JP3290318B2 - In-vehicle image processing device, in-vehicle road monitoring device and vehicle control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle road monitoring device for monitoring a lane marking such as a white lane on a road on which a vehicle travels or a lane marking such as a median strip. The present invention relates to an in-vehicle image processing device that processes an image of a vehicle and a vehicle control device that causes the vehicle to travel in accordance with a traveling zone.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Application Laid-Open No. 62-2218
A lane recognizing device on a road described in JP-A-00-00 or a white line detecting device described in JP-A-5-303625 is known. In each of these, image processing is performed on a two-dimensional image obtained by photographing the road surface ahead of a running vehicle with an image sensor such as a TV camera or a CCD camera, and thereafter, the shape of a white line is recognized on the image-processed two-dimensional image. To identify the type of white line. Other conventional techniques are disclosed in JP-B-63-38085, JP-B-63-46363, and JP-A-4-161810.
Japanese Unexamined Patent Publication (KOKAI) No. H10-26095.

[0003]

A conventional lane recognition device,
Alternatively, since the white line detection device detects a white line on the two-dimensional image by performing image processing on the two-dimensional image obtained from the image sensor as described above, for example, the vehicle moves on a protrusion such as a marker on the road. When running, the in-vehicle camera vibrates, and when the two-dimensional image is blurred, the white line detection becomes unstable.For example, when detecting a continuous white line and a discontinuous white line, the white line is distinguished. There have been problems such as difficulty in detection.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. Even if a two-dimensional image is blurred due to vibration of a vehicle-mounted camera, continuous white lines and discontinuous white lines can be reliably formed. It is an object of the present invention to obtain a road monitoring device that can be detected separately. It is another object of the present invention to obtain a road monitoring device that can determine which lane the own vehicle traveling on a road having a plurality of lanes is traveling.

[0005]

A vehicle-mounted image processing apparatus according to the present invention includes a pair of optical systems, an image sensor corresponding to the pair of optical systems, and a first image corresponding to the pair of optical systems. Image information output means for outputting information and second image information; distance detection means for calculating distance information from a positional shift between an image in the first image information and an image in the second image information; Image information processing means for processing the first and second image information is provided, and if the distance information calculated by the distance detection means is not within a predetermined range, the image information processing means stops the processing.

An on-vehicle road monitoring device according to the present invention has a pair of optical systems and an image sensor corresponding to the pair of optical systems, and has first image information and second image corresponding to the pair of optical systems. Image information output means for outputting information and a first window including a predetermined travel path dividing line at a predetermined position in the first image information output from the image information output means; Window setting means for setting, in the second image information, a second window including the same travel path dividing line as the window, and comparing the image information in the first window with the image information in the second window; There is provided a distance detecting means for calculating the distance information, and a roadway dividing line type detecting means for determining the type of the roadway dividing line based on a change in the distance information calculated by the distance detecting means.

[0007] in which further provided with a number of lanes calculating means for calculating the number of lanes of the road from the type of roadway marking lines on detected road by run path marking line type detection means.

[0008] A vehicle control device according to the present invention includes a lane marking type detecting means for detecting the type of lane markings on the road on which the vehicle is traveling, and the lane marking type detecting means. Lane number calculating means for calculating the number of lanes on the road on which the vehicle is traveling, vehicle current position calculating means for calculating the current position of the vehicle, and a map storing road map information. Information storage means; predetermined point lane number calculation means for calculating the number of lanes at a predetermined point from the road map information stored in the map information storage means; and number of lanes at a predetermined point calculated by the predetermined point lane number calculation means And vehicle control means for controlling the vehicle based on the number of lanes detected by the lane number detecting means.

An on-vehicle image processing apparatus according to the present invention includes: a photographing means provided in a vehicle; an image processing means for processing image information photographed by the photographing means; And a distance measuring means for measuring a distance to the position. If the distance measured by the distance measuring means is not within a predetermined range , the processing of the image data by the image processing means is stopped .

An on-vehicle road monitoring device according to the present invention is a vehicle
Photographing means provided on both sides and photographed by this photographing means
Image processing means for processing image information;
Distance to measure distance to any position included in shadow range
Measuring means and distance information calculated by the distance measuring means.
Based on the changes provided a traveling road marking line type detection means for detecting a type of roadway marking lines on the road, the type of roadway marking lines near the vehicle by the traveling path marking lines <br/> type detection means This is to detect and determine the position on the road where the vehicle is traveling on the basis of the type of the lane marking.

