JP2004198159A - Axis misalignment measurement device for in-vehicle sensors - Google Patents

Abstract

An object of the present invention is to accurately measure an axis shift of a position measuring device.
Kind Code: A1 A laser radar mounted on a vehicle for measuring the position of a forward object existing in front of the vehicle, a data memory for storing data of the position of the forward object of the laser radar, and a data memory in the same direction as the measurement direction of the laser radar. In the device for measuring the axis deviation of the vehicle-mounted sensor of the vehicle-mounted sensing system having an electronic camera 7 for capturing an image and an image memory 8 for storing image data captured by the electronic camera 7, the vehicle is in a straight ahead state based on the image data. Straight-moving determining means 9 for determining that the vehicle is moving straight ahead, moving vector calculating means 5 for calculating a moving vector of a stationary object when the straight-moving determining means 9 determines that the vehicle is in a straight running state, from the forward object position data, and laser radar 1 based on the moving vector. And an axis shift angle calculating means 6 for calculating the axis shift angle of the above.
[Selection diagram] Fig. 1

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an axial displacement measuring device of a vehicle-mounted sensor of a vehicle-mounted sensing system having a position measuring device mounted on a vehicle and measuring a position of a forward object existing ahead.
[0002]
[Prior art]
[Patent Document 1] JP-A-2001-66361.
[0003]
In an axis deviation measuring device of a position measuring device (laser radar) described in Patent Literature 1, a stationary object during straight traveling is used as an index, and the vehicle is traveling straight based on the apparent movement of the stationary object. Regardless, it detects that the apparent movement of the stationary object is oblique, and measures the axis deviation of the position measurement device from the direction of the apparent movement vector of the stationary object.
[0004]
[Problems to be solved by the invention]
However, in such an axis deviation measuring apparatus, since the straight traveling judgment and the axis deviation judgment are performed using only the data obtained from one position measuring apparatus, there is a measurement error of the position measuring apparatus itself. Cannot accurately measure the axis deviation. In addition, since it is indistinguishable between the case where the forward object determined as the stationary object is actually a moving object that moves in the lateral direction and the case where the own vehicle runs diagonally forward, the own vehicle is running diagonally forward. Sometimes, it is not possible to accurately measure the axis deviation.
[0005]
The present invention has been made to solve the above-described problems, and has as its object to provide an on-board sensor axis deviation measuring device capable of accurately measuring the axis deviation of a position measuring device.
[0006]
[Means for Solving the Problems]
In order to achieve this object, according to the present invention, first straight ahead determining means for determining from the image data that the vehicle is in a straight ahead state, and when the first straight ahead determining means determines that the vehicle is in a straight ahead state, A first axis deviation measuring means for calculating a movement vector of the stationary object from the front object position data and measuring an axis deviation of the position measuring device from the movement vector.
[0007]
【The invention's effect】
In the axis deviation measuring device for the vehicle-mounted sensor according to the present invention, when the first straight traveling determining means determines that the vehicle is traveling straight, the first axis deviation measuring means calculates a moving vector of the stationary object, and Since the axis deviation of the position measuring device is measured from, the axis deviation of the position measuring device can be accurately measured.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
(First Embodiment)
FIG. 1 is a block diagram showing an on-board sensor axial deviation measuring device according to the first embodiment, FIG. 2 is a schematic plan view showing a vehicle equipped with the on-vehicle sensor axial deviation measuring device shown in FIG. 1, and FIG. FIG. 2 is a schematic front view showing a vehicle equipped with the on-board sensor axis deviation measuring device shown in FIG. 1. As shown in the figure, a laser radar (position measuring device) 1 for measuring the position of a forward object existing in front of a host vehicle 21 and an electronic camera 7 for shooting an image in front of the vehicle 21 are provided. The electronic camera 7 is mounted on the host vehicle 21. Normally, the laser radar 1 and the electronic camera 7 are mounted in a predetermined known posture. However, since it is difficult to precisely adjust the posture, the laser radar 1 and the electronic camera 7 require a laser to accurately measure the position of the front object with respect to the vehicle 21. It is necessary to measure, by some means, the state of the mounting result of the radar 1 and the electronic camera 7 with respect to the axle (vehicle center axis) 22 of the vehicle 21. Hereinafter, the deviation of the direction of the laser axis (scanning center axis) 23 of the laser radar 1 with respect to the axle 22 and the deviation of the direction of the optical axis 24 of the electronic camera 7 will be referred to as the axial deviation of the vehicle-mounted sensor. Here, the laser radar 1 and the electronic camera 7 are attached to the front part of the own vehicle 21, and the laser radar 1 scans at a predetermined angle in a plane parallel to a road surface ahead of the own vehicle 21 while moving forward. The electronic camera 7 is mounted so as to measure the position of the object, that is, the distance and direction to the object in front, and to capture an image of the state in front of the vehicle 21 which is the same direction as the measurement direction of the laser radar 1. Hereinafter, the laser axis 23 is defined as the Z axis of the laser radar 1, the optical axis 24 is defined as the Z axis of the electronic camera 7, and the position of the front object is defined as a position in a coordinate system using the axle 22 as the Z axis. Further, it is assumed that all of these Z axes are substantially parallel, and the position of the detected object is expressed with reference to a coordinate system provided for the vehicle 21.
[0009]
