JPH0541087Y2 - - Google Patents
Info
- Publication number
- JPH0541087Y2 JPH0541087Y2 JP1987081167U JP8116787U JPH0541087Y2 JP H0541087 Y2 JPH0541087 Y2 JP H0541087Y2 JP 1987081167 U JP1987081167 U JP 1987081167U JP 8116787 U JP8116787 U JP 8116787U JP H0541087 Y2 JPH0541087 Y2 JP H0541087Y2
- Authority
- JP
- Japan
- Prior art keywords
- brightness
- vehicle
- light intensity
- intensity distribution
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Closed-Circuit Television Systems (AREA)
- Devices For Indicating Variable Information By Combining Individual Elements (AREA)
Description
【考案の詳細な説明】
（産業上の利用分野）
本考案は、撮像装置を用いて車両前方の障害物
を検知する視界向上装置に関する。[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a visibility improvement device that uses an imaging device to detect obstacles in front of a vehicle.
（従来技術および問題点）
従来バスなどでは、運転者の見にくい場所（死
角領域）をテレビカメラで撮影して撮影画像を運
転席に設けたブラウン管などに映し出して運転の
安全を期するようにした車両用視認補助装置がた
とえば（特開昭58−180346号公報で）知られてい
る。(Prior art and problems) Conventionally, in buses and other vehicles, a television camera is used to photograph areas that are difficult for the driver to see (blind spots) and the images are projected onto a cathode ray tube installed in the driver's seat to ensure driving safety. A visual recognition aid device for a vehicle is known, for example (from Japanese Patent Laid-Open No. 180346/1983).
このような装置においては、CCDカメラを用
いて夜間の歩行者や障害物を撮影しようとすると
輝度が低すぎて撮影できない場合があるために、
CCDカメラの感度を上げると今度は対向車の前
照灯によりブルーミング現象が発生して、画面全
体が白つぽくなつてしまい、結局対向車前照灯近
傍すなわち、自車から対向車前照灯をみた時の角
度からある角度の範囲をもつた領域に存在する障
害物が見えないという問題があつた。 In such devices, when trying to capture images of pedestrians or obstacles at night using a CCD camera, the brightness may be too low to capture the image.
When the sensitivity of the CCD camera was increased, a blooming phenomenon occurred due to the headlights of oncoming vehicles, causing the entire screen to appear whitish, resulting in the problem that obstacles near the headlights of the oncoming vehicle, that is, within a certain angle range from the angle at which the oncoming headlights are viewed from the vehicle itself, could not be seen.
（考案の目的および構成）
本考案は上記の点にかんがみてなされたもの
で、対向車の右側前照灯よりセンターラインより
の部分にいる歩行者や障害物を確実に検出するこ
とを目的とし、この目的を達成するために、第１
図に全体構成を示すように、自車両前方の光景を
撮像手段１５により撮像し、得られる画像情報か
ら強度分布検出手段２０により前記撮像手段に照
射された対向車前照灯による照射光強度分布を求
め、この照射光強度分布から所定の光強度以上と
なつている領域を領域特定手段２５により特定
し、特定した領域において急激な明暗の変化点を
明暗検出手段３０により検出し、急激な明暗の変
化点の移動方向を判断手段３５により判断するよ
うに構成した。(Purpose and structure of the invention) The present invention was developed in view of the above points, and its purpose is to reliably detect pedestrians and obstacles located in the area of the center line from the right headlight of an oncoming vehicle. , to achieve this purpose, the first
As shown in the figure, the scene in front of the host vehicle is imaged by the imaging means 15, and the intensity distribution detection means 20 uses the obtained image information to determine the intensity distribution of the light emitted by the headlight of an oncoming vehicle, which is irradiated onto the imaging means. is determined, and from this irradiation light intensity distribution, the area where the light intensity is above a predetermined value is specified by the area specifying means 25, and in the specified area, the point of sudden change in brightness is detected by the brightness detecting means 30, The determining means 35 is configured to determine the moving direction of the change point.
