Vehicle recognition device and vehicle recognition method

Abstract

To provide a technique capable of suppressing deterioration of accuracy of a recognition of a vehicle when opening a shutter in the case where the vehicle is recognized on the basis of a camera image containing the vehicle that goes out from a closed space.SOLUTION: A vehicle recognition device comprises: a processor that performs recognition processing of a vehicle contained in a camera image acquired by a camera installed in a closed space and opening / closing processing of a shutter provided to an outlet and an inlet of the vehicle in the closed space. The processor performs a processing for transmitting an automatic open command when a distance from the shutter to the vehicle becomes an initial setting distance or smaller to the shutter in the opening / closing processing. The processor further determines whether or not an outside irradiation degree is higher than an inner irradiation degree on the basis of information on the outside irradiation degree and information on the inner irradiation degree. Also, the processor further performs a whiteout countermeasure processing in order to suppress the generation of a whiteout at a position of the vehicle in the camera image in the case where it is determined that the outside irradiation degree is higher than the inner irradiation degree.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] This disclosure relates to a technique for recognizing vehicles.

Background Art

[0002] Patent Document 1 discloses an imaging device that improves the visibility of a subject that a user wants to focus on. In this conventional technology, based on an image synthesized from a low-illuminance video and a high-illuminance video captured by a camera, the face of a person who is the subject to be focused on is detected, and the luminance distribution of the face area is calculated. Then, based on the luminance distribution of the face area of a person in a low-illuminance area or a high-illuminance area, the exposure amount of the face area is controlled so as to approach the appropriate exposure range.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, consider a scene where a vehicle exiting a closed space with a certain extent where vehicle movement is assumed, such as a garage, a parking lot, a factory, etc., is recognized by a camera provided in this closed space. At this time, when the shutter provided at the entrance and exit of the vehicle in the closed space is opened, depending on the weather and time zone around the closed space, the amount of light received by the light-receiving sensor mounted on the camera may saturate and whiteout of the camera image may occur. If the whiteout part of the camera image includes a vehicle, there is a possibility that the vehicle cannot be recognized by the camera.

[0005] One object of this disclosure is to provide a technique capable of suppressing a decrease in the accuracy of recognizing a vehicle when the shutter is opened when recognizing the vehicle based on a camera image including the vehicle exiting the closed space.

Means for Solving the Problems

[0006] The first aspect of this disclosure relates to a vehicle recognition device for recognizing vehicles located within a closed space. The vehicle recognition device includes a storage device that stores camera images acquired by a camera installed in the closed space, information on internal illuminance indicating the illuminance inside the closed space and within the camera's shooting space, and information on external illuminance indicating the illuminance outside the closed space, and a processor that performs vehicle recognition processing included in the camera image and opening and closing processing of shutters provided at the vehicle entrances and exits in the closed space. In the opening and closing processing, the processor sends an automatic opening command to the shutter when the distance from the shutter to the vehicle falls below a set distance. The processor further determines whether the external illuminance is higher than the internal illuminance based on the external illuminance information and the internal illuminance information. Furthermore, if the processor determines that the external illuminance is higher than the internal illuminance, it performs a whiteout countermeasure processing to suppress the occurrence of whiteout at the vehicle's location in the camera image.

[0007] A second aspect of this disclosure, in addition to the first aspect, further includes the following features: The memory device further includes information on the estimated time it will take for the vehicle to reach the shutter. In the overexposure correction process, the processor further expands the initial distance based on a distance set according to the estimated time if the estimated time is below a threshold.

[0008] A third aspect of this disclosure, in addition to the first aspect, further includes the following features: The memory device further includes information on the estimated time until the vehicle reaches the shutter. In the overexposure prevention process, the processor further generates a command to decelerate the vehicle based on the amount of vehicle deceleration set according to the estimated time, if the estimated time is below a threshold.

[0009] A fourth aspect of this disclosure, in addition to the first aspect, further includes the following features: The storage device further includes shutter open / closed information. The processor further determines whether the shutter is open or closed based on the open / closed information. Furthermore, if the processor determines that the shutter is open and that the external illumination is higher than the internal illumination, it performs brightness correction processing to correct the brightness of the camera image.

