JP5744698B2 - Lane monitoring system and lane monitoring method - Google Patents
Lane monitoring system and lane monitoring method Download PDFInfo
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本発明は、車載カメラで撮影した自動車後方の画像に基づいて自動車前方の車線を認識する技術に関するものである。 The present invention relates to a technique for recognizing a lane in front of an automobile based on an image behind the automobile taken by an in-vehicle camera.
車載カメラで撮影した自動車後方の画像に基づいて自動車前方の車線を認識する技術としては、自動車が直進性を有する道路を走行している場合には、車載カメラで撮影した自動車後方の画像に含まれる車線境界線（白線）を近似した直線として自動車前方の車線境界線を認識し、自動車がカーブを走行している場合には、車載カメラで撮影した自動車後方の画像に含まれる車線境界線を近似した円として自動車前方の車線境界線を認識する技術が知られている（特許文献１）。 The technology for recognizing the lane ahead of the vehicle based on the image behind the vehicle taken with the in-vehicle camera is included in the image behind the vehicle taken with the in-vehicle camera when the vehicle is traveling on a straight road. If the lane boundary line in front of the vehicle is recognized as a straight line that approximates the lane boundary line (white line) and the vehicle is driving a curve, the lane boundary line included in the image behind the vehicle taken with the in-vehicle camera A technique for recognizing a lane boundary line in front of an automobile as an approximate circle is known (Patent Document 1).
自動車がカーブを走行している場合に、車載カメラで撮影した自動車後方の画像に含まれる車線境界線を近似した円として自動車前方の車線境界線を認識する上述の技術によれば、自動車後方の画像に含まれる車線境界線を円に近似するための比較的複雑で負荷の大きい処理を行う必要がある。 According to the above-described technique for recognizing a lane boundary in front of a vehicle as a circle approximating a lane boundary included in an image behind the vehicle taken by an in-vehicle camera when the vehicle is traveling on a curve, It is necessary to perform a relatively complicated and heavy processing for approximating the lane boundary included in the image to a circle.
そこで、本発明は、自動車がカーブを走行している場合における、車載カメラで撮影した自動車後方の画像に基づいて行う自動車前方の車線認識の処理の負荷を軽減することを課題とする。 Therefore, an object of the present invention is to reduce the load of processing for lane recognition in front of a vehicle that is performed based on an image behind the vehicle taken by an in-vehicle camera when the vehicle is traveling on a curve.
前記課題達成のために、本発明は、自動車に搭載される車線監視システムに、前記自動車後方を撮影する車載カメラと、前記車載カメラが撮影した自動車後方の画像に写り込んだ自動車後方の車線境界線を近似する直線を算出する近似直線算出手段と、前記自動車がカーブを走行中でない場合に、前記近似直線算出手段が算出した直線を前記自動車前方の車線境界線として認識し、前記自動車がカーブを走行中である場合に、前記近似直線算出手段が算出した直線と、前記自動車上の所定の点を通る当該自動車の左右方向を向いた軸を対象軸として、線対象な直線を前記自動車前方の車線境界線として認識する車線認識手段とを備えたものである。 In order to achieve the above object, the present invention provides a vehicle lane monitoring system mounted on a vehicle, a vehicle-mounted camera that captures the rear of the vehicle, and a lane boundary behind the vehicle that is reflected in an image of the rear of the vehicle captured by the vehicle-mounted camera. An approximate straight line calculating means for calculating a straight line that approximates a line; and when the automobile is not running on a curve, the straight line calculated by the approximate straight line calculating means is recognized as a lane boundary line in front of the automobile, and the automobile When the vehicle is traveling, the straight line calculated by the approximate straight line calculating means and the axis that faces the left and right direction of the vehicle passing through a predetermined point on the vehicle are set as the target axis, and the straight line to be lined is the front of the vehicle. Lane recognition means for recognizing it as a lane boundary line.
ここで、前記自動車上の所定の点は、前記自動車の前後左右方向の中心点とすることが好ましい。
また、このような車線監視システムには、前記車線認識手段が認識した自動車前方の車線境界線に基づいて、前記自動車の走行中車線からの逸脱を予測する逸脱予測手段を設けるようにしてもよい。
このような車線監視システムによれば、前記自動車がカーブを走行中である場合には、自動車後方の車線境界線を近似した直線と、前記自動車上の点を通る当該自動車の左右方向を向いた軸を対象軸として線対象な直線を求めるだけの、車線境界線を円に近似する場合に比べ、簡易、低負荷の処理によって自動車前方の白線を認識することができるようになる。
Here, it is preferable that the predetermined point on the automobile is a center point in the front-rear and left-right directions of the automobile.
