JPH0471000A - Situation recognizing device for vehicle - Google Patents

Abstract

PURPOSE:To inform a driver of danger ahead the vehicle by photographing slit light on the road projected according to the running speed of the vehicle and detecting obstacles, etc., in front of the vehicle while analyzing the shape and the change of the slit light extracted from photographed road picture. CONSTITUTION:The running speed of the vehicle is detected by a vehicle-speed detection means 11, and the slit light is projected on the road in front of the vehicle by a slit light projecting means 12. This slit light projecting means 12 changes the intensity of the light to be emitted or controls the wavelength of it according to the illuminance of the outside, and the slit light is projected on the road surface regardless of night or day. A slit light extraction means 14 extracts the slit light from the road picture photographed by a video camera 13, and an obstacle detection means 15 detects the obstacles by analyzing the shape of the extracted slit light. Further, an alarm is given to the driver by using sound and light by an alarm means 16. Thus, the danger, that the vehicle collides with the obstacle when the driver is not careful of the obstacle to the front, can be prevented.

Description

[Detailed description of the invention]

[000 month

[Industrial Application Field] The present invention relates to a vehicle situation recognition device mainly used for vehicles [0002] [Prior Art] As a conventional vehicle situation recognition device, for example, Japanese Patent Application Laid-Open No.
There is one described in Japanese Patent No. 53100. FIG. 26 shows a block diagram of a conventional vehicle situation recognition device. Figure 2
6, 261 is a slit light projection means, 262 is a control circuit section, 263 is a switch section, and 264 is a speedometer, and when the driver wants to know the distance to the preceding vehicle, by operating the switch section 263. A slit light is projected from the slit light projection means 261 onto the road at a distance in front of the vehicle determined by the control circuit section 262 according to the traveling speed of the vehicle detected in advance by the speedometer 264, and the projected slit light is transmitted to the driver himself. Determine the following distance by checking [0003]

[Problem to be solved by the invention]

However, in the above-mentioned devices, the device is activated by the driver's own operation, and safety must be confirmed by the driver himself, so it is an effective safety confirmation method for drivers who are driving vaguely or falling asleep while driving. It wasn't. The present invention solves the above-mentioned problems and provides a situation recognition device for a vehicle that can constantly monitor the front of the vehicle and notify the driver of danger in front of the vehicle by providing the device itself with a danger judgment function. The aim is toshitail. [0004]

[Means to solve the problem]

In order to achieve the above object, the present invention includes a vehicle speed detection means for detecting the traveling speed of the vehicle, and a slit that determines a projection distance according to the speed of the vehicle detected by the vehicle speed detection means and projects a slit light onto the road in front of the vehicle. a light projection means; an imaging means that determines an area to be imaged using information regarding a slit light projection distance of the slit light projection means and images a road area including the slit light projected onto the road by the slit light projection means; slit light extraction means for extracting the slit light on the road projected by the slit light projection means from the road image captured by the means; This is a situation recognition device for a vehicle, which includes an obstacle detection means for detecting an obstacle. [0005] Also, instead of the obstacle detection means, a vehicle situation recognition device including a road surface analysis means for analyzing the road surface condition from the shape of the extracted slit light, or instead of the obstacle detection means,
A vehicle situation recognition device equipped with a preceding vehicle detection means for detecting a preceding vehicle by analyzing changes in the shape of the extracted slit light; This is a situation recognition device for a vehicle, which includes a curve detection means for detecting a curve by analysis, and a danger judgment means for determining a dangerous state of the vehicle from changes in the curve. [0006]Furthermore, the vehicle situation recognition device further includes inter-vehicle distance detection means for detecting an inter-vehicle distance from the detected preceding vehicle's position in the image. [0007] The vehicle also includes a danger warning device that gives a warning to the driver when it is determined by the above means that the vehicle is in a dangerous state. [0008]

[Effect]

In the vehicle danger warning device of the present invention configured as described above, the slit light projected on the road according to the traveling speed of the vehicle is imaged by the imaging means, and the slit light is extracted from the imaged road image. By analyzing the shape and its changes, it can detect obstacles in front of the vehicle and issue a warning to the driver, reducing the danger to the vehicle. [0009]

