WO2018037779A1 - 認識制御対象車両報知装置 - Google Patents

認識制御対象車両報知装置 Download PDF

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Publication number
WO2018037779A1
WO2018037779A1 PCT/JP2017/026238 JP2017026238W WO2018037779A1 WO 2018037779 A1 WO2018037779 A1 WO 2018037779A1 JP 2017026238 W JP2017026238 W JP 2017026238W WO 2018037779 A1 WO2018037779 A1 WO 2018037779A1
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WO
WIPO (PCT)
Prior art keywords
control target
target vehicle
recognition
automatic driving
vehicle
Prior art date
Application number
PCT/JP2017/026238
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English (en)
French (fr)
Japanese (ja)
Inventor
龍男 荒巻
永崎　健
Original Assignee
日立オートモティブシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Priority to JP2018535528A priority Critical patent/JP6619521B2/ja
Priority to CN201780040097.0A priority patent/CN109416887B/zh
Publication of WO2018037779A1 publication Critical patent/WO2018037779A1/ja

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a recognition control target vehicle notification device that recognizes and notifies a vehicle in the vicinity of the host vehicle.
  • the above-described system not only recognizes obstacles and the like from the image signal of the front monitoring camera mounted on the vehicle, and predicts the possibility of vehicle lane departure, rear-end collision, contact with obstacles, etc. based on the image data. These technologies also have the function of following the vehicle ahead and traveling following the lane information.
  • Patent Document 2 discloses a technique in which a driver can recognize that a vehicle ahead is recognized by cutting out a region to be controlled from the image signal of the front monitoring camera and displaying it as it is.
  • Patent Document 3 describes a technique for improving the same visibility by using an alternative image that matches the direction and orientation of a recognized three-dimensional object.
  • Patent Document 4 discloses a technique for discriminating between dynamic pedestrians and static pedestrians and converting only dynamic pedestrians into alert signals.
  • Patent Document 1 the invention disclosed in Patent Document 1 described above is limited to cruise control, only notifies the driver of the on / off state and informs the existence of the preceding vehicle in a fixed form. It's hard to say that it's enough.
  • Patent Document 2 uses the clipped image and solves the problem of Patent Document 1 in terms of notifying the user of the recognition information of the preceding vehicle, but the original image itself acquired by the camera is used. Since it is cut out, transferred, and displayed, the amount of information to be transferred increases and the transfer time becomes longer. In addition, since the original image is displayed in the small area, the visibility may be deteriorated depending on the acquired scene.
  • Patent Document 3 when a plurality of different types of vehicles are present in front of the host vehicle, their postures are almost the same, so that the driver specifies the target vehicle. Have difficulty.
  • the present invention has been made in view of the above-described problems, and an object of the present invention is to realize a recognition control target vehicle notification device that allows a driver to accurately recognize a control target vehicle in the vicinity of the host vehicle.
  • the present invention is configured as follows.
  • the image acquisition unit that acquires an image around the host vehicle
  • the type recognition unit that recognizes the type of the recognition control target vehicle from the image acquired by the image acquisition unit
  • the type recognition unit A notification information generation unit that generates notification information, and a notification unit that notifies the notification information generated by the notification information generation unit.
  • FIG. 1 is a schematic configuration diagram of a system configuration of a vehicle equipped with a recognition control target vehicle notification device according to the present invention.
  • a vehicle (automobile or the like) 1 mainly acquires information about the periphery of the vehicle 1 and automatically recognizes the acquired information, and automatically drives the vehicle 1.
  • the driving system 3 is mounted. The automatic driving by the automatic driving system 3 will be described later.
  • the recognition control target notification system 2 mainly acquires (recognizes) an automatic driving information acquisition unit 13 that acquires automatic driving information related to whether or not the vehicle 1 is in automatic driving by the automatic driving system 3 from the automatic driving system 3.
