JP7347612B1 - Vehicle control device and vehicle control method - Google Patents

Abstract

The present invention improves the accuracy of detecting the presence or absence of a characteristic area such as a puddle on a road surface and the position of the area. A vehicle control device 10 includes a spectrometer 11 that separates incident light incident in front of a vehicle into first incident light and second incident light; a first polarizing section 12 that passes the light polarized in the second direction; a second polarizing section 13 that passes the light polarized in the second direction perpendicular to the first direction among the second incident light; A first image capturing section 14 that images the light that has passed through the section 12, a second image capturing section 15 that images the light that has passed through the second polarizing section 13, a first image captured by the first image capturing section 14, An identification unit 171 that identifies a characteristic region on the road surface in front of the vehicle based on the difference with the second image taken by the second imaging unit 15 and identifies the position of the characteristic area; and a travel control unit 172 that controls the travel of the vehicle based on the position of the characteristic region. [Selection diagram] Figure 1

Description

The present invention relates to a vehicle control device and a vehicle control method.

BACKGROUND ART Conventionally, areas and positions where the road surface condition changes, such as puddles existing on the road surface in the direction of travel of a vehicle, are identified and the driving of the vehicle is controlled to avoid the areas. For example, Patent Document 1 discloses a technique for detecting water puddles and the like by comparing an image captured through a polarizing filter with an image captured without using a polarizing filter.

JP 2017-151121 Publication

When detecting a puddle or the like using the technology disclosed in Patent Document 1, depending on the polarization angle of the polarizing filter, there may be a difference between an image captured through the polarizing filter and an image captured without using the polarizing filter. There is a problem that the detection accuracy of water puddles and the like is lowered due to insufficient detection.

The present invention has been made in view of these points, and an object of the present invention is to improve the accuracy of detecting the presence or absence of a characteristic area such as a puddle on a road surface and the position of the area.

A vehicle control device according to a first aspect of the present invention includes a spectrometer that splits incident light incident from the front of the vehicle into first incident light and second incident light; a first polarizing section that passes light polarized in a first direction; and a second polarizing section that passes light that is polarized in a second direction perpendicular to the first direction among the second incident light. , a first imaging unit that images the light that has passed through the first polarizing unit, a second imaging unit that images the light that has passed through the second polarizing unit, and a first image captured by the first imaging unit. , a specifying unit that specifies a characteristic area on a road surface in front of the vehicle based on a difference with a second captured image captured by the second image capturing unit, and specifies the position of the characteristic area; and a travel control section that controls travel of the vehicle based on the identified position of the characteristic region.

The identifying unit may identify an area where the difference between the first captured image and the second captured image is greater than a predetermined value, and identify the characteristic area based on the shape of the identified area.
The specifying unit may specify the area as the characteristic area when the shape of the area where the difference is greater than or equal to a predetermined value is different from a predetermined shape.
The specifying unit may specify the type of road surface condition in the characteristic region based on the state of the difference.

The travel control section may control the travel of the vehicle based on the type of road surface condition specified by the identification section.
The travel control unit may control the travel of the vehicle so that the vehicle avoids the characteristic region.
The first imaging unit and the second imaging unit may image the passing light with the same exposure time.

A vehicle control device according to a second aspect of the present invention includes a first imaging unit configured to image light polarized in a first direction among incident light incident from the front of a vehicle to obtain a first captured image. , a second imaging unit configured to image light polarized in a second direction perpendicular to the first direction among the incident light to obtain a second captured image; The vehicle includes a specifying section that specifies a characteristic area on a road surface in front of the vehicle based on a captured image, and a notification section that makes a notification based on the characteristic area specified by the specifying section.

A vehicle control method according to a third aspect of the present invention is performed by a computer, and images light polarized in a first direction among first incident light separated from incident light incident in front of the vehicle. acquiring a first captured image, and acquiring a second captured image that captures light polarized in a second direction perpendicular to the first direction, out of the second incident light separated from the incident light; a step of identifying a characteristic region on the road surface in front of the vehicle based on the difference between the acquired first captured image and the second captured image, and specifying the position of the characteristic region; and controlling travel of the vehicle based on the identified position of the characteristic region.

