JPH10105863A - Travel route information collection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid a situation that one TV camera breaks down and an obstacle and a vehicle existing in a monitor area, which the TV camera has to monitor, cannot be detected at the time of detecting the obstacle or the vehicle on a travel route through the use of plural TV cameras. SOLUTION: Signal interruption detection parts 7a and 7b detect whether the cameras 1a and 1b are normally picking up images or not. When it is judged that an abnormality occurs in the camera 1a, the signal interruption detection part 7a informs an adjacent fault generation reception part 10b of the effect through a fault generation transmission part 8a. The fault generation reception part 10b makes a depression angle switch/driving part 11b switch the depression angle of the camera 1b and therefore the camera 1b can monitor the monitor area of the camera 1a.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting an obstacle or a running vehicle on a traveling road, and more particularly to an apparatus for detecting an obstacle or a vehicle over a wide range.

[0002]

2. Description of the Related Art In recent years, while demand for road traffic has been increasing more and more, problems such as a decrease in transportation efficiency due to traffic accidents and traffic congestion and a deterioration in the environment have continued to increase. One way to solve this problem is on highways,
The concept of "automated highway" has been proposed to realize automatic driving and safety support. In the concept, it is particularly desired to be able to detect an obstacle that may hinder the traffic of a vehicle or the behavior of another running vehicle over the entire road. Against this background, detection devices for detecting obstacles and vehicles based on images taken by TV cameras and the like have been researched and developed. Furthermore, a plurality of TV cameras have been installed along the traveling path. Accordingly, a detection system for detecting an obstacle or a vehicle in a wide range is being put to practical use.

[0003]

However, in such a detection system, if one of the TV cameras fails, a surveillance area for which the camera should share the surveillance is required. Images cannot be taken. As a result, despite the fact that all remaining cameras are correctly capturing images of each monitoring area, the detection system cannot detect obstacles or vehicles in the monitoring area because the failed camera cannot detect the obstacles or vehicles in the monitoring area. There has been a problem that the overall reliability is reduced.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, in a traveling road information collecting apparatus according to the present invention, an image of a traveling road to be photographed is shared and photographed. While providing information about the travel path, monitor the shooting condition of the image, and if the monitoring shows that an image at a certain location is not normally shot, share the shooting. The range to be changed is changed to supplement the image at that location. By taking such a measure, it becomes possible to always reliably capture an image of the entire travel road to be captured, so that vehicles and obstacles
At any point on the travel path, the vehicle and the obstacle can be reliably detected without overlooking them.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A travel path information collecting apparatus according to the present invention will be described in accordance with an embodiment. Specific examples 1 and 2 are given as embodiments. The main feature point of the specific example 1 is that when an obstacle occurs in the camera of the obstacle detection unit located in front of the traveling path, the obstacle located in the rear is located behind the camera.
By enlarging the angle of one camera, the detection area of the failed camera is supplemented. On the other hand, the main characteristic point of the specific example 2 is that the camera 1 uses a plurality of cameras.
By narrowing the photographing range per unit, the resolution in a distant region is relaxed even a little, and the detection region of a camera in which a failure has occurred is compensated for.

<Structure of Specific Example 1> FIG. 1 is a diagram showing a structure of a travel path information collecting device of a specific example 1. The traveling path information collecting device includes obstacle detecting units 20a, 20b, 2
0c.

The obstacle detection unit 20a includes: (1) a camera 1a for photographing an image of an assigned detection area on a road, an A / D converter 2a for converting the photographed image into a digital signal, An image processing unit 3a for detecting an object, an information display device 4a for displaying information relating to the detection of an obstacle, an obstacle detection basic device 6a including a video monitor 5a for displaying a captured image;
(2) A signal interruption detection unit 7a that detects whether or not an image has been shot normally, and (3) a failure has occurred in the camera 1a when it is determined that the image has not been shot normally. And (4) an operation state display device 9a for displaying an operation state as to whether or not an image is taken as usual.