（作用）
本考案の車両用視界向上装置では照射光強度分
布の明から暗への急激な変化をすることで障害物
等を検出するようにしている。(Function) The vehicle visibility improvement device of the present invention detects obstacles by rapidly changing the intensity distribution of the irradiated light from bright to dark.
（実施例） 以下本考案を図面に基づいて説明する。(Example) The present invention will be explained below based on the drawings.
第２図は本考案による視界向上装置の一実施例
のブロツク線図である。 FIG. 2 is a block diagram of an embodiment of the visibility improving device according to the present invention.
まず構成を説明すると、１は対向車前照灯の近
傍を撮影するCCDカメラ、２はCCDカメラ１か
ら出力する画像信号を演算処理するマイコン、３
は対向車前照灯の光をできるだけ避けて路肩付近
を撮像するCCDカメラ、４はCCDカメラ３から
出力する画像信号を演算処理するマイコンであ
る。撮像手段１５としてのCCDカメラ１および
３はいずれも第３図に示すように運転席上の天井
のフロントガラス７に近い位置に取り付けられて
いる。また、５は、強度分布検出手段２０、領域
特定手段２５、明暗検出手段３０および判断手段
３５としてのマイコン２および４からの信号によ
り表示装置６を作動させる駆動回路、６は障害物
の存在を報知するLEDまたはランプなどの表示
装置である。８はピラー、９はメータクラスタ
ー、１０はインストである。なお、表示装置６は
フロントガラス７とインスト１０との境界部に設
けると運転者に見易くてよい。 First, to explain the configuration, 1 is a CCD camera that photographs the vicinity of the headlight of an oncoming vehicle, 2 is a microcomputer that processes the image signal output from CCD camera 1, and 3
4 is a CCD camera that takes an image near the road shoulder while avoiding the light from the headlights of an oncoming vehicle as much as possible, and 4 is a microcomputer that processes the image signal output from the CCD camera 3. The CCD cameras 1 and 3 as the imaging means 15 are both mounted at a position close to the windshield 7 on the ceiling above the driver's seat, as shown in FIG. Further, 5 is a drive circuit that operates the display device 6 by signals from the microcomputers 2 and 4 as the intensity distribution detecting means 20, the area specifying means 25, the brightness detecting means 30, and the determining means 35; This is a display device such as an LED or lamp that provides notification. 8 is a pillar, 9 is a meter cluster, and 10 is an instrument. Note that the display device 6 may be provided at the boundary between the windshield 7 and the instrument 10 so that it can be easily seen by the driver.
第４図は本考案により歩行者を検出する際の説
明図で、イは歩行者がいない場合、ロは歩行者の
いる場合である。この図において、１１Ｒは対向
車の右側前照灯、１１Ｌは対向車の左側前照灯、
１２は模式的に示した光強度分布、１３は歩行者
であり、対向車の前照灯による光強度が、所定の
光強度以上となつている領域が、領域特定手段２
５により特定する所定の光強度以上となつている
領域である。イのように歩行者がいない場合は
CCDカメラ１に照射される照射光強度分布にあ
まり差がないが、ロのように歩行者がいると
CCDカメラ１に照射される光の強度は歩行者の
いる部分は光がさえぎられて弱くなり、歩行者の
いない部分は強くなつてCCDカメラからの画像
情報から得られる強度分布には大きな明暗差がで
きる。 FIG. 4 is an explanatory diagram when detecting a pedestrian according to the present invention, where A shows the case where there is no pedestrian, and B shows the case where there is a pedestrian. In this figure, 11R is the right headlight of the oncoming vehicle, 11L is the left headlight of the oncoming vehicle,
12 is a light intensity distribution schematically shown, 13 is a pedestrian, and an area where the light intensity from the headlight of an oncoming vehicle is equal to or higher than a predetermined light intensity is determined by the area specifying means 2.
This is an area where the light intensity is equal to or higher than a predetermined light intensity specified by 5. If there are no pedestrians like in
There is not much difference in the intensity distribution of the irradiated light irradiated to CCD camera 1, but when there is a pedestrian as shown in
The intensity of the light irradiated to the CCD camera 1 becomes weaker in areas where there are pedestrians because the light is blocked, and becomes stronger in areas where there are no pedestrians, and there is a large difference in brightness and darkness in the intensity distribution obtained from the image information from the CCD camera. Can be done.