A vehicle control method according to a fourth aspect of the present invention is performed by a computer, and captures light polarized in a first direction among incident light that enters from the front of the vehicle to obtain a first captured image. a step of capturing an image of light polarized in a second direction orthogonal to the first direction among the incident light to obtain a second captured image; and a step of capturing the first captured image and the second captured image. The method includes the steps of identifying a characteristic region on a road surface in front of the vehicle based on the image, and providing a notification based on the identified characteristic region.

According to the present invention, it is possible to improve the accuracy of detecting the presence or absence of a characteristic area such as a puddle on a road surface and the position of the area.

FIG. 2 is a diagram for explaining an overview of a vehicle control device. 3 is a flowchart showing an example of the flow of processing in the vehicle control device.

[Overview of vehicle control device 10]
FIG. 1 is a diagram for explaining an overview of the vehicle control device 10. As shown in FIG. The vehicle control device 10 is a computer that controls the running of a vehicle, such as a bus or a truck, when the vehicle is running in auto cruise mode, for example. The vehicle control device 10 identifies a characteristic region that satisfies a specific condition on a road surface on which a vehicle travels, and controls the traveling of the vehicle based on the position of the characteristic region. Note that the characteristic region is a region in which the road surface condition differs (changes) from other regions, and the characteristic region can also be expressed as a state change region.

As shown in FIG. 1, the vehicle control device 10 separates incident light that enters the vehicle from the front of the vehicle into first incident light and second incident light. The vehicle control device 10 generates a first captured image by capturing light polarized in a first direction among the first incident light, and generates a first captured image out of the second incident light polarized in the first direction. A second captured image is generated by capturing the light polarized in the second direction.

The vehicle control device 10 identifies a state change area, which is an area where the road surface condition changes, on the road surface in front of the vehicle based on the difference between the generated first captured image and second captured image, and identifies the state change area. The vehicle's movement is controlled based on the location of the vehicle.

Puddles, ice burns, oil, etc. formed on roads reflect light diffusely. The vehicle control device 10 generates a first captured image generated by capturing light polarized in a first direction, and a second captured image generated by capturing light polarized in a second direction orthogonal to the first direction. Based on the image, an area where light is diffusely reflected is identified as a state change area (characteristic area). By using an image obtained by capturing light polarized in directions perpendicular to each other, it is possible to more accurately identify the area where diffused reflection is occurring. Thereby, the vehicle control device 10 can improve the accuracy of detecting the presence or absence of the state change area and the accuracy of detecting the position of the state change area.

[Configuration of vehicle control device 10]
Next, the configuration of the vehicle control device 10 will be explained. The vehicle control device 10 is connected to a sensor 1 and an ECU 2, as shown in FIG.

Sensor 1 is a sensor that measures information regarding a vehicle. The sensor 1 may be composed of a plurality of sensors. The sensor 1 includes, for example, a speed sensor, an acceleration sensor, an accelerator sensor, a brake sensor, a steering sensor, and the like. The sensor 1 also includes a steering angle sensor used to detect that the driver is steering the vehicle. Further, the sensor 1 includes LiDAR (Light Detection and Ranging) and SRR (Short Range Radar).

ECU2 is a processor that controls the vehicle. The ECU 2 may be composed of one or more ECUs. The ECU 2 is, for example, an ECU provided in the vehicle, and includes an engine control ECU, a brake control ECU, a transmission control ECU, a power steering ECU, and the like. The ECU 2 controls the engine, brakes, transmission, and power steering in accordance with the control of the vehicle control device 10 when the vehicle is running in auto cruise mode.

As shown in FIG. 1, the vehicle control device 10 includes a spectroscopic section 11, a first polarizing section 12, a second polarizing section 13, a first imaging section 14, a second imaging section 15, and a storage section 16. , and a control unit 17. The control section 17 includes a specifying section 171 and a travel control section 172.

The spectroscopic section 11 is, for example, a half mirror, and is provided at the front of the vehicle. The spectrometer 11 spectrally spectrally injects incident light that enters the front of the vehicle into first incident light and second incident light.
The first polarizing section 12 and the second polarizing section 13 are, for example, polarizing plates. The first polarizing section 12 allows light polarized in a first direction to pass among the first incident light. The polarization axis of the second polarization section 13 is orthogonal to the polarization axis of the first polarization section 12, and among the second incident light, the light polarized in the second direction orthogonal to the first direction is passed. .

