JPH05313736A - Obstacle recognizing device for moving vehicle - Google Patents
Obstacle recognizing device for moving vehicleInfo
- Publication number
- JPH05313736A JPH05313736A JP4120790A JP12079092A JPH05313736A JP H05313736 A JPH05313736 A JP H05313736A JP 4120790 A JP4120790 A JP 4120790A JP 12079092 A JP12079092 A JP 12079092A JP H05313736 A JPH05313736 A JP H05313736A
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- Prior art keywords
- edge
- vehicle
- obstacle
- image
- horizontal
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- 230000001419 dependent effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Image Analysis (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は移動車両の障害物認識装
置、特に移動車両前方の障害物を検出する移動車両の障
害認識装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle recognizing device for a moving vehicle, and more particularly to a moving vehicle obstacle recognizing device for detecting an obstacle in front of a moving vehicle.
【０００２】[0002]
【従来の技術】従来、移動車両前方に位置する、例え
ば、他の車両等を認識する場合、その車両下部の影に基
づいて行なっている。つまり、車両により形成された影
と道路自体の明るさの違いに着目し、移動車両前方を撮
影した画像に対してエッジ抽出や２値化処理にて目的と
する影を検出することで、その影に対応する車両を認識
することが行なわれている（例えば、特開昭６４−７１
０９号公報）。2. Description of the Related Art Conventionally, when recognizing another vehicle or the like located in front of a moving vehicle, it is performed based on the shadow of the lower portion of the vehicle. In other words, by focusing on the difference between the shadow formed by the vehicle and the brightness of the road itself, the target shadow is detected by edge extraction or binarization processing in the image of the front of the moving vehicle. A vehicle corresponding to a shadow is recognized (for example, Japanese Patent Laid-Open No. 64-71).
09 publication).
【０００３】[0003]
【発明が解決しようとしている課題】しかしながら、上
記従来の障害物認識装置では、影を抽出できても、それ
が車両による影なのか、あるいは電柱等の構造物による
ものなのかの判別が難しいため、その判別のためにステ
レオ視等を用いなければならず、処理に膨大な時間がか
かるという問題がある。本発明は、かかる問題点に鑑み
て成されたもので、その目的とするところは、ステレオ
視によらずに車両前方の障害物を検出する移動車両の障
害物認識装置を提供することである。However, in the above-described conventional obstacle recognition device, it is difficult to determine whether the shadow is a shadow of a vehicle or a structure such as a utility pole, even if the shadow can be extracted. However, there is a problem in that a stereoscopic view or the like must be used for the determination, and that a huge amount of time is required for processing. The present invention has been made in view of the above problems, and an object thereof is to provide an obstacle recognition device for a moving vehicle that detects an obstacle in front of the vehicle without relying on stereo vision. ..
【０００４】[0004]
【課題を解決するための手段】上記の目的を達成するた
め、本発明は、外界認識のための画像入力装置を備え、
該画像入力装置からの画像をもとに車両前方の障害物を
検出する移動車両の障害物認識装置において、前記画像
入力装置からの画像に対して、画面の下方から上方へ走
査を行なって水平方向のエッジを検出するエッジ検出手
段と、前記エッジの幅が所定範囲内にある場合、該エッ
ジに基づいて画面上に所定の大きさのウインドを形成す
る手段と、前記ウインド内における水平エッジ量及び垂
直エッジ量を算出するエッジ量算出手段と、前記水平エ
ッジ量及び垂直エッジ量が所定値以上である場合、該エ
ッジをもとに障害物を検出する手段とを備える。好まし
くは、前記エッジ検出手段は、画像入力装置からの画像
より走行車線を検出し、該走行車線内にて画面の走査を
行なう。また、好ましくは、前記エッジ量算出手段は、
水平エッジ量及び垂直エッジ量として水平エッジ及び垂
直エッジを構成する画素の総数を求める。To achieve the above object, the present invention comprises an image input device for external environment recognition,
In an obstacle recognition device for a moving vehicle that detects an obstacle in front of the vehicle based on an image from the image input device, the image from the image input device is scanned horizontally from the bottom to the top of the screen. Edge detecting means for detecting an edge in a direction, means for forming a window of a predetermined size on the screen based on the edge when the width of the edge is within a predetermined range, and a horizontal edge amount in the window. And an edge amount calculating means for calculating a vertical edge amount, and a means for detecting an obstacle based on the edge when the horizontal edge amount and the vertical edge amount are equal to or more than a predetermined value. Preferably, the edge detecting means detects the traveling lane from the image from the image input device, and scans the screen within the traveling lane. Further, preferably, the edge amount calculation means is
As the horizontal edge amount and the vertical edge amount, the total number of pixels forming the horizontal edge and the vertical edge is obtained.
