Vehicle control device

Abstract

To correctly detect an obstacle while reducing costs.SOLUTION: A vehicle control device comprises: an input unit which receives a periphery image used for peripheral monitoring of a vehicle from an imaging device such as a front camera installed on the vehicle; and an arithmetic unit which calculates a relative distance of the first object with respect to the imaging device on the basis of a parallax generated at a first object contained in the periphery image with the movement of the vehicle in the movement of the vehicle, and a travel distance of the vehicle.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] Conventionally, driving assistance has been provided by presenting to the driver images for monitoring the surroundings of the vehicle from images captured by a camera installed in the vehicle. In addition to such driving assistance, an obstacle sensor that emits ultrasonic waves or a stereo camera may be installed to avoid interference between the vehicle and obstacles. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-101101 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, providing a vehicle with an obstacle sensor or a stereo camera increases costs.

[0005] An object of the present invention is to provide a vehicle control device that can accurately detect an obstacle while reducing costs. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the vehicle control device of the present invention includes an input unit that inputs an image of the vehicle's surroundings from an imaging device installed in the vehicle, and a calculation unit that calculates a relative distance of a first object to the imaging device based on the parallax that occurs in a first object reflected in the surroundings image as the vehicle moves and the distance moved by the vehicle when the vehicle is moving.

[0007] According to this configuration, the relative distance of an obstacle to the vehicle can be determined using only the surrounding monitoring camera, without the need for a separate obstacle sensor or stereo sensor, thereby enabling accurate detection of obstacles while reducing costs.

[0008] The vehicle control device according to the present invention further includes a storage unit that stores the installation height of the imaging device relative to the road surface on which the vehicle is traveling, and the calculation unit calculates the height of the first object relative to the road surface based on the relative distance of the first object relative to the imaging device and the installation height of the imaging device relative to the road surface. This makes it possible to specify the relative distance between the vehicle bumper or the like and the obstacle in more detail, and therefore to detect the obstacle more accurately.

[0009] The vehicle control device according to the present invention further includes a determination unit that determines whether the first object will interfere with the vehicle based on the height of the first object. Thereby, when there is a risk of interference between the vehicle and the obstacle, the vehicle can be stopped or the like to suppress interference between the vehicle and the obstacle.

[0010] Furthermore, according to the vehicle control device of the present invention, the calculation unit determines the installation height of the imaging device relative to the road surface by calculating the relative distance of the second object to the imaging device, which is different from the first object, by treating the texture displayed on the road surface as a second object, and stores the determined installation height of the imaging device relative to the road surface in the storage unit. This makes it possible to accurately determine the installation height of the imaging device relative to the road surface, for example, even when the vehicle height changes due to changes in the load of the vehicle and deterioration of the suspension over time. As a result, it becomes possible to more accurately determine the relative distance between, for example, a bumper and an obstacle, and therefore to more accurately detect the obstacle. Effect of the Invention

[0011] According to the present invention, it is possible to accurately detect an obstacle while reducing costs. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a vehicle according to an embodiment. [Diagram 2] FIG. 2 is a block diagram illustrating an example of a functional configuration of the camera ECU according to the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating the calculation process executed in the calculation unit of the embodiment. [Figure 4] FIG. 4 is a flowchart illustrating an example of a procedure of a process performed by the camera ECU according to the embodiment. [Diagram 5] FIG. 5 is a diagram illustrating the calculation process executed in the calculation unit of the modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, a vehicle control device according to an embodiment will be described with reference to FIGS.

[0014] (Embodiment) (Vehicle configuration) FIG. 1 is a block diagram showing a schematic configuration of a vehicle 1 according to an embodiment.

[0015] As shown in FIG. 1, a vehicle 1 according to the embodiment includes a camera ECU 11, a front camera 11A, a rear camera 11B, side cameras 11Ca and 11Cb, a VSCECU 12, a wheel sensor 12A, an in-vehicle monitor 13, and a speaker .

[0016] The camera ECU 11 is connected to the front camera 11A, the back camera 11B, the side cameras 11Ca and 11Cb, and the in-vehicle monitor 13 by a display cable such as an HDMI (High-Definition Multimedia Interface) (registered trademark) cable. This allows images captured by the front camera 11A, the back camera 11B, and the side cameras 11Ca and 11Cb to be converted into digital signals and transmitted.