The first imaging unit 14 and the second imaging unit 15 are, for example, imaging devices. The first imaging unit 14 images the first passing light that has passed through the first polarizing unit 12 . The first imaging unit 14 sets the exposure time to several milliseconds to ten milliseconds, captures an image of the passing light at a predetermined frame rate, and generates a first captured image at a predetermined time interval. The first imaging unit 14 outputs the generated first captured image to the control unit 17.

The second imaging unit 15 images the second passing light that has passed through the second polarizing unit 13 . The second imaging section 15 images the second passing light with the same exposure time as the first imaging section 14 . Like the first imaging section 14, the second imaging section 15 sets the exposure time to several milliseconds to ten milliseconds, and images the second passing light at the same frame rate as the first imaging section 14. The second imaging unit 15 generates second captured images at the same time interval as the time interval at which the first imaging unit 14 generates the first captured images, and outputs the generated second captured images to the control unit 17. The second imaging unit 15 may image the second passing light at the same imaging timing as the first imaging unit 14 .

In this way, since the first imaging section 14 and the second imaging section 15 image the passing light with the same exposure time, no difference occurs in the area where diffused reflection does not occur between the first captured image and the second captured image. You can do it like this. Thereby, the vehicle control device 10 can suppress a region that does not have diffused reflection from being erroneously detected as a state change region. Furthermore, when the first imaging unit 14 and the second imaging unit 15 generate the first captured image and the second captured image at the same timing, the subject in the same state is captured, which further reduces the probability of false detection. Can be lowered.

The storage unit 16 is, for example, a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage unit 16 stores various programs for making the control unit 17 function. The storage unit 16 stores a program that causes the control unit 17 to function as the identification unit 171 and the travel control unit 172.

The control unit 17 is a calculation resource including a processor such as a CPU (Central Processing Unit) not shown. The control unit 17 functions as a specifying unit 171 and a travel control unit 172 by executing a program stored in the storage unit 16.

The identifying unit 171 determines whether the road surface condition changes on the road surface in front of the vehicle based on the difference between the first image captured by the first image capturing unit 14 and the second image captured by the second image capturing unit 15. A state change area that is a region is specified, and a position of the state change area is specified.

Specifically, first, the identifying unit 171 acquires the first captured image generated by the first imaging unit 14 at a predetermined time interval, and acquires the second captured image generated by the second imaging unit 15 at a predetermined time interval. Get by interval. Subsequently, the identifying unit 171 generates a difference image by calculating the difference in pixel values at the same coordinates between the acquired first captured image and the second captured image. Note that the first captured image and the second captured image used to generate the difference image are captured images that are captured at a predetermined time interval and are captured at the same timing or at timings that are temporally close to each other. do. The identifying unit 171 also identifies the area of the road surface in front of the vehicle based on the acquired first captured image, second captured image, or three-dimensional spatial information detected by LiDAR or SRR included in the sensor 1. do.

Subsequently, the identification unit 171 identifies an area in the difference image that satisfies a predetermined condition as a state change area. The identifying unit 171 identifies a region where there is a difference between the first captured image and the second captured image based on the difference image, and identifies a state change region based on the shape of the identified region. For example, the specifying unit 171 specifies a region whose pixel value exceeds a predetermined threshold value among the regions corresponding to the road surface in front of the vehicle in the difference image. The identifying unit 171 then identifies the shape of the identified region, and if the identified shape is different from a predetermined shape, identifies the region as a state change region. The identification unit 171 also identifies the position of the identified state change area on the road surface. For example, the identification unit 171 identifies the range of the state change region, the lateral position from the center of the lane, and the distance from the vehicle as the position of the state change region on the road surface. The predetermined shape is, for example, the shape of the area that appears in a captured image when an area on a road surface coated with a diffusely reflective material is imaged from a vehicle to alert the driver of a vehicle at an intersection or the like. The predetermined shape is, for example, a trapezoid, a rectangle, or a combination thereof.

For example, when the vehicle is traveling in auto cruise mode, the traveling control unit 172 controls the various ECUs 2 so that the vehicle travels at a predetermined speed within the lane in which the vehicle is traveling. When the identification unit 171 identifies the position of the state change area, the travel control unit 172 controls the travel of the vehicle based on the identified position of the state change area. For example, the driving control unit 172 controls the steering of the vehicle so that the vehicle avoids the state change area by controlling the power steering ECU included in each ECU 2 based on the position of the state change area. .