  • the type recognition unit 12 that recognizes the type (shape, color, etc.) of the recognized target vehicle, and the type of the recognition control target vehicle recognized by the type recognition unit
  • An external image acquisition unit 10 that acquires an ambient image), and a notification content generation unit (notification information generation unit) 14 is obtained from the information obtained from the external image acquisition unit 10 and the automatic driving information acquisition unit 13. That on the basis of the automatic operation information to generate a control signal, and is configured to output.
  • FIG. 2 is an operation flow of automatic operation in the embodiment of the present invention.
  • step S201 the external image recognition acquisition unit 10 determines whether or not the camera state is normalized. If it is determined that it is not normal, the process proceeds to step S209, where the notification unit 15 or the like notifies the abnormality and returns to the start.
  • step S201 If it is determined in step S201 that the camera state is normal, the process proceeds to step S202, and the external image recognition unit 10 acquires a surrounding image of the vehicle.
  • step S203 each part of the control target recognition system 2 performs initial setting.
  • step S204 the object recognition unit 11 detects a white line on the road, and in step S205 detects a three-dimensional object on the road.
  • step S206 a control target vehicle is selected from the preceding vehicles, and the process proceeds to step S207.
  • Step S207 is a processing step for making it possible for the driver to easily identify the vehicle to be controlled, and includes steps S211 to S215 shown on the right side of FIG.
  • step S211 the external image acquisition unit 10 acquires the own vehicle periphery information, and the automatic driving information acquisition unit 13 acquires the automatic driving information regarding whether or not the vehicle 1 is automatically driven by the automatic driving system 3, and Image information and automatic driving information are transmitted to the object recognition unit 11.
  • the acquisition of image information by the external image acquisition unit 10 and the acquisition of automatic driving information by the automatic driving information acquisition unit 13 may be performed periodically or at a predetermined timing.
  • the acquisition timing of the image information by the external image acquisition unit 10 and the acquisition timing of the automatic driving information by the automatic driving information acquisition unit 13 may be different.
  • the object recognition unit 11 of the recognition control target notification system 2 recognizes an object present in the vehicle periphery information based on the transmitted vehicle periphery information, cuts it out as an image, and transmits the image to the type recognition unit 12 ( Step S212).
  • the type recognition unit 12 determines the shape of the object based on the clipped image transmitted from the target recognition unit 11 (step S213).
  • the type recognizing unit 12 determines the shape of the object, the type recognizing unit 12 further determines the color of the object based on the clipped image transmitted from the target recognizing unit 11 (step S214).
  • the shape determination and the color determination timing may be different with the acquisition of the peripheral information by the external image acquisition unit 10.
  • the type recognition unit 12 determines the shape and color of the object after cutting out the object, the type recognition unit 12 transmits the object information and the determination result to the notification content generation unit 14 (step S215).
  • the notification content generation unit 14 that has received the determination result from the type recognition unit 12 generates notification content according to the transmitted shape and color information (step S216).
  • the notification unit 15 that has received the determination result from the notification content generation unit 14 notifies the driver of the vehicle 1 of the cut-out image of the object and the icon including the shape and color of the object as a control signal (step S208).
  • Examples of the notification unit 15 include a meter, a liquid crystal screen, a display (LED) lamp, a sound (including a buzzer) generation device, a vibration generation device, and the like. It is conceivable to change the display on the liquid crystal screen, the light from the LED lamp, the sound such as sound, the occurrence of vibration, etc.
  • the notification unit 15 notifies the driver of the vehicle 1 with an icon including a cut-out image of the object to be recognized, a shape of the object, and a color by display or voice. Only one of the audio control signals may be generated and notified, or the recognition target may be notified by display and audio. As an example of the sound, the shape and color of the target vehicle will be described.
  • the display only the shape or color of the recognition target may be displayed, and only the shape or color of the recognition target may be notified for the sound.
  • the notification target object can be divided into two.
  • One is an object to be recognized, which is an object for which an image is acquired by the external image acquisition unit 10 and information of the object is retained when the object recognition unit 11 determines the object.
  • the other one is a control object that holds information on the recognition object and is a target for controlling the host vehicle 1.
  • both the recognition object and the control object may be notified. Further, when both are notified, the notification contents may be changed.