[0011] Further , photographing means provided on the vehicle,
Image processing means for processing image information photographed by the photographing means
And any position included in the photographing range of the photographing means
Distance measuring means for measuring the distance of the
Based on the change in the distance information calculated provided a traveling road marking line type detection means for detecting a type of roadway marking lines on the road, the roadway marking lines near the vehicle by the traveling path marking line type detection means The type is detected, and if the type of the lane marking is a predetermined type, lane change of the vehicle is prohibited.

A traveling-path lane marking type detecting means for detecting the type of a lane marking on the road on which the vehicle is traveling;
Map information storage means for storing road map information, lane number calculation means for calculating the number of lanes from the road map information stored in the map information storage means, lane number calculated by the lane number calculation means, and Vehicle traveling position determining means for determining a traveling position of the vehicle on the road from the type of the lane marking detected by the lane marking detecting means.

A vehicle control device according to the present invention includes a lane marking type detecting means for detecting the type of lane markings on a road on which a vehicle is traveling, and the lane marking detecting means. Lane number calculating means for calculating the number of lanes of the road from the type of the traveling lane dividing line, vehicle current position calculating means for calculating the current position of the vehicle, and map information storing road map information and information on the number of lanes of the road. Storage means, and reads information on the number of lanes at a predetermined point determined based on the current position calculated by the vehicle current position calculation means from the map information storage means, and the number of lanes detected by the lane number detection means. The lane change of the vehicle is determined based on the comparison result.

[0014]

The vehicle image processing apparatus according to the present invention has a pair of optical systems and an image sensor corresponding to the pair of optical systems, and has first image information and second image corresponding to the pair of optical systems. Image information output means for outputting information and
A distance detecting unit that calculates distance information from a positional shift between an image in the first image information and an image in the second image information; and an image information processing unit that processes the first and second image information. Provided that the distance information calculated by the distance detecting means is within a predetermined range .
If there is no such information, the image information processing means stops the processing. Therefore, when the distance information is not within the predetermined range, for example, when the vehicle is vibrating greatly, the image information processing means is used to prevent the device from malfunctioning. Is to stop the processing.

An on-vehicle road monitoring device according to the present invention has a pair of optical systems and an image sensor corresponding to the pair of optical systems, and has first image information and a second image corresponding to the pair of optical systems. Image information output means for outputting information and a first window including a predetermined travel path dividing line at a predetermined position in the first image information output from the image information output means; Window setting means for setting, in the second image information, a second window including the same travel path dividing line as the window, and comparing the image information in the first window with the image information in the second window; Distance detection means for calculating the distance information and, based on a change in the distance information calculated by the distance detection means, a traveling road lane marking type detection means for determining the type of the lane marking, Image information Based on a change in distance information sought al, it is possible to determine the type of the road marking line.

Further, since those further provided with a number of lanes calculating means for calculating the number of lanes of the road from the type of roadway marking lines on detected road by run path marking line type detection means, roadway marking lines The number of lanes of the road can be calculated from the type of the road.

A vehicle control device according to the present invention includes a traveling-path lane marking type detecting means for detecting the type of a lane marking on a road on which a vehicle is traveling, and the traveling road lane marking type detecting means. Lane number calculating means for calculating the number of lanes on the road on which the vehicle is traveling, vehicle current position calculating means for calculating the current position of the vehicle, and a map storing road map information. Information storage means; predetermined point lane number calculation means for calculating the number of lanes at a predetermined point from the road map information stored in the map information storage means; and number of lanes at a predetermined point calculated by the predetermined point lane number calculation means And vehicle control means for controlling the vehicle based on the number of lanes detected by the number of lanes detecting means, so that the vehicle is determined by the number of lanes at a predetermined point and the number of lanes at the current position of the vehicle. It is intended to control.

According to the present invention, there is provided an on-vehicle image processing apparatus comprising: a photographing means provided in a vehicle; an image processing means for processing image information photographed by the photographing means; A distance measuring means for measuring a distance to the position; if the distance measured by the distance measuring means is not within a predetermined range , the processing of the image data in the image processing means is stopped ; The image data processing can be stopped according to the distance measured by the means.

