JPH092098A - Forward monitoring device for vehicle - Google Patents

Abstract

PURPOSE: To correctly determine the existence/abscence of possibility of a collision by determining designated conditions according to the obstacle bypass time and the arrival time of a car running on the opposite lane to determine the existence/abscence of possibility of a collision of a driver's own vehicle in a device adapted to determine the existence/abscence of possibility of a collision of the driver's own vehicle according to the forward projected image and the speed of the driver's own vehicle. CONSTITUTION: A forward monitoring device for a vehicle comprises a CCD camera 2 for image-picking up the forward image of a driver's own vehicle 1 and a car speed sensor 4. Obstacles such as a stopped vehicle and a low-speed leading vehicle are extracted from the forward projected image to detect the obstacle size and the distance between the driver's own vehicle and the obstacle. The estimated length of the obstacle in the direction of depth is calculated according to a designated table concerging a general obstacle from the width and height of the obstacle sizes, and the larger length is selected among the detected length and the general lengths to be taken as the length of the obstacle. Subsequently, from the obstacle length and the distance between the driver's own vehicle and the obstacle, the obstacle bypass time for avoiding a collision of the driver's own vehicle with the obstacle and passing the same is calculated, and the calculated time is compared with the arrival time of a car running on the opposite lane to determine the existence/abscence of possibility of a collision of the driver's own vehicle, and a warning buzzer 6 or the like is controlled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle front monitoring device, and more particularly to a vehicle for determining whether or not there is a possibility of collision of an oncoming vehicle with an oncoming vehicle at the time of avoiding an obstacle based on a front image of the vehicle or the like. Front monitoring device.

[0002]

2. Description of the Related Art Conventionally, a collision warning device described in Japanese Utility Model Laid-Open No. 1-152282 is known as a vehicle front monitoring device. This determines the risk of collision of the own vehicle with respect to the preceding vehicle based on the inter-vehicle distance information, in the collision warning device equipped with an information processing circuit that issues an alarm signal when it is determined that there is a risk of collision, A first inter-vehicle distance is calculated from the detected inter-vehicle distance and the vehicle speed according to a predetermined formula, and a second inter-vehicle distance smaller than the first inter-vehicle distance is also calculated, and the detected inter-vehicle distance and the first and first inter-vehicle distances are calculated. An alarm signal having an alarm degree corresponding to the magnitude of the inter-vehicle distance of 2 is issued.

[0003]

Since such a conventional vehicle front monitoring device uses a radar or the like as a sensor, the information available about the collision target is the distance between the preceding vehicle and the preceding vehicle. Since it is limited, the device configuration is also as described above.

On the other hand, the recent CCD (Charge Coupl
ed Device) 's remarkable progress in terms of performance and price,
A CCD camera is used as a sensor, and various effective information is obtained from the captured image. Specifically, not only obstacles such as preceding vehicles and parked vehicles but also information about oncoming vehicles, lanes, etc. are sought. Therefore, the practical use of the vehicle front monitoring device for determining whether or not the own vehicle may collide with the oncoming vehicle in the presence of the obstacle and the oncoming vehicle on the basis of these information is becoming practical.

However, even if it becomes possible to extract more effective information than before by taking information from the imaged image, it is not always possible to obtain information of sufficient quality and quantity. For example, it is difficult to accurately detect an obstacle existing in the front in the depth direction from the rear, and the detected value often varies, but this length is a major factor in determining the obstacle avoidance time. Therefore, the detection accuracy and the like have a great influence on the reliability and the like of the collision possibility determination. In addition, the video also includes information about the driving situation such as the driving lane. Therefore, how to determine the possibility of collision from video information is an important issue.

The present invention has been made in view of the above circumstances, and determines whether or not the own vehicle may collide with an oncoming vehicle in the presence of an obstacle and an oncoming vehicle, based on an image in front of the vehicle or the like. An object of the present invention is to provide a vehicle front monitoring device capable of making accurate and safe determination. Also,
The present invention relates to a vehicle front monitoring device capable of accurately and safely determining whether or not there is a possibility of collision of an own vehicle with an oncoming vehicle in the presence of an obstacle and an oncoming vehicle according to a running condition. It is also intended to provide. Another object of the present invention is to provide a vehicle front monitoring device that can expect an accurate warning based on these determinations.

