JPH11187390A - Vehicle controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle controller which can improve the use of an object detector. SOLUTION: This controller has an arithmetic unit 13 which measures displacement between two image data based on the contrast information of an object. i.e., the output of an image pickup device 4 attached to a vehicle and photographs an object around the vehicle and decides the position of the object, and a controller 14 which controls the unit 13 and also controls a passive stereo sensor, i.e., the device 4 based on the exposure information given from a monitor sensor 9. The controller 14 decides the ambient brightness based on the exposure information and outputs the brightness to other parts of the vehicle as the ambient information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling a vehicle using an object detection device incorporating a passive stereo sensor.

[0002]

2. Description of the Related Art As means for assisting the running of a vehicle, the position of the object such as the distance (inter-vehicle distance) and direction between the vehicle in front and the own vehicle is measured by using an image pickup device, and the position of the object is measured. There have been proposed various object detection devices capable of taking measures for avoiding a collision in consideration of a position (for example, Japanese Utility Model Application Laid-Open No. H4-160312 (Document 1) and Japanese Patent Application Laid-Open No. 7-20697).
Publication (Reference 2)).

As the imaging device used in such a system, a passive stereo sensor such as a CCD line sensor adopting a so-called phase difference method known as a camera auto-focus system is used (for example, see the aforementioned document). 1, 2).

[0004] Such an image pickup device is mounted in the front of the vehicle cabin in order to secure a favorable measurement environment. However, in order not to hinder the driver's view, various arrangements are required for the installation location. For example, in Document 1, a CCD sensor as an image pickup device is attached to the rear surface of a rearview mirror of a vehicle, and in Document 2, a stereoscopic camera as an image pickup device is mounted on a shade band formed at an upper portion of a front window. In the overhead console portion of the roof head cover that covers the inside of the roof, which is the back side of the vehicle, or in the rearview mirror as in Document 1.

[0005]

Generally, as described above, such an object detection device measures the position of an object and displays the distance, or prompts the driver to take measures to avoid a collision accident. It merely issued a warning to urge, and the range of use was limited.

[0006] The present invention has been made in view of such a problem, and provides a device for controlling a vehicle using an object detection device incorporating a passive stereo sensor. The purpose is to improve.

[0007]

SUMMARY OF THE INVENTION The present invention comprises a passive stereo sensor mounted on a vehicle for imaging surrounding objects;
An arithmetic unit for measuring the displacement of two image data from the contrast information of the object, which is an output from the sensor, to measure the position of the object, and controlling the exposure time of the passive stereo sensor when obtaining the image data And a control device for controlling the passive stereo sensor based on the exposure information from the monitor sensor and for controlling the arithmetic device. Is determined, and this is output to other parts of the vehicle as surrounding information.

According to another aspect of the present invention, there is provided a passive stereo sensor which is attached to a vehicle and captures an image of a surrounding object, and measures the displacement of two image data from the contrast information of the object, which is output from the sensor, to determine the position of the object. And a monitor sensor that controls the exposure time of the passive stereo sensor when obtaining the image data,
A control device that controls the passive stereo sensor based on the exposure information from the monitor sensor and controls the arithmetic device.The control device determines the brightness of the surrounding environment from the exposure information. The surrounding information is output as a lighting control signal of a meter device, a display device, or a lighting device mounted on the vehicle.

The present invention is also directed to a passive stereo sensor mounted on a vehicle for picking up an image of a surrounding object, and measuring the displacement of two image data from the contrast information of the object, which is output from the sensor, to determine the position of the object. And a monitor sensor that controls the exposure time of the passive stereo sensor when obtaining the image data,
A control device that controls the passive stereo sensor based on the exposure information from the monitor sensor and controls the arithmetic device.The control device determines the brightness of the surrounding environment from the exposure information. The surrounding information is output as a switching signal of a room mirror mounted on the vehicle.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An arithmetic unit 13 for measuring the displacement of two image data from the contrast information of an object, which is an output from an image pickup device 4 attached to a vehicle 1 and picking up an image of a surrounding object, and measuring the position of the object. And a control device 14 for controlling the passive stereo sensor, which is the imaging device 4, based on the exposure information from the monitor sensor 9 and for controlling the arithmetic device 13. It determines the brightness and outputs this to other parts of the vehicle 1 as surrounding information. For example, an instrument device, a display device, and a lighting device (eg, headlights) mounted on the vehicle 1
By outputting the illumination control signal as the illumination control signal, the instrument device, the display device, and the lighting equipment can be automatically turned on and off. Also, by outputting the surrounding information as a switching signal between a normal (non-glare) state and an anti-glare state of the room mirror 2 mounted on the vehicle 1, a driving device (such as a motor connected to the room mirror 2) (Not shown) can be automatically switched between the normal (non-glare) state and the anti-glare state of the room mirror 2, and a device whose operation depends on ambient brightness can be easily controlled. . In particular, by using the data from the object detection device, the control is automatically performed without any concern for the driver, so that the burden on the driver does not increase. Moreover, the use value of the object detection device can be improved.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments shown in the accompanying drawings.

