JP5214355B2 - Vehicle traveling locus observation system, vehicle traveling locus observation method, and program thereof - Google Patents

Description

  The present invention relates to a vehicle travel locus observation system, a vehicle travel locus observation method, and a program thereof.

Conventional vehicle trajectory observation devices arrange a plurality of video cameras in an observation section and synthesize a trajectory of a traveling vehicle obtained from the imaging results of each video camera, thereby enabling observation of a long observation section ( For example, see Patent Document 1).
In addition, it is equipped with a video camera and measuring devices such as GPS (Global Positioning System), accelerometer, and 3-axis gyroscope. In some cases, the surrounding traveling vehicle is observed (see, for example, Patent Document 2).
JP 2003-085685 A JP 2007-148615 A

  However, in the vehicle travel locus observation device disclosed in Patent Document 1, in order to generate a coordinate conversion formula for calculating the position of the traveling vehicle from the captured image captured by the video camera, at least four of the captured images are included. The location of the ground control point is required in real space, but there is no suitable target on the road surface, so the ground control point cannot be determined, or even if you try to survey to obtain the location of the ground control point in real space Because there are structures on the observation section, such as roads where people cannot enter and surveying is not possible, it is not possible to obtain surveys, aerial surveys are in tunnels, there are bridges on ground control points, etc. There is a problem that the aerial survey for obtaining the position of the fixed point in the real space cannot be performed and the coordinate conversion formula cannot be generated.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a vehicle traveling locus observation apparatus and a vehicle traveling locus that can easily generate a coordinate conversion formula for calculating the position of a traveling vehicle from a captured image. It is to provide an observation method and its program.

(1) The present invention has been made to solve the above-described problems, and the vehicle travel locus observation system of the present invention is photographed by a roadside camera installed so as to photograph an observation section and the roadside camera. A vehicle traveling locus observation system comprising a vehicle traveling locus observation device that measures a traveling locus of a traveling vehicle traveling in the observation section, and a measurement vehicle that travels in the observation section while detecting information representing the position of the own vehicle. The roadside camera photographs the measurement vehicle traveling in the observation section, and the vehicle travel locus observation device includes the position of the roadside camera and each of at least four captured images captured by the roadside camera. Information representing the coordinates of the measurement vehicle and the position of the host vehicle detected by the measurement vehicle, and representing the position of the photographing time of each of the at least four photographed images And a coordinate conversion expression generation unit that generates a coordinate conversion expression that calculates a position on a plane that approximates the road surface of the observation section, from the coordinates in the captured image, and the coordinate conversion expression generation unit Using the coordinate conversion formula, the roadside camera calculates the position of the traveling vehicle in each of a plurality of captured images obtained by photographing the traveling vehicle traveling in the observation section, and generates a traveling locus of the traveling vehicle. It comprises the part.

(2) Moreover, the vehicle travel locus observation system of the present invention is the vehicle travel locus observation system described above, wherein the measurement vehicle is information representing the attitude angle of the own vehicle in addition to the information representing the position of the own vehicle. The vehicle traveling locus observation device, the information indicating the position of the measurement vehicle and the information indicating the attitude angle, and traveling while performing the detection of, the shooting of the roadside camera, and the measurement of the distance to the roadside camera, A roadside camera position calculation unit that calculates a position of the roadside camera from an image of the roadside camera and a distance to the roadside camera, and the coordinate conversion equation generation unit generates the coordinate conversion equation; The position of the roadside camera used for is the position of the roadside camera calculated by the roadside camera position calculation unit.

(3) Moreover, the vehicle travel locus observation system of the present invention is any one of the vehicle travel locus observation systems described above, wherein the coordinate conversion formula generation unit divides the observation section into a plurality of regions, The coordinate conversion formula is generated every time, and when the travel locus generation unit calculates the position of the traveling vehicle, the region corresponding to the coordinates of the traveling vehicle in the photographed image among the regions, or the calculation A region corresponding to the position of the already-running vehicle is selected, and the coordinate conversion formula corresponding to the selected region is used.

(4) Moreover, the vehicle travel locus observation method of the present invention measures a behavior of a roadside camera installed so as to photograph an observation section and a traveling vehicle traveling in the observation section photographed by the roadside camera. A vehicle traveling locus observation method in a vehicle traveling locus observation system comprising a vehicle traveling locus observation device and a measurement vehicle that travels while detecting the position of the own vehicle, wherein the measurement vehicle detects the position of the own vehicle. However, a first process of traveling in the observation section, a second process in which the roadside camera photographs the measurement vehicle traveling in the observation section, and the traveling vehicle behavior measurement device includes a position of the roadside camera. Information indicating the coordinates of the measurement vehicle in each of at least four captured images captured by the roadside camera and the position of the host vehicle detected by the measurement vehicle, the at least four A third step of generating a coordinate conversion formula for calculating a position on a plane approximating the road surface of the observation section from coordinates in the captured image using information representing the position of the captured time of each captured image And the traveling vehicle behavior measurement device uses the coordinate transformation formula generated in the third process, and the roadside camera captures the traveling in each of a plurality of captured images obtained by capturing the traveling vehicle traveling in the observation section. And a fourth step of calculating a position of the vehicle and generating a travel locus of the traveling vehicle.

(5) Further, the program of the present invention is a vehicle trajectory observation for measuring the behavior of a roadside camera installed so as to photograph an observation section and a traveling vehicle traveling in the observation section photographed by the roadside camera. A computer of the vehicle travel locus observation device in a vehicle travel locus observation system comprising a device and a measurement vehicle that travels in the observation section while detecting the position of the host vehicle, the position of the roadside camera, and the roadside camera Coordinates of the measurement vehicle in each of at least four captured images and information indicating the position of the own vehicle detected by the measurement vehicle, the information indicating the position of the capture time of each of the at least four captured images. A coordinate conversion formula generation unit that generates a coordinate conversion formula for calculating a position on a plane that approximates the road surface of the observation section, from the coordinates in the captured image, The traveling vehicle behavior measurement device calculates the position of the traveling vehicle in each of a plurality of captured images captured by the roadside camera using the coordinate conversion formula generated by the coordinate conversion formula generation unit, and travels the traveling vehicle. A program that functions as a traveling locus generation unit that generates a locus.