[0017] The camera ECU 11, the VSCECU 12, and the speaker 14, as well as the VSCECU 12 and the wheel sensor 12A, are connected to each other via an in-vehicle network such as a Controller Area Network (CAN). This allows the camera ECU 11, the VSCECU 12, the wheel sensor 12A, and the speaker 14 to transmit and receive various information.

[0018] The camera ECU 11 and the VSCECU 12 are configured as a computer including, for example, a central processing unit (CPU), a read only memory (ROM), and a random access memory (RAM), all of which are not shown.

[0019] The camera ECU 11 performs various processing on the surrounding images input from the front camera 11A, the back camera 11B, and the side cameras 11Ca and 11Cb installed in the vehicle 1, and outputs the images to the in-vehicle monitor 13 as appropriate.

[0020] The front camera 11A is provided, for example, on the front bumper at the front of the vehicle 1, and captures the view in front of the vehicle 1. The rear camera 11B is provided, for example, near the rear bumper at the rear of the vehicle 1, and captures the view behind the vehicle 1. The side camera 11Ca is provided, for example, on the right door mirror as viewed from the driver's seat, and captures the view to the right of the vehicle 1. The side camera 11Cb is provided, for example, on the left door mirror as viewed from the driver's seat, and captures the view to the left of the vehicle 1.

[0021] Each of the front camera 11A, the back camera 11B, and the side cameras 11Ca and 11Cb outputs the captured peripheral images to the camera ECU 11. These peripheral images are used to monitor the periphery of the vehicle 1, for example, when parking or exiting the vehicle. For this reason, in order to minimize blind spots, a wide-angle lens such as a fisheye lens is used for the front camera 11A, the back camera 11B, and the side cameras 11Ca and 11Cb. Each of the front camera 11A, the back camera 11B, and the side cameras 11Ca and 11Cb is an example of an imaging device.

[0022] Furthermore, the camera ECU 11 detects the presence or absence of an obstacle with which the vehicle 1 must avoid contact based on surrounding images input from the front camera 11A, the rear camera 11B, and the side cameras 11Ca and 11Cb, and calculates the relative distance from the vehicle 1 to the obstacle.

[0023] Furthermore, the camera ECU 11 determines whether the vehicle 1 will interfere with the obstacle, and outputs various signals to suppress the interference based on the determination result. Specifically, for example, when the camera ECU 11 determines that the vehicle 1 will interfere with the obstacle, it outputs a control signal to the in-vehicle monitor 13, the speaker 14, etc. to output a warning display or a warning sound.

[0024] The in-vehicle monitor 13 is a liquid crystal display or the like that displays various information and is installed on a dashboard or the like inside the cabin of the vehicle 1. The in-vehicle monitor 13 displays, for example, an image of the surroundings of the vehicle 1 and an overhead image obtained by synthesizing these images. The driver monitors the surroundings of the vehicle 1 using the surrounding image and the overhead image. In addition, for example, the in-vehicle monitor 13 displays a warning indicating that the vehicle 1 may interfere with an obstacle.

[0025] The speaker 14 is an acoustic device that outputs sounds and voices and is installed in the passenger compartment of the vehicle 1. The speaker 14 outputs sounds and voices, for example, to notify the driver of various types of information, such as warning sounds.

[0026] In this way, the camera ECU 11 is configured as a vehicle control device that generates images for monitoring the surroundings of the vehicle 1, determines the relative distance to obstacles present in the vicinity of the vehicle 1, and outputs various signals to suppress interference with the obstacles.

[0027] The VSCECU 12 executes various processes for controlling the braking mechanism, steering mechanism, vehicle stability control system, etc. of the vehicle 1. For example, the VSCECU 12 executes a process for controlling the braking mechanism based on a signal output from the camera ECU 11. In addition, for example, the VSCECU 12 calculates the vehicle speed of the vehicle 1 by counting wheel speed pulses acquired from a wheel sensor 12A, which will be described later.

