JP4872769B2 - Road surface discrimination device and road surface discrimination method - Google Patents

Description

  The present invention relates to a road surface determination method for determining the road surface around the vehicle and the presence or absence of an obstacle (a three-dimensional object) existing around the vehicle, based on a captured image obtained by imaging the surroundings of the vehicle, And a road surface discrimination device.

In recent years, various driving assistance devices that detect obstacles around a vehicle and perform vehicle parking assistance, inter-vehicle distance control, collision prevention control, and the like have been proposed.
As an apparatus for detecting an obstacle present around the vehicle, for example, there is an apparatus disclosed in Patent Document 1. In the apparatus disclosed in Patent Document 1, a line segment is detected in a captured image obtained by imaging the periphery of a vehicle by an imaging unit such as a camera, and obstacle candidates are set based on the detected line segment. Based on the motion parallax between the obstacle candidate and the road surface, it is determined whether the obstacle candidate is the road surface or an obstacle (three-dimensional object) on the road surface.
JP 2004-032460 A

  However, in the case of the invention disclosed in Patent Document 1, if a line segment having a large edge strength is not detected in the captured image, an obstacle candidate cannot be set, and a road surface or a solid that exists in the captured image cannot be set. There was a problem that things could not be identified.

  Therefore, the present invention provides an apparatus and method for determining a road surface and a three-dimensional object existing in a captured image even when a line segment having a large edge strength is not detected in the captured image. Objective.

According to the present invention, in an overhead image viewed from above the vehicle, which is generated from a captured image captured by a camera that is mounted on the vehicle and images a road surface around the vehicle , (a) the edge strength is equal to or higher than the first threshold value. A strong edge line segment is searched, a region not including the strong edge line segment is set as a first target region, and (b) a weak edge strength that is equal to or greater than a second threshold value that is smaller than the first threshold value. The texture including the line segment of the edge and the weak edge feature information of the pattern is searched in the first target area and the feature of the searched texture is extracted. (C) The texture feature over time when the vehicle is traveling straight ahead Based on the change, it is determined whether the first target region is a road surface region or a three-dimensional object region, and (d) the road surface is determined based on the determination result.

According to the present invention, in the overhead view image viewed from above the vehicle, which is generated from the captured image obtained by imaging the road surface around the vehicle, the line segment of the strong edge whose edge strength is equal to or higher than the first threshold value is included. A non-existing area is set as the first target area. Subsequently, a texture including a weak edge line segment whose edge strength is equal to or higher than the second threshold or a weak edge feature information of the pattern is searched in the first target area, and the searched texture feature is extracted. The And based on the determination result, it is determined whether the first target area is the road surface area or the three-dimensional object area based on the temporal change of the texture characteristics when the vehicle is traveling straight ahead. The road surface is discriminated.
Therefore, the road surface is discriminated based on the features of the region that does not include the line segment of the strong edge where the features appear remarkably when the features are extracted. In other words, the road surface is discriminated based on features extracted from textures such as lines and patterns consisting of weak edges with low edge strength, not features of line segments of strong edges where features appear prominently when features are extracted. Therefore, even when there is no strong edge line segment in the captured image, the road surface can be determined.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a block diagram illustrating a configuration of a road surface discrimination device according to the present embodiment.

  The road surface identification device 1 includes a camera C, an image processing unit 10, a control unit 20, and a storage unit 30.

  The camera C can capture an image of the outside of the vehicle as digital data, and a wide-angle camera capable of capturing a wide range is provided as the camera C on the vehicle.

As shown in FIG. 2A, a front camera C1 that images the front area of the vehicle, a right camera C2 that images the right area of the vehicle, a left camera C3 that images the left area of the vehicle, and the rear of the vehicle The entire area around the vehicle is imaged by the camera C4 after imaging the area.
In the following description, when these cameras (C1 to C4) are not particularly distinguished, they are simply referred to as camera C.

With reference to FIG. 1, the image processing unit 10 generates a captured image, outputs the generated captured image to the control unit 20 described later, and stores the generated captured image in the image memory 31 of the storage unit 30.
The image processing unit 10 includes a captured image generation unit 11 and a captured image correction unit 12.

  The captured image generation unit 11 generates an overhead image, which is an image viewed from above the vehicle, from the four images input from the cameras C (C1 to C4), and combines the four overhead images. The synthesized bird's-eye view image is output to the control unit. At this time, a mark V indicating the vehicle stored in advance is superimposed (imposed) on the center of the image and output to the control unit 20. In the future, the vehicle mark V may also be expressed as “vehicle mark V” when the imposed mark itself and the actual vehicle are schematically shown. Further, the imposition of the mark V indicating the vehicle may be performed by the control unit 20 instead of the captured image generation unit 11.

  As shown in FIG. 2B, in the bird's-eye view image, the image IM1 input from the front camera C1 is centered on the vehicle mark V, and the right camera is on the front side (upper side in the drawing) of the vehicle mark V. An image IM2 input from C2 is input to the right side (right side in the drawing) of the vehicle mark V, an image IM3 input from the left camera C3 is input to the left side (left side in the drawing) of the vehicle body, and input from the rear camera C4. The images IM4 to be displayed are respectively arranged on the rear side in the traveling direction of the vehicle mark V.

  As shown in FIG. 1, the storage unit 30 has a setting table 32 that indicates in advance which pixel in the image input from each camera C corresponds to which pixel in the overhead image having a predetermined pixel range. It is prepared. Therefore, when an image is input from the camera C, the captured image generation unit 11 converts the input image with reference to the setting table 32 and generates an overhead image.

  FIG. 3 is an explanatory diagram for explaining how the surroundings of the vehicle appear in the overhead view image generated by the captured image generation unit 11. In this explanatory diagram, the vehicle is indicated by V, the white line drawn on the road surface is indicated by W, the road surface is indicated by R, and the kite is indicated by B.

The captured image generation unit 11 generates an overhead image by converting a wide-angle image input from each camera C (C1 to C4). At this time, the conversion is performed on the assumption that all the surroundings of the vehicle are the same height as the road surface.
For this reason, an object at the same height as the road surface, such as a white line drawn on the road surface, appears in the overhead view image in the same manner as when viewed from above the vehicle. That is, the white line W positioned parallel to the side surface of the vehicle appears parallel to the side surface of the vehicle mark V ((a) of FIG. 3).

However, in the case of a three-dimensional object existing on the road surface, the side surface of the three-dimensional object appears in a wide-angle image, and therefore, in the overhead image, the side surface of the three-dimensional object appears as a region having a certain area.
For example, in the case of the cylinder P1 that is located diagonally to the left of the vehicle and extends in the direction perpendicular to the road surface R, when viewed from above the vehicle, it appears as a circle as shown in 3 (c). Since the cylinder P has a height and is not the same height as the road surface, in the image obtained by performing the overhead view conversion, it extends obliquely from the vehicle mark V in the upper left direction and the upper side of the cylinder P1 is distorted to the outer position. It appears as a substantially trapezoidal shape (see FIG. 3B). In addition, when there is a vertical line due to rain dirt or the like on the cylinder P1, a line segment due to the vertical line appears in a substantially trapezoidal region.