  According to the present invention, the measurement vehicle travels in the observation section while measuring the position of the host vehicle, and the roadside camera captures the travel, whereby the coordinates of the measurement vehicle in each of a plurality of captured images captured by the roadside camera. Coordinate conversion that calculates the position from the coordinates in the captured image of the roadside camera based on the information indicating the position of the own vehicle detected by the measurement vehicle and the information indicating the position of the captured time of each of the captured images Expressions can be easily generated.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic block diagram showing a configuration of a vehicle travel locus observation system according to an embodiment of the present invention. The vehicle travel locus observation system according to the present embodiment includes a vehicle travel locus observation device 10, a measurement vehicle 11, a GPS (Global Positioning System) clock 12, a roadside camera 13, and a display device 14.

  The GPS clock 12 calibrates the internal clock based on the time information included in the GPS signal transmitted by the satellite of the global positioning system, and represents a time code (1 / 29.97 second interval time that is the frame rate of the video camera). A SMPTE (Society of Motion Picture and Television Engineers) time code) and a synchronization signal (Black Burst signal) are output.

  The roadside camera 13 is a video camera installed on the roadside with a fixed angle of view so as to capture an observation section, which is a section in which the vehicle traveling locus observation system observes the locus of the traveling vehicle. According to 12 synchronization signals output. Further, the roadside camera 13 records the time code output from the GPS clock 12 in each captured frame. In the present embodiment, the captured image taken by the roadside camera 13 is once recorded on a video tape inserted in the roadside camera 13.

  The measurement vehicle 11 includes a GPS clock 111 and an own vehicle position measuring device 112, and travels in an observation section while detecting information indicating the position of the own vehicle (position in real space). Preferably, in addition to the information indicating the position of the host vehicle, information indicating the attitude angle of the host vehicle is detected, and the in-vehicle camera 110 which is a video camera installed at a fixed angle of view is provided. Shoot. In the present embodiment, the measurement vehicle 11 has a traveling direction speedometer, a three-axis accelerometer, and a GPS positioning device as the own vehicle position measuring device 112 that detects information indicating the position of the own vehicle and information indicating the posture angle. A triaxial gyro that measures angular velocities around the triaxial is provided.

  The GPS positioning device receives a GPS signal transmitted from an artificial satellite of the global positioning system, and detects the position of the antenna that has received the GPS signal in real space. As with the GPS clock 12, the GPS clock 111 calibrates the internal clock based on the time information included in the GPS signal, and outputs a time code of 1 / 29.97 seconds, which is the frame rate of the video camera, and a synchronization signal. To do. The frame timing of the in-vehicle camera 110 records the time code output from the GPS clock 111 in each frame according to the synchronization signal output from the GPS clock 111. The in-vehicle camera 110 includes a laser distance measuring device that detects the distance between the in-vehicle camera 110 and the roadside camera 13. The own vehicle position measuring device 112 detects each value in synchronization with the synchronization signal output from the GPS clock 111 and records each detected value together with the time code output from the GPS clock 111.

  The vehicle travel locus observation apparatus 10 includes a vehicle detection unit 100, a measured vehicle position calculation unit 101, a ground point selection unit 102, a roadside camera position calculation unit 103, a coordinate conversion formula generation unit 104, a coordinate conversion formula storage unit 105, and a coordinate conversion formula. A selection unit 106, a coordinate conversion unit 107, a vehicle position storage unit 108, and a trajectory display unit 109 are provided. The vehicle detection unit 100 detects the measurement vehicle 11 and the traveling vehicle in the captured image captured by the roadside camera 13, and detects the detected coordinates of the measured vehicle 11 and the traveling vehicle in the captured image, the time code of the detected frame, and the vehicle. Is output together with information for identifying. The vehicle detection unit 100 outputs the coordinates and time code detected for the measurement vehicle 11 to the orientation point selection unit 102. In addition, the vehicle detection unit 100 outputs the coordinates and time code detected for the traveling vehicle to the coordinate conversion formula selection unit 106. Note that the vehicle detection unit 100 outputs information for identifying the traveling vehicle to the coordinate conversion formula selection unit 106 in addition to the coordinates and the time code when observing a plurality of traveling vehicles.

  The measurement vehicle 11 and the traveling vehicle in the captured image are detected by detecting the measurement vehicle 11 and the traveling vehicle by image recognition processing using feature information relating to appearance such as the size, brightness, and RGB value of the vehicle. It may be performed by detecting the coordinates of a tracking point such as a license plate, or a photographed image is displayed on the display device 14 and an input device such as a mouse is used for the measurement vehicle 11 and the traveling vehicle in the displayed photographed image. It may be detected by acquiring the coordinates of the tracking point specified by the operator. At this time, the coordinates of the measurement vehicle 11 (tracking point) detected by the vehicle detection unit 100 are used as coordinates on the photographed image of an orientation point (details will be described later) defining a plane that approximates the road surface. When the tracking point of the measurement vehicle 11 is away from the road surface, it is assumed that there is a virtual road surface at the height of the tracking point, and the orientation point is a point on the virtual road surface.

  The measurement vehicle position calculation unit 101 includes the speed in the traveling direction in each time code measured by the own vehicle position measurement device 112 of the measurement vehicle 11, the three-axis acceleration, the three-axis angular velocity, and the actual measurement result observed by the GPS positioning device. In response to the position in the space, the extended Kalman smoother is applied to the state transition equation and the observation equation of the measurement vehicle 11, and the position in the real space of the measurement vehicle 11 in each time code (world coordinate system) (Coordinate value) and posture angle are estimated. Details of the state transition equation and the observation equation of the measurement vehicle 11 used by the measurement vehicle position calculation unit 101 in this embodiment will be described later. Here, the world coordinate system representing the position in the real space is, for example, a coordinate system in which the x-axis is taken in the north-south direction, the y-axis is taken in the east-west direction, and the z-axis is taken in the vertical direction.