In addition, such a lane monitoring system may be provided with a deviation prediction unit that predicts a deviation from the running lane of the vehicle based on the lane boundary line in front of the vehicle recognized by the lane recognition unit. .
According to such a lane monitoring system, when the vehicle is traveling on a curve, the vehicle is directed to a straight line that approximates a lane boundary line behind the vehicle and to the left-right direction of the vehicle passing through a point on the vehicle. Compared to the case where the lane boundary line is approximated to a circle by simply obtaining a straight line with the axis as the target axis, the white line ahead of the vehicle can be recognized by simple and low-load processing.
以上のように、本発明によれば、自動車がカーブを走行している場合における、車載カメラで撮影した自動車後方の画像に基づいて行う自動車前方の車線認識の処理の負荷を軽減することができる。 As described above, according to the present invention, it is possible to reduce the load of the lane recognition process in front of the vehicle performed based on the image behind the vehicle taken by the in-vehicle camera when the vehicle is traveling on a curve. .
以下、本発明の実施形態について説明する。
図１ａに、本実施形態に係る車載システムの構成を示す。
車載システムは自動車に搭載されるシステムであり、図１ｂに示すように自動車後部に配置され自動車後方を撮影する後方カメラ１と、後方カメラ１が撮影した画像フレームを格納するフレームメモリ２、車載監視装置３、車載監視装置３が作業に用いるワークメモリ４、スピーカ５、表示装置６などを備えている。
Hereinafter, embodiments of the present invention will be described.
FIG. 1 a shows the configuration of the in-vehicle system according to this embodiment.
The in-vehicle system is a system mounted in an automobile, and as shown in FIG. 1b, a rear camera 1 that is arranged at the rear of the automobile and photographs the rear of the automobile, a frame memory 2 that stores image frames photographed by the rear camera 1, and in-vehicle monitoring. The apparatus 3 and the in-vehicle monitoring apparatus 3 include a work memory 4, a speaker 5, a display device 6 and the like used for work.
なお、図示は省略したが、後方カメラ１の撮影した映像は、後進して行う駐車の支援などにも用いられる。
次に、このような構成において車載監視装置３が行う車線監視処理について説明する。
図２に、この車線監視処理の手順を示す。
図示するように、この処理では、まず、後方カメラ１が後方を撮影した最新の画像フレームをフレームメモリ２から取得し（ステップ２０２）、画像フレームに写り込んでいる後方の白線上の特徴点の座標を算出する（ステップ２０４）。
ここで、このステップ２０４で行う画像フレームに写り込んでいる後方の白線上の特徴点の座標の算出は以下のように行う。
すなわち、図３ａに示すように、自動車の左右前後方向の中心Ｇを原点とし、自動車の右方向を正のＸ方向とし、自動車の後方向を正のＹ方向とするＸＹ座標系を設定し、後方カメラ１で撮影された図３ｂに示すような画像フレームに対して、ノイズ除去などの前処理を施した上で、輝度勾配などに基づいて画像フレームに写り込んでいる白線の領域３０１を抽出する。
Although illustration is omitted, the image captured by the rear camera 1 is also used for assisting parking performed backward.
Next, the lane monitoring process performed by the in-vehicle monitoring device 3 in such a configuration will be described.
FIG. 2 shows the procedure of this lane monitoring process.
As shown in the figure, in this process, first, the latest image frame captured by the rear camera 1 is acquired from the frame memory 2 (step 202), and the feature points on the rear white line reflected in the image frame are obtained. The coordinates are calculated (step 204).
Here, the calculation of the coordinates of the feature points on the back white line reflected in the image frame performed in step 204 is performed as follows.
That is, as shown in FIG. 3 a, an XY coordinate system is set in which the center G of the left and right front-rear direction of the vehicle is the origin, the right direction of the vehicle is the positive X direction, and the rear direction of the vehicle is the positive Y direction. A pre-processing such as noise removal is performed on the image frame as shown in FIG. 3b taken by the rear camera 1, and a white line region 301 reflected in the image frame is extracted based on a luminance gradient or the like. To do.