【０００５】[0005]
【作用】以上の構成において、ステレオ視を用いること
なく車両前方の障害物を認識するよう機能する。In the above structure, the function of recognizing an obstacle in front of the vehicle is achieved without using stereo vision.
【０００６】[0006]
【実施例】以下、添付図面を参照して本発明に係る好適
な実施例を詳細に説明する。図１は、本発明の実施例に
係る移動車両の障害物認識装置（以下、装置という）全
体の構成を示すブロック図である。同図において、カメ
ラ１は、不図示の車両上に設置され、車両前方の画像を
撮るカメラである。このカメラ１からの画像は、前方画
像として画像メモリ２に入力される。なお、カメラ１の
車両上での高さや傾きは、あらかじめ、後述する演算部
４に入力されている。画像メモリ２に蓄積された画像は
画像処理部３に入力され、そこで、例えば、２値化処理
によるエッジ処理を行なって、画像に含まれる影のエッ
ジ認識を行なう。そして、演算部４は、画像処理部３に
て抽出されたエッジの垂直、水平成分をもとに、そのエ
ッジが車両の影によるものか、あるいは、その他の物体
によるものかを判定する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a block diagram showing the overall configuration of an obstacle recognition device for a moving vehicle (hereinafter referred to as a device) according to an embodiment of the present invention. In FIG. 1, a camera 1 is a camera installed on a vehicle (not shown) and taking an image of the front of the vehicle. The image from the camera 1 is input to the image memory 2 as a front image. The height and the inclination of the camera 1 on the vehicle are input in advance to the calculation unit 4 described later. The image stored in the image memory 2 is input to the image processing unit 3, where, for example, edge processing by binarization processing is performed, and edge recognition of a shadow included in the image is performed. Then, the calculation unit 4 determines, based on the vertical and horizontal components of the edge extracted by the image processing unit 3, whether the edge is caused by the shadow of the vehicle or another object.
【０００７】次に、本実施例におけるエッジの認識方法
について、具体的に説明する。図２は、本実施例に係る
装置を構成するカメラ１にて車両前方を撮影した画像に
対して、エッジ抽出処理を行なう様子を模式的に示す図
である。また、図３は、本実施例に係る装置での障害物
認識の処理手順を示すフローチャートである。図３のス
テップＳ１で、画像処理部３は、カメラ１にて入力され
た画像に対して２値化処理によるエッジ処理、及び輝度
に基づいて道路端の白線を抽出する。これは、一般に白
線の輝度が道路よりも高いことを利用するもので、ここ
では、画像中において所定以上の輝度及び長さを有する
ものを白線とする。そして、ステップＳ２で、ステップ
Ｓ１で検出された白線２０（図２参照）内において、一
点鎖線で示す如く画面下から上方向に走査を行ない、画
面内での水平方向のエッジ抽出を行なう。Next, the edge recognition method in this embodiment will be specifically described. FIG. 2 is a diagram schematically showing how the edge extraction processing is performed on the image of the front of the vehicle taken by the camera 1 that constitutes the device according to the present embodiment. Further, FIG. 3 is a flowchart showing a processing procedure of obstacle recognition in the device according to the present embodiment. In step S1 of FIG. 3, the image processing unit 3 extracts the white line at the road edge based on the edge processing by the binarization processing and the brightness of the image input by the camera 1. This generally utilizes the fact that the brightness of the white line is higher than that of the road, and here, the line having the brightness and the length equal to or more than a predetermined level in the image is defined as the white line. Then, in step S2, within the white line 20 (see FIG. 2) detected in step S1, scanning is performed from the bottom to the top of the screen as indicated by the alternate long and short dash line to extract horizontal edges in the screen.