  • the information obtained from the automatic driving information acquisition unit 13 may be used as a condition when the notification content generating unit 14 generates the notification content.
  • the notification content may be generated and the notification content may be transmitted to the notification unit 15.
  • the notification content to be generated is changed between the case where the automatic driving information acquisition unit 13 determines that automatic driving is not being performed by the automatic driving system 3 and the case where it is determined that automatic driving is being performed. You may make it transmit.
  • the vehicle 1 When the information obtained from the automatic driving information acquisition unit 13 is used, the vehicle 1 is automatically operated by the automatic driving system 3 from the preparation state before the automatic driving by the automatic driving system 3 (that is, the state of manual driving by the driver). It will be determined whether or not the vehicle has been switched to driving, but switching to automatic driving may be performed manually by a switch operation by the driver of the host vehicle 1 or automatically by the system. .
  • the above-mentioned automatic driving system 3 is realized by various automatic driving functions for the purpose of reducing traffic accidents, mitigating traffic congestion, reducing environmental loads, moving support for elderly people, etc., and improving driving comfort.
  • each of these automatic driving functions is generally classified into a plurality of automatic driving levels (for example, five levels from level 0 to level 4) according to the driver's contribution degree and participation degree (see FIG. 6). ).
  • the automatic driving means driving in which the system performs all or part of the driving operation of the vehicle.
  • Driving basically means driving in which a driver performs driving operation of a vehicle.
  • FIG. 1 In the example shown in FIG.
  • the automatic driving level, the automatic driving function, and their classification shown in FIG. 6 are examples, and the present invention is of course not limited to this.
  • an automatic driving level 1 AEB automatic emergency brake
  • notification is made about the recognition target object and the control target object. It is possible to go.
  • the automatic driving level 0 means that the driver performs acceleration, steering and braking, and the automatic driving functions include around view, back view, blind spot view, LDW (lane departure warning), stagger warning, FCW (forward collision warning). )
  • the automatic driving level 1 is a state where the vehicle performs any of acceleration (deceleration), steering, and braking, and is a safe driving support system.
  • AEB emergency avoidance system
  • automatic parking system ACC (auto cruise), LKS (lane keeping system), LDP (lane departure prevention support system).
  • the automatic driving level 2 is a semi-automatic driving system in which the vehicle simultaneously performs a plurality of operations of acceleration (deceleration), steering, and braking, and the driver needs to always stop moving.
  • the automatic operation function is a combined type of automatic operation level 0 and automatic operation level 1.
  • the automatic driving level 3 is a quasi-automatic driving system in which the vehicle performs all of acceleration (deceleration), steering, and braking, and the driver responds only in an emergency.
  • the automatic operation function is semi-automatic. However, under some circumstances, it is a composite type of functions of automatic driving level 0 and automatic driving level 1.
  • the automatic driving level 4 is a state in which acceleration (deceleration), steering, and braking are all performed by a person other than the driver bar, and the driver is not involved at all, and is a fully automatic driving system.
  • the automatic driving function is fully automatic.
  • the ACC auto cruise control
  • the LDP lassion prevention support system
  • the recognition target object and the control target object may be notified.
  • the notification content generation unit 14 determines those automatic driving levels or the automatic driving function operated by the automatic driving system 3 based on the automatic driving information transmitted from the automatic driving information acquisition unit 13, and When it is determined that the automatic driving level or the automatic driving function is the predetermined automatic driving level or the automatic driving function (that is, the vehicle 1 has been switched to the predetermined automatic driving level or the automatic driving of the automatic driving function). A control signal for performing the control target notification may be output.
  • FIG. 3 to 5 are diagrams specifically illustrating the notification operation
  • FIG. 3 is a diagram illustrating an example of the notification operation when a vehicle is recognized in a practical example that operates during automatic driving.
  • FIG. 5 is a diagram for explaining an example of a notification operation when a transition is made during automatic driving in a state where a vehicle is recognized in a practical example that operates regardless of whether it is automatic driving.
  • FIG. 5 is a diagram for explaining an example of table management when data and handling of a notified shape and color are handled.