The obstacle detection unit 20b includes: (1) a camera 1b for photographing an image of an assigned detection area on a road, an A / D converter 2b for converting the photographed image into a digital signal, An image processing unit 3b for detecting an object, an information display device 4b for displaying information about the detection of an obstacle, an obstacle detection basic device 6b including a video monitor 5b for displaying a captured image;
(2) a signal interruption detecting unit 7b for detecting whether or not the image is photographed as usual; and (3) a failure in the camera 1b when it is determined that the image is not photographed as usual. A failure occurrence transmitting unit 8b for notifying the fact, (4) an operation state display device 9b for displaying an operation state as to whether or not an image is normally taken, and (5) a camera 1a of the obstacle detection unit 20a. A failure occurrence receiving unit 10b for notifying that a failure has occurred; and (6) a camera 1b for interpolating a detection area shared by the obstacle detection unit 20a when a failure occurs in the obstacle detection unit 20a.
And an angle switching drive unit 11b for switching the angle of the camera 1b so as to enlarge the detection area of the camera 1b.

The obstacle detection unit 20c includes: (1) a camera 1c for capturing an image of an assigned detection area on a road, an A / D converter 2c for converting the captured image into a digital signal, and an obstacle based on the digital signal. Obstacle detection basic device 6 including an image processing unit 3c for detecting an object, an information display device 4c for displaying information related to the detection of an obstacle, and a video monitor 5c for displaying a captured image to a monitor.
and (2) a failure occurrence receiving unit 10c that is notified that a failure has occurred in the camera 1b of the obstacle detection unit 20b.
(3) When an obstacle occurs in the obstacle detection unit 20b, the angle of the camera 1c is increased so as to expand the detection area of the camera 1c so as to interpolate the detection area shared by the obstacle detection unit 20b. Angle switching drive unit 1 for switching
1b.

Further, the fault occurrence transmitting section 8a in the obstacle detecting unit 20a and the fault occurrence receiving section 10b in the obstacle detecting unit 20b are electrically connected. The failure occurrence transmitting unit 8b in the obstacle detection unit 20c is also electrically connected to the failure occurrence transmitting unit 8b in the obstacle detection unit 20c. In addition, although the travel path information collection device of this specific example is configured with three obstacle detection units, it may be configured with four or more obstacle detection units.

<Operation of Specific Example 1> Next, the operation of the travel path information collecting device of the specific example 1 will be described. First, an operation for detecting an obstacle will be described, and then, an operation when a failure occurs in the obstacle detection unit will be described.

<Detection of Obstacle> FIG. 2 is a diagram showing a detection area shared by the obstacle detection unit. Each camera 1
a, 1b, 1c are sequentially installed along the road 13 from the front to the rear in the traveling direction of the vehicle (the direction of the arrow in the figure), and the detection areas 12a, 1
Images are taken for 2b and 12c. The captured images are converted into digital signals by A / D converters 2a, 2b, and 2c. The image processing units 3a, 3b, and 3c perform background subtraction processing to detect obstacles.
Here, the background difference processing is performed by comparing a background image, which is stored in advance at the time of start-up of the apparatus and has no obstacle, with a background image photographed after operation of the apparatus. For example, an image is extracted, and the difference image is subjected to a binarization process. Finally, information on the obstacle is displayed on the information display devices 4a, 4b, 4c, and the captured images are displayed on the video monitors 5a, 5b, 5c.

<Process at the time of occurrence of a fault> On the other hand, each of the signal cutoff detecting units 7a, 7b, 7c always
1c monitors whether or not an image is normally captured. Then, for example, if the signal interruption detection unit 7a
a is not taking images normally, that is, the camera 1a
When it is detected that there is an abnormality such as interruption in the video signal from the camera, it is immediately notified that an image cannot be taken within the detection area 11a, that is, that an obstacle cannot be detected. Is transmitted to the obstacle detection unit 20b located behind in the traveling direction via the failure occurrence transmitting unit 8a, and is notified by the operation state display device 9a.

When notified that the obstacle detection unit 20a located ahead in the traveling direction has failed, the failure occurrence receiving unit 10b in the obstacle detection unit 20b changes the detection area of the camera 1b to the current detection area. In order to enlarge the area 12b, the angle is changed to the detection area 12b 'by instructing the angle switching drive section 11b to switch the angle. Also, the image processing unit 3b is notified that the detection area has been changed.

<Example of Change of Detection Area> FIG. 3 is a diagram showing the relationship between the camera angle and the detection area. This figure 3
As shown in (a), for example, when a CCD camera having a height of 10 m, an interval between the cameras of 100 m, and an image sensor size of 1/2 inch is installed under conditions of a focal length of 16 mm and an angle of 13 degrees, At times, each camera 1a, 1b, 1
c detection areas 12a, 12b, and 12c are approximately 1
00m. On the other hand, as shown in FIG.
When a failure occurs in the camera 1a, the angle of the camera 1b is set to 11 degrees so that the detection area 12b 'of the camera 1b also includes the detection area 12a of the camera 1a.
As a result, the detection area 12b 'of the camera 1b becomes approximately 200
m.

