JP5151050B2 - Vehicle environment recognition apparatus and vehicle environment recognition method - Google Patents

Description

  The present invention relates to a vehicle environment recognition device and a vehicle environment recognition method for recognizing the presence of irregularities and objects on a road surface.

Conventionally, an obstacle detection technique for detecting an obstacle in the vicinity of the host vehicle in a vehicle is known. The one described in Patent Document 1 is an obstacle detection technique using a stereo camera. Based on the difference in image information from two directions photographed by a stereo camera, an obstacle such as an obstacle near the own vehicle, a road environment, etc. It recognizes the surrounding environment.
JP-A-2005-45338

  However, since the distance information is calculated based on the visual axis of the stereo camera, if the direction of the visual axis of the camera changes due to the behavior of the vehicle such as pitching, the observation target is measured as moving up and down in real space. For this reason, there is a problem that it is impossible to accurately detect the surrounding environment such as an obstacle near the own vehicle and a road environment.

In order to solve the above-described problem, the vehicle environment recognition apparatus according to claim 1 irradiates the irradiation light spreading in the vehicle width direction on the road surface, and scans the irradiation light from the vicinity of the own vehicle toward the far side. An irradiation light irradiating means, an imaging means for imaging the irradiation light, and a front of a direction corresponding to a front-rear direction of the host vehicle accompanying a scan of the irradiation light in a captured image captured by the imaging means.
Irradiation light shape change detection means for detecting a change in shape of the irradiation light due to unevenness on the road surface or a road surface change part such as an object on the road surface based on a change in the moving speed of the irradiation light, and the irradiation light shape Based on the change in shape of the irradiation light detected by the change detection means, distance calculation means for calculating a distance from the own vehicle to the road surface change portion, and irradiating the aiming light to a predetermined position in front of the own vehicle 1 Two aiming light irradiating means, vehicle behavior monitoring means for detecting a vehicle behavior of the host vehicle based on a vertical position change of the aiming light that is imaged when the imaging means images the irradiation light, and And posture correction means for correcting the irradiation direction of the irradiation light based on the amount of vehicle behavior detected by the vehicle behavior monitoring means.

  According to the vehicle environment recognition device of the present invention, even if the direction of the visual axis of the camera changes due to the behavior of the vehicle such as pitching, it is possible to accurately detect the surrounding environment such as an obstacle or road environment in the vicinity of the host vehicle.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a system block diagram of a vehicle environment recognition apparatus according to an embodiment. This vehicle environment recognition apparatus 1 includes a CCD camera 2 as an imaging means for imaging a road surface, an image memory 3 for storing a road surface captured image of the CCD camera 2, a microprocessor 4, and a slit extending in the horizontal direction as irradiation light. A slit light emitting device 5 (irradiating light irradiating means) for irradiating light, a control device 6 for the slit light emitting device for correcting variation of the irradiation range of the slit light due to pitching, and an aiming light for detecting pitching of the host vehicle , A pitching aiming light emitting device 7 (aiming light irradiating means), a pitching aiming light emitting device control device 8 that corrects fluctuations in the irradiation direction of the aiming light due to pitching, a monitor 10 that displays an imaging screen, and an object Are provided with a sound generation device 11 that informs the detection of the sound and the like, and a speaker 12. The monitor 10 displays a road surface image including ambient environment information output from the microprocessor 4 to the driver. The slit light is irradiation light having one or more linear portions extending in the vehicle width direction.

