JP5045980B2 - Information transmission system, moving body control device, moving body control method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an information transmission system that does not require huge costs by using existing road equipment and widespread imaging devices and is immune from interference. <P>SOLUTION: Output information generation parts 304 of respective LED signals 30 and 31 each read and code signal information coded by "1" and "0" to output light P having a time series luminance change pattern by a red light 300, yellow light 301 or blue light 302. An imaging device 2 mounted on a vehicle 1 captures an image within an imaging angle, and if the image includes the image of a lighting light, reproduces the signal information from the flashing pattern and generates and outputs control information necessary, for example, for idling stop and other vehicle control, or car navigation control, according to the reproduced information. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

The present invention relates to an information transmission system that can be used on a field in which a movement rule is set, for example, a road in which a traffic rule is set, a mobile control device, a mobile control method, and a program .

  ITS (Intelligent Transport Systems) is known as a system for transmitting preset traffic rules and road information to vehicles. This ITS is a new traffic system that is built to solve road traffic problems such as traffic accidents and traffic jams by networking people, roads and vehicles with information using the most advanced information communication technology. Therefore, it is expected that this system can significantly reduce the amount of fuel consumed in vain due to traffic congestion.

  Therefore, in a new traffic system such as the above-mentioned ITS, for example, traffic signal information (remaining time information changing from red to blue, etc.) is sent from the nearest road infrastructure (traffic signal, etc.) to the vehicle. On the other hand, it is considered to determine whether or not the idling stop should be performed according to the length of the remaining time. In this way, the idling stop can be executed only when a long stop is expected. As a result, the above inconveniences (deterioration of fuel consumption, startiness, etc.) can be solved.

  As a method for transmitting information from the nearest road infrastructure to the vehicle, for example, the following can be considered.

  First, the first conceivable method is a method using radio waves. In other words, this is an information transmission method using radio waves in which a transmitter and a radio antenna (beacon) are installed in a traffic signal or the like, and a radio wave transmitted from the antenna is received by a receiver mounted on a vehicle (for example, Patent Documents). 1).

Japanese Unexamined Patent Publication No. 2003-118498 (page 5-6, FIG. 6)

  However, in this wireless communication method, it is necessary to newly develop infrastructure for installing a beacon, and the vehicle itself must be equipped with a special receiver in order to support this system. There are disadvantages that various problems are expected before the spread of frequency band allocation, countermeasures for avoiding interference, and the like.

The present invention has been made in view of such a problem, and by using road equipment already provided and a widespread imaging device, further interference and interference can be prevented without generating enormous costs. Another object of the present invention is to provide a strong information transmission system, a moving body control device, a moving body control method, and a program .

Invention of claim 1, wherein a light source for more present on the mobile rule is set field, an information transmission system consisting of an imaging device that moves with a movable body that moves the field, the light source moves An acquisition means for acquiring a rule, an encoding means for encoding the movement rule acquired by the acquisition means into data for modulating the luminance of the light source, and a movement rule encoded by the encoding means. And a luminance modulation unit that modulates the luminance of the light source based on the detection unit, wherein the imaging device detects a luminance region that is luminance-modulated by the luminance modulation unit from an imaging region that is continuously imaged in time series. If, when the detected luminance region by the detecting means is plural, small locations present in the imaging magnitude to the area or the imaging region of the luminance regions And be based on one, to understand the distance between the imaging device and these luminance regions, selection means for selecting a luminance area to be decoded to the moving rule, to the mobile rule from luminance region selected by the selection means Based on decoding means for decoding, at least one of the size of the luminance area detected by the detecting means with respect to the imaging area or the position existing on the imaging area, and the movement rule decoded by the decoding means Control means for controlling the start and stop of travel of the mobile body.
The invention according to claim 2 is the invention according to claim 1, wherein the movement rule instructs the start and stop of the traveling of the moving body according to the type of lighting color that the light source is lit. It changes periodically with a time series, and the movement rule acquired by the acquisition means includes this periodically changing timing information.
According to a third aspect of the present invention, in the second aspect of the present invention, the imaging device is configured such that at least one of the size of the luminance area detected by the detection unit with respect to the imaging area or the position existing on the imaging area. And a distance calculating means for calculating a distance between the imaging device and the light source, and the control means includes the movement rule decoded by the decoding means and the imaging device calculated by the distance calculating means. And starting and stopping the traveling of the moving body based on the distance from the light source.
According to a fourth aspect of the present invention, in the invention according to the third aspect, the imaging device includes information acquisition means for acquiring information on whether a moving body moving with the imaging device is currently traveling or currently stopped. Predicting means for predicting the future distance between the moving body and the light source based on the information acquired by the information acquiring means and the distance between the imaging device calculated by the distance calculating means and the light source; The control means further comprises at least one of a size of the luminance area detected by the detection means with respect to the imaging area or a position existing on the imaging area, and a movement rule decoded by the decoding means, In addition, the start and stop of the traveling of the moving body is controlled based on the future distance predicted by the prediction means.
According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the imaging apparatus further includes a display unit that displays information based on the movement rule decoded by the decoding unit. Features.
According to a sixth aspect of the present invention, in the invention according to any one of the first to fifth aspects, the moving body includes driving means for moving the field, and the control means controls the driving means. A drive control means is included.
According to a seventh aspect of the present invention, there is provided an imaging means, a detection means for detecting a luminance region of a light source that emits light by modulating a movement rule in a field in which a movement rule is set, from the imaging region by the imaging means, and the detection means When there are a plurality of luminance areas detected by the above, based on at least one of the size of the luminance area with respect to the imaging area or the position existing on the imaging area, grasp the distance between self and these luminance areas, Selection means for selecting a luminance area to be decoded in the movement rule, decoding means for decoding from the luminance area selected by the selection means to the movement rule, and the luminance area detected by the detection means for the imaging area It is prepared based on at least one of the size or the position existing on the imaging area and the movement rule decoded by the decoding means. And a controlling means for controlling the start and stop of traveling of the moving body is.
The invention according to claim 8 is the invention according to claim 7, wherein the movement rule instructs the start and stop of the traveling of the moving body according to the type of lighting color that the light source is lit. The moving rule that periodically changes with time series is included in the movement rule decoded by the decoding unit, and the imaging of the luminance region detected by the detecting unit is included in the moving rule. Further comprising distance calculating means for calculating the distance between the device and the light source based on at least one of the size with respect to the area or the position existing on the imaging area, and the control means is decoded by the decoding means The start and stop of the traveling of the moving body is controlled based on the movement rule and the distance between the device and the light source calculated by the distance calculation means.
The invention according to claim 9 is the invention according to claim 8, in which information acquisition means for acquiring information on whether the mobile object equipped with the device is currently running or currently stopped, and the information acquisition means And a predicting means for predicting a future distance between the moving body and the light source based on the calculated information and the distance between the device and the light source calculated by the distance calculating means, and the control means In addition to at least one of the size of the luminance area detected by the detection means relative to the imaging area or the position existing on the imaging area, and the movement rule decoded by the decoding means, the prediction is further predicted by the prediction means The start and stop of the traveling of the moving body is controlled based on the determined future distance.
According to a tenth aspect of the present invention, in the invention according to any one of the seventh to ninth aspects, the moving body includes driving means for moving the field, and the control means controls the driving means. A drive control means is included.
The invention according to claim 11 is the invention according to any one of claims 7 to 10, further comprising display means for displaying information based on the movement rule decoded by the decoding means.
According to a twelfth aspect of the present invention, a detection step of detecting a luminance region of a light source that emits light by modulating a movement rule in a field in which a movement rule is set from an imaging region of the imaging unit, and the detection step detects When there are a plurality of luminance areas, based on at least one of the size of these luminance areas with respect to the imaging area or the position existing on the imaging area, the distance between the luminance area and itself is determined, and the movement rule is A selection step for selecting a luminance region to be decoded, a decoding step for decoding the luminance region selected in this selection step into the movement rule, and a size of the luminance region detected in the detection step with respect to the imaging region Alternatively, the imaging unit is provided based on at least one of the positions existing on the imaging area and the movement rule decoded in the decoding step. It characterized in that it comprises a control step of controlling the start and stop of traveling of the obtained moving object.
According to the thirteenth aspect of the invention, the computer detects the luminance region of the light source that emits light by modulating the movement rule in the field in which the movement rule is set, from the imaging region of the imaging unit, and the detection unit detects the computer. If there are a plurality of luminance areas, the distance between the luminance area and the luminance area is determined based on at least one of the size of the luminance area with respect to the imaging area or the position existing on the imaging area, and the movement rule Selection means for selecting a luminance area to be decoded, decoding means for decoding the luminance area selected by the selection means into the movement rule, the size of the luminance area detected by the detection means with respect to the imaging area, or the imaging The imaging unit is provided based on at least one of the positions existing on the area and the movement rule decoded by the decoding unit. Start of the travel of the moving body and thereby functions as control means for controlling the stop and wherein the.

