WO2004072753A1 - System and method for generating steering angle data of an automatic navigation vehicle via image tracking of a leading vehicle - Google Patents

System and method for generating steering angle data of an automatic navigation vehicle via image tracking of a leading vehicle Download PDF

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Publication number
WO2004072753A1
WO2004072753A1 PCT/KR2003/002932 KR0302932W WO2004072753A1 WO 2004072753 A1 WO2004072753 A1 WO 2004072753A1 KR 0302932 W KR0302932 W KR 0302932W WO 2004072753 A1 WO2004072753 A1 WO 2004072753A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
image
photographing
distance
photographing angle
Prior art date
Application number
PCT/KR2003/002932
Other languages
French (fr)
Inventor
Yong-Kwon Choi
Yong-Jun Choi
In-Cheol Choi
Original Assignee
Yong-Kwon Choi
Yong-Jun Choi
In-Cheol Choi
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Filing date
Publication date
Application filed by Yong-Kwon Choi, Yong-Jun Choi, In-Cheol Choi filed Critical Yong-Kwon Choi
Publication of WO2004072753A1 publication Critical patent/WO2004072753A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Definitions

  • the present invention relates to generation of driving data in an automatic navigation system mounted on a vehicle for allowing for unmanned driving of the vehicle, and more particularly, to a system and method for automatically driving a vehicle via deviation compensation in driving, which can analyze image data obtained from image pick-up means mounted on a front portion of the vehicle in order to adjust the steering angle of the vehicle and control the speed thereof.
  • the present invention also relates to a method for generating driving data which can automatically control an automatic navigation vehicle by obtaining the vehicle-moving direction, the photographing angle of image pick-up means and the vehicle-to-vehicle distance to a leading vehicle, calculating the steering angle of the vehicle based upon the distance between vehicle shafts, and analyzing the vehicle-to-vehicle distance to generate data for actuating a brake and an accelerator.
  • Korean Patent Application Serial No.10-2003-0004788 earlier filed by the inventor of this application proposes a system and method for generating actuation data by obtaining a lateral deviation ⁇ x between an optical axis of image pickup means and a road, calculating the steering angle of a vehicle based upon the lateral deviation ⁇ x, a shaft-to-shaft distance L, a lateral distance to the image pickup means to adjust the degree of steering, and analyzing a longitudinal deviation ⁇ y and the position of a leading vehicle from front image data of the vehicle to operate a brake and an accelerator.
  • a positioning device including an accelerator sensor such as a gyroscope, an attitude sensor and a GPS or an active mark on a road.
  • the present invention can realize the above objects by obtaining the moving direction of the vehicle, the photographing angle of the image pickup means and the vehicle-to-vehicle distance to the leading vehicle, calculating the steering angle of the vehicle based upon a shaft-to-shaft distance, and analyzing the vehicle-to-vehicle distance to generate data for driving a brake and an accelerator.
  • a system for generating steering angle data via image tracking of a leading vehicle comprising: image pick-up means for photographing a road image in front of an automatic navigation vehicle; image data storage means for storing image data; vehicle image-selecting means for selecting a vehicle image from road image data stored in the image data storage means; vehicle image-extracting means for extracting the selected vehicle image ; first calculating means for calculating a photographing angle deviation and a distance from the automatic navigation vehicle to the leading vehicle based upon the extracted vehicle image; photographing angle adjustment means for directly adjusting the photographing angle of the image pick-up means based upon stored photographing angle deviation information; photographing angle deviation storage means for storing calculated photographing angle deviation information; a photographing angle sensor for measuring the photographing angle of the image pick-up means; second calculating means for calculating a steering angle based upon the photographing angle measured by the photographing angle sensor and the distance d calculated by the first calculating means ; steering angle-comparing means for
  • the system of the present invention may further comprise status value-generating means for generating a status value based upon the vehicle-to-vehicle distance; speed-comparing means for comparing speed based upon a value detected by a speed sensor and the status value generated by the status value-generating means; speed controller-selecting means for selecting a speed controller based upon the speed compared by the speed-comparing means and the status value generated by the status value-generating means; speed control information-generating means for generating speed control information of the selected speed controller; and speed control information storage means for storing the speed control information generated by the speed control information-generating means.
  • the system of the present invention may further comprise a drive unit which includes the steering information storage means for storing the steering information generated from the steering information-generating means; steering actuation means for independently adjusting the degree of steering based upon the steering information stored in the steering information storage means; speed control information storage means for storing the speed control information generated by the speed control information-generating means; brake-actuating means for actuating a brake based upon the speed control information stored in the speed control information storage means; and accelerator-actuating means for actuating an accelerator based upon the speed control information stored in the speed control information storage means .