An on-vehicle road monitoring device according to the present invention comprises a vehicle
Photographing means provided on both sides and photographed by this photographing means
Image processing means for processing image information;
Distance to measure distance to any position included in shadow range
Measuring means and distance information calculated by the distance measuring means.
Based on the changes provided a traveling road marking line type detection means for detecting a type of roadway marking lines on the road, the type of roadway marking lines near the vehicle by the traveling path marking lines <br/> type detection means Detecting and judging the position where the vehicle is traveling on the road based on the type of the traveling road division line, the position where the vehicle is traveling is determined by the type of the traveling road division line near the vehicle. You can judge.

Further, a photographing means provided in the vehicle,
Image processing means for processing image information photographed by the photographing means
And any position included in the photographing range of the photographing means
Distance measuring means for measuring the distance of the
Based on the change in the distance information calculated provided a traveling road marking line type detection means for detecting a type of roadway marking lines on the road, the roadway marking lines near the vehicle by the traveling path marking line type detection means The type is detected, and if the type of the lane marking is a predetermined type, the lane change of the vehicle is prohibited. Therefore, the lane change of the vehicle is prohibited based on the type of the detected lane marking. Can be determined.

A roadway segment type detecting means for detecting the type of the roadway segment on the road on which the vehicle is traveling;
Map information storage means for storing road map information, lane number calculation means for calculating the number of lanes from the road map information stored in the map information storage means, lane number calculated by the lane number calculation means, and Vehicle travel position calculating means for calculating a position on the road where the vehicle is traveling from the type of the lane markings detected by the lane marking type detecting means. The position at which the vehicle is traveling is calculated from the type of line and the number of lanes on the road.

A vehicle control device according to the present invention includes a traveling road lane marking type detecting means for detecting a type of a lane marking on a road on which a vehicle is traveling, and a vehicle lane marking detected by the lane marking line type detecting means. Lane number calculating means for calculating the number of lanes of the road from the type of the traveling lane dividing line, vehicle current position calculating means for calculating the current position of the vehicle, and map information storing road map information and information on the number of lanes of the road. Storage means, and reads information on the number of lanes at a predetermined point determined based on the current position calculated by the vehicle current position calculation means from the map information storage means, and the number of lanes detected by the lane number detection means. Since the lane change of the vehicle is determined based on the comparison result, the lane change at the current position and the lane change at the predetermined position can be compared to determine the lane change of the vehicle. That.

[0023]

【Example】

Embodiment 1 FIG. Hereinafter, a first embodiment of the present invention will be described. FIG. 1 is a block diagram illustrating a road monitoring device according to a first embodiment. FIG. 2 is an explanatory diagram illustrating a display screen on which a white line monitoring window is set. FIG. 3 is an explanatory diagram illustrating an example of a display screen displaying a white line. 4, FIG. 4 is a flowchart showing a determination process of a left white line, FIG. 5 is a flowchart showing a determination process of a right white line, and FIG. 6 is a flowchart showing a determination process of a type of a road on which the own vehicle is traveling. In these figures, reference numerals 1 and 2 denote optical lenses provided in a pair on the left and right which constitute a stereo camera. The width (length) between the optical axes of the optical lenses 1 and 2, that is, the base line length is L as shown in FIG. Reference numerals 3 and 4 denote image sensors, such as CCDs, which are provided corresponding to the lenses 1 and 2, respectively, two-dimensionally image the front of the vehicle via the lenses 1 and 2, and output analog image signals. Reference numerals 5 and 6 denote white lines (traveling road division lines) drawn on the road on which the vehicle is traveling.

Reference numerals 7 and 8 are connected to the image sensors 3 and 4, respectively, to convert analog image signals input from the image sensors 3 and 4 into digital image signals.
It is a digital (A / D) converter. Reference numerals 9 and 10 denote memories connected to the analog-to-digital converters 7 and 8 for storing digital image signals and outputting the stored digital image signals as needed. 11 is a memory 9,
A microcomputer connected to 10 and controlling the memories 9 and 10 receives a digital image signal from the memories 9 and 10 and displays an image captured by the image sensor 4 on the display screen 12 from the digital image signal. It is an image display unit. The microcomputer 11 controls other devices such as the image display unit 14 in addition to the memories 9 and 10. Reference numeral 13 denotes a window setting device that sets an area for monitoring the left and right white lines 5 and 6 on the display screen 12 as a white line monitoring window. This window setting device 1
3, a plurality of windows 15, 16, 1
7 and 18 are arranged on the display screen 12 of the image display unit 14 as shown in FIG. These windows 15, 16, 17,
Reference numeral 18 is set by the window setting device 13 to a position (a position shown in FIG. 3) where a white line exists on the display screen when the vehicle is traveling normally.