According to the present invention , it is possible to use road facilities such as traffic signals already provided, and it is possible to use imaging devices that are widely used as vehicle-side means, resulting in enormous costs. In addition, an information transmission system, a mobile control device, a mobile control method, and a program that are resistant to interference and interference can be provided.

  Hereinafter, the best embodiment will be described with reference to the drawings. Note that well-known methods, well-known procedures, well-known architectures, well-known circuit configurations, etc. (hereinafter, “well-known matters”) are not described in detail, but this is for the sake of brevity. Not all or part of the matter is intentionally excluded.

(First embodiment)
FIG. 1 is a conceptual diagram illustrating a usage state of the first embodiment. In this figure, as a field in which a movement rule is defined, for example, a moving object traveling on a road where a traffic rule is set, that is, an image of the traveling direction is taken at an arbitrary position of the vehicle 1 (such as the upper part of the front window). A possible imaging device 2 is attached. A range indicated by a broken line is an imaging field angle of the imaging device 2.

  In front of the vehicle 1 in the traveling direction, LED traffic lights 30, 31 which are one of road infrastructures are installed. The number of lights is a representative example. Many of the traffic signals for vehicles are of the three-lamp type, but may be a multi-lamp type (four-lamp type or the like) including auxiliary lights such as right / left turn and straight ahead. Moreover, the arrangement direction of the lights is not limited to the horizontal direction, and for example, the lamps may be arranged vertically. In this specification, a three-lamp type of horizontal arrangement is taken as an example, but this is for convenience of explanation.

  The lamps of the LED traffic light 30 close to the vehicle 1 are referred to as a red light 300, a yellow light 301, and a blue light 302. Similarly, the lamps of the LED traffic light 31 far from the vehicle 1 are referred to as a red lamp 300, a yellow lamp 301, and a blue lamp 302. In the illustrated example, it is assumed that the red light 300 of the LED traffic light 30 near the vehicle 1 is lit and the yellow light 301 of the LED traffic light 31 far from the vehicle 1 is lit.

  As will be described later, these lighting lamps (red lamp 300, yellow lamp 301) repeatedly blink at a speed that is not apparent to the eye, and the name (or position coordinates) of the LED traffic signal is determined by the blinking pattern. And the like, and information on the LED type traffic lights) and traffic light information such as the current lighting color and the remaining lighting time.

  As will be described in detail later, the imaging device 2 mounted on the vehicle 1 captures an image within a shooting angle of view using a two-dimensional image sensor such as a CCD or a CMOS, and a lamp ( When the image of the red light 300, the yellow light 301) is included, the traffic light information of the LED traffic lights 30, 31 is reproduced from the blinking pattern, and vehicle control such as idling stop is performed according to the reproduction information, or Control information necessary for car navigation control etc. is generated and output.

  FIG. 2 is an overall system structure diagram including the LED traffic lights 30 and 31 and the imaging device 2. In this figure, the LED traffic lights 30, 31 are each LED type such as the name of the LED traffic light (or information that can individually identify the LED traffic light, such as position coordinates and intersection names), the current lighting color, and the remaining lighting time. A memory 305 that stores lighting information unique to the traffic light, a transmission information generation unit 304 that reads the lighting information stored in the memory 305 and generates a luminance change pattern, and a light source (the red lights 300 and yellow of the LED traffic lights 30 and 31) 300 to 302) (corresponding to a lamp 301 and a blue lamp 302).

  The memory 305 stores LED signal-specific lighting information such as the name of the LED traffic signal (or information that can individually identify the LED traffic signal such as position coordinates and intersection names), the current lighting color, and the remaining lighting time. These pieces of information may be rewritten by connecting a network with the Ministry of Land, Infrastructure, Transport and Tourism road station.

  The transmission information generation unit 304 first extracts the i-th bit of the lighting information unique to the LED traffic signal encoded with 1 and 0, determines the bit value, and if it is a logic signal 1, the pattern data (not shown) The first pattern series (for example, “11010”) is taken out from the memory, and if the logical signal is 0, the second pattern series (for example, “00101”) is taken out from the pattern data memory, and these first pattern series and second pattern are taken out. Output series to light source. The light source that is turned on emits light in the interval of the logic signal 1 and turns off in the interval of the logic signal 0, and finally outputs light P having a time-series luminance change pattern.

For example, when the lighting information specific to the LED traffic signal to be transmitted is encoded with a bit string “01011000...”,
i bit = 0
i + 1 bit = 1
i + 2 bit = 0
i + 3 bits = 1
i + 4 bits = 1
i + 5 bit = 0
i + 6 bits = 0
i + 7 bit = 0
So,
i bit = first pattern series i + 1 bit = second pattern series i + 2 bits = first pattern series i + 3 bits = second pattern series i + 4 bits = second pattern series i + 5 bits = first pattern series i + 6 bits = first pattern series i + 7 The first pattern series and the second pattern series are sequentially output such that bit = first pattern series.

  Therefore, the lighting information specific to the LED traffic light is output from the light sources 301 to 302 as light P having a time-series luminance change pattern.

  The imaging device 2 mounted on the vehicle 1 includes a CPU 20 that controls the whole, an imaging processing unit 21 that includes a two-dimensional image sensor such as a CCD or a CMOS, a signal detection / decoding processing unit 22, an application processing unit 23, and driving / running. Related apparatus 24 etc. are provided.