[0028] Furthermore, for example, the VSCECU 12 calculates the travel distance of the vehicle 1 by counting wheel speed pulses acquired from a wheel sensor 12A, which will be described later. Specifically, the VSCECU 12 acquires the rotation angle of the wheel at time t1 when the vehicle 1 is moving and the rotation angle of the wheel at time t2, a predetermined period of time after time t1, based on the wheel speed pulses. Then, the VSCECU 12 calculates the amount of rotation of the wheel as the difference between these rotation angles between times t1 and t2. Then, the VSCECU 12 calculates the travel distance of the vehicle 1 based on the amount of rotation of the wheel and the diameter of the wheel.

[0029] The VSCECU 12 starts these calculations at the timing when it receives a predetermined signal instructing it to obtain the rotation angle of the wheels from the camera ECU 11. The VSCECU 12 outputs the travel distance and vehicle speed of the vehicle 1 calculated as described above to the camera ECU 11.

[0030] The wheel sensor 12A is provided near each wheel of the vehicle 1 and is configured using, for example, a Hall element. The wheel sensor 12A outputs a wheel speed pulse as a detection result to the VSCECU 12 based on the amount of rotation or the number of rotations per unit time of the wheels of the vehicle 1.

[0031] 1 is merely an example, and does not necessarily include all of the components shown in FIG 1, or may include other components. Specifically, for example, the VSCECU 12 may have some of the above functions of the camera ECU 11, and the camera ECU 11 may have some of the above functions of the VSCECU 12. Alternatively, the camera ECU 11 and the VSCECU 12 may be integrated into a single computer.

[0032] Furthermore, the camera ECU 11 may be configured to output various images to the in-vehicle monitor 13 via the display ECU, etc. Furthermore, in cases where the speaker 14 is configured, for example, integrally with the in-vehicle monitor 13, the display ECU may be configured to be able to control the speaker 14 in addition to the in-vehicle monitor 13. In this case, the camera ECU 11 may be configured to output an alarm signal to the speaker 14 via the display ECU, etc.

[0033] In addition, the camera ECU 11 may acquire signals from various sensors via other ECUs. For example, the wheel sensor 12A may be connected to the camera ECU 11 via an in-vehicle network, and the camera ECU 11 may calculate the travel distance of the vehicle 1 instead of the VSCECU 12.

[0034] (Functional block configuration of camera ECU 11) FIG. 2 is a block diagram showing an example of a functional configuration of the camera ECU 11 according to the embodiment.

[0035] 2, the camera ECU 11 has a functional configuration that functions as an input unit 111, a generation unit 112, a calculation unit 113, a determination unit 114, an output unit 115, and a storage unit 116. These functional units are realized, for example, by a CPU (not shown) included in the camera ECU 11 expanding a control program stored in a ROM or the like into a RAM and executing the program.

[0036] The input unit 111 receives an input of a surrounding image of the vehicle 1 captured by the front camera 11A, the rear camera 11B, and the side cameras 11Ca and 11Cb. For example, the input unit 111 receives an input of a front surrounding image from the front camera 11A. Also, for example, the input unit 111 receives an input of a rear surrounding image from the rear camera 11B.

[0037] The input unit 111 acquires the vehicle speed of the vehicle 1 from the VSCECU 12. The input unit 111 also acquires the travel distance of the vehicle 1 from the VSCECU 12. Specifically, the input unit 111 acquires the distance from point A to which the vehicle 1 travels to point B different from point A as the travel distance of the vehicle 1.

[0038] The generation unit 112 generates a surrounding monitoring image, which is an image to be displayed on the in-vehicle monitor 13 based on the surrounding images input from the front camera 11A, the rear camera 11B, and the side cameras 11Ca and 11Cb, and is an image of the surroundings of the vehicle viewed from the captured images.

[0039] The surroundings monitoring image is an image for showing the driver the state of the vehicle 1, such as obstacles present around the vehicle 1, for example, when parking or starting the vehicle. The surroundings monitoring image is generated from any of the surrounding images captured by the front camera 11A, the back camera 11B, and the side cameras 11Ca and 11Cb. The surroundings monitoring image includes a surrounding image and an overhead image captured by any of the front camera 11A, the back camera 11B, and the side cameras 11Ca and 11Cb. The overhead image is a composite image showing 360° around the vehicle 1 with the host vehicle icon at the center.

