JPH07120555A - Environment recognition device for vehicle - Google Patents

Abstract

PURPOSE:To obtain a high direction accuracy for a vehicle even if the mounting angle accuracy of an environment recognition means is not set especially high. CONSTITUTION:The environment recognition means 1 mounted on a vehicle detects the relative direction and the distance to the object. A means 6 for determining the direction of an optical axis extracts information about the road shape from detection data, and determines the direction of the optical axis of the environment recognition means 1 assuming that the road shape is a straight line, and stores it in a means 7 for storing the estimation value on the direction of the optical axis. Then, when a means 5 for detecting straight- line driving detects that the straight-line driving state continues for a specified time based on the output of a steering angle detection means 3 and a driving vehicle speed detection means 4, a means 8 for updating optical axis direction data obtains the optical axis direction estimation value estimated before a specific time from the means 7 for storing the estimation value of the direction of optical axis, sets the optical axis direction estimation value as optical axis direction data, and then corrects the direction of the object detected by the environment recognition means 1 by a direction correction means 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an environment recognizing device for a vehicle which is used for an automatic running of a vehicle, an alarm device for preventing a rear-end collision accident and the like.

[0002]

2. Description of the Related Art An environment recognition device for a vehicle, such as an automatic device for driving a vehicle or an alarm device for preventing a rear-end collision, is the one proposed by the applicant of the present application in Japanese Patent Application No. 4-199393. . This is a scanning laser radar device that detects the distance and angle to an object that exists ahead such as an obstacle or a preceding vehicle, and an image processing device that uses a video camera that recognizes the vehicle lane or the preceding vehicle. It is a combination.

[0003]

However, in the above-described vehicle environment recognition device, the direction of existence of an object and the distance to the own vehicle are detected, but strictly speaking, the direction of the object is environment recognition. The direction relative to the vehicle is detected as a relative direction to the means, and cannot be accurately obtained unless the optical axis direction of the environment recognition means is determined. However, some error occurs in the optical axis direction of the environment recognition means depending on the mounting accuracy of the device to the vehicle. Further, when the vehicle is actually run repeatedly, a vibration or the like during that time causes a deviation with respect to the optical axis direction at the time of mounting. In order to reduce such errors during mounting and time-dependent deviation, it is necessary to ensure extremely high accuracy and strength at the mounting points on the vehicle body, and at the time of assembly at the factory, etc. There is a problem that the inspection process with high accuracy is required, and the cost is increased due to these factors.

Further, the accuracy can be improved by using a plurality of environment recognition means in combination,
As a prerequisite, it is essential to know which direction each optical axis of the plurality of environment recognition means faces the own vehicle, and in particular, such a plurality of environment recognition means. In order to perform more accurate environment recognition by combining the above, it is necessary to grasp the respective optical axis directions more firmly. The present invention has been made in view of such a problem, and in order to obtain high recognition accuracy, it is not necessary to particularly increase the mounting angle accuracy of the environment recognition means, and the mounting point strength is increased. Another object of the present invention is to provide a vehicle environment recognition device that does not require a highly accurate mounting angle inspection.

[0005]

Therefore, the present invention is based on FIG.
As shown in, the environment recognition means 1 for detecting the relative direction and distance of the object existing in the vehicle traveling direction, and the direction correction means for correcting the direction of the object detected by the environment recognition means 1 by the optical axis direction data. 2, a steering angle detecting means 3 for detecting a steering angle, a traveling vehicle speed detecting means 4 for detecting a traveling speed of a vehicle, and a straight line traveling for detecting a straight traveling state from a steering angle detection value and a traveling vehicle speed detection value. The detecting means 5, the optical axis direction estimating means 6 for estimating the optical axis direction of the environment recognizing means on the assumption that the road shape in the traveling direction is a straight line in a straight running state, and the optical axis direction estimating means 6 Optical axis direction estimated value storage means 7 for storing the estimated optical axis direction value, and the optical axis direction before the predetermined time stored in the estimated optical axis direction value storage means 7 when the straight running state continues for a predetermined time. Based on the estimated value, the optical axis direction It was assumed to have an optical axis direction data updating means 8 to update the over data.