[0010] A fifth aspect of this disclosure relates to a vehicle recognition method for recognizing a vehicle located within a closed space. The vehicle recognition method includes: recognizing a vehicle included in a camera image acquired by a camera installed in a closed space; opening and closing a shutter provided at the vehicle's entrance / exit in the closed space; sending an automatic opening command to the shutter when the distance from the shutter to the vehicle falls below a set distance during the opening and closing process; determining whether the external illuminance is higher than the internal illuminance based on external illuminance information indicating the illuminance outside the closed space and internal illuminance information indicating the illuminance inside the closed space and within the camera's shooting space; and, if it is determined that the external illuminance is higher than the internal illuminance, performing a process to suppress overexposure at the vehicle's location in the camera image. [Effects of the Invention]

[0011] According to this disclosure, when the external illumination is higher than the internal illumination, that is, when conditions are such that overexposure may occur in the camera image, overexposure prevention processing is performed to prevent overexposure of the vehicle's position in the camera image. This makes it possible to suppress the decrease in the accuracy of vehicle recognition based on the camera image containing the vehicle when the shutter opens. [Brief explanation of the drawing]

[0012] [Figure 1] This is a diagram illustrating the outline of a vehicle recognition device according to an embodiment. [Figure 2] This is a diagram illustrating a specific example of a vehicle recognition device according to an embodiment. [Figure 3]This is a diagram illustrating a specific example of a vehicle recognition device according to an embodiment. [Figure 4] This is a block diagram showing an example configuration of a vehicle recognition device according to an embodiment. [Figure 5] This flowchart shows an example of processing by the vehicle recognition device according to the embodiment. [Modes for carrying out the invention]

[0013] A vehicle recognition device and a vehicle recognition method according to embodiments of this disclosure will be described with reference to the attached drawings. In addition, elements common to each figure are denoted by the same reference numerals, and redundant explanations are omitted.

[0014] 1. Overview Figure 1 is a diagram illustrating the outline of a vehicle recognition device 1 according to an embodiment. The vehicle recognition device 1 is a device that recognizes a vehicle 4 inside a closed space 2 using a camera 5 installed in the closed space 2. As shown in Figure 1(A), the vehicle recognition device 1 includes a camera 5, a first illuminance sensor 6, a second illuminance sensor 7, and an information processing device 10. The camera 5, the first illuminance sensor 6, and the information processing device 10 are all located inside the closed space 2. The second illuminance sensor 7 is located outside the closed space 2. The information processing device 10 may also be located outside the closed space 2.

[0015] The enclosed space 2 is a space of a certain size where vehicle movement is expected, such as a garage, parking lot, or factory. As shown in Figure 1(A), the enclosed space 2 is provided with at least one shutter 3 connecting the inside and outside of the enclosed space 2 for the vehicle 4 to enter and exit. The shutter 3 has a structure that allows it to be opened and closed in the vertical direction.

[0016] The camera 5 photographs the surrounding space where the camera 5 is installed. The space photographed by the camera 5 (hereinafter also referred to as the "photographing space of the camera 5") 8 includes a road provided on the floor and wall surfaces constituting the closed space 2. Further, the camera 5 may have a zoom function so that when a vehicle 4 is recognized on the road in the closed space 2, it can photograph the surrounding space of the vehicle 4 by enlarging it.

[0017] The first illuminance sensor 6 is a sensor that acquires the inner illuminance indicating the illuminance in the photographing space of the camera 5. In the example shown in Fig. 1(A), the first illuminance sensor 6 is fixedly attached to the inner wall surface constituting the closed space 2 and the inner wall surface included in the photographing space of the camera 5. The first illuminance sensor 6 may be attached to the vehicle 4. In this case, the illuminance acquired from the first illuminance sensor 6 while the vehicle 4 is recognized by the camera 5 is treated as the inner illuminance.

[0018] The second illuminance sensor 7 is a sensor that acquires the outer illuminance indicating the illuminance outside the closed space 2. In the example shown in Fig. 1(A), the second illuminance sensor 7 is fixedly attached to the outer wall surface constituting the closed space 2 and the outer wall surface where the shutter 3 is installed. The second illuminance sensor 7 may be attached to a vehicle existing outside the closed space 2. In this case, for example, based on the position information of a vehicle existing outside the closed space 2, a vehicle existing near the closed space 2 is specified. Then, in the same time zone as the time zone when the inner illuminance is acquired by the first illuminance sensor 6, the illuminance acquired by the second illuminance sensor 7 of the specified vehicle is treated as the outer illuminance.