  The microprocessor 4 includes a road surface imaging program P1 for controlling the CCD camera 2 so as to capture a predetermined number of images (for example, 30 frames per second) at a predetermined time or stop the imaging, and an image memory 3 An image processing program P2 that outputs the stored captured image data to the monitor 10 in a predetermined format every predetermined time, a pitching aiming light control program P3 that emits aiming light from the pitching aiming light emitting device 7, and fluctuations in the aiming light The pitching monitoring program P4 (vehicle behavior monitoring means) that calculates the pitching behavior amount of the vehicle body of the automobile Am from the amount, and the irradiation direction of the aiming light for pitching monitoring by the behavior amount due to the pitching of the own vehicle detected by the pitching monitoring program P4 And a pitching correction program for correcting the irradiation direction of slit light, which will be described later. A ram P5, a slit light control program P6 that irradiates slit light onto the road surface from the slit light emitting device 5, a slit light speed calculation program P7 that calculates a moving speed from the slit light on the imaging screen, and a slit light speed calculation program P7. Obtained by the road detection program P8 (road surface detection means) for detecting the road area from the degree of fluctuation of the moving speed of the slit light obtained by the above, and the road surface image data loaded in the image memory 3 and the slit light speed calculation program P7. An object detection program P9 for detecting the presence of an object or the like on the road surface based on a change in the moving speed of the slit light (road surface change portion detection means), road area data of the object detection program P9 and the road detection program P8, and After calculating the distance from the vehicle to the object based on the With the distance and the object distance calculation program for displaying the height of the object P10 (distance calculating means changes the site of road surface), the.

  The CCD camera 2 is attached to a room mirror (not shown) installed in the vehicle interior so as to photograph the front of the host vehicle. This CCD camera 2 images, for example, the road surface 13 ahead of the traveling direction of the automobile Am shown in FIG. Road surface images captured by the CCD camera 2 every predetermined time (for example, 30 frames per second) are temporarily stored in the image memory 3 and then output to the microprocessor 4 one after another. As shown in FIG. 2, the image processing program P <b> 2 of the microprocessor 4 processes the road surface image frames successively sent from the image memory 3 every predetermined time as the imaging screen 14 and outputs it to the monitor 10.

  FIG. 4 shows a schematic diagram of a planar configuration of the slit light emitting device 5, and FIG. 5 shows a schematic diagram of a side configuration of the slit light emitting device 5. Inside the housing 16 of the slit light emitting device 5 are a lamp 17 that emits irradiation light for observing the road surface state, a slit plate 18 that converts the irradiation light of the lamp 17 into slit light parallel to the road surface, and the slit light to the vehicle body. A galvano mirror 19 that scans in the forward direction of the vehicle body from the lower side and a power supply circuit unit (not shown) that lights the lamp 17 are provided.

  The lamp 17 is composed of, for example, an infrared lamp that emits infrared light so as not to be seen by human eyes, and can prevent annoyance to pedestrians and other vehicle occupants. The lamp 17 may be composed of a laser light emitting element that irradiates infrared laser light or the like so that a striped pattern is formed.

  The slit plate 18 has an elongated slit hole 20 extending in the horizontal direction parallel to the road surface. Although one slit hole 20 of the slit plate 18 may be formed, two or more slit holes 20 may be formed in the vertical direction. A galvano mirror 19 is arranged in front of the slit plate 18 in the irradiation direction.

  In the case of forward movement, the galvanometer mirror 19 scans slit light extending in the vehicle width direction that has passed through the slit plate 18 in the vertical direction. The galvanometer mirror 19 rotates so as to scan the slit light upward from the lower side of the vehicle body by the rotation axis of the motor 22 provided on the side wall of the housing 16. The scanning speed may be increased by using a polygonal columnar mirror such as a polygon mirror instead of the galvanometer mirror 19. A transparent cover 23 is attached to the opening 21 on the front side of the housing 16.

The control device 6 of the slit light emitting device constitutes a posture correcting means for correcting the posture of the slit light emitting device 5. As shown in FIG. 7, the control device 6 of the slit light emitting device has a motor 33 that determines the inclination angle of the housing 16. The irradiation range of the slit light that is the irradiation light is determined by the control range of the galvanometer mirror 19 and the vertical inclination of the housing 16. The slit light emitting device 5 is mounted on a gantry 30, and the gantry 30 is supported by an attachment shaft 32 attached to a frame 31 inside the front grill 15 of the vehicle body. The attachment shaft 32 is installed so as to extend horizontally in the vehicle width direction. The gantry 30 is attached to the attachment shaft 32 so that the irradiation angle of the slit light, which is the irradiation light, can be adjusted, and is connected to a link 34 attached to the rotation shaft of the motor 33. The link 34 is connected to a lever 35 fixed to the gantry 30 so that when the motor 33 rotates by a predetermined angle, the lever 35 can change the direction of the gantry 30 to a predetermined angle by the movement of the link 34. It has become.