第５図はマイコン２の動作のフローチヤート、
第６図はマイコン４のフローチヤートである。 Figure 5 is a flowchart of the operation of microcomputer 2.
FIG. 6 is a flowchart of the microcomputer 4.
まず第５図を参照してマイコン２の動作を説明
する。 First, the operation of the microcomputer 2 will be explained with reference to FIG.
自車両前方の対向車前照灯の近傍をCCDカメ
ラ１により撮影し、その画像信号を入力し（Ｆ−
１）、その画像情報から前方20〜60mで最も近い
対向車の右側前照灯を検知する（Ｆ−２）。次に、
対向車の右側前照灯からセンターライン方向に向
つての画像情報をとり出し（Ｆ−３）、おのおの
隣接する画素に大きな明暗差（センターライン側
が暗）があるか否かを解析する（Ｆ−４）。第４
図ロからわかるように、歩行者１３がいるときは
明暗が大きく変るので、明暗差があれば、歩行者
ありの信号を出力する（Ｆ−５）。それに対して
明暗差がないときは次の対向車の前照灯を検知し
（Ｆ−６）、ステツプ（Ｆ−３）に進み、上述した
ように対向車前照灯の照射光が作る光強度分布を
利用して明暗差を求める。 The vicinity of the headlight of an oncoming vehicle in front of the own vehicle is photographed using the CCD camera 1, and the image signal is input (F-
1) From the image information, detect the right headlight of the closest oncoming vehicle 20 to 60 meters ahead (F-2). next,
Image information from the right headlight of an oncoming vehicle toward the center line is extracted (F-3), and it is analyzed whether there is a large difference in brightness (dark on the center line side) between each adjacent pixel (F-3). -4). Fourth
As can be seen from Figure 2, when there is a pedestrian 13, the brightness changes greatly, so if there is a difference in brightness, a signal indicating that there is a pedestrian is output (F-5). On the other hand, if there is no difference in brightness or darkness, the headlight of the next oncoming vehicle is detected (F-6), and the process proceeds to step (F-3). Find the difference in brightness and darkness using the intensity distribution.
次に第６図を参照してマイコン４の動作を説明
する。 Next, the operation of the microcomputer 4 will be explained with reference to FIG.
CCDカメラ３により撮影した自車両前方の路
肩付近の画像信号を入力し（Ｐ−１）、その画像
情報から前方20〜60mのゾーンで水平方向右方向
に移動する路面輝度より高い光点を検知する（Ｐ
−２）。光点があれば障害物たとえば歩行者あり
の信号を出力する（Ｐ−３）。 Input the image signal near the road shoulder in front of the vehicle taken by the CCD camera 3 (P-1), and from the image information, detect a light spot higher than the road surface brightness moving horizontally to the right in a zone 20 to 60 m ahead. Do (P
-2). If there is a light spot, a signal indicating the presence of an obstacle such as a pedestrian is output (P-3).
マイコン２は単に明暗差を検出するだけである
から、このようにマイコン４による光点の移動検
出と合わせて歩行者の検出が確実にできる。 Since the microcomputer 2 simply detects the difference in brightness, pedestrians can be reliably detected in conjunction with the movement detection of the light spot by the microcomputer 4.
さらに第７図は本考案による視界向上装置の他
の実施例の動作のフローチヤートを示す。 Furthermore, FIG. 7 shows a flowchart of the operation of another embodiment of the visibility improving device according to the present invention.
