JPH01315899A - On-vehicle road information discriminating device - Google Patents

Abstract

PURPOSE:To assist driver's marker recognition and to prevent overlooking by recognizing a marker mechanically, and storing the marker in a storage means and displaying it on a display means adequately. CONSTITUTION:An object recognizing device 1 recognizes an object as an image by using light, an electromagnetic wave, etc., and an input signal is sent to a decision device 2 and discriminated. A judging device 24 compares data stored in a storage device 6 with the data from the decision device 2 to judge whether or not there is coincident data and sends a signal to a monitor 30 such as a CRT as a display means to display the marker at the same time; when there is no coincident data, marker data is stored newly in the storage device 6. Consequently, the driver is helped to recognize and judge the marker, etc., and prevented from overlooking or misrecognizing the marker.

Description

[Detailed description of the invention] <Industrial application field> The present invention relates to an on-vehicle road information identification device.

<Prior Art> With the spread of automobiles in recent years, a large amount of road information such as road signs has become available, increasing the burden on drivers and increasing the number of cases of overlooking or misreading road information. Furthermore, as expressways have become more popular, the number of cases of overlooking due to narrow field of vision when driving at high speeds has increased, and this has become one of the major causes of vehicle accidents.

In order to assist drivers in recognizing a large amount of road information, a device for mechanically recognizing road information has already been proposed in Japanese Patent Laid-Open No. 31231/1983. However, this device has problems such as the need to install large-scale equipment on the road side, such as outputting a signal from an information source such as a sign.

<Summary of the Invention> The present invention was made to solve the above-mentioned conventional problems, so there is no need to install new equipment on the road side, and it is possible to mechanically recognize the 8m road distance and use it. It is an object of the present invention to provide a device that stores information and displays it appropriately.

For this purpose, the in-vehicle road information identification device of the present invention includes:
an object recognition means installed toward the front of the vehicle; a means for determining a road sign based on the output of the object recognition means;
The basic feature is that it has a road information display means for reading road information from a storage means and displaying it on a display means, and a control means for storing information corresponding to the determined road sign in the storage means. .

<Example> Embodiments of the present invention will be described below based on the drawings.

In FIG. 1, an object recognition bag R1 recognizes an object as an image using means such as light or electromagnetic waves, and a signal inputted by this object recognition device 1 is sent to a discrimination device 2 for identification. . That is, the discrimination device R2 discriminates whether or not the image information obtained by the object V&identification device 1 is a road intersection iilJWIm, and sends the (i number) to the discrimination device 24.The discrimination device 24 stores the information in the storage device 6. Compare the data from the discrimination device 2 and determine whether there is a match,
At the same time, a signal is sent to a monitor 30 such as a CRT serving as a display means, so that the sign is displayed.

If there is no match, the indicator data is newly stored in the storage device 6. In this embodiment, the determination device 24 is coupled to the navigation device 3 and is configured to handle sign information in conjunction with the current position of the vehicle detected by the navigation device 3. Namely.

When the judgment device 24 inputs current position information from the navigation device 3 and receives a command to display a sign for that position stored in the storage device 6, it reads out the sign data from the storage device 6 and displays it on the monitor 30. It is configured as follows. At this time, from the navigation device 3, the monitor 3
A map is displayed at 0, and is configured to be displayed overlapping with the S map. The navigation device 3 has a map information storage medium 8, and is configured to display the map information stored in the map information storage medium 8 as a map on the monitor 30 according to a predetermined algorithm.

The determination device 24 also. At the same time, it controls a sound generating device 31, which is a warning means, and is configured to issue a warning when the Js identification information described above does not match the data in the storage device 6. The system is configured so that the driver or the like can select whether or not they wish to record new data in the storage device 6 based on this warning.

The operation of the above configuration will be explained with reference to FIG.

When the navigation device 3 is on, map information is displayed on the monitor 30 (steps 100, 101). At the same time, the determining device 24 reads the marker data corresponding to the current position from the navigation device 3 from the storage device 6 and imposes it on the monitor 30 (step 102).