The shape of the three-dimensional object appearing in the overhead image changes depending on the positional relationship between the three-dimensional object and the vehicle. The cylinder P2 located on the left side of the vehicle has a substantially rectangular shape extending leftward from the vehicle mark V, and the cylinder P3 located obliquely rearward to the left of the vehicle extends obliquely lower left from the vehicle mark V. Appears as a substantially trapezoidal shape.
In addition, in the case of the wall B extending in the direction perpendicular to the road surface, when viewed from above the vehicle, it looks rectangular as shown in FIG. 3C, but in the overhead image, it is constant on the side of the vehicle mark V. It appears as a substantially rectangular area having a range (see FIG. 3B). In the case of a pattern on the surface of the wall B, for example, a pattern M (M1 to M3) extending in a direction perpendicular to the road surface as shown in FIG. The pattern M1 to be extended has a substantially trapezoidal shape extending obliquely upward to the right from the vehicle mark V, and the pattern M2 located on the right side of the vehicle mark V has a substantially rectangular shape extending to the right from the vehicle mark V. The pattern M3 located diagonally to the right of the vehicle mark V appears as a substantially trapezoidal shape extending from the vehicle mark V diagonally downward to the right.
As described above, a bird's-eye view image that is slightly different from a case where the vehicle is actually viewed from above and appears as a region having a certain area on the side surface of the three-dimensional object is adopted as the captured image.

The captured image correction unit 12 corrects the captured image so as to exclude the influence caused by the characteristics of the lens system of the wide-angle camera.
In the case of a wide angle camera, the amount of light incident on the peripheral side of the lens is smaller than that on the center side of the lens. For this reason, the four corner areas in the captured image correspond to the peripheral area of the imaging range of the wide-angle camera, and thus are darker than the center side of the captured image.
In addition, when a captured image is generated by converting a wide-angle image, the images in the four corner areas of the captured image are stretched compared to the image in the central area, so that the four corner areas of the captured image are displayed. The existing texture is displayed in the captured image with its shape distorted.

  Therefore, conversion formulas that correct image distortion and brightness differences that occur when a captured image is generated from an image acquired by a wide-angle camera are set in advance for each position in the captured image based on the characteristics of the lens system. The captured image correction unit 12 corrects the captured image based on the conversion formula, and always displays the same object and the same texture in the captured image regardless of the position in the imaging range of the wide-angle camera. To be.

  As a result, influences such as distortion, darkness, and roughness of the image existing in the captured image are excluded, so that more accurate feature extraction can be performed based on the corrected captured image. In addition, it is possible to extract a stable feature amount, and it is possible to improve the determination accuracy in the region determination unit 23.

  When the correction of the captured image is completed, the captured image correction unit 12 outputs the corrected captured image to the control unit 20 and stores it in the image memory 31 of the storage unit 30.

With reference to FIG. 1, the control unit 20 determines a road surface by processing a captured image input from the image processing unit 10, and outputs information indicating the determination result.
The control unit 20 includes a region setting unit 21, a feature extraction unit 22, a region determination unit 23, and a road surface determination unit 24.

The area setting unit 21 includes a strong edge search unit 21a and a setting unit 21b.
The strong edge search unit 21a searches the captured image for an edge line segment whose edge strength is greater than the first threshold and whose edge length is equal to or greater than a predetermined length, that is, a strong edge line segment. This strong edge line segment is a line segment in which the feature appears remarkably when the feature is extracted.
Then, when a strong edge line segment is detected, strong edge line segment information indicating which of the pixels constituting the captured image is a pixel corresponding to the strong edge line segment is generated.
Here, the edge search is performed by a conventionally known method using, for example, a Sobel filter, and the length of the edge is calculated based on the number of connected pixels.
A line segment having an edge length equal to or greater than a predetermined length means a line segment such as a straight line or a curve formed by a predetermined number or more of edges having an edge strength equal to or greater than a first threshold value.

Setting unit 21b serves to identify the position of the strong edge line segments based on the intensity edge line information, and divides the captured image, a weak edge region which does not include a strong edge line (first object region), strong A strong edge region (second target region) including an edge line segment is set. Note that when the strong edge line segment does not exist in the captured image, only the weak edge region is set.
For example, in the case of the captured image shown in FIG. 4A, the edge of the cylinder P indicated by a thick line, the edge of the white line W, and the edge of the pattern M (M1 to M3) on the wall B are strong. Since the search is performed as an edge line segment, as shown in FIG. 4B, the setting unit 21b determines a region having a predetermined size including the strong edge line segment as a strong edge area (indicated by a solid line in the figure). A region having a predetermined size not including the strong edge line segment is set as a weak edge region (a rectangular region surrounded by a dotted line in the figure).
The sizes of the strong edge region and the weak edge region may be determined in advance, but may be changed according to the range of the searched strong edge line segment. Moreover, it is good also as a shape which cuts out only the area | region enclosed by the strong edge line segment, without making a strong edge area | region into a rectangular shape.

  Referring to FIG. 5, the feature extraction unit 22 extracts features of weak edge regions and strong edge regions, and a strong edge feature extraction unit 22a that extracts features of strong edge line segments in the strong edge region. , A weak edge feature extracting unit 22b for extracting texture features in the weak edge region, a gradation feature extracting unit 22c for extracting gradation features existing in the weak edge region, and an attention region existing in the weak edge region A region-of-interest feature extraction unit 22d for extracting features is provided.

  The strong edge feature extraction unit 22a refers to the strong edge line segment information generated by the region setting unit 21, specifies the position of the strong edge line segment existing in the strong edge region, and the strong edge line segment strength. Strong edge feature information indicating the position, shape, inclination, etc. in the edge region is generated and used as a feature of the strong edge region.

For example, as shown in FIG. 6, when the strong edge line segment is a straight line So, coordinate data of a plurality of route points S3 and S4 on the straight line So connecting the start point S1, the end point S2, and the start point S1 and the end point S2, The slope of the straight line So and the mathematical expression representing the straight line So are information items of the strong edge feature information.
Here, for the position and inclination of the strong edge line segment, for example, a coordinate system in which the upper left corner in the captured image shown in FIG. 6 is the origin, the right direction in the figure is the X axis, and the lower direction is the Y axis is set. The coordinates of the straight line So can be expressed by the following equation (1) where the coordinates of the start point S1 are (0, y0) and the coordinates of the end point S2 are (x2, y2). The slope is (y2−y0) / x2.
y = (y2−y0) / x2 · x + y0 (1)

When the strong edge line segment is the curve Vo, the coordinate data of the start point V1, the end point V2, and the inflection points V3, V4, and V5 on the curve Vo are information items of the strong edge feature information.
If there are a plurality of strong edge line segments in the strong edge region, strong edge feature information is generated for each line segment.
Then, the strong edge feature extraction unit 22 a stores the strong edge feature information in the feature history table 33 of the storage unit 30 and outputs it to the region determination unit 23.

The weak edge feature extraction unit 22b searches for a weak edge having an edge strength equal to or higher than the second threshold in a weak edge region where there is no line segment that becomes a remarkable feature during feature extraction. Weak edge feature information indicating texture features such as line segments and patterns is generated and used as features of the weak edge region.
The second threshold value is set to a value smaller than the first threshold value so that an edge having a small edge strength can be detected.