[0019] The information processing device 10 is a device that performs recognition processing of the vehicle 4 included in the camera image photographed by the camera 5. The information processing device 10 is connected to each of the devices of the shutter 3, the camera 5, the first illuminance sensor 6, and the second illuminance sensor 7. Each between the information processing device 10 and each device is connected, for example, by a cable. Incidentally, when a communication device is provided in each device, the information processing device 10 may acquire various information via each communication device provided in each device.

[0020] Here, as shown in FIG. 1(B), consider the case where the shutter 3 is opened to move the vehicle 4 from the inside of the closed space 2 to the outside of the closed space 2. In this case, light 9 is incident from the entrance connecting the inside and the outside of the closed space 2 toward the inside of the closed space 2. If the reflected light of the light 9 incident on the inside of the closed space 2 is captured by the camera 5 in a predetermined amount or more, there is a possibility that whiteout may occur in the camera image captured by the camera 5.

[0021] According to the vehicle recognition device 1 according to the embodiment, when the vehicle 4 moving from the inside of the closed space 2 to the outside of the closed space 2 approaches the shutter 3, the information processing device 10 issues an automatic opening command to the shutter 3. Further, when the outside illuminance is higher than the inside illuminance, the information processing device 10 performs whiteout countermeasure processing for suppressing the occurrence of whiteout at the position of the vehicle 4 in the camera image. Furthermore, when the outside illuminance is higher than the inside illuminance and it is determined that the shutter 3 is open, the information processing device 10 performs brightness correction processing for correcting the brightness of the camera image. The determination as to whether the shutter 3 is open or not is made based on, for example, the opening / closing information of the shutter 3. The opening / closing information of the shutter 3 includes, for example, information on the opening / closing button (open button or close button) of the shutter 3. Details of each process will be described later.

[0022] 2. Specific Example 2-1. Example of Automatic Opening Command Figure 2 is an explanatory diagram showing a specific example of the vehicle recognition device 1 according to the embodiment. Specifically, Figure 2 shows an example in which an automatic opening command is issued to the shutter 3 when a vehicle 4 approaches the shutter 3. In the example shown in Figure 2(A), an example is shown in which the distance from the shutter 3, which is provided at the entrance / exit of the vehicle 4 in the enclosed space 2, to the vehicle 4 is greater than or equal to the initial setting distance. In this case, since the distance from the vehicle 4 to the shutter 3 is greater than a certain distance, an automatic opening command is not issued to the shutter 3. The initial setting distance refers to the set distance from the vehicle 4 to the shutter 3 used as a condition for opening the shutter 3. The distance from the vehicle 4 to the shutter 3 is estimated, for example, based on the position of the front part of the vehicle 4 recognized by the camera 5. In another example, it is estimated based on sensor information acquired by recognition sensors (onboard camera, radar, LiDAR, etc.) mounted on the vehicle 4.

[0023] On the other hand, the example shown in Figure 2(B) illustrates a case where the distance from vehicle 4 to shutter 3 is less than the initial setting distance. In this case, since the distance from vehicle 4 to shutter 3 is not greater than a certain distance, the information processing device 10 issues an automatic opening command to shutter 3 so that vehicle 4 can move from inside the enclosed space 2 to outside the enclosed space 2.

[0024] Here, we consider the factors that cause overexposure in the camera image. Overexposure in the camera image occurs when the external illuminance is higher than the internal illuminance. Therefore, the information processing device 10 determines whether the external illuminance is higher than the internal illuminance. However, if the determination of whether the external illuminance is higher than the internal illuminance is made with the shutter 3 open, the vehicle 4 is close to the shutter 3, so the light 9 incident towards the inside of the enclosed space 2 and the vehicle 4 overlap, and overexposure may occur at the location of the vehicle 4 in the camera image. Therefore, this determination is made before the shutter 3 is opened. This determination may be made, for example, before an automatic open command is issued to the shutter 3, or it may be made after an automatic open command is issued to the shutter 3 but before the shutter 3 is opened.