そして、抽出した白線の領域３０１を、図３ｃに示すようにＸＹ座標系に射影変換する。そして、Ｙ方向について所定間隔毎に、ＸＹ座標系に射影変換した白線の領域３０２のＸ方向の中点に特徴点Ｐiを設定し、各特徴点ＰiのＸＹ座標系上の座標（ｘi,ｙi）を、後方の白線上の特徴点の座標として算出する。 Then, the extracted white line region 301 is projectively transformed into the XY coordinate system as shown in FIG. Then, feature points Pi are set at the midpoints in the X direction of the white line region 302 projected and converted to the XY coordinate system at predetermined intervals in the Y direction, and the coordinates (xi, yi) of the feature points Pi on the XY coordinate system are set. ) As the coordinates of the feature points on the white line behind.
さて、図２に戻り、以上のようにして特徴点の座標を算出したならば、各特徴点の座標に基づいて、図３ｄ、ｅに示すように、後方の白線を直線y=ax+bに近似する（ステップ２０６）。
この近似は、各特徴点の座標を直線上の座標として持つ直線として、最も尤もらしい直線を求めることにより行う。
より具体的には、この近似は、たとえば、最小自乗法によって、各特徴点Ｐiについて求めた、ｙi-（axi+b)の自乗の合計をEとして、Eを最小とするa、ｂを算出することにより、直線y=ax+bを求める。
そして、次に現在、自動車がカーブを走行中であるかどうかを判定する（ステップ２０８）。ここで、カーブを走行中であるかどうかの判定は任意の方法によって行うようにしてもよい。
すなわち、たとえば、ステップ２０６で求めた各特徴点Ｐiについて求めた、ｙi-（axi+b)の自乗の合計E、または、合計Eの過去所定期間の平均が所定値より小さい場合に、カーブを走行中でないと判定し、他の場合にカーブを走行中であると判定するようにしたり、最新の画像フレームもしくは過去所定期間内に撮影された画像フレームについて求めた、隣接する上述の特徴点を結ぶ直線の傾きが、自車からの前後方向の距離に関わらずにおよそ等しい場合にカーブを走行中でないと判定し、他の場合にカーブを走行中であると判定するようにしたり、自動車の左右方向の加速度や、自動車の操舵角を取得すると共に、当該加速度や操舵角が過去所定期間、所定値より大きい値で安定している場合に、カーブを走行中であると判定し、他の場合にカーブを走行中でないと判定するようにしたりしてよい。
Now, returning to FIG. 2, if the coordinates of the feature points are calculated as described above, based on the coordinates of each feature point, as shown in FIGS. 3d and 3e, the rear white line is represented by a straight line y = ax + b. (Step 206).
This approximation is performed by obtaining the most likely straight line as a straight line having the coordinates of the feature points as the coordinates on the straight line.
More specifically, in this approximation, for example, the least square method is used to calculate a and b which minimizes E, where E is the sum of the squares of yi− (axi + b) obtained for each feature point Pi. By doing so, a straight line y = ax + b is obtained.
Next, it is determined whether or not the vehicle is currently driving on a curve (step 208). Here, whether or not the vehicle is traveling on a curve may be determined by an arbitrary method.
That is, for example, when the total E of the squares of yi− (axi + b) obtained for each feature point Pi obtained in step 206 or the average of the total E in the past predetermined period is smaller than a predetermined value, the curve is calculated. It is determined that the vehicle is not traveling, and in other cases it is determined that the vehicle is traveling on the curve, or the above-mentioned adjacent feature points obtained for the latest image frame or an image frame taken within a predetermined period in the past are determined. When the slope of the connecting line is approximately equal regardless of the distance in the front-rear direction from the host vehicle, it is determined that the vehicle is not traveling on the curve, and in other cases, the vehicle is determined to be traveling on the curve. If the acceleration in the left-right direction and the steering angle of the car are acquired and the acceleration or steering angle is stable at a value greater than a predetermined value for a predetermined period in the past, it is determined that the vehicle is traveling on a curve, Case It may be or so as to determined not to be traveling on a curve.