[0040] At this time, the generating unit 112 may determine which of the peripheral images acquired from the front camera 11A, the back camera 11B, and the side cameras 11Ca and 11Cb should be adopted as the peripheral monitoring image according to the situation of the vehicle 1. That is, while the driving assistance of the vehicle 1, such as parking or exiting, is being performed, the generating unit 112 may adopt the peripheral image of the side of the path that the vehicle 1 may take from now as the peripheral monitoring image. For example, the generating unit 112 may adopt the peripheral image in front of the front camera 11A when the vehicle 1 moves forward, and adopt the peripheral image behind the back camera 11B when the vehicle 1 moves backward.

[0041] The generation unit 112 generates the above-mentioned surroundings monitoring image when the speed of the vehicle 1 acquired from the VSCECU 12 is less than a predetermined speed, etc. The above-mentioned predetermined speed of the vehicle 1 at which the generation unit 112 starts such image generation processing is, for example, 5 km / h. The generation unit 112 continues the above-mentioned surroundings monitoring image generation processing while the speed of the vehicle 1 is less than the predetermined speed.

[0042] The calculation unit 113 detects an obstacle existing in the vicinity of the vehicle 1 based on the input surrounding image, and calculates the relative distance to the obstacle.

[0043] Here, a method for calculating the relative distance between the vehicle 1 and an obstacle will be specifically described with reference to Fig. 3. Fig. 3 is a diagram for explaining the calculation process executed in the calculation unit 113 of the embodiment.

[0044] 3(a) and (b) are side views showing the state in front of the vehicle 1 moving forward on a road surface R.

[0045] 3(a) is a diagram showing a state in which the vehicle 1 passes through a point A on a road surface R at a certain time t1. It is assumed that there are two obstacles OJx and OJy on the road surface R in the traveling direction of the vehicle 1, which may interfere with the vehicle 1 and are to be detected by the camera ECU 11. In addition, it is assumed that the obstacle OJx is higher from the road surface R than the obstacle OJy, and therefore the obstacle OJx is closer to the front camera 11A than the obstacle OJy. The point A is an example of a first point, and each of the obstacles OJx and OJy is an example of a first object.

[0046] Fig. 3(b) is a diagram showing a state in which the vehicle 1 passes through a point B different from point A at time t2. Time t2 is a time when a predetermined period has elapsed since time t1. A travel distance D from point A to point B shown in Fig. 3(b) is acquired from the VSCECU 12 by the input unit 111. Note that point B is an example of a second point.

[0047] FIGS. 3(c) and 3(d) show examples of the surrounding images IMa and IMb captured by the front camera 11A at the timings shown in FIGS. 3(a) and 3(b), respectively.

[0048] Specifically, Fig. 3(c) is a surrounding image IMa captured by the front camera 11A when the vehicle 1 passes through the point A. The surrounding image IMa shows obstacles OJx and OJy. The surrounding image IMa is an example of a first surrounding image.

[0049] 3(d) shows a peripheral image IMb captured by the front camera 11A when the vehicle 1 passes through point B. The peripheral image IMb also shows obstacles OJx and OJy. The peripheral image IMb is an example of a second peripheral image.

[0050] The calculation unit 113 analyzes the peripheral image IMa using an image recognition technique, and detects the obstacles OJx and OJy from the peripheral image IMa. At this time, for example, an edge detection process may be performed to detect as an edge a portion in the peripheral image IMa where the brightness changes significantly, thereby extracting the characteristics of the obstacles OJx and OJy from the peripheral image IMa. At this time, a binarization process may be performed to convert the peripheral image IMa into a black and white image.

[0051] 3(c) and (d), for the sake of convenience, it is assumed that the topmost points of the obstacles OJx and OJy are extracted as the feature points FXa and FYa of the obstacles OJx and OJy, respectively. These feature points FXa and FYa indicate the positions of the obstacles OJx and OJy in the surrounding image IMa.

[0052] Similarly to the above, the calculation unit 113 detects the obstacles OJx, OJy from the peripheral image IMb using image recognition technology, etc. As a result, the feature points FXb, FYb of the obstacles OJx, OJy are extracted from the peripheral image IMb as well.

[0053] 3(c) and (d), the positions of the feature points FXa and FYa in the peripheral image IMa of point A are different from the positions of the feature points FXb and FYb in the peripheral image IMb of point B. In other words, as the vehicle 1 moves from point A to point B, parallax occurs between the obstacles OJx and OJy in the peripheral images IMa and IMb.