[0007]

A vehicle front monitoring device as a first solution means (according to claim 1 at the beginning of the application) invented in order to achieve this object is (see FIGS. 1 and 2 or As shown in FIG. 3,) A CCD camera (2) that captures a front image of the vehicle (1)
Mounted on a vehicle equipped with an image pickup means such as a vidicon camera and a vehicle speed sensor (4) for detecting the vehicle speed,
The presence or absence of a collision possibility of the own vehicle is judged based on the front image taken by the image pickup means and the own vehicle speed detected by the vehicle speed sensor, and the judgment result is used as it is or a value corresponding to the judgment result. After converting it into information or signal, etc., it is sent to a predetermined response part (this response part is built in or integrated with the same device and is an LED that blinks in response to an input.
Etc., or an alarm buzzer (6), a vehicle speed control device (6a), etc., which are provided as separate elements / devices and perform operations such as issuing an alarm and applying a brake in response to an input. ) In the vehicle forward monitoring device for sending out, an obstacle such as a stopped vehicle or a low-speed preceding vehicle is extracted from the forward image received from the image pickup means, and the obstacle size such as width, height and depth length of the obstacle is extracted. And the obstacle detection means (73 or 75) for detecting the distance between the obstacles of the own vehicle and the width and height of the obstacle size received from the obstacle detection means. Means (91a) for calculating an estimated length in the depth direction of the obstacle by a table according to the estimation criterion of (1), and a virtual obstacle which is the obstacle length by selecting the longer one of the estimated length and the detected length. Long obstacle selection means (91b), the obstacle length, the distance between the own vehicle obstacles from the obstacle detection means, and the relative velocity of the own vehicle obstacles from the obstacle detection means or the vehicle speed. From the sensor Obstacle avoidance time calculation means (91c) for calculating an obstacle avoidance time until the own vehicle avoids a collision with the obstacle and overtakes it by a predetermined calculation in response to the vehicle speed, and the imaging. Oncoming vehicle detection means (74 or 76) for extracting an oncoming vehicle from the front image received from the means, and detecting the distance between the oncoming vehicle and the oncoming vehicle and the relative speed of the oncoming vehicle, and the virtual obstacle length selecting means. From the obstacle length, the distance between the obstacles from the own vehicle from the obstacle detection means, the distance between the oncoming vehicles and the oncoming vehicle relative speed from the oncoming vehicle detection means, and a predetermined calculation The oncoming vehicle arrival time calculating means (91d) for calculating the oncoming vehicle arrival time until the oncoming vehicle arrives at the place where the oncoming vehicle collides or comes closest to the own vehicle, and the obstacle avoidance time calculating means Avoiding the obstacle And the oncoming vehicle arrival time from the oncoming vehicle arrival time calculating means, and comparing these times to determine whether or not there is a possibility of collision of the own vehicle (91e). It is characterized by having and.

A second invention invented to achieve the above object
A vehicle front monitoring device as a means for solving
In the vehicle front monitoring device according to the solution, the vehicle traveling lane is extracted from the front image to detect the traveling lane width, and the vehicle traveling is detected based on the detected traveling lane width and the obstacle size. An in-lane margin width detecting means (77) for detecting an in-lane margin width on the side of the obstacle in the lane,
An in-lane traveling possibility determining means (93) for determining whether or not the own vehicle can travel on the side of the obstacle in the own vehicle traveling lane based on the in-lane margin width and the width of the own vehicle; Vehicle collision determination suppressing means for suppressing the determination of the possibility of collision of the own vehicle by the vehicle collision condition determining means when the in-lane traveling possibility determining means determines that the vehicle can travel.
7) and are provided.

A third invention invented to achieve the above object
The vehicle front monitoring device as a means for solving the above is a vehicle front monitoring device according to the above first solution or a vehicle front monitoring device according to the above second solution, wherein a steering angle sensor provided in the host vehicle is provided. Based on the steering angle of the steering wheel detected in (3), the steering determination means (94) for detecting that the host vehicle is steered to the opposite lane side, and the determination result of this steering determination means It is characterized in that it is provided with an alarm degree judging means (98) for judging whether the alarm level is light or heavy according to the judgment result of the possibility of collision of the vehicle and sending the judgment result to the responding section.

[0010]

In the vehicular front monitoring device of the first solving means as described above, if there is an obstacle, the obstacle is extracted by the obstacle detecting means from the front image taken in front of the host vehicle. Then, the obstacle size and the distance between the obstacles of the own vehicle are detected. The obstacle length, which is the length in the depth direction of the obstacle, is obtained by the obstacle length calculation means from the obstacle size of the detected values. Is processed. That is, the estimated length in the depth direction of the obstacle is calculated according to a predetermined estimation criterion for various obstacles,
When the estimated length exceeds the detected length of the obstacle size in the depth direction, the estimated length is used as the obstacle length instead of the detected length.

Accordingly, the longer one of the detected length and the estimated length is adopted as the obstacle length. Therefore, if the depth in the depth direction of an obstacle existing in front cannot be detected, or if it can be detected but is shorter than the generally assumed length, a common sense value is adopted and based on this, Then, the subsequent determination process is performed. Then, the obstacle avoidance time is calculated by the obstacle avoidance time calculating means from the obstacle length, the distance between the previous own vehicle obstacles, the own vehicle speed, and the like. This obstacle avoidance time based on the obstacle length as described above is a long time within a common sense range when the depth in the depth direction of the obstacle cannot be detected, and the diagonal direction of the obstacle. If the length in the depth direction can be accurately detected by obtaining an image or the like from, and it exceeds the common sense assumed length, it takes a long time corresponding to the correct length.

