JPH06229759A - System for estimating distance and speed of preceding vehicle using image - Google Patents
System for estimating distance and speed of preceding vehicle using imageInfo
- Publication number
- JPH06229759A JPH06229759A JP1471793A JP1471793A JPH06229759A JP H06229759 A JPH06229759 A JP H06229759A JP 1471793 A JP1471793 A JP 1471793A JP 1471793 A JP1471793 A JP 1471793A JP H06229759 A JPH06229759 A JP H06229759A
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- Prior art keywords
- image
- vehicle
- width
- distance
- front vehicle
- Prior art date
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- Measurement Of Optical Distance (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は前方車両までの距離、速
度を推定する装置に関し、特に本発明では装置のコスト
低減化に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for estimating the distance and speed to a vehicle ahead, and more particularly to reducing the cost of the device.
【０００２】[0002]
【従来の技術】従来このような分野の技術としてＦＭ−
ＣＷ（周波数変調−連続波）ミリ波レーダを用いるのが
ある。これは送信信号に周波数変調し周波数偏移幅を三
角波の繰り返しにし、反射波信号と送信信号とのビート
信号をとり、このビート信号を周波数分析しドプラ効果
を利用して、前方車両との距離、速度を求めるものであ
る。またカメラを用いるものがあり、これはカメラから
の画像を取り込み、画像を処理した画像情報から、例え
ば、２台のカメラを用いステレオ視による計測により前
方車両との距離、速度を求めるものがある。さらに単眼
カメラによる場合には、道路形状を利用して距離、速度
を測定するものがある。2. Description of the Related Art Conventionally, FM-
There is a CW (frequency modulation-continuous wave) millimeter wave radar. This is frequency modulation of the transmission signal, the frequency shift width is repeated triangular wave, the beat signal of the reflected wave signal and the transmission signal is taken, the frequency analysis of this beat signal and the Doppler effect are used, and the distance to the vehicle in front , To find the speed. There is also a camera which captures an image from the camera and calculates the distance and speed to the vehicle in front from the image information obtained by processing the image, for example, by stereoscopic measurement using two cameras. . Further, in the case of using a monocular camera, there is one that measures a distance and a speed by using a road shape.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、従来の
前方距離速度推定装置では、ＦＭ−ＣＷミリ波レーダに
よる場合にはコスト高であるという問題がある。またス
テレオ視によるカメラによる場合には精度は比較的高い
が高価であり、キャリブレーションが難しいという問題
がある。さらに単眼カメラによる場合には低廉である
が、精度が悪く、特にカーブや登り、下りでは使えない
という問題がある。However, the conventional forward distance / velocity estimation device has a problem that the cost is high when the FM-CW millimeter wave radar is used. Further, when using a stereoscopic camera, the accuracy is relatively high but it is expensive, and there is a problem that calibration is difficult. Furthermore, the cost is low when using a monocular camera, but the accuracy is poor, and there is the problem that it cannot be used especially on curves, climbs, and descents.
【０００４】したがって本発明は上記問題点に鑑みコス
トを低減できる画像を用いた前方車両の距離速度推定装
置を提供することを目的とする。Therefore, in view of the above problems, it is an object of the present invention to provide an apparatus for estimating the distance and speed of a forward vehicle using an image which can reduce the cost.
【０００５】[0005]
【課題を解決するための手段】本発明は前記問題点を解
決するために、前方車両との距離、速度を推定するため
に画像を用いた前方車両の距離速度推定装置に、画像抽
出部、前方車両幅検出部及び距離速度算出部を設ける。
前記画像抽出部は車両に搭載された１台のカメラからの
画像データに基づき前方車両のリャビュー及び道路の形
状の画像情報を抽出するようにしてある。In order to solve the above-mentioned problems, the present invention provides a distance / velocity estimation apparatus for a front vehicle using an image for estimating a distance and a speed with respect to a front vehicle, an image extraction unit, A front vehicle width detection unit and a distance speed calculation unit are provided.
The image extraction unit is configured to extract image information of the rear view of the vehicle ahead and the shape of the road based on the image data from one camera mounted on the vehicle.