Here, an optical measuring method using a general image sensor will be described with reference to FIG.
As shown in FIG. 9, a general optical distance measuring device has a configuration having two optical systems on the left and right, and lenses 31 and 32 arranged on the left and right by a base line length L,
The image sensor 33 includes image sensors 33 and 34 disposed at the focal length f of the lenses 31 and 32, respectively, and a signal processing device 35 connected to the image sensors 33 and 34. Such an optical distance measuring device shifts the image signals of the image sensors 33 and 34 sequentially to the left or right in the signal processing device 35, and when the image signals of the image sensors 33 and 34 are superimposed, , The distance R from the shift amount K when the two image signals are most matched to the object 36 using the principle of triangulation.
R = f · L / K (1)

In the case of the optical measuring method as described above, when there is no image characteristic of the image signals of the image sensors 33 and 34, for example, in the case of an image signal of a road without a white line, the image is measured. Since the image signals of the sensors 33 and 34 overlap at any position irrespective of the shift amount, the shift amount K cannot be detected and the object 3
It becomes impossible to detect the distance R up to 6.

Next, the operation of the first embodiment will be described.
For example, when the white line images 5a and 6a drawn on the road as shown in FIG. 3 are displayed on the display screen 12 in front of the vehicle captured by the image sensor 4, the microcomputer 11 moves to the left side. The pixel signal in the window 15 capturing the white line image 6a is read out from the memory 10 and is used as a reference image signal for the distance calculation processing. Then, the microcomputer 11 reads an area corresponding to the window 15 in the memory 9 in which the image signal of the other image sensor 3 is stored, and sets it as a shift image signal. The position of the best matching is determined while sequentially shifting the shifted image signal by one pixel with respect to the reference image signal. The number of shifted pixels at this time is n pixels, and the pitch of one pixel is P
Then, if the shift amount K is K = nP, and the base line length of the stereo camera is L, the focal length of the lenses 1 and 2 is f, and the distance to the white line is R, R is obtained by the following equation. R = f · L / n · P (2)

As described above, the distance to the left white line 6 captured in the window 15 is determined by the microcomputer 11 as the distance detecting means or the processing circuit in the microcomputer for calculating the above equation (2). , And a program incorporated in a microcomputer capable of performing the above operations. Similarly, the distance to the white line 6 captured by the window 16 is detected. Further, the distance to the discontinuous white line 5 captured in the white line monitoring window 17 on the right side is similarly detected. Here, another white line monitoring window 1 on the right side
8 is different from the white line monitoring window 17 in that the portion between the white lines of the discontinuous white line 5 is captured in the window.
Since the white line portion is not captured, even if the left and right image signals are shifted, the image signals do not overlap, so that the shift amount cannot be obtained and the distance cannot be detected. After that, the vehicle moves forward and the white line indicates the window 18
Distance detection is performed when the vehicle enters the inside.

As described above, each window 15, 1
The distance to the white line captured by the white lines 6, 17 and 18 can be detected. However, the distance measurement values of the windows 15 and 16 capturing the continuous white line 6 are within a predetermined range if the road surface is flat. The values in are shown constant. On the other hand, the distance measurement values of the windows 17 and 18 for monitoring the discontinuous white line 5 indicate values within a predetermined range when capturing the white line drawing portion of the discontinuous white line, but capture the non-white line drawing portion. When the vehicle moves forward, the value outside the predetermined range is indicated and a distance measurement error occurs.
In the distance measurement value of 8, a predetermined value and a distance measurement error are periodically repeated at predetermined intervals.