  When the line segment composed of the weak edges searched in the weak edge region is a line segment such as a straight line or a curve having a predetermined length, the straight line is the same as in the case of the strong edge feature extracting unit 22a described above. And weak edge feature information including coordinate data such as the start point, end point, path point, and inflection point of the curve, and inclination as information items.

When the retrieved weak edge is not a line segment but an artificial pattern texture edge as shown in FIG. 7A, the frequency of the weak edge direction constituting the texture (edge direction). Histogram) is an information item of weak edge feature information.
Incidentally, the texture shown in FIG. 7A is composed of fine edges whose edges are aligned in the direction of 45 degrees, so the distribution is concentrated in the vicinity of 45 degrees as shown in FIG. 7B. An edge direction histogram is obtained.

The gradation feature extraction unit 22c detects gradation existing in the weak edge region, and generates gradation information indicating the detected gradation direction as a feature of the weak edge region.
Here, gradation refers to a region in which the luminance changes gently as a whole predetermined range composed of a plurality of pixels, although the luminance difference between adjacent pixels is small.

8A to 8C show images of regions including strong edges whose edge directions are 90 degrees, 45 degrees, and 0 degrees, and FIGS. 8D to 8F show edge directions. FIG. 4 is a diagram illustrating an image of an area including a gradation of 90 degrees, 45 degrees, and 0 degrees.
9A to 9C are strong edge detection filters for detecting a strong edge region, and FIGS. 9E to 9G are gradation detection filters for detecting a gradation region. It is. 9D shows a change in luminance in the X direction of the strong edge detection filter shown in FIG. 9A, and FIG. 9H shows a change in luminance in the X direction of the gradation detection filter shown in FIG. 9E. FIG. FIG. 10 is a diagram illustrating an image in which a gradation area and a strong edge area exist.

In a region where the difference in luminance between adjacent pixels is large as shown in FIGS. 8A to 8C, the gradient of the luminance change as shown in FIGS. A high convolution value can be obtained by calculating each convolution with the edge detection filter. That is, when the normalized correlation is calculated, a normalized correlation with an image having the same luminance change is obtained, and a high correlation is obtained. Therefore, an area having a large luminance change in the image can be searched.
However, as shown in FIGS. 8D to 8F, in the case of an image including a gradation region where the luminance change is gentle, if the filters as shown in FIGS. Even in the same direction, since the gradient of the luminance change is different, a high convolution value cannot be obtained. That is, it is not possible to search for a gradation region where the luminance change is gentle.

Such a gradation region can be detected by a filter in which the luminance changes gently for the entire predetermined range composed of a plurality of pixels, although the luminance change gradient is small.
For example, in the case of a region where the luminance gradually decreases from left to right as shown in FIG. 8D, the luminance change state is the change in luminance of the gradation detection filter shown in FIG. Therefore, if a convolution (normalized correlation) between the image shown in FIG. 8D and the filter shown in FIG. 9E is calculated, a high convolution value can be obtained.
Therefore, a gradation with a gentle luminance change can be searched for by obtaining a correlation between the direction of the luminance change and a filter having an approximate gradient of the luminance change.

Therefore, the gradation feature extraction unit 22c includes a plurality of gradation detection filters having different luminance change directions and luminance change gradients as shown in FIGS. 9 (a) to 9 (c) and (e) to (g). Prepare a strong edge detection filter in advance, calculate the convolution of each weak edge region with these filters, and if the filter with a high convolution value is a gradation detection filter, it will be in the weak edge region. Judge that gradation exists.
Then, the direction of luminance change of the gradation detection filter from which a high convolution value is obtained is obtained as a feature of the weak edge region.

For example, when the range shown in FIG. 10A is set as a weak edge region, the region α is the gradation shown in FIG. 9F as can be seen from the partially enlarged view shown in FIG. The correlation with the detection filter is the highest. The region β has the highest correlation with the filter shown in (b), and the region γ has the highest correlation with the filter shown in (a).
In this case, the gradation feature extraction unit 22c determines that the gradation exists in the weak edge region, and gradation information including the direction of the gradation specified by the filter shown in (f), that is, “0 degree” as the content of the information item. And characterize the weak edge region.

The attention area feature extraction unit 22d searches for the attention area in the weak edge area, generates attention area information indicating the position of the searched attention area, and sets it as the characteristic of the weak edge area.
As in the case of the strong edge feature information generated by the strong edge feature extraction unit 22a described above, the position of the attention area is represented by coordinates in this coordinate system by setting an XY coordinate system in the captured image.

Here, the attention area means an area made of texture caused by dirt or stone existing on a road surface or a wall, for example, a circular or triangular area surrounded by weak edges in a captured image, or an arbitrary area This corresponds to a combination of a short edge that intersects at an angle, and a combination of a line segment and a circular or triangular area. These areas are searched using a conventionally known filter such as a circular edge detection filter, a triangle detection filter, and a corner detection filter.
Then, the attention area feature extraction unit 22 d stores the attention area information in the feature history table 33 of the storage unit 30 and outputs it to the region determination unit 23.

  Referring to FIG. 5, the region determination unit 23 determines whether the feature extracted from the strong edge region or the weak edge region is a strong edge region set in the captured image based on a change over time during straight traveling of the vehicle. It is determined whether each weak edge region is a road surface region or a three-dimensional object region.

  The region determination unit 23 includes a strong edge feature information comparison unit 23a, a weak edge feature information comparison unit 23b, a gradation information comparison unit 23c, an attention region information comparison unit 23d, and a determination unit 23e.

  The strong edge feature information comparison unit 23a refers to the feature history table 33 of the storage unit 30 to compare the strong edge feature information at time t with the strong edge feature information at time t + Δt, and within the strong edge region. Check whether there is any change over time in the position, shape, inclination, etc. of existing strong edge line segments.

When the vehicle is traveling straight ahead, the strong edge line segment shows different behavior over time depending on whether it is in the road surface area or in the area of the three-dimensional object.
For example, as shown in FIG. 11, when the strong edge line segment is a straight line segment So due to the shadow of a building and the line segment So is in the road surface area, the captured image is an image viewed from above the vehicle. Therefore, the line segment So in the captured image at time t is only translated in the rearward direction (downward in the figure) in the traveling direction of the vehicle in the captured image at time t + Δt, and the shape and inclination change over time. Does not change.

On the other hand, referring to FIG. 12, when the strong edge line segment is a three-dimensional object extending in a direction perpendicular to the road surface, for example, the line segment Po of the edge of the cylinder P, the position and inclination of the line segment Po. Changes according to the positional relationship between the cylinder and the vehicle. This is because the captured image is generated by converting the wide-angle image input from the camera C under the assumption that the surroundings of the vehicle are all at the same height as the road surface. This is because a side surface appears, and the appearance of this side surface changes according to the positional relationship between the cylinder and the vehicle.
Therefore, the line segment Po in the captured image at time t moves to the rear side in the traveling direction of the vehicle in the captured image at time t + Δt, and the inclination also changes due to the change in the positional relationship between the vehicle and the cylinder P. That is, the position and inclination of the line segment Po change with time.
Therefore, when the strong edge line segment is a straight line, it can be determined whether the strong edge line segment is a road surface area or a three-dimensional object area depending on whether or not the inclination of the straight line changes with time. .

