JP2000318513A - Obstacle detection device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a driver to visually recognize an obstacle and to carry out proper driving operation to avoid the obstacle, etc., by visually illuminating the obstacle at detection of the obstacle to generate heat out of an illuminating region of a headlamp in accordance with an infrared picture image provided by an infrared camera to photograph the front of a vehicle. SOLUTION: When a headlamp 2 of a vehicle 1 is lighted on in driving at night, etc., an infrared stereo camera 3 acquires an obstacle 7 generating heat and simultaneously detects the distance to the obstacle 7. Additionally, simultaneously when the stereo camera 4 detects a white line 6 on a road 5, it detects a distance to the white line 6. Furthermore, it decides whether the obstacle 7 exists within a prescribed distance from the white line 6, and when it exists within the prescribed distance, it changes the illuminating direction of the headlamp 2 and visually illuminates the obstacle 7. Consequently, a driver can visually and easily recognize the obstacle 7 existing out of an illuminating region P. Accordingly, the driver can carry out proper driving maneuvers to avoid collision and contact with the obstacle 7, and safety can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting device for a vehicle, which is mounted on a vehicle such as an automobile and detects an obstacle generating heat, such as a person on a road.

[0002]

2. Description of the Related Art In a vehicle such as an automobile, a headlight is turned on at night to drive the vehicle. However, it is difficult for a driver to visually recognize an area other than the irradiation area of the headlight. Such a tendency is particularly remarkable at night in rainy weather, and the driver may not be able to find a pedestrian in some cases, which may be dangerous. As a vehicle obstacle detection device mounted on a vehicle to improve the above-described problems, conventionally, an obstacle that generates heat such as a person on a road is detected using an infrared camera, and a driver or the like is used. There is something to inform. For example, in a conventional vehicle obstacle detection device described in Japanese Patent Application Laid-Open No. 6-270751, an infrared camera for photographing the front of the vehicle, and when a headlight of the vehicle is turned on, the above-mentioned preset obstacle detection device is used. Obstacle detecting means for detecting whether there is an obstacle generating heat outside the irradiation area based on the irradiation area of the headlamp and the infrared image obtained by the infrared camera, and an obstacle detected by the obstacle detecting means. When an object is detected, the headlight is divided into an irradiation area and a non-irradiation area,
An alarm output means for issuing an alarm of a predetermined type is provided.

[0003]

However, in the above-described conventional obstacle detecting device for a vehicle, when an obstacle generating heat outside the irradiation area of the headlight is detected, the obstacle is present by an alarm. Although the driver is informed of the obstacle, the driver cannot visually recognize the obstacle. For this reason,
There has been a problem that the driver cannot perform an appropriate driving operation to avoid collision or contact with the obstacle.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and when a driver detects an obstacle that emits heat outside the irradiation area of a headlight, the driver can remove the obstacle. It is an object of the present invention to provide a vehicle obstacle detection device that enables an appropriate driving operation while visually recognizing the obstacle.

[0005]

Means for Solving the Problems Claim 1 according to the present invention.
The vehicle obstacle detection device according to the aspect of the invention includes an infrared camera that captures an image in front of the vehicle, and when a headlight of the vehicle is turned on, based on an infrared image obtained by the infrared camera, an outside of an irradiation area of the headlight. And a means for visibly illuminating the obstacle when the obstacle is detected by the obstacle detection means.

According to a second aspect of the present invention, in the vehicle obstacle detecting apparatus according to the first aspect, the infrared camera for photographing the front of the vehicle is an infrared stereo camera comprising a pair of cameras. The detecting means detects an obstacle within a predetermined distance outside the irradiation area of the headlight.

According to a third aspect of the present invention, there is provided an obstacle detecting device for a vehicle, comprising: an infrared stereo camera comprising a pair of cameras for photographing the front of the vehicle; and a visible light stereo camera comprising a pair of cameras. When the headlight of the vehicle is turned on, based on the infrared image obtained by the infrared stereo camera and the visible light image obtained by the visible light stereo camera, outside the irradiation area of the headlight, and Obstacle detecting means for detecting an obstacle generating heat within a predetermined distance from a traveling section laid on a road; and when the obstacle is detected by the obstacle detecting means, the obstacle is visible to the obstacle. Lighting means.

According to a fourth aspect of the present invention, in the vehicle obstacle detecting device according to the third aspect, when the obstacle detecting means cannot detect the traveling lane position from the visible light image, It detects an obstacle that generates heat within a predetermined distance outside the irradiation area.

