WO2022137542A1 - 信頼度補正装置、信頼度補正方法および車両運転システム - Google Patents
信頼度補正装置、信頼度補正方法および車両運転システム Download PDFInfo
- Publication number
- WO2022137542A1 WO2022137542A1 PCT/JP2020/048854 JP2020048854W WO2022137542A1 WO 2022137542 A1 WO2022137542 A1 WO 2022137542A1 JP 2020048854 W JP2020048854 W JP 2020048854W WO 2022137542 A1 WO2022137542 A1 WO 2022137542A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- reliability
- target
- light
- correction device
- camera
- Prior art date
Links
- 238000012937 correction Methods 0.000 title claims description 49
- 238000000034 method Methods 0.000 title claims description 14
- 238000005286 illumination Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 48
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 12
- 230000004927 fusion Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000006854 communication Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 240000004050 Pentaglottis sempervirens Species 0.000 description 1
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/141—Control of illumination
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/98—Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
- G06V10/993—Evaluation of the quality of the acquired pattern
-
- 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
-
- B60W2420/408—
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/35—Data fusion
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
Definitions
- the present application relates to a reliability correction device, a reliability correction method, and a vehicle driving system that corrects the reliability of the result of detecting a target by a sensor.
- Patent Document 1 for example, in a dark surroundings, it is difficult to detect a target in a region not illuminated by a light because it is dark and the illuminance is insufficient. If the target is not detected by the camera and is detected only by the millimeter-wave radar, the reliability given to the detected target is lowered and it becomes difficult to select the target as an existing target. When the detected output is used for automatic driving in an automobile, the detection of a target may be delayed or may not be detected. Further, in the prior art, the reliability is weighted to the information detected by the camera, and when the detection results with the radar match, the existence of the obstacle is determined assuming that the reliability exceeds a predetermined value.
- the prior art does not take into account changes in detection capability based on the environmental conditions of each sensor. For example, if a pedestrian or the like exists in a place where the light is not lit at night, which is difficult for the camera to detect, and the pedestrian or the like is detected only by the radar, the existence of the pedestrian is overlooked by the conventional technique.
- the present application has been made to solve the above-mentioned problems, and the detection reliability of a target by the sensor reflects the characteristics of the sensor, and a reliability correction device capable of more accurate detection can be obtained. With the goal.
- the reliability correction device disclosed in the present application is a reliability correction device that corrects the reliability of the result of detecting a target existing around the sensor by the sensor, based on the irradiation area which is the irradiation range of the light. It is equipped with a reliability adjustment unit that corrects the reliability of the detected target information.
- the detection reliability of the target by the sensor reflects the characteristics of the sensor, and more accurate detection becomes possible.
- FIG. 1 It is a block diagram which shows the structure of the reliability correction apparatus which concerns on Embodiment 1.
- FIG. It is a block diagram explaining the function in the reliability correction apparatus which concerns on Embodiment 1.
- FIG. It is a figure for demonstrating the reliability of target detection in the reliability correction apparatus which concerns on Embodiment 1.
- FIG. It is a flowchart which shows the processing procedure of the reliability adjustment in the reliability correction device which concerns on Embodiment 1.
- FIG. It is a block diagram which shows the structure of the reliability correction apparatus which concerns on Embodiment 2.
- It is a block diagram explaining the function in the reliability correction apparatus which concerns on Embodiment 2.
- FIG. It is a figure for demonstrating the reliability of target detection in the reliability correction apparatus which concerns on Embodiment 2.
- FIG. 2 It is a flowchart which shows the processing procedure of the reliability adjustment in the reliability correction device which concerns on Embodiment 2.
- FIG. It is a block diagram explaining the function in the reliability correction apparatus which concerns on Embodiment 3.
- FIG. It is a flowchart which shows the processing procedure of the illumination area calculation of the reliability adjustment device in the reliability correction device which concerns on Embodiment 3.
- FIG. 1 is a block diagram showing a schematic configuration of a reliability correction device according to the first embodiment.
- the vehicle 1 is provided with a reliability correction device 2, a vehicle control unit 3, lights (hereinafter, also referred to as “lights”) 4, and a camera device (hereinafter, also referred to as “camera”) 5 as in-vehicle devices. ..
- the reliability correction device 2 includes a calculation unit 20, a storage unit 30, a communication function unit 40, and a bus 50.
