JP2017134441A - Reverse run determination system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reverse run determination system capable of simply determining reverse run of a vehicle.SOLUTION: A reverse run determination system 1 comprises a camera 8, a road sign 6, and a determination program P. The camera 8 images a view in a travelling direction of a vehicle 7 and acquires a captured image. The road sign 6 indicates information to a driver of the vehicle 7 which travels in a forward direction, and on the other hand, gives an indication obtained by inverting the information to the driver of the vehicle 7 which runs reversely and is also positioned in the view, so that inverted information is reflected in the captured image. A determination program P determines that the vehicle 7 runs reversely, when the inverted information is detected from the captured image.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a reverse running determination system.

  For example, Patent Literature 1 discloses a device that warns a driver of a vehicle that runs backwards that the vehicle runs backward.

JP 2007-293390 A

  In the device of Patent Document 1, in order to determine the reverse running of the vehicle based on the positional relationship between the road sign and the traveling lane in the captured image obtained by imaging the periphery of the vehicle, the positional relationship between the road sign and the traveling lane is determined from the captured image. Complicated processing is required.

  An object of the present invention is to provide a reverse running determination system that can easily determine reverse running of a vehicle.

Means for Solving the Problems and Effects of the Invention

The reverse running determination system of the present invention is
An imaging unit that captures a captured image by capturing a landscape in the traveling direction of the vehicle;
While displaying information to the driver of the vehicle traveling in the forward direction while displaying the information inverted to the driver of the vehicle traveling backward, the display unit is located in the landscape and the information is reflected in the captured image;
A determination unit that determines that the vehicle is running backward when detecting inverted information from the captured image;
It is characterized by providing.

  In the reverse running determination system of the present invention, when the vehicle travels in the forward direction, the information on the display unit is reflected in the captured image without being reversed, whereas when the vehicle runs backward, the information on the display unit is reversed. The captured image is reflected in the state. Therefore, it can be determined that the vehicle is running backward only by detecting the inverted information from the captured image. As a result, the reverse running of the vehicle can be easily determined.

  In the embodiment of the present invention, when the determination unit determines that the vehicle is running backward, the vehicle is provided with a notification unit that notifies the driver of the vehicle running backward.

  According to this, it is possible to notify the vehicle driver of the reverse running of the vehicle.

  In an embodiment of the present invention, the display unit includes a road sign having a front surface for displaying information and a back surface for displaying inverted information.

  According to this, information obtained by inverting information on the surface of the conventional road sign on the back surface of the conventional road sign can be used as the display unit. Therefore, the conventional road sign can be used and the infrastructure cost of the display unit can be reduced.

In an embodiment of the present invention,
There is a one-way road that branches off from the main road of the expressway or toll road and goes to the service area.
Road signs are placed beside the road.

  According to this, the reverse running of the vehicle can be determined on the road where the reverse running frequently occurs.

  In the embodiment of the present invention, a plurality of road signs are installed along the road.

  According to this, it becomes easy to detect reverse running by installing a plurality of road signs in order to detect reverse running.

In an embodiment of the present invention,
The road sign has a main line sign placed beside the main line,
A shelter is provided near the main line sign.

  According to this, if the driver can recognize the reverse running of the host vehicle when the main line sign is detected and it is determined that the vehicle is running backward, the host vehicle can be retreated to a rest area.

In an embodiment of the present invention,
When the determination unit detects both inverted information and non-inverted information from the captured image, the vehicle runs backward on the condition that the inverted information area in the captured image is larger than the uninverted information area. It is determined that

  For example, even if the display unit for the oncoming lane appears in the captured image while the vehicle is traveling, the display unit is located farther than the display unit for the lane in which the vehicle is traveling. For this reason, the determination unit erroneously determines that the vehicle traveling in the forward direction is running backward by weighting the inverted information and the non-inverted information according to the size of the area in the captured image. It becomes possible to suppress.

The conceptual diagram which shows the service area, the main line of a highway, a vehicle, etc. to which the system of an example of this invention is applied. FIG. 2 is a schematic front view showing the speed limit sign of FIG. 1. The model rear view of FIG. 2A. FIG. 2 is a schematic front view showing the guide sign of FIG. 1. The model rear view of FIG. 3A. 3 is a schematic front view showing the guide sign of FIG. 1 (a guide sign different from FIG. 3A). FIG. The schematic rear view of FIG. 4A. The block diagram which shows the internal structure of the vehicle of FIG. The schematic diagram which shows an example of the captured image which the camera of the vehicle which drive | works a deceleration lane in a forward direction imaged. FIG. 6 is a schematic diagram illustrating an example of a captured image captured by an imaging device of a vehicle traveling in a forward direction on a deceleration lane (a captured image in which the vehicle is further advanced from FIG. 6A). The schematic diagram which shows an example of the picked-up image imaged with the camera of the vehicle which runs backward on the one-way road. The schematic diagram which shows an example of the picked-up image which the camera of the vehicle which reverse | retreats on a deceleration lane imaged (the picked-up image on which the vehicle further reversed from FIG. 7A). The schematic diagram different from FIG. 6B which shows an example of the captured image which the camera of the vehicle which drive | works a deceleration lane in a forward direction imaged. The schematic diagram different from FIG. 7A which shows an example of the captured image which the camera of the vehicle which runs backward on the one-way road imaged.