【０００６】前記前方車両幅検出部は各種車両のリャビ
ューの形状、車幅を事前に記憶し、前記画像情報から得
られた前方車両のリャビューの形状と比較し、一致した
車両の幅を前方車両の幅として検出するようにしてあ
る。前記距離速度算出部は該前方車両幅検出部で得られ
た前方車両の幅、前記画像抽出部の画像情報に基づき画
像の横方向の全画素数、前方車両が画像中に占める横方
向画素数さらにカメラの水平画角を用いて前方車両と距
離及び速度を算出するようにしてある。The front vehicle width detection unit stores the rearview shapes and vehicle widths of various vehicles in advance, compares them with the rearview shapes of the front vehicle obtained from the image information, and determines the matched vehicle widths to the front vehicle. The width is detected as. The distance / speed calculator calculates the width of the front vehicle obtained by the front vehicle width detector, the total number of pixels in the horizontal direction of the image based on the image information of the image extractor, and the number of pixels in the horizontal direction of the front vehicle in the image. Further, the horizontal angle of view of the camera is used to calculate the distance and speed with respect to the vehicle ahead.
【０００７】また、前記前方車両検出部は幅が一定であ
る高速道路の幅と前方車両の幅の画素数比に基づき前方
の車両の幅を検出するようにしてもよい。Further, the front vehicle detecting section may detect the width of the front vehicle based on the pixel number ratio of the width of the expressway and the width of the front vehicle having a constant width.
【０００８】[0008]
【作用】本発明の画像を用いた前方車両の距離速度推定
装置によれば、車両に搭載された１台のカメラからの画
像データに基づき前方車両のリャビュー及び道路の形状
の画像情報が抽出され、各種車両のリャビューの形状、
車幅が事前に記憶され、前記画像情報から得られた前方
車両のリャビューの形状と比較され、一致した車両の幅
が前方車両の幅として検出され、得られた前方車両の
幅、画像情報に基づき画像の横方向の全画素数、前方車
両が画像中に占める横方向画素数さらにカメラの水平画
角が用いられ前方車両と距離及び速度が算出されること
により、従来よりもコストを低減でき、簡単な計算で前
方車両との距離、速度が得られるようなった。さらに、
幅が一定である高速道路の幅と前方車両の幅の画素数比
に基づき前方の車両の幅が検出されることにより、高速
道路上のように道路幅が一定の場合には構成をより簡単
化できる。According to the distance / velocity estimation apparatus for a front vehicle using the image of the present invention, image information of the front view of the front vehicle and the road view is extracted based on the image data from one camera mounted on the vehicle. , The shape of various vehicles
The width of the vehicle is stored in advance and compared with the shape of the rear view of the front vehicle obtained from the image information, and the width of the matched vehicle is detected as the width of the front vehicle. Based on the total number of pixels in the horizontal direction of the image, the number of pixels in the horizontal direction that the front vehicle occupies in the image, and the horizontal angle of view of the camera, the distance and speed are calculated with the front vehicle, and the cost can be reduced compared to the conventional method. , The distance and speed to the vehicle in front can be obtained by a simple calculation. further,
Width is constant The width of the vehicle ahead is detected based on the pixel ratio of the width of the highway and the width of the vehicle in front, making the configuration easier when the road width is constant, such as on an expressway. Can be converted.
【０００９】[0009]
【実施例】以下本発明の実施例について図面を参照して
説明する。図１は本発明の実施例に係る画像を用いた前
方車両の距離速度推定装置の概略を示す図である。本図
に示す画像を用いた前方車両の距離速度推定装置は、車
両に搭載され、車両の前方で上部に設けられ前方車両を
一定の視野でのぞむ１台のカメラ１と、該カメラ１から
の画像データを取り込み該画像データに基づき前方車両
の距離速度を求める画像処理をおこなう画像処理部２を
具備する。なお、カメラ１は、例えば、固体撮像素子で
あるＣＣＤ（Charge Coupled Device)であり、画素単位
で情報が得られるものを用いる。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an outline of a distance / velocity estimation apparatus for a forward vehicle using an image according to an embodiment of the present invention. An apparatus for estimating a distance and speed of a front vehicle using an image shown in this figure is mounted on a vehicle, is provided at an upper portion in front of the vehicle, and has one camera 1 looking at the front vehicle with a constant field of view, and a camera 1 from the camera 1. An image processing unit 2 is provided which takes in image data and performs image processing for obtaining the distance speed of a vehicle ahead based on the image data. Note that the camera 1 is, for example, a CCD (Charge Coupled Device) that is a solid-state image sensor, and uses a camera that can obtain information in pixel units.