  The control point selection unit 102 divides the observation section into a plurality of areas, and specifies a road surface that is a target of a coordinate conversion formula for calculating the position of the real space from the captured image of the roadside camera 13 for each area. Are selected for each region from the positions in the real space of the measurement vehicle 11 calculated by the measurement vehicle position calculation unit 101. For this selection, an input device such as a mouse may be used to select an item designated by the operator, or a position at regular intervals may be selected. When the orientation point selection unit 102 selects at least three of the positions calculated by the measurement vehicle position calculation unit 101 as orientation points, the coordinates in the captured image of the measurement vehicle 11 received from the vehicle detection unit 100 are The time code of the selected orientation point and the coordinate with which the time code matches are selected, and are associated with the orientation point (the position in the real space) and output to the coordinate conversion formula generation unit 104.

  At this time, the coordinate conversion formula approximates the road surface of the observation section in a plane, and expresses the position in real space from the coordinates on the captured image of the tracking point (such as the license plate of the traveling vehicle) having a height h from the plane. It is a formula showing coordinate conversion to coordinates. That is, this is an equation for calculating the position of the tracking point in the real space by performing coordinate conversion on the assumption that the tracking point in the captured image exists at a position having a height h from the road surface in the real space. Since the orientation points are points for defining the road surface, it is desirable that the three orientation points have a shape close to an equilateral triangle in real space. When the measurement vehicle 11 is traveled only once, the trajectory is almost a straight line, so it is difficult to select an orientation point having a shape close to an equilateral triangle. In order to avoid this, the measurement vehicle 11 may travel a plurality of times or a plurality of vehicles, different lanes, and the like, and a control point may be selected from these measurement results. In the present embodiment, the observation interval is divided into triangular areas having three orientation points as vertices, and a coordinate conversion formula is obtained for each area.

  Further, since the position of the measurement vehicle calculated by the measurement vehicle position calculation unit 101 is the position of the GPS positioning device antenna of the own vehicle position measurement device 112, the vehicle is detected from the captured image of the roadside camera 13 and the captured image of the roadside camera 13. There is a problem that the tracking point detected by the unit 100 does not match. In order to solve this problem, based on the attitude angle of the measurement vehicle 11 calculated by the measurement vehicle position calculation unit 101 and the known shape of the measurement vehicle 11, the orientation point is determined from the position where the antenna of the GPS positioning device is installed. What is necessary is just to calculate the value of the position suitable for making it (for example, a point plate etc. which are contained in the picked-up image of the roadside camera 13, and the vehicle detection part 100 can detect), and let this be a control point.

  The roadside camera position calculation unit 103 includes information indicating the position of the measurement vehicle 11 and information indicating the attitude angle, an image obtained by the vehicle-mounted camera 110 capturing the roadside camera 13, and a distance from the vehicle-mounted camera 110 to the roadside camera 13. The position of the roadside camera 13 is calculated. More specifically, the roadside camera position calculation unit 103 detects the roadside camera 13 from the image taken by the vehicle-mounted camera 110 and captures the coordinates in the image of the roadside camera 13. The detection of the roadside camera 13 is performed by an image recognition process using feature information about the appearance of the roadside camera 13 such as the size, brightness, and RGB value, similarly to the detection of the measurement vehicle 11 and the traveling vehicle in the vehicle detection unit 100. This may be performed by detecting the roadside camera 13, or a captured image is displayed on the display device 14, and the coordinates specified by the operator using the input device such as a mouse for the roadside camera 13 in the displayed captured image are displayed. You may make it detect by acquiring.

  Next, the roadside camera position calculation unit 103 applies an extended Kalman smoother to the detected state transition equation and observation equation of the roadside camera 13 of the roadside camera 13 to measure the vehicle 11 corresponding to each time code. Is estimated relative to the roadside camera 13. Then, the roadside camera position calculation unit 103 uses the position and posture angle of the measurement vehicle 11 corresponding to the estimated relative coordinates to the roadside camera 13 in the real space of the roadside camera 13. Convert to position. Details of the state transition equation and the observation equation of the roadside camera 13 used by the roadside camera position calculation unit 103 in this embodiment will be described later.

  The coordinate conversion formula generation unit 104 is information representing the position of the roadside camera 13, the coordinates of the measurement vehicle 11 in each of at least four captured images taken by the roadside camera 13, and the position of the host vehicle detected by the measurement vehicle 11. Thus, using the information indicating the position of the shooting time of each of the at least four shot images, that is, the position in the real space of the roadside camera 13 calculated by the roadside camera position calculation unit 103 and the orientation point selection unit 102 have selected. A position on the plane that approximates the observation section from the coordinates in the photographed image using the coordinates in the photographed image of the orientation point obtained by adding at least one of the three orientation points and the position in the real space of the orientation point. A coordinate conversion formula for calculating is generated. The orientation points to be added at this time are the three orientation points selected by the orientation point selection unit 102 among the orientation points of other adjacent triangular regions formed by the three orientation points selected by the orientation point selection unit 102. The one having the smallest height difference from the three-dimensional plane formed by the fixed point is selected.

  At this time, as the position of the roadside camera 13, in this embodiment, the position in the real space of the roadside camera 13 calculated by the roadside camera position calculation unit 103 is used, but a value obtained by surveying may be used. However, even if it is difficult to perform surveying due to places such as a highway where access to people is restricted, the imaging result of the in-vehicle camera 110 and the measured vehicle position calculation unit 101 are not displayed as in this embodiment. The roadside camera position calculation unit 103 calculates the position of the roadside camera 13 using the calculated position and posture angle of the measurement vehicle 11, whereby the position of the roadside camera 13 in the real space can be obtained.