この実施例では第５図に示したフローチヤート
をさらに改良したもので、第５図のステツプ（Ｆ
−１），（Ｆ−２），（Ｆ−３），（Ｆ−４）の後明暗
差の生じた位置θ1を記憶する（Ｆ−７）。次いで
ステツプ（Ｆ−１），（Ｆ−２），（Ｆ−３），（Ｆ−
４），（Ｆ−６）を繰り返して明暗の変化を検知す
る（Ｆ−８）。その結果、明暗差が生じた位置θ2
を記憶し（Ｆ−９）、次に位置θ2の方が位置θ1よ
りCCD画面の中心に近いか否かを判別する（Ｆ
−10）。位置検出の処理の短い時間に車両が進む
距離に相当する画像情報上の距離より位置θ1から
位置θ2の移動距離の方が長く、位置θ2が位置θ1よ
りCCD画面の中心に近い場合は明暗差のある部
分がCCDカメラ１の中心点に近づいたことにな
り歩行者などが自車前方へ近づきつつあることが
わかる。そこで歩行者接近信号を出力する（Ｆ−
11）。これとは逆に位置θ2が位置θ1よりCCD画面
の中心に近くない場合は次の対向車の前照灯を検
知するステツプ（Ｆ−６）に進む。以上説明した
ように本考案の他の実施例では強度分布のうち明
から暗への変化を２回に分けて検出し、２回目に
検出した明暗の変化した位置がCCDカメラの方
に近づいたら歩行者などが自車に近づいたことを
検知できる。さらに暗部位が左右へ動いたかどう
かを検知することにより歩行者や犬、猫のような
運転者が特に注意すべき情報のみを精度よく視認
することができる。 In this example, the flowchart shown in FIG. 5 is further improved, and the step (F
-1), (F-2), (F-3), and (F-4), the position θ 1 where the difference in brightness occurs is stored (F-7). Next, steps (F-1), (F-2), (F-3), (F-
4) and (F-6) are repeated to detect the change in brightness (F-8). As a result, the position θ 2 where the difference in brightness occurs
is stored (F-9), and then it is determined whether the position θ 2 is closer to the center of the CCD screen than the position θ 1 (F-9).
−10). The moving distance from position θ 1 to position θ 2 is longer than the distance on the image information that corresponds to the distance the vehicle travels in a short time for position detection processing, and position θ 2 is closer to the center of the CCD screen than position θ 1 . In this case, the area with the difference in brightness and darkness approaches the center point of the CCD camera 1, indicating that a pedestrian or the like is approaching the front of the vehicle. Therefore, a pedestrian approach signal is output (F-
11). On the other hand, if the position θ 2 is not closer to the center of the CCD screen than the position θ 1 , the process advances to step (F-6) for detecting the headlight of the next oncoming vehicle. As explained above, in another embodiment of the present invention, the change from bright to dark in the intensity distribution is detected twice, and when the position where the brightness changes detected in the second time approaches the CCD camera, It can detect when pedestrians approach your vehicle. Furthermore, by detecting whether the dark area has moved to the left or right, it is possible to accurately see only information that drivers should pay particular attention to, such as pedestrians, dogs, and cats.
（考案の効果）
以上説明したように、本考案においては、対向
車前照灯の照射光が作る光強度分布を利用し、歩
行者や障害物が照射光を遮蔽することにより生じ
た急激な明暗差を検知することにより、歩行者や
障害物を検知するように構成したので、対向車の
前照灯近傍を横断する歩行者を検知し易くなると
いう効果がある。(Effects of the invention) As explained above, the present invention utilizes the light intensity distribution created by the irradiation light from the headlight of an oncoming vehicle, and utilizes the light intensity distribution created by the irradiation light from the headlight of an oncoming vehicle. Since pedestrians and obstacles are detected by detecting differences in brightness, pedestrians crossing near the headlights of oncoming vehicles can be easily detected.
第１図は本考案による視界向上装置の全体構成
図、第２図は本考案による視界向上装置の一実施
例のブロツク線図、第３図は本考案で用いる
CCDカメラの取付け位置と障害物検出表示装置
の取付け位置を例示する車室内前部の斜視図、第
４図イおよびロはCCDカメラによる撮影画面、
第５図および第６図は本考案による視界向上装置
の一実施例における障害物検出動作のフローチヤ
ート、第７図は本考案による視界向上装置の他の
実施例における障害物検出動作のフローチヤート
である。
１，３……CCDカメラ、２，４……マイコン、
５……駆動回路、６……表示装置、１３……歩行
者。
Fig. 1 is an overall configuration diagram of the visibility improvement device according to the present invention, Fig. 2 is a block diagram of an embodiment of the visibility improvement device according to the invention, and Fig. 3 is used in the present invention.