- the arithmetic unit 20, the storage unit 30, and the communication function unit 40 are connected so as to be capable of bidirectional communication via the bus 50.
- the communication function unit 40 sends and receives control signals and information signals to the vehicle control unit 3, lights 4, camera device 5, and the like. Both the light 4 and the camera 5 are mounted on the moving vehicle 1.
- the arithmetic unit 20 is composed of an arithmetic unit such as a microcomputer or DPS.
- the storage unit 30 is composed of a RAM and a ROM, and includes a reliability adjusting unit 31 and a lighting control unit 32.
- the camera 5 is a general visible light optical camera that forms an image of a target sensing area on an image pickup element with a lens or the like, but an infrared camera may be used as long as the light to be irradiated is infrared light.
- FIG. 2 is a block diagram illustrating a function in the reliability correction device according to the first embodiment.
- the target detection result by the camera 5 is input to the reliability adjusting unit 31 constituting the reliability adjusting device 310, and the irradiation area information is input from the lighting control unit 32.
- the light control unit 32 outputs a control signal of the light irradiation range to the light 4.
- the reliability adjustment unit 31 outputs the target detection result to the vehicle control unit 3.
- the operation of the vehicle 1 is controlled by the vehicle control unit 3 by the output from the reliability adjustment unit 31, and the vehicle operation system is configured.
- FIG. 3 is a diagram for explaining the reliability of target detection in the reliability correction device according to the first embodiment.
- the area LI1 surrounded by the broken line is the irradiation range by the left headlight which is the light provided in the vehicle 1
- the area LI2 surrounded by the broken line is the right headlight which is the light provided in the vehicle. It is the irradiation range by the lamp, and the portion where the region LI1 and the region LI2 overlap is shown by the region LI3.
- the detection range CD by the camera mounted on the front part of the vehicle 1 is shown by a solid triangular shape.
- the star-shaped mark indicates that the position of the detection target is within the irradiation range of the light 4 and the camera 5 is within the coverage area (state A), and the square mark indicates that the position of the detection target is outside the irradiation range of the light 4. Moreover, the case (state B) within the coverage area of the camera 5 is shown.
- the reliability adjusting unit 31 adjusts the reliability by increasing the reliability or increasing the upper limit of the reliability in the state A.
- the vehicle control unit 3 controls the vehicle by the reliability correction output from the reliability adjustment unit 31. That is, correct detection is expected for target detection in the irradiation area of the light 4.
- the light 4 is not illuminated and the detection performance of the camera 5 may be deteriorated. Therefore, the reliability is lowered or the upper limit of the reliability is lowered to reduce the reliability. adjust.
- the reliability When the reliability is output based on the result of detecting a target by the camera 5, for example, in a method of identifying by pattern matching, the degree of matching is reflected. Further, the illumination area is obtained from the lighting control unit 32. That is, a signal indicating an irradiation region from the light control unit 32 is input to the reliability adjustment unit 31.
- the lighting and extinguishing of fine areas such as adaptive headlights
- the lighting and extinguishing status of each area is reported in the form of a fan-shaped area divided by a mesh-like area. If the light is simply turned on and off, the irradiation range (depending on the high beam or low beam) is transmitted when it is on.
- the light in this case is mounted on a vehicle, that is, the own vehicle, the irradiation range can be easily obtained. However, since there are lighting such as street lights in the road environment, the effect will be greater if these are also taken into consideration.
- FIG. 4 is a flowchart showing a processing procedure for reliability adjustment in the reliability correction device according to the first embodiment.
- the sensing result of the camera 5 is acquired (step S41)
- the irradiation area of the light is acquired based on this sensing result (step S42), and then whether or not the detection target is located in the illumination area of the light. Is determined (step S43).
- step S43 if the detection target is located within the illumination area of the light, the process proceeds to step S44-1, and the reliability is increased or the upper limit of the reliability is increased. In the determination in step S43, if the detection target is not located within the illumination area of the light, the process proceeds to step S44-2 to lower the reliability or lower the lower limit of the reliability.
- FIG. 5 is a block diagram showing a configuration of the reliability correction device according to the second embodiment.
- a radar device hereinafter, also referred to as “radar”
- the storage unit 30 includes a fusion unit 33
- the radar 6 includes a target reflection level receiving unit and a target detecting unit.