Object recognition device i! 1 performs image recognition of an object in front of the vehicle and sends this signal to discrimination device 2 (step 103).
, the discrimination device 2 discriminates what the image is (Step 104), and if it is a road sign, sends a signal to the 1 discrimination device 24. The 0 discrimination device 24 discriminates the sign data already stored in the storage device 6. The data is compared with the JsR data input from the device R2 (step 105), and if there is no matching data (step 106), the sound generator 31 issues a warning (step 107). Then, check whether there is a desire to write to the storage device 6 or not.Step 1
08), if there is a desire, the a-identification data is newly stored in the storage device 6 (step 109).

Next, the structure and operation of the discriminating device 2 and the discriminating bag fi 24 will be explained in detail with reference to FIG.

In the block diagram of FIG. 3, an object recognition device 1 recognizes an object X as an image using an optical method or electromagnetic waves, and in this embodiment is mainly composed of a TV camera 10. The TV camera 10 is installed inside the hood of a vehicle, and is configured to display an image of an object X in front of the TV camera 10. This object recognition device 1 is provided with an actuator 5, and is movable vertically and horizontally by this actuator 5.

Further, the lens is configured such that its focal length or focal point position can be changed or adjusted.

The discrimination device 2 is composed of a microcomputer, etc., and includes an encoding device 20, a shape recognition device 21, and a discrimination device 2.
3 and a determination device 24.

The encoding device 20 is a device that encodes the image (i.e., the shape, color, and pattern) from the object recognition device 1.

The characters etc. are encoded and the signal is sent to the shape recognition device 21.
It is configured to send to.

The shape recognition device 21 inputs the encoded signal and compares the shape, color, pattern, characters, etc. with the data memory 22 stored in advance to determine what kind of image (41 identifications) the image is. Determine 0 For example, circular sl! There are many types of symbols, and if there is a white symbol on your land, the number will be narrowed down to a few. In this case, once the pattern of the white symbol is determined, the meaning of the sign is determined. Also, assistance! The system reads the letters and numbers shown on the ``s'' and provides data to determine whether the regulations are necessary information for the vehicle.

Auxiliary signs and the like are uniform in character, format, and expression format, so they can be read. The S identification signal identified by the shape recognition device 21 is sent to the discrimination device 23.

The discrimination device R23 compares the marker pattern corresponding to the Sa data with the contents of the previous input stored in the temporary memory 25. - If the contents of the memory 25 are the same, new information is searched. - If the contents are different from the contents of the - hour memory 25, a new 41 is added to the - hour memory 25.
9Im pattern is stored. Further, the 1 discriminating device 23 is configured to add supplementary information regarding this information from the data memory 22. Further, the 1 discriminator 23 is configured to output a command signal to the actuator 5 and move the TV camera 10 to obtain information when no information is input for a certain period of time.

In this embodiment, information such as vehicle speed information, travel distance, time, vehicle inclination, illuminance around the vehicle, course change, etc., from a vehicle information detection device R4 provided in the navigation device 3 is input to the discriminating device 23. When outputting a rotation command for the TV camera 10 to the actuator 5, the command is configured to take these conditions into consideration.1 For example, as the vehicle speed increases, a sign farther away is selected as a recognition target. The need arises. Therefore, it is necessary to make adjustments such as setting the focal length depending on the vehicle speed. In addition, the vehicle information detection device 4 uses a steering sensor, blinker,
Alternatively, it is configured to detect by inertial reading on the left and right sides.

Discrimination gear! The signal from 1t23 is sent to the judgment device 24.0 The judgment device 24 similarly receives information indicating the vehicle status from the vehicle information detection device 4, and collates and stores the sign data with the storage device 6. In addition, various other organic judgments are made based on this information. For example, when the identification signal ``No right turn 8-20J 4!llI'' is input from the discrimination device 23.

When the vehicle makes a course change, the current time is compared with the meaning of "8-20", and if it is within that time, a "right turn prohibited" signal is output.

Also, based on the vehicle speed from the vehicle information detection device 4, it is determined whether the current vehicle can safely turn right, etc., and the result is output.