A perspective view of the front part of the vehicle interior illustrating the mounting position of the CCD camera and the mounting position of the obstacle detection display device.
5 and 6 are flowcharts of the obstacle detection operation in one embodiment of the visibility improvement device according to the present invention, and FIG. 7 is a flowchart of the obstacle detection operation in another embodiment of the visibility improvement device according to the present invention. It is. 1, 3... CCD camera, 2, 4... microcomputer,
5... Drive circuit, 6... Display device, 13... Pedestrian.
Claims (1)
像手段から出力される画像情報より光強度分布を
検出する強度分布検出手段と、検出した光強度分
布から所定の光強度以上となつている領域を特定
する領域特定手段と、特定した領域において急激
な明暗の変化点を検出する明暗検出手段と、前記
変化点の移動方向を判断する判断手段とを有する
ことを特徴とする車両用視界向上装置。 An imaging device that captures an image of a scene in front of the vehicle; an intensity distribution detection device that detects a light intensity distribution from image information output from the imaging device; and an area where the light intensity is equal to or higher than a predetermined light intensity based on the detected light intensity distribution. A visibility improvement device for a vehicle, comprising an area specifying means for specifying the area, a brightness detecting means for detecting a point of sudden change in brightness in the specified area, and a determining means for determining a moving direction of the point of change. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987081167U JPH0541087Y2 (en) | 1987-05-29 | 1987-05-29 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987081167U JPH0541087Y2 (en) | 1987-05-29 | 1987-05-29 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63192788U JPS63192788U (en) | 1988-12-12 |
| JPH0541087Y2 true JPH0541087Y2 (en) | 1993-10-18 |
Family
ID=30932661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1987081167U Expired - Lifetime JPH0541087Y2 (en) | 1987-05-29 | 1987-05-29 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0541087Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7301466B2 (en) | 2003-04-09 | 2007-11-27 | Toyota Jidosha Kabushiki Kaisha | Turn signal lamp, periphery monitoring device, body construction and imaging device for vehicle |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6822563B2 (en) | 1997-09-22 | 2004-11-23 | Donnelly Corporation | Vehicle imaging system with accessory control |
| US5877897A (en) | 1993-02-26 | 1999-03-02 | Donnelly Corporation | Automatic rearview mirror, vehicle lighting control and vehicle interior monitoring system using a photosensor array |
| US6891563B2 (en) | 1996-05-22 | 2005-05-10 | Donnelly Corporation | Vehicular vision system |
| US7655894B2 (en) | 1996-03-25 | 2010-02-02 | Donnelly Corporation | Vehicular image sensing system |
| EP1504276B1 (en) | 2002-05-03 | 2012-08-08 | Donnelly Corporation | Object detection system for vehicle |
| US7526103B2 (en) | 2004-04-15 | 2009-04-28 | Donnelly Corporation | Imaging system for vehicle |
| US7972045B2 (en) | 2006-08-11 | 2011-07-05 | Donnelly Corporation | Automatic headlamp control system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59156089A (en) * | 1983-10-11 | 1984-09-05 | Hitachi Ltd | Obstacle detecting method for vehicle |
| JPS6223842A (en) * | 1985-07-23 | 1987-01-31 | Nissan Motor Co Ltd | Sight display device for vehicle |
| JPS6223843A (en) * | 1985-07-25 | 1987-01-31 | Nissan Motor Co Ltd | Sightability assisting device for vehicle |
-
1987
- 1987-05-29 JP JP1987081167U patent/JPH0541087Y2/ja not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7301466B2 (en) | 2003-04-09 | 2007-11-27 | Toyota Jidosha Kabushiki Kaisha | Turn signal lamp, periphery monitoring device, body construction and imaging device for vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63192788U (en) | 1988-12-12 |
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