さて、次に、自動車がカーブを走行中でなければ（ステップ２０８）、図４ａに示すように、ステップ２０６で求めた直線y=ax+bと同じ直線ｙ=ｆ(x)=cx+b(但し、c=a)を、自車前方の白線を表す直線として認識する（ステップ２１０）。
一方、自動車がカーブを走行中であれば（ステップ２０８）、図４ｂに示すように、ステップ２０６で求めた直線y=ax+bと、Ｘ軸を対称軸として線対称な直線ｙ=ｆ(x)=cx+b(但し、c=-a)を、自車前方の白線を表す直線として認識する（ステップ２１２）。
そして、図５に示す、自車前方の白線と自動車前方白線側(右側端）端Tとの距離Dを求める（ステップ２１４）。
すなわち、図５に示すように、自動車中心Ｇから自動車前端までのY方向の距離（自動車の全長の半分）をＬ、自動車中心Ｇから自動車白線側端までのX方向の距離（自動車の全幅の半分）をWとすれば、端T最寄りの白線上の点Ｋの座標は
Kx=D+Wとして、（Kx, -L）となる。
Now, next, if the vehicle is not driving the curve (step 208), as shown in FIG. 4a, the same line y = f (x) = cx + b as the straight line y = ax + b obtained in step 206. (However, c = a) is recognized as a straight line representing a white line ahead of the host vehicle (step 210).
On the other hand, if the vehicle is running on a curve (step 208), as shown in FIG. 4b, the straight line y = ax + b obtained in step 206 and the straight line y = f ( x) = cx + b (where c = −a) is recognized as a straight line representing a white line ahead of the vehicle (step 212).
Then, a distance D between the white line ahead of the vehicle and the white front end (right end) T shown in FIG. 5 is obtained (step 214).
That is, as shown in FIG. 5, the distance in the Y direction from the vehicle center G to the front end of the vehicle (half of the total length of the vehicle) is L, and the distance in the X direction from the vehicle center G to the white line end of the vehicle (the total width of the vehicle). If half) is W, the coordinates of the point K on the white line closest to the edge T are
As Kx = D + W, (Kx, -L).
よって、点Kが、直線ｙ=ｆ(x)=cx+b上の点であることより、
-L=F(Kx）=cKx+b = c(D+W) +b
が成り立つので、これより自車前方の白線と自動車前方白線側(通常、右側）端Tとの距離Dを、
D= [(-L-b)/c]-Wとして求める。
Therefore, since the point K is a point on the straight line y = f (x) = cx + b,
-L = F (Kx) = cKx + b = c (D + W) + b
Therefore, the distance D between the white line in front of the vehicle and the white line end (usually right side) in front of the vehicle
Calculated as D = [(-Lb) / c] -W.
そして、求めた自車前方の白線と自動車前方白線側端Ｔとの距離Dが、所定のしきい値Ｔｈより小さく、かつ、自動車が白線側に移動しているかどうかを調べ（ステップ２１６）、そうでなければステップ２０２からの処理に戻り、そうであれば自動車の走行中車線からの逸脱の発生を予測し、スピーカ５や表示装置６から、自動車の車線から逸脱を警告する出力をドライバに対して行った上で（ステップ２１８）、ステップ２０２からの処理に戻る。 Then, it is checked whether the distance D between the obtained white line ahead of the vehicle and the front white line side end T of the vehicle is smaller than a predetermined threshold Th and the vehicle is moving to the white line side (step 216). If not, the process returns to step 202. If so, the occurrence of a departure from the driving lane is predicted, and an output for warning the departure from the vehicle lane is output to the driver from the speaker 5 or the display device 6. On the other hand (step 218), the process returns to step 202.
ここで、ステップ２１６における、自動車が白線側に移動しているかどうかの判定は、たとえば、自車前方の白線を表す直線ｙ=ｆ(x)=cx+bの傾きが正、すなわち、 cが正である場合に、自動車が白線側に移動していると判定したり、求めた自車前方の白線と自動車前方白線側端Ｔとの距離Dが、前回距離Dを求めたときの距離Dの値より減少している場合に、自動車が白線側に移動していると判定することにより行うことができる。 Here, in step 216, it is determined whether or not the vehicle is moving to the white line side. For example, the slope of the straight line y = f (x) = cx + b representing the white line ahead of the host vehicle is positive. If it is positive, it is determined that the vehicle is moving to the white line side, or the distance D between the obtained white line in front of the vehicle and the front white line side end T of the vehicle is the distance D when the previous distance D was obtained. This can be done by determining that the automobile is moving to the white line side.
以上、車載監視装置３が行う車線監視処理について説明した。
以上のように、本実施形態によれば、自動車がカーブを走行している場合には、後方の白線を近似した直線と、自車の中心を通る左右方向軸を対象軸として線対称な直線を求めるだけの簡易、低負荷の処理によって自車前方の白線を認識することができる。
なお、以上の実施形態は、自動車の右側の白線を検出する場合について示したが、自動車の左側の車線を検出する場合についても本実施形態は同様に適用可能である
また、以上では、便宜上、白線を認識対象とするものとして説明したが、本実施形態は、黄線その他の任意の車線境界線についても、同様に認識するものとすることができる。
The lane monitoring process performed by the in-vehicle monitoring device 3 has been described above.