  The microprocessor 4 stores in advance data on the initial irradiation angle of the slit light with respect to the flat road surface 13 and data on the angular velocity of scanning when scanning the slit light, and the slit light control program P6 is based on this data. The slit light emitting device control device 6 and the slit light emitting device 5 are controlled.

  The pitching aiming light emitting device 7 is disposed inside the front grill 15 together with the slit light emitting device 5. The pitching aiming light emitting device 7 is provided with a lamp 7A inside a housing 7B, and a lens 7C provided at an opening in a front portion of the housing 7B. The pitching sight light-emitting device 7 is installed on a gantry 80, and the gantry 80 is rotatably supported on a frame 31 inside the front grill 15 of the vehicle body by a mounting shaft 82. The gantry 80 is provided with a control device 8 for the pitching aiming light emitting device. The control device 8 for the pitching sight light emitting device includes a motor 83, a link 84, and a lever 85, and the motor 83 is fixed to the frame 31. One end of the link 84 is fixed to the rotating shaft of the motor 83, and the other end of the link 84 is connected to one end of the lever 85. The other end of the lever 85 is fixed to the gantry 80. The power circuit of the motor 83 is connected to the battery of the automobile, and directs the pitching aiming light emitting device 7 at an angle designated by the instruction of the pitching correction program P5.

Pitching aiming light control program P3 irradiates aiming light for pitching detected from pitching aiming light emitting device 7.

Pitching monitoring program P4 is aiming light emitted from pitching aiming light emitting device 7
To monitor. In addition, the pitching monitoring program P4 sets, as the correction reference point T1, a portion (described later) having the least fluctuation among the portions imaged on the imaging screen 14 of the monitor 10 before monitoring, and the pitching aiming light control program. After irradiating the aiming light to the correction reference point T1 in P3, the aiming light irradiation point T2 on the imaging screen 14 is monitored.

The pitching monitoring program P4 determines that pitching has occurred when the amount of the aiming light that has moved away from the correction reference point T1 has fluctuated more than an allowable amount. Further, the pitching monitoring program P4 calculates the pitching amount and the pitching angular velocity together with the pitching detection, and passes the pitching amount and the pitching angular velocity to the slit light control program P6, the pitching aiming light control program P3, and the pitching correction program P5. The pitching monitoring program P4 is vehicle behavior monitoring means, and determines the reliability of the correction for determining whether or not the correction is correctly performed by observing the change in the irradiation direction of the aiming light in the image captured by the CCD camera 2. It has the function to do.

The pitching correction program P5 outputs to the control device 8 a control signal for correcting the irradiation direction of the aiming light that has fluctuated due to the pitching. That is, the pitching correction program P5 corrects the irradiation angle of the pitching aiming light-emitting device 7 for pitching detection based on the pitching behavior amount and the pitching angular velocity data of the automobile Am detected by the pitching monitoring program P4. The control device 8 of the pitching aiming light emitting device is controlled.

Based on the correction command of the pitching correction program P5, the control device 8
The motor 83 of the gantry 80 is controlled so that the irradiation point T2 of the aiming light is positioned at the position of the correction reference point T1, and the irradiation angle of the pitching aiming light emitting device 7 is corrected.

Furthermore, after this correction, the pitching correction program P5 compares the aiming light irradiation point T2 and the correction reference point T1 again to verify whether the pitching correction is correctly performed.

  The slit light control program P6 is based on the irradiation initial direction data stored in the microprocessor 4, the scanning range when scanning the irradiation light, and the angular velocity data of the scanning. A control signal for scanning the slit light is output to the control device 6 of the slit light emitting device.

  The slit light control program P6 determines the rotational speed of the motor 22 so that the slit 13 reflected by the galvano mirror 19 can scan the road surface 13 at the specified angular speed. Further, the slit light control program P6 outputs an instruction command for turning on / off the slit light to be scanned to the power supply circuit of the lamp 17, and controls the light emission of the lamp 17. Control of the power supply circuit section of the lamp 17 may be control of blinking of the lamp 17 or illuminance as necessary.