  FIG. 3 is an example of a data format sent from the light sources of the LED traffic lights 30 and 31. The data 4 is configured so that the current lighting data block 41, the next lighting block 42, and the next lighting data block 43 are sequentially output in time series. Each block will be described by taking the next lighting block 42 as a representative example. Six sub-blocks of a detection preamble section 410, an order section 411, a lighting color section 412, a lighting time section 413, a flag section 414, and a luminance correction information section 415 are shown. It is composed of

  4A to 4C are data table diagrams of the order unit 411, the lighting color unit 412, and the lighting time unit 413. FIG. As shown in this table, when the data set in the order section 411 is “00”, this indicates that the data block is the current lighting data block 41, and when it is “01”, the next lighting data block 42 is displayed. "10" or "11" indicates that it is not used. The data set in the lighting color section 412 is red when “000”, blinks red when “001”, lights yellow when “010”, blinks yellow when “011”, “ When it is “100”, it is set to light blue, when it is “101”, blinking blue, and when it is “110” or “111”, it is set that the data block is an unused block. The lighting time section 413 indicates the remaining lighting time (for example, the remaining lighting time is 127 seconds for 0x7f or 127 seconds or more for 7f).

  By the way, “current lighting”, “next lighting” and “next lighting” are combined so that it can be predicted until “how many seconds to wait for the next red lighting when the current lighting is blue” It is to do. The preamble is a bit pattern for capturing the target signal area from the time series of the two-dimensional image data, and a code having good characteristics as a pseudo random number is selected. In this embodiment, seven bits of “1110100” are used as an example, but the present invention is not limited to this. If the pattern is lengthened (7 bits or more), the tolerance to weak signals can be increased. However, since the overhead of pattern detection increases, an appropriate pattern length can be set considering both weak signal tolerance and overhead. You only have to set it.

  The flag unit 414 is provided to eliminate this because it may match the data of the preamble unit 410 in the sequence of the order unit 411 to the flag unit 414. When the data of the preamble part 410 and the data of the order part 411 to the flag part 414 match, the flag part 414 is set to “1” so that it does not match the preamble pattern.

  In addition, the last luminance correction information unit 415 has a 1/0 balance (On / Off balance) for the purpose of eliminating flickering of the integrated luminance when the luminance is modulated by the data format and blinks. This is a bit added for the purpose. Thereby, the luminance integral value for each data block is controlled to be constant.

  This luminance correction pattern is a simple pattern in which the 1/0 boundary positions “1 number arrangement” and “0 number arrangement” are changed.

  With this luminance correction bit, the output of the LED traffic light is adjusted so as to satisfy the normal luminance level when the pulse driving of 1/2 Duty is performed.

  FIG. 5 is a configuration diagram of the imaging device 2 provided in the vehicle 1. In this figure, the image pickup unit 211 of the image pickup apparatus 2 is composed of, for example, an image sensor such as a CCD or CMOS, and converts an image of a subject captured via the optical lens unit 212 into an electrical frame image signal. Then, it is output to the captured image buffer 213 in a cycle synchronized with the captured image clock signal PCK. The CPU 20 includes a timer unit 201 and controls the overall operation of the imaging device 2. As the details of the control contents, the frame image captured in the capture image buffer 213 is sent to the display buffer 214 as it is and displayed on the display unit such as the liquid crystal display 215, or the image captured in the display buffer 214 is not shown. The processing to capture in the image memory. In particular, the following processing is performed.

  That is, the CPU 20 sequentially stores the frame images captured in the captured image buffer 213 in synchronization with the capture clock signal PCK from the timing generator 210 in each plane of the frame time series buffer 220 for each frame image. Here, each of the frame time-series buffers 220 includes a first plane to an n-th plane having a storage capacity corresponding to the size of one frame image, and the number of planes n is at least the LED traffic signal 30, This corresponds to the number of bits N of the pattern sequence at 31. For example, in the above example, since the number of bits of the first and second pattern series is 5 bits (N = 5), the number of planes n of the frame time series buffer 220 is at least 5 from the first plane to the fifth plane. It becomes a plane. Hereinafter, for convenience of explanation, the number of bits N of each pattern series is set to 5 bits, and the number of planes n is also set to 5.

The order of writing frame images from the first plane to the fifth plane is as follows.
1st frame image = 1st plane 2nd frame image = 2nd plane 3rd frame image = 3rd plane 4th frame image = 4th plane 5th frame image = 5th plane 6th frame image = 1st plane 7th frame image = 2nd plane 8th frame image = 3rd plane 9th frame image = 4th plane 10th frame image = 5th plane

  In this way, the writing operation from the first plane to the fifth plane is sequentially performed.

  The CPU 20 controls the order of writing to each plane (actually controls the value of the buffer pointer n), and in parallel, a pixel area having a time-series luminance change pattern from the frame image written to each plane , And the luminance change pattern is binarized by the binarization work buffer 222, the correlation degree is evaluated by the correlation degree evaluation image buffer 221, and the binarized data and pattern The reference pattern sequence stored in the data memory 223 is compared, and if it matches the first pattern sequence, a logic signal 1 is generated, while if it matches the second pattern sequence, a logic signal 1 is generated. A signal 0 is generated, and those logic signals are converted into a data list list including an update request list 2240, a list entry 2241 and a bit buffer 2242. It executes a process of storing the re 224. Further, the liquid crystal display 215 of the imaging device 2 displays a subject image including a light emitting area (light source) by the LED traffic lights 30, 31, and if necessary, relates to the light emitting area in a specific part of the display area. The information is displayed in an overlapping manner, imitating a figure such as a balloon. Note that the reference image buffer 225 is used to correct shooting blur caused by running vibration of the vehicle 1. That is, by horizontally moving each frame image in a direction that eliminates the amount of motion between each frame image stored in the frame time series buffer 220 and the reference frame image stored in the reference image buffer 225, the vehicle 1 This is to correct shooting blur caused by running vibration.

  The above units correspond to the imaging processing unit 21 and the signal detection / decoding processing unit 22 in the configuration of FIG. In the present embodiment, in addition to these units, a motion sequence vector buffer 226, an application processing unit 23, and a driving / running related device 24 are further included.

  The application processing unit 23 is information reproduced by the imaging processing unit 21 and the signal detection / decoding processing unit 22, that is, signal information of the LED traffic signals 30 and 31 (information such as current lighting color and remaining lighting time and necessary information). If necessary, the control information necessary for vehicle control such as idling stop or car navigation control is generated and output to the driving / running related device 24 according to the information).

  The driving / running related device 24 includes, for example, a drive system control device 240 such as an engine, a brake system control device 241 such as a brake, a vehicle speed / steering information detection device 242, and a notification to the driver by display or sound generation. The device 243 is included, and information from the application processing unit 23 is captured while outputting necessary signals from these devices to the application processing unit 23, and in accordance with the information, for example, vehicle control such as an idling stop or car Perform navigation control and so on.

  FIG. 6 is a view in the traveling direction seen from the driver's seat of the vehicle 1. In this figure, a field of view in the traveling direction is opened through the front window 11. Within this field of view, there are an intersection 50 closest to the front in the traveling direction, a far intersection 51, and two traffic lights 30 installed at those intersections. , 31 is included. A rectangle 110 indicated by a broken line represents a shooting range of the image pickup apparatus 2 provided in the vehicle. In this shooting range, at least each of the light sources of the two LED traffic lights 30 and 31 (the LED traffic lights 30 and 31). 31 red lights 300, yellow lights 301, and blue lights 302).

  The detection limit of the modulation signal by the photodiode-based receiver described in the prior art at the beginning was about 10 m to 20 m at most, but the imaging apparatus 2 of the present embodiment can detect a far distance (about 100 m). Performance can be obtained. This will be described.

