In-Vehicle Apparatus For Recognizing Running Environment Of Vehicle

• US 20080192984A1
• Filed: 01/23/2008
• Published: 08/14/2008
• Est. Priority Date: 02/13/2007
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi, Ltd.
• Inventors: Otsuka, Yuji, Muramatsu, Shoji, Machii, Kimiyoshi, Monji, Tatsuhiko, Irie, Kota, Shima, Takeshi, HIGUCHI, Mirai
• Granted Patent: US 8,204,276 B2
• Time in Patent Office: Days
• US Class Current: 382/104
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.

Claims

1. An in-vehicle running-environment recognition apparatus, comprising:

an input unit for inputting a signal transmitted from in-vehicle imaging devices for photographing external environment of a vehicle,

an image processing unit for detecting a first image area by processing said image signal inputted via said input unit, said first image area having a factor which prevents recognition of said external environment of said vehicle,

a to-be-processed image determination unit for determining a second image area based on at least any one of size of said first image area, position thereof, and set-up positions of said in-vehicle imaging devices having said first image area, an environment recognition processing being to be performed in said second image area, said first image area being detected by said image processing unit, and

an environment recognition unit for recognizing said external environment of said vehicle based on said second image area determined by said to-be-processed image determination unit.

2. The in-vehicle running-environment recognition apparatus according to claim 1, further comprising:

an output unit for determining a control signal for said vehicle based on a recognition result by said environment recognition unit, and outputting said control signal.

3. The in-vehicle running-environment recognition apparatus according to claim 2, wherein, based on said recognition result by said environment recognition unit,

said output unit halts running assistance implemented by said control signal, and notifies a driver of said vehicle about said halt of said running assistance.

4. The in-vehicle running-environment recognition apparatus according to claim 2, wherein, based on said recognition result by said environment recognition unit,

said output unit determines a control signal for steering or brake, and outputs said control signal to a steering control device or brake control device.

5. The in-vehicle running-environment recognition apparatus according to claim 2, wherein, based on said recognition result by said environment recognition unit,

said output unit notifies a driver of said vehicle about said recognition result.

6. The in-vehicle running-environment recognition apparatus according to claim 2, wherein

said environment recognition unit possesses a function of detecting a lane mark,

said output unit issuing a lane deviation warning from a lane mark on one side and standard width of said lane, even if said image recognition processing cannot be performed in part of a photographed image and thus only said lane mark on one side can be detected.

7. The in-vehicle running-environment recognition apparatus according to claim 2, wherein

said environment recognition unit possesses a function of detecting a lane mark,

said output unit issuing a lane deviation warning from a lane mark on one side and lane width stored in a map database, even if said image recognition processing cannot be performed in part of a photographed image and thus only said lane mark on one side can be detected.

8. The in-vehicle running-environment recognition apparatus according to claim 1, wherein

said input unit is mounted on said vehicle, and inputs said image signal transmitted from said plurality of in-vehicle imaging devices for photographing said external environment of said vehicle,

said to-be-processed image determination unit determining said second image area based on at least any one of said size of said first image area, said position thereof, attributes of said in-vehicle imaging devices having said first image area, and a comparison between photographed images of said mutually different in-vehicle imaging devices, said image recognition processing being to be performed in said second image area.

9. The in-vehicle running-environment recognition apparatus according to claim 1, further comprising:

a switching judgment unit for judging whether or not said processing target by said environment recognition unit should be switched to said second image area this time if said second image area this time determined by said to-be-processed image determination unit differs from said second image area last time.

10. The in-vehicle running-environment recognition apparatus according to claim 9, wherein

said input unit inputs said signal transmitted from a navigation system and a map database mounted on said vehicle,

said switching judgement unit judging whether or not a route guidance based on said signal is under execution by said navigation system,

if said route guidance is under execution, said switching judgement unit acquires route information on a route along which said vehicle will travel in the future, and predicts a time during which said photographing environment can change from said route information and map information acquired from said map database;

whereas

if said route guidance is not under execution, said switching judgement unit calculates a distance from a present position to the nearest curve or intersection from said present position and said map data, and predicts said time during which said photographing environment will change from said calculated distance and a vehicle'"'"'s velocity, and,

said second image area last time of said environment recognition unit being maintained if said predicted time is smaller than a predetermined value;

whereas said processing target being switched to said second image area this time if said predicted time is larger than said predetermined value.