  • a drive unit which includes the steering information storage means for storing the steering information generated from the steering information-generating means; steering actuation means for independently adjusting the degree of steering based upon the steering information stored in the steering information storage means; speed control information storage means for storing the speed control information generated by the speed control information-generating means; brake-actuating means for actuating a brake based upon the speed control information stored in the speed control information storage means; and accelerator-actuating means for
  • FIG. 1 illustrates the concept of radius of gyration known in the art
  • FIG. 2 illustrates the concept of steering based upon outer wheels in accordance with the present invention
  • FIG. 3 illustrates the concept of steering with respect to image pickup means in accordance with the present invention
  • FIG. 4A illustrates correlation according to position when an image pick-up module is installed in the vehicle
  • FIG. 4B illustrates the concept of a vehicle-to-vehicle distance d in accordance with the present invention
  • FIG. 5A illustrates the concept of photographing angle compensation for image tracking in accordance with the present invention
  • FIG. 5B illustrates the concept of photographing angle deviation ⁇ in accordance with the present invention
  • FIG. 6 illustrates the concept of tracking a leading vehicle in accordance with the present invention
  • FIG. 7 illustrates an automatic navigation vehicle mounted with an image pick-up module
  • FIG. 8 is a block diagram of an automatic vehicle navigation system via image tracking of a leading vehicle in accordance with the present invention
  • FIG. 9 illustrates a hardware system structure in accordance with the present invention. Best Mode for Carrying Out the present invention
  • FIG. 1 illustrates the concept of radius of gyration known in the art.
  • the present invention in order to induce steering angle equations according to characteristics of a vehicle steering system, the present invention can express the radius of gyration according to geometric requirements by using [Expression 1] below:
  • the steering angle of a target point can be calculated. If there is no point of inflection, the steering angle between two points A and B in FIG. 2 can be calculated based upon the shaft-to-shaft distance L of the vehicle when the vehicle is running.
  • FIGS. 4A and 4B illustrate the concept of initializing image pick-up means of the present invention.
  • a vehicle is parked in a moving direction thereof on a central region of a road with straight lanes.
  • the steering angle of the vehicle is adjusted so that a steering angle sensor is set "0".
  • the optical axis of the image pick-up means is disposed in the center of the vehicle, parallel with the center line of the vehicle, before the image pick-up means is initialized.
  • FIG. 4A illustrates correlation according to position when an image pick-up module is installed in the vehicle .
  • the reference point of a leading vehicle is also on a laterally central portion thereof. Otherwise, formula is modified based upon the corresponding position.
  • FIG. 4B illustrates the distance d from the automatic navigation vehicle to the leading vehicle, an orthogonal coordinate set between the automatic navigation vehicle and the leading vehicle and a projection line number at the bottom a-a' showing the color of the vehicle.
  • distance values for respective projection numbers set on a road have no distance deviations according to lateral rotation of the image pickup means even though the relative photographing angle ⁇ between the vehicle and the image pickup means is varied. This is an essential distance measuring technique in accordance with the present invention.
  • the image pick-up means is designed to automatically align the photographing angle with the lateral center line of the leading vehicle. If leading vehicle is so set that the image pick-up means is deviated from the center line to a distance X 0 as shown in FIG. 4A, the deviated distance is reflected to the initial value.
  • the image pick-up means is initialized by inputting all of projection line numbers Pn, horizontal distances of an actual image, distances Xm of a main lane m from the center of the optical axis and distances Xs to a sub-lane appearing in the image pick-up means and projection lines and initial projection lines Pm showing an image of the leading vehicle as reported in Table 1 below. Table 1. Initialization of Image Pickup Device
  • the distances Xm and Xs from the center of the optical axis are expressed by the number of pixels on a screen.
  • the first projection line Pm is the first proj ection line number having the image of the leading vehicle, and the distance d is inputted by measuring the actual distance to the leading vehicle. Then, when the vehicle image appears at the first projection line Pm of 183, the distance d to the vehicle can be analyzed 250m.
  • the distance d to the leading vehicle is calculated with respect to the bottom of the vehicle as shown in FIG. 4B and stored as in Table 1.
  • FIG. 5A illustrates the concept of photographing angle compensation for image tracking in accordance with the present invention
  • FIG. 5B illustrates the concept of a photographing angle deviation ⁇ in accordance with the present invention.
  • a lateral deviation ⁇ x is a position deviation between the optical axis of the image pick-up means and the leading vehicle, indicating a lateral deviation value.
  • the image pick-up module installed in the vehicle is designed to rotate along with motion of the leading vehicle in the front.
  • FIG. 5B illustrates the relation between the modified photographing angle ⁇ and the photographing angle deviation ⁇ to be modified at the current period.
  • F indicates the vehicle-moving direction with coordinates oriented to the front of the image pick-up module
  • S indicates the moving direction of the leading vehicle seen with respect to the image pick-up module.
  • FIG. 5A illustrates the concept for calculating the photographing angle deviation ⁇ of the current period shown in FIG. 5B.
  • the distance to the leading vehicle can be expressed by the lateral deviation ⁇ x with respect to the vehicle-to-vehicle distance d and the optical axis of the image pick-up means, and the photographing angle deviation ⁇ can be calculated according to [Expression 5] below.
  • ⁇ x Road Width X Xd/ (Xm - Xs) - X 0 .... [Expression 4] , wherein Xm and Xs are values taken from Table 1 according to vehicle-to-vehicle distances. Xd is calculated by obtaining the lateral center of the vehicle, and the photographing angle deviation ⁇ is calculated according to
  • the vehicle-to-vehicle distance d is determined with respect to the first projection line Pm indicating the color value of the leading vehicle with reference to Table 1 as described above.