  Here, generating the coordinate conversion formula means that for each region obtained by dividing the observation section, parameters α, β, and (1), (1) -1, which are coordinate conversion formulas based on the information on the orientation points of each region. γ, δ, b1 to b8 are calculated. Details of the coordinate conversion formula in this embodiment will be described later. FIG. 2 is a diagram for explaining a method of correcting the height of the tracking point from the road surface by the equation (1) of the coordinate transformation equations in the present embodiment. As shown in FIG. 2, Xc and Yc are the values of the X coordinate and the Y coordinate among the coordinates representing the position of the roadside camera 13 in the real space, and are obtained from the roadside camera position calculation unit 103. h is the height from the road surface of a tracking point T (for example, a license plate) at which the vehicle detection unit 100 detects a traveling vehicle from a photographed image taken by the roadside camera 13, and a fixed value is determined in advance as an initial value. In this embodiment, the coordinate conversion unit 107 described later estimates. The initial value of the height h may be determined in advance for each vehicle type, and a fixed value selected according to the vehicle type of the traveling vehicle may be used. Although not shown in FIG. 2, x and y are coordinates of a tracking point T such as a traveling vehicle on an image captured by the roadside camera 13 and are obtained from the vehicle detection unit 100. The XY coordinates (Xp, Yp) of the projection point P, which is the intersection of the straight line passing the roadside camera 13 and the tracking point T and the road surface, are the coordinates (x , Y), and is expressed by Expression (1) -1 which is a two-dimensional projective conversion expression.

  The parameters α, β, γ, and δ in Expression (1) satisfy the normalized Expression (2) that represents the plane including the orientation points H1 to 3 selected by the orientation point selection unit 102, that is, the plane that approximates the road surface. Value. The coordinate conversion formula generation unit 104 represents the values of α, β, γ, and δ in the real space of the three orientation points selected by the orientation point selection unit 102 for each of the divided areas. Obtain from coordinates.

  Furthermore, when Expression (1) -1 which is an expression representing the relationship between the coordinates (x, y) on the captured image and the XY coordinate values (Xp, Yp) of the position in the real space is solved for x and y, Expression (1) 3) is obtained. The coordinate transformation formula generation unit 104 obtains b1 obtained by substituting the value of the orientation point (the coordinates (x, y) on the photographed image and the XY coordinate values (Xp, Yp) of the position in the real space) in this formula (3). An equation with ˜b8 as an unknown is solved using a least square method or the like to obtain values of b1 to b8. At this time, since there are eight unknowns, at least four orientation point values are required to solve equation (3) consisting of two equations. Therefore, in the present embodiment, the coordinate conversion formula generation unit 104 includes, in addition to the three orientation points selected by the orientation point selection unit 102 for each region obtained by dividing the observation section, There is a difference in the Z-axis direction (vertical direction) from the three-dimensional plane (the plane of Expression (2)) formed by the three orientation points selected by the orientation point selection unit 102 that does not coincide with the above-described three orientation points. Equation (3) is solved using the value of the minimum orientation point.

  The coordinate conversion formula generation unit 104 is information indicating the range in the image captured by the roadside camera 13 of each road surface area obtained by dividing the observation section (in this embodiment, the coordinates of the three control points selected by the control point selection unit 102). At the same time, the values of the parameters α, β, γ, δ, b1 to b8 of the coordinate conversion formula corresponding to the area are stored in the coordinate conversion formula storage unit 105.

  The coordinate conversion formula storage unit 105 stores information indicating the range of the region into which the observation section is divided and information indicating the coordinate conversion formula corresponding to each region in association with each other. In the present embodiment, since the region obtained by dividing the observation section is a triangle having three control points as vertices, the three standard selected by the control point selection unit 102 is used as information indicating the range of the region obtained by dividing the observation section. The coordinates in the image photographed by the fixed point roadside camera 13 are stored. Moreover, the values of the parameters α, β, γ, δ, and b1 to b8 of the equations (1) and (1) -1 are stored as information representing the coordinate conversion equation.

  The coordinate conversion formula selection unit 106 receives the coordinates and time code in the captured image of the traveling vehicle from the vehicle detection unit 100, and when the position of the target traveling vehicle is not calculated for any captured image, A corresponding area is selected, the parameters of the coordinate conversion formula corresponding to the selected area are read from the coordinate conversion formula storage unit 105, and the read coordinate conversion formula is read together with the coordinates and time code of the traveling vehicle received from the vehicle detection unit 100. Are output to the coordinate conversion unit 107. When the position of the target traveling vehicle is calculated for any one of the captured images, the coordinate conversion formula selection unit 106 stores the calculated traveling vehicle position stored in the vehicle position storage unit 108 (for example, one frame before A region corresponding to a position calculated from the closest captured image such as a position in the real space calculated from the captured image is preferable), and a coordinate conversion equation parameter corresponding to the selected region is stored in the coordinate conversion equation The parameters of the read coordinate conversion formula are output to the coordinate conversion unit 107 together with the coordinates of the traveling vehicle and time code received from the unit 105 and received from the vehicle detection unit 100. Note that the selection of the area according to the coordinates of the traveling vehicle in the captured image is performed by selecting an area including the coordinates or by selecting an area having the closest center of gravity to the coordinates. Further, the selection of the area according to the calculated position of the traveling vehicle is performed by selecting an area including the position or by selecting an area having the center of gravity closest to the position.

  The coordinate conversion unit 107 uses the coordinate conversion formula generated by the coordinate conversion formula generation unit 104 to calculate the position of the traveling vehicle corresponding to each of a plurality of captured images in which the roadside camera 13 images the traveling vehicle traveling in the observation section. Then, a travel locus of the traveling vehicle is generated. Here, the coordinate conversion unit 107 is created by substituting the parameters of the coordinate conversion formula received from the coordinate conversion formula selection unit 106 into the above-described formula (1) as the coordinate conversion formula generated by the coordinate conversion formula generation unit 104. A coordinate conversion formula is used.

