WO2014069584A1 - 車速制御装置およびそれを備えた車両 - Google Patents
車速制御装置およびそれを備えた車両 Download PDFInfo
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- WO2014069584A1 WO2014069584A1 PCT/JP2013/079593 JP2013079593W WO2014069584A1 WO 2014069584 A1 WO2014069584 A1 WO 2014069584A1 JP 2013079593 W JP2013079593 W JP 2013079593W WO 2014069584 A1 WO2014069584 A1 WO 2014069584A1
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- person
- vehicle
- distance
- vehicle speed
- control
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- 238000001514 detection method Methods 0.000 abstract description 22
- 238000000034 method Methods 0.000 description 21
- 238000010586 diagram Methods 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
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Classifications
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- 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 or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- 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
- B60W2554/00—Input parameters relating to objects
Definitions
- the present invention relates to a vehicle speed control device that controls the vehicle speed of a vehicle and a vehicle including the same.
- Patent Document 1 The golf cart described in Patent Document 1 is equipped with an automatic traveling device. Thereby, the traveling road can be automatically traveled according to the guide line provided on the traveling road. The distance to the obstacle is measured by the ultrasonic sensor, and the presence or absence of the obstacle is determined according to the distance.
- the golfer takes evacuation action such as moving out of the runway.
- the golfer can avoid contact with the golfer even if the vehicle does not stop by taking a retreating action.
- the ultrasonic obstacle detection device uniformly performs deceleration control when an obstacle is detected. As a result, even when the golfer recognizes the presence of the golf cart, the golf cart stops frequently, and the running of the golf cart is delayed.
- the present invention has been made in view of such circumstances, and provides a vehicle speed control device that performs vehicle speed control of a vehicle by estimating whether a person recognizes the vehicle and a vehicle including the same. With the goal.
- the present invention has the following configuration. That is, the present invention provides an image sensor that captures an image in front of a vehicle, a person detection unit that detects a person from the image, a distance detection unit that detects a distance between the vehicle and the person, and the orientation of the person. It is a vehicle speed control device provided with the person direction identification part to identify, and the vehicle speed control part which controls the vehicle speed of the said vehicle according to the distance of the said vehicle and the said person, and the said person's direction.
- an image ahead of the vehicle is taken by the image sensor.
- the person detection unit detects a person from the captured image.
- the distance detection unit detects the distance between the detected person and the vehicle.
- the person orientation identifying unit identifies the orientation of the person detected in the captured image.
- the vehicle speed control unit controls the vehicle speed according to the distance between the vehicle and the person and the direction of the person.
- the vehicle speed control unit controls the vehicle speed of the vehicle based on a control distance set in front of the vehicle with respect to a distance between the vehicle and the person. Therefore, since vehicle speed control is not implemented with respect to the person outside a control distance, excessive deceleration control can be reduced.
- the control distance includes a first control distance that performs stop control when the person is detected, and a second control distance that performs deceleration or stop control according to the direction of the person when the person is detected. It is preferable to have.
- the control distance has two types of control distances, a first control distance and a second control distance. At the first control distance, stop control is performed when a person is detected. At the second control distance, when a person is detected, deceleration or stop control is performed according to the direction of the person.
- stop control is performed as soon as a person is detected at the first control distance, so that contact between the person and the vehicle can be prevented when the person and the vehicle are close to each other.
- the second control distance since the distance between the person and the vehicle is greater than the first control distance, deceleration or stop control is performed according to the direction of the person to prevent contact with the person and excessive stoppage. Control can be reduced.
- the vehicle speed control unit controls the vehicle to decelerate when the person is identified as front or sideways within the second control distance, and stops the vehicle when the person is identified as the backside. Is preferred.
- the vehicle traveling direction If the person is in front or side with respect to the vehicle traveling direction, it can be estimated that the person is recognizing the vehicle, so that the person is expected to take evacuation action. Therefore, the vehicle is decelerated rather than stopped at a second control distance that is not the distance at which a person and the vehicle immediately contact each other. Further, if the person is behind the vehicle traveling direction, it can be estimated that the person does not recognize the vehicle, and the person is expected not to take the evacuation action. Therefore, the stop control is performed although the second control distance is not the distance at which the person and the vehicle immediately contact each other. Accordingly, the vehicle speed can be appropriately controlled according to the situation of human vehicle recognition.