On the other hand, if there is an oncoming vehicle, the distance between the oncoming vehicle and the oncoming vehicle relative speed of the oncoming vehicle and the oncoming vehicle oncoming vehicle relative speed are detected by the oncoming vehicle detecting means from the front image showing the oncoming vehicle. The oncoming vehicle arrival time is calculated from the oncoming vehicle oncoming vehicle distance and the oncoming vehicle oncoming vehicle relative speed by the oncoming vehicle arrival time calculating means.

Then, by the vehicle collision condition judging means,
Condition determination is performed based on the obstacle avoidance time and the arrival time of the oncoming vehicle, and as a result, it is determined whether or not there is a possibility of collision of the own vehicle with the oncoming vehicle. In this way, the presence or absence of a collision possibility of the own vehicle when there is an obstacle or an oncoming vehicle is determined based on the front image and the own vehicle speed.In this determination, the arrival time of the oncoming vehicle is short. The longer the obstacle avoidance time is, the easier it is to get the result that there is a possibility of collision.Therefore, the longer the obstacle avoidance time is, the more accurate the collision accuracy is from the viewpoint of the accuracy of the collision. It can be said that it is on the safe side from the perspective of preventing

Therefore, if the length of the obstacle in the depth direction is inaccurate because it cannot be detected, this judgment based on the obstacle avoidance time and the like as described above does not depend on this and the estimated length is common sense. It is done on the basis of safety, so it will be on the safety side, and if the depth in the depth direction of the obstacle exceeds the common sense length and this is accurately detected, it will be accurate based on the detected length. . Then, the accurate and safe determination result is sent to the responding unit to give a predetermined warning to the driver.

Therefore, the vehicle front monitoring device of the present invention accurately and safely determines the possibility of collision of the host vehicle with the oncoming vehicle in the presence of an obstacle and an oncoming vehicle based on the front image and the like. can do.

Further, in the vehicle front monitoring device of the second solving means, the width of the traveling lane of the own vehicle is detected from the front image by the in-lane margin width detecting means, and the detected width and obstacles are detected. The lane margin in the side of the obstacle in the lane of travel of the host vehicle is detected from the size of the lane, and based on the lane margin and the width of the host vehicle, the lane running possibility determination means determines that the host vehicle is It is determined whether or not it is possible to drive on the side of the obstacle in the vehicle lane. Then, when it is determined by the in-lane traveling possibility determination means that the vehicle can travel, the determination by the vehicle collision condition determination means that the own vehicle may collide is suppressed by the vehicle collision determination suppression means.

Thus, when the vehicle can travel alongside an obstacle in the driving lane and can avoid the obstacle without protruding to the oncoming lane, there is no possibility of collision between the own vehicle and the oncoming vehicle. Is obtained, the result of the determination becomes fine and accurate according to the traveling condition such as the obstacle width and the lane width.

Therefore, the vehicle front monitoring device of the present invention determines whether or not there is a possibility of collision of the host vehicle with the oncoming vehicle in the presence of obstacles and an oncoming vehicle, depending on the driving situation, with a fine, accurate and safe side. Can be determined.

Further, in the vehicle front monitoring device of the third solving means, it is detected by the steering determining means that the host vehicle is steered to the opposite lane side based on the steering angle of the steering wheel. . Then, the warning level determination means determines the lightness or weight of the alarm level according to the determination result of the steering determination means and the determination result of the possibility of collision of the own vehicle,
Further, the result of this determination is sent to the response unit.

As a result, when there is a possibility that the vehicle will collide with the oncoming vehicle when it extends to the oncoming lane, when the steering wheel operation is performed to project to the oncoming lane,
Although this operation further increases the risk of collision, it is possible to issue an emergency warning or the like commensurate with this risk. Therefore, it is possible to accurately prevent the steering operation that leads to unreasonable overtaking.

Therefore, the vehicle front monitoring device according to the present invention discriminates the lightness or weight of the alarm level in consideration of the steering operation as well, so that the own vehicle collides with the oncoming vehicle in the presence of the obstacle and the oncoming vehicle. It is possible to expect an accurate and accurate warning based on the judgment on the safe side regarding the possibility.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of a first embodiment of a vehicle front monitoring device of the present invention will be described. FIG. 1 is a diagram showing an outline thereof, and FIG. 2 is a functional block diagram thereof. In addition,
Illustration and description of general hardware components such as an A / D conversion circuit will be omitted.

The vehicle front monitoring device 5 is a device mounted on the vehicle 1 as a host vehicle. In this vehicle 1,
A pair of CCD cameras 2 provided on the upper part of the vehicle body for capturing an image of the front of the vehicle and outputting a front image signal ccd; a steering angle sensor 3 provided on the steering shaft portion for detecting the steering angle θa of the steering wheel; A vehicle speed sensor 4 that detects the speed of the vehicle 1, that is, the vehicle speed Va as the own vehicle speed is provided, and the detected vehicle speed Va, the front video signal ccd, and the steering angle θa are sent to the vehicle front monitoring device 5. .