As described above, according to the present embodiment, when the automobile is traveling on a curve, a straight line that approximates the white line behind and a straight line that is line-symmetric with respect to the horizontal axis passing through the center of the host vehicle as the target axis. The white line ahead of the vehicle can be recognized by simple and low load processing.
In addition, although the above embodiment showed about the case where the white line of the right side of a motor vehicle was detected, this embodiment is applicable similarly also when the left side lane of a motor vehicle is detected. Although the white line has been described as a recognition target, this embodiment can similarly recognize a yellow line or any other lane boundary line.
１…後方カメラ、２…フレームメモリ、３…車載監視装置、４…ワークメモリ、５…スピーカ、６…表示装置。 DESCRIPTION OF SYMBOLS 1 ... Back camera, 2 ... Frame memory, 3 ... Vehicle-mounted monitoring apparatus, 4 ... Work memory, 5 ... Speaker, 6 ... Display apparatus.
Claims (4)
前記自動車後方を撮影する車載カメラと、
前記車載カメラが撮影した自動車後方の画像に写り込んだ自動車後方の車線境界線を近似する直線を算出する近似直線算出手段と、
前記自動車がカーブを走行中でない場合に、前記近似直線算出手段が算出した直線を前記自動車前方の車線境界線として認識し、前記自動車がカーブを走行中である場合に、前記近似直線算出手段が算出した直線と、前記自動車上の所定の点を通る当該自動車の左右方向を向いた軸を対象軸として、線対象な直線を前記自動車前方の車線境界線として認識する車線認識手段とを有することを特徴とする車線監視システム。 A lane monitoring system installed in an automobile,
An in-vehicle camera for photographing the rear of the car;
Approximate straight line calculating means for calculating a straight line that approximates the lane boundary line behind the automobile reflected in the image behind the automobile photographed by the in-vehicle camera;
When the vehicle is not running on a curve, the straight line calculated by the approximate line calculation unit is recognized as a lane boundary line ahead of the vehicle, and when the vehicle is running on a curve, the approximate line calculation unit is Lane recognition means for recognizing a straight line as a lane boundary line in front of the vehicle, with the calculated straight line and an axis oriented in the left-right direction of the vehicle passing through a predetermined point on the vehicle as a target axis Lane monitoring system characterized by
前記自動車上の所定の点は、前記自動車の前後左右方向の中心点であることを特徴とする車線監視システム。 The lane monitoring system according to claim 1,
The predetermined point on the automobile is a center point in the front-rear and left-right directions of the automobile.
前記車線認識手段が認識した自動車前方の車線境界線に基づいて、前記自動車の走行中車線からの逸脱を予測する逸脱予測手段を有することを特徴とする車線監視システム。 The lane monitoring system according to claim 1 or 2,
A lane monitoring system comprising: a departure prediction unit that predicts a departure from a running lane of the vehicle based on a lane boundary line in front of the vehicle recognized by the lane recognition unit.
前記車線監視システムが、前記車載カメラが撮影した自動車後方の画像に写り込んだ自動車後方の車線境界線を近似する直線を算出する近似直線算出ステップと、
前記車線監視システムが、前記自動車がカーブを走行中である場合に、前記近似直線算出ステップで算出した直線と、前記自動車上の所定の点を通る当該自動車の左右方向を向いた軸を対象軸として、線対象な直線を、前記自動車前方の車線境界線として認識する車線認識ステップとを有することを特徴とする車線境界線認識方法。 In a lane monitoring system mounted on an automobile, a lane boundary recognition method for recognizing a lane boundary in front of the automobile based on an image of the rear of the automobile taken by an in-vehicle camera that photographs the rear of the automobile,
The lane monitoring system calculates an approximate line calculation step for calculating a straight line that approximates a lane boundary line at the rear of the automobile reflected in an image at the rear of the automobile photographed by the in-vehicle camera;
When the lane monitoring system is running on a curve, the straight line calculated in the approximate straight line calculating step and the axis facing the left and right direction of the vehicle passing through a predetermined point on the vehicle are target axes. And a lane recognition step for recognizing a straight line as a lane boundary line ahead of the automobile.
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