[0025] Furthermore, even if the external illuminance is determined to be higher than the internal illuminance, if the difference between the external and internal illuminances is less than a predetermined value, it can be said that there is a low possibility of overexposure in the camera image. Therefore, the information processing device 10 may perform overexposure prevention processing at the location of the vehicle 4 in the camera image if the external illuminance is higher than the internal illuminance and the difference between the external and internal illuminances is greater than or equal to a predetermined value.

[0026] 2-2. Examples of overexposure prevention measures Figure 3 shows an example of the overexposure prevention process for camera images performed by the information processing device 10. The overexposure prevention process includes either a process to increase the initial setting distance used as the condition for issuing an automatic open command to the shutter 3, or a process to send a deceleration command to the vehicle 4. Details of each process will be explained below.

[0027] The process for expanding the initial setting distance will now be explained. This process is performed based on the estimated time it takes for the vehicle 4 to reach the shutter 3. Specifically, as shown in Figure 3(A), if the estimated time for the vehicle 4 to reach the shutter 3 is greater than or equal to a threshold, that is, if the estimated arrival time is long, an automatic opening command is issued to the shutter 3 when the vehicle 4 passes the initial setting distance. In this case, the possibility of the light 9 incident towards the inside of the closed space 2 when the shutter 3 opens overlapping with the vehicle 4 is low. Therefore, if the estimated time for the vehicle 4 to reach the shutter 3 is greater than or equal to a threshold, it is not necessary to change the initial setting distance.

[0028] On the other hand, as shown in Figure 3(B), consider the case where the estimated arrival time for vehicle 4 to reach shutter 3 is less than the threshold, i.e., the estimated arrival time is short. In this case, when vehicle 4 passes the initial setting distance, an automatic open command is issued to shutter 3, and when shutter 3 opens, there is a high possibility that the light 9 incident towards the inside of the closed space 2 will overlap with vehicle 4. Therefore, the recognition accuracy of vehicle 4 may decrease. For this reason, if the estimated arrival time for vehicle 4 to reach shutter 3 is less than the threshold, the initial setting distance is increased, as shown in Figure 3(B). This makes the distance from vehicle 4 to shutter 3 longer than the initial setting distance, so that vehicle 4 does not come into contact with the light 9 when shutter 3 opens. Thus, it is possible to suppress the occurrence of overexposure at the position of vehicle 4 in the camera image. Note that if the estimated arrival time is less than the threshold, the information processing device 10 may increase the initial setting distance based on the distance set according to the estimated arrival time.

[0029] Next, the process of sending a deceleration command to vehicle 4 will be described. This process is performed based on the estimated time it takes for vehicle 4 to reach shutter 3, similar to the process of expanding the initial setting distance described above. Specifically, as shown in Figure 3(C), if the estimated time it takes for vehicle 4 to reach shutter 3 is less than a threshold, that is, if the estimated time is short, the initial setting distance is not changed, and a deceleration command is sent to vehicle 4 by the information processing device 10 before vehicle 4 passes the initial setting distance. This increases the estimated time it takes for vehicle 4 to reach shutter 3, preventing vehicle 4 from being exposed to light 9 when shutter 3 opens. Therefore, it is possible to suppress the occurrence of overexposure at the position of vehicle 4 in the camera image. If the estimated time is less than a threshold, the information processing device 10 may generate a command to decelerate vehicle 4 based on the amount of deceleration set for vehicle 4 according to the estimated time.

[0030] 2-3. Example of brightness correction processing Brightness correction processing includes at least one of the following: adjustment of camera 5 parameters and correction of the camera image. Parameter adjustment of camera 5 is performed based on the camera 5's settings information. Camera 5's settings information includes the camera 5's shutter speed information. Therefore, adjusting camera 5 parameters means adjusting the camera 5's shutter speed. For example, if the camera image is prone to overexposure, the camera 5's shutter speed setting is adjusted to increase its speed. This suppresses the amount of reflected light from the light 9 captured by the camera 5. Thus, situations where overexposure in the camera image could occur are improved.

[0031] Next, we will explain camera image correction. Camera image correction is performed based on the brightness calculated from the camera image. In other words, if the brightness calculated from the camera image is above a certain threshold, it can be said that the camera image is in a situation where overexposure may occur. Therefore, by correcting the brightness of the camera image so that it falls below the threshold, the situation in which overexposure may occur in the camera image can be improved.