That is, as in the case of FIG. 3, the distance measurement values of the windows 17 and 18 capturing the discontinuous white line 5 periodically become ranging errors at predetermined intervals, and the continuous white line 6 is captured. The type of the white line can be determined by continuously indicating the distance measurement values of the windows 15 and 16 present in a predetermined range. That is, windows 15, 16, 1
The type of the white line captured by each window can be determined from the change in the distance measurement values of 7 and 18. At this time, if the distance to the white line changes due to a large swing of the vehicle or the like, a ranging error occurs aperiodically or with a period other than a predetermined interval, resulting in an unstable state. White line detection can be prevented.

At this time, the interval between the periodic changes of the distance measurement values of the windows 17 and 18 capturing the discontinuous white line varies depending on the speed of the vehicle. Or changing a predetermined interval.

FIG. 10 is a schematic diagram showing a white line (traveling road division line) drawn on a motorway. This figure 1
The type of white line drawn on the road using 0 will be described. Outermost line 41 among white lines drawn on the road
Are continuous white lines to distinguish between inside and outside the road, or to clearly distinguish between the road and the sidewalk.
The center line 44 is a continuous white line to distinguish the oncoming lane from the own vehicle traveling lane. Other white lines 42, 4
Reference numerals 3 and 44 indicate boundary lines between the driving lanes, and thus are discontinuous white lines. Therefore, if it is possible to determine whether the left and right white lines of the lane in which the host vehicle is traveling are continuous white lines or discontinuous white lines, it is possible to determine whether the lane in which the host vehicle is traveling is the leftmost lane or the rightmost lane. That is, if the left white line is a continuous white line and the right side is a discontinuous white line, the vehicle is traveling in the leftmost lane, if the right white line is a continuous white line and the left side is a discontinuous white line, The own vehicle is traveling in the rightmost lane of the traveling lane. If the left and right white lines are discontinuous white lines, the own vehicle is traveling on the center lane of a road having a plurality of driving lanes on one side, for example, a road having three lanes on one side.

Further, on the roads other than the road shown in FIG. 10, if the left and right white lines are continuous white lines, the own vehicle is traveling on a road having one lane on one side, or traveling on a lane where the traveling lane cannot be changed. You are doing. As described above, the position and type of the traveling lane in which the host vehicle is traveling can be determined based on the determined types of the left and right white lines of the vehicle. Such a determination is made by the microcomputer 11 or an internal processing program.

The procedure from when the distance to the white line captured by each of the windows 15 and 16 is detected to when the type of the white line on the left is determined will be described with reference to the flowchart of FIG. First, the distance R to the object captured by the windows 15 and 16 is determined by the microcomputer 11.
(Step S101), it is determined for a certain period of time whether or not this distance detection is possible continuously with the travel of the host vehicle (step S102). If the distance can be detected continuously, furthermore, It is determined whether or not the detected distance R is within the range of the detected distance value determined for each window (step S103). If the detected distance value is within the predetermined range, the detected distance R is captured in the windows 15 and 16. Is determined to be a continuous white line (S1).
04). Further, it is determined that the time when the detection of the distance by the windows 15 and 16 is possible and the time when the distance is not possible are periodically repeated along with the travel of the own vehicle (step S105), and the detection value when the distance can be detected is determined. If it is determined that it is within the predetermined range (S106), it is determined that the left white line is a discontinuous white line (S107). These operations are repeatedly performed.

In the same manner as above, a procedure for determining the type of the right white line captured by the windows 17 and 18 will be described with reference to FIG. First, windows 17, 1
When the microcomputer 11 detects a distance R to the object captured by the microcomputer 8 (step S10)
8) It is determined for a certain period of time whether or not this distance detection is possible continuously as the host vehicle travels (step S109). If the distance can be detected continuously, the detection distance R is further increased for each window. It is determined whether or not the distance detection value is within a predetermined range (step S110). If the distance detection value is within a predetermined range, the window 1 is determined.
It is determined that the right white lines captured in steps 7 and 18 are continuous white lines (S111). Also, windows 17, 1
It is determined that the detection of the distance by the distance 8 is periodically and repeatedly possible and impossible with the travel of the host vehicle (step S).
112), when it is determined that the detection value when the distance can be detected is within a predetermined range (S113), it is determined that the right white line is a discontinuous white line (S114).
These operations are repeatedly performed.