[0006]

The environment recognition means detects the relative direction and distance of the object with respect to the own vehicle. The optical axis direction estimating means extracts information indicating the road shape from the detection data of the environment recognizing means, estimates the optical axis direction of the environment recognizing means on the assumption that the road shape is a straight line, and determines the optical axis direction. It is stored in the estimated value storage means. When the straight running state of the host vehicle is continuously detected for a predetermined time by the straight running detection means, the estimated optical axis direction value estimated before the predetermined time is extracted from the estimated optical axis direction storage means, and the The direction of the object detected by the environment recognition means is corrected by using the axial direction estimated value as the optical axis direction data.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 2 is a block diagram showing the configuration of the embodiment of the present invention.
First, the vehicle is provided with a laser radar device 21, which is connected to the laser light sweep device 13 and the radar signal processing circuit 31. The laser radar device 21 includes a light transmitter 15 that outputs laser light, a light receiver 17 that receives reflected light of an object of the laser light output from the light transmitter 15, and a laser light output from the light transmitter 15. It has a distance detection circuit 19 for detecting the distance to the object based on the propagation delay time of the laser light until the reflected light is received by the light receiver 17.

The laser light output from the light transmitter 15 of the laser radar device 21 is controlled by the laser light sweeping device 13 so as to be swept left and right around the traveling direction of the vehicle, that is, the forward direction here. . The laser beam sweeping device 13 sweeps the laser beam in the left-right direction, for example, with an amplitude of about ± 10 ° and a frequency of 10 Hz, using a mirror driven by a step motor, for example. This sweep angle is detected by the laser light sweep direction detection device 11 connected to the laser light sweep device 13 and supplied to the radar signal processing circuit 31. Laser light sweep direction detector 1
1 detects the sweep angle corresponding to the number of drive pulses for driving the step motor of the laser beam sweeping device 13.

The vehicle is further provided with an image processing device 29. The radar signal processing circuit 31 performs image processing on the image processing device 29 based on the distance signal supplied from the distance detection circuit 19 of the laser radar device 21 and the sweep angle signal supplied from the laser light sweep direction detection device 11. The image area to be processed is output. At that time, the sweep angle is corrected based on the optical axis direction data of the laser radar device 21 stored in the distance detection circuit 19.

The image processing device 29 detects the preceding vehicle from the television camera 23 for capturing an image in front of the host vehicle, the image processing circuit 25 for processing the captured image, and the image processed by the image processing circuit 25. The preceding vehicle detection circuit 27 for recognition is used, and the command signal of the image processing area from the radar signal processing circuit 31 is input to the image processing circuit 25. The image processing circuit 25 calculates the optical axis direction estimated value of the television camera 23 by using the data such as the lane marker (road white line) in the obtained image data and outputs it to the camera optical axis direction storage circuit 49. To do.

The camera optical axis direction storage circuit 49 is adapted to successively store the optical axis direction estimated value of the television camera 23 from the image processing circuit 25. At the same time, the radar signal processing circuit 31 calculates the optical axis direction estimated value of the laser radar device 21 using the data from the road structure such as the roadside reflector, and outputs it to the radar optical axis direction storage circuit 47. The radar optical axis direction storage circuit 47 sequentially stores the optical axis direction estimated value from the laser radar device 21.

The straight running detection circuit 45 detects the straight running state based on the outputs from the steering angle sensor 41 and the vehicle speed sensor 43. The straight running state is detected when the vehicle speed is equal to or higher than a predetermined value, the steering angle is substantially in the neutral state, and the straight running state is detected when the amount of change in the steering angle per unit time is less than or equal to the predetermined value. I shall. When the radar signal processing circuit 31 and the image processing circuit 25 respectively receive the signals from the straight line traveling detection circuit 45 indicating that the straight line traveling state has continued for a predetermined time, the radar optical axis direction storage circuit 47 and the camera optical axis direction described above. From the storage circuit 49, the optical axis direction estimated values calculated and stored a predetermined time before are retrieved, and these are used as the respective optical axis directions of the laser radar device 21 and the television camera 23 to update the optical axis direction data. Has become. Then, the radar signal processing circuit 31 and the image processing circuit 25 correct the sweep angle data obtained by the laser beam sweep direction detecting device 11 and the direction data in the image processing circuit 25 based on the respective optical axis direction data.