【００１０】図２は図１の画像処理部２の構成を示すブ
ロック図である。本図に示す画像処理部２は、カメラ１
からの画像データを取り込んで、道路形状、前方車両形
状の画像情報を抽出する画像抽出部２１と、該画像抽出
部２１により抽出された道路形状及び前方車両形状の画
像情報に基づき前方車両の幅を検出する前方車両幅検出
部２２と、前記画像抽出部２１により抽出された道路形
状及び前方車両形状の画像情報及び前記前方車両幅検出
部２２により検出された前方車両幅に基づき前方車両と
の距離、速度を算出する距離速度算出部２３を具備す
る。FIG. 2 is a block diagram showing the configuration of the image processing unit 2 of FIG. The image processing unit 2 shown in the drawing is a camera 1
An image extraction unit 21 that takes in image data from the vehicle and extracts image information of a road shape and a front vehicle shape, and a width of the front vehicle based on the image information of the road shape and the front vehicle shape extracted by the image extraction unit 21. The front vehicle width detection unit 22 for detecting the front vehicle width based on the road shape and the front vehicle shape image information extracted by the image extraction unit 21 and the front vehicle width detected by the front vehicle width detection unit 22. A distance / velocity calculation unit 23 for calculating distance and speed is provided.
【００１１】図３は図２の画像抽出部２１により抽出さ
れる道路形状及び前方車両形状の画像情報を説明する図
である。本図に示すように、前方車両幅検出部２１では
カメラ１からの画像データに基づき、既存のエッジ抽出
技術により道路の白線（レーン）、前方車両のリヤビュ
ーをそれぞれ画素単位で抽出した道路形状、前方車両の
形状の画像情報が求められる。ここに画像抽出部２１に
より抽出される画像の横方向の全画素数をＷとする。FIG. 3 is a diagram for explaining the image information of the road shape and the shape of the forward vehicle extracted by the image extracting unit 21 of FIG. As shown in the figure, the front vehicle width detection unit 21 extracts the white line (lane) of the road and the rear view of the front vehicle in pixel units by the existing edge extraction technology based on the image data from the camera 1, Image information of the shape of the vehicle ahead is sought. Here, the total number of pixels in the horizontal direction of the image extracted by the image extraction unit 21 is W.
【００１２】次に前記前方車両幅検出部２２には、前方
の車両幅を検出する方法には２種類あり、第１の方法で
は対応する車両の画像（リアビュー）に関する画像デー
タ、車幅を事前に例えば、各種の小型乗用車、大型乗用
車、各種トラック、各種バス保有し、これらの保有画像
データ、車幅と前記画像抽出部２１で抽出された画像
（リアビュー）との比較により前方の車両が特定され、
前方車両が特定されれば、その車両幅が自明であるの
で、前方の車両の幅が検出されることになる。Next, the front vehicle width detection unit 22 has two types of methods for detecting the front vehicle width. In the first method, the image data of the corresponding vehicle image (rear view) and the vehicle width are detected in advance. For example, various small passenger cars, large passenger cars, various trucks, various buses are held, and the front vehicle is specified by comparing the held image data, vehicle width and the image (rear view) extracted by the image extraction unit 21. Is
If the vehicle ahead is specified, the width of the vehicle ahead is detected because the vehicle width is obvious.
【００１３】第２の方法では、道路幅は、道路を高速道
路に限定すると、一車線の幅は３．５ｍ又は３．７５ｍ
で一定である。道路幅と車幅の画素数比により前方の車
両の幅を推定できる。この場合、対象とする道路を高速
道路として前記前方車両幅検出部２２の構成の簡単化を
図ることができる。この画素数の比較方法は後述のよう
に行われる。このようにして得られる前方の車両の幅を
αとする。In the second method, if the road is limited to a highway, the width of one lane is 3.5 m or 3.75 m.
It is constant at. The width of the vehicle ahead can be estimated from the ratio of the number of pixels between the road width and the vehicle width. In this case, it is possible to simplify the configuration of the front vehicle width detection unit 22 by setting the target road as a highway. This pixel number comparison method is performed as described below. The width of the front vehicle thus obtained is α.
