In-vehicle apparatus for recognizing running environment of vehicle
View Patent ↗An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.
1. An in-vehicle running-environment recognition apparatus, comprising:
an input unit for inputting an image signal transmitted from an in-vehicle imaging device for photographing external environment of a vehicle;
an image processing unit for detecting a first image area by processing the image signal inputted via the input unit, the first image area having a factor which prevents recognition of the external environment of the vehicle;
a to-be-processed image determination unit for determining that an environment recognition processing is possible in a case that a size and a position of the first image area in the inputted image signal by the image processing unit are less than predetermined threshold values, and determining a second image area based on the size and position of the first image area; and
an environment recognition unit for recognizing the external environment of the vehicle based on the second image area determined by the to-be-processed image determination unit.
2. The in-vehicle running-environment recognition apparatus according to claim 1 , further comprising an output unit for determining a control signal for the vehicle based on a recognition result by the environment recognition unit, and outputting the control signal.
3. The in-vehicle running-environment recognition apparatus according to claim 1 , further comprising a switching judgment unit for judging whether or not the second image area should be switched to a new second image area if the to-be-processed image determination unit determines that the second image area is changed.
4. The in-vehicle running-environment recognition apparatus according to claim 3 , wherein
the input unit inputs the signal transmitted from a navigation system and a map database mounted on the vehicle;
the switching judgment unit judges whether or not a route guidance based on the signal is under execution by the navigation system; and
if the route guidance is under execution, the switching judgment unit acquires route information on a route along which the vehicle will travel in the future, and predicts a time during which the photographing environment can change from the route information and map information acquired from the map database; wherein
if the route guidance is not under execution, the switching judgment unit calculates a distance from a present position to the nearest curve or intersection from the present position and the map data, and predicts the time during which the photographing environment will change from the calculated distance and a vehicle's velocity, the second image area is maintained if the predicted time is smaller than a predetermined value, and the processing target is switched to the new second image area if the predicted time is larger than the predetermined value.
5. The in-vehicle running-environment recognition apparatus according to claim 3 , wherein
the switching judgment unit judges whether or not a control is exercised over steering or braking, and the second image area is maintained if the control is under execution; and
the processing target is switched to the new second image area if the control is not under execution.
6. The in-vehicle running-environment recognition apparatus according to claim 1 , wherein
the to-be-processed image determination unit switches over a method of the environment recognition processing based on a size and a position of the first image area detected by the image processing unit, and
the environment recognition unit recognizes the external environment of the vehicle based on the method of the environment recognition processing.
7. The in-vehicle running-environment recognition apparatus according to claim 6 , further comprising a switching judgment unit for judging whether or not the method of the environment recognition processing should be switched to new method of the environment recognition processing if the new method of the environment recognition processing determined by the to-be-processed image determination unit is different from former method of the environment recognition processing.
8. The in-vehicle running-environment recognition apparatus according to claim 2 , wherein
the external environment includes a lane mark, and
when the environment recognition unit recognizes one of a pair of lane marks of a traffic lane on which the vehicle is running, the output unit estimates a central line based on the one lane mark and a predetermined width of the traffic lane and calculates a control signal based on the estimated central line, and outputs the control signal.