According to a fifth aspect of the present invention, there is provided an obstacle detecting device for a vehicle according to any one of the first to fourth aspects.
The visible illumination for the detected obstacle is short enough to allow the driver to visually recognize the obstacle.

According to a sixth aspect of the present invention, there is provided an obstacle detecting device for a vehicle according to any one of the first to fifth aspects.
Visible illumination of the detected obstacle is performed by switching the irradiation direction of the headlight.

According to a seventh aspect of the present invention, there is provided an obstacle detecting device for a vehicle according to any one of the first to fifth aspects.
An auxiliary light is provided on the front of the vehicle, and visible illumination of a detected obstacle is performed by turning on the auxiliary light.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a diagram for explaining how an obstacle detection device for a vehicle according to Embodiment 1 of the present invention detects an obstacle. In the figure, 1
Denotes a vehicle, and 2 denotes a headlight of the vehicle 1. When the headlight 2 is turned on, the irradiation area is in a preset P range. 3 is an infrared stereo camera mounted on the vehicle 1 and configured by a pair of cameras for photographing the front of the vehicle 1;
Reference numeral 4 denotes a visible light stereo camera which is mounted in a room of the vehicle 1 and is configured by a pair of cameras for photographing the front of the vehicle 1 through a windshield, reference numeral 5 denotes a road, and reference numeral 6 denotes a traveling zone laid on the road 5. 7 is an irradiation area P of the headlamp 2
Is a pedestrian as an obstacle that emits heat on the road 5 outside the vehicle.

FIG. 2 shows an image captured by the visible light stereo camera 4 in the daytime. Here, in the visible light stereo camera 4 composed of a pair of cameras, there is a pair of photographed images that are shifted from each other depending on the installation position.
1 shows two photographed images. As shown in the figure, the white line image 6a and the pedestrian image 7a can be clearly captured by the visible light stereo camera 4 when the image is bright such as in the daytime. The driver gazing ahead can visually recognize the same state as the captured image shown in FIG. 2 and can visually recognize the white line 6 and the pedestrian 7. At this time, the headlight 2 is not turned on.

However, at night, when the vehicle is running with the headlight 2 turned on, it is difficult for the driver to visually recognize the area other than the irradiation area P of the headlight 2. As shown in FIG. 1, it is difficult for the driver to visually recognize the pedestrian 7 in the preset illumination area P of the headlight 2, and the nighttime captured image by the visible light stereo camera 4 is also visually recognized by the driver. Similar to the state, pedestrian image 7
It is difficult to catch a. On the other hand, an image captured in front of the vehicle by the infrared stereo camera 3 captures only an object that emits heat as an image as shown in FIG.
Only the pedestrian image 7b is projected. Also, this image captures only those objects that also emit heat during the day or at night with no lighting. Here, the irradiation area P of the headlight 2
Is denoted by Pa. In this case as well, the infrared stereo camera 3 composed of a pair of cameras has a pair of captured images that are shifted from each other depending on the installation position, but one captured image is shown for convenience.

In the obstacle detecting device, when the headlight 2 is turned on, an image captured by the infrared stereo camera 3 is
When the presence of the pedestrian image 7b is detected outside the range Pa of the irradiation area of the headlight 2, the irradiation direction of the headlight 2 is switched so that the pedestrian 7 enters the irradiation area P. Thereby, the driver can visually recognize the pedestrian 7. Switching of the illumination direction of the headlight 2 is controlled by including a light vertical angle adjustment device and a light horizontal direction switching device, as described in, for example, Japanese Patent Application Laid-Open No. Sho 59-216746.

An obstacle 7 (pedestrian), which has a wide range of photographing by the infrared stereo camera 3 and is located outside the lane in which the vehicle 1 travels and has no possibility of collision or contact, is detected by the infrared stereo camera 3. When capturing, for example, only the obstacle 7 at a position within a predetermined distance set in advance from the white line 6 is selected, and the irradiation direction of the headlight 2 is switched so that the obstacle 7 enters the irradiation area P. At this time, the white line 6 is captured by the visible light stereo camera 4 and the distance from the visible light stereo camera 4 to the white line 6 can be detected. on the other hand,
The obstacle 7 that generates heat is captured by the infrared camera 2, and the distance from the infrared stereo camera 3 to the obstacle 7 can be detected. Thereby, it is possible to determine whether or not the obstacle 7 captured by the infrared stereo camera 3 exists at a position within a predetermined distance from the white line 6. When the obstacle 7 is within the predetermined distance, the obstacle 7 is detected as described above. Visible illumination. The distance between the visible light stereo camera 4 and the white line 6 and the distance between the infrared stereo camera 3 and the obstacle 7 are detected by, for example, a known triangulation as described in JP-A-10-185590. The principle of is used.