  • FIG. 6 illustrates the concept of automatic navigation by calculating the steering angle of the automatic navigation vehicle through angle compensation of the image pick-up module via leading vehicle tracking and based upon variation of the vehicle-to-vehicle distance d.
  • An orthogonal coordinate system is set with respect to the automatic navigation vehicle A, image data of the leading vehicle obtained by the image pick-up means are stored in storage means, and the image data of the leading vehicle are separated by vehicle image-selecting means to obtain lateral centers of projection lines. Then, a reference point is shifted to the deviated distance X 0 of the image pick-up means to calculate the distance d and the angle ⁇ for the automatic navigation vehicle to run, thereby obtaining the steering angle.
  • FIG.7 illustrates an example of the automatic navigation vehicle mounted with the image pick-up module.
  • the image pick-up module 11 of the present invention is mounted on the vehicle in a vehicle-moving direction, and the photographing angle ⁇ of the image pick-up means can be adjusted laterally with respect to the front of the vehicle along with the leading vehicle.
  • FIGS. 8 and 9 are block diagrams illustrating an automatic navigation system.
  • the system for generating steering angle data via image tracking of a leading vehicle is mounted on an automatic navigation vehicle and comprises: image pick-up means 10 for photographing a road image in front of the automatic navigation vehicle; image data storage means 20 for storing image data; vehicle image-selecting means 30 for selecting a vehicle image from road image data stored in the image data storage means 20; vehicle image-extracting means 31 for extracting the selected vehicle image; first calculating means 33 for calculating a photographing angle deviation and a distance d from the automatic navigation vehicle to the leading vehicle based upon the extracted vehicle image; photographing angle adjustment means 34 for directly adjusting the photographing angle ⁇ of the image pick-up means 10 based upon stored photographing angle deviation information; photographing angle deviation storage means 35 for storing calculated photographing angle deviation information; a photographing angle sensor 36 for measuring the photographing angle ⁇ of the image pick-up means 10; second calculating means 60 for calculating a steering angle based upon the photographing angle ⁇ measured by the photographing angle sensor 36 and the vehicle-
  • the system for generating steering angle data via image tracking of a leading vehicle in accordance with the present invention also comprises : status value-generating means 50 for generating a status value based upon the vehicle-to-vehicle distance d; speed-comparing means 51 for comparing speed based upon a value detected by a speed sensor 51a and the status value generated by the status value-generating means 50; speed controller-selecting means 52 for selecting a speed controller based upon the speed compared by the speed-comparing means 51 and the status value generated by the status value-generating means 50; speed control information-generating means 53 for generating speed control information of the selected speed controller; and speed control information storage means 54 for storing the speed control information generated by the speed control information-generating means 53.
  • a drive unit designated with a reference number 70 includes the steering information storage means 63 for storing the steering information generated from the steering information-generating mean's 62; steering actuation means 64 for independently adjusting the degree of steering 65 based upon the steering information stored in the steering information storage means 63; speed control information storage means 54 for storing the speed control information generated by the speed control information-generating means 53; brake-actuating means 57 for actuating a brake 58 based upon the speed control information stored in the speed control information storage means 54; and accelerator-actuating means 55 for actuating an accelerator 56 based upon- the speed control information stored in the speed control information storage means 54.
  • the reference numeral 56a is designated to an accelerator sensor
  • 56b is designated to an accelerator pedal
  • 58a is designated to a brake sensor
  • 66 is designated to a steering handle.
  • the image pick-up means 10 is oriented to the front of the vehicle to photograph an image of the road and the leading vehicle, which is in turn stored in the image data storage means 20.
  • the stored image data is displayed via a monitor installed within the vehicle, and in an initial stage of vehicle tracking executed by the vehicle image-selecting means 30, the vehicle image is manually selected.
  • the vehicle image-extracting means 31 extracts the vehicle image from the road image based upon color codes of the selected vehicle image.
  • a lateral deviation ⁇ x is calculated according to [Expression 4] based upon the extracted vehicle image with reference to Table 1 prepared during initialization of the image pick-up means 10. Then, the first calculating means 33 calculates a photographing angle deviation ⁇ based upon the lateral deviation ⁇ x and a vehicle-to-vehicle distance d according to [Expression 5] .
  • the calculated photographing angle deviation ⁇ is stored in the photographing angle deviation storage means 35.
  • the stored photographing angle deviation ⁇ is used by the photographing angle adjustment means 34 to modify the photographing angle of the image pick-up means 10 to the photographing angle deviation.
  • the modified photographing angle of the image pick-up means 10 is measured by the photographing sensor and transferred to the second calculating means 60.
  • the photographing angle adjustment means 34 modifies the photographing angle to the stored angle.
  • the modified photographing angle is measured by the photographing angle sensor 36 to stored measured value.
  • the photographing angle is modified according to a known technique using a simple structure of a motor and a drive unit .
  • the second calculating means 60 calculates steering angle according to [Expression 3] based upon the vehicle-to-vehicle distance calculated by the first calculating means and photographing angle information. Then, the steering angle-comparing means 61 compares the calculated steering angle with the steering angle measured by the steering angle sensor 67, the steering information-generating means calculates a difference between the two steering angles, and the difference is stored in the steering information storage means 63.