- the vehicle speed control unit controls the vehicle to decelerate when the person is identified as being front or outward sideways within the second control distance, and when the person is identified as being back or inward sideways. It is preferable to stop the vehicle.
- the vehicle traveling direction If the person is facing front or outward in the vehicle traveling direction, it can be estimated that the person is recognizing the vehicle, and further, it is expected that the person is likely to take evacuation action. Therefore, the vehicle is decelerated rather than stopped at a second control distance that is not the distance at which a person and the vehicle immediately contact each other. Further, if the person is behind the vehicle traveling direction, it can be estimated that the person does not recognize the vehicle, and the person is expected not to take the evacuation action. Further, if the person is inwardly transverse to the traveling direction of the vehicle, it can be estimated that the person is recognizing the vehicle, but it is expected that it is difficult to take a retreat action.
- the vehicle when a person is inwardly facing sideways, he / she faces the center of the runway, so he has to look back and evacuate the runway or cross the runway. Therefore, when the person is identified as the rear side or the inward sideways direction, the vehicle is controlled to stop at the second control distance. Accordingly, the vehicle speed can be appropriately controlled according to the situation of human vehicle recognition.
- control distance has a third control distance in which deceleration control or deceleration control is not performed according to the direction of the person when the person is detected.
- the third control distance since the distance between the person and the vehicle is longer than the first control distance and the second control distance, the deceleration control is not performed or performed according to the direction of the person. Thereby, while preventing contact with a vehicle and a person, excessive deceleration control can be reduced.
- the vehicle speed control unit controls the vehicle to decelerate when the person is identified as the back side and does not perform the deceleration control when the person is identified as the front side or the side direction.
- the vehicle traveling direction If the person is in front or side with respect to the vehicle traveling direction, it can be estimated that the person is recognizing the vehicle, so that the person is expected to take evacuation action. Therefore, the vehicle is not decelerated at the third control distance that is not the distance between the person and the vehicle. Further, if the person is behind the vehicle traveling direction, it can be estimated that the person does not recognize the vehicle, and the person is expected not to take the evacuation action. Therefore, deceleration control is also performed at a third control distance that is not the distance between the person and the vehicle. Accordingly, the vehicle speed can be appropriately controlled according to the situation of human vehicle recognition.
- the vehicle speed control unit controls the vehicle to decelerate when the person is identified as being rearward or laterally inward within the third control distance, and the person is identified as being frontward or laterally outward. It is preferable not to perform deceleration control.
- the person If the person is facing front or outward in the vehicle traveling direction, it can be estimated that the person is recognizing the vehicle, and further, it is expected that the person is likely to take evacuation action. Therefore, deceleration control is not performed at the third control distance that is not the distance between the person and the vehicle. Further, if the person is behind the vehicle traveling direction, it can be estimated that the person does not recognize the vehicle, and the person is expected not to take the evacuation action. Further, if the person is inwardly transverse to the traveling direction of the vehicle, it can be estimated that the person is recognizing the vehicle, but it is expected that it is difficult to take a retreat action. Therefore, when a person is identified as being in the back or inward direction, the vehicle is decelerated and controlled even at the third control distance. Accordingly, the vehicle speed can be appropriately controlled according to the situation of human vehicle recognition.
- a vehicle speed sensor that detects a vehicle speed of the vehicle and a control distance setting unit that sets the control distance according to the detected vehicle speed are provided.
- a vehicle speed sensor detects the vehicle speed of the vehicle.
- the control distance setting unit sets the control distance according to the detected vehicle speed.
- a vehicle according to the present invention is a vehicle including the vehicle speed control device. Since the vehicle speed control device is provided, the vehicle speed can be controlled according to the distance between the vehicle and the person and the direction of the person, and the vehicle speed of the vehicle can be finely controlled. While preventing a person and a vehicle from contacting, excessive deceleration control can be reduced.
- the present invention it is possible to estimate whether a person recognizes the vehicle by identifying the direction of the person, and further to finely control the vehicle speed according to the distance between the person and the vehicle. Accordingly, it is possible to provide a vehicle speed control device that performs vehicle speed control of a vehicle by estimating whether a person recognizes the vehicle, and a vehicle including the vehicle speed control device.
