 4 Brake actuator 5 Operation switch / information display section 51 Main power switch 52 Control switch 53 Increase / decrease Switch 54 Vehicle speed display unit 55 Inter-vehicle distance display unit 56 Tracking lamp 57 Constant speed lamp 58 System abnormality lamp 59 Monitor 6 Controller 61 Image processing unit 61a Vehicle recognition unit 61b Lane recognition unit 61c Inter-vehicle distance recognition unit 61d Frame setting unit 62 Target pursuit vehicle Recognition unit 63 Setting command unit 7 Vehicle speed sensor 7a Handle angle sensor 7b Brake switch 7c Brake pedal switch 7d Accelerator pedal switch 8, 8a, 8b White line 100 Center of frame 101

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Makoto Takashi               Mitsubishi 33-5-8 Shiba 5-chome, Minato-ku, Tokyo               Inside the car industry                (56) References JP-A-64-66712 (JP, A)                 JP-A-5-52562 (JP, A)                 JP-A-4-313014 (JP, A)                 JP-A-63-26517 (JP, A)                 Shokai 61-199453 (JP, U)

Claims (1)

(57) [Claims 1] Camera means for photographing a situation in front of the own vehicle through a pair of optical systems to obtain a pair of images one after another; From left to right in the vertical direction from inside
The area surrounded by a straight line is extracted and the extracted area is searched with time to recognize the vehicle image indicating the vehicle and compare the position of the vehicle image in the paired image. An image processing unit that detects the distance to the vehicle, and further extracts a white line indicating the driving lane from the image, thereby recognizing the lane in which the vehicle is traveling. A target tracked vehicle recognizing unit that recognizes a vehicle on the lane as a target tracked vehicle, a monitor that displays a captured image, and a vehicle that is displayed on the monitor and that is located around the center of the target tracked vehicle. A display mechanism of a travel control device for an automobile, comprising: a frame setting unit that sets and displays a frame having a size corresponding to a distance to a target tracking vehicle.