  1 is connected to a deceleration lane 3 adjacent to a main road 2 of a highway or toll road and uses a road 5 that is a one-way curve toward a service area 4. To do. The reverse running determination system 1 includes a road sign 6 and a vehicle 7 traveling on the road 5, and determines the vehicle 7 traveling backward on the road 5.

  The road sign 6 is installed beside the deceleration lane 3 adjacent to the main line 2 and the road 5 connected to the deceleration lane 3. The road sign 6 is a display board that provides necessary information to the driver of the vehicle 7 traveling on the road 5, the deceleration lane 3, and the like. This display board has the surface on which the character which is the information provided to the driver | operator of the vehicle 7 was displayed, and the back surface on which the character was reversed and displayed. In FIG. 1, a speed limit sign 6 a and guide signs 6 b and 6 c are illustrated as road signs 6.

  The speed limit sign 6a is installed near the entrance and exit of the road 5. The speed limit sign 6a has a surface (FIG. 2A) on which a number 30 is displayed indicating the speed limit (30 km / h) of the vehicle 7 traveling on the road 5, and the number displayed on the surface is reversed left and right. It has a back side (FIG. 2B) on which things are displayed.

  The guide sign 6b is installed beside the deceleration lane 3. The guide sign 6b is an arrow indicating the direction of the service area 4, a symbol indicating the equipment of the service area 4, and a character (BCD) indicating the name of the service area 4 for the driver of the vehicle 7 traveling on the main line 2 or the deceleration lane 3. Has a surface (FIG. 3A) on which is displayed. In addition, the guide sign 6b has a back surface (FIG. 3B) on which an arrow, a symbol, a character, and the like displayed on the front surface are reversed left and right.

  The guide sign 6 c is installed between the main line 2 and the road 5. As for the guide sign 6c, the surface (FIG. 4A) on which the arrow indicating the direction of the service area 4 and the letter P are displayed, and the arrow and the letter P displayed on the surface are reversed left and right are displayed. It has a back surface (FIG. 4B).

  As shown in FIG. 5, a vehicle 8 traveling on a deceleration lane 3 or a road 5 on which a speed limit sign 6a and guide signs 6b and 6c are installed includes a camera 8 and an electronic control unit (ECU) 9 as shown in FIG. And a speaker 10. The camera 8, ECU 9, and speaker 10 are electrically connected to transmit and receive data.

  The camera 8 is installed, for example, so that the scenery in front of the vehicle 7 can be captured through the front window. A captured image obtained by capturing a landscape in the traveling direction in which the vehicle 7 moves forward is acquired by the camera 8. The camera 8 corresponds to the “imaging unit” of the present invention.

  6A and 6B show an example of a captured image captured by the camera 8 of the vehicle 7 traveling in the forward direction on the deceleration lane 3. FIG. 6A is a captured image in which the camera 8 captures the background of the traveling direction of the vehicle 7 traveling in the deceleration lane 3 toward the service area 4. In this captured image, a guide sign 6b located beside the deceleration lane 3 (sideward), and a speed limit sign 6a and a guide sign 6c located near the entrance of the road 5 are reflected. FIG. 6B is a captured image captured by the camera 8 of the vehicle 7 that further travels on the deceleration lane 3 from the situation of FIG. 6A. In this captured image, a speed limit sign 6 a and a guide sign 6 c located near the entrance of the road 5 and a speed limit sign 6 a located near the exit of the road 5 are reflected.

  FIGS. 7A and 7B show an example of a captured image captured by the camera 8 of the vehicle 7 that runs backward on the one-way road 5 and the deceleration lane 3. FIG. 7A is a captured image in which the camera 8 captures the background of the traveling direction of the vehicle 7 that runs backward on the road 5. The captured image includes a speed limit sign 6 a located near the exit and entrance of the road 5 and a guide sign 6 c located near the entrance of the road 5. FIG. 7B is a captured image obtained by the camera 8 capturing a scene in the traveling direction of the vehicle 7 that further reversely travels on the road 5 and reversely travels on the deceleration lane 3 from the situation of FIG. 7A. In this captured image, there is a guide sign 6b on the side of the deceleration lane 3 and a shelter S in the back of the guide sign 6b.