The process of determining the lane in which the host vehicle is traveling based on the types of the left and right white lines determined as described above will be described with reference to FIG. In step (S104), the left white line is determined to be a continuous white line, and (step S111)
When it is determined that the white line on the right side is a continuous white line (pattern I), the host vehicle determines that the traveling lane is traveling on a single road (step S115). If it is determined that the right white line is a discontinuous white line (pattern II) (step 114), it is determined that the host vehicle is traveling on the leftmost lane of a road having a plurality of traveling lanes (step S1).
16).

When it is determined in step S107 that the left white line is a discontinuous white line, and in step S111 that the right white line is a continuous white line (pattern II)
I), it is determined that the vehicle is traveling on the rightmost lane of a road having a plurality of traveling lanes (step S117). When it is determined that the white line on the right side is a discontinuous white line (pattern IV) (step 114), it is determined that the own vehicle is traveling in the central lane of a road having a plurality of traveling lanes (step 114). S118).

As described above, after the lane in which the vehicle is traveling is determined, the information of the traveling lane is used to determine the lane in which the vehicle is traveling.
Various processes can be performed. For example, it is possible to determine which of the left and right lanes of the own vehicle is the lane in which the vehicle can pass (the lane can be changed), and based on the information on the lanes in which the vehicle can pass, it is possible to warn the overtaking vehicle. In addition, it displays in the vehicle whether or not the own vehicle can be overtaken, or issues an alarm when an attempt is made to overtake the vehicle if the own vehicle cannot be overtaken. A passing command can be output to prohibit passing. The same can be said for not only passing but also other vehicle operations that require lane changes.

Further, in the above-described embodiment, it is possible to read the information on the number of lanes at the current position from the outside and compare the lane numbers, thereby performing the processing more accurately. Further, in the above-described embodiment, information on the number of lanes at a position other than the current position is read from the outside and compared to determine how the number of lanes changes. It is also possible to control the running of the vehicle on the basis of the change in lane.

Embodiment 2 FIG. FIG. 7 is a block diagram showing the second embodiment. In the second embodiment, a means for calculating the number of traveling lanes of a road is added to the road monitoring device as shown in FIG. 1 of the first embodiment, so as to make it easier to detect the traveling lane in which the host vehicle is traveling. Things. In FIG. 7, reference numeral 20 denotes a current position calculating means which includes a radio navigation device including a GPS receiver or the like, a dead reckoning navigation device including a gyro sensor, a vehicle speed sensor, and the like, and is mounted on the own vehicle. . 21 is map information storage means for storing main road maps nationwide and the number of lanes of those roads;
Reference numeral 22 denotes a lane number calculating unit that reads out the number of lanes of the road on which the vehicle is traveling from the map information storage unit 21 based on the current vehicle position calculated by the current position calculating unit 20.

Here, when the number of lanes of a road is not stored in the map information storage means 21, the number of lanes can be inferred from the type of the road (for example, an expressway, a national road, a prefectural road, etc.). . In addition, the lane number calculating means 22 may simplify and calculate the type of the number of lanes of the road into three types of roads: one lane on one side, two lanes on one side, and three or more lanes on one side. It is possible.

In the above configuration, the lane number information of the road detected by the road lane number calculating means 22 is input to the microcomputer 11, and the own vehicle is determined by the combination with the white line discrimination information of the road monitoring device in the first embodiment. The traveling lane in which the vehicle is traveling is determined. FIG. 8 is a flowchart showing this determination procedure. The determination procedure will be described with reference to FIG. First, the case where the white line on the left side is a continuous white line according to the white line determination result (step S104) will be described.
When it is detected that the vehicle is traveling on a lane or a road having three or more lanes on one side (step S120), it is determined that the host vehicle is traveling on the leftmost lane of the road (step S121).
Next, when the white line on the right side is a continuous white line (step 11)
In 1), it is determined that the own vehicle is traveling in the rightmost lane of the road (step S123).

If the white line on the right side is a discontinuous white line (step S114), the lane number calculating means 22
If it is detected that the vehicle is traveling on a two-lane road (step S124), it is determined that the vehicle is traveling on the leftmost lane of the road (step S215). Further, when the left white line is a discontinuous white line (step S107)
In step S127, it is determined that the vehicle is traveling in the rightmost lane of the road.

As described above, in the flowchart shown in FIG. 8, knowing the type of the white line on the left or right side of the lane in which the host vehicle is traveling makes it possible to determine the lane in which the host vehicle is traveling. By knowing only the type of one of the left and right white lines of the vehicle, the traveling lane can be determined with certainty.