- FIG. 1 is a block diagram illustrating a configuration of a vehicle speed control device according to a first embodiment. It is explanatory drawing explaining the vehicle speed control distance which concerns on Example 1.
- FIG. 3 is a table illustrating control distances according to the first embodiment. 3 is a flowchart illustrating a flow of vehicle speed control according to the first embodiment. It is the image figure which detected the pedestrian which concerns on Example 1.
- FIG. 6 is a table illustrating control distances according to Example 2.
- 7 is a flowchart illustrating a flow of vehicle speed control according to the second embodiment. It is the image figure which detected the pedestrian which concerns on a modification.
- Embodiment 1 of the present invention will be described below with reference to the drawings.
- a golf cart that automatically runs is given.
- the vehicle is not limited to a four-wheeled vehicle, and may be a three-wheeled vehicle or a monorail type. Further, the vehicle is not limited to a golf cart, and includes an automatic guided vehicle that runs in a factory or an orchard. In the following description, front and rear and left and right are based on the direction in which the vehicle 1 moves forward.
- FIG. 1 is a side view of the vehicle
- FIG. 2 is a block diagram showing a partial configuration of the vehicle.
- the vehicle 1 is a guided vehicle that automatically travels by being guided by an electromagnetic wave emitted from a guide wire embedded in a runway.
- the vehicle 1 includes a vehicle speed control device 5 that detects a person and controls the vehicle speed, an automatic travel control unit 7 that controls the vehicle 1 to automatically travel along a guide line, a vehicle speed control device 5, and an automatic travel control.
- a driver circuit 9 that controls the drive motor 13 and the brake 15 according to an instruction from the unit 7, a warning output unit 11 that generates a warning to the driver and the surroundings when the vehicle speed control device 5 detects a person, and a wheel 12;
- a drive motor 13 whose rotational speed is controlled by the driver circuit 9 and a brake 15 that brakes the wheels 12 and 14 are provided.
- the wheel 12 is driven by the drive motor 13, but is not limited thereto, and may be driven by an engine.
- the brake 15 is a hydraulic drum brake provided on each of the wheels 12 and 14.
- the driver circuit 9 rotates a brake motor (not shown), the brake hydraulic pressure of the brake 15 is adjusted.
- the driver circuit 9 gives priority to the control signal from the vehicle speed control device 5 over the control signal from the automatic travel control unit 7.
- FIG. 3 is a block diagram showing the configuration of the vehicle speed control device.
- the vehicle speed control device 5 includes a stereo camera 3 that captures an image in front of the vehicle 1, a person detection unit 17, a parallax image creation unit 19, a distance detection unit 21, a distance determination unit 23, and a person orientation identification unit 25. And a vehicle speed control unit 27.
- the person detection unit 17, the parallax image creation unit 19, the distance detection unit 21, the distance determination unit 23, the person orientation identification unit 25, and the vehicle speed control unit 27 are a microprocessor or an FPGA (Field Programmable Gate Array). Composed. Next, each component will be described in order.
- the left image sensor 3a and the right image sensor 3b of the stereo camera 3 are installed under a predetermined geometric condition.
- the left image sensor 3a and the right image sensor 3b are installed at a constant distance in the horizontal direction. That is, the left image sensor 3a and the right image sensor 3b are parallel stereo.
- Each of the image sensors 3a and 3b is a general visible light sensor such as a CCD or a CMOS.
- Each of the image sensors 3a and 3b is preliminarily camera calibrated so that the positions of the captured image rows match, that is, epipolar lines match.
- the left image taken by the left image sensor 3a is output to the human detection unit 17 as a reference image.
- the left image and the right image taken by the right image sensor 3 b are output to the parallax image creation unit 19.
- the person detection unit 17 detects a person in the input reference image by template matching. Human templates of various sizes and shapes are prepared in the human detection unit 17. By matching these templates with the reference image, it is detected whether or not there is a person in the reference image. Further, when it is detected that a person is in the reference image, the position of the person in the reference image is also detected.
- the parallax image creation unit 19 creates a parallax image by stereo matching from the input left image and right image.
- Examples of the stereo matching method include a method using SAD (Sum Absolute Difference) or a method using a Hamming distance.
- the distance detection unit 21 calculates the distance between the person detected in the reference image and the stereo camera 3 based on the parallax image.