- the radar device 6 is a sensor that detects the position and distance of an object by emitting radio waves and receiving reflected waves reflected by the object. Other sensors may be used as long as they can detect an object other than the radar and can detect the reflection level of the target, and may be a LIDAR or an ultrasonic sensor.
- FIG. 6 is a block diagram illustrating a function in the reliability correction device according to the second embodiment.
- the target fusion result obtained by the fusion unit 33 is input to the reliability adjusting unit 31 constituting the reliability adjusting device 310 based on the target detection result input from the camera 5 and the radar 6. Further, the reliability adjustment unit 31 inputs the target detection result from the camera 5 and the radar 6, and the illumination area information from the light control unit 32.
- the light control unit 32 outputs a control signal of the light irradiation range to the light 4.
- the reliability adjustment unit 31 outputs the target fusion result to the vehicle control unit 3.
- FIG. 7 is a diagram for explaining the reliability of target detection in the reliability correction device according to the second embodiment.
- the area LI1 surrounded by the broken line is the irradiation range by the left headlight which is the light provided in the vehicle 1
- the area LI2 surrounded by the broken line is the right headlight which is the light provided in the vehicle.
- the portion of the irradiation range where the region LI1 and the region LI2 overlap is shown by the region LI3.
- the detection range CD by the camera mounted on the front part of the vehicle 1 is shown by a solid triangle shape
- the detection range LD by the radar mounted on the front part of the vehicle 1 is shown by a one-dot chain line triangle shape. ..
- the star-shaped mark indicates that the position of the detection target is within the irradiation range of the light 4 and the area covered by the camera 5 and the radar 6 (state C), and the square mark indicates that the position of the detection target is within the irradiation range of the light 4. The case where it is out of the range and within the coverage of the camera 5 and the radar 6 (state D) is shown.
- FIG. 7 describes the adjustment of the reliability when the target detection is performed only by the radar 6.
- the reliability adjusting unit 31 in the state C, the reliability is adjusted by lowering the reliability or lowering the upper limit of the reliability. Further, in the state D, since the light is not illuminated and the detection performance of the camera is deteriorated, the detection cannot be performed. Therefore, the reliability is not changed or the upper limit of the reliability is not changed. That is, correct detection is expected because of the irradiation area of the light 4, but reliability is maintained because it is not detected by the radar.
- FIG. 7 describes the adjustment of the reliability when the target detection is performed only by the camera 5.
- the reliability adjusting unit 31 the reliability is not changed or the upper limit of the reliability is not changed in the state C. That is, correct detection is expected because of the illumination area of the light 4, but reliability is maintained because the target is not detected by the radar 6. Further, in the state D, since the light 4 is not irradiated and the detection ability of the camera 5 may be lowered, the reliability is adjusted by lowering the reliability or lowering the upper limit of the reliability.
- the reliability adjusting unit 31 in the state C, the reliability is adjusted by increasing the reliability or raising the upper limit of the reliability. That is, correct detection can be expected because it is in the irradiation area of the light 4. Further, in the state D, the reliability is not changed or the upper limit of the reliability is not changed. That is, although the light 4 is not irradiated and the detection performance of the camera 5 is deteriorated, the radar 6 can also detect the light, so that the reliability is maintained.
- the reliability is output from the camera, for example, in a method of identifying by pattern matching, the degree of matching is reflected.
- the magnitude of the SNR of the detection target is reflected.
- the same target can be continuously detected in time series, and the position or speed of the detected target has little variation.
- FIG. 8 is a flowchart showing a processing procedure for reliability adjustment in the reliability correction device according to the second embodiment.
- the sensing results of the camera 5 and the radar 6 are acquired (step S81), the irradiation area of the light is acquired based on the sensing result (step S82), and then the detection target is located in the illumination area of the light. Whether or not it is determined (step S83).
- step S83 when the detection target is located within the illumination area of the light, it is determined whether the detection target is detected only by the radar 6 (step S84-1), and is detected only by the radar 6. In that case, the reliability is adjusted by lowering the reliability or lowering the upper limit of the reliability (step S84-2).
- step S84-1 if it is not detected only by the radar 6, it is determined whether the detection target is detected only by the camera 5 (step S84-3), and if it is detected only by the camera 5, the reliability is determined. The reliability is maintained without changing the reliability or the upper limit of the reliability (step S84-4). If it is not detected only by the camera 5 in step S84-3, the reliability is adjusted by increasing the reliability or increasing the upper limit of the reliability.