  • the second calculating means reads the photographing angle stored in the photographing angle sensor 36 to calculate the steering angle, in which the distance d to the leading vehicle is obtained by comparing the first projection line number having the image of the vehicle with the value in Table 1 which is inputted during initialization. This determines the vehicle-to-vehicle distance d and the photographing angle of the image pick-up means 10 is obtained from the photographing angle sensor 36 so that the steering angle can be calculated according to [Expression 3] .
  • the steering actuation means 64 of the drive unit 70 adjusts the degree of steering 65 based upon the steering information stored in the steering information storage means 63.
  • the vehicle-to-vehicle distance d calculated by the first calculating means 33 is transferred to the status value-generating means 50 and compared with a vehicle-to-vehicle distance d in the previous period to generate a status value according to a status value generating procedure .
  • the speed-comparing means 51 compares the speed of the automatic navigation vehicle with that of the leading vehicle based upon the vehicle speed from the speed sensor 51a with the status value generated from the status value-generating means 50. Based upon the speed difference compared in the speed-comparing means 51 and the status value generated from the status value-generating means 50, the speed controller-selecting means 50 selects a speed controller.
  • the speed control information-generating means 53 generates speed control information of the selected speed controller, and stores the same in the speed control information storage means 54.
  • the drive unit 70 stores the information generated from the steering information-generating means 62 in the steering information storage means 63 so that the steering actuation means 64 independently adjusts the degree of steering 65 based upon the steering information stored in the steering information storage means 63.
  • the speed control information generated by the speed control information-generating means 53 is stored in the speed control information storage means 54. Based upon the stored speed control information, the brake-actuating means 57 and the accelerator-actuating means 55 automatically control the brake 58 and the accelerator 56 to adjust the speed of the automatic navigation vehicle .
  • the system and method of the present invention analyzes a road image obtained by image pick-up means mounted on a front portion of an automatic navigation vehicle to control the steering angle and the speed of the vehicle so as to allow unmanned driving to the vehicle.
  • the present invention can automatically control an automatic navigation vehicle by obtaining the vehicle-moving direction, the photographing angle ⁇ of image pick-up means and the distance d to a leading vehicle, calculating the steering angle of the vehicle based upon the distance L between vehicle shafts, and analyzing the distance d to generate data for actuating a brake and an accelerator.

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Abstract

Disclosed is a system and method for generating steering angle data via deviation compensation in driving. The invention can analyze image data obtained from image pick-up means mounted on a front portion of the vehicle in order to adjust the steering angle of the vehicle and control the speed thereof. This can automatically control an automatic navigation vehicle by obtaining the vehicle-moving direction, the photographing angle ¥È of image pick-up means and the vehicle-to-vehicle distance d to a leading vehicle, calculating the steering angle of the vehicle based upon the distance L between vehicle shafts, and analyzing the vehicle-to-vehicle distance d to generate data for actuating a brake and an accelerator

Description

SYSTEM AND METHOD FOR GENERATING STEERING ANGLE DATA OF AN AUTOMATIC NAVIGATION VEHICLE VIA IMAGE TRACKING OF A LEADING
VEHICLE
Technical Field
The present invention relates to generation of driving data in an automatic navigation system mounted on a vehicle for allowing for unmanned driving of the vehicle, and more particularly, to a system and method for automatically driving a vehicle via deviation compensation in driving, which can analyze image data obtained from image pick-up means mounted on a front portion of the vehicle in order to adjust the steering angle of the vehicle and control the speed thereof.
The present invention also relates to a method for generating driving data which can automatically control an automatic navigation vehicle by obtaining the vehicle-moving direction, the photographing angle of image pick-up means and the vehicle-to-vehicle distance to a leading vehicle, calculating the steering angle of the vehicle based upon the distance between vehicle shafts, and analyzing the vehicle-to-vehicle distance to generate data for actuating a brake and an accelerator.
Background Art There is a conventional automatic navigation system, disclosed in the Korean Patent Laid-open Publication (Korean Patent Application Serial No.10-0257592) , which can detect the curvature of lanes at both sides in a road with a lane detector so that a vehicle can run along the detected curvature. The Korean Patent Laid-Open Publication (Korean Patent Application Serial No .10-2000-9711) discloses "Method of Geometrically Mounting Image Pick-up Means and Calculating Steering Angles for Self -Controlled Steering. " However, this document fails to represent a detailed method for calculating steering angles but uses experimental estimates to calculate radii. Further, the disclosed method of calculating steering angles is already known from general introductions for vehicles .
Furthermore, Korean Patent Application Serial No.10-2003-0004788 earlier filed by the inventor of this application proposes a system and method for generating actuation data by obtaining a lateral deviation Δx between an optical axis of image pickup means and a road, calculating the steering angle of a vehicle based upon the lateral deviation Δx, a shaft-to-shaft distance L, a lateral distance to the image pickup means to adjust the degree of steering, and analyzing a longitudinal deviation Δy and the position of a leading vehicle from front image data of the vehicle to operate a brake and an accelerator.
Disclosure of Invention
It is an object of the present invention to provide a system and method for generating steering angle data, which can analyze road image data obtained from image pickup means mounted on a front portion of a running vehicle to calculate a target steering angle and generate data for controlling the speed of the vehicle thereby to compensate deviation in driving .