Referring to FIG. 11, when the strong edge line segment is a curved line segment Vo due to the shadow of the vehicle and the line segment is in the road surface area, the position of the line segment Vo in the captured image at time t is The captured image at time t + Δt does not change and the shape does not change with time.
On the other hand, when the line segment of a strong edge is a line segment appearing on the surface of a three-dimensional object such as a wall, the position and shape of the line segment change over time according to the change in the positional relationship between the three-dimensional object and the vehicle. To change.
Therefore, when the strong edge line is a curve, it can be determined whether the strong edge line is a road surface area or a three-dimensional object area depending on whether or not the shape of the curve changes with time. .

Therefore, the strong edge feature information comparison unit 23a refers to the strong edge feature information to check whether the strong edge line segment is a straight line or a curve, and when the strong edge line segment is a straight line, The slope of the straight line at time t is compared with the slope of the straight line at time t + Δt. If there is no change in the inclination, a comparison result is generated to the effect that the strong edge region where the strong edge line segment exists corresponds to the road surface region.
On the other hand, when there is a change in inclination, the strong edge region generates a comparison result indicating that it corresponds to the region of the three-dimensional object.

  When the strong edge line segment is a curve, the strong edge feature information comparison unit 23a compares the shape of the curve at time t with the shape of the curve at time t + Δt, and the shapes are the same. A comparison result indicating that the strong edge region corresponds to the road surface region is generated, and if the shape is different, a comparison result indicating that the strong edge region corresponds to the region of the three-dimensional object is generated.

  The weak edge feature information comparison unit 23b refers to the feature history table 33 of the storage unit 30, compares the weak edge feature information at time t with the weak edge feature information at time t + Δt, and within the weak edge region. Check whether there is a temporal change in the texture consisting of existing weak edges.

Here, the generation of the comparison result when the texture composed of the weak edge is a line segment such as a straight line or a curve is the same as the processing in the above-described strong edge feature information comparison unit 23a, and thus the description thereof is omitted.
Therefore, a case will be described in which the texture composed of weak edges is not a line segment but an artificial pattern texture a as shown in FIG.

When the vehicle is traveling straight ahead, the texture exhibits different behavior over time depending on whether the texture is in the road surface area or the solid object area.
For example, when the texture a is a texture that appears in the road surface area, the frequency of the edge direction extracted from the texture a shown in FIG. 13 does not change with time in a captured image that is an image viewed from above the vehicle. It remains 45 degrees.
On the other hand, when the texture a is a texture that appears on the surface of a three-dimensional object such as a wall on the right side of the vehicle, for example, the frequency of the edge direction extracted from the texture a depends on the change in the positional relationship between the wall and the vehicle. Change.
In this case, the texture shown in (a) of FIG. 13 changes over time, such as the texture shown in (b) and the texture shown in (c), and the frequency of the direction of the edge extracted from the texture is 45. It changes over time such as degrees, 90 degrees, and 135 degrees.

  Therefore, even if the texture of the line segment consisting of the weak edge is not detected in the weak edge region, check whether the frequency of the direction of the edge extracted from the texture of the pattern consisting of the weak edge changes over time. It can be seen whether the texture consisting of weak edges is in the road surface area or the three-dimensional object area.

Accordingly, when the line segment composed of the weak edges is a straight line, the weak edge feature information comparison unit 23b compares the slope of the straight line at time t with the slope of the straight line at time t + Δt, and the slope changes. If not, a comparison result indicating that the weak edge region where the weak edge line segment exists corresponds to a planar region is generated.
On the other hand, when there is a change in inclination, the weak edge region generates a comparison result indicating that it corresponds to the region of the three-dimensional object.
If the weak edge line segment is a curve, the weak edge feature information comparison unit 23b compares the shape of the curve at time t with the shape of the curve at time t + Δt, and the shapes are the same. In this case, a comparison result indicating that the weak edge region corresponds to the road surface region is generated, and if the shape is different, a comparison result indicating that the weak edge region corresponds to the region of the three-dimensional object is generated.

  Further, when the texture composed of weak edges is not a line segment but an artificial pattern texture, for example, the frequency of the edge direction at time t is compared with the frequency of the edge direction at time t + Δt, If there is no change in the frequency, a comparison result that the weak edge region corresponds to the road surface region is generated, and if there is a change in the frequency, a comparison result that the weak edge region corresponds to the three-dimensional object region is generated. To do.

  The gradation information comparison unit 23c refers to the feature history table 33 of the storage unit 30, compares the gradation information at time t with the gradation information at time t + Δt, and changes the gradation over time in the weak edge region. Check if there is any.

When the vehicle is traveling straight ahead, the gradation shows different behavior over time depending on whether it is in the road surface area or in the area of the three-dimensional object.
In the captured image shown in FIG. 14, the case where the gradation G1 is in the road surface area and the gradation G2 is in the solid object area will be described as an example.
Since the captured image is an image viewed from above the vehicle, the gradation G1 in the captured image at time t translates backward (downward in the figure) in the traveling direction of the vehicle in the captured image at time t + Δt. Only the gradient direction does not change. On the other hand, since the gradation G2 changes according to the positional relationship between the vehicle and the three-dimensional object, in the captured image at time t + Δt, the gradation direction changes while moving to the rear side in the traveling direction of the vehicle.

  Therefore, even if a texture consisting of weak edges is not detected in the weak edge region, the weak edge region is changed into the road surface region by checking the change in the gradation direction existing in the weak edge region over time. You can see whether it is in the area of a solid object or a solid object.

  Therefore, the gradation information comparison unit 23c compares the gradation direction at the time t with the gradation direction at the time t + Δt, and if they are the same, generates a comparison result indicating that the weak edge region corresponds to the road surface region. However, if they are different, a comparison result indicating that the region corresponds to the region of the three-dimensional object is generated.

  The attention area information comparison unit 23d refers to the feature history table 33 of the storage unit 30, compares the attention area information at the time t with the attention area information at the time t + Δt, and the attention area existing in the weak edge area. Whether there is a change with time in the positional relationship between at least two regions of interest selected from the region is confirmed.

When the vehicle is traveling straight ahead, the arbitrary two positional relationships among the attention areas searched in the captured image are as follows: the attention area is in the road surface area and the three-dimensional object area. Shows different behavior over time.
Of the attention areas Q1 to Q4 detected in the captured image shown in FIG. 15, the attention area Q1 and the attention area Q2 are within the road surface area, and the attention area Q3 and the attention area Q4 are within the three-dimensional object area. I will give an explanation.
Since the captured image is an image viewed from above the vehicle, the relative positional relationship between the attention area Q1 and the attention area Q2 at time t does not change at time t + Δt, and the attention area Q1 and the attention area Q2 Only translates in a direction opposite to the direction of travel of the vehicle.
On the other hand, the position of the attention area within the area of the three-dimensional object changes depending on the positional relationship between the three-dimensional object and the vehicle. Therefore, the relative positional relationship between the attention area Q3 and the attention area Q4 at time t is the time t + Δ. At this time, the amount of movement over time increases as the region of interest is located farther from the vehicle mark V.