The preceding vehicle detection circuit 27 is the image processing circuit 2
The preceding vehicle or the like in the vehicle traveling direction is recognized from the image data processed in 5, and information such as the distance, the direction, and the speed up to that point is sent to the vehicle motion control circuit 33. The vehicle motion control circuit 33 outputs a command value to the actuator 35 based on the information about the preceding vehicle so that the vehicle can follow the preceding vehicle while maintaining the safe inter-vehicle distance, and the throttle, the brake and the steering wheel are output via the actuator 35. The system unit 37 is controlled.

Next, a description will be given of how the laser radar device 21 and the image processing device 29 are estimated in the optical axis direction. FIG. 3 shows distance (L) -angle (θ) data during straight running obtained by the radar signal processing circuit 31 when the laser light is swept once. Then, in FIG. 4, the L-θ data is converted into XY data in which the front side of the vehicle is in the Y direction and the right side of the vehicle is in the X direction by coordinate conversion. In an automobile traveling path, reflectors called reflectors are generally installed on the support pillars of roadside guardrails and the reflected waves from these reflectors are very clearly detected by the laser radar device 21. For example, in FIGS. 3 and 4, the data group by the reflectors regularly arranged on the left side of the road is
It is shown by the sequence of points rr (n).

A straight line simulating this point sequence is obtained from this point sequence rr (n) by the method of least squares.
If the obtained straight line s is represented by X = a · Y + b (1), the slope a of this straight line is as follows: the point sequence rr (n) of the reflector is It shows how much it is inclined with respect to the optical axis, and the direction θr of the optical axis relative to the road is obtained by the following formula. θr = −tan ⁻¹ (a) (2) As a result, if it can be detected that the vehicle is traveling straight and the shape of the road ahead is straight, the laser radar device 21
The optical axis direction θr can be obtained.

On the other hand, also for the television camera 23, its optical axis direction is obtained as follows. As shown in FIG. 5, the road coordinate system is (X, Y, Z), the X axis is the vehicle lateral direction, the Y axis is the vehicle front direction, and the Z axis is the vehicle upward direction, and the origin is the road center. And Further, the coordinate system fixed to the television camera is (U, V, W), the W axis is set in the optical axis direction, and the U axis is set in the horizontal direction parallel to the imaging surface.
Axis, V axis in the vertical direction, the origin is the height H from the road,
It is assumed that the TV camera is located at the amount of deviation DX from the center of the road in the X direction.

Assuming that the optical axis of the television camera is oriented at the yaw angle θc (around the Z axis) and the pitch angle φc (around the X axis), the points indicated by the road coordinate system are as follows. Is converted to the camera coordinate system by using the following formula.

[Equation 1] However, the coordinate conversion matrix R is as follows.

[Equation 2]

Further, the point (U, V, W) shown in the camera fixed coordinate system is converted into the coordinate system (x, y) on the image by the following perspective conversion with the focal length of the camera as F. . x = -FU / W (5) y = -FV / W (6)

FIG. 6 shows an example of an image of the front of the vehicle taken from the TV camera 23 when traveling straight. Here, the left and right lane markers (white lines) LM1 and LM2 of the traveling lane are detected, and the equations in the respective image coordinate systems (x, y) are expressed as (LM1) ... x = A1 .y + B1 (7) (LM2) ... x = A2 · y + B2 (8) When these two straight lines are detected, the coordinates (xBP, yBP) of the vanishing point which is the intersection of these two straight lines are obtained as follows. xBP = (A2 B1-A1 B2) / (A2-A1) (9) yBP = (B1-B2) / (A2-A1) (10)

Further, the left and right lane markers LM1 and LM2
When expressed in the road coordinate system, it can be expressed as (LM1) ... X = a1.Y + b1, Z = 0 ... (11) (LM2) ... X = a2.Y + b2, Z = 0. Here, since the vehicle is traveling straight, the inclinations a1 and a2 are a1 = a2 = -tan θc (13) with respect to the yaw angle θc. This equation (11) or (12) is transformed into the equation (3)
Substituting into the equation (5) and (6), the obtained results are substituted into equations (5) and (6), and the limit value of Y → ∞ is obtained in order to obtain the vanishing point coordinates. xBP = F · sin (2θc) (1-cosφc) / (2cosφc) (14) yBP = F · tanφc (15)

From this, the pitch angle φc and yaw angle θc of the optical axis of the television camera can be obtained from the vanishing point coordinates on the image, and are as follows.