Further, the pitching correction program P5 outputs to the slit light control program P6 so as to correct the irradiation range of the slit light together with the irradiation direction of the aiming light .

  The pitching correction program P5 outputs a control signal for correcting the irradiation direction of the slit light changed by the pitching to the control device 6 of the slit light emitting device. That is, the pitching correction program P5 is configured to correct the irradiation angle and the scan end angle of the slit light emitting device 5 based on the pitching behavior amount and the pitching angular velocity data of the automobile Am detected by the pitching monitoring program P4. The control device 6 of the light emitting device is controlled.

  The slit light control program P6 depends on the speed of the automobile and the height of the slit light emitting device 5 after the road surface imaging program P1 and the image processing program P2 for detecting the road surface state are started in the running mode and the stop mode. Thus, the angular speed at which the galvanometer 19 is rotated is controlled, and the lamp 17 is turned on / off or blinked.

  The slit light speed calculation program P7 calculates the speed at which the slit light moves on the road surface.

  The travel path detection program P8 detects, as a travel path, an area where the variation amount of the movement speed of the slit light calculated by the slit light speed calculation program P7 is within a predetermined range.

  The object detection program P9 detects that the speed has changed when the slit light hits an object on the road surface 13 on the imaging screen 14. That is, as shown in FIGS. 2 and 8, when the slit light hits the object, the moving speed of the slit light is delayed compared to the slit light scanned on the road surface. At this time, since the CCD camera 2 images this state, as shown in FIG. 2, the slit light hitting the object on the imaging screen 14 of the monitor 10 is deformed so as to protrude downward.

  The object distance calculation program P10 calculates the distance from the vehicle to the object based on the detected object data of the object detection program P9 and the detected road surface data of the road detection program P8, and the monitor screen 14B of the monitor 10 (see FIG. 2). Output to.

  The object distance calculation program P10 detects in which frame the protruding portion of the slit light appears and determines that there is an object or a protrusion on the road surface 13. Moreover, the object distance calculation program P10 calculates the height of the object from the height of the deformed portion of the deformed slit light, and the monitoring screen 14B has, for example, “There is an object of height ○○ cm in front ○○ m. , Etc., and a voice such as “There is an object with a height of OO cm in front of OO m” is generated from the speaker 12 by, for example, an audio IC of the audio generator 11.

  When the road surface is concave, on the road surface image, the slit light that hits the dent in the same slit light seems to advance first, so if the advanced part exceeds the predetermined speed, it is judged that it hits the depressed part of the road surface it can.

  Next, the principle of extracting the same plane and object from the change in the moving speed of the slit light on the road surface image when the slit light is scanned will be described.

9 and 10 show the principle of extracting the road surface 13 and the object 24 by scanning the slit light in the traveling direction of the vehicle and observing the change in the moving speed of the irradiation light on the imaging screen 14.

Here, the horizontal axis of the image observed by the CCD camera 2 (corresponding to the vehicle width direction) is the X axis of the coordinate axis, and the vertical axis of the image observed by the CCD camera 2 (corresponding to the vehicle longitudinal direction) is the Y axis. Set.

FIG. 9 shows the irradiation light and the imaging screen 14 at time t1, and FIG.
The irradiation light and the picked-up image at time t <b> 2 that has just passed are shown. Moreover, the imaging screen 14 of FIG. 9, FIG. 10 shows the relationship between the Y coordinate of the slit light which scans on a Y- axis, and the moving speed of a Y direction.

At time t1 , all the slit light irradiates the road surface 13 which is the same plane.
Slit light irradiated at the same time is located on the same Y coordinate. However, when the object 24 is irradiated with slit light at time t2 , the Y coordinate of the slit light irradiated on the road surface and the Y coordinate of the slit light irradiated on the object 24 are different.

FIG. 11 shows changes in the moving speed of the slit light when the road surface is scanned. As shown in FIG. 11, when an object 24 is present on the road surface 13, with respect to a certain X coordinate Xobs, the relationship between the imaging frame (frame at a certain time) and the Y coordinate position of irradiated light and the imaging frame (at other times) 11) and the Y coordinate moving speed are plotted, the 26th in FIG.
It can be seen that the Y coordinate position changes in the frame, and the moving speed on the imaging screen 14 changes discontinuously.