【Example】

(Embodiment 1) A first embodiment of the vehicle danger warning device of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a vehicle danger warning system according to a first embodiment of Akira Kito. In the figure, reference numeral 11 denotes a vehicle speed detection means, which detects the running speed of the vehicle. A slit light projection means 12 projects a slit light onto the road in front of the vehicle. The slit light projection means 2 can project the slit light onto the road surface regardless of daytime or night by changing the intensity of the emitted light or controlling the wavelength of the emitted light according to the external illuminance. Reference numeral 13 denotes an imaging means, and in this embodiment, a video camera is used. This video camera 13 images a road area including the projected slit light. A slit light extraction means 14 extracts slit light from a road image captured by a video camera. Reference numeral 15 denotes an obstacle detection means, which detects obstacles by analyzing the shape of the extracted slit light. 1
6 is a warning means, which gives a warning to the driver using sound and light. Next, the operation of the vehicle danger warning system of this embodiment configured as described above will be explained with reference to the control flowchart shown in FIG. First, in step 21, it is determined whether the switch of the device is turned on. If the switch is not turned on, the process returns to step 21 with the alarm turned off in step 22, and if the switch is turned on, the process proceeds to step 23. Step 2
At step 3, vehicle speed detection processing is performed by the vehicle speed detection means 11. Vehicle speed can be easily obtained from a speedometer or the like. Next, the process proceeds to step 24, where the slit light projection means 12 projects the slit light onto the road in front of the vehicle. This slit light projection means can be realized, for example, with the configuration shown in FIG. change the distance. Generally, there is a relationship between the running speed of the vehicle and the safe stopping distance as shown in Fig. 4, and the slit light projection distance is determined so that the slit light is projected slightly ahead of this safe stopping distance. I can do it. Furthermore, in rainy weather, the stopping distance of the vehicle is longer than in normal times, so by equipping the vehicle with a raindrop sensor, it is also possible to project the slit light further forward than the standard projection distance in rainy weather. . In addition, by changing the width of the slit according to the distance to which the slit light is projected, it is possible to always project a constant width of slit light onto the road. The slit width can be changed by providing a slit adjustment section and linking it with the projection distance. With this, video camera 1
3 can be attached to any position, and even if the position of the video camera 13 is different, slit light of a constant width can be taken into the video camera 13. Next step 25
Then, a road image including the road area onto which the slit light is projected is captured from the video camera 13. At this time, if the positions of the video camera 13 and the slit light projection means 12 are fixed, the position of the slit light projected by the slit light projection means 11 in the image can be predicted in advance, so only the necessary parts are attached. It is possible to import it into the device. FIG. 5 is an example of a road image captured in this manner, showing how slit light is projected onto a two-lane road surrounded by a soundproof wall. Next, the process proceeds to step 26, where the slit light extraction means 14 performs slit light extraction processing. In this embodiment, the slit light extraction means 14 uses a 5 obel filter, which is an image filter for detecting horizontal edges, and can search for a band with high brightness within the image. Figure 6 is an example in which slit light is extracted from the road image shown in Figure 5, and the slit light is extracted as a portion projected onto the road surface and line segments a and C bent by the left and right walls. It shows the situation. Next, the process proceeds to step 27, where the obstacle detection means 15 performs obstacle detection processing. As in the example shown in FIG. 6, the slit light projected onto the road is extracted as a horizontal line segment within the image. In other words, in Fig. 6, the horizontal line segment represents the road surface, and when there are no obstacles on the road, it is extracted as a continuous line segment, but as in the example shown in Fig. 7, the horizontal line segment represents the road surface. If an obstacle exists, the line segment corresponding to the road surface of the slit light extracted from the obstacle becomes a line segment with discontinuous parts as shown in FIG. That is, obstacles on the road can be detected by monitoring the shape of horizontal line segments in the image. Next, the obstacle detection means 15
detects a discontinuous part in the horizontal line segment, and if it is determined in step 28 that there is an obstacle, a warning using sound, light, or display is given to the driver in step 29, and then the process returns to step 21. , if no discontinuous part is detected in the horizontal line segment and it is determined that there is no obstacle, step 2