【００１４】図４は図１の距離速度算出部２３において
前方の距離、速度を算出する方法を説明する図である。
本図（ａ）では、自車のカメラ１からターゲット車（前
方車両）までの距離をｙ1 とし、距離ｙ1 先でのカメラ
１（ＣＣＤ）の全水平画幅をｘ1 とし、カメラ１の水平
画角をθ（カメラの仕様が決まれば一定）とし、ターゲ
ット車が画像中に占める横方向画素数をＰA とすると、
次式により距離ｙ1 が算出される。FIG. 4 is a diagram for explaining a method of calculating the distance and speed in front of the distance / speed calculator 23 in FIG.
In this figure (a), the distance from the camera 1 of the own vehicle to the target vehicle (front vehicle) is y1, the total horizontal field of view of the camera 1 (CCD) at the distance y1 is x1, and the horizontal field angle of the camera 1 is Is θ (constant if the camera specifications are fixed), and PA is the number of horizontal pixels that the target vehicle occupies in the image.
The distance y1 is calculated by the following equation.
【００１５】ｙ1 ＝１／２・×１・（ｔａｎθ／２）-1 ＝（Ｗ・α／２ＰA ）（ｔａｎθ／２）-1 図４（ｂ）では図（ａ）の自車及び前方の車両（ターゲ
ット車）の配置から単位時間ｕ後のそれらの配置が示さ
れている。この場合、前方車両との距離をｙ2、距離ｙ2
先でのカメラ１の全水平幅をｘ2 とし、 ｘ1 ＜ｘ2 、 ｙ1 ＜ｙ2 、 とすると、 ｙ1 ＝（Ｗ・α／２ＰA ）（ｔａｎθ／２）-1 であり、速度は以下のようにして求まる。Y1 = 1 / 2 × 1 (tan θ / 2) -1 = (Wα / 2PA) (tan θ / 2) -1 In FIG. 4 (b), the vehicle of FIG. The arrangement of the vehicle (target vehicle) after unit time u is shown. In this case, the distance to the vehicle ahead is y2, and the distance y2
If the total horizontal width of the camera 1 is x2, and x1 <x2, y1 <y2, then y1 = (W · α / 2PA) (tan θ / 2) −1 and the speed is as follows. I want it.
【００１６】（ｙ2 −ｙ1 ）／ｕ＝（Ｗ・α／２）（１
／ＰA −１／ＰB ）（ｔａｎθ／２） したがって、簡単な計算で車両の速度と距離が高速に推
定できる。なお、道路のカーブでは精度が落ちるが、登
りや下りでも使用できることになる。(Y2-y1) / u = (W.α / 2) (1
/ PA −1 / PB) (tan θ / 2) Therefore, the speed and distance of the vehicle can be estimated at high speed by simple calculation. The accuracy will be lower on the curve of the road, but it can be used for climbing and descending.
【００１７】[0017]
【発明の効果】以上説明したように本発明によれば、車
両に搭載された１台のカメラからの画像データに基づき
前方車両のリャビュー及び道路の形状の画像情報を抽出
し、各種車両のリャビューの形状、車幅を事前に記憶
し、画像情報から得られた前方車両のリャビューの形状
と比較し、一致した車両の幅を前方車両の幅として検出
し、得られた前方車両の幅、画像情報に基づく画像の横
方向の全画素数、前方車両が画像中に占める横方向画素
数さらにカメラの水平画角を用いて前方車両と距離及び
速度を算出するので、従来よりもコストを低減でき、簡
単な計算で前方車両との距離、速度を得ることができ
る。さらに、高速道路上のように道路幅が一定の場合に
は構成をより簡単化できる。As described above, according to the present invention, the rear view of various vehicles is extracted by extracting the rear view of the vehicle ahead and the image information of the shape of the road based on the image data from one camera mounted on the vehicle. The shape and width of the vehicle are stored in advance and compared with the shape of the rear view of the forward vehicle obtained from the image information, and the width of the matched vehicle is detected as the width of the forward vehicle. The total number of horizontal pixels of the image based on the information, the number of horizontal pixels that the front vehicle occupies in the image, and the horizontal angle of view of the camera are used to calculate the distance and speed with the front vehicle, so the cost can be reduced compared to the past. , It is possible to obtain the distance and speed to the vehicle ahead by a simple calculation. Further, when the road width is constant, such as on an expressway, the structure can be simplified.
