External environment recognizing device for vehicle and light distribution control system using the same

• US 9,268,740 B2
• Filed: 07/20/2011
• Issued: 02/23/2016
• Est. Priority Date: 07/30/2010
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Ogata, Takehito, Otsuka, Yuji, Ohtsuji, Shinya
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): McPherson, James M
• Application Number:
  US13/813,037
• Publication Number:
  US 20130131922A1
• Time in Patent Office: 1,679 Days
• Field of Search: 701/37, 340/933, 340/935, 340/937, 340/939
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/056 Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G06V 10/25 Determination of region of interest [ROI] or a volume of interest [VOI]
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An external environment recognizing device for vehicle includes an image acquiring unit configured to acquire image obtained by picking up image of an area ahead of an own vehicle, a light-source extracting unit configured to extract light source from the acquired image, an own-vehicle-speed acquiring unit configured to acquire own vehicle speed, an oncoming-vehicle-presence-possible-region estimating unit configured to estimate oncoming vehicle presence possible region on the basis of own vehicle speed, and an oncoming-vehicle detecting unit configured to detect an oncoming vehicle on the basis of the oncoming vehicle presence possible region and the light source. The oncoming-vehicle-presence-possible-region estimating unit estimates oncoming vehicle presence possible region on the basis of the own vehicle speed, a minimum curvature radius of traveling road corresponding to a speed limit determined in advance, and traffic information indicating whether driving on the traveling road is driving on the right side or the left side.

Claims

1. An external environment recognizing device for vehicle comprising:

an image acquiring unit comprising a camera configured to acquire an image obtained by picking up an image of an area ahead of an own vehicle;

one or more computers configured with;

a light-source extracting unit configured to extract a light source from the acquired image to determine a position of the light source;

an own-vehicle-speed acquiring unit configured to acquire own vehicle speed;

an oncoming-vehicle-presence-possible-region setting unit configured to estimate an oncoming vehicle presence possible region on the basis of the own vehicle speed; and

an oncoming-vehicle detecting unit configured to detect an oncoming vehicle on the basis of the oncoming vehicle presence possible region estimated by the oncoming-vehicle-presence-possible-region setting unit and the light source extracted by the light-source extracting unit, wherein

the oncoming-vehicle-presence-possible-region setting unit is configured to estimate a minimum turning radius of a traveling road on the basis of the own vehicle speed, a minimum curvature radius of the traveling road corresponding to a speed limit determined in advance, and traffic information indicating whether driving on the traveling road is driving on a right side or driving on a left side and estimate the oncoming vehicle presence possible region on the basis of the estimated minimum turning radius such that certain areas are excluded from the presence possible region based upon whether driving on the traveling road is driving on a right side or driving on a left side and which direction the vehicle is turning.

2. The external environment recognizing device for vehicle according to claim 1, wherein, when the driving on the traveling road is the driving on the left side, the oncoming-vehicle-presence-possible-region setting unit is configured to estimate, as the oncoming vehicle presence possible region, a region further on the right side than a circle drawn in a left curve at the minimum turning radius from a right end of the own vehicle.

3. The external environment recognizing device for vehicle according to claim 1, wherein, when the driving on the traveling road is the driving on the right side, the oncoming-vehicle-presence-possible-region setting unit is configured to estimate, as the oncoming vehicle presence possible region, a region further on the left side than a circle drawn in a right curve at the minimum turning radius from a left end of the own vehicle.

4. The external environment recognizing device for vehicle according to claim 1, wherein the oncoming-vehicle-presence-possible-region setting unit is configured to calculate a maximum yaw angle during a lane change of the own vehicle and estimate the oncoming vehicle presence possible region on the basis of the maximum yaw angle and the minimum turning radius.

5. The external environment recognizing device for vehicle according to claim 4, wherein, when the driving on the traveling road is the driving on the left side, the oncoming-vehicle-presence-possible-region setting unit is configured to estimate, as the oncoming vehicle presence possible region, a region further on the right side than a circle drawn in a left curve at the minimum turning radius from a right end of the own vehicle and on the right side of a straight line tilting to the left side by the maximum yaw angle from the right end of the own vehicle.

6. The external environment recognizing device for vehicle according to claim 4, wherein, when the driving on the traveling road is the driving on the right side, the oncoming-vehicle-presence-possible-region setting unit is configured to estimate, as the oncoming vehicle presence possible region, a region further on the left side than a circle drawn in a right curve at the minimum turning radius from a left end of the own vehicle and on the left side of a straight line tilting to the right side by the maximum yaw angle from the left end of the own vehicle.