【０００８】つまり、白線２０にて示される走行可能領
域内に車両等が存在すれば道路上にはその影ができ、自
車両と前方車両とが同一平面上にあれば、その影のエッ
ジは水平エッジとして検出できる。具体的には、図２に
おいて、上記の画面走査により影１１の水平エッジ１２
が検出でき、その長さが所定範囲内にあれば、それは車
両により道路上に形成された影の水平エッジであると推
定する。そして、ステップＳ３では、影１１の水平エッ
ジ１２の中点ｙ0 を中心に、図中のｙ軸方向にＹｗ、ま
た、中点ｙ0 のｘ軸方向の位置をｘ0 として、それより
上方向にＸｗの大きさのウインド１０（図中、破線にて
示す）を形成する。ここでは、このウインドの大きさ
を、通常の車両による影の分布等を想定して、高さ２ｍ
×幅２ｍの領域を網羅するように設定する。That is, if a vehicle or the like exists within the drivable area indicated by the white line 20, the shadow is formed on the road, and if the own vehicle and the vehicle in front are on the same plane, the edge of the shadow is It can be detected as a horizontal edge. Specifically, in FIG. 2, the horizontal edge 12 of the shadow 11 is obtained by the screen scanning described above.
Is detected and its length is within a predetermined range, it is presumed to be a horizontal edge of the shadow formed on the road by the vehicle. Then, in step S3, centering on the midpoint y 0 of the horizontal edge 12 of the shadow 11, Yw is set in the y-axis direction in the figure, and the position of the midpoint y 0 in the x-axis direction is set to x 0. A window 10 having a size of Xw (shown by a broken line in the drawing) is formed in the direction. Here, the size of this window is assumed to be 2 m in height, assuming the distribution of shadows by a normal vehicle.
It is set so as to cover an area of × width 2 m.
【０００９】図４は、図２に示す車両前方を撮影した画
像に基づいて、ウインド１０内で抽出された影のエッジ
成分を示す図である。同図には、図２の前方車両１３の
車体外形及びテールランプによる垂直方向のエッジ２
２，２３、ナンバープレートによる垂直方向のエッジ２
４，２５、そして、車両上部の水平方向のエッジ２１と
車両１３の道路上の影の水平エッジ１２が示されてい
る。ステップＳ４では、これら水平、垂直方向の影のエ
ッジ成分のエッジ量を求める。すなわち、水平、垂直方
向の影のエッジ成分のエッジ量として、ウインド１０内
でのエッジを構成する画素の総数を求め、水平、垂直そ
れぞれの画素総数について、所定水平エッジ量をＥｈ、
所定垂直エッジ量をＥｖとしたとき、 Ｅｈ≧α’×Ｘｗ×Ｙｗ …（１） Ｅｖ≧α×Ｘｗ×Ｙｗ …（２） ただし、α’，αは定数 を満足するか否かを判定する。そして、水平、垂直方向
のエッジが上記の式（１），（２）を満たすときは、処
理をステップＳ５に進め、これらのエッジが前方障害物
によるものであるとして、影を形成しているものを障害
物候補とする。FIG. 4 is a diagram showing the edge components of the shadow extracted in the window 10 based on the image of the front of the vehicle shown in FIG. In the same figure, the vehicle body outline of the front vehicle 13 of FIG.
2, 23, vertical edge 2 by license plate
4, 25, and the horizontal edge 21 of the upper part of the vehicle and the horizontal edge 12 of the shadow of the vehicle 13 on the road are shown. In step S4, the edge amounts of the edge components of these horizontal and vertical shadows are obtained. That is, as the edge amount of the edge component of the shadow in the horizontal and vertical directions, the total number of pixels forming the edge in the window 10 is obtained, and the predetermined horizontal edge amount is Eh, for the total number of horizontal and vertical pixels.
When the predetermined vertical edge amount is Ev, Eh ≧ α ′ × Xw × Yw (1) Ev ≧ α × Xw × Yw (2) However, it is determined whether α ′ and α satisfy constants. .. Then, when the horizontal and vertical edges satisfy the above equations (1) and (2), the process proceeds to step S5, and these edges are assumed to be due to a front obstacle, and a shadow is formed. The thing is an obstacle candidate.