  In this way, by scanning the slit light at a constant angular velocity and observing a change in the moving speed of the irradiation light in the Y coordinate direction on the imaging screen 14, a contact point where the plane and the plane overlap at different angles, that is, a point with a step. Can be detected, and an image captured with the step as a boundary can be divided and extracted for each plane. That is, it is detected that an object is detected in the 26th frame, and the object is determined from the elapsed time (t) of the 26th frame from the start of scanning, the moving speed (v) of the slit light, and the installation height (h) of the camera 2. Can be calculated.

FIG. 12 shows an imaging state and a road surface image before the occurrence of pitching, and FIG. 13 shows an imaging state and a road surface image after the occurrence of pitching. In principle, the pitching sighting light emitting device 7 irradiates a certain point of a correction reference object 25 (for example, a preceding vehicle) existing in the imaging screen 14 with irradiation light for pitching correction. When the pitching monitoring program P4 determines the portion that is irradiated with the irradiation light as the correction reference point T1, as shown in FIG. 12, when the pitching occurs , the irradiation point of the irradiation light with respect to the correction reference point T1 before the occurrence of pitching. T2 shifts. The pitching monitoring program P4 calculates this deviation from the captured image 14 on the monitor 10, and corrects the irradiation angle of the pitching correction aiming light and the object detection slit light so as to eliminate the deviation (pitching correction control).

  Here, since the pitching monitoring program P4 can confirm the aiming light for pitching correction on the captured image 14, it can determine whether or not the pitching correction control is correctly performed from the captured image 14. When the pitching correction control is correctly performed, an object detection operation using the object detection slit light is performed.

  FIG. 14 shows a processing flow for implementing the vehicle environment recognition apparatus according to the basic principle described above. As a large flow of the entire system, this vehicular environment recognition device determines the necessity of pitching correction after the start of the flow, performs pitching correction if necessary (step S100), and performs object extraction if unnecessary (step S100). Step S101) One pitching correction and object detection operation are completed. Accordingly, the pitching correction (step S100) and the object extraction (step S101) are repeated with a predetermined time during traveling as a unit.

  FIG. 15 shows the flow of the pitching correction process. In step S201, the image data recorded in the image memory 3 is read into the microprocessor 4. Next, in step S202, the speed (image speed) on the image of the object projected on each pixel is calculated by optical flow processing on the image data read from the image memory 3. In step S203, a variance value is calculated by statistical processing for each line of each frame for the image speed calculated in S202. In step S204, the variance value of each line calculated in S203 is compared, and a line indicating the minimum variance value is extracted. In step S205, an arbitrary region (point) on the line calculated in S204 is set as the correction reference point T1.

  It is desirable that the correction reference point T1 is set at a position where the position is difficult to shift due to vehicle behavior. For this reason, the processing of steps S202 to S205 is performed, and the portion with the least change in motion on the image (the portion with the smallest velocity dispersion value) is set as the correction reference point T1. The correction reference point T1 may be an arbitrary point on the line where the variance value is minimum, and is set at a position such as a guardrail or a preceding vehicle.

  In step S206, the irradiation of the aiming light for pitching correction from the pitching aiming light emitting device 7 is stopped.

  In step S207, image data in a state in which the aiming light for pitching correction is not irradiated is read from the image memory 3 to the microprocessor 4.

  In step S208, the coordinates on the imaging screen 14 of the correction reference point T1 set in S205 are calculated.

  In step S209, based on the pitching correction angle calculated in S216 described later, the control device 8 of the pitching aiming light emitting device corrects the attitude of the pitching aiming light emitting device 7 and irradiates the aiming light to the correction reference point T1.

  In step S210, the picked-up image data of the road surface is read from the image memory 3 to the microprocessor 4 in a state where the correction reference point T1 is irradiated with the aiming light for pitching correction.

  In step S211, the difference between the two images read in steps S207 and S210 is calculated.

