JP7233274B2 - Vehicle ADAS control system and ADAS control method - Google Patents

Description

The present invention relates to an ADAS control system and an ADAS control method for a vehicle controlled by ADAS (Advanced Driver-Assistance Systems).

Currently, ADAS is adopted in many vehicles. ADAS is a system in which the vehicle itself grasps information about its surroundings, accurately displays and warns the driver, and controls the vehicle on behalf of the driver, in order to realize the safety and comfort of the driver.

FIG. 4 shows, in a state where the vehicle is controlled by ADAS (ADAS control), based on the video data acquired by the on-vehicle camera (ADAS camera, also simply referred to as camera) or the illuminance data measured by the illuminance measurement means, 2 shows the flow of control when it is determined that the user is in the dazzling state. The dazzling state refers to a state in which a driver or a passenger is dazzled by backlight (glare light) such as the morning sun or the setting sun, vehicles approaching with high beams, or the like.

An image is input by a camera installed facing the outside of the vehicle (step S80), and the illuminance is measured by the illuminance measuring means (step S82). Then, it is determined whether the user is in a dazzling state based on the input image data or the measured illuminance data (step S84). A dazzling state is determined, for example, when the illuminance level of the measured illuminance data is higher than a predetermined illuminance level. When it is determined that the vehicle is dazzled, the vehicle stops ADAS control and switches to fail-safe control. When it is determined that the vehicle is not in the dazzling state, the vehicle performs ADAS control.

Anti-glare control is performed to eliminate such a dazzling state. This anti-glare control is achieved, for example, by installing a light control element in front of the camera that can adjust the light transmittance by applying voltage, and adjusting the light transmittance of the light control element according to the illuminance of the light incident on the camera. is adjusted, and in the dazzling state, the transmittance is lowered to eliminate the dazzling state (see Patent Document 1, for example).

FIG. 5 shows the flow of control when it is determined that an ADAS controlled vehicle capable of anti-glare control is in a dazzled state. An image is input by a camera installed facing the outside of the vehicle (step S90), and the illuminance is measured by the illuminance measuring means (step S92). Then, it is determined whether the user is in a dazzling state based on the input image data or the measured illuminance data (step S94). When the dazzle state is determined, the vehicle performs anti-glare control (step S96) and ADAS control (step S98).

JP 2010-184643 A

In FIG. 4, in a configuration in which fail-safe control is performed as soon as it is determined that the camera is in a dazzling state, there arises a problem that ADAS control cannot be performed even though the camera is normal. In FIG. 5, when it is determined that the user is in a dazzling state, anti-glare control is performed and ADAS control is resumed. Switching without judging. When there is an abnormality in the camera, there has been a situation in which normal ADAS control cannot be performed even if anti-glare control and ADAS control are performed.

The present invention has been made in view of the above problems, and its object is to provide a vehicle capable of ensuring safe operation of an ADAS controlled vehicle by appropriately switching between ADAS control and fail-safe control when it is determined that the vehicle is dazzled. An object of the present invention is to provide an ADAS control system and an ADAS control method.

In order to achieve the above object, the vehicle ADAS control system according to claim 1 comprises:
an in-vehicle camera installed facing the outside of the vehicle; illuminance measuring means for measuring the illuminance of light incident on the in-vehicle camera; anti-glare means for adjusting the transmittance of light incident on the in-vehicle camera; a control unit that obtains data from the vehicle-mounted camera and the illuminance measuring means and adjusts and controls the anti-glare means, wherein the control unit receives the illuminance data from the illuminance measuring means or the image from the vehicle-mounted camera. Based on the data, it is determined whether or not it is a dazzling state in which appropriate data cannot be obtained, and in the vehicle ADAS control system that controls the anti-glare means and switches between ADAS control and fail-safe control,
When the dazzle state is determined, the control unit reduces the transmittance of the light incident on the vehicle-mounted camera by the anti-glare means, thereby determining whether or not the image of the vehicle-mounted camera changes. When it is determined that the vehicle-mounted camera is normal, anti-glare control and ADAS control are performed, and when it is determined that the image of the vehicle-mounted camera does not change, the vehicle-mounted camera is abnormal. is determined and switched to fail-safe control.

With this configuration, the illuminance of the light incident on the vehicle-mounted camera is changed by the anti-glare means after the dazzle state is determined, and the state of the vehicle-mounted camera is confirmed by checking whether or not the image of the vehicle-mounted camera changes. If so, it can be determined to be normal. If normal, anti-glare control and ADAS control are performed, and if abnormal, ADAS control is switched to fail-safe control. Therefore, since the ADAS control is performed after confirming that the vehicle-mounted camera is normal, the reliability of the ADAS control is improved.