In the second embodiment, the number of lanes of the road on which the host vehicle is running and the number of lanes of the road on which the host vehicle is to be driven are calculated from the map information. If the number of lanes on the road is likely to decrease (or increase), a warning indicating the decrease (or increase) in the number of lanes may be issued to notify the driver. Further, the change in the number of lanes calculated in the same manner can be used as one of the signals for controlling the vehicle.

In each of the above embodiments, even when the vehicle is running at night, the window can be used in the same manner as long as the window is set within the range illuminated by the headlights.

In each of the above embodiments, it goes without saying that the image sensor only needs to have a size corresponding to at least the window. In each of the above embodiments,
Although the window is set in advance in accordance with the normal traveling, the setting of the window may be changed in accordance with the traveling state of the vehicle (for example, traveling on a hill or traveling on a curve). .

In each of the above embodiments, the distance to the object is detected by using another distance measuring device such as a laser distance measuring device that measures the distance from the round trip time of the laser to the object. It is also possible to use distance data obtained by a distance measuring device.

In each of the above-described embodiments, it is needless to say that there is no need to provide a display screen and an image display unit if there is no need to display image information. Further, in each of the above-described embodiments, the stereo camera in which the lenses 1 and 2 are arranged on the left and right is shown. However, for example, a configuration in which the lenses are provided in a pair at the top and bottom may be adopted. Other directions, such as the rear, may be used instead of the front. Although the white line has been described in each of the above-described embodiments, the detection of other indications such as the median strip drawn on the road and the yellow traveling road division line can be performed in the same manner as in the case of the white line. It can be used as appropriate for vehicle running control and the like.

Further, the present invention can be used for specifying the current position of an ASV, an ARTS, or a navigation system or for guiding a route.

[0051]

According to the present invention, there is provided an on-vehicle image processing apparatus.
Malfunction of the device can be easily prevented.

The on-vehicle road monitoring device according to the present invention obtains the type of the lane dividing line based on the change in the distance information obtained from the image information. Therefore, the type of the lane dividing line can be obtained easily and easily. it can.

Further, since the number of lanes on the road is calculated from the type of the lane markings, the number of lanes on the road can be obtained easily and easily.

Further, since the position where the vehicle is traveling is calculated based on the type of the lane markings near the vehicle, the position where the vehicle is traveling can be calculated simply, easily and accurately.

Further, since it is determined whether or not the lane change of the vehicle is prohibited based on the detected type of the lane marking, the lane change is performed in spite of the lane changing prohibition. It is possible to prevent danger caused by changing lanes of the vehicle.

Since the vehicle control device according to the present invention controls the vehicle based on the number of lanes at a predetermined point and the number of lanes at the current position of the vehicle, the vehicle can be controlled according to the number of lanes.

Further, since the number of lanes at the current position is compared with the number of lanes at the predetermined position, the lane change of the vehicle is determined.
The lane change of the vehicle corresponding to a change in the number of lanes between the current position and the predetermined position can be easily performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a state in which a plurality of white line monitoring windows are set on a display screen according to the present invention.

FIG. 3 is an explanatory diagram illustrating a state in which left and right white line images of a lane in which the host vehicle travels are included in a display screen in which a window is set according to the first embodiment of the present invention.

FIG. 4 is a flowchart illustrating an operation procedure according to the first embodiment of the present invention.

FIG. 5 is a flowchart illustrating an operation procedure according to the first embodiment of the present invention.

FIG. 6 is a flowchart illustrating an operation procedure according to the first embodiment of the present invention.

FIG. 7 is a block diagram showing a second embodiment of the present invention.

FIG. 8 is a flowchart showing an operation procedure according to the second embodiment of the present invention.

FIG. 9 is a block diagram illustrating an optical distance detection method according to the present invention.