Further, the driving control unit 172 controls the engine control ECU, brake control ECU, and transmission control ECU included in the various ECUs 2 based on the position of the state change region specified by the specification unit 171. The speed of the vehicle may be controlled so that the vehicle travels at a speed lower than a predetermined speed at the position of the state change region.

Note that the driving control unit 172 may control the driving of the vehicle based on the type of road surface condition. In this case, first, the identification unit 171 may identify the type of road surface condition in the state change area based on the state of the difference between the first captured image and the second captured image. For example, images of road surface conditions corresponding to each of a plurality of types are captured in advance, and feature information indicating characteristics of a condition change region included in a difference image between the first captured image and the second captured image is extracted. Then, each of the plurality of types and the corresponding feature information are stored in the storage unit 16 in association with each other. Examples of the plurality of types include puddle, ice burn, and oil.

The identification unit 171 extracts feature information of the state change region identified based on the state of the difference between the first captured image and the second captured image, and is associated with feature information that matches or is similar to the extracted feature information. The type is specified as the type of road surface condition in the specified condition change area.

The driving control unit 172 may control the driving of the vehicle based on the type of road surface condition specified by the specifying unit 171. For example, if the type of road surface condition in the condition change area is oil or ice burn, the driving control unit 172 may cause the vehicle to behave unstable even if the speed is reduced. The speed of the vehicle and the steering angle of the vehicle may be controlled so that the vehicle avoids the position of the state change region and travels at a speed less than a predetermined speed at the timing when the vehicle passes through the state change region. Further, when the type of road surface condition in the state change area is a puddle, the driving control unit 172 reduces the speed and runs the vehicle, thereby allowing the vehicle to run stably and suppressing the occurrence of water splashing. Therefore, the speed of the vehicle may be controlled so that the vehicle travels at a speed less than a predetermined speed at the timing when the vehicle passes through the state change area. By doing so, the vehicle control device 10 can perform appropriate travel control for the specified type.

[Flow of processing in vehicle control device 10]
Next, the flow of processing in the vehicle control device 10 will be explained. FIG. 2 is a flowchart showing an example of the flow of processing in the vehicle control device 10. This flowchart shows the flow of processing when the vehicle is running in auto cruise mode.

First, the first imaging section 14 images the light polarized in the first direction out of the first incident light separated by the spectroscopic section 11 to generate a first captured image, and the second imaging section 15 generates a first captured image. Of the second incident light separated by the spectrometer 11, light polarized in a second direction orthogonal to the first direction is imaged to generate a second captured image (S1).
Subsequently, the identifying unit 171 generates a difference image between the first captured image and the second captured image generated in S1 (S2).

Subsequently, the identifying unit 171 determines whether a state change area exists on the road surface based on the difference image (S3). If the identification unit 171 determines that the state change area does not exist on the road surface (NO in S3), it moves the process to S4. In S4, the travel control unit 172 controls the various ECUs 2 so that the vehicle travels at a predetermined speed within the lane in which the vehicle travels.

When determining that the state change area exists on the road surface (YES in S3), the identification unit 171 moves the process to S5 and identifies the position of the state change area on the road surface. Subsequently, the driving control unit 172 controls the driving of the vehicle by controlling various ECUs 2 based on the position of the state change area (S6).

The driving control unit 172 determines whether driving in the auto cruise mode has ended (S7). If the driving control unit 172 determines that driving in the auto cruise mode has ended (YES in S7), it ends the process related to this flowchart, and if it determines that driving in the auto cruise mode has not ended (NO in S7). , the process moves to S1.

[Modified example]
In addition, in the above-mentioned embodiment, when the position of the state change area is specified, the vehicle control device 10 controls the running of the vehicle based on the position of the specified state change area, but the present invention is not limited to this. The vehicle control device 10 may further include a notification unit that notifies the driver of the vehicle of information regarding the state change area specified by the identification unit 171. In this case, the notification unit causes a display unit (non-display) provided in the vehicle to display warning information that indicates that a state change area exists in front of the vehicle and calls for caution in driving. By doing so, the driver can recognize the existence of the state change area and drive with caution. Further, in a vehicle equipped with a head-up display that overlaps a part of the driver's field of view in front of the vehicle, the notification unit may display the position of the state-change area on the head-up display based on the position of the state-change area specified by the identification unit 171. The position of the state change area may be notified to the driver by displaying a display indicating the state change area.