[Equation 3] The data is corrected using the optical axis directions θr and θc of the laser radar device 21 and the television camera obtained as described above.

7 and 8 are flow charts showing the processing procedure in the above configuration. When roughly classified, an angle / distance calculation process 101 for calculating and storing a detection distance for each sweep angle of laser light, and a radar optical axis estimation process 111 for estimating the optical axis of the radar based on the obtained angle / distance information. The image capturing process 103 that captures an image of the front of the vehicle from the TV camera 23, the camera optical axis estimation process 113 that estimates the optical axis of the TV camera 23 from the captured image, and the straight running state are continuous. A straight line continuity determination process 115 for determining and correcting the optical axis data for angle correction, a data correction process 117 for correcting the angle data of the obtained angle / distance information with the optical axis data, and image processing of the captured image Determines the area in which the vehicle is to be performed, performs image processing in that area to detect the preceding vehicle, and outputs the calculated position of the preceding vehicle if there is a preceding vehicle. It is divided into a preceding vehicle position output process 107.

In the angle / distance calculation processing 101, first, in steps 121 and 123, the processing variables k and j are 0.
Is set to. The laser sweeping by the laser light sweeping device 13 is carried out between the angles −θM and θM, and 2θM / K during this period.
Laser light is output for each max and Kma per sweep
Output is performed x times. The variable k is the laser output number in this one sweep, and the maximum value is Kmax.
Further, the variable j indicates the number of times of distance detection in one sweep.

In the next step 125, the traveling vehicle speed v of the host vehicle is read from the vehicle speed sensor 43 into the straight traveling detection circuit 45. Steps 127 to 141 form a loop, and this loop is performed for each laser output. In step 127, in the radar signal processing circuit 31, the laser output number k is set to k + 1, in step 129 the sweep angle θ of the laser light sweep device 13 is read from the laser light sweep direction detection device 11, and in step 131 the distance detection circuit. The detection distance L is read from 19. In step 133, it is checked whether or not the actual distance detection based on the reflection of the laser beam from the reflector has been made. If there is the detection, the process proceeds to step 135, and if not, the process proceeds to step 139.

In step 135, the number of times of distance detection j is set to j
It is set to +1 and the data is fetched into the array D (j) in step 136. The array D (j) is an array for storing two data of the sweep angle θ and the distance L, and the obtained θ
And L. Then, the process proceeds to step 139, and the next sweep angle command value is output. And step 141
, It is checked whether k <Kmax, and k is K
If it is smaller than max, the sweep is not finished yet, and thus the process returns to step 127. When k reaches Kmax, it is assumed that all the data obtained by the current sweep have been detected and acquired, and the process proceeds to step 143. In step 143, the number of times of distance detection in this sweep is substituted for Jmax, the angle / distance calculation process 101 is terminated, and the process proceeds to the radar optical axis estimation process 103.

In the radar optical axis estimation processing 103, the optical axis direction of the radar is estimated based on the data of the reflector in front of the vehicle according to the flowchart of FIG. First, in step 201, the data rr (n) of the reflector installed on the road side in front of the vehicle is calculated from the array D (j) of angle / distance data. For this purpose, for example, the moving speed is calculated from the time change of the array D (j), and when the moving speed is almost equal to the own vehicle speed, it is considered that the reflecting object is stopped, and this is reflected. An appropriate method can be used, such as a method for discriminating that the data is a vessel or a method in which the reflectors continuously exist at substantially equal intervals, and a method in which data are regularly and continuously spaced.

Subsequently, at step 203, the obtained reflector data rr (n) is converted into XY coordinates by the following equation. X = L · cos θ (18) Y = L · sin θ (19) Then, in step 205, a straight line X = aY + b that approximates the data rr (n) is obtained, and in step 207, from the slope a of this straight line, The estimated value θr of the optical axis direction of the radar is obtained by using the above-mentioned equation (2). Finally, in step 209, the optical axis direction estimated value θr is stored in the radar optical axis direction storage circuit 47, and then the image capturing process 1 is performed.
Proceed to 11.