The vehicle ADAS control system according to claim 2 is the vehicle ADAS control system according to claim 1,
Determination of the dazzling state is performed when the illuminance level of the illuminance data is higher than a predetermined illuminance level, or when the video image quality of the video data does not meet a predetermined level. characterized by

With this configuration, the dazzling state can be determined simply and uniquely based on the illuminance data or the image data. Therefore, the reliability of ADAS control of the vehicle is improved.

The vehicle ADAS control system according to claim 3 is the vehicle ADAS control system according to claim 2 ,
In a state in which the transmittance of light incident on the in-vehicle camera is reduced by the anti-glare means, the control unit is configured to reduce the transmittance excessively when the illuminance level falls below the predetermined level. and controlling the anti-glare means so as to increase the transmittance when it is determined that the anti-glare means is set.

This configuration prevents excessive anti-glare control and improves the reliability of ADAS control of the vehicle.

In order to achieve the above object, the vehicle ADAS control method according to claim 4 includes:
an in-vehicle camera installed facing the outside of the vehicle; illuminance measuring means for measuring illuminance of light incident on the in-vehicle camera; anti-glare means for suppressing illuminance of light incident on the in-vehicle camera; a control unit that obtains data from the camera and the illuminance measurement means and adjusts and controls the anti-glare means, wherein the control unit receives illuminance data from the illuminance measurement means or image data from the vehicle-mounted camera Based on, in the vehicle ADAS control method for determining whether or not it is a dazzling state in which appropriate data cannot be obtained, and switching between control of the anti-glare means and ADAS control and fail-safe control,
The dazzling state is determined by the control unit when the illuminance level of the illuminance data is higher than a predetermined illuminance level or when the video image quality of the video data does not meet a predetermined level. a step of determining whether or not the image of the vehicle-mounted camera changes by changing the illuminance of the light incident on the vehicle-mounted camera by the anti-glare means when it is determined that the vehicle is in the dazzling state; determining that the vehicle-mounted camera is normal if the condition is not changed, and determining that the vehicle-mounted camera is abnormal if the condition does not change, wherein the vehicle-mounted camera is normal. Anti-glare control and ADAS control are performed when it is determined that the vehicle-mounted camera is abnormal, and fail-safe control is performed when it is determined that the vehicle-mounted camera is abnormal.

According to this method, after the dazzle state is determined by the dazzling state determination step, the illuminance of the light incident on the vehicle-mounted camera is changed by the anti-glare means, and the image of the vehicle-mounted camera changes depending on whether or not the image of the vehicle-mounted camera changes. The state can be checked, and if it changes, it can be judged to be normal (in-vehicle camera state judgment step). If normal, anti-glare control and ADAS control are performed, and if abnormal, ADAS control is switched to fail-safe control. Therefore, since the ADAS control is performed after confirming that the vehicle-mounted camera is normal, the reliability of the ADAS control is improved.

According to the vehicle ADAS control system and the ADAS control method of the present invention, whether or not the image of the vehicle-mounted camera changes by changing the illuminance of the light incident on the vehicle-mounted camera by the anti-glare means after the dazzling state is determined. Since it is determined whether or not the vehicle-mounted camera is normal depending on whether the vehicle-mounted camera is normal or not, it is possible to quickly determine whether the vehicle-mounted camera is normal or abnormal. Therefore, the anti-glare control and ADAS control performed afterward ensure that the vehicle-mounted camera is normal, so that the driver can drive the ADAS-controlled vehicle safely without anxiety.

1 shows a schematic block diagram of an ADAS control system for a vehicle according to the present invention; FIG. 1 shows a flow chart of a vehicle ADAS control method of the present invention. FIG. 3 is a flow chart showing the contents of "determine whether the camera is normal" in step S16 of FIG. 2; FIG. It is a flowchart explaining the flow after the conventional dazzling state and determination. It is a flowchart explaining the flow after the conventional dazzling state and determination. However, the case where anti-glare control is attached is shown.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of a vehicle ADAS control system and an ADAS control method of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a vehicle ADAS control system according to the present invention. An ADAS control system 10 for a vehicle has an on-vehicle camera 12 , illuminance measuring means 14 , anti-glare means 18 , and control section 20 .

An in-vehicle camera (ADAS camera, or simply referred to as a camera) 12 is an imaging means that is installed inside the vehicle and captures an image of the situation outside the vehicle. Video data obtained by the vehicle-mounted camera 12 is input to the control unit 20 and sent to the anti-glare means 18 . The illuminance measuring means 14 detects the illuminance of light incident on the vehicle-mounted camera 12 when an image is captured by the vehicle-mounted camera 12. You can use what you have installed. The measured illuminance data is input to the control unit 20 and sent to the antiglare means 18 .