11. The in-vehicle running-environment recognition apparatus according to claim 9, wherein

said switching judgment unit judges whether or not a control is exercised over steering or brake,

said second image area last time of said environment recognition unit being maintained if said control is under execution;

whereas said processing target being switched to said second image area this time if said control is not under execution.

12. The in-vehicle running-environment recognition apparatus according to claim 1, wherein

said input unit is mounted on said vehicle, and inputs said image signal transmitted from said plurality of in-vehicle imaging devices for photographing said external environment of said vehicle,

said apparatus, further comprising:

a reliability judgment unit for making a comparison between said image recognition results of said mutually different in-vehicle imaging devices, and judging reliability of said image recognition results in correspondence with said comparison result.

13. The in-vehicle running-environment recognition apparatus according to claim 12, further comprising:

an output unit for determining a running assistance function in correspondence with said judgment result by said reliability judgment unit, and outputting a control signal corresponding to said running assistance function.

14. An in-vehicle running-environment recognition apparatus, comprising:

an input unit for inputting a signal transmitted from in-vehicle imaging devices for photographing external environment of a vehicle,

an image processing unit for detecting a first image area by processing said image signal inputted via said input unit, said first image area having a factor which prevents recognition of said external environment of said vehicle,

a processing determination unit for switching an environment recognition method based on at least any one of size of said first image area, position thereof, and set-up positions of said in-vehicle imaging devices having said first image area, said first image area being detected by said image processing unit, and

an environment recognition unit for recognizing said external environment of said vehicle based on said environment recognition method determined by said processing determination unit.

15. The in-vehicle running-environment recognition apparatus according to claim 14, further comprising:

a switching judgment unit for judging whether or not said processing by said environment recognition unit should be switched to said environment recognition method this time if said environment recognition method this time determined by said processing determination unit differs from said environment recognition method last time.

16. The in-vehicle running-environment recognition apparatus according to claim 14, wherein

said input unit inputs said signal transmitted from a navigation system and a map database mounted on said vehicle,

said switching judgment unit judging whether or not a route guidance based on said signal is under execution by said navigation system,

if said route guidance is under execution, route information on a route along which said vehicle will travel in the future being acquired, and a time during which said photographing environment can change being predicted from said route information and map information acquired from said map database;

whereas

if said route guidance is not under execution, a distance from a present position to the nearest curve or intersection being calculated from said present position and said map data, and said time during which said photographing environment will change being predicted from said calculated distance and a vehicle'"'"'s velocity, and,

said environment recognition method last time of said environment recognition unit being maintained if said predicted time is smaller than a predetermined value;

whereas said processing being switched to said environment recognition method this time if said predicted time is larger than said predetermined value.

17. The in-vehicle running-environment recognition apparatus according to claim 14, wherein

said switching judgment unit judges whether or not a control is exercised over steering or brake,

said environment recognition method last time of said environment recognition unit being maintained if said control is under execution;

whereas said processing being switched to said environment recognition method this time if said control is not under execution.

18. The in-vehicle running-environment recognition apparatus according to claim 14, wherein

said input unit is mounted on said vehicle, and inputs said image signal transmitted from said plurality of in-vehicle imaging devices for photographing said external environment of said vehicle,

said apparatus, further comprising:

a reliability judgment unit for making a comparison between said image recognition results of said mutually different in-vehicle imaging devices, and judging reliability of said image recognition results in correspondence with said comparison result.

19. The in-vehicle running-environment recognition apparatus according to claim 18, further comprising:

an output unit for determining a running assistance function in correspondence with said judgment result by said reliability judgment unit, and outputting a control signal corresponding to said running assistance function.

20. The in-vehicle running-environment recognition apparatus according to claim 19, further comprising:

a function-switching judgment unit for judging a switching timing for said running assistance function of said output unit.