[0032] 3. Example Configuration Figure 4 is a block diagram showing an example configuration of the information processing device 10 in the vehicle recognition device 1 according to an embodiment. The information processing device 10 includes a processor 20 and a storage device 30. The processor 20 performs various processes such as recognizing a vehicle 4 included in a camera image and opening and closing a shutter 3 provided at the entrance / exit of the vehicle 4 in the enclosed space 2. The storage device 30 stores various information necessary for processing by the processor 20.

[0033] The various types of information stored in the memory device 30 include camera image information, shutter 3 open / close information, interior illumination information, exterior illumination information, and camera 5 setting information. The shutter 3 open / close information includes information about the shutter 3's open / close button. The camera 5 setting information includes information about the camera 5's shutter speed.

[0034] The storage device 30 further includes a vehicle recognition program (not shown). The vehicle recognition program is a computer program executed by the processor 20. The execution of the vehicle recognition program by the processor 20 enables the functionality of the vehicle recognition device 1.

[0035] Furthermore, the connection between the various sensors, including the camera 5, the first illuminance sensor 6, and the second illuminance sensor 7, and the information processing device 10 may be via a cable (first connection), or via communication devices provided on the various sensors (second connection). When the connection between the various sensors and the information processing device 10 is a second connection, the information processing device 10 further includes a communication device capable of communicating with each sensor.

[0036] 4. Processing Example Figure 5 is a flowchart showing an example of processing by the information processing device 10 in the vehicle recognition device 1 according to the embodiment.

[0037] In step S100, the information processing device 10 acquires various types of information. The process then proceeds to step S110. The various types of information include camera image information, shutter 3 open / close information, inner illumination information, outer illumination information, and camera 5 setting information.

[0038] In step S110, the information processing device 10 determines whether the external illuminance is higher than the internal illuminance based on the external illuminance information and the internal illuminance information. If it is determined that the external illuminance is higher than the internal illuminance (step S110; Yes), the process proceeds to step S120. Otherwise (step S110; No), the process ends.

[0039] In step S120, the information processing device 10 performs overexposure countermeasures. The process then proceeds to step S130. As described above, the overexposure countermeasures include either a process to increase the initial setting distance or a process to send a deceleration command to the vehicle 4.

[0040] In step S130, the information processing device 10 determines whether the distance from the shutter 3 to the vehicle 4 is less than or equal to the initial setting distance. If it is determined that the distance from the shutter 3 to the vehicle 4 is less than or equal to the initial setting distance (step S130; Yes), the process proceeds to step S140. Otherwise (step S130; No), the process returns to step S130. The initial setting distance used in the determination in this step shall be based on the set distance after it has been expanded, if the process of expanding the initial setting distance was executed in step S120 as described above.

[0041] In step S140, the information processing device 10 sends an automatic open command to the shutter 3. The process then proceeds to step S150.

[0042] In step S150, the information processing device 10 determines whether the shutter 3 is open or not based on the opening and closing information of the shutter 3. If it is determined that the shutter 3 is open (step S150; Yes), the process proceeds to step S160. Otherwise (step S150; No), the process returns to step S150.

[0043] In step S160, the information processing device 10 performs brightness correction processing of the camera image. As described above, the brightness correction processing includes at least one of the following processes: adjusting the shutter speed of the camera 5 and correcting the brightness calculated from the camera image.

[0044] 5. Effects As described above, in the vehicle recognition device 1 according to this embodiment, when the external illumination is higher than the internal illumination, that is, when a situation may occur in which the camera image may be overexposed, a process to prevent overexposure is performed to prevent overexposure from occurring at the location of the vehicle 4 in the camera image. In the overexposure prevention process, one of the following processes is executed: a process to increase the initial setting distance used as the condition for issuing an automatic opening command to the shutter 3, and a process to send a deceleration command to the vehicle 4. This makes it possible to suppress the decrease in the accuracy of vehicle recognition based on the camera image containing the vehicle 4 when the shutter 3 opens. [Explanation of Symbols]

[0045] 1…Vehicle recognition device, 2…Enclosed space, 3…Shutter, 4…Vehicle, 5…Camera, 6…First illuminance sensor, 7…Second illuminance sensor, 8…Shooting space, 9…Light, 10…Information processing device, 20…Processor, 30…Storage device