  Therefore, even if there is no texture or gradation such as line segments or patterns consisting of weak edges in the weak edge area, the relative positional relationship of the attention area existing in the weak edge area over time By confirming the change, it can be determined whether the weak edge region is in the road surface region or the solid object region.

  Accordingly, the attention area information comparison unit 23d refers to the attention area information stored in the feature history table 33 of the storage unit 30, and determines whether or not two or more attention areas are extracted in the weak edge area. Check. Then, when two or more attention areas are extracted, for example, a line segment connecting two attention areas arbitrarily selected from them is set, and a change with time in the inclination of the line segment is confirmed. By doing this, it is confirmed whether or not the relative positional relationship of the region of interest has changed over time.

In the case of the captured image shown in FIG. 15, the slope of the line segment L1 connecting the attention area Q1 and the attention area Q2 at time t is the same as the inclination of the line segment L1 at time t + Δt. And a comparison result indicating that the weak edge region where Q2 exists corresponds to the road surface region.
On the other hand, since the slope of the line segment L2 connecting the attention area Q3 and the attention area Q4 is different between the time t and the time t + Δt, the weak edge area where the attention areas Q3 and Q4 exist is a three-dimensional object area. A comparison result indicating that it corresponds to is generated.

Referring to FIG. 5, determination unit 23e is based on the comparison results generated in strong edge feature information comparison unit 23a, weak edge feature information comparison unit 23b, gradation information comparison unit 23c, and attention area information comparison unit 23d. It is determined whether the strong edge region and the weak edge region correspond to the road surface region or the solid object region, respectively.
Here, for the strong edge region, the determination result is output only from the strong edge feature information comparison unit 23a. Therefore, when the comparison result is input from the strong edge feature information comparison unit 23a, the determination unit 23e It is determined that the identified type is the type of the strong edge region.
For example, when a comparison result indicating that it corresponds to a road surface area is input, it is determined that the strong edge area where the comparison result is generated is a road surface area.

  On the other hand, for the weak edge region, since the comparison result is input from the weak edge feature information comparison unit 23b, the gradation information comparison unit 23c, and the attention region information comparison unit 23d, the determination unit 23e Based on at least one of them, it is determined whether the weak edge region is a road surface region or a solid object region. Therefore, since the determination of the road surface area and the three-dimensional object area can be performed based on a plurality of comparison results, the reliability of the determination is improved.

  Here, priorities of the respective comparison units (weak edge feature information comparison unit 23b, gradation information comparison unit 23c, attention area information comparison unit 23d) are determined, and based on the comparison result input from the comparison unit having a higher priority. Thus, the type of weak edge region may be determined. Further, the type of the weak edge region may be determined only when the comparison results input from the respective comparison units match.

Further, the validity of the comparison results input from all the comparison units (strong edge feature information comparison unit 23a, weak edge feature information comparison unit 23b, gradation information comparison unit 23c, and attention area information comparison unit 23d) are determined. In consideration, the strong edge region and the weak edge region may be configured to determine whether each is a road surface region or a solid object region.
Usually, the road surface and the three-dimensional surface have an area of a certain size, and thus appear as a predetermined size range in the captured image. For this reason, the continuity between the road surface area and the three-dimensional object area and the validity of the positional relationship may be confirmed, and the road surface area and the three-dimensional object area may be determined based on the confirmation result.
As a result, when the road surface area determined based on the comparison result and the solid object area and the adjacent relationship are clearly strange, the feature extraction of the weak edge area and the strong edge area can be performed again. The determination of each type of the weak edge region and the determination in the road surface determination unit 24 can be performed more accurately.

  And the determination part 23e will produce | generate the determination result information which shows a determination result, and will output to the road surface discrimination | determination part 24, if the determination about all the strong edge area | regions and weak edge area | regions set in the captured image is completed.

The road surface discriminating unit 24 discriminates the road surface based on the determination result information after identifying which part in the captured image is the road surface area and which part is the area of the three-dimensional object such as the wall. Information indicating the result is output to an external device connected to the road surface discrimination device 1.
In general, since the road surface area appears as a continuous range occupying a certain size in the captured image, the road surface determination unit 24 searches the captured image for a portion where the area determined to be the road surface area is continuous, and the search result The road surface is determined based on the above. In addition, when a boundary edge indicating a boundary between a road surface area and a three-dimensional object area, for example, a wall area, is detected, the road surface is also determined with reference to the boundary edge.

  Here, when the external device to which the determination result is input is an alarm device (not shown) that issues an alarm when the separation distance between the vehicle and the three-dimensional object is equal to or less than a predetermined distance, Since the position of the existing three-dimensional object and the separation distance between the vehicle and the three-dimensional object can be specified, the driver of the vehicle can be alerted when necessary.

In addition, when the external device is a parking assistance device that supports the parking of the vehicle, on the display unit (not shown) that displays the surrounding state of the vehicle installed in the vehicle, Whether it is a road surface area or a three-dimensional object area can be displayed in a superimposed manner.
In addition, when the area designated as the vehicle parking place in the image showing the periphery of the vehicle displayed on the display unit by the driver of the vehicle is a solid object area, the vehicle can be parked at the designated place. The driver can be alerted to the effect that he cannot do so.

  FIG. 16 is a main flowchart for explaining processing in the road surface discrimination device 1.

First, in step 101, when an image is input from each camera C installed in the vehicle, the image processing unit 10 generates a captured image and inputs the captured image to the control unit 20.
In step 102, in the region setting unit 21 of the control unit 20, the strong edge search unit 21a searches for a line segment whose edge intensity included in the captured image is equal to or greater than the first threshold, that is, a strong edge line segment. In 103, the setting unit 21b divides the captured image and sets a region. That is, a strong edge region including a strong edge line segment and a weak edge region not including the strong edge line segment are set.

When the strong edge region is set in the captured image (Yes in Step 104), in Step 105, the strong edge feature extraction unit 22a of the feature extraction unit 22 identifies the strong edge line segment included in the strong edge region. Strong edge feature information is generated and used as a feature of the strong edge region.
In step 106, the strong edge feature information comparison unit 23a of the region determination unit 23 checks the strong edge feature information at the time t and the time to confirm whether there is a temporal change in the strong edge line segment existing in the strong edge region. The strong edge information at t + Δt is compared, and a comparison result indicating which region of the road surface region and the three-dimensional object the strong edge region corresponds to is generated.
When the strong edge region is not set in the captured image (No at Step 104), the process proceeds to Step 107.

When the weak edge region is set in the captured image (step 107, Yes), in step 108, the feature extraction unit 22 displays the feature based on the texture or gradation composed of the edge with weak edge strength in the weak edge region. Extracted as features of weak edge regions.
In step 109, the region determination unit 23 compares the weak edge feature information at time t with the weak edge feature information at time t + Δt in order to confirm the temporal change of the feature extracted from the weak edge region. Then, a comparison result indicating which of the road surface area and the solid object corresponds to the weak edge area is generated.

  In step 110, the determination unit 23e of the region determination unit 23 determines whether the strong edge region and the weak edge region are road surface regions based on the comparison result for the strong edge region and the comparison result for the weak edge region. Whether the region is a solid object or not is determined, and determination result information indicating the determination result is generated.