【００１０】ステップＳ６では、上記ステップＳ５で障
害物候補とされたものについての水平、垂直エッジの分
布の幅より、エッジ全体が車両特有の矩形を成すか否か
を判断する。そして、ステップＳ６での判定結果がＹＥ
Ｓであれば、続くステップＳ７で、上記の障害物候補を
車両と判断する。なお、上記の処理において、ウインド
１０内で影の水平エッジが検出されても、それが、例え
ば、電柱等の構造物の影であれば、その影の性質上、水
平エッジ量は所定値以上であっても、垂直エッジ量は所
定量以下となるので、ステップＳ４での判定はＮＯとな
る。つまり、車両の場合は、上述のようにナンバープレ
ートやテールランプ等、車両表面の凹凸による影が形成
され、その影については垂直エッジ成分が多い。他方、
車両以外の構造物の影については、垂直エッジ成分が少
ないので、結果として、影の垂直、水平エッジ量が所定
値を越えるか否かにより、障害物が車両であるかその他
の物体であるかの判定が可能となる。In step S6, it is determined whether or not the entire edge forms a rectangle peculiar to the vehicle, based on the width of the horizontal and vertical edge distributions of the obstacle candidate in step S5. Then, the determination result in step S6 is YE.
If it is S, in the subsequent step S7, the obstacle candidate is determined to be a vehicle. In the above process, even if a horizontal edge of the shadow is detected in the window 10, if it is a shadow of a structure such as a utility pole, the horizontal edge amount is equal to or more than a predetermined value due to the nature of the shadow. However, since the vertical edge amount is equal to or less than the predetermined amount, the determination in step S4 is NO. That is, in the case of a vehicle, a shadow due to the unevenness of the vehicle surface such as a license plate or a tail lamp is formed as described above, and the shadow has many vertical edge components. On the other hand,
As for the shadow of the structure other than the vehicle, since the vertical edge component is small, whether the obstacle is a vehicle or another object depending on whether the vertical and horizontal edge amount of the shadow exceeds a predetermined value as a result. Can be determined.
【００１１】ステップＳ８では、カメラ１にて撮影した
１画面について、上記の処理が終了したかどうかを判定
し、障害物の判定ができた場合、本処理を終える。以上
説明したように、本実施例によれば、車両前方を撮影し
た画像から、所定範囲内での影の水平、垂直エッジ量を
求め、それらが基準値を越えるかどうか、また、エッジ
が矩形を構成するかどうかを判断することで、車両前方
の障害物として前方車両の認識を、迅速かつ容易に行な
えるという効果がある。なお、上記実施例では、障害物
として一般の車両を想定し、それに合わせてウインドの
大きさを設定したが、トレーラの如く車高が高い車両の
認識をも可能にするため、ウインドの大きさを、例え
ば、２ｍ×２ｍ，２．５ｍ×２．５ｍ，３ｍ×３ｍのよ
うに段階的に変え、認識対象に応じて最適なウインドを
選択するようにしてもよい。In step S8, it is determined whether or not the above processing has been completed for one screen shot by the camera 1. If the obstacle can be determined, this processing is terminated. As described above, according to the present embodiment, the horizontal and vertical edge amounts of a shadow within a predetermined range are obtained from an image of the front of the vehicle, and whether or not they exceed a reference value and whether the edge is rectangular By deciding whether or not to configure the above, there is an effect that the front vehicle can be recognized as an obstacle in front of the vehicle quickly and easily. In the above embodiment, a general vehicle is assumed as an obstacle, and the size of the window is set accordingly. However, in order to enable recognition of a vehicle with a high vehicle height such as a trailer, the size of the window is May be changed stepwise such as 2 m × 2 m, 2.5 m × 2.5 m, 3 m × 3 m, and the optimum window may be selected according to the recognition target.