After the alarm is turned off in step 2, the process returns to step 21. [0010] In this embodiment, obstacles on the road are automatically detected and the information is given to the driver, thereby avoiding the risk of the vehicle colliding with an obstacle without the driver noticing the obstacle ahead. It is possible to sufficiently improve the safety of the vehicle. [0011] (Embodiment 2) Next, a second embodiment of the vehicle situation recognition device of the present invention will be described with reference to the drawings. FIG. 9 is a block diagram of a vehicle situation recognition device according to an embodiment of the present invention. The configuration of the apparatus is such that a road surface analysis means 95 for analyzing the state of the road surface is provided in place of the obstacle detection means in the apparatus used in the first embodiment of the present invention. Next, the operation of the vehicle situation recognition apparatus of this embodiment configured as described above will be explained with reference to the control flowchart shown in FIG. Steps 101 to 106 are the same as steps 21 to 26 in the process flow in the first embodiment of the present invention. Next, in step 107, road surface analysis processing is performed by the road surface analysis means 95. FIG. 11 shows an example of a road image when there is a depression on the road surface, and FIG. 12 shows slit light extracted from the road image shown in FIG. 11. Here, if there is an abnormality such as a depression or a bump on the road surface, a discontinuous portion will occur in the portion of the slit light corresponding to the road surface as shown in FIG. determines in step 108 that there is an abnormality on the road surface, and in step 109 a warning is given to the driver. In this embodiment, the device automatically detects an abnormality on the road surface and issues a warning to the driver, thereby preventing the driver from noticing an abnormality on the road surface and causing the vehicle to fall into a dangerous situation. [0012] (Embodiment 3) Next, a third embodiment of the vehicle situation recognition device of the present invention will be described with reference to the drawings. FIG. 13 is a block diagram of a vehicle situation recognition device according to a third embodiment of the present invention. The configuration of the device is such that a preceding vehicle detecting means 135 for detecting a preceding vehicle is provided in place of the obstacle detecting means in the device used in the first embodiment of the present invention. Next, the operation of the vehicle situation recognition apparatus of this embodiment configured as described above will be described with reference to the control flowchart shown in FIG. Steps 141 to 146 are the same as steps 21 to 26 in the process flow in the first embodiment of the present invention. Next, in step 147, the preceding vehicle detection means 135 performs a preceding vehicle detection process. Fig. 15 shows an example of a road image when there is a vehicle ahead, Fig. 16 shows a road image when the distance between the preceding vehicle shown in Fig. 15 and the own vehicle becomes short, and Figs. The slit lights each extracted in the road image shown in FIG. 16 are shown. If a preceding vehicle is detected here, as shown in FIGS. 17 and 18, a discontinuous portion occurs in the portions of the slit light corresponding to the road surface. Therefore, first, when discontinuity of the slit light as shown in FIG. 17 is detected, the preceding vehicle detection means 13
5 stores this and compares it with the discontinuous portion of the slit light extracted from the road image captured in the next processing loop. At this time, if the length of the discontinuous portion of the slit light changes in the direction of increasing as shown in Fig. 18, it is determined that the distance between the vehicles in front and the preceding vehicle is decreasing, and the length of the discontinuous portion changes. If the predetermined threshold is exceeded, it is determined in step 148 that the preceding vehicle is approaching, and a warning is given to the driver in step 149. In this embodiment, the vehicle in front is automatically detected and a warning is given to the driver if the vehicle in front is approaching abnormally, so a safe distance between vehicles can be maintained at all times and collisions between vehicles can be avoided. can do. (Embodiment 4) Next, a fourth embodiment of the vehicle situation recognition device of the present invention will be described with reference to the drawings. FIG. 19 is a block diagram of a vehicle situation recognition device according to a fourth embodiment of the present invention. The device consists of curve detection means 195 for detecting road curves in place of the obstacle detection means in the device used in the first embodiment of the present invention, and risk determination means for determining the degree of danger of the vehicle from the detected curves. 196. Next, the operation of the vehicle situation recognition apparatus of this embodiment configured as described above will be explained with reference to the control flowchart shown in FIG. 20. Step 201 to Step 206
Up to this point, the same processing as steps 21 to 26 of the processing flow in the first embodiment of the present invention is performed. Next, in step 207, the curve detection means 195 detects a curve. FIG. 21 shows a diagram of a vehicle entering a curve as seen from directly above the road. In addition, A and B in FIG. 21 are shown in FIGS. 22 and 23.
Examples of road images captured at the location of , Figures 24 and 2
5 shows slit lights extracted from the road images shown in FIGS. 22 and 23. If the vehicle enters the curve straight as shown in Figure 21, then Figure 2
4 and 25, the horizontal line segment portions of the slit light corresponding to the road surface move in the direction of the curve, as shown in s and d. Therefore, by monitoring the direction and amount of movement of the portion corresponding to this road surface, it is possible to determine how far the vehicle has entered the curve. Next, in step 208, the danger judgment means 196
A risk judgment process is performed. This risk judgment method 1