  In step 111, the road surface discriminating unit 24 discriminates which part in the captured image is a road surface region and which part is a three-dimensional object such as a wall, based on the determination result information.

FIG. 17 is a flowchart showing details of the processing in step 108.
In step 201, the weak edge feature extraction unit 22b of the feature extraction unit 22 searches for an edge having an edge strength equal to or higher than the second threshold in the weak edge region, that is, a weak edge. Among them, the presence or absence of a weak edge line segment having an edge length equal to or longer than a predetermined length is confirmed.
If a weak edge line segment exists (step 202, Yes), in step 203, the weak edge feature extraction unit 22b includes a start point, an end point, a route point, a curved point, a slope, and the like as weak information items as information items. Weak edge feature information is generated and used as a weak edge region feature.
On the other hand, if there is no weak edge line segment (step 202, No), the process proceeds to step 204.

In step 204, the weak edge feature extraction unit 22b confirms the presence or absence of fine edges constituting the texture pattern in the weak edge region, that is, weak edges.
When such a weak edge exists (step 204, Yes), in step 205, the frequency of the direction of the searched weak edge is extracted as a feature of the weak edge region. On the other hand, when there is no weak edge (step 204, No), the process proceeds to step 206.

In step 206, the gradation feature extraction unit 22c obtains a convolution with each of a plurality of gradation detection filters having different gradients of luminance and different directions in the weak edge region, and confirms the presence or absence of gradation.
If gradation exists (step 206, Yes), in step 207, gradation information including the gradation direction of the gradation detection filter having the largest convolution value as information item content is generated, and this is used as the weak edge region. Features.
On the other hand, if there is no gradation (No at Step 206), the process proceeds to Step 208.

In step 208, the attention area feature extraction unit 22d confirms whether there are at least two attention areas in the weak edge area.
If it exists (step 208, Yes), a line segment connecting two arbitrarily selected attention areas is set, attention area information including the slope of the line segment as the contents of the information item is generated, and this is used as a weak edge. Characterize the region. On the other hand, when it does not exist (step 208, No), the process ends.

FIG. 18 is a flowchart showing details of the processing in step 106.
First, when strong edge feature information is input to the strong edge feature information comparison unit 23a of the region determination unit 23 (step 301, Yes), in step 302, strong edge feature information at time t and at time t + Δt. The strong edge feature information is compared, and the presence / absence of changes over time in the position, shape, inclination, etc. of the strong edge line segment existing in the strong edge region is confirmed.

In step 303, based on the confirmed change with time, a comparison result indicating which of the road surface region and the solid object region corresponds to the strong edge region is generated.
Here, when the strong edge line segment in the strong edge region is a straight line, if the slope of the straight line does not change with time, a comparison result that the strong edge region corresponds to the road surface region is generated. When it changes, a comparison result indicating that it corresponds to the region of the three-dimensional object is generated.
In addition, when the strong edge line segment is a curve, if the shape of the curve does not change with time, a comparison result that the strong edge area corresponds to the road surface area is generated. A comparison result indicating that it corresponds to the region of the object is generated.

FIG. 19 is a flowchart showing details of the processing in step 109.
First, when the weak edge feature information is input (Yes at Step 401), the weak edge feature information comparison unit 23b receives the weak edge feature information at time t and the weak edge feature information at time t + Δt in Step 402. Are compared, and the presence or absence of change with time of the texture such as the line segment or the pattern existing in the weak edge region is confirmed.

In step 403, based on the confirmed change over time, a comparison result indicating which of the road surface region and the solid object region corresponds to the weak edge region is generated.
Here, when the texture existing in the weak edge region is a line segment texture, and the line segment is a straight line, if the slope of the straight line does not change with time, the weak edge region corresponds to the road surface region. When a comparison result is generated and changes over time, a comparison result indicating that it corresponds to the region of the three-dimensional object is generated.
Also, when the weak edge line is a curve, if the shape of the curve does not change over time, a comparison result that the weak edge area corresponds to the road surface area is generated. A comparison result indicating that it corresponds to the region of the object is generated.
In addition, if the texture present in the weak edge area is a pattern, if the frequency of the weak edges constituting the pattern does not change over time, a comparison result is generated that the weak edge area corresponds to the road surface area. However, when it changes over time, a comparison result indicating that it corresponds to the region of the three-dimensional object is generated.
If weak edge feature information is not input (No in step 401), the process proceeds to step 404.

When the gradation information is input (Yes in Step 404), the gradation information comparing unit 23c compares the gradation information at the time t with the gradation information at the time t + Δt in Step 405, and within the weak edge region. Check the change in the direction of the existing gradation over time.
In step 406, if the gradation direction does not change over time, a comparison result is generated that the weak edge region corresponds to the road surface region. If the gradation direction changes over time, the result corresponds to the region of the three-dimensional object. Generate comparison results.

When the attention area information is inputted (step 407, Yes), the attention area information comparison unit 23d compares the attention area information at the time t with the attention area information at the time t + Δt in step 408, and the weak edge. A change with time in the inclination of a line segment connecting at least two attention areas selected from the attention areas existing in the area is confirmed.
In step 409, when the slope of the line segment connecting the two regions of interest does not change with time, a comparison result is generated that the weak edge region corresponds to the road surface region. A comparison result corresponding to the region is generated.

  Accordingly, in step 110 of FIG. 16, the determination unit 23e performs the comparison result generated by the strong edge feature information comparison unit 23a, the weak edge feature information comparison unit 23b, the gradation information comparison unit 23c, and the attention area information comparison unit 23d. Based on at least one of these, it is determined whether the strong edge region and the weak edge region are each a road surface region or a solid object region, and determination result information indicating the determination result is generated. It will be.

In the present embodiment, step 102 and step 103 in the flowchart of FIG. 16 correspond to the region setting unit and region setting stage in the invention, and step 104 and step 105 and step 107 and step 108 are the feature extraction unit and feature extraction stage. Step 106, Step 109, and Step 110 correspond to the region determination unit and the region determination stage, and Step 111 corresponds to the road surface determination unit and the road surface determination stage.
In the invention, the first target region corresponds to the weak edge region, and the second target region corresponds to the strong edge region.

As described above, in the present embodiment, the road surface discriminating apparatus 1 that discriminates the road surface around the vehicle based on the captured image captured by the camera C that is mounted on the vehicle and captures the road surface around the vehicle. A strong edge line segment having an intensity greater than or equal to the first threshold is searched in the captured image, and an area not including the strong edge line segment in the captured image is set as a weak edge area, and the edge intensity is greater than the first threshold value. In addition, a texture having a weak edge that is equal to or smaller than the second threshold value is searched in the weak edge region, and a feature of the searched texture is extracted, and based on a temporal change of the texture feature when the vehicle is traveling straight ahead The weak edge region is determined to be either a road surface region or a three-dimensional object region, and the road surface is determined based on the determination result.
Therefore, a weak edge with a low edge strength is searched for in a weak edge region that does not include a line segment of a strong edge in which the feature is noticeable when the feature is extracted, and based on the texture features of the searched weak edge, This is a case where the weak edge region is a road surface region or a three-dimensional object region, and the road surface is determined based on the determination result, so that the line segment of the strong edge does not exist in the captured image. However, the effect that the determination of the road surface area and the three-dimensional object area in the captured image and the determination of the road surface can be performed.