- a conventionally used parallel stereo method is used as a method for calculating the distance from the parallax image. That is, by using the distance between the two image sensors 3a and 3b and the focal length and the parallax of the two image sensors 3a and 3b, the distance information of each pixel of the left image that is the reference image is calculated. Can do. The distance between the vehicle 1 and the person detected in this way is output to the distance determination unit 23.
- the distance determination unit 23 determines whether or not the detected distance between the vehicle 1 and the person is within the control distance set in front of the vehicle. Please refer to FIG. FIG. 4 is an explanatory diagram for explaining the vehicle speed control distance.
- the control distance serving as the vehicle speed control reference is set in three stages. That is, the first control distance CD1 closest to the vehicle 1, the second control distance CD2 closest to the vehicle 1 next to the first control distance, and the third control distance CD3 farthest from the vehicle 1.
- the first control distance CD1 to the third control distance CD3 are set in advance corresponding to the maximum speed of the vehicle 1.
- the first control distance CD1 is 0 to 4.5 m
- the second control distance CD2 is 4.5 to 6.2 m
- the third control distance CD3 is 6. 2 to 9.5 m. Since the control distance is a distance from the first control distance CD1 to the third control distance CD3, it is 0 to 9.5 m.
- the maximum speed of the vehicle 1 is 12 km / h.
- the distance determination unit 23 ends the vehicle speed control process when the detected distance to the person is not less than or equal to the control distance. If the distance to the person is less than or equal to the control distance, it is further determined whether or not it is less than or equal to the first control distance CD1 that is the stop control distance. When the distance to the person is equal to or less than the first control distance CD1, a first distance determination signal is output to the vehicle speed control unit 27.
- the distance determination unit 23 When the distance to the person is not equal to or less than the first control distance CD1, the distance determination unit 23 outputs an instruction for identifying the detected person direction to the person direction identification unit 25. Furthermore, the distance determination unit 23 determines whether or not the distance to the person is within the second control distance. When the distance to the person is within the second control distance CD2, a second distance determination signal is output to the vehicle speed control unit 27. When the distance to the person is not within the second control distance CD2, the distance to the person is within the third control distance, and thus the third distance determination signal is output to the vehicle speed control unit 27.
- the person orientation identifying unit 25 identifies which direction the detected person is facing, based on the orientation of the person's face.
- the orientation of the detected person's face is identified by template matching between a portion corresponding to the detected person's face and face templates that are prepared in various directions. In the first embodiment, depending on the orientation of the person's face, whether the person is a front face directly opposite to the traveling direction of the vehicle 1, or is a lateral direction transverse to the traveling direction of the vehicle 1, Whether the back surface is opposite to the traveling direction is identified.
- the person When a person recognizes the vehicle 1, the person is expected to take a retreat action from the vehicle 1 because the vehicle 1 is approaching. However, when the person does not recognize the vehicle 1, the person does not take the evacuation action from the vehicle 1. Therefore, it is preferable to perform stronger deceleration control when the person does not recognize the vehicle 1 than when the person recognizes the vehicle 1. Further, when the person recognizes the vehicle 1, the person takes a retreating action as the vehicle 1 approaches, so that it is not necessary to decelerate excessively.
- the vehicle speed control unit 27 determines the vehicle speed according to the detected distance from the person and the direction of the person.
- the stop at the vehicle speed of 0 is determined.
- stop control is instructed to the driver circuit 9.
- the stop, deceleration, or deceleration control is not performed. Determine one of the controls. The determined vehicle speed control is instructed to the driver circuit 9.
- the driver circuit 9 operates the regenerative braking on the drive motor 13 and stops the vehicle 1 by braking the rotation of the wheels 12 and 14 by the brake 15.
- the deceleration control is instructed, the vehicle 1 is decelerated by causing the drive motor 13 to operate regenerative braking.
- FIG. 6 is a flowchart showing a processing procedure of vehicle speed control.
- the image is taken by the stereo camera 3 installed on the front surface of the vehicle 1 (step S01). That is, an image ahead of the vehicle 1 is acquired by the left image sensor 3a and the right image sensor 3b.
- the left image taken by the left image sensor 3a is used as a reference image, and the person detection unit 17 performs template matching with this image to detect a person (step S02). If no person is detected, the vehicle speed control process is completed, and the process from step 01 is performed again at the timing of image capturing of the next frame.