When the white line 6 cannot be detected by the visible light stereo camera 4, only the obstacle 7 within a predetermined distance outside the irradiation range Pa of the headlight 2 is selected in the image taken by the infrared stereo camera 3. Then, the irradiation direction of the headlight 2 is switched so that the obstacle 7 enters the irradiation area P.

FIG. 4 is a flowchart of the operation of the above-described vehicle obstacle detection device. First, when the headlight 2 of the vehicle 1 is turned on during night driving or the like (S1), the infrared stereo camera 3 captures the obstacle 7 that generates heat, and at the same time, detects the distance to the obstacle 7 (S2). ). When the white line 6 on the road 5 is detected by the visible light stereo camera 4, the distance to the white line 6 is detected at the same time (S3), and the obstacle detected by the infrared stereo camera 2 is within a predetermined distance from the detected white line 6. It is determined whether or not 7 exists (S4),
When it is within a predetermined distance from the white line 6, the irradiation direction of the headlight 2 is switched to visibly illuminate the obstacle 7 (S
5). After illuminating the obstacle 7 for a certain period of time, the illumination direction of the headlight 2 is returned to the original direction, and the process returns to S2. In S3, when the white line 6 on the road 5 is not detected by the visible light stereo camera 4, if the obstacle 7 detected by the infrared stereo camera 2 exists within a predetermined distance outside the irradiation area P of the headlight 2? It is determined whether or not it is within a predetermined distance outside the irradiation area P (S6), the process proceeds to S5, and the obstacle 7 is illuminated with visible light for a certain time, and then returns to S2.

As described above, when the obstacle detecting device detects an obstacle 7 that emits heat in a predetermined area set in advance, the obstacle 7 is illuminated with visible light. Is an obstacle 7 outside the irradiation area P of the headlight 2
In addition to noticing the existence of the obstacle, the obstacle 7 can be easily visually recognized. As a result, the driver can perform an appropriate driving operation in order to avoid collision or contact with the obstacle 7, and the safety is significantly improved. In addition, since only the obstacle 7 in the predetermined area that is set in advance is selected and the obstacle 7 is visibly illuminated, the obstacle 7 to be illuminated with visible light can be efficiently detected, and the reliability is high. Obstacle detection can be performed.

In the case where the photographing range of the infrared stereo camera 3 is relatively narrow, as described above, if the presence of the pedestrian image 7b is detected outside the range Pa of the irradiation area of the headlight 2, the headlight is detected. When switching the irradiation direction of the lamp 2, not only the infrared stereo camera 3 but also an infrared camera may be used.
The visible light stereo camera 4 may not be provided.

It is sufficient that the driver can visually recognize the obstacle 7 as long as the driver can visually recognize the obstacle, and the driver can return the obstacle to the original illumination area P of the headlight 12 in a short time. In particular, when the obstacle 7 is a pedestrian, the illuminated pedestrian 7 may be dazzled. Therefore, it is preferable to set the time as short as possible (several seconds) as long as the driver can visually recognize the obstacle 7. Good.

Further, in the above-described embodiment, the illumination direction of the headlight 2 is switched to perform the visible illumination on the obstacle 7, but as shown in FIG. Visible illumination of the obstacle 7 may be performed by turning on the auxiliary light 8.

[0023]

As described above, the first aspect of the present invention is as follows.
The vehicle obstacle detection device according to the aspect of the invention includes an infrared camera that captures an image in front of the vehicle, and when a headlight of the vehicle is turned on, based on an infrared image obtained by the infrared camera, out of an irradiation area of the headlight. And a means for visibly illuminating the obstacle when the obstacle is detected by the obstacle detection means. The vehicle can be easily visually recognized, and an appropriate driving operation can be performed, so that the safety at night driving is remarkably improved.

According to a second aspect of the present invention, in the vehicle obstacle detecting apparatus according to the first aspect, the infrared camera for photographing the front of the vehicle is an infrared stereo camera comprising a pair of cameras. Since the detecting means detects an obstacle within a predetermined distance outside the irradiation area of the headlight, an obstacle to be subjected to visible illumination can be efficiently detected, and a highly reliable obstacle can be detected.

