PROBLEM TO BE SOLVED: To diagnose displacement of a stereo camera in a traveling vehicle, to prevent vehicle control failure due to false recognition to be caused by the displacement.SOLUTION: A stereo-image processing section 7 and a recognition processing section 9 perform white line detection including: evaluating the change in luminance in a width direction of a road in an image plane, to extract a point group which is a white line candidate; calculating parallax of left and right white line candidate points; and converting them to real spatial coordinates, to generate a white line model. A camera displacement diagnosing section 10 calculates a diagnostic value based on a difference in parallax between the left white line and the right white line, in the same horizontal line between a reference image of a stereo camera 2 and a comparison image, to determine camera displacement. When the camera displacement occurs, an instruction is issued to a vehicle control apparatus 20 to stop control function or enter fail-safe control. A warning is output to urge a user to bring the vehicle to a maintenance factory or the like for inspection.

    【課題】車両走行中にステレオカメラの位置ずれの有無を診断し、位置ずれに起因する誤認識による車両制御の不具合発生を未然に回避する。【解決手段】ステレオ画像処理部7及び認識処理部9による白線検出は、画像平面における道路の幅方向の輝度変化を評価して白線の候補となる点群を抽出し、左右の白線候補点の視差を算出して実空間座標に変換して白線モデルを生成する。カメラ位置ずれ診断部10は、ステレオカメラ2の基準画像と比較画像との間の同一水平ラインにおける左白線の視差と右白線の視差との相違に基づく診断値を算出してカメラ位置ずれの有無を判断する。カメラ位置ずれが発生している場合には、車両制御装置20に制御機能の停止やフェールセーフ制御への移行を指示し、また、ユーザにディーラの整備工場等への入庫点検を促す警報を出力する。【選択図】図1


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    Title :

    VEHICLE STEREO-IMAGE PROCESSING APPARATUS


    Additional title:

    車両用ステレオ画像処理装置


    Contributors:

    Publication date :

    2015-11-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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