[0054] In addition, in the peripheral image IMa and in the peripheral image IMb, the obstacle OJx appears to have moved by the distance DXab between the feature points FXa and FXb. In the peripheral image IMa and in the peripheral image IMb, the obstacle OJy appears to have moved by the distance DYab between the feature points FYa and FYb. In this case, the distance DYab that the obstacle OJy moved is shorter than the distance DXab that the obstacle OJx moved.

[0055] In this way, an obstacle OJy that is relatively far from the front camera 11A appears to move a shorter distance than an obstacle OJx that is close to the front camera 11A. In other words, the parallax occurring in the peripheral images IMa and IMb for an obstacle OJy that is far from the front camera 11A, i.e., has a low height from the road surface R, is smaller than the parallax occurring in the obstacle OJx that is close to the front camera 11A, i.e., has a high height from the road surface R. By utilizing the fact that the parallax occurring depending on the distance between the camera and the obstacle, etc., the relative distance between the obstacles OJx, OJy and the front camera 11A, which will be described later, can be obtained.

[0056] Hereinafter, the explanation will be continued on the case where the calculation unit 113 calculates the relative distance from the vehicle 1 to the obstacle OJx out of the obstacles OJx and OJy as the object.

[0057] As described above, the calculation unit 113 calculates the distance DXab, which is the difference between the position of the feature point FXa of the obstacle OJx shown in the peripheral image IMa of point A and the position of the feature point FXb of the obstacle OJx shown in the peripheral image IMb of point B, as the parallax.

[0058] The calculation unit 113 calculates the distance α shown in Fig. 3(b) as a relative distance based on the distance DXab as the parallax and the moving distance D of the vehicle 1. Furthermore, the calculation unit 113 calculates the distance β and the distance γ shown in Fig. 3(b) as relative distances based on the reflected position of the obstacle OJx in the peripheral image IMb and the mounting angle (angle of the optical axis) of the front camera 11A.

[0059] 3(b), distance α is the distance from front camera 11A to the top of obstacle OJx that indicates feature point FXa. Distance β is the distance from front camera 11A to intersection O between a vertical line passing through front camera 11A and a horizontal line passing through the top of obstacle OJx. Distance γ is the distance from intersection O to the top of obstacle OJx.

[0060] Furthermore, the calculation unit 113 calculates the height h of the obstacle OJx relative to the road surface R based on the installation height H of the front camera 11A relative to the road surface R and the calculated distance β. At this time, the calculation unit 113 refers to the storage unit 116, reads out the installation height H of the front camera 11A relative to the road surface R, and uses it in the above calculation.

[0061] The determination unit 114 determines whether or not the obstacle OJx will interfere with the vehicle 1 based on the height h of the obstacle OJx with respect to the road surface R. Specifically, for example, the determination unit 114 determines whether or not the obstacle OJx is higher than the height g of the lower end of the front bumper 11X in Fig. 3(b) based on the height h of the obstacle OJx, and whether or not the obstacle OJx will interfere with the lower end of the front bumper 11X. At this time, the determination unit 114 refers to the storage unit 116, reads out the height g of the lower end of the front bumper 11X with respect to the road surface R of the vehicle 1, and uses it for the above determination.

[0062] The determination unit 114 also determines whether the calculated distance γ is equal to or less than the notification distance, thereby determining whether the obstacle OJx is present within the notification distance from the vehicle 1. The notification distance at which the determination unit 114 performs such a determination process is, for example, 6 m.

[0063] When the determination unit 114 determines that the obstacle OJx is higher than, for example, the height g of the lower end of the front bumper 11X and interferes with the lower end of the front bumper 11X, the output unit 115 outputs various signals for suppressing the interference. Specifically, for example, the output unit 115 outputs a notification signal included in a warning signal to the speaker 14 or the like. As a result, a warning sound is emitted from the speaker 14, and the driver can perform an operation such as stopping the vehicle 1.

[0064] Furthermore, when the determination unit 114 determines that the obstacle OJx interferes with, for example, the front bumper 11X, the output unit 115 may output, to the VSCECU 12, a control signal for increasing the output of the braking mechanism of the vehicle 1. This enables the VSCECU 12 to brake the vehicle 1.