Claims

1. A vehicle recognition device that recognizes vehicles located within a closed space, A storage device that stores camera images acquired by a camera installed in the enclosed space, information on internal illuminance indicating the illuminance inside the enclosed space and within the camera's shooting area, information on external illuminance indicating the illuminance outside the enclosed space, and information on the estimated arrival time until the vehicle reaches a shutter provided at the vehicle entrance / exit in the enclosed space. A processor that performs the recognition process of the vehicle included in the camera image and the opening and closing process of the shutter, Equipped with, The processor, in the opening and closing process, performs the process of sending an automatic opening command to the shutter when the distance from the shutter to the vehicle falls below the initial setting distance. The aforementioned processor further, Based on the external illuminance information and the internal illuminance information, it is determined whether the external illuminance is higher than the internal illuminance. If the external illuminance is determined to be higher than the internal illuminance, and the estimated arrival time is less than a threshold, the system is configured to expand the initial setting distance based on a distance set according to the estimated arrival time. A vehicle recognition device characterized by the following features.

2. A vehicle recognition device for recognizing a vehicle located in a closed space, A storage device that stores camera images acquired by a camera installed in the enclosed space, information on internal illuminance indicating the illuminance inside the enclosed space and within the camera's shooting area, information on external illuminance indicating the illuminance outside the enclosed space, and information on the estimated arrival time until the vehicle reaches a shutter provided at the vehicle entrance / exit in the enclosed space. A processor that performs the recognition process of the vehicle included in the camera image and the opening and closing process of the shutter, Equipped with, The processor, in the opening and closing process, performs the process of sending an automatic opening command to the shutter when the distance from the shutter to the vehicle falls below the initial setting distance. The aforementioned processor further, Based on the external illuminance information and the internal illuminance information, it is determined whether the external illuminance is higher than the internal illuminance. If the external illuminance is determined to be higher than the internal illuminance, and the estimated arrival time is less than a threshold, the system is configured to generate a command to decelerate the vehicle based on the amount of deceleration set according to the estimated arrival time. A vehicle recognition device characterized by the following features.

3. A vehicle recognition device according to claim 1, The storage device further includes information on opening and closing the shutter, The aforementioned processor further, Based on the opening / closing information, it is determined whether the shutter is open or not. The system is configured to perform brightness correction processing to correct the brightness of the camera image when it is determined that the shutter is open and the external illuminance is higher than the internal illuminance. A vehicle recognition device characterized by the following features.

4. A vehicle recognition method for recognizing a vehicle located within a closed space, The process involves recognizing the vehicle included in the camera image acquired by the camera installed in the enclosed space, and opening and closing a shutter provided at the entrance / exit of the vehicle in the enclosed space. In the opening and closing process, when the distance from the shutter to the vehicle falls below the initial setting distance, an automatic opening command is transmitted to the shutter. Based on external illuminance information indicating the illuminance outside the enclosed space and internal illuminance information indicating the illuminance inside the enclosed space and within the camera's shooting space, it is determined whether the external illuminance is higher than the internal illuminance. If the external illuminance is determined to be higher than the internal illuminance, and the estimated time for the vehicle to reach the shutter is less than a threshold, the initial setting distance is increased based on the distance set according to the estimated time. including A vehicle recognition method characterized by the following features.

5. A vehicle recognition method for recognizing a vehicle located in a closed space, The process involves recognizing the vehicle included in the camera image acquired by the camera installed in the enclosed space, and opening and closing a shutter provided at the entrance / exit of the vehicle in the enclosed space. In the opening and closing process, when the distance from the shutter to the vehicle falls below the initial setting distance, an automatic opening command is transmitted to the shutter. Based on external illuminance information indicating the illuminance outside the enclosed space and internal illuminance information indicating the illuminance inside the enclosed space and within the camera's shooting space, it is determined whether the external illuminance is higher than the internal illuminance. If the external illuminance is determined to be higher than the internal illuminance, and the estimated time for the vehicle to reach the shutter is less than a threshold, a command is generated to decelerate the vehicle based on the amount of deceleration set according to the estimated time for arrival. including A vehicle recognition method characterized by the following features.

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