The position of the traveling vehicle (XY coordinate value of the position in the real space) in each of the plurality of captured images is obtained by substituting the coordinates of the traveling vehicle received from the coordinate conversion formula selection unit 106 into the coordinate conversion formula created using this parameter. It can also be obtained by computing. However, since the result calculated by the coordinate conversion formula includes an observation error and the like, the trajectory connecting the positions of the traveling vehicles, which is the calculation result by the coordinate conversion formula, is not a smooth line. It may be a zigzag line that is not possible in practice.
Therefore, in the present embodiment, the coordinate conversion unit 107 performs an equation obtained by adding an error variance term to the coordinate conversion equation described above and a state transition equation of the traveling vehicle based on the equation of motion (equation (3) -1). Then, the extended Kalman smoother is applied to smooth the state quantity including the position of the traveling vehicle while being sequentially updated by least square estimation. As a result, the coordinate conversion unit 107 calculates the position of the traveling vehicle (the XY coordinate value of the position in the real space and the height h from the road surface) corresponding to each of the plurality of captured images captured by the roadside camera 13, and performs coordinate conversion. Along with the time code received from the formula selection unit 106, the vehicle position storage unit 108 stores the time code for each traveling vehicle.

  A vector X (k), a vector W, and a matrix F of the state transition equation (Formula (3) -1) are shown in Formula (3) -2. The state transition equation (Expression (3) -1) is an equation of motion, and the position quantity, speed, acceleration, jerk, and tracking point height of the traveling vehicle are defined as a state quantity X (k). The third and subsequent terms are ignored. Jerk is a first derivative of acceleration and corresponds to the amount of depression of an accelerator pedal or a brake pedal. Further, by including the tracking point height h in the state transition equation, it is utilized for correcting an error caused in coordinate transformation. It is assumed that there is no time fluctuation of h. Values were set assuming that there was no time variation in the error variance of the state quantity vector.

In this embodiment, the coordinate conversion formula selection unit 106 and the coordinate conversion unit 107 function as a travel locus generation unit.
The vehicle position storage unit 108 stores, for each traveling vehicle, the coordinate value of the position of the traveling vehicle in the real space calculated by the coordinate conversion unit 107 together with the corresponding time code.
The trajectory display unit 109 reads the coordinate value of the position of each traveling vehicle in the real space stored in the vehicle position storage unit 108 and causes the display device 14 to display the traveling trajectory of each traveling vehicle.

  FIG. 3 is a diagram illustrating an example of the contents stored in the coordinate conversion formula storage unit 105 according to the present embodiment. As shown in FIG. 3, the coordinate conversion formula storage unit 105 in this embodiment selects three vertices of a region in a captured image corresponding to each region, i.e., orientation point selection, for all the triangular regions obtained by dividing the observation section. The coordinates (for example, “x11, y11”, “x12, y12”, “x13, y13”) of the vertex 1, vertex 2, and vertex 3 that are the three orientation points selected by the unit 102 and the parameters of the coordinate conversion formula (for example, Α = α1, β = β1, γ = γ1, δ = δ1, b1 = c11, b2 = c12, b3 = c13, b4 = c14, b5 = c15, b6 = c16, b7 = c17, b8 = c18) Are stored in association with each other. (Α1 to α3, β1 to β3, γ1 to γ3, δ1 to δ3, x11 to x33, y11 to y33, and c11 to c38 in FIG. 3 each represent a numerical value)

  FIG. 4 is a diagram illustrating an example of position information of the traveling vehicle stored in the vehicle position storage unit 108 in the present embodiment. The example shown in FIG. 4 is position information for one traveling vehicle. The vehicle position storage unit 108 stores position information for the number of traveling vehicles observed by the vehicle traveling locus observation apparatus 10. As shown in FIG. 4, the vehicle position storage unit 108 displays the time of each time code (for example, “Y1 / M1 / D1 / h1: m1: representing Y1 year M1 month D1 day h1 hour m1 minute s1 second t1 millisecond). s1: t1 ") in association with each of them, values in the world coordinate system (for example, X coordinate" x1 ", Y coordinate" y1 ") representing the position of the traveling vehicle in the real space at the time are stored. (Y1, M1, D1, h1 to h3, m1 to m3, s1 to s3, t1 to t3, x1 to x3, and y1 to y3 in FIG. 4 each represent a numerical value)

  FIG. 5 is a flowchart for explaining the operation of the vehicle travel locus observation system in the present embodiment. First, the measurement vehicle 11 travels through the observation section while performing the photographing by the in-vehicle camera 110 synchronized with the GPS signal received by the GPS clock 111 and the measurement by the own vehicle position measuring device 112, and the GPS clock 12 receives the GPS. The roadside camera 13 synchronized with the signal images the measurement vehicle 11 (S1). Here, this step S1 is performed for all lanes in the observation section.

  Next, the imaging result of the roadside camera 13 is input to the vehicle detection unit 100, and the measurement result of the own vehicle position measuring device 112 is input to the measurement vehicle position calculation unit 101. In response to the measurement result of the own vehicle position measuring device 112, the measurement vehicle position calculation unit 101 applies an extended Kalman smoother to the state transition equation and the observation equation of the measurement vehicle 11, and performs measurement at each time code. The position of the vehicle 11 in the real space (the coordinate value in the world coordinate system) and the attitude angle are calculated (S2).

  Next, the imaging result of the in-vehicle camera 110 is input to the roadside camera position calculation unit 103. The roadside camera position calculation unit 103 calculates the position of the roadside camera 13 in the real space from the photographing result of the in-vehicle camera 110 and the position / posture angle of the measurement vehicle 11 calculated in step S2 (S3). Next, the orientation point selection unit 102 selects an orientation point from the position of the measurement vehicle 11 in each time code calculated by the measurement vehicle position calculation unit 101, that is, the travel locus of the measurement vehicle 11 (S4). At this time, the orientation point is selected so that the observation section can be divided in an area having a shape as close as possible to the equilateral triangle having the orientation point as a vertex.

  Next, the coordinate conversion formula generation unit 104 determines the position of the roadside camera 13, the coordinates in the captured image of the orientation point selected by the orientation point selection unit 102 for each area obtained by dividing the observation section, and the real space Based on the position, a coordinate conversion formula for calculating the position from the coordinates in the captured image is generated, and parameters of the coordinate conversion formula are stored in the coordinate conversion formula storage unit 105 (S5). Next, the traveling vehicle is caused to travel in the observation section, and the roadside camera 13 photographs this (S6).