It is another object of the present invention to provide an automatic navigation system and method of a vehicle via deviation compensation in driving without a positioning device including an accelerator sensor such as a gyroscope, an attitude sensor and a GPS or an active mark on a road.
The present invention can realize the above objects by obtaining the moving direction of the vehicle, the photographing angle of the image pickup means and the vehicle-to-vehicle distance to the leading vehicle, calculating the steering angle of the vehicle based upon a shaft-to-shaft distance, and analyzing the vehicle-to-vehicle distance to generate data for driving a brake and an accelerator. According to an aspect of the present invention for realizing the above objects, there is provided a system for generating steering angle data via image tracking of a leading vehicle comprising: image pick-up means for photographing a road image in front of an automatic navigation vehicle; image data storage means for storing image data; vehicle image-selecting means for selecting a vehicle image from road image data stored in the image data storage means; vehicle image-extracting means for extracting the selected vehicle image ; first calculating means for calculating a photographing angle deviation and a distance from the automatic navigation vehicle to the leading vehicle based upon the extracted vehicle image; photographing angle adjustment means for directly adjusting the photographing angle of the image pick-up means based upon stored photographing angle deviation information; photographing angle deviation storage means for storing calculated photographing angle deviation information; a photographing angle sensor for measuring the photographing angle of the image pick-up means; second calculating means for calculating a steering angle based upon the photographing angle measured by the photographing angle sensor and the distance d calculated by the first calculating means ; steering angle-comparing means for comparing the calculated steering angle from the second calculating means with a measured steering angle from a steering angle sensor; steering information-generating means for generating steering information based upon steering angle information compared in the steering angle-comparing means, wherein the generated steering information is stored in steering information storage means. The system of the present invention may further comprise status value-generating means for generating a status value based upon the vehicle-to-vehicle distance; speed-comparing means for comparing speed based upon a value detected by a speed sensor and the status value generated by the status value-generating means; speed controller-selecting means for selecting a speed controller based upon the speed compared by the speed-comparing means and the status value generated by the status value-generating means; speed control information-generating means for generating speed control information of the selected speed controller; and speed control information storage means for storing the speed control information generated by the speed control information-generating means.
The system of the present invention may further comprise a drive unit which includes the steering information storage means for storing the steering information generated from the steering information-generating means; steering actuation means for independently adjusting the degree of steering based upon the steering information stored in the steering information storage means; speed control information storage means for storing the speed control information generated by the speed control information-generating means; brake-actuating means for actuating a brake based upon the speed control information stored in the speed control information storage means; and accelerator-actuating means for actuating an accelerator based upon the speed control information stored in the speed control information storage means .
Brief Description of the Drawings
FIG. 1 illustrates the concept of radius of gyration known in the art ; FIG. 2 illustrates the concept of steering based upon outer wheels in accordance with the present invention;
FIG. 3 illustrates the concept of steering with respect to image pickup means in accordance with the present invention;
FIG. 4A illustrates correlation according to position when an image pick-up module is installed in the vehicle;
FIG. 4B illustrates the concept of a vehicle-to-vehicle distance d in accordance with the present invention;
FIG. 5A illustrates the concept of photographing angle compensation for image tracking in accordance with the present invention;
FIG. 5B illustrates the concept of photographing angle deviation ΔΘ in accordance with the present invention;
FIG. 6 illustrates the concept of tracking a leading vehicle in accordance with the present invention; FIG. 7 illustrates an automatic navigation vehicle mounted with an image pick-up module;
FIG. 8 is a block diagram of an automatic vehicle navigation system via image tracking of a leading vehicle in accordance with the present invention; and FIG. 9 illustrates a hardware system structure in accordance with the present invention. Best Mode for Carrying Out the present invention
The present invention will now be described in detail in connection with a preferred embodiment with reference to the accompanying drawings .
FIG. 1 illustrates the concept of radius of gyration known in the art. Referring to FIG. 1, in order to induce steering angle equations according to characteristics of a vehicle steering system, the present invention can express the radius of gyration according to geometric requirements by using [Expression 1] below:
R = L/SinΦ + r .... [Expression 1] , wherein R = L/sinΦ on the assumption that R is sufficiently larger than r. FIG. 2 illustrates the concept of steering based upon outer wheels in accordance with the present invention. Referring to FIG .2 , because the outer wheels move on two points on a circle, the motion thereof can be expressed according to functional conditions with [Expression 2] below: x2+y2=R2 .... [Expression 2].
On the assumption that a vehicle will not slip in [Expression 2] above, the radius of the outer wheels should move on a point B (R-dXsinΘ, dXcosΘ) on a circle of a fixed radius : wherein
(R-dXsinΘ)2 + (dXcosΘ) 2 = R2, R 2 _ 2XRXdXsinΘ + d2Xsin2Θ + (dXcosΘ)2 = R2, 2XRXdXsinΘ= d2, and R = d/ (2XsinΘ) . In order to determine a steering angle based upon the outer wheels on the assumption that the vehicle will not slip, [Expression 1] can be substituted to [Expression 2] to obtain [Expression 3] below: d/ (2XsinΘ) = L/sinΦ .... [Expression 3] wherein sinΦ = 2XLXsinΘ/d, and Φ = sin"1 (2XLXsinΘ/d) . In the present invention, three conditional values should be decided in order to calculate the steering angle as in [Expression 3] above:
When an shaft-to-shaft distance L, a photographing angle Θ and a vehicle-to-vehicle distance are determined according to [Expression 1 to 3] , the steering angle of a target point can be calculated. If there is no point of inflection, the steering angle between two points A and B in FIG. 2 can be calculated based upon the shaft-to-shaft distance L of the vehicle when the vehicle is running.