【図１】本発明の実施例に係る画像を用いた前方車両の
距離速度推定装置の概略を示す図である。FIG. 1 is a diagram schematically showing a distance / velocity estimation apparatus for a forward vehicle using an image according to an embodiment of the present invention.
【図２】図１の画像処理部２の構成を示すブロック図で
ある。FIG. 2 is a block diagram showing a configuration of an image processing unit 2 in FIG.
【図３】図２の画像抽出部２１により抽出される道路形
状及び前方車両形状の画像情報を説明刷る図である。FIG. 3 is a diagram illustrating image information of a road shape and a front vehicle shape extracted by an image extracting unit 21 of FIG.
【図４】図１の距離速度算出部２３において前方の車両
との距離、速度を算出する方法を説明する図である。FIG. 4 is a diagram illustrating a method of calculating a distance and a speed with respect to a vehicle ahead in a distance / speed calculation unit 23 of FIG. 1.
１…カメラ ２…画像処理部 ２１…画像抽出部 ２２…前方車両幅検出部 ２３…距離速度算出部 DESCRIPTION OF SYMBOLS 1 ... Camera 2 ... Image processing part 21 ... Image extraction part 22 ... Front vehicle width detection part 23 ... Distance speed calculation part
Claims (2)
に画像を用いた前方車両の距離速度推定装置であって、 車両に搭載された１台のカメラからの画像データに基づ
き前方車両のリャビュー及び道路の形状の画像情報を抽
出する画像抽出部（２１）と、 各種車両のリャビューの形状、車幅を事前に記憶し、前
記画像情報から得られた前方車両のリャビューの形状と
比較し、一致した車両の幅を前方車両の幅として検出す
る前方車両幅検出部（２２）と、 該前方車両幅検出部（２２）で得られた前方車両の幅、
前記画像抽出部（２１）の画像情報に基づき画像の横方
向の全画素数、前方車両が画像中に占める横方向画素数
さらにカメラの水平画角を用いて前方車両と距離及び速
度を算出する距離速度算出部（２３）とを備えることを
特徴とする画像を用いた前方車両の距離速度推定装置。1. A distance / velocity estimation apparatus for a front vehicle, which uses an image to estimate a distance and a speed with respect to the front vehicle, wherein the front vehicle based on image data from one camera mounted on the vehicle. An image extraction unit (21) for extracting image information of the rear view and the shape of the road, and the shape and width of the rear view of various vehicles are stored in advance and compared with the shape of the rear view of the front vehicle obtained from the image information. A front vehicle width detection unit (22) for detecting the matched vehicle width as the width of the front vehicle, and a width of the front vehicle obtained by the front vehicle width detection unit (22),
Based on the image information of the image extraction unit (21), the total number of pixels in the horizontal direction of the image, the number of horizontal pixels occupied by the front vehicle in the image, and the horizontal angle of view of the camera are used to calculate the distance and speed with respect to the front vehicle. A distance speed estimation device for a forward vehicle using an image, comprising: a distance speed calculator (23).
定である高速道路の幅と前方車両の幅の画素数比に基づ
き前方の車両の幅を検出する請求項１記載の画像を用い
た前方車両の距離速度推定装置。2. The image according to claim 1, wherein the front vehicle detection unit (22) detects the width of the front vehicle based on a pixel number ratio of the width of the highway and the width of the front vehicle having a constant width. The distance speed estimation device for the vehicle ahead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1471793A JPH06229759A (en) | 1993-02-01 | 1993-02-01 | System for estimating distance and speed of preceding vehicle using image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1471793A JPH06229759A (en) | 1993-02-01 | 1993-02-01 | System for estimating distance and speed of preceding vehicle using image |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06229759A true JPH06229759A (en) | 1994-08-19 |
Family
ID=11868899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1471793A Pending JPH06229759A (en) | 1993-02-01 | 1993-02-01 | System for estimating distance and speed of preceding vehicle using image |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06229759A (en) |
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-
1993
- 1993-02-01 JP JP1471793A patent/JPH06229759A/en active Pending
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