The storage device 6 is configured to be able to store other information as appropriate in addition to the above-mentioned marker data.

Other memory contents of the storage device 6 are stored at fixed intervals or for a fixed mileage M based on information from the vehicle information detection device 4.
It is configured so that @ is deleted in the order of fortune telling. This configuration makes it possible to reduce the storage capacity of the storage device 6. The contents stored in the storage device 6 are configured to be read out by a command from an operating device (not shown) provided in the navigation device 3 and displayed on the monitor 30. This readout by the operating device may be random, but in this embodiment, the operating device is provided with an up button and a down button, and by this operation, the specified address can be sequentially increased or decreased and read out to the original number. has been done.

The monitor 30 is controlled by the navigation device 3, and is configured to be able to receive TV and switch display modes for displaying information from the navigation device 3 and the judgment device 24 by operating the operating device.

Next, the operation will be explained.

In FIG. 4, the 1 discrimination device 2 detects vehicle information from the vehicle information detection device R4 and drives the actuator 5 to adjust the direction, focus, etc. of the object recognition device 1 (step 4).
0.47), the object X is read (step 41), and the object X is identified by the discrimination device 2 (step 42).

A comprehensive judgment is made by the judgment device 24 based on the vehicle information from the vehicle information detection device 4 (step 43).

The result of this judgment is then announced on the monitor 30 or the like (step 44).

The adjustment operation of the object recognition device 1 will be explained with reference to FIG.

In this example, the operation of changing the course and adjusting the object recognition device 1 according to the vehicle inclination and vehicle speed will be explained. Needless to say, other vehicle conditions can be detected by the vehicle information detection device 4 as needed, and the i* of the object recognition device 1 can be performed accordingly. First, the first discrimination device 23 checks whether or not data has been input for a predetermined period of time from the vehicle information detection device 4 (step 48). If not, it determines that there has been a course change, and controls the actuator 5 to direct the left and right directions to the TV camera. to shake the head in the direction (step 49), and
Further, if no data is input within a predetermined period of time, the head is shaken up and down (steps 50 and 51). Next, the inclination of the vehicle is detected by the vehicle information detection device 4, this is compared with a preset reference value, and the TV camera is swung up and down by 6 degrees according to the inclination (steps 52 and 53). Next, the vehicle speed is detected from the vehicle information detection device 4, and the TV
Change the camera focal length (step 54.55.5)
7), and here, a decrease in illuminance outside the vehicle is detected by turning on and off the lights, and when the lights are on, it is determined that the illuminance has decreased, and the focal length is shortened (step 56).
57. 6) The discrimination device 23 inputs the N4 identification data recognized by the shape recognition device 21 with reference to FIG. data (step 59) and identify the marker data (step 60).
), and stores the corresponding marker pattern in the temporary memory 25 (step 61).At this time, it is checked whether the marker pattern is the same as the one stored in the temporary memory 25, and if it is the same, Control the actuator 5 to take another reading of iI&.

The +mm pattern is sent to the judgment device 24, and the judgment device 2
In step 4, a predetermined judgment is made.

Here, we will explain the case where the following operations are performed.

First, the judgment device 24 judges whether the sil is important or not (step 62).For example, it records in advance as important recognition such as (stop) (no entry), etc., which if non-compliance will immediately lead to an accident. If there is a match, the voice generator 31 performs voice synthesis and issues a voice warning (step 63).

At the same time, the pattern of the mark is displayed on the monitor 30. At this time, the monitor 30 is forcibly switched to the display mode (step 64), and if it does not match the important sign in step 62, it is checked whether the JsI & has a time element such as a time limit (step 65). If there is a time element, read the current time from the vehicle information detection device 4 and check whether it is within the time limit for the sign (step 66 and 67). If it is within the time limit, the important W indicator is read out. (step 68), the process returns to step 62. If it is outside the time limit, it is assumed that it is not important.Step 69
), if the monitor 30 is in display mode! The M Makoto pattern is displayed, and is not displayed if it is not in the display mode (steps 70.71.72).