  The imaging result of the roadside camera 13 is input to the vehicle detection unit 100. The vehicle detection unit 100 detects the coordinates of the traveling vehicle in the captured image (S7). The coordinate conversion formula selection unit 106 receives the coordinates of the traveling vehicle in the captured image from the vehicle detection unit 100, and selects the parameters of the coordinate conversion formula for the region including the coordinates from the parameters stored in the coordinate conversion formula storage unit 105. . Subsequently, the vehicle detection unit 100 converts the coordinates of the traveling vehicle using the coordinate conversion formula of the read parameters, and calculates the position of the traveling vehicle in the real space (S8). The travel locus of the traveling vehicle is displayed by connecting the positions of the traveling vehicles in the real space.

In this way, the measurement vehicle 11 equipped with the own vehicle position measuring device 112 travels in the observation section while measuring the position of the own vehicle, and the roadside camera 13 takes an image of the running by the roadside camera 13. Based on the coordinates of the measurement vehicle 11 in each of the plurality of captured images and the information indicating the position of the own vehicle detected by the measurement vehicle 11 and indicating the position of the capture time of each of the plurality of captured images, that is, the measurement vehicle A coordinate conversion formula for calculating the position from the coordinates in the captured image of the roadside camera 13 can be easily generated based on the orientation points selected from the 11 travel trajectories.
In addition, the in-vehicle camera 110 is mounted on the measurement vehicle 11, and the measurement vehicle 11 travels in the observation section while measuring the position and posture angle of the own vehicle, and the road-side camera 13 is photographed by the in-vehicle camera 110 during the traveling. However, by measuring the distance to the roadside camera 13, the position of the roadside camera 13 can be calculated, and a coordinate conversion formula for calculating the position from the captured image of the roadside camera 13 can be easily generated.

  In addition, for each region obtained by dividing the observation section, a coordinate conversion formula is generated based on the information on the orientation points of each region, so that the coordinate conversion formula is optimized for each region of the captured image obtained through the lens of the roadside camera 13. It will be possible. Therefore, even if a camera using an expensive lens for photogrammetry is not used as the roadside camera 13, the distortion of the general-purpose lens of the roadside camera 13 can be corrected and the required coordinate conversion accuracy can be realized.

  Next, the state transition equation and the observation equation used in the measured vehicle position calculation unit 101 will be described. The state transition equation is an expression describing the transition relation of the state variable (here, vector x) over time, and generally the state variable when Δt has elapsed from a certain time t as shown in Expression (4), It is represented by the sum of a vector obtained by applying the state transition vector function f to the state variable at time t and the white noise vector w.

  In the measured vehicle position calculation unit 101, as shown in Expression (5) and Expression (6), the position, speed, acceleration, and jerk (acceleration time of the host vehicle) in the world coordinate system XYZ that is an absolute coordinate system in real space. Differentiation), acceleration bias in own vehicle posture direction, posture angle of own vehicle, angular velocity of own vehicle posture angle, angular acceleration of own vehicle posture angle, irregular angle of attachment with respect to moving coordinate system xyz of three-axis gyro, moving coordinate system A state variable is a bias of angular velocity in a direction obtained by adding an irregular angle of attachment of a three-axis gyro to xyz. Since these state variables are each composed of three elements, the state variable vector x is a vector composed of 30 elements in total. Here, the posture angle represented by <ψ, θ, φ> is a posture called a navigation angle obtained by rotational conversion in the order of yaw angle (φ), pitch angle (θ), and roll angle (ψ). It is a corner (the order of vector elements and the order of rotation transformation are reversed).

  In the present embodiment, the state transition vector function f of the state transition equation relating to the state variables shown in Equations (5) and (6) is assumed to be Equation (7), and the white noise vector w is assumed to be Equations (8) and (9).

  As can be seen by referring to the state transition vector function f (Equation (7)), the state transition equation is a linear equation, and therefore the state transition equation can be expressed as a matrix as in Equation (10). At this time, the state transition matrix F is as shown in Expression (11).

The observation equation is an expression representing the relationship between the value observed by the observation equipment and the state variable. Generally, the observation variable vector x ^m is converted into the state variable vector x and the observation vector function h as shown in Expression (12). And the white noise vector e.

The measured vehicle position calculation unit 101 is a position of the vehicle in the world coordinate system XYZ that is the output of the GPS clock, speedometer, and 3-axis gyro, which is the vehicle position measuring device 112, the speed in the traveling direction, and the 3-axis gyro mounting direction. the acceleration and angular velocity, the element of the observed variable vector x ^m, the observed variable vector x ^m is expressed by equation (13), the observation vector function h becomes equation (14).

  Since the observation vector function h (formula (14)) is non-linear, it cannot be expressed as a matrix like the state transition vector function f, but the observation matrix H is obtained by partial differentiation of the observation vector function h with the state variable vector x. Can be approximated using At this time, the observation equation is expressed as Equation (15), and the observation matrix H is expressed as Equation (16).

  Further, the white noise vector e of the observation equation in the measured vehicle position calculation unit 101 is Equation (25).

Next, the state transition equation in the roadside camera position calculation unit 103 is expressed by Expression (4), similarly to the measurement vehicle position calculation unit 101. In this embodiment, as shown in Expression (26), the relative position of the roadside camera 13 from the vehicle-mounted camera 110 in the moving coordinate system xyz fixed to the measurement vehicle 11, the acceleration, the xy component of jerk, the vehicle-mounted camera 110 The difference between the mounting height and the mounting height of the roadside camera 13, the mounting angle and focal length of the in-vehicle camera 110, the distance measuring point of the laser distance measuring device that measures the distance to the roadside camera 13, and the tracking point by the in-vehicle camera 110. Is a state variable vector x _i . Further, the state transition vector function f is represented by Expression (27).

  As can be seen by referring to the state transition vector function f (formula (26)), also in the roadside camera 103 position calculation unit 103, the state transition equation is a linear equation. Can be expressed as a matrix. At this time, the state transition matrix F is as shown in Expression (28).