  Now, it is assumed that the shooting elevation angle of the imaging device 2 (the range indicated by the broken line in FIG. 1) is 22 degrees. This elevation angle corresponds to an angle at which an LED traffic light with a height of 5 m located on the opposite side of the road can be captured while stopping at a stop line of a 10 m wide road, for example. The optical system is adjusted so that the detection range 110 of the imaging device 2 is 22 ° × 22 ° in terms of detection angle. In addition, an appropriate lens brightness (F number) is considered in accordance with the sensor S / N ratio and this angle of view.

  Next, regarding the resolution of the sensor (CCD or CMOS of the image pickup unit 211), it is desirable to increase the bit rate of this method for high-speed communication. It is effective to make it faster. In addition, it is not necessary to show a person the image captured by the two-dimensional sensor, and the quality of the image is not questioned. Therefore, relatively low pixels are desirable so that the frame rate can be sufficiently high while satisfying practical modifications.

  For example, a reading speed of 30 fps (frames / second) is generally achieved in a currently common VGA (640 × 480 dots) sensor. Since these limits are mainly in the bandwidth of the data transfer from the camera, assuming that this readout bandwidth is still a speed that can be easily achieved at present, it is 640 × 480 × 30 = 9216000 dots / second.

  If this dot data read bandwidth is used for a 60 × 60 dot sensor, data up to 9216000 / (60 × 60) ≈2560 fps can be read. In this embodiment, it is assumed that the frame rate is 2500 fps and the shutter speed is 0.4 milliseconds.

  FIG. 7 illustrates the red light 300, the yellow light 301, and the red light 300 captured by the imaging unit 211 when the distances between the image capturing unit 211 and the red light 300, the yellow light 301, and the blue light 302 are A, B, and C, respectively. The luminance modulation area of the blue lamp 302 is shown. In the same figure, when the distance A is 11 m, and the elevation angle α from the horizontal of the red light 300, yellow light 301, and blue light 302 viewed from the imaging unit 211 is 1.56 °, the red light 300 imaged at that time, The yellow light 301 and the blue light 302 can be acquired in a range 2110 having a diameter a (about 4.2 dots). When the distance B is 50 m and the elevation angle β from the horizontal of the red light 300, the yellow light 301, and the blue light 302 viewed from the imaging unit 211 is 0.34 °, the red light 300, the yellow light 301, which is imaged at that time, The blue light 302 can be acquired in a range 2111 having a diameter b (about 0.9 dot). When the distance C is 100 m and the elevation angle γ from the horizontal of the red light 300, the yellow light 301, and the blue light 302 viewed from the imaging unit 211 is 0.17 °, the red light 300 and the yellow light imaged at that time 301 and the blue light 302 can be acquired in a range 2112 having a diameter c (about 0.5 dots).

  That is, according to this result, it is possible to roughly grasp the distance between the vehicle 1 and the LED traffic lights 30, 31, so that, for example, the vehicle in the traveling direction of the LED traffic lights from the LED traffic lights 30, 31 When information on the ratio and position of the luminance modulation area in the imaging area on the stop line is modulated to cause the red light 300, the yellow light 301, and the blue light 302 to emit light, the vehicle 1 and the LED traffic lights 30, 31 It is also possible to predict the future positional relationship on the vehicle 1 side.

  FIG. 8 is a diagram showing a light emission control flow of the red light 300, the yellow light 301, and the blue light 302 in the LED traffic lights 30, 31 of FIG. In this flow, first, information corresponding to the data block 4 (the current lighting data block 41, the next lighting data block 42, and the next lighting data block 43 in FIG. 3) is extracted from the memory 305 (step S1), and the sequence shown in FIG. Each sub-block data of the part 411, the lighting color part 412, and the lighting time part 413 is generated (step S2).

  Next, it is determined whether or not the bit pattern sequence of these sub-blocks includes the same bit pattern as the preamble pattern of the bit pattern sequence of the detection preamble unit 410 (step S3). The preamble pattern of the bit pattern sequence of the preamble section 410 is changed from “1110100” to “1010101” (step S4). If not included, the bit data of the flag section 414 is set to 0 (step S5).

  Next, this preamble pattern is added to the head of the sub-block (step S6), and “1” and “0” of the bit pattern sequence including the order part 411, the lighting color part 412, the lighting time part 413, and the flag part 414 are obtained. And a bit pattern set in the luminance correction information unit 415 is generated (step S7).

  Next, it is determined whether the output queue is empty (step S8). If it is not empty, it waits until it becomes empty. If there is an empty space, it is output to the currently lit light emission drive queue (step S8), and then again after step S1. repeat.

  As a result, “ON” is associated with 1 of the data format (see FIG. 3) transmitted from the red light 300, yellow light 301, and blue light 302 of the LED traffic lights 30, 31, and “OFF” is associated with bit 0. Light P is sent out.

  FIG. 9 is a flowchart of the idling stop process. This flowchart shows that the vehicle speed is 0 (that is, the engine is driven and the vehicle is stopped in the vehicle 1), the information from the driving system device 240 such as the engine of the driving / running related device 24 and the vehicle speed / steering information 242 in FIG. The flow is started upon detection by the input. First, the images picked up by the image pickup unit 211 are continuously read out in time series, and luminance modulation regions corresponding to the light sources (red light 300, yellow light 301, blue light 302) of the closest LED type traffic light are obtained. Take out (step S10).

  FIG. 10 is a conceptual diagram of extracting the luminance modulation area. In this figure, as shown in (a), when the captured image 2113 includes several LED traffic signal images 30 to 32, the road surface is flat and straight, and the height of each LED traffic signal is It is obtained from the information from the driving system device 240 such as the engine of the driving / running related device 24 and the vehicle speed / steering information 242 in FIG. 5 (for example, from the burden on the engine and the vehicle speed / steering history). to decide). Under this condition, the closest LED traffic light is the LED traffic light 30 positioned at the top of the captured image 2113. Therefore, in the image 2114 obtained by extracting the luminance modulation area as shown in (b), the luminance modulation area corresponding to the light source of the LED traffic light image 30 is 2115, and the luminance modulation area corresponding to the light source of the LED traffic light image 31 is. As a result, the LED traffic light image 30 becomes a luminance modulation area to be extracted.

  Next, by continuously capturing the luminance change received from the luminance modulation area, a bit pattern sequence corresponding to the data format of FIG. 3 is obtained, decoded into the corresponding data format, and included in the decoded data format. It is determined from the bit pattern set in the lighting color part 412 whether the light source is the red lamp 300 (step S11). If it is not the red light 300, the engine proceeds to a steady process (a state where the engine is driven) (step S19). If the red light 300 is used, the red light is read by reading the bit pattern set in the lighting time section 413. It is determined whether the remaining lighting time of 300 is equal to or longer than a first predetermined time (for example, 30 seconds). When the remaining lighting time of the red light 300 does not exceed the first predetermined time, the routine proceeds to a steady process (step S19). On the other hand, when the remaining lighting time of the red light 300 exceeds the first predetermined time, the idling stop is performed. The following processing is executed to

  That is, a warning to start the idling stop is issued to the driver by sound or display (step S13), and the idling stop is executed (step S14). At this time, if necessary, the gear position may be set to a neutral or starting gear position, or a side brake may be applied.

  Next, it is determined whether or not the remaining lighting time of the red light 300 has reached a second predetermined time (for example, 5 seconds) (step S15), and when this remaining time is less than the second predetermined time, the driving is performed. Notification is made to the operator, and the engine is restarted (step S16), and then the routine proceeds to a steady process (step S19).