- the distance between the detected person and the vehicle 1 is detected from the parallax image created based on the left image and the right image taken by the right image sensor 3b (step S03). ).
- step S04 It is determined whether or not the distance to the detected person is within the control distance (step S04). If the distance to the person is not within the control distance (No in step S04), the vehicle speed control process ends, and the process from step 01 is performed again at the timing of image capturing of the next frame. If the distance to the person is within the control distance (Yes in step S04), it is further determined whether or not the detected distance to the person is within the first control distance CD1, which is the stop distance (step S05).
- the distance determination unit 23 When the detected distance is within the first control distance CD1 (Yes in step S05), the distance determination unit 23 outputs a first distance determination signal to the vehicle speed control unit 27.
- the vehicle speed control unit 27 to which the first distance determination signal is input outputs a stop signal to the driver circuit 9 and performs stop control (step S06).
- the driver circuit 9 brakes the drive motor 13 and operates the brake 15 to stop the vehicle 1.
- the person orientation identifying unit 25 identifies the detected person orientation (step S11).
- the distance determination unit 23 determines whether the detected person is within the second control distance CD2 (step S12).
- the person orientation identifying unit 25 further determines whether or not the person is facing the vehicle 1 side (Step S13). If the person is not facing the vehicle 1 side (No in step S13), it is presumed that the person has not recognized the vehicle 1, so the vehicle speed control unit 27 outputs a stop signal to the driver circuit 9 to perform stop control. (Step S06). If the person is facing the vehicle 1 side (Yes in step S13), it is estimated that the person recognizes the vehicle 1, and therefore the vehicle speed control unit 27 outputs a deceleration signal to the driver circuit 9 to perform deceleration control. (Step S21).
- the person orientation identifying unit 25 determines whether or not the person is facing the vehicle 1 (step S31). If the person is not facing the vehicle 1 side (No in step S31), it is estimated that the person is not recognizing the vehicle 1, but since the distance between the person and the vehicle 1 is long, the vehicle speed control unit 27 is A deceleration signal is output to the driver circuit 9 to perform deceleration control (step S21).
- step S31 When the person is facing the vehicle 1 side (Yes in step S31), it is estimated that the person is recognizing the vehicle 1, so that the person and the vehicle 1 are separated from each other, so that the deceleration control is not performed. Then, the vehicle speed control process is terminated. When the vehicle speed control process is completed, the process from step 01 is performed again at the timing of image capturing of the next frame.
- FIG. 7 is an image diagram in which pedestrians in the positional relationship of FIG. 4 are detected.
- An arrow in the reference image Is indicates the traveling direction of the vehicle 1.
- the distance to the person 33 is equal to or less than the first control distance CD1, so that the direction of the face of the person 33 is not identified.
- the stop control of the vehicle 1 is performed.
- the person 34 is detected, since the distance from the person 34 is within the second control distance CD2, the orientation of the face of the person 34 is identified. Since the direction of the face of the person 34 is the front, the person 34 is identified as the front by template matching.
- the deceleration control of the vehicle 1 is performed.
- the person 35 since the distance to the person 35 is within the third control distance CD3, the face direction of the person 35 is identified. Since the face of the person 35 is sideways, the person 35 is identified as sideways by template matching. Since the person 35 is sideways within the third control distance CD3, the deceleration control of the vehicle 1 is not performed.
- the vehicle speed of the vehicle 1 is finely adjusted according to the state of the person in front of the vehicle 1. Can be controlled. As a result, contact between the person and the vehicle 1 can be prevented, and excessive deceleration control can be reduced.
- the vehicle 1 that the person approaches is recognized according to the direction of the person.
- the person does not recognize the vehicle 1 than when the person recognizes the vehicle 1, contact between the person and the vehicle 1 is avoided by performing deceleration or stop control more.
- excessive deceleration control can be prevented, so that the traveling efficiency of the vehicle can be improved.
- vehicle speed control is not performed for people outside the control distance, excessive deceleration control can be reduced.
- stop control is performed as soon as a person is detected at the first control distance CD1, contact between the person and the vehicle 1 can be prevented when the person and the vehicle 1 are at a short distance.
- the distance between the person and the vehicle 1 is farther than the first control distance CD1, so that deceleration or stop control is performed according to the direction of the person to prevent contact with the person, Excessive stop control can be reduced.