Step S212 extracts the pitching correction aiming light 2 binarizes by a predetermined threshold value with the difference image calculated by S211, and calculates the coordinates on the image of the irradiation point T2 of the pitching correction aiming light.

In step S213 , a deviation between the coordinates of the correction reference point T1 calculated in S208 and S212 and the coordinates on the image of the irradiation point T2 of the pitching correction aiming light is calculated.

  In step S214, if the coordinate deviation calculated in S213 is equal to or smaller than the predetermined number of pixels, the process proceeds to step S215, and if the coordinate deviation is larger than the predetermined number of pixels, it is determined to proceed to step S216.

  In step S215, a correction flag that is turned ON when the correction is correctly performed and turned OFF when the correction is not correctly performed is set to ON.

  In step S216, the coordinate deviation calculated in S213 is geometrically calculated, and in step S217, a pitching correction angle for performing pitching correction is calculated. In step S218, the correction flag is set to OFF.

  Next, the flow of object detection processing on the road surface will be described. FIG. 16 shows the flow of object detection processing. In step S301, based on the irradiation initial position, irradiation end position, and irradiation angular velocity control signals output from the slit light control program P6 of the microprocessor 4, the slit light, which is object detection irradiation light, is transmitted from the slit light emitting device 5 to the vehicle. Scan at a constant angular velocity from the front of the vehicle toward the front of the vehicle.

  In step S302, image data captured by the CCD camera 2 is read from the image memory 3 into the microprocessor 4. In step S303, difference processing between the image data read into the microprocessor 4 in S302 and the image data read one frame before is performed. In step S304, the difference image calculated in step S303 is binarized to perform edge detection processing, and the speed of the edge on the screen (screen speed) is calculated.

  In step S305, the correction flag set in the above-described S215 or S218 is checked. If the correction flag is ON (correction is performed correctly), the process proceeds to S306, and if it is OFF (correction is performed correctly). If not, the process proceeds to S301. In step S306, the screen speed calculated in S305 is observed at each x-coordinate, and the y-coordinate where the speed change occurs is extracted. When the y coordinate where the speed change occurs is extracted, S307 is performed.

  In step S307, the region sandwiched between the y-coordinates where the speed change extracted in S306 occurs is set as an object detection cluster. In step S308, in each cluster set and extracted in step S307, a cluster nearest to the host vehicle is used as a running path. Further, the distance and height from the host vehicle to the object are calculated based on the y coordinate of the contact point between the cluster indicating the object and the road surface 13 and the camera installation height.

  In step S309, it is checked whether or not the slit light, which is the object detection irradiation light, has been scanned up to the irradiation end position designated by the microprocessor 4 in S301. If the scanning irradiation end position is reached, the irradiation position direction is determined. The scan irradiation is changed to the initial position of scanning irradiation, and when the scanning irradiation end position is not reached, scanning is continued, and S301 is performed.

  As described above, according to the vehicle environment recognition device according to the embodiment of the present invention, the slit light is emitted from the slit light emitting device 5 forward in the traveling direction of the host vehicle, and the slit light is emitted from below the vehicle body. By scanning at a constant angular velocity toward the front of the camera and monitoring the presence or absence of the movement change of the slit light on the imaging screen 14 by the object detection program P9, it is possible to extract the runway and the object.

For this reason, even when there is no pattern in the recognition target like a flat road surface, the road surface can be recognized. Further, the vehicle behavior is calculated by comparing the position coordinate of the irradiation point T2 of the aiming light on the imaged screen 14 of the imaged road surface and the position coordinate of the correction reference point T1, and the vehicle up-and-down behavior due to pitching or the like occurs. However, since the correction of the pitching behavior or the like is performed to correct the vertical fluctuation of the road surface on the imaging screen 14, stable road environment information that is not affected by the pitching can be provided.

Further, using the pitching behavior information calculated from the imaging screen 14, verification processing is performed to determine whether the position coordinates of the irradiation point T2 of the aiming light irradiated in the corrected direction are the same as the irradiation direction before pitching. Since it can be performed by comparison with the correction reference point T1, the transient state in the slit light irradiation control can be grasped and eliminated, and the surrounding environment information can be provided stably even when a vehicle behavior occurs.