    In the above description, application to idling stop is taken as an example, but the present invention is not limited to this. For example, the present invention may be applied to car navigation.

  FIG. 11 is a diagram illustrating an application example to a car navigation system. In this figure, a car navigation display is associated with the dashboard of the vehicle 1 as the liquid crystal display 215 of FIG. 5, and the display includes a traveling direction front image 216 taken by the imaging device 2. Information from the luminance modulation area corresponding to the light source (blue light 302) of the LED traffic light 30 included in the image is displayed in a predetermined area 217 in characters (for example, “4 seconds remaining”).

  In this way, not only the idling stop but also the information from the LED traffic light is visualized and displayed by using the display device 35 of the car navigation system, so that the driver can be prepared for an early start. It is possible to facilitate the smooth start of traffic and facilitate smooth start of traffic.

Since it is as mentioned above, according to this embodiment, the following effects can be acquired.
(1) According to the information from the nearest LED type traffic light, the time when the vehicle should stop can be accurately grasped, and the idling stop can be automatically or semi-automatically performed. For this reason, environmental burdens (such as CO2 emissions) due to improper idling stops (and associated restarts), such as when idling stops are performed under mechanical conditions (such as when the vehicle is stopped by pulling the side brake). It is possible to reduce the burden on the vehicle such as the battery.

(2) Even when the idling stop is not performed semi-automatically or automatically, it is possible to accurately present the idling stop determination information to the driver.

(3) Even when the restart is not performed semi-automatically or automatically, the engine restart information can be accurately presented to the user.

(4) Since transmission of information from the LED traffic light is realized by light emission accompanied by a change in luminance of the signal light source, and reception of this information is realized by imaging by an imaging device, there is a concern about interference and interference indicated in transmission / reception by radio waves. In addition, it is possible to capture and discriminate information from a plurality of LED traffic lights without interference.

  It should be noted that the present invention is not limited to the above-described embodiments, and various development examples and modifications are included within the scope of the technical idea. For example, the following may be adopted.

(Second embodiment: combination of sensors having different detection ranges)
FIG. 12 is a conceptual diagram of the second embodiment. In the second embodiment, two image pickup units 61 and 62 arranged above and below are provided, and the combined horizontal / vertical angle of view of these two image pickup units 61 and 62 is 22 degrees × 22 as in the above embodiment. I am trying. The horizontal / vertical field angle of the image pickup unit 61 located above is 20 degrees × 12 degrees (corresponding to 60 dots × 20 dots), and the horizontal / vertical field angle of the image pickup unit 62 located below is 10 degrees × 10 degrees. (Equivalent to 50 dots × 50 dots). The LED traffic light 30 enters the detection range 610 of the imaging unit 61 positioned above, and the LED traffic signal 31 enters the detection range 620 of the imaging unit 62 positioned below. In the case of this configuration, the central portion (detection range 620 of the sensor 62 positioned below) is 10 degrees × 10 degrees, and if the same definition as in the above-described embodiment, approximately 30 × 30 dots are reduced to 50 dots. It is as fine as x50 dots. As a result, the angle of dot coating at the center is approximately 1.7 times, that is, the coverage area is 2.7 times finer, and the limit distance is increased accordingly. Further, when viewed as the number of dots to be processed, 60 × 20 + 50 × 50 = 3,700, which is almost the same as 60 × 60 = 3,600.

  Note that one coordinate of each detected image has a means for converting the dot positions of the two image pickup units into a unified two-dimensional coordinate system, and is corrected to a unified positional relationship.

(Third embodiment: combined use of distance information by stereo imaging sensor)
Further, in the above-described embodiment, the distance has been processed by the processing of the LED type traffic light that is closer to the upper side of the detection area, but there may be a false detection depending on the road undulations. In addition, the optimum condition based on the operation information of the LED traffic light can provide more optimal driving support if the distance is accurately known.

  FIG. 13 is a conceptual diagram of the third embodiment. In the third embodiment, the stereo distance processing is performed using the arithmetic device 70, the first imaging unit 71, and the second imaging unit 72 so that the accurate distance to the LED traffic lights 30, 31 can be calculated. I have to. Thereby, not only the idling stop at the time of stop but also the optimal operation control in consideration of the distance to the LED type traffic lights 30 and 31 and the lighting timing, or the presentation of the driving reference information becomes possible.

  FIG. 14 is a connection and circuit configuration diagram of the arithmetic device 70, the first imaging unit 71, and the second imaging unit 72 provided in the vehicle 1 according to the third embodiment. Circuit units that perform the same processing as in the first embodiment are given the same reference numerals and explanations thereof are omitted. In FIG. 3, an imaging unit 711 of the first imaging unit 71 is an image of a CCD or CMOS, for example. An image of a subject captured through the optical lens unit 712 is converted into an electrical frame image signal and output to the capture image buffer 713 at a period synchronized with the capture image clock signal PCK1. In addition, based on the control from the CPU 200 synchronized with the capture clock signal PCK1 from the timing generator 210, the frame image captured in the capture image buffer 713 is sequentially transferred to each plane of the frame time series buffer 715 for each frame image. To store.

  Further, the CPU 200 extracts a pixel area having a time-series luminance change pattern from the frame image written in each plane, and binarizes the luminance change pattern by a work buffer 717 such as binarization or correlates the luminance change pattern. A process for evaluating the degree of correlation in the degree evaluation image buffer 716 and the binarized data are compared with the reference pattern series held in the pattern data memory 223 to match the first pattern series. If it does, a logic signal 1 is generated. On the other hand, if it coincides with the second pattern series, a logic signal 0 is generated, and these logic signals are sent to the update request list 7181, list entry 7182 and bit buffer. A process of storing in the data list memory 718 consisting of 7183 is executed.

  The operation of the imaging unit 712 of the second imaging unit 72 is the same as that of the first imaging unit 71. However, the processing is performed independently of the first imaging unit 71 in synchronization with the capture clock signal PCK2 from the timing generator 210.

  The distance calculation unit 202 stores images (planes) temporarily stored in the captured image buffers 713 and 813, the frame image buffers 715 and 815, the binarization work buffers 716 and 816, or the motion vector buffers 719 and 819. ) And a distance between the vehicle 1 and the LED traffic lights 30 and 31 from the center positions of the luminance modulation areas capturing the light sources (light sources lit in the blue light 302 to the red light 300). It is a circuit part which calculates.

  FIGS. 15A and 15B illustrate processing contents of the distance calculation unit 202. FIG. 15A illustrates a case where the distance to the light source is considerable, and FIG. 15B illustrates a case where the distance to the light source is not so much. . In (a), it is determined from the transmitted data format that the light sources 300 to 302 captured by the respective imaging units 711 and 811 are the same light source. At this time, it is determined from the distance between the center positions in the synthesized image 202, that is, the parallax L1, that these light sources are simultaneously located near the center in the entire captured image.

  On the other hand, in (b), the light sources 300 to 302 are determined to be far from the center in the entire captured image, and the distance between the center positions in the synthesized image 202, that is, the parallax L2 is greater than the distance L1. Is done.