FIGS. 4A and 4B illustrate the concept of initializing image pick-up means of the present invention. A vehicle is parked in a moving direction thereof on a central region of a road with straight lanes. The steering angle of the vehicle is adjusted so that a steering angle sensor is set "0". The optical axis of the image pick-up means is disposed in the center of the vehicle, parallel with the center line of the vehicle, before the image pick-up means is initialized.
FIG. 4A illustrates correlation according to position when an image pick-up module is installed in the vehicle . When the image pick-up module is installed in a laterally central portion of the vehicle, the reference point of a leading vehicle is also on a laterally central portion thereof. Otherwise, formula is modified based upon the corresponding position.
FIG. 4B illustrates the distance d from the automatic navigation vehicle to the leading vehicle, an orthogonal coordinate set between the automatic navigation vehicle and the leading vehicle and a projection line number at the bottom a-a' showing the color of the vehicle. At first setting of the automatic navigation system, as shown in FIG.4A, distance values for respective projection numbers set on a road have no distance deviations according to lateral rotation of the image pickup means even though the relative photographing angle Θ between the vehicle and the image pickup means is varied. This is an essential distance measuring technique in accordance with the present invention.
The image pick-up means is designed to automatically align the photographing angle with the lateral center line of the leading vehicle. If leading vehicle is so set that the image pick-up means is deviated from the center line to a distance X0 as shown in FIG. 4A, the deviated distance is reflected to the initial value. The image pick-up means is initialized by inputting all of projection line numbers Pn, horizontal distances of an actual image, distances Xm of a main lane m from the center of the optical axis and distances Xs to a sub-lane appearing in the image pick-up means and projection lines and initial projection lines Pm showing an image of the leading vehicle as reported in Table 1 below. Table 1. Initialization of Image Pickup Device
Figure imgf000010_0001
Figure imgf000011_0001
Referring to Table 1, the distances Xm and Xs from the center of the optical axis are expressed by the number of pixels on a screen. The first projection line Pm is the first proj ection line number having the image of the leading vehicle, and the distance d is inputted by measuring the actual distance to the leading vehicle. Then, when the vehicle image appears at the first projection line Pm of 183, the distance d to the vehicle can be analyzed 250m. In the present invention, the distance d to the leading vehicle is calculated with respect to the bottom of the vehicle as shown in FIG. 4B and stored as in Table 1.
FIG. 5A illustrates the concept of photographing angle compensation for image tracking in accordance with the present invention, and FIG. 5B illustrates the concept of a photographing angle deviation ΔΘ in accordance with the present invention.
Referring to FIGS. 5A and 5B, a lateral deviation Δx is a position deviation between the optical axis of the image pick-up means and the leading vehicle, indicating a lateral deviation value. The image pick-up module installed in the vehicle is designed to rotate along with motion of the leading vehicle in the front.
FIG. 5B illustrates the relation between the modified photographing angle Θ and the photographing angle deviation ΔΘ to be modified at the current period. F indicates the vehicle-moving direction with coordinates oriented to the front of the image pick-up module, and S indicates the moving direction of the leading vehicle seen with respect to the image pick-up module.
FIG. 5A illustrates the concept for calculating the photographing angle deviation ΔΘ of the current period shown in FIG. 5B. The distance to the leading vehicle can be expressed by the lateral deviation Δx with respect to the vehicle-to-vehicle distance d and the optical axis of the image pick-up means, and the photographing angle deviation ΔΘ can be calculated according to [Expression 5] below.
When the lateral center of the automatic navigation vehicle is moved to a distance Xd at a point where the distance from the automatic navigation vehicle to the leading vehicle is d, and the image pick-up means is distanced to X0 from the center line of the vehicle, the lateral deviation is expressed in actual distance according to [Expression 4] below:
Δx = Road Width X Xd/ (Xm - Xs) - X0 .... [Expression 4] , wherein Xm and Xs are values taken from Table 1 according to vehicle-to-vehicle distances. Xd is calculated by obtaining the lateral center of the vehicle, and the photographing angle deviation ΔΘ is calculated according to
[Expression 5] below. The vehicle-to-vehicle distance d is determined with respect to the first projection line Pm indicating the color value of the leading vehicle with reference to Table 1 as described above.
ΔΘ = tan- 1(Δχ/d) .... [Expression 5] , wherein ΔΘ = Δx/d on the assumption that Δx/d is sufficiently small, and ΔΘ is expressed in rad and Δx and d are expressed in meter unit .