- step S83 if the detection target is not located within the illumination area of the light, it is determined whether the detection target is detected only by the radar 6 (step S84-6), and is detected only by the radar 6. In that case, the reliability is maintained without changing the reliability or the upper limit of the reliability (step S84-7).
- step S84-6 if it is not detected only by the radar 6, it is determined whether the detection target is detected only by the camera 5 (step S84-8), and if it is detected only by the camera 5, the reliability is determined. The reliability is adjusted by lowering or lowering the upper limit of the reliability (step S84-9).
- step S84-8 if it is not detected only by the camera 5, the reliability is maintained without changing the reliability or the upper limit of the reliability.
- the irradiation range of the light is configured to be obtained from the light control unit 32.
- the irradiation range of the lighting of the own vehicle, the lighting of another vehicle, the street light, etc. from the high (bright) region and the low-luminance (dark) region.
- the obtained irradiation range is the viewpoint of the camera of the own vehicle, and when actually used, the viewpoint is converted (a general algorithm may be used) to convert the area into a bird's-eye view.
- FIG. 9 is a block diagram illustrating a function in the reliability correction device according to the third embodiment.
- the lighting area calculation unit 34 is added to the first embodiment. Based on the front image from the camera 5, the lighting area calculation unit 34 obtains the lighting area of the light, and the reliability adjusting unit 31 has the lighting area similar to the information of the lighting area from the light control unit 32. Information on the illumination area from the calculation unit 34 is also input.
- Other configurations are the same as those in the first embodiment.
- FIG. 10 is a flowchart showing a processing procedure for calculating the lighting area of the reliability adjusting device in the reliability correcting device according to the third embodiment.
- the illumination area calculation unit 34 first acquires the sensing image of the camera 5 (step S101), then calculates the illumination area of the light 4 from the image obtained in step S101 (step S102), and the viewpoint is obtained based on the result. Perform conversion (step S103).
- the device is described as a device mounted on a vehicle, but the device is not limited to the vehicle, but may be a camera mounted on a roadside device or the like on the side of a road.
- the reliability of the radar information can be corrected as well.
- the sensor is only a camera, but it can also be applied to a configuration in which both the camera and the radar are used as in the second embodiment.
Abstract
Description