- FIG. 8 is a block diagram illustrating a configuration of a vehicle speed control device 5 ′ according to the second embodiment.
- the parts denoted by the same reference numerals as those shown in the first embodiment have the same configuration as that of the first embodiment, and thus the description thereof is omitted here.
- the configuration of the vehicle 1 other than that described below is the same as that of the first embodiment.
- the control distance is a predetermined distance.
- the control distance is set according to the vehicle speed of the vehicle.
- the vehicle speed control device 5 ′ in the second embodiment is configured by adding a vehicle speed sensor 29 and a control distance setting unit 31 to the vehicle speed control device 5 in the first embodiment.
- the control distance setting unit 31 is configured by a microprocessor or FPGA, like the human detection unit 17 and the like.
- the vehicle speed sensor 29 is attached to the wheel 12 of the vehicle 1.
- the vehicle speed of the vehicle 1 is detected by detecting the rotational speed of the wheel 12.
- the detected vehicle speed is output to the control distance setting unit 31.
- the control distance setting unit 31 sets a control distance for controlling the vehicle speed according to the detected vehicle speed.
- FIG. 9 is a table showing control distances set according to the vehicle speed.
- the vehicle speed is divided into two stages: a first vehicle speed that is the normal speed of the vehicle 1 and a second vehicle speed that is higher than the normal speed.
- the first vehicle speed is 8 km / h or less
- the second vehicle speed is greater than 8 km / h and 12 km / h or less.
- the first control distance CD1 ′ at which stop control is performed regardless of the direction of the person is calculated as follows. Assume that the vehicle travels at 8 km / h ( ⁇ 2.2 m / s), which is the maximum vehicle speed of the first vehicle speed, at the first vehicle speed. If the processing time until a person is detected in the vehicle speed control device 5 ′ is 0.5 s, the vehicle 1 runs idle for this processing time from when an image is taken until vehicle speed control is started. The distance traveled by the vehicle 1 when it is decelerated and stopped at an acceleration of 0.2 G after idling is calculated by the following equation. 2.2 ⁇ 0.5+ (2.2 ⁇ 2.2) / (9.8 ⁇ 0.2 ⁇ 2) ⁇ 2.4 [m] (1)
- the maximum speed of the vehicle 1 is 12 km / h, it is assumed that the vehicle travels at 12 km / h ( ⁇ 3.3 m / s), which is the maximum vehicle speed of the second vehicle speed.
- the distance traveled by the vehicle 1 when the vehicle 1 runs idle for a processing time (0.5 s) until the vehicle speed control device 5 detects a person and decelerates to a stop with an acceleration of 0.2 G is calculated by the following equation. Is done. 3.3 ⁇ 0.5+ (3.3 ⁇ 3.3) / (9.8 ⁇ 0.2 ⁇ 2) ⁇ 4.5 [m] (2)
- the control distance is set in the control distance setting unit 31 according to the vehicle speed. That is, the first control distance CD1 'to the third control distance CD3' are set according to the vehicle speed.
- the set control distance is sent to the distance determination unit 23.
- the distance determination unit 23 determines whether the detected person is within the control distance in the same manner as in the first embodiment with reference to the set control distance. Since the vehicle speed control unit 27 controls the vehicle speed based on this determination result, the vehicle speed control is performed more finely according to the distance between the person and the vehicle 1.
- FIG. 10 is a flowchart showing a processing procedure of vehicle speed control.
- steps S01 to S03 are performed.
- the vehicle speed is detected by reading the measured value of the vehicle speed sensor 29 of the vehicle 1 when the image is taken (step S41).
- the control distance setting unit 31 sets a control distance according to the vehicle speed (step S42).
- the distance determination unit 23 determines whether or not the detected distance is within the control distance set according to the vehicle speed (step S04 '). If the distance to the person is not within the set control distance (No in step S04 '), the vehicle speed control process ends, and the process from step 01 is performed again at the timing of image capturing of the next frame. When the distance with the person is within the set control distance (Yes in step S04 ′), it is further determined whether or not the detected distance is within the first control distance CD1 ′ set according to the vehicle speed (step S04 ′). S05 ').