In the image capturing process 111, the image in front of the host vehicle is captured from the television camera 23, and the process proceeds to the camera optical axis estimation process 113 in the image processing circuit 25. In the camera optical axis estimation processing 113, the optical axis direction of the camera is estimated from the image in front of the vehicle according to the flowchart shown in FIG. First, in step 211, preprocessing such as edge detection and binarization processing is performed on the image captured in the image capturing process 111, and in step 213, recognition of the left and right lane markers LM1 and LM2 forming the driving lane of the host vehicle. Processing is performed.

Subsequently, in step 215, the coordinates (xBP, yBP) of the vanishing point are calculated by using the above equations (9) and (10).
Is calculated. Then, in step 217, the optical axis estimated value θc of the camera is calculated from the vanishing point coordinates using the equations (16) and (17), and this is stored in the camera optical axis direction storage circuit 49 in step 219, and then the straight line is calculated. The process proceeds to the continuous determination process 115. Steps 201 to 207 and steps 211 to 217 constitute the optical axis direction estimating means of the invention,
Steps 209 and 219 form an optical axis direction estimated value storage means.

In the straight line continuation determination processing 115, the straight line traveling detection circuit 45 discriminates that the straight line traveling state has continued for a predetermined time or more in accordance with the flowchart of FIG. That is, first, at step 221, the steering angle sensor 4
The steering angle δ is read from 1, and in step 223,
The vehicle speed previously read from the vehicle speed sensor 43 is a predetermined value v0
It is checked whether or not the above. When the vehicle speed is equal to or higher than v0, the routine proceeds to step 225, where it is checked whether or not the absolute value of the steering angle δ is equal to or smaller than the predetermined value δ0.
If δ0 or less, the process proceeds to step 227.

In step 227, the steering angle per unit time is calculated.

[Outer 1] Is the absolute value of

[Outside 2] Is checked to see if

[Outside 3] If the following, proceed to step 231.

Then, at step 231, the timer T is incremented on the assumption that the straight running condition is satisfied, and then the routine proceeds to step 233, where the timer T has a predetermined value T0.
It is checked whether or not the above. Where T is T0
When the above is the case, the straight running state is continuous, so a signal to that effect is output and the routine proceeds to step 235.

In step 235, in the radar signal processing circuit 31 and the image processing circuit 25, the optical axis direction data θr 0, θ of the laser radar device 21 and the television camera 23 used in the subsequent data correction processing 117, respectively.
c0 is updated. At this time, the data used for updating is the radar optical axis direction storage circuit 4 before the predetermined time T0.
7. The optical axis direction estimated value stored in the camera optical axis direction storage circuit 49 is used. As a result, when the vehicle continuously travels in a straight line for T0, the road shape in front of the own vehicle at the time point before T0 is definitely a straight line. Therefore, the estimated value in the optical axis direction estimated from this road shape is a correct value. Will be shown. When the update is complete, step 237
Then, the timer T is reset and the process proceeds to the next data correction process 117. Step 125 and Steps 221-23
3 constitutes the straight running detection means of the invention, and step 23
Reference numeral 5 constitutes an optical axis direction data updating means.

If the timer T does not reach T0 in the check in step 233, the process returns to step 221 and the above flow is repeated. When the vehicle speed is smaller than v0 in the previous step 223 check, the absolute value of the steering angle δ is larger than δ0 in the step 225 check, or the change amount of the steering angle per unit time is checked in the step 227.

[Outside 4] If it is larger, it is determined that the straight running condition is not satisfied, and the timer T is reset in step 229, and then the process proceeds to the next step.

In the data correction processing 117, the angle data θ of the array D (j) = (θ, L) is corrected through the radar signal processing circuit and the image processing circuit according to the flowchart shown in FIG. That is, the number j of times of distance detection is first set to 0 in step 241. And step 2
At 43, the direction data (= angle data θ) of the array D (j) = (θ, L) is corrected by the following equation. [theta] = [theta] + [theta] r0- [theta] c0 (20) Then, in step 245, it is checked whether j <Jmax. If it is smaller than Jmax, the process returns to step 243 and the above correction is repeated. When j reaches Jmax, the process proceeds to the next preceding vehicle detection process 105. Steps 241-245 constitute the direction correcting means of the invention.