また、従来技術では、カメラで検出した情報に信頼度を重みづけし、さらに、レーダとの検出結果が一致した場合に信頼度が所定値を超えたものとして障害物の存在を判定する。
しかし、従来技術では、各センサの環境条件に基づく検出能力の変化を考慮していない。例えば、カメラにとって検出が困難な夜間で灯火の当たっていない場所に歩行者等が存在し、レーダのみで検出されている場合、従来技術では歩行者の存在を見逃してしまうことになる。
図1は、実施の形態1に係る信頼度補正装置の概略構成を示すブロック図である。
車両1には、車載装置として、信頼度補正装置2、車両制御部3、灯火類(以下、「灯火」ともいう)4、カメラ装置(以下、「カメラ」ともいう)5を具備している。
信頼度補正装置2は、演算部20、記憶部30、通信機能部40およびバス50を備えている。演算部20、記憶部30および通信機能部40はバス50を介して双方向通信可能に接続されている。また、通信機能部40は車両制御部3、灯火類4、カメラ装置5等に対して制御信号、情報信号の授受を行う。灯火4、カメラ5は何れも移動体である車両1に搭載されている。
信頼度調整装置310を構成する信頼度調整部31には、カメラ5による物標検出結果が入力され、灯火制御部32から照射領域の情報が入力される。灯火制御部32は灯火4に対して灯火照射範囲の制御信号を出力する。信頼度調整部31からは車両制御部3に対して物標検出結果を出力する。車両1は、信頼度調整部31からの出力により、車両制御部3によって運転が制御され、車両運転システムが構成される。
図3において、カメラ5によって物標検出が行われている場合、信頼度調整部31において、状態Aでは、信頼度を上げて、あるいは信頼度の上限を上げて、信頼度を調整する。車両制御部3は、信頼度調整部31からの信頼度補正出力によって車両の制御を実行する。即ち、灯火4の照射領域における物標検出のため正しい検出が期待される。
図3において、状態Bでは、灯火4が照射されておらず、カメラ5の検出性能が低下している恐れがあるので、信頼度を下げて、あるいは信頼度の上限を下げて、信頼度を調整する。
また、照明領域は、灯火制御部32から得るようにしている。即ち、灯火制御部32からの照射領域を示す信号が信頼度調整部31に入力される。アダプティブヘッドライトのように、細やかな領域の点灯、消灯を制御できる場合、例えば扇形をメッシュ状の領域で区切った形式で各領域の点灯、消灯状況を伝える。単純に灯火のオンオフだけの場合は、オンの場合はその照射範囲(ハイビームあるいはロービームなどで異なる)を伝える。
まず、カメラ5のセンシング結果を取得し(ステップS41)、このセンシング結果に基づき灯火の照射領域を取得し(ステップS42)、次に、検出物標が灯火の照明領域内に位置するか否かを判断する(ステップS43)。
ステップS43における判断において、検出物標が灯火の照明領域内に位置しない場合は、ステップS44-2に進み、信頼度を下げる、あるいは信頼度の下限を下げる。
図5は、実施の形態2に係る信頼度補正装置の構成を示すブロック図である。
この実施の形態2においては、実施の形態1の構成に加えて、レーダ装置(以下、「レーダ」ともいう)6、フュージョン部33を備えている。その他の構成は、実施の形態1と同様である。記憶部30はフュージョン部33を含んでおり、またレーダ6は物標反射レベル受信部および物標検出部を含んでいる。
レーダ装置6は、電波を射出し、対象物で反射した反射波を受信することで対象物の位置及び距離を検出するセンサである。レーダ以外でも対象物を検出でき、物標の反射レベルを検出できるように構成されていれば他のセンサであればよく、LIDARあるいは超音波センサなどでもよい。
信頼度調整装置310を構成する信頼度調整部31には、カメラ5およびレーダ6から入力された物標検出結果に基づき、フュージョン部33で得られた物標フュージョン結果が入力される。また、信頼度調整部31は、カメラ5およびレーダ6からの物標検出結果、並びに灯火制御部32から照射領域の情報が入力される。灯火制御部32は灯火4に対して灯火照射範囲の制御信号を出力する。信頼度調整部31からは車両制御部3に対して物標フュージョン結果を出力する。
まず、カメラ5、レーダ6のセンシング結果を取得し(ステップS81)、このセンシング結果に基づき灯火の照射領域を取得し(ステップS82)、次に、検出物標が灯火の照明領域内に位置するかどうか判断する(ステップS83)。
ステップS84-3において、カメラ5のみで検出されていない場合は、信頼度を上げて、あるいは信頼度の上限を上げて、信頼度を調整する。
実施の形態1、実施の形態2では、灯火の照射範囲は、灯火制御部32から得る構成としていた。しかしながら、道路環境には自車の灯火以外にも他車の灯火あるいは街灯等の照明が存在するため、それらも考慮するとより効果は大きくなる。
そこで本実施の形態では、カメラ5から得られる画像について、その輝度の高い(明るい)領域と輝度の低い(暗い)領域から、自車の灯火および他車の灯火、街灯等の照明の照射範囲を得るようにする。
なお得られた照射範囲は自車のカメラ視点であり、実際に使用する際は視点変換(一般的なアルゴリズムで良い)などを行い俯瞰した領域になるように変換する。
実施の形態3においては、実施の形態1に照明領域算出部34を追加した構成となっている。カメラ5からの前方画像に基づき、照明領域算出部34において灯火の照明領域を得るようにしており、信頼度調整部31には、灯火制御部32からの照明領域の情報と同様に、照明領域算出部34からの照明領域の情報も入力される。その他の構成は実施の形態1と同一である。
照明領域算出部34では、まず、カメラ5のセンシング画像を取得し(ステップS101)、次に、ステップS101で得られた画像から灯火4の照明領域を算出し(ステップS102)、その結果により視点変換を行う(ステップS103)。
Claims (16)
- センサによって前記センサの周囲に存在する物標を検出した結果に対して信頼度を補正する信頼度補正装置において、灯火の照射範囲である照射領域に基づき、検出された物標情報に対する信頼度を補正する信頼度調整部を備えたことを特徴とする信頼度補正装置。
- 前記照射範囲は、前記センサが設けられたものに備え付けられた灯火の照射範囲であることを特徴とする請求項1に記載の信頼度補正装置。
- 前記センサから得られた画像の輝度の領域から前記照射範囲を算出する照明領域算出部を備えたことを特徴とする請求項1に記載の信頼度補正装置。
- 車両に搭載されたことを特徴とする請求項1から請求項3の何れか1項に記載の信頼度補正装置。