The operation when controlling the speed according to the speed limit is explained in FIG. 7. The 0 determination device 24 inputs the vehicle speed from the vehicle speed sensor 26 and checks whether the vehicle speed has increased (step 73). If the speed limit is read out from the sign data (Step 74), it is determined whether or not the speed limit has been exceeded (Step 75). If the speed limit has been exceeded, the automatic brake device 28 or the auto cruise device is activated. 27, the speed of the vehicle is reduced, and a warning is issued by the sound generator W31 (step 76). When the speed becomes below the speed limit (step 77), the warning is stopped (step 78).

FIG. 8 shows the operation when a change in course is linked with a sign prohibiting a right turn. In this example, the vehicle information detection device 4 detects the lighting of the turn signal (step 79).
, if the light is on, the judgment device 24 indicates 4 to change course! Step 8
0), determine whether the route can be changed (step 8).
1) Is there a one-hour limit in cases where it is not possible to change course?

Check if within time limit step 82.8
3) A sound warning is issued by the sound generator 33- (step 84).

FIG. 9 shows the mode changing operation of the monitor 30.

The judgment device 24 checks whether the monitor 30 is in the display mode (step 85), and if it is in the display mode, checks whether there is a command to read data from the operating device (step 86). If the up button is pressed (step 87), it is checked whether the final data is being displayed (step 88), and if it is the final data, a notification is made to that effect and the up command is canceled (step 88). 89), if it is not the final command, the next data stored in the storage device 6 is displayed.

If the down button is pressed (step 91), check whether the first data is being displayed (step 92).
, if it is the first data, a notification to that effect is made and the final data is displayed. If it is not the first data of M, the previous data is displayed.

As explained above, in the above configuration, road signs are mechanically read and stored in the memory bag @6, and the navigation device 3
Since the vehicle is configured to be displayed on the C monitor 30 in conjunction with the above, it is possible to recognize the current position marker of the vehicle without visual inspection.

Therefore, it is possible to prevent accidents such as the driver's failure to understand S, and to promote safe driving.

In addition, in the above configuration, various other judgments are made and a display or warning to that effect is given, so that it is possible to assist the driver in recognizing and making judgments about signs, etc., and it is possible to prevent oversight or misreading. Furthermore, it is possible to promote safe driving by being able to compensate for the narrowing of the field of view during high-speed driving.

<Effects of the Invention> As explained above, the in-vehicle road information identification device of the present invention includes an object recognition means installed toward the front of the vehicle, and means for identifying a road sign based on the output of the object recognition means. , a road information display means for reading road information from a storage means and displaying it on a display means, and a control means for storing information corresponding to the determined road sign in the storage means, so that the S identification can be mechanically recognized. However, since it can be stored in the storage means and displayed on the display means as appropriate, it is possible to assist the driver in recognizing the sign and to act on his/her behalf.

[Brief explanation of the drawing]

FIG. 1 is a schematic block diagram showing one embodiment of the present invention, and FIG.
The figure is a flow chart diagram explaining the operation. Figure 3 is a block diagram showing the detailed configuration, Figures 4 to 9
The figure is a flowchart diagram explaining the operation. 1: Object recognition device, 2: Discrimination device, 3: Navigation device, 4: Vehicle information detection device, 5: Actuator,
6: Storage device, 8: Map information storage medium, 20: Encoding device, 21: Shape recognition device, 22: Data memory, 23:
Discrimination device, 24: Determination device, 25 Temporary memory, 30:
Monitor, 31: Sound generator. Patent Applicant Clarion Co., Ltd. Agent Patent Attorney Kiyoshi Takahashi and 1 other person Figure 5 Figure 6 Figure 7

Claims (1)

[Scope of Claims] An object recognition means installed toward the front of a vehicle, means for determining a road sign based on the output of the object recognition means, and a road for reading road information from a storage means and displaying it on a display means. An in-vehicle road information identification device comprising: information display means; and control means for storing information corresponding to the determined road sign in the storage means.