[0065] Furthermore, when the determination unit 114 determines that the obstacle OJx interferes with, for example, the front bumper 11X, the output unit 115 may output a control signal to an ECU (not shown) that controls the drive device to reduce the engine output, such as by narrowing the opening of an electronic throttle. This causes the ECU to suppress the drive of the vehicle 1.

[0066] Further, for example, the output unit 115 may output the various signals described above when the judgment unit 114 judges that the obstacle OJx interferes with the front bumper 11X and that the obstacle OJx is present within the notification distance.

[0067] In addition to the above outputs, the output unit 115 outputs surroundings monitoring images and the like generated by the generation unit 112 to the in-vehicle monitor 13. As a result, these various images and the like are displayed on the in-vehicle monitor 13 as appropriate.

[0068] The storage unit 116 stores various information related to the vehicle 1. Specifically, for example, the storage unit 116 stores the installation height H of the front camera 11A with respect to the road surface R. Also, for example, the storage unit 116 stores the height g of the lower end of the front bumper 11X. These various information are stored in advance in the storage unit 116 based on, for example, design information of the vehicle 1. Also, the storage unit 116 stores control parameters and control programs used to realize various functions of the camera ECU 11.

[0069] (Processing example in camera ECU 11) FIG. 4 is a flowchart showing an example of a procedure of a process performed by the camera ECU 11 according to the embodiment.

[0070] When the engine of the vehicle 1 is started by an ignition switch or the like (step S101), the input unit 111 starts accepting input of surrounding images captured by the front camera 11A or the like (step S102).

[0071] The generation unit 112 determines whether the speed of the vehicle 1 is less than the predetermined speed (step S103). If the speed of the vehicle 1 is not less than the predetermined speed (step S103: No), the generation unit 112 waits until the speed of the vehicle 1 becomes less than the predetermined speed. If the speed of the vehicle 1 is less than the predetermined speed (step S103: Yes), the generation unit 112 proceeds to the process of step S104.

[0072] For example, when the vehicle 1 is moving forward, the generation unit 112 generates a forward monitoring image based on the surrounding image input from the front camera 11A. The output unit 115 outputs the generated forward monitoring image to the in-vehicle monitor 13.

[0073] The calculation unit 113 performs image analysis on the peripheral image IMa of the point A through which the vehicle 1 passes at time t1, and detects an obstacle OJx in the peripheral image IMa (step S104). Here, the time t1 is, for example, the time when a predetermined period has elapsed after the generation unit 112 starts generating the forward monitoring image. At this time, the calculation unit 113 outputs a signal to the VSCECU 12 to instruct it to obtain the rotation angle of the wheels at the point A.

[0074] Next, the calculation unit 113 performs image analysis on the peripheral image IMb of the point B through which the vehicle 1 passes at time t2, and detects an obstacle OJx in the peripheral image IMb (step S105). Time t2 is a time when a predetermined period has elapsed since time t1. At this time, the calculation unit 113 outputs a signal to the VSCECU 12 to instruct it to obtain the rotation angle of the wheels at the point B.

[0075] The timing when the calculation unit 113 performs the image analysis of the peripheral images IMa and IMb is not limited to the above-mentioned times t1 and t2. For example, when a signal is input by a touch operation or the like on the in-vehicle monitor 13, the calculation unit 113 may perform the image analysis of the peripheral images IMa and IMb. At this time, the input unit 111 may receive a signal by a touch operation or the like.

[0076] Next, the calculation unit 113 calculates the parallax of the obstacle OJx in the peripheral image IMa of the point A and in the peripheral image IMb of the point B (step S106).

[0077] Next, the input unit 111 acquires the travel distance D of the vehicle 1 between point A and point B from the VSCECU 12 (step S107).

[0078] Next, the calculation unit 113 calculates distances α, β, and γ as the relative distances between the front camera 11A of the vehicle 1 at point B and the obstacle OJx based on the calculated parallax, the distance traveled D of the vehicle 1, the reflected position of the obstacle OJx in the peripheral image IMb, and the mounting angle (angle of the optical axis) of the front camera 11A (step S108).

[0079] The calculation unit 113 calculates the height h of the obstacle OJx with respect to the road surface R based on the installation height of the front camera 11A with respect to the road surface R and the distance β (step S109).