In the preceding vehicle detection processing 105, the variable j for processing is first set to 0 in step 145, and then
In step 147, the array of angle / distance information D (j) =
The range of the attention area in which the image processing is performed is calculated from (θ, L). This calculation is performed as follows. X-coordinate of the center point P ... x0 = K1 × θ (21) (K1 is a constant) y-coordinate of the center point P ... y0 = K2 × L + T1 (22) (K2 and T1 are constants) Horizontal width ... = K3 / L (23) Vertical width ... h = K4 / L (24) (K3 and K4 are constants) From the above, the coordinates of each vertex of the region of interest (rectangle) are calculated as follows. . Point A ... (x0-w / 2, y0-h / 2) Point B ... (x0 + w / 2, y0-h / 2) Point C ... (x0 + w / 2, y0 + h / 2) Point D ... (x0 -W / 2, y0 + h / 2)

In the next step 149, image processing is performed on the attention area calculated and determined above. Here, for example, edge detection and binarization are performed to facilitate recognition of the vehicle shape in the next step. In step 151, the preceding vehicle detection circuit 27 detects whether or not the shape of the vehicle is included in the image after the image processing. That is, the preceding vehicle is recognized by previously storing a shape pattern such as a rectangle corresponding to the vehicle and determining whether or not the shape pattern exists in the image after the image processing. For example, if the reflector for which the distance data was obtained is something other than a vehicle, such as a reflector provided in the roadside zone of the road,
Even if image processing and detection of the preceding vehicle are performed with the surrounding area as the attention area, an image that matches the stored shape pattern cannot be obtained, so that the vehicle is recognized as not the preceding vehicle.

When the preceding vehicle recognition is completed, j is set to j + 1 in the next step 153, and then in step 155,
It is checked whether j <Jmax. j <J
If it is max, the process returns to step 147, the same process is performed on the next reflector data, and the process is repeated until the data reaches the number of distance detections in this sweep. When j reaches Jmax, the preceding vehicle detection processing ends, and the process proceeds to the next preceding vehicle position output processing 107.

In the preceding vehicle position output processing 107, it is checked in step 157 whether or not there is a preceding vehicle. If there is no preceding vehicle, the process proceeds as it is, and if there is a preceding vehicle, the process proceeds to step 159, where the position of the preceding vehicle, that is, the angle.・
The distance information D (j) is output, and one cycle of the entire processing flow ends. After this, the first angle / distance calculation process 1
Return to 01 and move to the next sweep. Steps 121 and 12
3, 127-143, and steps 111, 145-
Reference numeral 159 constitutes the environment recognition means of the invention.

The present embodiment is constructed as described above, and the front image of the vehicle is obtained by the television camera so that the preceding vehicle is recognized in the image processing area determined based on the reflector data detected by the laser radar device. At that time, the direction of the optical axis of the laser radar device relative to the road was obtained and stored from the data of the roadside reflector obtained by sweeping with the laser radar device, and it was also obtained from the vehicle front image by the TV camera. The optical axis direction of the television camera is obtained and stored based on the coordinates of the vanishing points of the left and right lane markers of the traveling lane, and when the straight running state continues for a predetermined time, the stored laser radar device and television camera before the same predetermined time. Since each optical axis direction is used as optical axis data, and the reflector data is corrected with this optical axis data, the mounting angle of the laser radar device or TV camera Especially there is no need for high precision,
Therefore, it is not necessary to increase the strength and accuracy of these mounting portions or to perform a highly accurate inspection process, which has the effect of reducing the cost.

In the embodiment, the mirror system driven by the step motor is exemplified as the laser beam sweeping device, but the invention is not limited to this, and a galvanometer system may be used, and in this case, the galvanometer is used. The control signal to be controlled is used as the signal corresponding to the sweep angle. Furthermore, in the above embodiment, the combination of the laser radar device and the image processing device is shown as the environment recognition means, but it is possible to use only one of them or a combination of other kinds of environment recognition means. Even if there is, the same effect can be obtained.