Further, the vehicle 1 is provided with a buzzer 6 as a responding part for receiving an alarm signal ALM and emitting an alarm sound, and a vehicle speed control device 6a for controlling the brake 6b according to the alarm signal ALM to automatically decelerate. The vehicle front monitoring device 5 generates an alarm signal ALM according to the determination result and sends it to the buzzer 6 and the like.

The structure of the vehicle front monitoring device 5 is roughly divided into a DSP suitable for image processing, that is, a digital signal processor 70, an MPU suitable for general information processing, that is, a microprocessor unit 90, and between them. I / F for transferring various information, that is, an interface 80.

The DSP 70 inputs the front video signal ccd, detects desired information from the front video, and sends this information to the MPU 90 via the I / F 80.
Then, as the image processing unit for this, the front video signal c
The area of the stereo image data 71 after receiving the cd and the lane detection unit 72 for detecting the lane from the stereo image data 71.
And an obstacle detecting section 73 for detecting an obstacle and an oncoming vehicle detecting section 74 for detecting an oncoming vehicle.

The I / F 80 is a DSP 70 and an MPU 90.
It is mainly composed of a dual-port memory that can be arbitrarily accessed from any of the above. And DS in this memory
The transfer data is written by P70 and read by the MPU 90, so that transfer of necessary information can be assisted. In addition, I /
The F80 may be configured by a bus-coupled shared memory, a latch means and a parallel transmission line, a serial transmission line, or the like.

The MPU 90, which is a one-chip computer, inputs the information detected from the front image and the vehicle speed Va, determines the possibility of collision of the vehicle 1 based on these, and outputs an alarm corresponding to this determination result. Buzzer 6 for signal ALM
To be sent. As an oncoming vehicle collision determination unit for this purpose, the memory is provided with an oncoming vehicle collision determination unit 91 based on the own vehicle speed and an alarm output unit 99.

Further, the oncoming vehicle collision determination section 91 includes an estimated length calculation section 91a as an obstacle length calculation means, a virtual obstacle length selection section 91b, an obstacle avoidance time calculation section 91c, and an oncoming vehicle arrival time calculation. Unit 91d and vehicle collision condition determination unit 91
It consists of e and.

The lane detecting section 72 performs image processing such as extracting the features of the thin line pattern, and detects the lane from the stereo image data 71 by this processing. Therefore, the lane information required for the processing by the obstacle detection unit 73 and the oncoming vehicle detection unit 74 is extracted and provided for use.

The obstacle detecting section 73 receives the stereo image data 71 and the above lane information, and receives the stereo image data 7
Image processing such as extracting the features of the box pattern is performed on the image on the left side of the lane of 1 above, and by this processing, if there is an obstacle such as a parked vehicle on the road shoulder, this is extracted. With this obstacle, its width Wb,
The height Hb and the depth length Lb are detected. Further, the distance Db from the vehicle 1 to the obstacle is also calculated based on the parallax angle of the stereo image.

The oncoming vehicle detection unit 74 receives the stereo image data 71 and the above lane information, and receives the stereo image data 7
Image processing such as extracting the features of the box-shaped pattern is performed on the image on the right side of the above lane of 1 and the oncoming vehicle in the oncoming lane is extracted by this processing. Then, the oncoming vehicle is subjected to processing such as calculation based on the parallax angle of the stereo image, etc., and the distance Dc from the vehicle 1 to the oncoming vehicle is increased.
Is calculated. Further, the relative speed Vc between the vehicle 1 and the oncoming vehicle is also calculated based on the difference between the previous detection value and the current detection value for the distance Dc.

The estimated length calculation unit 91a includes an obstacle detection unit 73.
From the width Wb and height Hb of the obstacle detected in step 3, the relational expression is calculated according to a predetermined estimation standard for a general obstacle in the depth direction of the obstacle, and the obstacle size is calculated from the obstacle size in the depth direction. The estimated length Lb 'is calculated. For example, the estimated length Lb 'is estimated. In this processing, assuming that the obstacle is a pedestrian or a motorcycle when the width Wb is 1 m or less, the length Lb ′ is set to 2 m and the width Wb is set to 1 m.
When the height Hb is less than 2 m and the height Hb is 1.5 m or less, assuming that the obstacle is a passenger car or the like, the length Lb ′ is 4 m, the width Wb is more than 1 m and less than 2 m, and the height Hb is 1. If it exceeds 5 m, assume that the obstacle is a normal truck, etc. and length Lb '
Is 6 m, and when the width Wb is 1 m or less, the length Lb ′ is 2 m
When the width Wb is 2 m or more, it is assumed that the obstacle is a large truck or bus, and the length Lb ′ is 10 m.

The virtual obstacle length selection unit 91b includes the estimated length Lb 'calculated by the estimated length calculation unit 91a and the obstacle detection unit 7.
Of the detection lengths Lb in the depth direction of the obstacle detected in 3, the longer one is defined as the virtual obstacle length Lb ″. For example, when the estimated length Lb ′ is equal to or less than the detection length Lb, the detection length is Lb is selected as the virtual obstacle length Lb ″, and when the estimated length Lb ′ exceeds the detected length Lb, the estimated length Lb ′ is selected.
Is selected as the virtual obstacle length Lb ″. That is, when the detected length of the obstacle is less than the estimated length, the estimated length is used as the virtual obstacle length instead of the detected length. There is.