96 determines that it is dangerous when the horizontal line segment of the slit light changes by a certain amount. And the result. If the vehicle is determined to be in a dangerous condition, a warning will be given to the driver. In this embodiment, the device automatically detects the degree to which the vehicle is entering the curve and issues a warning to the driver if the situation is dangerous. It can be prevented. [0014] In this embodiment, a warning is given to the driver when the vehicle approaches a curve and is in a dangerous situation, but it is also possible to issue a warning on the condition that the vehicle approaches a curve. good. [0015] Further, in the above embodiments, the warning means may be a sound, such as an audio signal or a siren, or a light, such as a head-up display configured on the windshield to give a curve warning or a rough road warning. It can be anything. [0016] (Embodiment 5) Next, a fifth embodiment of the vehicle situation recognition device of the present invention will be described with reference to the drawings. In this embodiment, an inter-vehicle distance measuring device of the vehicle situation recognition device will be described. FIG. 26 is a block diagram of an inter-vehicle distance measuring device according to an embodiment of the present invention. In the figure, 261 is a slit light projection means, which projects slit light onto the road in front or behind the vehicle. 262 is a video camera that images the road area including the projected slit light. 263 is a slit light extraction means, which extracts slit light from a road image captured by a video camera. 264 is a vehicle detection means, which detects a vehicle by monitoring the shape of the slit light. Reference numeral 265 denotes an inter-vehicle distance detection means, which detects an inter-vehicle distance between the own vehicle and a preceding vehicle or a following vehicle based on the detected position of the vehicle in the image. Next, the operation of the inter-vehicle distance measuring device of this embodiment configured as described above will be explained with reference to the control flowchart shown in FIG. 27. When the device is started, first in step 271, the projection distance of the slit light is reset and the angle of the slit light projection means 261 is adjusted so that the slit light is projected directly in front of or behind the own vehicle. Next, the process proceeds to step 272, in which slit light is projected onto the road from the slit light projection means 261. For example, the slit light projection means 261 is shown in FIG.
As shown in , it can be configured by a light source, a reflecting plate, and a slit width adjusting plate for adjusting the width of the slit light projected onto the road to be constant regardless of distance. Next, the process proceeds to step 273, where a road image including the slit light projected from the video camera 262 is captured. FIG. 28 shows an example of a road image captured. This example shows how slit light is projected onto a two-lane road surrounded by a soundproof wall. Next, the process proceeds to step 274, where slit light extraction processing is performed from the captured road image. FIG. 29 shows slit light extracted from the road image shown in FIG. 28. The slit light can be extracted as a band in the image using image processing techniques, and in the example in this figure, the horizontal line segment corresponding to the road surface and the lines a and C bent by the left and right walls. The slit light is extracted as a minute. Next, the process advances to step 275, where vehicle detection processing is performed. FIG. 30 shows an example where a vehicle exists in the road image captured in step 273, and FIG. 31 shows slit light extracted from the road image shown in FIG. 30. Figure 3
As shown in 1, if a vehicle exists at the position where the slit light is projected, a discontinuous point will occur on the line segment horizontal to the screen, which is the portion of the extracted slit light that corresponds to the road surface. Therefore, vehicles can be detected using this. Next, in step 276, it is determined whether a vehicle exists on the extracted slit light, and if no vehicle is detected, in step 277, the projection distance of the slit light is updated in a direction that is farther away from the own vehicle than it is currently. . The increments of the projection distance updated at this time are arbitrarily set predetermined values. In step 278, the updated projection distance value is compared with the preset upper limit of projection distance, and if the projection distance exceeds the upper limit, the process is concluded as no vehicle exists, and if it does not exceed the upper limit, the process proceeds to step 272. After returning and projecting the slit light to the updated projection distance, the processing from step 273 onwards is repeated. Also,
If it is determined in step 276 that a vehicle is present, the process proceeds to step 279, where inter-vehicle distance detection processing is performed. The inter-vehicle distance can be detected using the position of the slit light extracted within the road image. That is, FIG.
The distance from the bottom of the image of the slit light shown in corresponds to the depth in the real world, and since parameters such as the position, angle, and focal length of the video camera are known in advance, the distance in the image corresponds to the depth in the real world. It is easy to convert the distance to the actual following distance. As described above, in this embodiment, the inter-vehicle distance can be detected with high accuracy, and the detected information can be provided to the driver through a display or the like, or can be used as input to other devices. (Embodiment 6) Next, a fifth embodiment of the vehicle situation recognition device of the present invention will be described with reference to the drawings. In this embodiment as well, the inter-vehicle distance measuring device among the vehicle situation recognition devices will be explained. Figure 3