<Effects of Specific Example 1> As described above, when an obstacle occurs in the obstacle detection unit 20a located in the front in the traveling direction, the fact is notified to other obstacles located in the rear in the traveling direction. The detection unit 20b is notified. In response to the notification, the obstacle detection unit 20b sets the camera 1
By changing the angle of b, the detection area of the camera 1a in the obstacle detection unit 20a in which a failure has occurred can be quickly supplemented. As a result, the obstacle can be detected quickly and reliably regardless of where on the road the obstacle is located.

<Structure of Specific Example 2> Next, a travel path information collecting device of a specific example 2 will be described. FIG. 4 is a diagram illustrating the configuration of the travel path information collection device according to the second embodiment. This traveling road information collecting device includes: (1) cameras 1a, 1b, and 1c for capturing an image of an assigned detection area on a road;
Obstacle detection basic device 6a composed of A / D converters 2a, 2b, 2c for converting a photographed image into a digital signal and image processing units 3a, 3b, 3c for detecting an obstacle from the digital signal. ', 6b', 6c ',
(2) an information display device 4 for displaying information related to obstacle detection, (3) a video monitor 5 for displaying a captured image to a monitor, and (4) an image switching unit 15 for switching a captured image. (5) a signal cut-off detecting unit 7 for detecting whether or not the image is photographed as usual; and (6) each of the cameras 1a, 1b, A focal length / angle setting unit 16 for setting the focal length and angle of 1c; and (7) a database unit 18 for storing data necessary for setting the focal length and angle.
And (8) a focal length / angle drive unit 17 for driving the cameras 1a, 1b, 1c according to the set focal length / angle.
a, 17b, and 17c, and (9) an operation state display device 9 that displays an operation state of whether or not an image has been captured as usual. In the following, between the specific example 1 and the specific example 2, the same reference numerals denote the same devices, components, and the like.

<Operation of Specific Example 2> Next, the operation of the travel path information collecting device of the specific example 2 will be described. The operation of detecting an obstacle in a normal state is substantially the same as the operation of detecting an obstacle in the first embodiment. Therefore, only the operation when a failure occurs will be described below.

<Processing at the Time of Failure Occurrence> Signal interruption detecting section 7
Constantly monitors whether each of the cameras 1a, 1b, and 1c normally captures an image. And, for example, if
When it is determined that the camera 1a is not capturing images normally, the signal cutoff detection unit 7 notifies the focal length / angle setting unit 16 of the occurrence of a failure and simultaneously displays the information on the operation state display device 9. I do.

In response to the notification that a failure has occurred, the focal length / angle setting unit 16 sets the cameras 1b, 1b, 1b, 1
Adjust the focal length and angle of c. More specifically, the cameras 1b and 1c are prepared from a database prepared in advance in the database unit 18, which indicates the relationship between the height, focal length, angle, etc. of the position where the camera is installed and the detection area. Extracts the focal length and angle required to supplement the detection area of the camera 1a, outputs the extracted focal length and angle to the focal length and angle drive units 17b and 17c, and outputs them. Is notified to the image processing units 3b and 3c corresponding to.

FIG. 5 is a diagram showing detection areas by two cameras. As shown in FIG. 5, for example, when a CCD camera having a height of 10 m, an interval between cameras of 100 m, and an image sensor size of 1/2 inch is installed under the conditions of a focal length of 16 mm and an angle of 13 degrees, When 1a fails, the focal length of the camera 1b is set to 55 m so that the detection area 12b "of the camera 1b and the detection area 12c" of the camera 1c also include the detection area 12a of the camera 1a.
m and the angle are readjusted to 5 degrees, the focal length of the camera 1c is adjusted to 15 mm, and the angle is adjusted to 12 degrees. as a result,
The detection area 12b "of the camera 1b is enlarged to about 150 m, and the detection area 12c" of the camera 1c is also increased to about 170 m.
m.