The obstacle avoidance time calculation unit 91c detects the obstacle length Lb "selected by the virtual obstacle length selection unit 91b, the distance Db detected by the obstacle length detection unit 73, and the vehicle speed Va detected by the vehicle speed sensor 4. Based on and, the calculation formula [t1 = {((Db
+ Lb ″) / Va) + α}], the obstacle avoidance time t1 is calculated as the time until the vehicle avoids the obstacle and turns around in front of the obstacle. Here, α is the own lane and the oncoming lane. This is a time obtained by adding a predetermined margin to the lane change time required for a round trip between and.

The oncoming vehicle arrival time calculator 91d detects the distance Db from the vehicle 1 to the obstacle detected by the obstacle detector 73 and the relative speed Vc and the distance Dc detected by the oncoming vehicle detector 74.
And the virtual obstacle length Lb ″ selected by the virtual obstacle length selection unit 91b, the calculation formula [t2 = {Dc− (Db + L
b ″ + α)} / Vc] is used to calculate the oncoming vehicle arrival time t2 as the time until the oncoming vehicle collides with or comes closest to the own vehicle, where α is between the own lane and the oncoming lane. This is a time obtained by adding a predetermined allowance to the lane change time required for round trips in.

The vehicle collision condition determining section 91e includes the obstacle avoidance time t1 calculated by the obstacle avoidance time calculating section 91c and the oncoming vehicle arrival time t calculated by the oncoming vehicle arrival time calculating section 91d.
Based on 2, the comparison calculation is performed by the comparison expression [Y1 = {t1> t2}], and it is determined that there is a possibility of collision with the oncoming vehicle if the vehicle 1 extends to the oncoming lane to avoid an obstacle. In this case, a logical value "true" is output as the determination result Y1, and if it is determined that there is no possibility of collision with the oncoming vehicle even if the vehicle 1 runs over the oncoming lane to avoid an obstacle, the logical value "false" is returned. The determination result Y1 of "is issued.

The alarm output unit 99, based on the width Wb of the obstacle detected by the obstacle detection unit 73 and the determination result Y1 by the vehicle collision condition determination unit 91e, outputs the logical expression [ALM = {(Wb ≠.
0) .AND. (Y1)}], the buzzer 6 is activated only when the width Wb of the obstacle is other than zero, that is, only when the obstacle is present and there is a possibility of collision. It is a thing.

The operation of the vehicle front monitoring system of the first embodiment will be described.

When the driver activates the vehicle front monitoring device 5 while the vehicle 1 is traveling, the vehicle front monitoring device 5 performs a predetermined initialization, and when this is completed, the DSP 70 and the MP 70
It operates in synchronization with U90. That is, the image processing by the DSP 70 and the I / O of the processing result are performed at a predetermined constant cycle.
The transfer in F80 and the subsequent oncoming vehicle collision determination process in MPU 90 are repeated.

The processing procedure in one cycle will be described in detail.
In SP70, first, the stereo image data 71 is fetched from the front video signal ccd, and then the lane detection unit 72 is loaded.
Is performed, and thereafter, the processing of the obstacle detection unit 73 and the processing of the oncoming vehicle detection unit 74 are performed. Thus, the width Wb of the obstacle, the height Hb, the detection length Lb, the distance Db to the obstacle, the distance Dc to the oncoming vehicle, and the relative speed Vc to the oncoming vehicle are obtained. Then, these detected values and the like are MPU90.
Is forwarded to

After receiving this transfer, the MPU 90
First, the processing of the estimated length calculation unit 91a is performed, and the estimated length Lb 'of the obstacle is obtained. Next, the obstacle length selection unit 91b
Processing, input of vehicle speed Va, and obstacle avoidance time calculation unit 9
The process of 1c is performed in this order, and the obstacle avoidance time t1
Is found. Further, the processing of the oncoming vehicle arrival time calculation unit 91d is performed to obtain the oncoming vehicle arrival time t2. After that, the processing of the vehicle collision condition determination unit 91e is performed to obtain the determination result Y1, and finally the processing of the alarm output unit 99 is performed to generate the alarm signal ALM having a value according to the determination result Y1. . This completes the processing in this one cycle.

Then, the DSP 70 and the MPU 9
When the process of 0 is continuously performed and an obstacle and an oncoming vehicle are detected during the operation of the vehicle front monitoring device 5, if the vehicle 1 protrudes into the oncoming lane in order to avoid the obstacle without decelerating. In this case, whether or not there is a possibility of collision with an oncoming vehicle is determined by the vehicle front monitoring device 5, and an alarm signal ALM having an alarm command value corresponding to this result is sent to the buzzer 6. As a result, the buzzer 6 sounds when there is a possibility of a collision, so that the driver can be alerted.