FIGS. 1 and 2 are views for explaining the configuration of an embodiment of the present invention. Reference numeral 1 denotes a vehicle, 2 denotes a rearview mirror for visually observing the rear, and 3 denotes a manually adjustable angle of the rearview mirror 2. A stay 4 attached to the vehicle and fixed to the vehicle, 4 is an image pickup device fixed to the stay 3 so as to be located on the rear side of the room mirror 2 to visually recognize the front, 5 is a room mirror 2
The first cover 6 surrounds the room mirror 2 except for at least the surface thereof and is adjustable in angle in conjunction with the room mirror 2. The first cover 6 surrounds the imaging unit 4 except at least the front surface of the imaging device 4 and is fixed to the stay 3. Second cover, 7
Is a code which is extracted from the imaging device 4 and transmits forward image information captured by the imaging device 4 to a controller described later.

That is, the rear-view mirror 2 is fixed to the cover 5 by a fixing means (not shown) such as an adhesive or a double-sided adhesive tape. 5 is attached so that the angle can be manually adjusted.

The image pickup device 4 is a passive stereo sensor such as a CCD line sensor, for example, in which two vertically arranged lenses are fixed to a mounting plate 8 together with a cover 6 so as to face forward. 8 is fixed to the stay 3. In the vicinity of the imaging device 4, a monitor sensor 9 made of, for example, a photodiode for controlling the exposure time of the passive stereo sensor is arranged.

The stay 3 is fixed to the vehicle 1 by being fixed to the shade band 11 such that the lens of the imaging device 4 is located behind the shade band 11 formed on the upper part of the front window 10. ing.

Reference numeral 12 denotes a controller arranged at an appropriate position of the vehicle 1, which detects displacement of two image data from contrast information of an object which is output from an image pickup device 4 which is attached to the vehicle 1 and captures an image of a surrounding object. An arithmetic unit 13 that measures and measures the position of the object and outputs position information; and a control unit that outputs control information for controlling a passive stereo sensor, which is the imaging device 4, based on exposure information from the monitor sensor 9. And a controller 14 for controlling the brightness of the surrounding environment from the exposure information and outputting the same to other parts of the vehicle 1 as surrounding information. The device 14 is constituted by a microcomputer, and the above constitutes the object detection device.

In such a configuration, the controller 12 (control device 14) controls the imaging device 4 to detect an object around the vehicle 1, measures the position of the object to the driver, and displays the distance. Or warn the driver to take measures to avoid collisions.

At the same time, the control device 14 determines the brightness of the surrounding environment from the exposure information and outputs this to other parts of the vehicle 1 as surrounding information. Equipment and lighting equipment (headlights, etc.)
By outputting the illumination control signal as the illumination control signal, the instrument device, the display device, and the lighting equipment can be automatically turned on and off. Also, by outputting the surrounding information as a switching signal between a normal (non-glare) state and an anti-glare state of the room mirror 2 mounted on the vehicle 1, a driving device (such as a motor connected to the room mirror 2) (Not shown), the room mirror 2 can be automatically switched between the normal (non-glare) state and the anti-glare state.

According to such a configuration, a device whose operation depends on ambient brightness can be easily controlled. In particular, by using data from the object detection device, the driver does not have to worry about anything. Since the control is performed automatically, the burden on the driver does not increase. Moreover, the use value of the object detection device can be improved.

[0020]

According to the present invention, it is possible to easily control a device whose operation depends on ambient brightness by using data from the object detection device, and the driver does not have to worry about anything. Since the control is performed automatically, the burden on the driver does not increase. Moreover, the use value of the object detection device can be improved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating a configuration of an embodiment of the present invention.

FIG. 2 is a block diagram illustrating the configuration of the embodiment.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 vehicle 2 rearview mirror 4 imaging device (passive stereo sensor) 13 arithmetic device 14 control device

Claims (3)

[Claims] 1. A passive stereo sensor mounted on a vehicle to image a surrounding object, and a displacement of two image data is measured from contrast information of the object as an output from the sensor to measure a position of the object. An arithmetic unit;
A monitor sensor that controls the exposure time of the passive stereo sensor when obtaining the image data, and a control device that controls the arithmetic device and controls the passive stereo sensor based on exposure information from the monitor sensor. And a controller that determines the brightness of the surrounding environment from the exposure information and outputs the determined brightness as surrounding information to another part of the vehicle. 2. A passive stereo sensor mounted on a vehicle to image surrounding objects, and a displacement of two image data is measured from contrast information of the object, which is an output from the sensor, to measure a position of the object. An arithmetic unit;
A monitor sensor that controls the exposure time of the passive stereo sensor when obtaining the image data, and a control device that controls the arithmetic device and controls the passive stereo sensor based on exposure information from the monitor sensor. The control device determines the brightness of the surrounding environment from the exposure information, and outputs the surrounding information as a lighting control signal of an instrument device, a display device, or a lighting device mounted on the vehicle. Vehicle control device. 3. A passive stereo sensor mounted on a vehicle to image surrounding objects, and a displacement of two image data is measured from contrast information of the objects, which is an output from the sensor, to measure a position of the objects. An arithmetic unit;
A monitor sensor that controls the exposure time of the passive stereo sensor when obtaining the image data, and a control device that controls the arithmetic device and controls the passive stereo sensor based on exposure information from the monitor sensor. A control device for determining the brightness of the surrounding environment from the exposure information, and outputting the surrounding information as a switching signal for a room mirror mounted on the vehicle.