【００１２】[0012]
【発明の効果】以上説明したように、本発明によれば、
ステレオ視による処理を用いず画像のエッジ量に基づい
て障害物を検出することで、車両前方の障害物の認識を
短時間に、かつ容易に行なうことができるという効果が
ある。As described above, according to the present invention,
By detecting the obstacle based on the edge amount of the image without using the stereoscopic processing, there is an effect that the obstacle in front of the vehicle can be easily recognized in a short time.
【図１】本発明の実施例に係る移動車両の障害物認識装
置全体の構成を示すブロック図、FIG. 1 is a block diagram showing the overall configuration of an obstacle recognition device for a moving vehicle according to an embodiment of the present invention,
【図２】実施例に係る装置にて、車両前方を撮影した画
像に対するエッジ抽出処理を行なう様子を模式的に示す
図、FIG. 2 is a diagram schematically showing a state in which an edge extraction process is performed on an image obtained by photographing the front of the vehicle in the apparatus according to the embodiment;
【図３】実施例に係る装置での障害物認識の処理手順を
示すフローチャート、FIG. 3 is a flowchart showing a processing procedure of obstacle recognition in the apparatus according to the embodiment,
【図４】車両前方を撮影した画像に基づいて、ウインド
内において抽出された影のエッジ成分を示す図である。FIG. 4 is a diagram showing edge components of a shadow extracted in a window based on an image obtained by photographing the front of the vehicle.
１ カメラ ２ 画像メモリ ３ 画像処理部 ４ 演算部 １０ ウインド １１ 車両による影 １３ 前方車両 ２０ 道路端の白線 1 Camera 2 Image Memory 3 Image Processing Unit 4 Computing Unit 10 Window 11 Shadow by Vehicle 13 Forward Vehicle 20 White Line at Road Edge
Claims (3)
該画像入力装置からの画像をもとに車両前方の障害物を
検出する移動車両の障害物認識装置において、 前記画像入力装置からの画像に対して、画面の下方から
上方へ走査を行なって水平方向のエッジを検出するエッ
ジ検出手段と、 前記エッジの幅が所定範囲内にある場合、該エッジに基
づいて画面上に所定の大きさのウインドを形成する手段
と、 前記ウインド内における水平エッジ量及び垂直エッジ量
を算出するエッジ量算出手段と、 前記水平エッジ量及び垂直エッジ量が所定値以上である
場合、該エッジをもとに障害物を検出する手段とを備え
ることを特徴とする移動車両の障害物認識装置。1. An image input device for recognizing an external world is provided,
In an obstacle recognition device for a moving vehicle that detects an obstacle in front of a vehicle based on an image from the image input device, the image from the image input device is scanned horizontally from the bottom to the top of the screen. Edge detecting means for detecting an edge in a direction, means for forming a window of a predetermined size on the screen based on the edge when the width of the edge is within a predetermined range, and a horizontal edge amount in the window And an edge amount calculating means for calculating a vertical edge amount, and a means for detecting an obstacle based on the edge when the horizontal edge amount and the vertical edge amount are equal to or more than a predetermined value. Vehicle obstacle recognition device.
らの画像より走行車線を検出し、該走行車線内にて画面
の走査を行なうことを特徴とする請求項１に記載の移動
車両の障害物認識装置。2. The obstacle of the moving vehicle according to claim 1, wherein the edge detecting means detects a traveling lane from an image from the image input device and scans a screen in the traveling lane. Object recognition device.
及び垂直エッジ量として水平エッジ及び垂直エッジを構
成する画素の総数を求めることを特徴とする請求項１に
記載の移動車両の障害物認識装置。3. The obstacle recognition of a moving vehicle according to claim 1, wherein the edge amount calculation means obtains the total number of pixels forming the horizontal edge and the vertical edge as the horizontal edge amount and the vertical edge amount. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4120790A JPH05313736A (en) | 1992-05-13 | 1992-05-13 | Obstacle recognizing device for moving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4120790A JPH05313736A (en) | 1992-05-13 | 1992-05-13 | Obstacle recognizing device for moving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05313736A true JPH05313736A (en) | 1993-11-26 |
Family
ID=14795067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4120790A Withdrawn JPH05313736A (en) | 1992-05-13 | 1992-05-13 | Obstacle recognizing device for moving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05313736A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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