2 is a block configuration diagram of an inter-vehicle distance warning device in an embodiment of the present invention. The configuration of the device is such that the following distance measuring device in the device used in the fifth embodiment of the present invention includes a vehicle speed detecting means 326 for detecting the traveling speed of the own vehicle, and a vehicle speed detecting means 326 that detects the traveling speed of the own vehicle, and a vehicle distance that is detected based on the detected vehicle speed. This system includes an inter-vehicle distance determining means 327 for determining whether a safe inter-vehicle distance is maintained, and an alarm means 328 for giving a warning to the driver by sound, light, or display if a safe inter-vehicle distance is not maintained. Next, the operation of the inter-vehicle distance warning system of this embodiment configured as described above will be explained with reference to the control flowchart shown in FIG. 33. Steps 331 to 338 are similar to steps 271 to 278 in the processing flow in the fifth embodiment of the present invention. However, if the projection distance exceeds the upper limit of the set projection distance in step 338, the alarm is turned off in step 339 and the process continues in step 3.
After returning to step 31 and resetting the projection distance of the slit light, the processing from step 92 onwards is repeated. Further, if a vehicle is detected in step 336, step 33a proceeds to step 2 of the process in the fifth embodiment of the present invention.
Similarly to step 79, the inter-vehicle distance is detected, and further step 33
At step b, the vehicle speed detecting means 326 detects the traveling speed of the host vehicle. The traveling speed of the own vehicle can be easily obtained from a speedometer or the like. Next, in step 33c, the safe following distance is determined by the following distance determining means 327. The relationship between vehicle running speed and safe stopping distance is generally as shown in FIG. 4, and safety is determined from the vehicle running speed and inter-vehicle distance detected in step 33a and step 33b based on this relationship. Ru. ζ If the safe distance between vehicles is maintained, the warning is turned off in step 99 and the process returns to step 331; if the safe distance is not maintained, a warning is given to the driver in step 33d, and then the process returns to step 331. Return to In this embodiment, since a safe inter-vehicle distance is confirmed by the device, it is possible to reduce the risk of collision between vehicles. [0018] (Embodiment 7) Next, a seventh embodiment of the vehicle situation recognition device of the present invention will be described with reference to the drawings. In this embodiment as well, the inter-vehicle distance measuring device of the vehicle situation recognition device will be explained. Figure 3
4 is a block configuration diagram of an inter-vehicle distance warning device in an embodiment of the present invention. In the figure, 341 is a vehicle speed detection means that detects the running speed of the vehicle. 342 is a safe inter-vehicle distance determining means, which determines a safe inter-vehicle distance with respect to the traveling speed of the vehicle. A slit light projection means 343 projects a slit light onto the road ahead or behind by a safe inter-vehicle distance. 344 is a video camera that images the road area including the projected slit light. 345 is a slit light extraction means, which extracts the slit light projected from the captured road surface image. 346 is a vehicle detection means;
Vehicles are detected from the shape of the extracted slit light. 347 is a warning means, which gives a warning to the driver by sound, light, or display. Next, the operation of the inter-vehicle distance warning system of this embodiment configured as described above will be explained with reference to the control flowchart shown in FIG. 35. First, in step 351, vehicle speed detection processing is performed by the vehicle speed detection means 341. Vehicle speed can be easily obtained from a speedometer or the like. Next, the process proceeds to step 352, where the safe following distance determining means 342 determines the safe following distance. The safe inter-vehicle distance can be determined, for example, based on the relationship between the traveling speed of the vehicle and the safe stopping distance as shown in FIG. Next, the process proceeds to step 353, in which the slit light projection means 343 projects the slit light onto the road ahead or behind the own vehicle, which is the distance determined in step 352. Next, proceed to step 354;
An image of the road area including the slit light projected by the video camera 344 is captured. Then step 355
Step 3 is performed by the slit light extraction means 345.
Slit light extraction processing from the road image captured in step 54 is performed. Next, the process proceeds to step 356, where the vehicle detection means 346 performs vehicle detection processing. Vehicle detection can be performed by analyzing the shape of the slit light extracted in step 355. If a vehicle is present, a discontinuity will occur in the horizontal portion of the slit light, similar to the case shown in FIG. 31, and this can be used to detect the vehicle. Next, in step 357 it is determined whether a vehicle has been detected. If no vehicle is detected, the process returns to step 351 with the warning turned off in step 358; if a vehicle is detected, the process proceeds to step 359, and after the warning means 347 gives a warning to the driver, the process returns to step 351. In this embodiment, if there is another vehicle within a safe following distance of the own vehicle, a warning can be given to the driver and the driver can be alerted, so the driver can be unaware of the approaching vehicle. It is possible to avoid a situation where the operation becomes dangerous. [0019] As described above, in this embodiment, it is possible to automatically measure the inter-vehicle distance between the host vehicle and the preceding or following vehicle, and furthermore, by using that information, the driver can be informed of the safe inter-vehicle distance. Since it is possible to encourage the vehicle to hold the vehicle, it is possible to reduce the risk of a rear-end collision between vehicles. [0020]