FIG. 6 illustrates the concept of automatic navigation by calculating the steering angle of the automatic navigation vehicle through angle compensation of the image pick-up module via leading vehicle tracking and based upon variation of the vehicle-to-vehicle distance d. An orthogonal coordinate system is set with respect to the automatic navigation vehicle A, image data of the leading vehicle obtained by the image pick-up means are stored in storage means, and the image data of the leading vehicle are separated by vehicle image-selecting means to obtain lateral centers of projection lines. Then, a reference point is shifted to the deviated distance X0 of the image pick-up means to calculate the distance d and the angle Θ for the automatic navigation vehicle to run, thereby obtaining the steering angle.
FIG.7 illustrates an example of the automatic navigation vehicle mounted with the image pick-up module. Referring to FIG. 7, the image pick-up module 11 of the present invention is mounted on the vehicle in a vehicle-moving direction, and the photographing angle Θ of the image pick-up means can be adjusted laterally with respect to the front of the vehicle along with the leading vehicle. Hereinafter a system and method for generating steering angle data via image tracking of a leading vehicle in accordance the present invention will be described in detail with reference to FIGS. 8 and 9, which are block diagrams illustrating an automatic navigation system. Referring to FIGS 8 and 9, the system for generating steering angle data via image tracking of a leading vehicle is mounted on an automatic navigation vehicle and comprises: image pick-up means 10 for photographing a road image in front of the automatic navigation vehicle; image data storage means 20 for storing image data; vehicle image-selecting means 30 for selecting a vehicle image from road image data stored in the image data storage means 20; vehicle image-extracting means 31 for extracting the selected vehicle image; first calculating means 33 for calculating a photographing angle deviation and a distance d from the automatic navigation vehicle to the leading vehicle based upon the extracted vehicle image; photographing angle adjustment means 34 for directly adjusting the photographing angle Θ of the image pick-up means 10 based upon stored photographing angle deviation information; photographing angle deviation storage means 35 for storing calculated photographing angle deviation information; a photographing angle sensor 36 for measuring the photographing angle Θ of the image pick-up means 10; second calculating means 60 for calculating a steering angle based upon the photographing angle Θ measured by the photographing angle sensor 36 and the vehicle-to-vehicle distance d calculated by the first calculating means 33; steering angle-comparing means 61 for comparing the calculated steering angle from the second calculating means 60 with a measured steering angle from a steering angle sensor 67; and steering information-generating means 62 for generating steering information based upon steering angle information compared in the steering angle-comparing means 61, wherein the generated steering information is stored in steering information storage means 63.
The system for generating steering angle data via image tracking of a leading vehicle in accordance with the present invention also comprises : status value-generating means 50 for generating a status value based upon the vehicle-to-vehicle distance d; speed-comparing means 51 for comparing speed based upon a value detected by a speed sensor 51a and the status value generated by the status value-generating means 50; speed controller-selecting means 52 for selecting a speed controller based upon the speed compared by the speed-comparing means 51 and the status value generated by the status value-generating means 50; speed control information-generating means 53 for generating speed control information of the selected speed controller; and speed control information storage means 54 for storing the speed control information generated by the speed control information-generating means 53. Further, a drive unit designated with a reference number 70 includes the steering information storage means 63 for storing the steering information generated from the steering information-generating mean's 62; steering actuation means 64 for independently adjusting the degree of steering 65 based upon the steering information stored in the steering information storage means 63; speed control information storage means 54 for storing the speed control information generated by the speed control information-generating means 53; brake-actuating means 57 for actuating a brake 58 based upon the speed control information stored in the speed control information storage means 54; and accelerator-actuating means 55 for actuating an accelerator 56 based upon- the speed control information stored in the speed control information storage means 54. In FIGS. 8 and 9, the reference numeral 56a is designated to an accelerator sensor, 56b is designated to an accelerator pedal , 58a is designated to a brake sensor, and 66 is designated to a steering handle.
According to the present invention constructed as above, the image pick-up means 10 is oriented to the front of the vehicle to photograph an image of the road and the leading vehicle, which is in turn stored in the image data storage means 20. The stored image data is displayed via a monitor installed within the vehicle, and in an initial stage of vehicle tracking executed by the vehicle image-selecting means 30, the vehicle image is manually selected. The vehicle image-extracting means 31 extracts the vehicle image from the road image based upon color codes of the selected vehicle image.
A lateral deviation Δx is calculated according to [Expression 4] based upon the extracted vehicle image with reference to Table 1 prepared during initialization of the image pick-up means 10. Then, the first calculating means 33 calculates a photographing angle deviation ΔΘ based upon the lateral deviation Δx and a vehicle-to-vehicle distance d according to [Expression 5] . The calculated photographing angle deviation ΔΘ is stored in the photographing angle deviation storage means 35. The stored photographing angle deviation ΔΘ is used by the photographing angle adjustment means 34 to modify the photographing angle of the image pick-up means 10 to the photographing angle deviation. The modified photographing angle of the image pick-up means 10 is measured by the photographing sensor and transferred to the second calculating means 60.
In the present invention, when the photographing angle deviation ΔΘ calculated according to [Expression 5] is stored in the photographing angle deviation storage means 35, the photographing angle adjustment means 34 modifies the photographing angle to the stored angle. The modified photographing angle is measured by the photographing angle sensor 36 to stored measured value. The photographing angle is modified according to a known technique using a simple structure of a motor and a drive unit .