  • the vehicle 1 When the driver or controlled object notification system 2 operates the automatic driving system at a certain point, the vehicle 1 is switched from the manual driving to the automatic driving mode, and the automatic driving information acquisition unit 13 acquires the information switched to the automatic driving. Based on the peripheral information 16 obtained by the external image acquisition unit 10, the target recognition unit 11 recognizes the vehicle existing ahead from the acquired peripheral information. Then, a vehicle image of the recognition control target vehicle among the recognized vehicles is cut out as a cut-out image 17.
  • the type recognition unit 12 determines the shape from the shape information 18 and determines the color from the color information 19.
  • generation part 14 produces
  • the above-described example is an example in which the tracking target is notified to the notification unit 15 during the automatic driving mode, but the vehicle ahead can also be displayed on the notification unit 15 even in a state that is not in the automatic driving mode.
  • FIG. 4 is a diagram for explaining an example of a notification operation when transitioning during automatic driving in a state where the vehicle is recognized, and an example in which the preceding vehicle is displayed on the notification unit 15 even in a state that is not in the automatic driving mode. It is explanatory drawing of.
  • target vehicle information recognized in the vicinity (information of vehicles recognized other than the recognition control target vehicle) is also displayed before the automatic driving is started (display content S401 of the notification unit 15).
  • the automatic driving information acquisition unit 13 acquires information switched to automatic driving, and the surroundings obtained by the external image acquisition unit 10 Based on the information, the object recognition unit 11 recognizes a vehicle that exists in the front and side from the acquired peripheral information 16 and cuts out the vehicle image as an image 17.
  • the type recognition unit 12 determines the shape and color based on the cut-out image 17, and the notification content generation unit 14 generates notification content based on these pieces of information, and notifies the notification unit 15 of the notification content.
  • the notification content to the notification unit 15 may be a form in which the shape and color are notified to all recognized vehicles (display content S402 (displays information of other recognized vehicles other than the recognition control target vehicle). ) Only the shape of the object that has been recognized may be notified and the color may not be notified, and only the control target vehicle may be notified of the shape and color (display content S403 (the shape and color for the recognition control target vehicle). For vehicles that have been generated and recognized other than the recognition control target vehicle, either shape or color is generated and notified)).
  • FIG. 3 shows a case of notifying only object information necessary for control
  • FIG. 4 shows an object recognized as an object necessary for control. The case where both of them were reported was shown.
  • FIG. 3 shows a case where a notification operation is performed when moving to an automatic driving operation
  • FIG. 4 shows a case where a notification operation is performed even before the automatic driving. Either of the cases shown in FIGS. 3 and 4 may be used.
  • the table may have a color and a numerical value indicating the color as a pair (Example 1), or may have an individual color such as RGB (Example). 2).
  • the shape information may have a pair of a shape and a numerical value (Example 3). Further, the color and the shape information may be paired to have a numerical value (Example 4).
  • the target recognition unit 11 recognizes the target and cuts it out as an image.
  • the type recognition unit 12 determines the color and shape of the object from the cut out image
  • the notification content generation unit 14 generates notification content including the shape and color of the target object, and generates a control signal for controlling the notification unit 15.
  • the notification content generation unit 14 acquires automatic driving information regarding whether or not automatic driving is being performed by the automatic driving system 3, and changes the notification content based on the automatic driving information, so that the user can recognize and The state of the object in vehicle control can be recognized accurately.
  • this invention is not limited to above-described embodiment, Various deformation
  • transformation is included.
  • the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described.
  • a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of the embodiment.
  • control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Analysis (AREA)
PCT/JP2017/026238 2016-08-24 2017-07-20 認識制御対象車両報知装置 WO2018037779A1 (ja)

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JP2018535528A JP6619521B2 (ja) 2016-08-24 2017-07-20 認識制御対象車両報知装置
CN201780040097.0A CN109416887B (zh) 2016-08-24 2017-07-20 识别控制对象车辆报知装置

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CN109416887A (zh) 2019-03-01
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JP6619521B2 (ja) 2019-12-11

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