[0080] The determination unit 114 determines whether or not the height h of the obstacle OJx interferes with the vehicle 1 based on the calculated height h of the obstacle OJx (step S110). Specifically, for example, if it is determined that the height h of the obstacle OJx is equal to or less than the height g of the lower end of the front bumper 11X of the vehicle 1, that is, the height h of the obstacle OJx is a height that does not interfere with the front bumper 11X (step S110: No), the process proceeds to step S103. On the other hand, if it is determined that the height h of the obstacle OJx is higher than the height g of the lower end of the front bumper 11X of the vehicle 1, that is, the height h of the obstacle OJx is a height that interferes with the front bumper 11X (step S110: Yes), the process proceeds to step S111.

[0081] The output unit 115 outputs, for example, a notification signal included in the warning signal as a signal for suppressing interference between the vehicle 1 and the obstacle OJx to the speaker 14 or the like (step S111). With the above, the process by the camera ECU 11 of the embodiment ends.

[0082] (Overview) In order to avoid interference between the vehicle and obstacles, a vehicle may be equipped with multiple obstacle sensors using ultrasonic waves. Also, a stereo camera may be installed in order to identify the relative distance between the vehicle and obstacles. However, installing multiple obstacle sensors or stereo cameras increases the cost of the vehicle. Also, stereo cameras are often used to capture images at a position away from the vehicle, and may not be necessarily suitable for capturing images near the vehicle.

[0083] According to the camera ECU 11 of the embodiment, a peripheral image of the vehicle 1 is acquired from the front camera 11A etc. installed in the vehicle 1, and a relative distance between the front camera 11A etc. and the obstacle OJx is calculated based on a parallax occurring in the obstacle OJx etc. reflected in the peripheral image as the vehicle 1 moves and the moving distance of the vehicle 1. In this way, by using the front camera 11A etc. for monitoring the surroundings installed in the conventional vehicle, it is possible to accurately specify the distance to the obstacle OJx near the vehicle 1 without separately providing, for example, multiple obstacle sensors or a stereo sensor. This also makes it possible to reduce the cost of the vehicle 1.

[0084] The camera ECU 11 of the embodiment stores the installation height H of the front camera 11A with respect to the road surface R on which the vehicle 1 is traveling, etc. The camera ECU 11 calculates the height h of the obstacle OJx with respect to the road surface R based on the relative distance of the obstacle OJx with respect to the front camera 11A, etc., and the installation height H of the front camera 11A with respect to the road surface R, etc. This makes it possible to accurately identify the distance in the height direction between the vehicle 1 and the obstacle OJx.

[0085] The camera ECU 11 of the embodiment determines, based on the height h of the obstacle OJx, whether or not the obstacle OJx will interfere with the vehicle 1. As a result, when there is a risk of interference between the obstacle OJx and the vehicle 1, the vehicle 1 can be stopped, for example, to suppress the interference between the obstacle OJx and the vehicle 1.

[0086] (Modification) A vehicle control device according to a modified example will be described with reference to FIG.

[0087] 5 is a diagram for explaining the calculation process executed by the calculation unit 113 of the modified example. The camera ECU 11 of the modified example differs from the above-described embodiment in that the installation height H' of the front camera 11A with respect to the road surface R is calculated by the camera ECU 11. Note that, in the modified example, the description of the parts common to the above-described embodiment will be omitted as appropriate.

[0088] 5(a) and (b) are side views showing the state in front of the vehicle 1 moving forward on a road surface R. FIG.

[0089] FIG. 5(a) is a diagram showing a state in which the vehicle 1 passes through point A on a road surface R at a certain time t1. FIG. 5(b) is a diagram showing a state in which the vehicle 1 passes through point B at a time t2. On the road surface R in the traveling direction of the vehicle 1, a texture T is displayed as an object to be detected by the camera ECU 11. The texture T is, for example, a pattern formed on the road surface R, and can be identified by the camera ECU 11. The texture T is an example of a second object.

[0090] 5(c) and (d) show examples of the peripheral images IMa and IMb captured by the front camera 11A at the timings shown in Fig. 5(a) and (b), respectively. The peripheral image IMa in Fig. 5(c) and the peripheral image IMb in Fig. 5(d) show a texture T on the road surface R.