Here, the acquired image data is temporarily recorded in a recording means such as a memory, and when it is sent to the anti-glare means 18 or when data processing or the like is performed by the control section 20, it is taken out from the recording means and transmitted. can be The same is true for the illuminance data.

The control unit 20 determines whether or not the outside of the vehicle is in a dazzling state when the image is captured, based on the input image data and illuminance data. For example, when the illuminance level of the input illuminance data is higher than a predetermined illuminance level, or when the video image quality of the input video data does not meet a predetermined level, it can be determined that the dazzle state is present. . Furthermore, in order to specify the situation more accurately, map data, GPS information, and vehicle-to-vehicle communication may be linked. Here, the judgment of being in the dazzling state includes the case where the in-vehicle camera 12 is abnormal and the dazzling state is not actually present.

The anti-glare means 18 is usually installed in front of the camera and adjusts the transmittance of the light incident on the vehicle-mounted camera 12. For example, a light control element whose transmittance can be changed by an applied voltage is used. In this embodiment, a light modulating element is used to change the transmittance of the light incident on the vehicle-mounted camera 12 according to the transmitted image data and illuminance data. When the transmittance is adjusted correctly in the dazzle state, that is, when the anti-glare level is properly adjusted, the image captured by the vehicle-mounted camera 12 is released from the dazzle state and has an appropriate brightness. The situation outside the car can be clearly recognized. Thus, proper adjustment of the transmittance of light incident on the vehicle-mounted camera 12 by at least the vehicle-mounted camera 12, the illuminance measuring means 14, the anti-glare means 18, and the control section 20 is called anti-glare control.

In a state where the transmittance of light incident on the in-vehicle camera 12 is reduced by the anti-glare means 18, the control unit 20 detects that the illuminance level is lower than a predetermined level and the transmittance is excessively reduced. When it is determined that the light is present, the antiglare means 18 is controlled so as to increase the transmittance.

When the controller 20 determines that the user is dazzled, the anti-glare means 18 reduces the transmittance of the light incident on the vehicle-mounted camera 12, thereby determining whether or not the image of the vehicle-mounted camera 12 changes. If so, it is determined that the in-vehicle camera 12 is normal, and anti-glare control and ADAS control are performed. When it is determined that the image of the vehicle-mounted camera 12 does not change, it is determined that the vehicle-mounted camera 12 is abnormal, and the control is switched to fail-safe control.

FIG. 2 is a flow chart of the vehicle ADAS control method of the present invention. While the vehicle is running under ADAS control, images are constantly acquired by the vehicle-mounted camera 12 and input to the control unit 20 (step S10). At the same time, the illuminance is continuously measured by the illuminance measuring means 14 built in the vehicle-mounted camera 12 (step S12), and the measured illuminance data is input to the control unit 20. FIG. Here, the illuminance measuring means 14 is not built in the in-vehicle camera 12, but may be installed separately outside.

Based on the input image data and the illuminance data, the control unit 20 determines whether the illuminance level of the illuminance data is higher than a predetermined illuminance level or when the image quality of the image data does not meet a predetermined level. (step S14: dazzling state determination step).

Next, when it is determined that the vehicle is in the dazzling state, it is determined whether or not the vehicle-mounted camera 12 is normal (step S16: vehicle-mounted camera state determination step). FIG. 3 shows the contents of "determine whether the camera is normal" in step S16. The control unit 20 controls the anti-glare means 18 based on the video data acquired by the vehicle-mounted camera 12 and the illuminance data measured by the illuminance measuring means 14 to reduce the transmittance of the light incident on the vehicle-mounted camera 12 (step S30). Next, it is determined whether or not the image of the vehicle-mounted camera 12 changes (step S32). If it does, it is determined that the vehicle-mounted camera 12 is normal. We judge that it is.

Returning to FIG. 2, when it is determined that the in-vehicle camera 12 is normal, anti-glare control is performed (step S18). In this anti-glare control, the optimal anti-glare level, that is, the transmittance of the light incident on the vehicle-mounted camera 12 is optimally set from the image data of the vehicle-mounted camera 12 and the illuminance data of the illuminance measuring means 14 . This optimum anti-glare level is determined, for example, from the video data and the level of illuminance (for example, 1 to 5, where 5 is high illuminance). rate is low) are collected in a table, and the control unit 20 may be configured to immediately determine from the acquired image data and the measured illuminance data.