<Effects of Specific Example 2> As described above, in the travel path information collecting device of Specific Example 2, when a certain camera 1a breaks down, each of the other cameras 1b and 1c is used. Since the detection regions of the cameras 1b and 1c can be narrowed, it is possible to suppress a decrease in resolution due to the enlargement of the detection regions. Therefore, when there is an obstacle in the detection area 12a of the camera 1a, the obstacle can be detected with higher accuracy than the travel path information collecting device of the first embodiment.

<Other Use Modes> In the travel path information collecting apparatus of these specific examples, when an abnormality occurs in a certain camera, the detection area is interpolated. However, for example, when a surveillant who operates a camera by remote control and investigates each point on the travel path wants to expand and investigate only a certain point, the observer remotely operates with a group of cameras behind it. It is also possible to interpolate and monitor the existing area.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a configuration of a travel path information collection device of a specific example 1.

FIG. 2 is a diagram illustrating a detection area shared by an obstacle detection unit.

FIG. 3 is a diagram illustrating a relationship between a camera angle and a detection area.

FIG. 4 is a diagram illustrating a configuration of a travel path information collection device according to a specific example 2.

FIG. 5 is a diagram showing detection areas by two cameras.

[Explanation of symbols]

 20a, 20b, 20c Obstacle detection unit 7a, 7b Signal interruption detection unit 8a, 8b Failure occurrence transmission unit 10b, 10c Failure occurrence reception unit 11b, 11c Angle switch drive unit

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Akihiro Fujii Oki Electric Industry Co., Ltd. 1-7-12 Toranomon, Minato-ku, Tokyo

Claims (8)

[Claims] 1. A plurality of image pickup means for sharing an image of a traveling road to be photographed, an output means for outputting information on a traveling road based on the photographed image, and a photographing state of the image pickup means A monitoring unit that monitors the travel path, a determination unit that determines a range shared by each of the imaging units, and the monitoring unit determines that one of the plurality of imaging units has a poor imaging state. When it is determined that the image capturing means is an image capturing apparatus, the determining means determines a range to be shared by image capturing means other than the one image capturing means so that an image in a range shared by the one image capturing means can be captured. Travel path information collecting device. 2. The area according to claim 1, wherein said determining means can capture an image of a range to be shared by said one imaging means, and a range to be shared by another imaging means adjacent to said one imaging means. A travel path information collecting device, characterized in that: 3. The travel path information collecting device according to claim 2, wherein the other imaging means is located behind the one imaging means in a traveling direction of the travel path. 4. The imaging device according to claim 1, wherein the determining device is an imaging device other than the one imaging device so as to capture an image in a range shared by the one imaging device. A travel path information collecting device, wherein a range to be shared by an imaging unit is determined. 5. The travel path information collection device according to claim 4, wherein one of the plurality of adjacent imaging units is adjacent to the one imaging unit. 6. A plurality of image pickup means provided at a plurality of locations along the traveling path for sharing and photographing an image of the traveling path to be photographed, and information on the traveling path based on the photographed images. An output unit that outputs a monitoring status provided at each location, which monitors the shooting status of the imaging unit, and transmits the monitored shooting status to a location adjacent to the rear in the traveling direction of the traveling path. Transmitting means provided at each location, receiving means provided at each location for receiving a photographing state of the imaging means from a location adjacent to the front in the traveling direction of the traveling road, and imaging means at the received adjacent location Based on the shooting state of the, determine the range to be shared by the imaging means of the location,
A determination unit provided at each location, wherein when the determination unit determines that the received imaging state of the imaging unit at the adjacent location is bad, the imaging unit at the adjacent location shares the range A travel path information collection device, which determines a range to be shared by the imaging means at the location so that the imaging means at the location can capture the image of the road. 7. The method according to claim 6, wherein a photographing state of the image pickup means received from a location adjacent to the front of the traveling path in the traveling direction is transferred to a location adjacent to the rear of the traveling path in the traveling direction. Determining means at a second location adjacent to the first location where the imaging condition of the imaging means is poor; and a determining means at a second location adjacent to the first location where the imaging means is defective. When the determining means at the second location determines that the imaging state of the imaging means at the first location is poor, the determining means at the second location and the third location at the third location determine
And the determination means at the second location and the third location so that the imaging means at the location can cooperate to capture an image of the range to be shared by the imaging means at the first location. A travel route information collecting device, wherein a certain determining means determines a range to be imaged by the imaging means at each location. 8. The travel path information collection device according to claim 1, wherein the determination unit sets at least one of an angle and a focal length of the imaging unit. .