【Effect of the invention】

As described above, the present invention can automatically detect various dangers encountered by vehicles traveling on the road and notify the driver, so that the vehicle may fall into a dangerous state due to the driver's carelessness, etc. It is possible to prevent situations from occurring and improve safety. [0021] Furthermore, since the situation is determined by analyzing the state of the slit light and its changes, the memory and processing time required for image processing can be reduced.

[Brief explanation of the drawing]

FIG. 1 is a block configuration diagram of a vehicle situation recognition device according to a first embodiment of the present invention.

[Figure 2] It is a flowchart of control in the first example of the present invention.

[Figure 3] It is a block diagram of a slit light projection means.

[Figure 4] FIG. 3 is a diagram showing the relationship between vehicle running speed and safe stopping distance.

[Figure 5] It is a road image diagram captured from a video camera.

6 is a diagram showing slit light extracted from the road image shown in FIG. 5. FIG.

[Fig. 7] A diagram showing an example in which an obstacle exists in a road image captured from a video camera.

8 is a diagram showing slit light extracted from the road image shown in FIG. 7. FIG.

FIG. 9 is a block configuration diagram of a vehicle situation recognition device according to a second embodiment of the present invention.

[Figure 10] It is a flowchart of control in the second example of the present invention.

FIG. 11 is a diagram showing an example of a road image captured from a video camera in which a depression exists on the road surface.

12 is a diagram showing slit light extracted from the road image shown in FIG. 11. FIG.

FIG. 13 is a block configuration diagram of a vehicle situation recognition device according to a third embodiment of the present invention.

[Figure 14] It is a flowchart of control in the third example of the present invention.

FIG. 15 is a diagram showing an example in which a preceding vehicle exists in a road image captured from a video camera.

16 is a road image taken from a video camera when the preceding vehicle in the road surface image shown in FIG. 15 approaches further; FIG.

17 is a diagram showing slit light extracted from the road image shown in FIG. 15. FIG.