  Furthermore, the nearest area of the host vehicle is the road, and the position with the angle different from the road surface is detected while scanning the irradiation light from that area at a constant angular velocity. An area can be extracted as a road surface.

  In addition, since the irradiated slit light is scanned from the road surface at a constant speed and objects having a surface with a different angle from the road surface are extracted as objects, not only the contact point between the road and the object can be distinguished, but also the road surface In addition, the distance from the vehicle to the object can be easily calculated by triangulation from the installation height of the camera.

  Furthermore, since the invisible light is irradiated and the light is imaged, there is no influence on a pedestrian walking on the side road. Further, since the irradiation light is irradiated with a specific pattern (for example, slit light), even if there is a similar device in the vicinity, the irradiation light irradiated by itself can be distinguished from the irradiation light of other vehicles. Further, when the slit light and the horizontal axis 32 of the camera are matched, the vehicle behavior can be accurately detected without correcting the parallax from near to far.

Incidentally, in the above embodiment is provided with the control device 6 of the control device 8 and the slit light emitting device 5 in the pitching aiming light - emitting device 7 separately, in parallel manner mounted on a platform 30 pitching Correction may be performed.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  For example, the environment recognition device for a vehicle may be provided so as to face the rear of the automobile so that the road surface condition behind the automobile is imaged when the vehicle is moving backward, and the situation behind the vehicle body is displayed on the screen 14 for monitoring notification. The present invention may be applied to vehicles other than automobiles.

  Further, the CCD camera 2 may be a camera using another image pickup device such as a CMOS.

It is a system block diagram of the environment recognition apparatus for vehicles concerning an embodiment of the invention. The relationship between the imaging screen on the monitor, the image processing program that outputs the imaging screen, the vehicle behavior monitoring program that detects the vehicle behavior from the slit light on the captured image, the object detection program, the irradiation speed calculation program, etc. It is explanatory drawing shown. It is explanatory drawing which shows the condition which monitors the road surface by embodiment of this invention. It is a figure which shows the planar structure of the slit light-emitting device concerning embodiment of this invention. It is a figure which shows the side structure of the slit light-emitting device concerning embodiment of this invention. It is a figure which shows the side view structure of the pitching aiming light-emitting device concerning embodiment of this invention. It is a figure which shows the planar arrangement | positioning state of the slit light-emitting device and pitching aim light-emitting device concerning embodiment of this invention. It is a figure which shows the shape change of a slit when irradiating the slit light which is irradiation light at a fixed angle, and detecting an object. It is a figure which shows the captured image when the road surface is detected by the scanning scan of slit light. It is a figure which shows the captured image when the object of a road surface is detected by the scanning scan of slit light. It is a figure which shows the movement speed change at the time of the irradiation light scan on a road surface. It is a figure which shows the state before correction | amendment for performing pitching correction | amendment. It is a figure which shows the state which needs correction | amendment by generation | occurrence | production of pitching. It is a whole flowchart of the system of the vehicle environment recognition apparatus of FIG. It is a flowchart at the time of the pitching correction | amendment in the system of the vehicle environment recognition apparatus of FIG. It is a flowchart at the time of the object detection in the system of the vehicle environment recognition apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Environment recognition apparatus for vehicles 2 CCD camera 3 Image memory 4 Microprocessor 5 Slit light emission device 6 Control apparatus (attitude correction means) of slit light emission device
7 Pitching Aiming Light Emitting Device 8 Pitching Aiming Light Emitting Device Control Device P1 Road Surface Imaging Program P2 Image Processing Program P3 Pitching Aiming Light Control Program P4 Pitching Monitoring Program (Vehicle Behavior Monitoring Means)
P5 Pitching correction program P6 Slit light control program P7 Slit light speed calculation program P8 Runway detection program (road surface change detection means)
P9 Object detection program (road surface change detection means)
P10 Object distance calculation program (distance calculation means for road surface change part)

Claims (12)