In the present invention, the second calculating means 60 calculates steering angle according to [Expression 3] based upon the vehicle-to-vehicle distance calculated by the first calculating means and photographing angle information. Then, the steering angle-comparing means 61 compares the calculated steering angle with the steering angle measured by the steering angle sensor 67, the steering information-generating means calculates a difference between the two steering angles, and the difference is stored in the steering information storage means 63.
The second calculating means reads the photographing angle stored in the photographing angle sensor 36 to calculate the steering angle, in which the distance d to the leading vehicle is obtained by comparing the first projection line number having the image of the vehicle with the value in Table 1 which is inputted during initialization. This determines the vehicle-to-vehicle distance d and the photographing angle of the image pick-up means 10 is obtained from the photographing angle sensor 36 so that the steering angle can be calculated according to [Expression 3] .
The steering actuation means 64 of the drive unit 70 adjusts the degree of steering 65 based upon the steering information stored in the steering information storage means 63. The vehicle-to-vehicle distance d calculated by the first calculating means 33 is transferred to the status value-generating means 50 and compared with a vehicle-to-vehicle distance d in the previous period to generate a status value according to a status value generating procedure .
The speed-comparing means 51 compares the speed of the automatic navigation vehicle with that of the leading vehicle based upon the vehicle speed from the speed sensor 51a with the status value generated from the status value-generating means 50. Based upon the speed difference compared in the speed-comparing means 51 and the status value generated from the status value-generating means 50, the speed controller-selecting means 50 selects a speed controller. The speed control information-generating means 53 generates speed control information of the selected speed controller, and stores the same in the speed control information storage means 54.
The drive unit 70 stores the information generated from the steering information-generating means 62 in the steering information storage means 63 so that the steering actuation means 64 independently adjusts the degree of steering 65 based upon the steering information stored in the steering information storage means 63.
The speed control information generated by the speed control information-generating means 53 is stored in the speed control information storage means 54. Based upon the stored speed control information, the brake-actuating means 57 and the accelerator-actuating means 55 automatically control the brake 58 and the accelerator 56 to adjust the speed of the automatic navigation vehicle . Industrial Applicability
As set forth above, the system and method of the present invention analyzes a road image obtained by image pick-up means mounted on a front portion of an automatic navigation vehicle to control the steering angle and the speed of the vehicle so as to allow unmanned driving to the vehicle.
Further, the present invention can automatically control an automatic navigation vehicle by obtaining the vehicle-moving direction, the photographing angle Θ of image pick-up means and the distance d to a leading vehicle, calculating the steering angle of the vehicle based upon the distance L between vehicle shafts, and analyzing the distance d to generate data for actuating a brake and an accelerator.

Claims

What Is Claimed Is ;
1. A system for generating steering angle data of vehicles via image tracking of a leading vehicle comprising: image pick-up means (10) for photographing a road image in front of an automatic navigation vehicle; image data storage means (20) for storing the photographed image data; vehicle image-selecting means (30) for selecting a vehicle image from the road image data stored in the image data storage means (20) ; vehicle image-extracting means (31) for extracting the selected vehicle image; first calculating means (33) for calculating a photographing angle deviation and a distance d from the automatic navigation vehicle to the leading vehicle based upon the extracted vehicle image; photographing angle adjustment means (34) for directly adjusting the photographing angle Θ of the image pick-up means (10) based upon stored photographing angle deviation information; photographing angle deviation storage means (35) for storing calculated photographing angle deviation information; a photographing angle sensor (36) for measuring the photographing angle Θ of the image pick-up means (10) ; and second calculating means (60) for calculating a steering angle based upon the photographing angle Θ measured by the photographing angle sensor (36) and the distance d calculated by the first calculating means (33) .
2. The system for generating steering angle data as set forth in claim 1, wherein the steering angle-calculating means calculates a target steering angle based upon the distance d, the photographing angle Θ defined by the moving direction of the automatic navigation vehicle and a face center of an image data of the leading vehicle, and a distance between vehicle shafts, according to [Expression 1] below:
Φ = sin"1 (2XLXsinΘ/d) .... [Expression 1].
3. A method for generating steering angle data via image tracking of a leading vehicle, the method comprising the following steps of: photographing a road image in front of an automatic navigation vehicle with image pick-up means and storing photographed image data; selecting and extracting a vehicle image from the stored image data; calculating a photographing angle deviation and a distance from the automatic navigation vehicle to the leading vehicle based upon the extracted vehicle image and storing the photographing angle deviation and the distance; adjusting a photographing angle of the image pick-up means based upon stored photographing angle deviation information; measuring a photographing angle of the image pick-up means ; and calculating a steering angle based upon the photographing angle of a photographing sensor, the photographing angle deviation and the distance.
4. The method for generating steering angle data as set forth in claim 3, wherein the step of calculating a steering angle calculates a target steering angle based upon the distance d, the photographing angle Θ defined by the moving direction of the automatic navigationvehicle and a face center of an image data of the leading vehicle and a distance between vehicle shafts, according to [Expression 1] below: Φ = sin"1 (2XLXsinΘ/d) .... [Expression 1] .
PCT/KR2003/002932 2003-02-15 2003-12-31 System and method for generating steering angle data of an automatic navigation vehicle via image tracking of a leading vehicle WO2004072753A1 (en)

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