According to a third aspect of the present invention, there is provided an obstacle detecting device for a vehicle, comprising: an infrared stereo camera comprising a pair of cameras for photographing the front of the vehicle; and a visible light stereo camera comprising a pair of cameras. When the headlight of the vehicle is turned on, based on the infrared image obtained by the infrared stereo camera and the visible light image obtained by the visible light stereo camera, outside the irradiation area of the headlight, and Obstacle detecting means for detecting an obstacle generating heat within a predetermined distance from a traveling section laid on a road; and when the obstacle is detected by the obstacle detecting means, the obstacle is visible to the obstacle. Lighting means, it is possible to efficiently detect obstacles that are targets of visible illumination, and the driver can easily recognize obstacles and perform appropriate driving operations. It is possible. As a result, safety during night driving is significantly improved.

According to a fourth aspect of the present invention, in the vehicle obstacle detecting apparatus according to the third aspect, when the obstacle detecting means cannot detect the traveling lane position from the visible light image, Since an obstacle that generates heat within a predetermined distance outside the irradiation area is detected, an obstacle to be illuminated with visible light can be detected more efficiently and reliably.

According to a fifth aspect of the present invention, there is provided an obstacle detecting device for a vehicle according to any one of the first to fourth aspects.
Since the visible light for the detected obstacle is short enough to allow the driver to visually recognize the obstacle, the pedestrian is not dazzled, and the driver can view the original illumination area of the headlight. You can quickly return to monitoring.

According to a sixth aspect of the present invention, there is provided an obstacle detecting device for a vehicle according to any one of the first to fifth aspects.
Since the visible illumination for the detected obstacle is performed by switching the irradiation direction of the headlight, the visible illumination for the detected obstacle can be reliably performed.

According to a seventh aspect of the present invention, there is provided an obstacle detecting device for a vehicle according to any one of the first to fifth aspects.
An auxiliary light is provided on the front of the vehicle, and visible illumination of the detected obstacle is performed by turning on the auxiliary light. Therefore, visible illumination of the detected obstacle can be reliably performed.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a state of obstacle detection by a vehicle obstacle detection device according to a first embodiment of the present invention.

FIG. 2 shows an image captured during daytime by a visible light stereo camera according to Embodiment 1 of the present invention.

FIG. 3 shows an image captured by an infrared stereo camera according to Embodiment 1 of the present invention.

FIG. 4 is a diagram showing a flowchart of an operation of the vehicle obstacle detection device according to the first embodiment of the present invention.

FIG. 5 is a diagram illustrating a state of obstacle detection according to another example of the first embodiment of the present invention.

[Explanation of symbols]

1 vehicle, 2 headlamp, 3 infrared stereo camera, 4
Visible light stereo camera, 5 roads, 6 white lines as driving lane, 6a white line image, 7 pedestrians as obstacles, 7a and 7b pedestrian images, 8 auxiliary lights, P irradiation area, Pa irradiation area range.

Claims (7)

[Claims] 1. An infrared camera for photographing the front of a vehicle, and when a headlight of the vehicle is turned on, an obstacle that generates heat outside an irradiation area of the headlight based on an infrared image obtained by the infrared camera. An obstacle detecting device for a vehicle, comprising: an obstacle detecting means for detecting an obstacle; and a means for visually illuminating the obstacle when the obstacle is detected by the obstacle detecting means. . 2. An infrared stereo camera comprising a pair of cameras, wherein the infrared camera for photographing the front of the vehicle comprises:
2. The vehicle obstacle detecting device according to claim 1, wherein the obstacle detecting means detects an obstacle within a predetermined distance outside an irradiation area of the headlight. 3. An infrared stereo camera composed of a pair of cameras for photographing the front of the vehicle, a visible light stereo camera composed of a pair of cameras, and the infrared stereo camera when a headlight of the vehicle is turned on. Based on the infrared image obtained by the camera and the visible light image obtained by the visible light stereo camera, heat outside the irradiation area of the headlight and within a predetermined distance from the traveling zone laid on the road is further removed. An obstacle for a vehicle, comprising: an obstacle detecting means for detecting an emitted obstacle; and means for visibly illuminating the obstacle when the obstacle is detected by the obstacle detecting means. Detection device. 4. An obstacle detecting means for detecting an obstacle which generates heat within a predetermined distance outside an irradiation area of a headlight when a traveling lane position cannot be detected from a visible light image. The vehicle obstacle detection device according to claim 3, wherein 5. The visible illumination for the detected obstacle,
The vehicle obstacle detection device according to any one of claims 1 to 4, wherein the short period is such that a driver can visually recognize the obstacle. 6. The visible illumination for the detected obstacle,
The obstacle detection device for a vehicle according to any one of claims 1 to 5, wherein the detection is performed by switching an irradiation direction of a headlight. 7. The vehicle obstacle according to claim 1, wherein an auxiliary light is provided on a front surface of the vehicle, and visible illumination of the detected obstacle is performed by lighting the auxiliary light. Detection device.