[Effects of this embodiment]
As described above, the vehicle control device 10 according to the present embodiment is configured to image the first incident light that is polarized in the first direction out of the first incident light that is split from the incident light that enters the front of the vehicle. One captured image and a second captured image obtained by capturing light polarized in a second direction perpendicular to the first direction out of second incident light separated from the incident light. The vehicle control device 10 determines a state change region, which is a region where the road surface condition changes on the road surface in front of the vehicle, and the position of the region, based on the difference between the acquired first captured image and the second captured image. The driving of the vehicle is controlled based on the position of the identified state change area. By doing so, the vehicle control device 10 can improve the accuracy of detecting the presence or absence of the state change area and the accuracy of detecting the position of the state change area.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. be. For example, all or part of the device can be functionally or physically distributed and integrated into arbitrary units. In addition, new embodiments created by arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiment resulting from the combination have the effects of the original embodiment.

1 sensor 2 ECU
10 Vehicle control device 11 Spectroscopic section 12 First polarizing section 13 Second polarizing section 14 First imaging section 15 Second imaging section 16 Storage section 17 Control section 171 Specification section 172 Travel control section

Claims (8)

a spectrometer that separates incident light incident from the front of the vehicle into first incident light and second incident light;
a first polarizing section that allows light polarized in a first direction to pass among the first incident light;
a second polarizing section that transmits light polarized in a second direction perpendicular to the first direction out of the second incident light;
a first imaging unit that images the light that has passed through the first polarizing unit;
a second imaging unit that images the light that has passed through the second polarizing unit;
Based on the difference between the first captured image captured by the first imaging unit and the second captured image captured by the second imaging unit, the difference between the first captured image and the second captured image is determined to be a predetermined amount. an identification unit that identifies an area as described above, and when the shape of the identified area differs from a predetermined shape, identifies the area as a characteristic area on the road surface in front of the vehicle, and specifies the position of the characteristic area; ,
a travel control unit that controls travel of the vehicle based on the position of the characteristic region specified by the identification unit;
A vehicle control device having: The identifying unit identifies the type of road surface condition in the characteristic region based on the state of the difference.
The vehicle control device according to claim 1. The driving control unit controls driving of the vehicle based on the type of the road surface condition specified by the specifying unit.
The vehicle control device according to claim 2 . The traveling control unit controls traveling of the vehicle so that the vehicle avoids the characteristic area.
The vehicle control device according to claim 1. The first imaging unit and the second imaging unit image the passing light at the same exposure time.
The vehicle control device according to claim 1. a first imaging unit that captures an image of light polarized in a first direction among incident light incident from the front of the vehicle to obtain a first captured image;
a second imaging unit that captures an image of light polarized in a second direction orthogonal to the first direction among the incident light to obtain a second captured image;
Based on the first captured image and the second captured image, a region in which the first captured image and the second captured image have a difference of a predetermined amount or more is identified, and the shape of the identified region is determined to be a predetermined shape. is different, an identification unit that identifies the area as a characteristic area on the road surface in front of the vehicle;
a notification unit that notifies a driver of the vehicle based on the characteristic region specified by the identification unit;
A vehicle control device having: computer executes
acquiring a first captured image of light polarized in a first direction out of first incident light separated from incident light incident in front of the vehicle;
Obtaining a second captured image of light polarized in a second direction perpendicular to the first direction out of the second incident light separated from the incident light;
Based on the difference between the acquired first captured image and the second captured image, a region where the first captured image and the second captured image have a difference of a predetermined amount or more is identified, and the shape of the identified region is determined. is different from a predetermined shape, identifying the area as a characteristic area on the road surface in front of the vehicle, and specifying the position of the characteristic area;
controlling travel of the vehicle based on the identified position of the characteristic region;
A vehicle control method having the following. computer executes
capturing an image of light polarized in a first direction among incident light incident from the front of the vehicle to obtain a first captured image;
A step of capturing an image of light polarized in a second direction perpendicular to the first direction among the incident light to obtain a second captured image;
Based on the first captured image and the second captured image, a region in which the first captured image and the second captured image have a difference of a predetermined amount or more is identified, and the shape of the identified region is determined to be a predetermined shape. is different, identifying the region as a characteristic region on the road surface in front of the vehicle;
Notifying the driver of the vehicle based on the identified characteristic region;
A vehicle control method having the following.

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