- 前記センサはカメラであることを特徴とする請求項1から請求項4の何れか1項に記載の信頼度補正装置。
- 前記信頼度調整部は、前記物標の位置が前記灯火の照射範囲内である場合、前記信頼度の値を増加、あるいは、前記信頼度の上限を上げることを特徴とする請求項5に記載の信頼度補正装置。
- 前記信頼度調整部は、前記物標の位置が前記灯火の照射範囲外である場合、前記信頼度の値を減少、あるいは。前記信頼度の上限を下げることを特徴とする請求項5に記載の信頼度補正装置。
- 前記センサはカメラとレーダであることを特徴とする請求項1から請求項4の何れか1項に記載の信頼度補正装置。
- 前記信頼度調整部は、前記レーダのみが前記物標を検出し、前記カメラは前記物標を検出せず、前記物標の位置が前記灯火の照射範囲内である場合、前記信頼度の値を減少、あるいは、前記信頼度の上限を下げることを特徴とする請求項8に記載の信頼度補正装置。
- 前記信頼度調整部は、前記カメラのみが前記物標を検出し、前記レーダは前記物標を検出せず、前記物標の位置が前記灯火の照射範囲内である場合、前記信頼度の値を変えない、あるいは、前記信頼度の上限を変えないことを特徴とする請求項8に記載の信頼度補正装置。
- 前記信頼度調整部は、前記カメラおよび前記レーダが同じ物標を検出し、前記物標の位置が前記灯火の照射範囲内である場合、前記信頼度の上限を上げることを特徴とする請求項8に記載の信頼度補正装置。
- 前記信頼度調整部は、前記レーダのみが前記物標を検出し、前記カメラは前記物標を検出せず、前記物標の位置が前記灯火の照射範囲外である場合、前記信頼度の値を変えない、あるいは、前記信頼度の上限を変えないことを特徴とする請求項8に記載の信頼度補正装置。
- 前記信頼度調整部は、前記カメラのみが前記物標を検出し、前記レーダは前記物標を検出せず、前記物標の位置が前記灯火の照射範囲外である場合、前記信頼度の値を減少、あるいは、前記信頼度の上限を下げることを特徴とする請求項8に記載の信頼度補正装置。
- 前記信頼度調整部は、前記カメラおよび前記レーダが同じ物標を検出し、前記物標の位置が前記灯火の照射範囲外である場合、前記信頼度の値を変えない、あるいは、前記信頼度の上限を変えないことを特徴とする請求項8に記載の信頼度補正装置。
- センサによって前記センサの周囲に存在する物標を検出した結果を取得する第1のステップと、
灯火の照射範囲である照射領域を取得する第2のステップと、
検出した物標が、前記灯火の照射領域内に位置するか否かを判断する第3のステップと、
前記第3のステップにおける判断の結果に基づいて、検出された物標情報に対する信頼度を補正する第4のステップと、
を含むことを特徴とする信頼度補正方法。 - センサによってセンサの周囲に存在する物標を検出した結果に対して、灯火の照射領域である照射領域に基づき、検出された物標情報に対する信頼度を補正する信頼度調整部と、前記信頼度調整部で補正された信頼度を含む物標検出結果に基づいて車両を制御する車両制御部を備えたことを特徴とする車両運転システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/035,856 US20230419676A1 (en) | 2020-12-25 | 2020-12-25 | Reliability correction device, reliability correction method, and vehicle operating system |
JP2022570981A JPWO2022137542A1 (ja) | 2020-12-25 | 2020-12-25 | |
DE112020007882.5T DE112020007882T5 (de) | 2020-12-25 | 2020-12-25 | Zuverlässigkeits-Korrekturvorrichtung, Zuverlässigkeitskorrekturverfahren, und Fahrzeug-Betriebssystem |
CN202080107935.3A CN116615746A (zh) | 2020-12-25 | 2020-12-25 | 可靠度校正装置、可靠度校正方法及车辆驾驶系统 |
PCT/JP2020/048854 WO2022137542A1 (ja) | 2020-12-25 | 2020-12-25 | 信頼度補正装置、信頼度補正方法および車両運転システム |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2020/048854 WO2022137542A1 (ja) | 2020-12-25 | 2020-12-25 | 信頼度補正装置、信頼度補正方法および車両運転システム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022137542A1 true WO2022137542A1 (ja) | 2022-06-30 |
Family
ID=82157984
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/048854 WO2022137542A1 (ja) | 2020-12-25 | 2020-12-25 | 信頼度補正装置、信頼度補正方法および車両運転システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20230419676A1 (ja) |
JP (1) | JPWO2022137542A1 (ja) |
CN (1) | CN116615746A (ja) |
DE (1) | DE112020007882T5 (ja) |
WO (1) | WO2022137542A1 (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004322772A (ja) * | 2003-04-23 | 2004-11-18 | Denso Corp | 車載用電子装置 |
JP2011090450A (ja) * | 2009-10-21 | 2011-05-06 | Toyota Motor Corp | 物体検出装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4941265B2 (ja) | 2007-12-07 | 2012-05-30 | トヨタ自動車株式会社 | 障害物判定装置 |
-
2020