[0042]

As described above, according to the present invention, the road shape extracted from the detection data of the environment recognizing means is a straight line with respect to the environment recognizing means for detecting the relative direction and distance of the object with respect to the own vehicle. It is assumed that the optical axis direction of the environment recognition means is estimated and sequentially stored, and when the straight running state of the vehicle continues for a predetermined time, the estimated value of the optical axis direction estimated before the predetermined time is stored in the environment recognition means. Since the direction of the object detected by the environment recognition means is corrected by using this as the optical axis direction data, it is not necessary to particularly increase the accuracy of the mounting angle of the environment recognition means to the vehicle. It is not necessary to secure high accuracy and strength, there is no need for a highly accurate inspection process, and there is an effect that the cost is reduced. Further, by using a plurality of environment recognition means in combination, even when more intelligent recognition is performed, the optical axis direction can be accurately corrected for each environment recognition means, further improving the recognition accuracy. The effect that it can be obtained is obtained.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing a configuration of the present invention.

FIG. 2 is a block diagram showing a configuration of an exemplary embodiment of the present invention.

FIG. 3 is a diagram showing a relationship between a distance L and an angle θ when a laser beam is swept once when traveling straight.

4 is a diagram in which the relationship between the distance L and the angle θ in FIG. 3 is converted into road coordinates.

FIG. 5 is an explanatory diagram showing a relationship between a television camera coordinate system and a road coordinate system.

FIG. 6 is a diagram showing a vehicle front image captured from a television camera when traveling straight.

FIG. 7 is a flowchart showing a processing procedure in the embodiment.

FIG. 8 is a flowchart showing details of radar optical axis estimation processing.

FIG. 9 is a flowchart showing details of radar optical axis estimation processing.

FIG. 10 is a flowchart showing details of camera optical axis estimation processing.

FIG. 11 is a flowchart showing details of straight line continuity determination processing.

FIG. 12 is a flowchart showing details of data correction processing.

[Explanation of symbols]

 1 environment recognition means 2 direction correction means 3 steering angle detection means 4 traveling vehicle speed detection means 5 straight line traveling detection means 6 optical axis direction estimation means 7 optical axis direction estimated value storage means 8 optical axis direction data updating means 11 laser light sweep direction detection Device 13 Laser light sweep device 14 Laser radar device 15 Light transmitter 17 Light receiver 19 Distance detection circuit 21 Image processing device 23 Television camera 25 Image processing circuit 27 Leading vehicle detection circuit 31 Radar signal processing circuit 33 Vehicle motion control circuit 35 Actuator 37 Unit 41 Steering angle sensor 43 Vehicle speed sensor 45 Straight running detection circuit 47 Radar optical axis direction storage circuit 49 Camera optical axis direction storage circuit

Claims (5)

[Claims] 1. An environment recognition unit that detects a relative direction and a distance of an object existing in a vehicle traveling direction, and a direction correction unit that corrects the direction of the object detected by the environment recognition unit with optical axis direction data. Steering angle detecting means for detecting the steering angle, traveling vehicle speed detecting means for detecting the traveling speed of the vehicle, linear traveling state detecting means for detecting that the vehicle is in a linear traveling state from the steering angle detection value and the traveling vehicle speed detection value, Assuming that the road shape in the traveling direction is straight in a straight running state,
An optical axis direction estimating means for estimating the optical axis direction of the environment recognizing means, an optical axis direction estimated value storing means for storing the optical axis direction estimated value by the optical axis direction estimating means, and a straight running state for a predetermined time. And an optical axis direction data updating means for updating the optical axis direction data with the optical axis direction estimated value stored in the optical axis direction estimated value storage means a predetermined time before. Recognition device. 2. A scanning type in which the environment recognizing means emits an electromagnetic wave while sweeping it in the traveling direction of the vehicle and detects the relative direction and distance of the object position based on the propagation delay time of the reflected wave. 2. The vehicle environment recognition device according to claim 1, which is the radar device according to claim 1. 3. The environment recognition device for a vehicle according to claim 1, wherein the environment recognition means is an image processing device that recognizes the object by capturing an image of the traveling direction of the vehicle and performing image processing. 4. The vehicle environment according to claim 1, wherein the optical axis direction estimating means obtains the road shape from an array of roadside reflector groups detected by the environment recognizing means. Recognition device. 5. The vehicle environment recognition according to claim 1 or 3, wherein the optical axis direction estimation means obtains the road shape from lane markers on both sides of the traveling lane detected by the environment recognition means. apparatus.