[0091] The calculation unit 113 calculates the relative distance between the vehicle 1 and the texture T based on the input peripheral image. Specifically, as shown in Fig. 5(c) and (d), the calculation unit 113 calculates, as the parallax, a distance DZab that is the difference between the position of a feature point Ta of the texture T reflected in the peripheral image IMa of the point A and the position of a feature point Tb of the texture T reflected in the peripheral image IMb of the point B.

[0092] The calculation unit 113 calculates the relative distance between the front camera 11A of the vehicle 1 at point B and the texture T based on the calculated distance DZab as the parallax, the moving distance D of the vehicle 1, the reflected position of the texture T in the peripheral image IMb, the mounting angle (angle of the optical axis) of the front camera 11A, etc. The distance β from the intersection O to the front camera 11A shown in FIG. 5(b) corresponds to the installation height H' of the front camera 11A with respect to the road surface R.

[0093] The calculation unit 113 also calculates the height g' of the lower end of the front bumper 11X from the road surface based on the calculated installation height H' of the front camera 11A. At this time, the calculation unit 113 refers to the storage unit 116, reads out the distance from the front bumper 11X to the front camera 11A, and uses it in the above calculation. In this way, the actual heights of the front camera 11A and the front bumper 11X relative to the road surface R can be identified.

[0094] The calculation unit 113 stores the calculation results of the installation height H' of the front camera 11A relative to the road surface R, the height g' of the lower end of the front bumper 11X relative to the road surface R, and the like in the storage unit .

[0095] The calculation unit 113 executes the above calculations after a predetermined period of time has elapsed after receiving a door opening / closing signal of the vehicle 1 from a body ECU or the like that controls a door lock motor or the like.

[0096] This allows, for example, the actual height of the front camera 11A and the front bumper 11X relative to the road surface R, which changes due to an increase or decrease in the number of occupants in the vehicle 1 or deterioration of the suspension over time, to be determined each time, thereby making it possible to more accurately determine the relative distance between the vehicle 1 and any obstacles that may interfere with the vehicle 1.

[0097] Although the embodiment and the modified examples of the present invention have been described above, the above-mentioned embodiment and the modified examples are presented as examples and are not intended to limit the scope of the present invention. The new embodiment and the modified examples can be implemented in various other forms. In addition, various omissions, substitutions, and modifications can be made without departing from the gist of the invention. In addition, the embodiment and the modified examples are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0098] 1 vehicle 11 Camera ECU 11A Front camera 11B Rear camera 11Ca, 11Cb Side camera 12 VSCEC 12A Wheel Sensor 13 In-car monitor 14 Speaker 111 Input section 112 Generation part 113 Arithmetic section 114 Judgment section 115 Output section 116 Memory section

Claims

1. an input unit that inputs an image of the surroundings of the vehicle from an imaging device installed in the vehicle; a calculation unit that calculates a relative distance of the first object with respect to the imaging device based on a parallax caused in a first object captured in the peripheral image due to the movement of the vehicle while the vehicle is moving and a moving distance of the vehicle; A vehicle control device comprising:

2. a storage unit that stores an installation height of the imaging device with respect to a road surface on which the vehicle is traveling; Further equipped with The calculation unit calculates a height of the first object with respect to the road surface based on a relative distance of the first object with respect to the imaging device and an installation height of the imaging device with respect to the road surface. The vehicle control device according to claim 1 .

3. a determination unit that determines whether or not the first object interferes with the vehicle based on a height of the first object with respect to the road surface; Further comprising: The vehicle control device according to claim 2 .

4. The input unit includes: Further acquiring a travel distance of the vehicle from a first point to a second point distant from the first point; The calculation unit is A difference between a position of the first object shown in a first peripheral image taken at the first location and a position of the first object shown in a second peripheral image taken at the second location is calculated as the parallax, and calculating the relative distance of the first object with respect to the imaging device at the second location based on the parallax and the moving distance of the vehicle; The vehicle control device according to claim 1 .

5. The calculation unit is determining a relative distance of the second object from the imaging device by assuming that the texture displayed on the road surface is a second object different from the first object, and specifying an installation height of the imaging device from the road surface, and storing the specified installation height of the imaging device from the road surface in the storage unit; The vehicle control device according to claim 2 .

Images