7. The external environment recognizing device for vehicle according to claim 1, further comprising a steering-angle acquiring unit configured to acquire a steering angle of the own vehicle, wherein

the oncoming-vehicle-presence-possible-region setting unit is configured to estimate a minimum turning radius of the traveling road on the basis of the own vehicle speed, the steering angle, and the traffic information indicating whether driving on the traveling road is driving on the right side or driving on the left side and estimate the oncoming vehicle presence possible region on the basis of the estimated minimum turning radius.

8. The external environment recognizing device for vehicle according to claim 1, further comprising a speed-limit-sign recognizing unit configured to recognize a sign indicating a speed limit from the image and acquire the speed limit.

9. A light distribution control system comprising:

an external environment recognizing device for vehicle including an image acquiring unit comprising a camera configured to acquire an image obtained by picking up an image of an area ahead of an own vehicle,

one or more computers configured with;

a light-source extracting unit configured to extract a light source from the acquired image to determine a position of the light source, an own-vehicle-speed acquiring unit configured to acquire own vehicle speed, an oncoming-vehicle-presence-possible-region setting unit configured to estimate an oncoming vehicle presence possible region on the basis of the own vehicle speed, and an oncoming-vehicle detecting unit configured to detect an oncoming vehicle on the basis of the oncoming vehicle presence possible region estimated by the oncoming-vehicle-presence-possible-region setting unit and the light source extracted by the light-source extracting unit and output information concerning the oncoming vehicle; and

a light distribution control device including a beam control unit configured to control irradiation intensity of a headlight, wherein

the external environment recognizing device for vehicle includes an oncoming-vehicle-information transmitting unit configured to transmit information concerning the oncoming vehicle output from the oncoming-vehicle detecting unit to the light distribution control device, the oncoming-vehicle-presence-possible-region setting unit is configured to estimate a minimum turning radius of a traveling road on the basis of the own vehicle speed, a minimum curvature radius of the traveling road corresponding to a speed limit determined in advance, and traffic information indicating whether driving on the traveling road is driving on a right side or driving on a left side and estimate the oncoming vehicle presence possible region on the basis of the estimated minimum turning radius such that certain areas are excluded from the presence possible region based upon whether driving on the traveling road is driving on a right side or driving on a left side and which direction the vehicle is turning.

10. The light distribution control system according to claim 9, wherein the beam control unit of the light distribution control device controls irradiation intensity and an irradiation angle of the headlight on the basis of the received information concerning the oncoming vehicle and input information concerning a preceding vehicle.

11. The light distribution control system according to claim 9, wherein the information concerning the oncoming vehicle includes at least one of presence or absence of an oncoming vehicle, an angle with respect to a traveling direction of the own vehicle, a distance from an own vehicle front end to an oncoming vehicle front end, and a lateral position from an own vehicle center to an oncoming vehicle center.

12. The light distribution control system according to claim 10, wherein the information concerning the preceding vehicle includes at least one of presence or absence of a preceding vehicle, an angle with respect to a traveling direction of the own vehicle, a distance from an own vehicle front end to a preceding vehicle rear end, and a lateral position from an own vehicle center to a preceding vehicle center.

13. The light distribution control system according to claim 10, wherein, the beam control unit of the light distribution control device controls the headlight to irradiate a high beam if an oncoming vehicle and a preceding vehicle are absent and controls the headlight to irradiate a low beam if an oncoming vehicle or a preceding vehicle is present.

14. The light distribution control system according to claim 10, wherein, when a distance from an own vehicle front end to an oncoming vehicle front end and a distance from the own vehicle front end to a preceding vehicle rear end are received, the beam control unit of the light distribution control device controls the headlight to irradiate a high beam if a distance from the own vehicle to an oncoming vehicle or a preceding vehicle closest to the own vehicle is larger than a value set in advance and controls the headlight to irradiate a low beam if the distance is equal to or smaller than the value set in advance.

15. The light distribution control system according to claim 10, wherein, when an angle with respect to a traveling direction of the own vehicle or a lateral position from an own vehicle center to an oncoming vehicle center and a lateral position from an own vehicle center to a preceding vehicle center are received, the beam control unit of the light distribution control device causes the headlight to irradiate a high beam if the oncoming vehicle and the preceding vehicle are outside an irradiation range of the headlight and causes the headlight to irradiate a low beam if the oncoming vehicle and the preceding vehicle are within the irradiation range of the headlight.

16. The light distribution control system according to claim 10, wherein, even when a preceding vehicle and an oncoming vehicle are absent, a white line is not recognized in the image, and a reflection plate is present on a road surface, the beam control unit of the light distribution control device controls the headlight to irradiate a high beam in a region determined as a region other than the oncoming vehicle presence possible region.