Furthermore, the texture is a line segment composed of weak edges, and coordinate data for specifying the position and shape of the line segment composed of weak edges is set as a feature of the texture. In particular, if the line segment is a straight line, the position and inclination of the straight line is used as a feature of the texture, and if it is a curve, the coordinate data for indicating the position and shape of the curve is used as a characteristic of the texture. It is configured to determine whether the edge region is a road surface region or a solid object region.
Therefore, it is possible to check changes over time by simply comparing the position and slope of a straight line and the position and shape of a curve at different times, so that changes over time can be confirmed without the need for complicated calculations. Is obtained.

Also, the texture is a pattern composed of weak edges, and the texture feature is the frequency of the weak edges constituting the pattern, and the weak edge area is the road surface area based on the temporal change of the frequency of the weak edges. Or in the region of a three-dimensional object.
Therefore, since the change with time can be found only by comparing the frequencies of the directions of the weak edges at different times, the effect of confirming the change with time can be obtained without requiring complicated calculation.

In addition, the gradation is searched in the weak edge region, the feature of the searched gradation is extracted, and the weak edge is extracted based on at least one of the change in the texture feature with time and the change in the gradation feature with time. It was set as the structure which determines whether an area | region is a road surface area | region and the area | region of a solid object.
Therefore, even if a texture consisting of weak edges is not detected in the weak edge area, the weak edge area can be identified as a road surface area and a three-dimensional object by checking the change in gradation over time in the weak edge area. It is possible to determine which type of the area is, and to determine the road surface based on the determination result.
In addition, it is possible to determine the type of weak edge area based on both the temporal change in texture characteristics and the temporal change in gradation characteristics, and it is also possible to determine the road surface based on the determination result. Therefore, the effect of improving the accuracy of road surface discrimination can be obtained.

Further, a convolution of the weak edge region and each of a plurality of gradation detection filters having different brightness change gradients and change directions is obtained, and the gradation direction of the gradation detection filter having the largest obtained convolution value is obtained. Since the configuration is characterized by the gradation, the conventional edge filter has an effect that the presence / absence of gradation that cannot be searched because the luminance change is small can be obtained.
In addition, since the gradation direction of the gradation detection filter with the largest convolution value is characterized by a weak edge region, the change over time can be found by simply comparing the gradation directions at different times. The effect that the change with the passage of time can be confirmed without requiring a complicated calculation is obtained.

In addition, the attention area is searched in the weak edge area, and the positional relationship between at least two attention areas selected from the searched attention areas is extracted as a feature, and the temporal change of the positional relation is confirmed. It is configured to determine whether the edge region is a road surface region or a three-dimensional object region.
Therefore, even if a texture or gradation is not detected in the weak edge area, if a small circular or triangular area due to dust or dirt, for example, an attention area can be detected in the weak edge area, at least two By confirming the temporal change in the positional relationship of the attention area, it is possible to determine whether the weak edge area is a road surface area or a three-dimensional object area, and to determine the road surface. It is done.
In addition, the weak edge region type can be determined based on at least one of the temporal change in the texture feature, the temporal change in the gradation feature, and the temporal change in the region of interest. Therefore, it is possible to determine the road surface based on the above, and therefore, when the road surface is determined based on the change with time of a plurality of features, the accuracy of the determination is further improved.

  In particular, in order to confirm the temporal change in the positional relationship between any two target areas selected from the target areas existing in the weak edge area, the slope of the line segment connecting these two target areas is set to the weak edge. Since it has a structure that characterizes the region, it is possible to determine changes over time simply by comparing the slopes of line segments at different times, so that it is possible to check changes over time without requiring complex calculations. can get.

  Here, the attention area is configured by any one of a combination of a circular area and a straight line segment, a short edge area intersecting at an arbitrary angle, and a circular area. However, if there is a weak edge, it is possible to confirm the change over time of the detected weak edge and to determine whether the target area is a road surface area or a three-dimensional object area. Become.

In addition, the region including the line segment of the strong edge is set as the strong edge region, and the feature of the line segment of the strong edge is extracted as the feature of the strong edge region. The strong edge region is determined as a road surface region or a three-dimensional object region on the basis of the change, and based on the determination result for the strong edge region and the determination result for the weak edge region The road surface is discriminated.
Therefore, in addition to the determination result based on the temporal change of at least one of the weak edge line segment, gradation, and region of interest, the strong edge line segment in which the feature appears prominently during feature extraction Since the road surface area can be determined in consideration of the determination result based on the change with time of the feature, the effect of improving the accuracy of the road surface determination can be obtained.

In particular, when the strong edge line segment is a straight line, the position and inclination of the straight line, and when the curve is a curve, the position and shape of the curve are the characteristics of the strong edge line segment. By simply comparing the positions and shapes of the curves, it is possible to obtain an effect that changes over time can be easily understood.
Also, not only the features of strong edge segments but also the texture, gradation, and features due to weak edges such as the region of interest are taken into account, so the road surface is determined, so the road surface only based on the strong edge segments. As compared with the conventional road surface discriminating method that performs discriminating, the effect of improving the discriminating accuracy is obtained.

Furthermore, a plurality of weak edge regions and strong edge regions are set in the captured image, and in each weak edge region, texture search and feature extraction of the retrieved texture are performed, and strong edge regions are detected in each strong edge region. The feature of the line segment is extracted to determine whether each of the weak edge region and the strong edge region is a road surface region or a three-dimensional object region.
Therefore, since it is possible to more precisely determine which one of the road surface area and the three-dimensional object area, the accuracy of the road surface determination performed based on the determination result is further improved. .

  The captured image is obtained by converting the image data from the camera C into a bird's-eye view image viewed from above the vehicle, and images around the vehicle are arranged so as to surround the vehicle located at the center of the image. By checking the changes over time in the texture (lines, patterns, gradation, etc.) in the captured image when the vehicle is traveling straight ahead, the road surface area and the three-dimensional object area Can be easily identified. For example, when a vehicle crosses a stop line drawn on the road surface, the stop line translates in a direction opposite to the traveling direction of the vehicle in the captured image, but in the case of a line segment existing on the surface of the wall, it is parallel. Since the angle of the line segment changes in the captured image instead of the movement, the road surface area and the three-dimensional object area can be easily discriminated by checking the change over time such as the line segment. Therefore, it is possible to obtain the effect that the road surface can be detected only by performing a very simple detection process such as detection of the parallel movement of the straight line.

In the present embodiment, the setting of the strong edge region in the captured image is performed by the setting unit 21b based on the position of the searched strong edge line segment. For example, FIG. As shown in the figure, the captured image is partitioned in a grid pattern, and when there is a strong edge line segment in the partitioned area, it is determined as a strong edge region, and when it does not exist, it is set as a weak edge region. good.
For example, in the case of the region α and the region β of the captured image shown in FIG. 19A, since the region α includes a strong edge line segment and is not included in the region β, the region α is a strong edge. Each region is determined as a weak edge region.
Thereby, the setting of the strong edge region and the weak edge region can be performed uniformly in a short time.