  As shown in FIGS. 6A and 6B, characters and the like displayed on the surfaces of the speed limit sign 6a and the guide signs 6b and 6c appear in the captured image captured by the camera 8 of the vehicle 7 traveling in the forward direction. On the other hand, as shown in FIGS. 7A and 7B, the captured image captured by the camera 8 of the vehicle 7 running in reverse is reversed left and right displayed on the back of the speed limit sign 6a and the guide signs 6b and 6c. Letters are reflected. Such image data of the captured image is sequentially transmitted from the camera 8 to the ECU 9.

  The ECU 9 is a main body that determines reverse running of the vehicle 7 by recognizing characters and the like reversed left and right from the image data (captured image) transmitted from the camera 8. As shown in FIG. 5, the ECU 9 includes a CPU 9a, a RAM 9b, a ROM 9c, and a bus 9d for connecting them. The CPU 9a executes programs recorded in the ROM 9c to control various information processing. The CPU 9a determines, for example, reverse running of the vehicle 7 based on the captured image captured by the camera 8. The RAM 9b is a readable / writable memory, and is a volatile storage unit that functions as a work area when the CPU 9a performs information processing. The RAM 9b stores image data of captured images that are sequentially transmitted from the camera 8. The ROM 9c is a read-only memory. In the ROM 9c, basic programs, parameters, and data for operating the ECU 9 are recorded. The ROM 9c stores, for example, a determination program P that determines reverse running of the vehicle 7 based on captured image data stored in the RAM 9b and various data. Various data includes an image obtained by inverting the number 30 with the speed limit sign 6a to the left and right, an image obtained by inverting the character with the BCD of the guide sign 6b, and an image obtained by inverting the character with the P of the guide sign 6c to the left and right. And the like, there is data of the reverse image I. Hereinafter, the determination program P will be specifically described.

  The determination program P determines reverse running of the vehicle 7 based on the captured image stored in the RAM 9b. In the determination program P, an area estimated to be a character is extracted from the captured image, and the extracted image is compared with the reverse image I stored in the ROM 9c to determine whether an image corresponding to the reverse image I is reflected in the captured image. . When the image corresponding to the reverse image I is reflected in the captured image, the determination program P determines that the vehicle 7 is running backward.

  When the ECU 9 determines the reverse running of the vehicle 7 by the determination program P, the ECU 9 transmits a control signal to the speaker 10 in order to notify the driver of the reverse running of the vehicle 7. The speaker 10 notifies the driver of the vehicle 7 of the reverse running of the vehicle 7 based on the control signal.

  Next, processing of the determination program P in the ROM 9c will be described. This process is a series of processes in which the determination program P is read out by the CPU 9a using the RAM 9b as a work area and the reverse movement of the vehicle 7 is determined based on the captured image captured by the camera 8. For example, it is repeatedly executed until the vehicle 7 starts running and the vehicle 7 stops.

  When the vehicle 7 starts traveling, a captured image obtained by capturing the traveling direction of the vehicle 7 from the camera 8 to the ECU 9 is sequentially transmitted to the ECU 9 as image data. The CPU 9a stores the transmitted image data in the RAM 9b, extracts a region estimated as a character from the stored image data, and compares the extracted image with the image of the reverse image data I stored in the ROM 9c. When the vehicle 7 runs backward on the road 5, as shown in FIGS. 7A and 7B, the characters such as the speed limit sign 6a and the guide signs 6b and 6c are displayed in an inverted manner in the captured image of the camera 8. Therefore, in such a case, an image corresponding to the image of the inverted image data I is reflected in the captured image, so that an inverted character or the like is detected, and it is determined that the vehicle 7 is running backward. Then, CPU9a transmits the control signal which alert | reports reverse running to the driver | operator of the vehicle 7 to the speaker 10, and the driver | operator is alert | reported to the driver | operator by the speaker 10. On the other hand, when the vehicle 7 travels on the road 5 in the forward direction, the characters such as the speed limit sign 6a and the guidance signs 6b and 6c are reversed in the captured image of the camera 8 as shown in FIGS. 6A and 6B. It is reflected without being done. Therefore, in such a case, since the image corresponding to the image of the reverse image data I is not reflected in the captured image, it is determined that the vehicle 7 is traveling in the forward direction, and the driver is not notified. Such a series of processes is repeatedly executed until the vehicle 7 stops traveling, for example.

  In the reverse running determination system 1, when the vehicle 7 travels in the forward direction, the characters on the surface of the speed limit sign 6a and the guide signs 6b and 6c are reflected in the captured image without being reversed. On the other hand, when the vehicle 7 runs backward, the characters on the back surface of the speed limit sign 6a and the guide signs 6b and 6c are reflected in the captured image. Therefore, it can be determined that the vehicle 7 is running backward only by detecting a reversed character or the like from the captured image. As a result, the reverse running of the vehicle 7 can be easily determined. When it is determined that the vehicle 7 is running backward, the speaker 10 informs the driver of the vehicle 7 running backward, so that the vehicle 7 can be prevented from running backward.