- the distance determination unit 23 When the detected distance is within the set first control distance CD1 ′ (Yes in step S05 ′), the distance determination unit 23 outputs a first distance determination signal to the vehicle speed control unit 27, and the vehicle speed control unit 27 is a driver. A stop signal is output to the circuit 9 to stop control (step S06). Thus, the driver circuit 9 brakes the drive motor 13 and operates the brake 15 to stop the vehicle 1.
- the human orientation identifying unit 25 identifies the detected person's orientation (step S11). Further, the distance determination unit 23 determines whether or not the detected person is within the second control distance CD2 'set according to the vehicle speed (step S12'). When the detected person is within the set second control distance CD2 ′ (Yes in step S12 ′), the person orientation identifying unit 25 further determines whether or not the person is facing the vehicle 1 (step). S13). If the person is not facing the vehicle 1 side (No in step S13), it is presumed that the person has not recognized the vehicle 1, so the vehicle speed control unit 27 outputs a stop signal to the driver circuit 9 to perform stop control. (Step S06). If the person is facing the vehicle 1 side (Yes in step S13), it is estimated that the person recognizes the vehicle 1, and therefore the vehicle speed control unit 27 outputs a deceleration signal to the driver circuit 9 to perform deceleration control. (Step S21).
- the person orientation identifying unit 25 determines whether or not the person is facing the vehicle 1 (step S31). If the person is not facing the vehicle 1 side (No in step S31), it is estimated that the person is not recognizing the vehicle 1, but since the distance between the person and the vehicle 1 is long, the vehicle speed control unit 27 is A deceleration signal is output to the driver circuit 9 to perform deceleration control (step S21).
- step S31 When the person is facing the vehicle 1 side (Yes in step S31), it is estimated that the person is recognizing the vehicle 1, so that the person and the vehicle 1 are separated from each other, so that the deceleration control is not performed. Then, the vehicle speed control process is terminated. When the vehicle speed control process is completed, the process from step 01 is performed again at the timing of image capturing of the next frame.
- the vehicle speed sensor 29 detects the vehicle speed of the vehicle 1, and the control distance setting unit 31 sets the control distance according to the detected vehicle speed. By setting the control distance in accordance with the vehicle speed, it is possible to perform finer vehicle speed control that matches the traveling state of the vehicle 1.
- the present invention is not limited to the above embodiment, and can be modified as follows.
- the direction of a person is identified as three types: front, side, and back, but may be further subdivided.
- the person orientation identifying unit 25 may identify the lateral orientation as an outward lateral orientation and an inward lateral orientation with respect to the center of the reference image.
- FIG. 11 is an image diagram in which a pedestrian is detected. Since the person 35 is laterally outward with respect to the center 37 of the reference image Is ′, when the vehicle 1 is recognized, the person 35 can go straight ahead and take a retreat action immediately. That is, the retreat path of the person 35 is a straight line. However, since the person 35 'is inwardly directed laterally with respect to the center 37 of the reference image Is', the person 35' faces the direction of the center of the runway. Must cross. That is, the evacuation route of the person 35 'is either a route that crosses the center of the runway or a route that looks back. Accordingly, the retreat time of the person is longer in the inward sideways direction than in the outer sideways direction.
- the deceleration control in the case of facing inward is all the same.
- the stage can be strengthened. Thereby, according to a person's walking state, while preventing the contact with a person and the vehicle 1, excessive deceleration control can also be reduced.
- the direction of the person may be further divided and identified.
- the person identification unit 25 further identifies whether the face is upward, downward, or horizontal. If the person is front and sideways with respect to the vehicle 1 and the face is horizontal, the person is assumed to recognize the presence of the vehicle 1 and the person is identified as facing the vehicle. Further, in addition to the case where the person is on the back with respect to the vehicle 1, if the face is upward or downward even if the person is in the front and sideways, it is estimated that the person does not recognize the presence of the vehicle 1, and the person Identify as not facing.
- the human orientation identifying unit 25 identifies the horizontal and vertical face orientations, and the vehicle speed control unit 27 controls the vehicle speed according to the identified person orientation.
- finer vehicle speed control according to the condition of the person can be performed.
- the stereo camera 3 is employed to create a parallax image, and distance information is acquired by performing stereo matching.
- the distance information between the person and the vehicle 1 may be acquired by, for example, a radar scanner.
- the image acquired by the image sensor and the distance information acquired by the radar scanner need to be associated in advance.