In addition, in the case where the distance between the vehicle 1 and the LED traffic lights 30, 31 is calculated, (a) information acquired from the driving / running related device 24 (whether it is moving or stopped) Whether it is a light source of an indicator (LED traffic lights 30, 31) installed on the road, or a brake lamp or a hazard lamp of a preceding vehicle, is determined depending on whether the light source moves in conjunction with it.
(B) Since the diameter of the light source of the traffic light is standardized according to the standard, the normal traffic light stored in the CPU 200 by default by applying the processing contents of the first embodiment (FIG. 7) described above. The diameter of the light source is compared with the light source diameter captured by the imaging units 711 and 712.
Therefore, the distance between the vehicle 1 and the LED traffic lights 30 and 31 is calculated by comprehensively considering these pieces of information.

  FIG. 16 is a diagram illustrating a processing flow of the third embodiment. In this flow, first, the imaging units 71 and 72 start by detecting a luminance modulation area corresponding to the light source of the LED traffic light. 14 and FIG. 15, the distance calculation unit 202 calculates the distance to the LED traffic light from the parallax of the two imaging units 71 and 72, and obtains it from the driving / running related device 24. The arrival time to the LED traffic light is predicted from the current travel speed (step S20). Next, the time obtained by adding a predetermined margin to the predicted arrival time is compared with the remaining time of the main blue light, and if the remaining time of the main blue light is equal to or longer than the third predetermined time, the flow is terminated, If the remaining time of the lamp is equal to or shorter than the third predetermined time, the driver is notified that the stop is near (step S22), and the driver's operation is not performed after the driver's operation presence / absence determination (step S23). In such a case, control is performed on the driving system device 240 such as the engine of the driving / running related device 24 and the control system device 242 (step S24), and then the flow ends.

  In this way, it is possible to predict the time until the red lamp lights up for the front LED type traffic light, and automatic cruise control can be performed.

(Fourth embodiment: Application to dynamic change of navigation route)
In addition, when a long stop is expected at a traffic light far ahead in the navigation route, if there is another route that can be selected in consideration of the distance (arrival time) to the signal, the route will move to that route. Alternatively, the route may be changed.

  FIG. 17 is a diagram illustrating a fourth embodiment. In the fourth embodiment, it is assumed that the vehicle 1 is mounted with the system (the arithmetic device 70, the imaging units 71 and 72) described in the third embodiment. In the figure, two LED traffic lights 30 and 31 are installed on the original traveling route 53 of the vehicle 1, and the LED traffic lights 30 are imaged by the imaging units 71 and 72 of the vehicle 1. Then, from the data format (lighting color portion 412 and lighting time portion 413), the information “blue light 302 lighting, remaining time 10 seconds...” Is detected at the same time. It is assumed that information of “blue light 302 lighting, remaining time 5 seconds...” Is simultaneously detected from the format (lighting color portion 412, lighting time portion 413). In this case, the imaging devices 71 and 72 mounted on the vehicle 1 can predict from the detection result that “the arrival at the LED traffic light 31 is 11 seconds later and the waiting time at the traffic light is 29 seconds”, In this case, when the bypass route 50 of the original traveling route 47 of the vehicle 1 exists, the change to the bypass route 50 can be guided.

  FIG. 18 is a flowchart showing a specific operation of the fourth embodiment. In this flowchart, it is assumed that the application processing unit 23 of the arithmetic device 70 mounted on the vehicle 1 incorporates a navigation system, and the route 53 in FIG. 17 is set as the initial route. First, in FIG. 17, when the image pickup units 71 and 72 of the vehicle 1 capture the light source of the LED traffic light 31, the distance calculation unit 202 of the calculation device 70 uses the parallax in the image captured by the image pickup units 71 and 72. The distance to the LED traffic light 31 at the time of capture is calculated (step S30).

  Next, the CPU 200 obtains information from the driving / running related device 24 to predict the arrival time T1 to reach the LED traffic light 31 at the time of capturing (step S31), while the LED traffic light 31 From the data of the lighting color part 412 and the lighting time part 413 included in the blue light 302 to the red light 300, which is the light source (luminance modulation area), the remaining lighting time T2 for which the lighting color is maintained is obtained. (Step S32). Then, it is determined whether or not the captured light source is the blue light 302 (step S33). If it is determined that the blue light 302 is lit, the remaining lighting time T2 of the blue light 302 is compared with the arrival time T1 (step S34). If the remaining lighting time T2 is shorter than the arrival time T1, the vehicle 1 Since the yellow light 301 or the red light 300 will be lit when the LED signal 31 is reached, the process proceeds to the next step S36, but when the remaining lighting time T2 is longer than the arrival time T1, The navigation is output with the route at the beginning of arrival (step S46).

  On the other hand, if it is determined in step S33 that the blue lamp 302 is not lit, the remaining lamp lighting time T2 is compared with the arrival time T1 because the lamps are yellow lamp 301 and red lamp 300 (step S35). Is sufficiently shorter than the arrival time T1, the blue light 302 is lit when the vehicle 1 reaches the LED traffic light 31, so the process proceeds to the next step S36, but the remaining lighting time T2 reaches. If it is sufficiently longer than the time T1, the navigation is output with the route at the beginning of arrival (step S46).

  Step S <b> 36 shows a process when the vehicle 1 is predicted to enter the “signal waiting state” when the vehicle 1 reaches the LED traffic light 31. In this case, the arithmetic unit 70 determines whether or not a modulation area that is larger (wider) than the light source of the LED traffic light 31, that is, the traffic light source is captured. That is, this determination will be described with reference to FIG. 17 and indicates whether or not the LED traffic light 30 preceding the LED traffic light 31 has been captured.

  When a larger (wider area) light source is captured after (or substantially simultaneously) the acquisition of the light source of the LED traffic light by the processing of steps S30 to S35, that is, in FIG. When the image capturing units 71 and 72 capture, the distance calculating unit 202 of the computing device 70 calculates the distance to the LED traffic light 30 at the time of capturing from the parallax in the image captured by the image capturing units 71 and 72 ( Step S37).

  Next, the CPU 200 obtains information from the driving / running related device 24 to predict the arrival time T3 to reach the LED traffic light 30 at the time of the acquisition (step S38), while the LED traffic light 30 From the data of the lighting color portion 412 and the lighting time portion 413 included in the blue light 302 to the red light 300 that are the light sources (luminance modulation regions) of the light source, the remaining lighting time T4 that is maintained in the lighting color is obtained. (Step S39). Then, it is determined whether or not the captured light source is the blue light 302 (step S40). If it is determined that the blue light 302 is lit, the remaining lighting time T4 of the blue light 302 is compared with the arrival time T3 (step S41). If the remaining lighting time T4 is shorter than the arrival time T3, the vehicle 1 Since the yellow light 301 or the red light 300 is turned on when it reaches the LED traffic light 30, it is determined that there is no detour route, and navigation output is performed with the route at the time of arrival (step S46). Conversely, if the remaining lighting time T4 is longer than the arrival time T3, even if it reaches the LED traffic light 30, it may be possible to travel on the detour route without going straight on the original route. An inquiry is made to the navigation system, and road information acquisition processing is performed (step S43).

  On the other hand, if it is determined in step S40 that the blue light 302 is not lit, it is the yellow light 301 or the red light 300, so the remaining lighting time T4 and the arrival time T3 are compared (step S42). If the time T4 is sufficiently longer than the arrival time T3, the red light 300 will be lit even if the vehicle 1 reaches the LED traffic light 30, so it is determined that there is no detour route, The navigation output is performed (step S46). On the contrary, when the remaining lighting time T4 is shorter than the arrival time T3, the blue light 302 is turned on when the vehicle 1 reaches the LED traffic light 30, so that the vehicle does not go straight on the original route but detours. Since there is a possibility of traveling on the route, an inquiry is made to the navigation system, and road information acquisition processing is performed (step S43).