  Further, the speed limit sign 6a and the guide signs 6b and 6c used for determining the reverse running of the vehicle 7 include a front surface having characters that are not reversed and a back surface having characters that are reversed. Therefore, what is necessary is just to provide the reverse of the character etc. of the surface of a conventional road sign on the back surface of a conventional road sign, and can reduce an infrastructure cost. Since the speed limit sign 6a and the guide signs 6b and 6c are installed beside the deceleration lane 3 and the road 5, it is possible to determine the reverse travel of the vehicle 7 at a point where the reverse travel frequently occurs. Further, since a plurality of speed limit signs 6a are installed along the road 5, it becomes easy to detect reverse running. On the other hand, the guide sign 6b is installed beside the main line 2 and the deceleration lane 3, and there is a shelter S in the vicinity thereof (FIG. 7B). The vehicle 7 can be retracted to the rest area S.

  In the above description, an example in which the reverse running of the vehicle 7 is determined by the road sign 6 reflected in the captured image has been described, but the reverse running of the vehicle 7 may be determined by a road marking as shown in FIGS. 8A and 8B. FIG. 8A is a captured image obtained by the camera 8 capturing a scene in the traveling direction of the vehicle 7 traveling in the forward direction on the deceleration lane 3 toward the service area 4. In this captured image, a road marking 11, which is a numeral with 30 indicating the speed limit (30 km / h) of the vehicle 7 traveling on the road 5, is reflected on the road surface of the road 5. On the other hand, FIG. 8B is a captured image obtained by the camera 8 capturing a landscape in the traveling direction of the vehicle 7 running backward on the road 5. In this captured image, the road marking 11 is reflected on the road surface of the road 5 with the top and bottom of FIG. In the captured image captured by the camera 8 of the vehicle 7 traveling in the forward direction as shown in FIG. 8A, the character “30” of the road marking 11 is reflected without being inverted. On the other hand, as shown in FIG. 8B, the characters of the road marking 11 are inverted and reflected in the captured image captured by the camera 8 of the vehicle 7 that runs backward. Therefore, the determination program P may determine reverse running of the vehicle 7 even when a character obtained by inverting the character of the road marking 11 up and down is recognized from the captured image.

  In the above description, an example in which a road sign for an oncoming lane is not reflected in the captured image has been described. In this case, the guide sign 6b for the opposite lane is located farther than the guide sign 6b for the main line 2 and the deceleration lane 3 where the vehicle 7 runs backward in the forward direction. Therefore, in this case, the determination program P may determine the reverse running of the vehicle 7 on the condition that the area of the reversed character or the like is wider than the area of the non-reversed character or the like. In this way, the weight of the reverse running determination is weighted according to the size of the reversed characters and the non-reversed characters in the captured image, so that the vehicle 7 traveling in the forward direction runs backward. It is possible to suppress erroneous determination as being.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the specific description, and the illustrated configuration, processing, and the like may be appropriately combined and implemented within a technically consistent range. It is possible, and certain elements and processes can be replaced with known forms.

1 Reverse running determination system 2 Main line 3 Deceleration lane 4 Service area 5 Road 6 Road sign (display section)
6a Speed limit sign (display part) 6b Information sign (display part)
6c Information sign (display unit) 7 Vehicle 8 Camera (imaging unit) 9 ECU (determination unit)
10 Speaker 11 Road marking (display part)

Claims (7)

An imaging unit that captures a captured image by capturing a landscape in the traveling direction of the vehicle;
While displaying information to the driver of the vehicle traveling in the forward direction, the information is reversed and displayed to the driver of the vehicle traveling backward, and the information is displayed in the captured image located in the landscape. A display where the
A determination unit that determines that the vehicle is running backward when detecting the inverted information from the captured image;
A reverse running determination system comprising:   The reverse running determination system according to claim 1, further comprising a notifying unit that notifies the driver of the reverse running of the vehicle when the judging unit determines that the vehicle is running backward.   The reverse running determination system according to claim 1 or 2, wherein the display unit includes a road sign having a front surface for displaying the information and a back surface for displaying the inverted information. There is a one-way road that branches off from the main road of the expressway or toll road and goes to the service area.
The reverse running determination system according to claim 3, wherein the road sign is installed beside the road.   The reverse running determination system according to claim 4, wherein a plurality of the road signs are installed along the road. The road sign has a main line sign installed beside the main line,
The reverse running determination system according to claim 4 or 5, further comprising a shelter in the vicinity of the main line sign.   When the determination unit detects both the inverted information and the non-inverted information from the captured image, the determined information area in the captured image is wider than the non-inverted information area. The reverse running determination system according to any one of claims 1 to 6, wherein it is determined that the vehicle is running backward according to a condition.

Images