  Further, the white noise vector w of the state transition equation in the roadside camera 103 position calculation unit 103 is represented by Expression (29).

Next, the observation equation in the roadside camera position calculation unit 103 is expressed by Expression (30), as in the measurement vehicle position calculation unit 101. In the roadside camera position calculation unit 103 in this embodiment, the coordinates of the roadside camera 13 extracted from the output image of the in-vehicle camera 110 and the distance to the roadside camera 13 that is the output of the laser ranging device of the in-vehicle camera 110 are the observation variable vectors. Since it is an element of y _i , the observation variable vector y _i is expressed as in Expression (31), and the observation vector function h is expressed as Expression (32).

Similarly to the measurement vehicle position calculation unit 101, the roadside camera position calculation unit 103 also has a nonlinear expression as the state transition vector function f because the observation vector function h equation (32) is non-linear. observation vector function h obtained by partially differentiating a state variable vector x _i, and using the observation matrix H, can be represented approximately. At this time, the observation equation is expressed as Equation (33), and the observation matrix H is expressed as Equation (34).

  Further, the white noise vector e of the observation equation in the roadside camera position calculation unit 103 is Expression (37).

  Next, a coordinate conversion formula (formula (1)) in the present embodiment will be described. In general, the two-dimensional projective transformation from the plane (Xp, Yp) to the plane (x, y) is expressed by Expression (38). This is Equation (1) -1.

  6 and 7 are diagrams for explaining the equation (1) which is a coordinate conversion equation in the present embodiment. FIG. 6 is a diagram illustrating the relationship among the roadside camera 13, the traveling vehicle, and the road surface R when viewed from a direction perpendicular to the line connecting the roadside camera 13 and the tracking point P and parallel to the road surface R. FIG. 7 is a diagram illustrating the relationship among the roadside camera 13, the traveling vehicle, and the projection point P when viewed from the Z-axis direction with the X-axis and Y-axis of the world coordinate system taken as a horizontal plane. In these drawings, the distance from the roadside camera 13 to the projection point P is Lp, the distance from the roadside camera 13 to the tracking point T is L, the height from the road surface R to the roadside camera 13 is hc, and the tracking point T from the road surface R to the tracking point T. The height up to is h.

As shown in FIG. 6, the intersection of the perpendicular of the tracking point T to the road surface R and the road surface R, the triangle having the apex at the three points of the projection point P and the tracking point T, and the perpendicular to the road surface R of the roadside camera 13 It is similar to a triangle whose apex is the intersection of the road surface R, the projection point P, and the roadside camera 13. Therefore, equation (39) is obtained. When formula (39) is transformed, formula (40) is obtained.
hc: h = Lp: Lp-L (39)
hc: hc−h = Lp: L (40)

Since the normalized expression representing the road surface R is αX + βY + δZ + γ = 0, the distance hc from the roadside camera 13 (Xc, Yc, Zc) to the road surface R is expressed by Expression (41).
hc = αXc + βYc + δZc + γ (41)
Further, as shown in FIG. 7, the projection of the roadside camera 13 onto the horizontal plane, the projection of the tracking point T onto the horizontal plane and the point (X, Yc), the projection of the roadside camera 13 onto the horizontal plane and the projection point. A triangle composed of P and a point (Xp, Yc) is similar. Therefore, Xp−Xc: X−Xc = L′ p: L ′. Since L ′ and L′ p are projections of L and Lp in FIG. 6 onto the horizontal plane, L′ p: L ′ = Lp: L. Therefore, equation (42) is obtained.
Xp-Xc: X-Xc = Lp: L (42)
From the expressions (40) and (42), Xp-Xc: X-Xc = hc: hc-h. From this expression and the expression (41), the expression (43) is obtained. When this equation (43) is transformed, it agrees with the equation relating to Xp in equation (1). Moreover, the formula regarding Yp of Formula (1) is obtained similarly. As described above, the equation (1), which is the coordinate conversion equation in the present embodiment, is the coordinate (x, y) on the captured image regarding the tracking point of the height h from the road surface with the coordinate (X, Y) in the real space. ).

In the present embodiment, the roadside camera 13 is described as being one. However, the roadside camera 13 includes a plurality of roadside cameras 13, generates a coordinate conversion formula for each area obtained by dividing the observation section for each roadside camera 13, and sets these coordinates. You may make it synthesize | combine the driving | running | working locus | trajectory of the traveling vehicle calculated using the conversion type | formula.
Further, in the present embodiment, the in-vehicle camera 110 is described as including a laser distance measuring device and measuring the distance to the roadside camera 13, but the laser distance measuring device may not be included. In this case, the element s _i ′ (the difference between the distance measuring point and the tracking point of the laser distance measuring device) in the state variable vector (expression (26)) in the roadside camera position calculation unit 103, the state transition matrix F (expression (28)). ), The 14th (last) element w _{s of} the white noise vector w (Equation (29)), the third element g _i (t) of the observation variable vector (Equation (31)), the observation matrix H ( The third element of the white noise vector e (Expression (37)) in the third line of Expression (34) is not necessary.

  The coordinate conversion type storage unit 105 and the vehicle position storage unit 108 may be a non-volatile memory such as a hard disk device, a magneto-optical disk device, or a flash memory, a volatile memory such as a RAM (Random Access Memory), or these. It shall be comprised by the combination of.

  In addition to the display device 14, an input device or the like (not shown) is connected to the vehicle travel locus observation device 10 as a peripheral device. Here, the input device refers to an input device such as a keyboard and a mouse. The display device 14 refers to a CRT (Cathode Ray Tube), a liquid crystal display device, or the like.

  In addition, the vehicle detection unit 100, the measured vehicle position calculation unit 101, the orientation point selection unit 102, the roadside camera position calculation unit 103, the coordinate conversion formula generation unit 104, the coordinate conversion formula selection unit 106, the coordinate conversion unit 107, the locus in FIG. A program for realizing the function of the display unit 108 may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to execute processing of each unit. . Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design changes and the like within a scope not departing from the gist of the present invention.