In addition, in a state where the transmittance of light incident on the vehicle-mounted camera 12 is reduced by the anti-glare means 18 (anti-glare control), the control unit 20 reduces the illuminance level below a predetermined level, When it is judged that the transmittance has been lowered, the anti-glare means 18 is controlled so as to increase the transmittance.

After performing such anti-glare control, normal ADAS control is performed (step S22). On the other hand, when it is determined that the vehicle-mounted camera 12 is abnormal, fail-safe control (step S20) is performed.

According to the vehicle ADAS control system and ADAS control method of the present invention, the illuminance of the light incident on the vehicle-mounted camera 12 is changed by the anti-glare means 18 after the dazzling state is determined, and the image of the vehicle-mounted camera 12 changes. Since it is determined whether or not the vehicle-mounted camera 12 is normal depending on whether the vehicle-mounted camera 12 is normal or not, it is possible to quickly determine whether the vehicle-mounted camera 12 is normal or abnormal. Therefore, the anti-glare control and ADAS control performed thereafter guarantee that the vehicle-mounted camera 12 is normal, so the driver can drive the ADAS-controlled vehicle safely without anxiety.

The present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the scope of the present invention. For example, in the embodiments, the anti-glare means uses a light control element whose transmittance changes depending on the applied voltage, but it may be a light control film or light control glass.

REFERENCE SIGNS LIST 10 vehicle ADAS control system 12 in-vehicle camera 14 illuminance measuring means 18 anti-glare means 20 control unit

Claims (4)

An in-vehicle camera installed facing the outside of the vehicle,
illuminance measuring means for measuring the illuminance of light incident on the in-vehicle camera;
Anti-glare means for adjusting the transmittance of light incident on the in-vehicle camera;
a control unit that obtains data from the vehicle-mounted camera and the illuminance measuring means and adjusts and controls the anti-glare means;
Based on the illuminance data obtained by the illuminance measuring means or the image data obtained by the vehicle-mounted camera, the control unit determines whether or not there is a dazzling state in which proper data cannot be obtained, and controls the anti-glare means and ADAS. In a vehicle ADAS control system that switches between control and fail-safe control,
The control unit
When the glare state is determined, the anti-glare means reduces the transmittance of the light incident on the vehicle-mounted camera, thereby determining whether or not the image of the vehicle-mounted camera changes, and if it is determined that there has been a change. , the vehicle-mounted camera is determined to be normal, anti-glare control and ADAS control are performed, and if it is determined that the image of the vehicle-mounted camera does not change, the vehicle-mounted camera is determined to be abnormal and fail A vehicle ADAS control system characterized by switching to safe control. Determination of the dazzling state,
2. The dazzling state is determined when the illuminance level of the illuminance data is higher than a predetermined illuminance level, or when the video image quality of the video data does not meet a predetermined level. ADAS control system of the vehicle according to claim 1. The control unit
In a state where the transmittance of light incident on the vehicle-mounted camera is reduced by the anti-glare means, it is determined that the illuminance level is lower than the predetermined level and the transmittance is excessively reduced. 3. The vehicle ADAS control system according to claim 2 , wherein the anti-glare means is controlled so as to increase the transmittance when the light is on. An in-vehicle camera installed facing the outside of the vehicle,
illuminance measuring means for measuring the illuminance of light incident on the in-vehicle camera;
Anti-glare means for suppressing illuminance of light incident on the in-vehicle camera;
a control unit that obtains data from the vehicle-mounted camera and the illuminance measuring means and adjusts and controls the anti-glare means;
Based on the illuminance data obtained by the illuminance measuring means or the image data obtained by the vehicle-mounted camera, the control unit determines whether or not there is a dazzling state in which proper data cannot be obtained, and controls the anti-glare means and ADAS. In a vehicle ADAS control method that switches between control and fail-safe control,
The control by the control unit is
a dazzling state determination step of determining the dazzling state when the illuminance level of the illuminance data is higher than a predetermined illuminance level or when the image quality of the video data does not meet a predetermined level;
When it is determined that the vehicle is in the dazzling state, the illuminance of the light incident on the vehicle-mounted camera is changed by the anti-glare means, and it is determined whether or not the image of the vehicle-mounted camera changes as a result. an in-vehicle camera state determination step of determining that the in-vehicle camera is normal, and determining that the in-vehicle camera is abnormal if there is no change;
An ADAS control method for a vehicle, characterized by performing anti-glare control and ADAS control when it is determined that the vehicle-mounted camera is normal, and performing fail-safe control when it is determined that the vehicle-mounted camera is abnormal. .

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