  In step S43, road information acquisition processing is performed, and if there is a detour route, that is, if there is a route 54 in FIG. 17, the driver is notified that the detour route is present, for example, by outputting to the liquid crystal display 215. (Step S45).

  As described above, according to the fourth embodiment, when a long stop is expected at a traffic light far ahead in the navigation route, the reachable distance (arrival time) to the signal is taken into consideration, and another selection is possible. If there is a route (a detour route), a route change to that route can be notified.

(Fifth embodiment)
Further, in each of the embodiments described above, the luminance change of the light source of the LED traffic light is configured to be transmitted to the imaging devices 2, 71, 72 of the vehicle 1, but this is not a limitation, for example, between vehicles It may be applied to communication to perform information acquisition for safe driving and vehicle control. In the fifth embodiment, for example, when a vehicle in front of the own vehicle is braked and a brake lamp is lit, the brightness modulation area of the lit brake lamp is detected to detect the own vehicle. An example of reflecting in the notification content in is given.

  FIG. 19 is a conceptual diagram of the fifth embodiment. In this figure, now two vehicles 7 and 8 are traveling in front of the own vehicle 1, and the vehicle 7 located near the own vehicle is traveling in the adjacent lane 55 and is far away from the own vehicle. It is assumed that the vehicle 8 that is positioned is traveling in the traveling lane 56 of the own vehicle.

  At this time, assuming that the brake lamps 701 and 801 of these two vehicles 7 and 8 are lit, the driver who drives the vehicle 1 simply observes the lighting of the brake lamps 701 and 801. It is not possible to distinguish between the two due to deceleration, but the LED light source is used for the brake lamps 701 and 801 of the two vehicles 7 and 8, and the stepping speed and strength of the brakes of the vehicles 7 and 8 by these two drivers are determined. The data is converted into data and the brightness of the brake lamps 701 and 801 is modulated in luminance. On the other hand, in the vehicle 1, the brake lamps 701 and 801 are imaged by the imaging devices 71 and 72, and the brake depression speed and strength are acquired and notified. This will be described in detail below.

FIG. 20 is a diagram illustrating a flowchart of the lighting process of the brake lamps 701 and 801 processed by the vehicles 7 and 8 in the fifth embodiment.
FIG. 21 is a diagram illustrating a control flowchart processed in the vehicle 1.
First, in the flowchart of the lighting process of the brake lamps 701 and 801 in FIG. 20, the process starts by detecting the brake operation of the driver of the vehicle 7 or 8. At this time, the brake pedal pressure is encoded and used as modulated data (step S50), and the brake lamp is controlled to be lit with the modulated data (step 51), and the process returns to the normal processing.

On the other hand, as shown in FIG. 21, in the control flowchart of the vehicle 1, the brake lamp 701 or 801 of the vehicle 7 or 8 is turned on, and the illuminated light source is captured by the imaging units 71 and 72 to obtain modulation data. Start by getting. At this time, the distance between the vehicle 1 and the brake lamp 701 or 801 and the vehicle 1 is calculated based on the parallax as described in detail in the fourth embodiment (step S60), and simultaneously transmitted in FIG. Whether or not the vehicle 7 or 8 and the vehicle 1 are in contact with each other when the light source is captured based on the brake depression pressure applied or the information acquired from the driving / running related device 24, and if so, the time Prediction is performed (step S61), the prediction result is output (step S62), and the process returns to normal processing.

Note that the prediction result output in step S62 is, for example,
(F) In the case of sudden braking over long distances, simply notify the driver.
(G) In the case of medium braking at a medium distance or sudden braking in an adjacent lane, in addition to notifying the driver, acceleration to the driving / running related device 24 is suppressed.
(H) When the braking pressure is weak but the inter-vehicle distance is short or the braking pressure is strong, but the inter-vehicle distance is relatively wide, the driving / running related device 24 is forcibly braked together with the notification to the driver.
However, since various cases are conceivable depending on road conditions and running conditions, these are omitted in this embodiment.

  As a specific output method, as shown in FIG. 19, the warning lights 12 to 14 provided on the front window frame are turned on or a warning sound is emitted to promptly give the driver A case of notification may be considered. Accordingly, it is possible to take an appropriate response to the vehicle operated by the driver according to the brake operation of the preceding vehicle and according to the distance from the preceding vehicle.

  In this embodiment, each vehicle turns on the light source independently. In this case, the processing of the imaging unit that captures the light source always performs the modulation phase PLL on the modulation data included in the captured light source. Processing is performed, and the phase is periodically changed and acquired individually so as to correspond.

  FIG. 22 is a conceptual diagram of phase adjustment. In this figure, when the modulation data is read from the light source captured at 2500 frames / second, the phase is adjusted as shown in (a) for the number of frames corresponding to the preamble pattern. As specific processing, as shown in the flowchart of (b), a 7-bit frame is captured and stored (step S70), the correlation is evaluated (step S71), and whether or not a signal is detected according to the evaluation result is determined. Determination is made (step S72). If a signal is detected, frame capture is performed for the number of bits to decode the modulation data (step S73), and then the phase is advanced by 2π / 3 (step S74). On the other hand, even if not detected, the phase is advanced by 2π / 3 (step S74).

  In this way, it is possible to enable light source capture and decoding processing in a time division manner. In this embodiment, the light source installed in the LED traffic light and the imaging device installed in the vehicle have been described as examples. However, the present invention is not limited to this, and the light source is installed in an indicator such as a street light, an advertisement light, or a road guide. Alternatively, the imaging device may be installed in an electronic device carried by a pedestrian.

It is a conceptual diagram which shows the utilization condition of 1st Embodiment. 1 is an overall system structure diagram including LED traffic lights 30, 31 and an imaging device 2. FIG. It is an example figure of the data format sent out from the light source of LED type traffic lights 30,31. It is a figure of the data table in the data format sent from the light source of a LED type traffic light, (a) shows a sequence part, (b) shows a lighting color part, (c) shows a data table of a lighting time part. It is a lineblock diagram of imaging device 2 provided in vehicles. It is the advancing direction view seen from the driver's seat of the vehicle. It is a figure which shows the detection pixel size of the light source in each distance. It is a light emission control flowchart of the LED traffic light. It is a figure which shows the flowchart of an idling stop process. It is a pick-up conceptual diagram of a traffic light source, (a) is the imaged image data, (b) is the image data from which the luminance modulation area was extracted. It is a figure which shows the example of application to a car navigation system. It is a conceptual diagram of 2nd Embodiment, (a) is a utilization state, (b) is the advancing direction view seen from the driver's seat of the vehicle. It is a conceptual diagram of 3rd Embodiment. It is the connection and circuit structure of the imaging device and arithmetic unit which were provided in the vehicle in 3rd Embodiment. It is a figure explaining the processing content of a distance calculating part, (a) is a figure which shows the case where the distance with a traffic light is far, (b) is the case where the distance with a traffic light is near. It is a figure which shows the process flowchart of 3rd Embodiment. It is a figure which shows 4th Embodiment. It is a figure which shows the operation | movement flowchart of 4th Embodiment. It is a conceptual diagram of 5th Embodiment. It is a figure which shows the flowchart of the brake lamp lighting process in 5th Embodiment. It is a figure which shows the control flowchart by the side of the own vehicle in 5th Embodiment. It is a conceptual diagram of phase adjustment.