Further, after setting the strong edge region and the weak edge region in this way, the adjacent regions may be combined and the strong edge region and the weak edge region may be reorganized.
For example, in the captured image shown in FIG. 17B, the weak edge regions located in front and rear of the vehicle mark V can be combined into one, so that the process when the feature extraction unit 22 performs feature extraction is performed. The burden can be reduced.

It is a lineblock diagram of the road surface discriminating device concerning an embodiment. It is explanatory drawing of the captured image produced | generated in the arrangement | positioning of the camera mounted in the vehicle, and an image process part. It is explanatory drawing which shows the example of a bird's-eye view image. It is explanatory drawing which shows the strong edge area | region and weak edge area | region in a captured image. It is a block diagram of the control part of a road surface discrimination device. Explanatory drawing explaining strong edge feature information It is explanatory drawing explaining the frequency of the direction of an edge. It is explanatory drawing explaining a strong edge and gradation. It is explanatory drawing explaining the filter for detecting a strong edge and gradation. It is explanatory drawing explaining the detection of gradation. It is explanatory drawing explaining the judgment point of the time-dependent change of a strong edge line segment. It is explanatory drawing explaining the judgment point of the time-dependent change of a strong edge line segment. It is explanatory drawing explaining the judgment point of the time-dependent change of the frequency of an edge direction. It is explanatory drawing explaining the determination point of the time-dependent change of gradation. It is explanatory drawing explaining the judgment point of the time-dependent change of the relative positional relationship of an attention area. It is a flowchart explaining the process in the road surface discrimination | determination apparatus which concerns on embodiment. It is a flowchart explaining the process in the feature extraction part of a control part. It is a flowchart explaining the process in the area | region determination part of a control part. It is a flowchart explaining the process in the area | region determination part of a control part. It is explanatory drawing which shows the modification of the setting of a strong edge area | region and a weak edge area | region.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Road surface discrimination device 10 Image processing part 11 Captured image generation part 12 Captured image correction part 20 Control part 21 Area setting part 21a Strong edge search part 21b Setting part 22 Feature extraction part 22a Strong edge feature extraction part 22b Weak edge feature extraction part 22c Gradation feature extraction unit 22d Region-of-interest feature extraction unit 23 Region determination unit 23a Strong edge feature information comparison unit 23b Weak edge feature information comparison unit 23c Gradation information comparison unit 23d Region-of-interest information comparison unit 23e Determination unit 24 Road surface determination unit 30 Storage unit 31 Image memory 32 Setting table 33 Feature history table

Claims (12)

A road surface discriminating apparatus that discriminates a road surface around a vehicle based on a captured image captured by a camera that is mounted on a vehicle and images a road surface around the vehicle,
A line segment of a strong edge having an edge strength equal to or greater than a first threshold is searched from an overhead image generated from the captured image as viewed from above the vehicle, and does not include the line segment of the strong edge in the overhead image . An area setting unit for setting an area as a first target area;
Wherein with the edge intensity is searched in the first target region texture consisting of weak edge feature information of line segments and patterns of weak edges as a small second threshold value or more than the first threshold value, retrieved said texture A feature extraction unit for extracting the features of
An area determination unit that determines whether the first target area is a road surface area or a three-dimensional object area based on a temporal change of the texture characteristics when the vehicle is traveling straight ahead;
A road surface discriminating apparatus comprising: a road surface discriminating unit that discriminates a road surface based on a determination result. The texture is a line segment composed of weak edges, and the texture feature is coordinate data specifying the position and shape of the line segment included in the weak edge feature information. The road surface discrimination device described in 1. The said texture is a pattern which consists of weak edges, The characteristic of the said texture is the frequency of the direction of the weak edge which comprises the said pattern contained in the said weak edge characteristic information, The Claim 1 or Claim characterized by the above-mentioned. Item 3. The road surface discrimination device according to Item 2. The feature extraction unit further searches for gradations in the first target region, and extracts features of the searched gradations,
The region determination unit is configured to determine whether the first target region is a road surface region or a three-dimensional object region based on at least one of a temporal change in the texture feature and a temporal change in the gradation feature. The road surface discriminating device according to any one of claims 1 to 3, wherein the road surface discriminating device determines which one of them.   The feature extraction unit obtains a convolution of the first target region and each of a plurality of gradation detection filters having different gradients of luminance change and change directions, and for gradation detection having the largest obtained convolution value. 5. The road surface discriminating apparatus according to claim 4, wherein the gradation direction of the filter is a characteristic of the gradation. The feature extraction unit further searches for the attention area in the first target area, and extracts the positional relationship between at least two attention areas selected from the searched attention areas as features,
The region determination unit is configured to determine whether the first target region is a road surface region or a three-dimensional object region based on at least one of a temporal change in the texture feature and a temporal change in the feature region feature. The road surface discriminating apparatus according to any one of claims 1 to 3, wherein the road surface discriminating apparatus is determined. The feature extraction unit further searches for the attention area in the first target area, and extracts the positional relationship between at least two attention areas selected from the searched attention areas as features,
The region determination unit is configured to determine the first target based on at least one of a temporal change in the texture feature, a temporal change in the gradation feature, and a temporal change in the feature feature. 6. The road surface discriminating apparatus according to claim 4 or 5, wherein the road surface region or the three-dimensional object region is determined.   The road surface discriminating apparatus according to claim 7, wherein the attention area is any one of a combination of a circular area and a straight line segment, a short edge intersecting at an arbitrary angle, and a circular area. The region setting unit sets a region including the line segment of the strong edge as a second target region,
The feature extraction unit extracts a feature of the line segment of the strong edge as a feature of the second target region;
The area determination unit may determine whether the second target area is a road surface area or a three-dimensional object area based on a temporal change in characteristics of the line segment of the strong edge when the vehicle is traveling straight ahead. Determine whether
The road surface determination unit performs road surface determination based on a determination result for the second target area and a determination result for the first target area. The road surface discrimination device according to any one of the above. The area setting unit sets a plurality of first and second target areas in the overhead image ,
The feature extraction unit performs a texture search in each of the first target areas and a feature of the searched texture, and extracts a feature of a line segment of a strong edge in each of the second target areas. Done
10. The road surface according to claim 9, wherein the area determination unit determines which of the first target area and the second target area is a road surface area or a three-dimensional object area. Discriminator. 11. The bird's-eye view image includes a bird's-eye view image around a vehicle so as to surround a vehicle mark arranged at a central portion of the image. The road surface discriminating apparatus according to the item. A road surface determination method for determining a road surface around a vehicle based on a captured image captured by a camera mounted on a vehicle and capturing a road surface around the vehicle,
A strong edge line segment having an edge strength equal to or greater than a first threshold is searched from an overhead image generated from the captured image as viewed from above the vehicle, and does not include the strong edge line segment in the captured image. An area setting stage for setting the area as the first target area;
In the first target area, a texture composed of weak edge line information or a weak edge feature information of a pattern whose edge strength is equal to or larger than a second threshold smaller than the first threshold is searched, and the texture of the retrieved texture A feature extraction stage for extracting features;
An area determination step for determining whether the first target area is a road surface area or a three-dimensional object area based on a temporal change in the texture characteristics when the vehicle is traveling straight ahead;
A road surface discriminating method comprising: a road surface discriminating step for discriminating a road surface based on a judgment result.

Images