Traveling environment recognition apparatus
A traveling environment recognition apparatus includes a camera, a first traveling environment recognition unit, a second traveling environment recognition unit, and an imaging mode switching unit. The first traveling environment recognition unit calculates the movement amount of a vehicle on the basis of an optical flow in an image captured by the camera. The second traveling environment recognition unit calculates a vehicle position in the real space on the basis of positioning signals received from positioning satellites. The imaging mode switching unit drives the camera in a first imaging mode when positioning accuracy based on the positioning signals is high, while the imaging mode switching unit drives in a second imaging mode when the positioning accuracy is low. When the camera is driven in the second imaging mode, the second traveling environment recognition unit estimates the vehicle position on a road map based on the movement amount.
1. A traveling environment recognition apparatus to be applied to a vehicle, the traveling environment recognition apparatus comprising:
a camera configured to have a first imaging mode having a first non-zero frame rate and a second imaging mode having a second non-zero frame rate that is higher than the frame rate of the first imaging mode, and capture an image of a traveling environment surrounding the vehicle;
an imaging mode switching unit configured to:
assess positioning accuracy of a position of the vehicle that is estimated based on positioning signals received from positioning satellites;
drive the camera in the first imaging mode in response to assessing that the positioning accuracy is a first accuracy level; and
drive the camera in the second imaging mode in response to assessing that the positioning accuracy is a second accuracy level that is lower accuracy than the first accuracy level; and
a first traveling environment recognition unit configured to:
acquire first traveling environment information on the traveling environment surrounding the vehicle based on the image captured by the camera that is in either the first imaging mode or the second imaging mode; and
calculate a movement amount of the vehicle based on an optical flow in the image;
a second traveling environment recognition unit configured to:
calculate position coordinates of the vehicle in a real space based on positioning signals received from positioning satellites;
in response to determining that the camera is in the first imaging mode, estimate a position of the vehicle on a road map based on the position coordinates;
in response to determining that the camera is in the second imaging mode, estimate the position of the vehicle on the road map based on the movement amount of the vehicle obtained based on the optical flow; and
acquire second traveling environment information on the traveling environment surrounding the vehicle from road map information.
2. The traveling environment recognition apparatus according to claim 1 , wherein,
in response to determining that the camera is in the second imaging mode, the second traveling environment recognition unit is configured to correct the position of the vehicle on the road map based on the first traveling environment information.
3. The traveling environment recognition apparatus according to claim 1 , wherein
the imaging mode switching unit is configured to determine that the positioning accuracy is low in a case where a number of the positioning signals received from the positioning satellites is less than a predetermined value.
4. The traveling environment recognition apparatus according to claim 2 , wherein
the imaging mode switching unit is configured to determine that the positioning accuracy is low in a case where a number of the positioning signals received from the positioning satellites is less than a predetermined value.
5. The traveling environment recognition apparatus according to claim 1 , wherein
the imaging mode switching unit is configured to determine that the positioning accuracy is low in a case where a predetermined error equal to or greater than a predetermined value is generated between the first traveling environment information and the second traveling environment information.
6. The traveling environment recognition apparatus according to claim 2 , wherein
the imaging mode switching unit is configured to determine that the positioning accuracy is low in a case where a predetermined error equal to or greater than a predetermined value is generated between the first traveling environment information and the second traveling environment information.
7. The traveling environment recognition apparatus according to claim 1 , wherein the imaging mode switching unit is further configured to:
determine whether a number of the positioning signals received from the positioning satellites is less than a predetermined value;
determine whether a predetermined error equal to or greater than a predetermined value is generated between the first traveling environment information and the second traveling environment information;
in response to determining that (1) the number of the positioning signals received from the positioning satellites is not less than a predetermined value, and (2) the predetermined error equal to or greater than a predetermined value is not generated between the first traveling environment information and the second traveling environment information, drive the camera in the first imaging mode; and
in response to determining that (1) the number of the positioning signals received from the positioning satellites is less than a predetermined value or (2) the predetermined error equal to or greater than a predetermined value is generated between the first traveling environment information and the second traveling environment information, drive the camera in the second imaging mode.
8. The traveling environment recognition apparatus according to claim 2 , wherein the imaging mode switching unit is further configured to:
determine whether a number of the positioning signals received from the positioning satellites is less than a predetermined value;
determine whether a predetermined error equal to or greater than a predetermined value is generated between the first traveling environment information and the second traveling environment information;
in response to determining that (1) the number of the positioning signals received from the positioning satellites is not less than a predetermined value, and (2) the predetermined error equal to or greater than a predetermined value is not generated between the first traveling environment information and the second traveling environment information, drive the camera in the first imaging mode; and
in response to determining that (1) the number of the positioning signals received from the positioning satellites is less than a predetermined value or (2) the predetermined error equal to or greater than a predetermined value is generated between the first traveling environment information and the second traveling environment information, drive the camera in the second imaging mode.
9. A traveling environment recognition apparatus to be applied to a vehicle, the traveling environment recognition apparatus comprising:
a camera configured to have a first imaging mode having a first non-zero frame rate and a second imaging mode having a second non-zero frame rate that is higher than the frame rate of the first imaging mode, and capture an image of a traveling environment surrounding the vehicle; and
circuitry configured to:
assess positioning accuracy of a position of the vehicle that is estimated based on positioning signals received from positioning satellites;
drive the camera in the first imaging mode in response to assessing that the positioning accuracy is a first accuracy level;
drive the camera in the second imaging mode in response to assessing that the positioning accuracy is a second accuracy level that is lower accuracy than the first accuracy level; and
acquire first traveling environment information on the traveling environment surrounding the vehicle based on the image captured by the camera that is in either the first imaging mode or the second imaging mode;
calculate a movement amount of the vehicle based on an optical flow in the image;
calculate position coordinates of the vehicle in a real space based on positioning signals received from positioning satellites;
in response to determining that the camera is in the first imaging mode, estimate a position of the vehicle on a road map on a basis of based on the position coordinates;
in response to determining that the camera is in the second imaging mode, estimate the position of the vehicle on the road map based on the movement amount of the vehicle obtained based on the optical flow; and
acquire second traveling environment information on the traveling environment surrounding the vehicle from road map information.