  The present invention is suitable for use in a two-wheeled vehicle and a vehicle traveling locus observation system for observing the traveling locus of an automobile, but is not limited thereto.

It is a block diagram which shows the structure of the vehicle travel locus observation system by one Embodiment of this invention. It is a figure explaining the correction | amendment method of the height from the road surface of a tracking point by Formula (1) of the coordinate transformation formulas in the embodiment. The coordinate conversion type | formula memory | storage part 105 in the embodiment shows a memory content example. It is a figure which shows the example of the positional information on the traveling vehicle which the vehicle position memory | storage part in the same embodiment memorize | stores. It is a flowchart explaining operation | movement of the vehicle travel locus observation system in the embodiment. It is a figure explaining Formula (1) which is a coordinate transformation type in the embodiment. It is a figure explaining Formula (1) which is a coordinate transformation type in the embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Vehicle travel locus observation apparatus 100 ... Vehicle detection part 101 ... Measurement vehicle position calculation part 102 ... Orientation point selection part 103 ... Roadside camera position calculation part 104 ... Coordinate conversion formula production | generation part 105 ... Coordinate conversion formula memory | storage part 106 ... Coordinate conversion Expression selection unit 107 ... Coordinate conversion unit 108 ... Vehicle position storage unit 109 ... Trajectory display unit 11 ... Measuring vehicle 110 ... In-vehicle camera 111 ... GPS clock 112 ... Own vehicle position measuring device 12 ... GPS clock 13 ... Roadside camera 14 ... Display device

Claims (3)

A vehicle travel locus observation system comprising: a roadside camera installed so as to photograph an observation section; and a vehicle travel locus observation device that measures a travel locus of a traveling vehicle traveling in the observation section photographed by the roadside camera. In
A measurement vehicle that travels in the observation section while detecting information representing the position of the host vehicle,
The roadside camera photographs the measurement vehicle traveling in the observation section,
The vehicle travel locus observation apparatus is
Information indicating the position of the roadside camera, the coordinates of the measurement vehicle in each of at least four captured images captured by the roadside camera, and the position of the host vehicle detected by the measurement vehicle, the at least four captured images A coordinate conversion formula generating unit that generates a coordinate conversion formula that calculates a position on a plane that approximates the road surface of the observation section, from the coordinates in the captured image, using information representing the position of each shooting time;
Using the coordinate conversion formula generated by the coordinate conversion formula generation unit, the roadside camera calculates the position of the traveling vehicle corresponding to each of a plurality of captured images obtained by capturing the traveling vehicle traveling in the observation section, and the traveling A traveling locus generating unit that generates a traveling locus of the vehicle ,
The measurement vehicle travels while detecting information representing the attitude angle of the own vehicle, photographing the roadside camera, and measuring the distance to the roadside camera, in addition to the information representing the position of the own vehicle.
The vehicle travel locus observation apparatus calculates the position of the roadside camera from information indicating the position of the measurement vehicle and information indicating an attitude angle, an image obtained by photographing the roadside camera, and a distance to the roadside camera. A roadside camera position calculator,
The vehicle traveling locus observation system , wherein the position of the roadside camera used by the coordinate conversion formula generation unit is the position of the roadside camera calculated by the roadside camera position calculation unit . While detecting a position of the host vehicle, a roadside camera installed so as to photograph an observation section, a vehicle traveling locus observation device that measures the behavior of a traveling vehicle that travels in the observation section photographed by the roadside camera, and A vehicle traveling locus observation method in a vehicle traveling locus observation system comprising a traveling measuring vehicle,
The measurement vehicle travels in the observation section while detecting information indicating the position of the host vehicle and the attitude angle of the host vehicle, photographing the roadside camera, and measuring a distance to the roadside camera . And the process
A second process in which the roadside camera photographs the measurement vehicle traveling in the observation section;
The vehicle travel locus observation device calculates the position of the roadside camera from information representing the position of the measurement vehicle and information representing an attitude angle, an image obtained by photographing the roadside camera, and a distance to the roadside camera. The third process,
The vehicle travel locus observation device is information indicating the position of the roadside camera, the coordinates of the measurement vehicle in each of at least four captured images taken by the roadside camera, and the position of the host vehicle detected by the measurement vehicle. A coordinate conversion equation for calculating a position on a plane approximating the road surface of the observation section from coordinates in the captured image using information representing the position of the captured time of each of the at least four captured images. A fourth process to generate,
The vehicle traveling locus observation apparatus, using a pre-Symbol coordinate conversion formula generated in the fourth step, the roadside camera the traveling vehicle in a plurality of captured images each obtained by photographing the traveling vehicle traveling the observation interval position is calculated, and the vehicle travel locus observation method characterized by comprising a fifth step you measure the traveling locus of the traveling vehicle. While detecting a position of the host vehicle, a roadside camera installed so as to photograph an observation section, a vehicle traveling locus observation device that measures the behavior of a traveling vehicle that travels in the observation section photographed by the roadside camera, and A computer of the vehicle travel locus observation device in a vehicle travel locus observation system comprising a measurement vehicle traveling in the observation section;
A roadside camera position calculation unit that calculates the position of the roadside camera from information indicating the position of the measurement vehicle and information indicating an attitude angle, an image obtained by shooting the roadside camera, and a distance to the roadside camera,
Information indicating the position of the roadside camera, the coordinates of the measurement vehicle in each of at least four captured images captured by the roadside camera, and the position of the host vehicle detected by the measurement vehicle, the at least four captured images A coordinate conversion formula generating unit that generates a coordinate conversion formula that calculates a position on a plane that approximates the road surface of the observation section, from the coordinates in the captured image, using information representing the position of each shooting time;
The traveling vehicle behavior measuring device uses the coordinate transformation formula generated by the coordinate transformation formula creation unit, and the position of the traveling vehicle in each of a plurality of captured images obtained by photographing the traveling vehicle traveling in the observation section by the roadside camera. And a program that causes the vehicle to function as a travel locus generation unit that generates a travel locus of the traveling vehicle.

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