The configuration of the second embodiment of the vehicle front monitoring apparatus of the present invention will be described based on the functional block diagram of FIG. The apparatus of the second embodiment differs from the first embodiment only in the obstacle detection unit and the oncoming vehicle detection unit in the DSP 70, and the obstacle avoidance time calculation unit in the MPU 90. Therefore, these differences will be described in detail.

The preceding vehicle detection unit 75, which replaces the obstacle detection unit 73, has the stereo image data 71 and the vehicle speed V.
In response to a, the stereo image data 71 is subjected to image processing such as extraction of the features of a box-shaped pattern to specify an object, and the distance Db and the relative speed Vb to the object are calculated. Furthermore, if the relative speed Vb and the vehicle speed Va are compared (Vb ≦ Va), this object is identified as an obstacle. And about this obstacle, its width Wb and height H
b, the depth length Lb is detected. These detected values / calculated values are sent to the MPU 90. As a result, the obstacle detection unit 75 also detects the relative speed with respect to obstacles including the preceding vehicle that is traveling.

The oncoming vehicle detection unit 76, which is an alternative to the oncoming vehicle detection unit 74, includes the stereo image data 71 and the vehicle speed V.
In response to a, the stereo image data 71 is subjected to image processing such as extracting a feature of a box-shaped pattern to specify an object, and the distance Dc and the relative speed Vc to the object are calculated. Alternatively, the distance Dc or the like is obtained by using the processing result of the preceding vehicle detection unit 75. Then, if the relative speed Vc and the vehicle speed Va are compared (Vc> Va), this object is identified as an oncoming vehicle. These detected values / calculated values are sent to the MPU 90.

Thus, by distinguishing the preceding vehicle and the oncoming vehicle with the relative speed as the reference, the data necessary for the oncoming vehicle collision determination process can be calculated even if the lane detecting section 72 is omitted. Has become. The lane detector 7
It is also possible to combine two, and if such a configuration is adopted, the image processing unit will have even higher detection capability.

The obstacle avoidance time calculation unit 92c replaces the obstacle avoidance time calculation unit 91c, and detects the obstacle length Lb ″ calculated by the virtual obstacle length selection unit 91b and the obstacle length detection unit 75. Based on the distance Db and the relative speed Vb, the calculation formula [t1 = {((Db + Lb ″) / Vb) +
[alpha]}] is used to calculate the obstacle avoidance time t1 as the time until the vehicle turns around in front of the obstacle such as the preceding vehicle.

The operation of the vehicle front monitoring system of the second embodiment having such a configuration will be described. The operation of this device is the same as that of the above-described first embodiment except that the processing of the lane detection unit is omitted and the obstacle detection unit, the oncoming vehicle detection unit, and the obstacle avoidance time calculation unit are replaced. Therefore, although not described in detail again, the device of the second embodiment accurately performs the time determination process based on the relative speed, not only for the parked vehicle or the pedestrian but also for the preceding vehicle that is running, It is possible to determine the possibility of collision.

The time determination process based on the relative speed is
In the configuration of the first embodiment, the obstacle detection unit 73 is expanded so as to also calculate the relative speed Vb, and the obstacle avoidance time calculation unit 92c of the second embodiment is used instead of the obstacle avoidance time calculation unit 91c. It is possible just by adopting it.

The configuration of the third embodiment of the vehicle front monitoring apparatus of the present invention will be described with reference to the functional block diagram of FIG. The device of the third embodiment differs from the device of the second embodiment described above in that a lane detecting unit 77 is added to the DSP 70 as an in-lane margin detecting unit, and an MPU 90 is provided.
In the lane, the in-lane traveling availability determination unit 93 as the in-lane traveling availability determination unit and the steering determination unit 94 as the steering determination unit.
And a vehicle collision determination suppression unit 97 as a vehicle collision determination suppression unit, and an alarm degree determination unit 98 as an alarm degree determination unit is provided instead of the alarm output unit 99. Therefore, these differences will be described in detail.

The lane detecting unit 77 performs image processing such as extracting the features of the fine line pattern from the stereo image data 71 to extract the lane and also calculates the speed Vd thereof. Further, the speed Vd is compared with the vehicle speed Va (Vd =
If it is Va), make sure this is a lane. Then, the distance between this lane and the obstacle on the left side thereof, that is, the margin width Wd in the lane is calculated and obtained.

The in-lane traveling possibility determining section 93 uses the comparative expression [Y2 = {Wd>(Wa> Wa based on the in-lane margin width Wd detected by the lane detecting section 77 and the default width Wa of the vehicle 1).
+ Β)}] is used to perform a comparison operation. Where β is the vehicle 1
It is the margin of the gap required to pass through and is determined by experiments. As a result, the in-lane traveling availability determination unit 93 outputs a determination result Y2 that is a logical value “true” when the vehicle 1 can travel on the side of an obstacle in the own vehicle traveling lane and a logical value “true” when the vehicle 1 cannot travel. The determination result Y2 is "false".