FIG. 10 is a schematic diagram showing a white line on a road according to the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Lens, 2 ... Lens, 3 ... Image sensor, 4 ... Image sensor, 5 ... White line, 6 ... White line, 11 ... Microcomputer, 15 ... Window, 16 ... Window, 1
7 ... window, 18 ... window, 20 ... current position calculation means, 21 ... map information storage means, 22 ... lane number calculation means

Claims (9)

(57) [Claims] 1. An image information system comprising: a pair of optical systems; and an image sensor corresponding to the pair of optical systems, and outputting first image information and second image information corresponding to the pair of optical systems. Output means; distance detecting means for calculating distance information from a positional shift between the image in the first image information and the image in the second image information; and processing of the first and second image information The distance information calculated by the distance detecting means is within a predetermined range .
If there is no image processing unit, the image information processing unit stops the processing. 2. Image information having a pair of optical systems and an image sensor corresponding to the pair of optical systems, and outputting first image information and second image information corresponding to the pair of optical systems. An output unit, a first window including a predetermined travel path dividing line is set at a predetermined position in the first image information output from the image information output means, and the same traveling path division line as the first window is set. Window setting means for setting a second window including the following in the second image information: comparing the image information in the first window with the image information in the second window to calculate distance information An on-vehicle road monitoring device, comprising: a distance detecting unit that performs the operation; and a traveling road lane marking type detecting unit that determines a type of the lane dividing line based on a change in the distance information calculated by the distance detecting lambda. 3. A further comprising a number of lanes calculating means for calculating the number of lanes of the road from the type of roadway marking lines on detected road by the traveling road marking line type detection means
The vehicle-mounted road monitoring device according to claim 2 . 4. A travel path division line type detecting means for detecting a type of a travel path division line on a road on which a vehicle is traveling, and a type of a travel path division line detected by the travel path division line type detection means. Lane number calculating means for calculating the number of lanes of the road on which the vehicle is traveling; vehicle current position calculating means for calculating the current position of the vehicle; map information storage means for storing road map information; A predetermined point lane number calculating means for calculating the number of lanes at a predetermined point from the road map information stored in the information storage means; and a lane number of the predetermined point calculated by the predetermined point lane number calculating means and the lane number detecting means. A vehicle control device comprising: vehicle control means for controlling the vehicle based on the detected number of lanes. 5. A photographing means provided on a vehicle, an image processing means for processing image information photographed by the photographing means, and a distance for measuring a distance to an arbitrary position included in a photographing range of the photographing means. Measuring means, and the distance measured by the distance measuring means is not within a predetermined range .
In this case , the in-vehicle image processing apparatus stops the processing of the image data in the image processing means. 6. A photographing means provided in a vehicle, and image processing for processing image information photographed by the photographing means.
Means and a distance to an arbitrary position included in the photographing range of the photographing means.
Distance measuring means for measuring the distance , based on a change in distance information calculated by the distance measuring means
Te and a roadway marking line type detection means for detecting a type of roadway marking lines on the road, detects the type of the traveling road marking lines near the vehicle by the traveling path marking line type detection means, the travel path segment An on-vehicle road monitoring device that determines a position on a road where a vehicle is traveling on the basis of a type of a line. 7. A photographing means provided in a vehicle, and image processing for processing image information photographed by the photographing means.
Means and a distance to an arbitrary position included in the photographing range of the photographing means.
Distance measuring means for measuring the distance , based on a change in distance information calculated by the distance measuring means
Te and a roadway marking line type detection means for detecting a type of roadway marking lines on the road, detects the type of the traveling road marking lines near the vehicle by the traveling path marking line type detection means, the travel path segment An on-vehicle road monitoring device, wherein if the type of line is a predetermined type, lane change of the vehicle is prohibited. 8. A lane marking type detecting means for detecting the type of lane markings on the road on which the vehicle is traveling, map information storing means storing road map information, and map information storing means. A lane number calculating means for calculating the number of lanes from the stored road map information; and a lane number calculated by the lane number calculating means and a type of the lane dividing line detected by the lane line type detecting means. An on-vehicle road monitoring device comprising: a vehicle traveling position determination unit that determines a traveling position of the vehicle on a road. 9. A lane marking type detecting means for detecting a type of lane marking on a road on which a vehicle is traveling, and a type of lane marking detected by the lane marking type detecting means. Lane number calculating means for calculating the number of lanes of the road from; vehicle current position calculating means for calculating the current position of the vehicle; map information storage means for storing road map information and information on the number of lanes of the road, The information of the number of lanes at a predetermined point determined based on the current position calculated by the vehicle current position calculating means is read from the map information storage means, and is compared with the number of lanes detected by the lane number detecting means. A vehicle control device for determining a lane change of a vehicle based on the comparison result.