The illumination light extending in the vehicle width direction, and irradiates on the road surface, the irradiation light irradiating means for scanning toward far the irradiation light from the vicinity of the vehicle,
Imaging means for imaging the irradiation light;
The own vehicle accompanying the scan of the irradiation light in the captured image captured by the imaging means
Irradiation light shape change that detects a change in shape of the irradiation light due to unevenness on the road surface or a road surface change part such as an object on the road surface based on a change in the moving speed of the irradiation light in a direction corresponding to the front-rear direction Detection means;
Based on the shape change of the irradiation light detected by the irradiation light shape change detection means, a distance calculation means for calculating a distance from the own vehicle to the road surface change portion;
One aiming light irradiation means for irradiating the aiming light to a predetermined position in front of the host vehicle;
Vehicle behavior monitoring means for detecting a vehicle behavior of the host vehicle based on a vertical position change of the aiming light imaged when the imaging means images the irradiation light;
Posture correcting means for correcting the irradiation direction of the irradiation light based on the vehicle behavior amount detected by the vehicle behavior monitoring means;
A vehicle environment recognition device characterized by comprising: The vehicle environment recognition device according to claim 1,
The vehicle behavior monitoring unit has a function of determining the reliability of correction in the irradiation direction of the irradiation light based on a vertical position change of the aiming light before and after correction in a captured image captured by the imaging unit. An environment recognition device for a vehicle, comprising: In the vehicular environment recognition device according to claim 1 or 2,
An environment recognition device for a vehicle, comprising road surface detection means for extracting, as a road surface, an area where the amount of change in shape of the irradiation light is a predetermined value or less within a predetermined time. The vehicle environment recognition device according to any one of claims 1 to 3,
The vehicle environment recognition device, wherein the irradiation light irradiation means uses linear light extending in the vehicle width direction as the irradiation light, and scans the linear light far from the vicinity of the host vehicle. The vehicle environment recognition device according to claim 4,
The distance calculation means is based on the irradiation speed at which the irradiation light scans the road surface, the elapsed time from the scanning start position to the road surface changing portion, and the height of the irradiation light irradiation means from the road surface. A vehicle environment recognition device having a function of calculating a distance from a road surface change portion to a road surface change portion. The vehicle environment recognition device according to any one of claims 1 to 5,
The vehicle environment recognition device, wherein the irradiation light irradiation means uses invisible light as the irradiation light. The vehicle environment recognition device according to any one of claims 1 to 6,
The vehicle environment recognition device characterized in that the irradiation light irradiation means projects a predetermined pattern of light as the irradiation light. The vehicle environment recognition device according to any one of claims 1 to 7,
The vehicle environment recognition device characterized in that the irradiation light irradiation means blinks and projects the irradiation light. The vehicle environment recognition device according to any one of claims 1 to 8,
The vehicle environment recognition apparatus, wherein the irradiation light irradiation means and the imaging means are installed coaxially. The illumination light extending in the vehicle width direction, is irradiated on the road surface, the irradiation light with scanning <br/> in countercurrent Ke distant from the vicinity of the vehicle, one of the aiming light to a predetermined position of the vehicle ahead Irradiate
Based on the vertical position change of the aiming light to be imaged in conjunction with imaging the irradiation light, the vehicle behavior of the host vehicle is detected,
Correcting the irradiation direction of the irradiation light based on the detected vehicle behavior amount of the host vehicle,
During IMAGING image, due to the scanning of the irradiation light, corresponding to the longitudinal direction of the vehicle
Based on a change in the moving speed of the irradiation light in the direction, detecting a change in shape of the irradiation light due to unevenness on the road surface or a road surface change site such as an object on the road surface,
A vehicle environment recognition method, comprising: calculating a distance from the own vehicle to the road surface change portion based on a change in shape of the irradiation light. The vehicle environment recognition method according to claim 10,
An environment recognition method for a vehicle, wherein reliability of the correction is determined based on a vertical position change of the irradiation direction of the aiming light in the captured image. The vehicle environment recognition method according to claim 10 or 11,
A method for recognizing an environment for a vehicle, wherein a region where the amount of change in shape of the irradiation light is a predetermined value or less within a predetermined time is extracted as a road surface.