The vehicle-collision determination suppressing unit 97 uses the logical expression [Y4 = based on the determination result Y1 by the vehicle-collision condition determining unit 91e and the determination result Y2 by the in-lane running possibility determining unit 93.
The calculation is performed by {(Y1) .AND. (. NOT.Y2)}]. Accordingly, when it is determined that the vehicle 1 is capable of traveling on the side of an obstacle in the vehicle lane, the vehicle collision determination suppression unit 97 outputs the determination result Y1 from the obstacle avoidance time calculation unit 92c as it is. The determination result Y1 is suppressed in order to prevent the determination result Y4.

The turning determination section 94 performs a logical operation based on the steering angle θa of the steering wheel detected by the steering angle sensor 4 according to a comparative expression [Y3 = {θa> γ}]. Here, γ is a fixed value that is defined as a general operation amount for turning the steering wheel to the right when going out of an oncoming lane and passing a preceding vehicle. Accordingly, the steering determination unit 94 detects that the host vehicle has been steered to the opposite lane side.

The warning level determination unit 98 determines the width Wb of the obstacle detected by the preceding vehicle detection unit 73, the determination result Y4 from the vehicle collision determination suppression unit 97, and the determination result Y3 from the steering determination unit 94.
And the logical expression [ALM (3) = {(Wb ≠ 0) .AN
D. (Y4) .AND. (Y3)}] and the logical expression [ALM
(2) = {(Wb ≠ 0) .AND. (Y4) .AND. (.NOT.
Y3)}] and the logical expression [ALM (1) = {(Wb ≠ 0) .A
ND. (.NOT. Y4) .AND. (Y3)}] and a logical operation. The alarm command corresponding to each level is sent to the buzzer 6 as alarm signals ALM (1) to (3). Accordingly, the alarm degree determination unit 98, when an obstacle is present, an emergency warning for stopping the transfer to an oncoming lane that may cause a collision, or a collision with an obstacle while the oncoming vehicle is spent. A deceleration alarm is issued to prompt the driver to press the brake, and a warning is issued to encourage careful obstacle avoidance operation.

The operation of the vehicle front monitoring system of the third embodiment will be described.

In the vehicle front monitoring device 5 which is in operation while the vehicle 1 is traveling, each processing is repeatedly performed in the following procedure at every predetermined cycle of the timer interruption. In the DSP 70, the processing of the preceding vehicle detection unit 75, the processing of the oncoming vehicle detection unit 76, and the processing of the lane detection unit 77 are performed in this order, whereby the width Wb of the obstacle, the height Hb, and the detection length Lb. Alternatively, the distance Db to the obstacle, the relative speed Vb to the obstacle, the distance Dc to the oncoming vehicle, the relative speed Vc to the oncoming vehicle, and the in-lane margin width Wd are obtained. Then, these detected values and the like are MPU9.
0 is transferred.

After receiving this transfer, the MPU 90
First, the estimated length calculation unit 91a to the vehicle collision condition determination unit 91
Similar to the second embodiment, the series of processing up to e is performed by the oncoming vehicle collision determination unit 92, and the determination result Y1 is obtained. Further, the processing by the in-lane traveling possibility determination unit 93 is performed to obtain the determination result Y2, and the processing by the vehicle collision determination suppression unit 97 is performed to obtain the determination result Y4. As a result, a detailed determination is made according to the traveling condition such as the obstacle width and the lane width.

In the MPU 90, next, the process of the steering determination unit 94 is performed to obtain the determination result Y3, and the process of the alarm degree determination unit 98 is further performed to issue the alarm signal ALM (1) corresponding to the alarm level. ~ (3) are generated. As a result, the buzzer 6 issues an alarm corresponding to the risk of collision, which differs depending on the way the steering wheel is operated.

Therefore, during the continuation of such processing, the vehicle front monitoring device determines whether or not there is a possibility of collision of the host vehicle with the oncoming vehicle in the presence of obstacles and an oncoming vehicle, based on the front image or the like. Accordingly, it is possible to make a fine-grained, accurate, and safe determination, and based on this determination, it is possible to expect an appropriate warning in consideration of the steering operation.

From the distances Db and Dc, the relative speed Vb,
The process of calculating Vc may be performed on the MPU 90 side if the MPU 90 has a sufficient processing capacity. In addition, DSP70
When the processing speed of the MPU 90 is insufficient, or the like, the functions of the above-described units can be embodied by digital circuits. From this point of view, the alarm degree determination unit 98 and the like are illustrated by equivalent logic circuits.

[0063]

As is apparent from the above description, in the vehicle front monitoring system according to the first solution of the present invention, the virtual obstacle length for calculating the obstacle avoidance time is generally used as the detection length. It is possible to accurately and safely determine the possibility of collision of the host vehicle with the oncoming vehicle in the presence of obstacles and oncoming vehicles based on the front image etc. There is an effect that can be.

Further, in the vehicle front monitoring device according to the second solution of the present invention, by adopting the structure that reflects the traveling condition such as the obstacle width and the lane width, the obstacle and the oncoming vehicle are detected. It is possible to determine whether or not the oncoming vehicle may collide with the oncoming vehicle in the presence of the vehicle, in a fine-grained manner, accurately and safely according to the traveling situation.