18 is a diagram showing slit light extracted from the road image shown in FIG. 16. FIG.

FIG. 19 is a block diagram of a vehicle situation recognition device according to a fourth embodiment of the present invention.

FIG. 201 is a flowchart of control in the fourth embodiment of the present invention. FIG. 21 is a diagram showing how a vehicle approaches a curve.

FIG. 22 is a road image captured from a video camera at the position shown in FIG. 21;

23 is a road image taken from a video camera at position B shown in FIG. 21. FIG.

24 is a diagram showing slit light extracted from the road image shown in FIG. 22. FIG.

25 is a diagram showing slit light extracted from the road image shown in FIG. 23. FIG.

FIG. 26 is a block diagram of a vehicle situation recognition device according to a fifth embodiment of the present invention.

[Figure 27] It is a flowchart of control in the 5th Example of this invention.

[Figure 28] It is a road image diagram captured from a video camera.

29 is a diagram showing slit light extracted from the road image shown in FIG. 28. FIG.

FIG. 301 is a diagram showing an example of a road image captured from a video camera in which a preceding vehicle exists on the road. 31 is a diagram showing slit light extracted from the road image shown in FIG. 30. FIG.

FIG. 32 is a block configuration diagram of a vehicle situation recognition device according to a sixth embodiment of the present invention.

[Figure 33] It is a flowchart of control in the 6th example of this invention.

FIG. 34 is a block configuration diagram of a vehicle situation recognition device according to a seventh embodiment of the present invention.

[Figure 35] It is a flowchart of control in the 7th example of this invention.

[Figure 36] FIG. 1 is a block configuration diagram of a conventional device.

[Explanation of symbols]

11 Vehicle speed detection means 12 Slit light projection means 13 Video camera 14 Slit light extraction means 15 Obstacle detection means 16 Alarm means

【Document name】

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[Figure 4] knee light source b--one reflection c---Slit cap 1h bottom

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Claims (9)

[Claims] 1. Vehicle speed detection means for detecting the running speed of a vehicle; and determining a projection distance according to the speed of the vehicle detected by the vehicle speed detection means, controlling the angle of a light emitting surface, and controlling a projection distance in front of the vehicle. a slit light projection means for projecting a slit light onto a target position on the road; an area to be imaged is determined using information regarding the slit light projection distance of the slit light projection means; an imaging means for imaging a road area including slit light; a slit light extraction means for extracting slit light on the road projected by the slit light projection means from a road image taken by the imaging means; 1. A situation recognition device for a vehicle, comprising: obstacle detection means for detecting an obstacle on a road by analyzing the shape of the slit light extracted by the extraction means. 2. The vehicle situation recognition device according to claim 1, further comprising road surface analysis means for analyzing the road surface condition based on the shape of the slit light, in place of the obstacle detection means. 3. In place of the obstacle detection means, the present invention is characterized by having a preceding vehicle detection means for detecting an approaching preceding vehicle by storing the slit shape and analyzing changes in the shape of the slit light at regular intervals. The vehicle situation recognition device according to claim 1. 4. The vehicle according to claim 1, further comprising curve detection means for detecting curves by analyzing changes in the shape of slit light extracted from a captured road image, in place of the obstacle detection means. The vehicle situational awareness device described. 5. The vehicle situation recognition device according to claim 4, further comprising risk determining means for determining a dangerous state of the vehicle from a change in the curve detected by the curve detecting means. 6. In place of the obstacle detection means, the vehicle includes preceding vehicle detection means for detecting an approaching preceding vehicle by storing the slit shape and analyzing changes in the shape of the slit light at regular intervals. The vehicle situation recognition device according to claim 1. 7. The situation recognition device for a vehicle according to claim 6, further comprising inter-vehicle distance detection means for detecting an inter-vehicle distance from the detected preceding vehicle in the image. 8. Claim 1, characterized in that it has n slit light projection means (n is an integer of 2 or more) and n imaging means, and recognizes the situation at least forward or backward. 8. The vehicle situation recognition device according to any one of 7 to 9. 9. The vehicle situation recognition device according to claim 1, further comprising warning means for giving a warning to the driver.