- 2020-12-25 JP JP2022570981A patent/JPWO2022137542A1/ja active Pending
- 2020-12-25 DE DE112020007882.5T patent/DE112020007882T5/de active Pending
- 2020-12-25 WO PCT/JP2020/048854 patent/WO2022137542A1/ja active Application Filing
- 2020-12-25 US US18/035,856 patent/US20230419676A1/en active Pending
- 2020-12-25 CN CN202080107935.3A patent/CN116615746A/zh active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004322772A (ja) * | 2003-04-23 | 2004-11-18 | Denso Corp | 車載用電子装置 |
JP2011090450A (ja) * | 2009-10-21 | 2011-05-06 | Toyota Motor Corp | 物体検出装置 |
Also Published As
Publication number | Publication date |
---|---|
US20230419676A1 (en) | 2023-12-28 |
JPWO2022137542A1 (ja) | 2022-06-30 |
CN116615746A (zh) | 2023-08-18 |
DE112020007882T5 (de) | 2023-12-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11325522B2 (en) | Automatic light system | |
JP5761002B2 (ja) | 照明制御装置 | |
US10634317B2 (en) | Dynamic control of vehicle lamps during maneuvers | |
US9404630B2 (en) | Method and device for operating a headlamp for a motor vehicle | |
US20080007429A1 (en) | Visibility condition determining device for vehicle | |
US20200062168A1 (en) | Vehicle headlight control device | |
CA2465782A1 (en) | Headlamp control to prevent glare | |
US20090167188A1 (en) | Method and device for controlling the light functions in front headlamps for road vehicles | |
US9508015B2 (en) | Method for evaluating image data of a vehicle camera taking into account information about rain | |
KR20050037582A (ko) | 자동차량 외부 광 제어용 이미지 획득 및 처리 방법 | |
US20200114805A1 (en) | Method for reducing headlight glare, headlight system and system controller for controlling a headlight system | |
CN109703555B (zh) | 用于探测道路交通中被遮蔽的对象的方法和设备 | |
JPH11222113A (ja) | 自動車の走行速度制御方法及び装置 | |
US20140257644A1 (en) | Method and device for controlling a headlamp of a vehicle | |
EP2631121B1 (en) | On-vehicle light distribution control system | |
KR20180134072A (ko) | 차량용 헤드램프 시스템 및 이의 제어 방법 | |
US20230249612A1 (en) | Device and method for controlling lamp for vehicle | |
JP2004185105A (ja) | 障害物報知装置 | |
US7108179B2 (en) | Object detecting apparatus and irregularity detecting device for the same | |
JP6288208B1 (ja) | 車両用ヘッドライト制御装置 | |
WO2022137542A1 (ja) | 信頼度補正装置、信頼度補正方法および車両運転システム | |
JP7084223B2 (ja) | 画像処理装置および車両用灯具 | |
KR100410862B1 (ko) | 헤드램프 조사각도 자동 조절장치 | |
CN110979161A (zh) | 车灯的控制方法、系统及车辆 | |
JP6278217B1 (ja) | 車両用ヘッドライト制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20967028 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18035856 Country of ref document: US |
|
ENP | Entry into the national phase |
Ref document number: 2022570981 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202080107935.3 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112020007882 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20967028 Country of ref document: EP Kind code of ref document: A1 |