Further, in the vehicle front monitoring apparatus according to the third solution of the present invention, the presence or absence of an obstacle or an oncoming vehicle is determined by determining the lightness or weight of the alarm level in consideration of the steering operation. In this case, it is possible to expect an accurate and accurate warning based on the determination on the safe side whether or not there is a possibility of collision of the host vehicle with the oncoming vehicle.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a vehicle front monitoring device of the present invention.

FIG. 2 is a functional block diagram of a first embodiment of a vehicle front monitoring device according to the present invention.

FIG. 3 is a functional block diagram of a second embodiment of a vehicle front monitoring device of the present invention.

FIG. 4 is a functional block diagram of a vehicle front monitoring device according to a third embodiment of the present invention.

[Explanation of symbols]

1 vehicle (own vehicle) 2 CCD camera 3 rudder angle sensor 4 vehicle speed sensor 5 vehicle forward monitoring device 6 buzzer (responsive part) 6a vehicle speed control device (responsive part) 6b brake 70 DSP: digital signal processor 71 stereo image data 72 lanes Detection unit 73 Obstacle detection unit (obstacle detection unit) 74 Oncoming vehicle detection unit (oncoming vehicle detection unit) 75 Preceding vehicle detection unit (obstacle detection unit) 76 Oncoming vehicle detection unit (oncoming vehicle detection unit) 77 Lane detection Section (lane margin detection means) 80 I / F: interface 90 MPU: microprocessing unit 91 oncoming vehicle collision determination section 91a estimated length calculation section (obstacle length calculation means) 91b obstacle length selection section (obstacle length calculation) Means) 91c Obstacle avoidance time calculation unit (obstacle avoidance time calculation unit) 91d Oncoming vehicle arrival time calculation unit (Oncoming vehicle arrival Time calculation unit) 91e Vehicle collision condition determination unit (vehicle collision condition determination unit) 92 Oncoming vehicle collision determination unit 92c Obstacle avoidance time calculation unit (obstacle avoidance time calculation unit) 93 In-lane traveling possible determination unit (in-lane traveling possible) Judgment means) 94 Steering judgment section (turning judgment means) 97 Vehicle collision judgment suppression section (vehicle collision judgment suppression means) 98 Warning degree judgment section (warning degree judgment means) 99 Warning output section

Claims (3)

[Claims] 1. A vehicle mounted on a vehicle, the presence / absence of a collision possibility of the vehicle is determined based on a front image from the vehicle and a vehicle speed from a vehicle speed sensor, and a result of the determination is sent to a predetermined response unit. In the vehicle front monitoring device, an obstacle detection unit that extracts an obstacle from the front image and detects the obstacle size and at least the distance between the obstacles of the own vehicle, and various obstacles based on the obstacle size. The estimated length in the depth direction of the obstacle is calculated in accordance with a predetermined estimation criterion, and the longer one of the detected length in the depth direction of the obstacle and the estimated length of the obstacle sizes is determined as the obstacle length. An obstacle length calculating means, and an obstacle for calculating an obstacle avoidance time by performing a predetermined calculation based on the obstacle length, the distance between the own vehicle obstacles, and the own vehicle speed or the relative speed of the own vehicle obstacle. Stuff Evacuation time calculation means, oncoming vehicle detection means for extracting an oncoming vehicle from the front image and detecting the distance between the oncoming vehicle and the oncoming vehicle relative speed of the own vehicle, between the obstacle length and the own vehicle obstacle Oncoming vehicle arrival time calculating means for calculating an oncoming vehicle arrival time by performing a predetermined calculation based on a distance, the oncoming vehicle oncoming vehicle distance, and the own vehicle oncoming vehicle relative speed, the obstacle avoidance time and the oncoming vehicle arrival A vehicle front monitoring device, comprising: vehicle collision condition determination means for determining whether or not there is a possibility of collision of the vehicle by performing a predetermined condition determination based on time. 2. A traveling lane of the own vehicle is extracted from the front image to detect its width, and an in-lane margin side of the obstacle lane in the own vehicle traveling lane is detected from the detected width and the obstacle size. Lane margin detection means for detecting
In-lane traveling possibility determining means for determining whether or not the host vehicle can travel on the side of the obstacle in the host vehicle traveling lane based on the in-lane margin width and the width of the host vehicle, and in-lane traveling The vehicle collision determination suppressing means for suppressing the determination of the possibility of collision of the own vehicle by the vehicle collision condition determination means when the possibility determination means determines that the vehicle can travel. The vehicle forward monitoring device described. 3. Steering judgment means for detecting that the own vehicle has been steered to the opposite lane side based on the steering angle of the steering wheel, and the judgment result of this steering judgment means and the possibility of collision of the own vehicle. 3. The alarm level determination means for determining whether the alarm level is light or heavy according to the determination result and delivering or outputting the determination result to the predetermined responding part. Vehicle front monitoring device.