Abstract
Description
特許文献1に記載のゴルフカートには自動走行装置が搭載されている。これにより、走路上に設けられた誘導線に従って走路を自動走行することができる。超音波センサにより障害物までの距離を計測し、その距離に応じて障害物の有無を判定する。
すなわち、本発明は、車両前方の画像を撮影する画像センサと、前記画像から人を検出する人検出部と、前記車両と前記人との距離を検出する距離検出部と、前記人の向きを識別する人向き識別部と、前記車両と前記人との距離と前記人の向きに応じて前記車両の車速を制御する車速制御部とを備える車速制御装置である。
図1および図2を参照する。図1は車両の側面図であり、図2は車両の一部構成を示すブロック図である。車両1は、走路に埋め込まれた誘導線から発せられる電磁波に誘導されて自動走行する誘導車両である。
次に図3を参照して車両1に備えられた車速制御装置5の構成を説明する。図3は、車速制御装置の構成を示すブロック図である。
2.2・0.5+(2.2・2.2)/(9.8・0.2・2) ≒ 2.4 [m] … (1)
3.3・0.5+(3.3・3.3)/(9.8・0.2・2) ≒ 4.5 [m] … (2)
2.4+2.2・0.5=3.5 [m] … (3)
である。また、第2車速では、
4.5+3.3・0.5=6.2 [m] … (4)
である。
3.5+2.2・1.0=5.7 [m] … (5)
である。また、第2車速では、
6.2+3.3・1.0=9.5 [m] … (6)
である。
3 … ステレオカメラ
3a … 左画像センサ
3b … 右画像センサ
5 … 車速制御装置
17 … 人検出部
21 … 距離検出部
25 … 人向き識別部
27 … 車速制御部
29 … 車速センサ
31 … 制御距離設定部
CD1 … 第1制御距離
CD2 … 第2制御距離
CD3 … 第3制御距離
Claims (10)
- 車両前方の画像を撮影する画像センサと、
前記画像から人を検出する人検出部と、
前記車両と前記人との距離を検出する距離検出部と、
前記人の向きを識別する人向き識別部と、
前記車両と前記人との距離と、前記人の向きとに応じて前記車両の車速を制御する車速制御部と
を備える車速制御装置。 - 請求項1に記載の車速制御装置において、
前記車速制御部は、前記車両と前記人との距離に対して、前記車両の前方に設定された制御距離を基準として、前記車両の車速を制御する
車速制御装置。 - 請求項2に記載の車速制御装置において、
前記制御距離は、
前記人が検出されると停止制御を実施する第1制御距離と、
前記人が検出されると前記人の向きに応じて減速または停止制御を実施する第2制御距離とを有する
車速制御装置。 - 請求項3に記載の車速制御装置において、
前記車速制御部は、前記第2制御距離内で、
前記人が正面または横向きと識別されると前記車両を減速制御し、前記人が背面と識別されると前記車両を停止制御する
車速制御装置。 - 請求項3に記載の車速制御装置において、
前記車速制御部は、前記第2制御距離内で、
前記人が正面または外方向横向きと識別されると前記車両を減速制御し、前記人が背面または内方向横向きと識別されると前記車両を停止制御する
車速制御装置。 - 請求項3から5のいずれか1つに記載の車速制御装置において、
前記制御距離は、前記人が検出されると前記人の向きに応じて減速制御または減速制御しない第3制御距離を有する
車速制御装置。 - 請求項6に記載の車速制御装置において、
前記車速制御部は、前記第3制御距離内で、
前記人が背面と識別されると前記車両を減速制御し、前記人が正面または横向きと識別されると減速制御しない
車速制御装置。 - 請求項6に記載の車速制御装置において、
前記車速制御部は、前記第3制御距離内で、
前記人が背面または横方向内向きと識別されると前記車両を減速制御し、前記人が正面または横方向外向きと識別されると減速制御しない
車速制御装置。 - 請求項2から8のいずれか1つに記載の車速制御装置において、
前記車両の車速を検出する車速センサと、
検出された車速に応じて前記制御距離を設定する制御距離設定部を備える
車速制御装置。 - 請求項1から9のいずれか1つに記載の車速制御装置を備えた車両。
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WO2020049978A1 (ja) * | 2018-09-05 | 2020-03-12 | ソニー株式会社 | 移動装置、移動装置制御システム、および方法、並びにプログラム |
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