Explanation of symbols

1 Vehicle 2, 61, 62, 71, 72 Image pickup unit 12, 13, 14 Warning light 20 CPU
DESCRIPTION OF SYMBOLS 21 Imaging process part 22 Signal detection / decoding process part 23 Application process part 24 Driving | running | working related apparatus 30, 31 LED type traffic light 41 Current lighting data block 42 Next lighting data block 43 One after lighting data block 50, 51, 55, 56 Road DESCRIPTION OF SYMBOLS 70 Calculation apparatus 110 Shooting range 202 Distance calculation part 211 Image pick-up part 215 Liquid crystal display 240 Engine drive system 241 Control system 242 Vehicle speed, steering information 243 Driver / display device 300 Blue light 301 Yellow light 302 Red light 303 Memory 304 Transmission Information Generation Unit 410 Detection Preamble Unit 411 Ordering Unit 412 Lighting Color Unit 413 Lighting Time Unit 414 Flag Unit 415 Luminance Correction Information Unit 701, 801 Brake Lamp 2110, 2111, 1122 Brightness Modulation Area 2113 Captured Image 2114 Image with extracted luminance modulation area

Claims (13)

An information transmission system comprising a plurality of light sources existing on a field for which a movement rule is set, and an imaging device that moves together with a moving body that moves the field,
The light source is
An acquisition means for acquiring a movement rule;
Encoding means for encoding the movement rule acquired by the acquisition means into data for modulating the luminance of the light source;
Luminance modulation means for modulating the luminance of the light source based on the movement rule encoded by the encoding means,
The imaging device
Detecting means for detecting a luminance area that has been subjected to luminance modulation by the luminance modulation means from an imaging area that has been continuously imaged in time series;
When there are a plurality of luminance areas detected by the detection means , based on at least one of the size of these luminance areas with respect to the imaging area or the position existing on the imaging area, the imaging device and the luminance areas Selection means for grasping the distance and selecting a luminance region to be decoded in the movement rule;
Decoding means for decoding from the luminance region selected by the selection means to the movement rule;
Based on at least one of the size of the luminance area detected by the detection means with respect to the imaging area or the position existing on the imaging area, and the movement rule decoded by the decoding means, An information transmission system comprising: control means for controlling start and stop. The movement rule is to instruct the start and stop of traveling of the moving body according to the type of lighting color that the light source is lit, and periodically changes with time series,
2. The information transmission system according to claim 1, wherein the movement rule acquired by the acquisition unit includes the periodically changing timing information. The imaging device
Distance calculating means for calculating the distance between the imaging device and the light source based on at least one of the size of the luminance area detected by the detecting means with respect to the imaging area and the position existing on the imaging area is further provided. ,
The control unit controls the start and stop of the traveling of the moving body based on the movement rule decoded by the decoding unit and the distance between the imaging device and the light source calculated by the distance calculation unit. The information transmission system according to claim 2. The imaging device
Information acquisition means for acquiring information on whether the moving body moving with the imaging device is currently running or currently stopped;
Predicting means for predicting a future distance between the moving body and the light source based on the information acquired by the information acquiring means and the distance between the imaging device calculated by the distance calculating means and the light source. In addition,
In addition to at least one of the size of the luminance area detected by the detecting means relative to the imaging area or the position existing on the imaging area, and the movement rule decoded by the decoding means, 4. The information transmission system according to claim 3, wherein start and stop of the traveling of the moving body is controlled based on a future distance predicted by the prediction means. The imaging device
5. The information transmission system according to claim 1, further comprising display means for displaying information based on the movement rule decoded by the decoding means. The moving body includes a driving means for moving the field,
6. The information transmission system according to claim 1, wherein the control means includes drive control means for controlling the drive means. Imaging means;
Detecting means for detecting a luminance region of a light source that emits light by modulating a movement rule in a field in which a movement rule is set, from an imaging region by the imaging unit;
When there are a plurality of luminance areas detected by the detection means, the distance between the luminance area and itself is determined based on at least one of the size of the luminance area with respect to the imaging area or the position existing on the imaging area. Grasping and selecting means for selecting a luminance region to be decoded in the movement rule;
Decoding means for decoding from the luminance region selected by the selection means to the movement rule;
Movement provided by itself based on at least one of the size of the luminance area detected by the detection means with respect to the imaging area or the position existing on the imaging area, and the movement rule decoded by the decoding means And a control means for controlling the start and stop of the travel of the body. The movement rule is to instruct the start and stop of traveling of the moving body according to the type of lighting color that the light source is lit, and periodically changes with time series,
The movement rule decoded by the decoding means includes this periodically changing timing information,
Further comprising distance calculation means for calculating the distance between the device and the light source based on at least one of the size of the luminance area detected by the detection means relative to the imaging area or the position existing on the imaging area;
The control means controls the start and stop of the traveling of the moving body based on the movement rule decoded by the decoding means and the distance between the device and the light source calculated by the distance calculation means. The control apparatus of the moving body according to claim 7. Information acquisition means for acquiring information on whether the mobile body equipped with the device is currently running or currently stopped;
Prediction means for predicting a future distance between the moving body and the light source based on the information acquired by the information acquisition means and the distance between the device and the light source calculated by the distance calculation means; Prepared,
In addition to at least one of the size of the luminance area detected by the detecting means relative to the imaging area or the position existing on the imaging area, and the movement rule decoded by the decoding means, 9. The moving body control device according to claim 8, wherein start and stop of the traveling of the moving body is controlled based on a future distance predicted by the prediction means. The moving body includes a driving means for moving the field,
10. The moving body control apparatus according to claim 7, wherein the control means includes drive control means for controlling the drive means.   11. The moving body control apparatus according to claim 7, further comprising display means for displaying information based on the movement rule decoded by the decoding means. A detection step of detecting a luminance region of a light source that emits light by modulating a movement rule in a field in which a movement rule is set, from an imaging region of the imaging unit;
When there are a plurality of luminance regions detected in this detection step , the distance between the luminance region and itself based on at least one of the size of the luminance region with respect to the imaging region or the position existing on the imaging region And selecting a luminance region to be decoded in the movement rule;
A decoding step of decoding from the luminance region selected in this selection step to the movement rule;
Based on at least one of the size of the luminance area detected in the detection step with respect to the imaging area or the position existing on the imaging area, and the movement rule decoded in the decoding step, the imaging unit And a control step for controlling start and stop of traveling of the mobile body provided. Computer
Detecting means for detecting a luminance region of a light source that emits light by modulating a movement rule in a field in which a movement rule is set, from an imaging region of an imaging unit;
When there are a plurality of luminance areas detected by the detection means, the distance between the luminance area and itself is determined based on at least one of the size of the luminance area with respect to the imaging area or the position existing on the imaging area. Selection means for grasping and selecting a luminance region to be decoded in the movement rule;
Decoding means for decoding from the luminance region selected by the selection means to the movement rule;
The imaging unit is provided based on at least one of a size of the luminance area detected by the detection unit with respect to the imaging region or a position existing on the imaging region, and a movement rule decoded by the decoding unit. A program that functions as control means for controlling start and stop of traveling of a moving body.

Images