Further, as shown in FIG. 1, a processing unit for processing front object position data of the laser radar 1 includes a data memory 2 for storing front object position data for each single scanning input from the laser radar 1, Forward object detecting means 3 for finding a forward object from the forward object position data stored in the memory 2, stop movement determining means 4 for distinguishing the found forward object into a stationary object and a moving object (running object); A moving vector calculating means 5 for calculating a moving vector A (moving trajectory) of the object determined to be a stationary object by the determining means 4, and a traveling direction of the vehicle 21 of the moving vector A of the stationary object calculated by the moving vector calculating means 5 And an axis shift angle calculating means 6 for calculating the value of the axis shift angle θ of the laser radar 1 from the direction with respect to. When the first straight-movement determining means 9 (described later) determines that the vehicle is in the straight-ahead state by the movement vector calculation means 5 and the axis deviation angle calculation means 6, the movement vector A of the stopped object is converted into the forward object position data. And a first axis shift angle measuring means for calculating the axis shift θ of the laser radar 1 from the movement vector A.
[0010]
The processing unit that processes the image data of the electronic camera 7 includes an image memory 8 that stores image data input from the electronic camera 7, and a processing unit that processes the image data stored in the image memory 8. 21 has first straight traveling determining means 9 for determining that the vehicle is in a straight traveling state, and the result of the straight traveling determination by the straight traveling determining means 9 is transmitted to the movement vector calculating means 5.
[0011]
FIG. 4 is an explanatory view of the operation of the axis deviation measuring device of the vehicle-mounted sensor shown in FIG. 1, and FIG. 4 (a) is a diagram showing a measurement position of the laser radar 1 when a forward object is detected and measured by the laser radar 1. FIG. 4B is a diagram showing a front image of the same scene captured by the electronic camera 7. The laser radar 1 is an apparatus that detects an object that reflects light existing in front and measures the distance to the object that reflects the light from the time difference between the transmission of the transmission wave of the laser radar 1 and the reception of the transmission wave. . In general, in a road environment, as a front object that reflects light, there are a road sign 32 such as a signboard made of iron, a reflector attached to the roadside called a delineator, and a front vehicle 31 running in front of the host vehicle 21. Among these reflectors, the reflex reflector attached to the roadside or the back of the front vehicle 31 is a reflection plate attached so that the driver can easily recognize the presence of the roadside or the front vehicle 31. It has a shape that reflects efficiently. Therefore, the laser radar 1 can stably detect and measure the preceding vehicle 31 and the road reflector 32.
[0012]
The forward object detecting means 3 detects the forward vehicle 31 and the road reflector 32 from the distribution of the measurement points 33 of the laser radar 1 as shown in FIG. Is measured. In this process, the measurement points 33 which are located close to each other and have the same movement are grouped, and are further detected at intervals of about the width of the vehicle, and two groups of the left and right measurement points 33 which move in the same direction in time series, The object detection unit 34 is determined by applying a method of detecting the preceding vehicle 31 by finding a group of continuous measurement points 33 having a width approximately equal to the vehicle width.
[0013]
Further, the stop movement determining means 4 performs a stop movement determination of the front object corresponding to the object detection unit 34 detected by the front object detection means 3, that is, determines whether the front object is stopped or moving (running). In this stop movement determination, the position of the object detection unit 34 is stored continuously in time, and the movement of the position of the object detection unit 34 (the vector shown in FIG. An object that is observed to move at the same speed as the vehicle speed in the direction is determined as a stationary object, and an object whose relative speed to the own vehicle 21 is different from the stationary object is determined as a moving object.
[0014]
The movement vector calculation means 5 calculates the movement vector A when the result of the straight traveling determination is transmitted from the straight traveling determination means 9. That is, as shown in FIG. 5, the movement vector A is obtained by connecting the movements of the time-series object detection unit 34 (time-sequential positions of the stopped objects) obtained at the time of the stop movement determination of the stop movement determination unit 4. . Normally, the detection position of the front object may have some errors on the left and right, or may have discrete values depending on the scan angle and the resolution of position measurement. In such a case, a straight line that best fits the position of the object detection unit 34 that has been continuously detected a plurality of times in the past may be calculated by applying a least square error fitting or the like.
[0015]
Further, the axis shift angle calculating means 6 calculates the axis shift angle θ using the movement vector A calculated by the movement vector calculating means 5.
[0016]
FIG. 6 is an explanatory diagram of the operation of the apparatus for measuring the axis deviation of the on-vehicle sensor shown in FIG. 1, that is, an explanatory diagram of a method of calculating the axis deviation angle θ using the movement vector A when the own vehicle 21 is in the straight traveling state. . FIG. 6A is a diagram showing a detection position (object detection unit 34) of a stationary object when the laser radar 1 detects a stationary object at time t1, and FIG. FIG. 9 is a diagram showing a detection position of a stationary object when the laser radar 1 detects a stationary object at a time t2 when the vehicle has just traveled straight. Here, when the position (x1L, z1L) of the stationary object is detected by the laser radar 1 at time t1, if the laser axis 14 of the laser radar 1 coincides with the axle 22 (Z axis) (the axis shift angle θ Is 0 degree), the detection position of the stopped object at time t2 after traveling straight by the distance V should be (x1L, z1L-V). However, when the laser shaft 23 is displaced from the axle 22, for example, when the laser shaft 23 is displaced from the axle 22 by an axis shift angle θ, as shown in FIG. Is not (x1L, z1L-V). Here, a method of calculating the movement vector A detected during straight running when the laser shaft 23 is shifted from the axle 22 by the axis shift angle θ will be described with reference to FIG. As can be seen from FIG. 6, when the positions of the stationary object at the standard coordinates (coordinates based on the axle 22) at times t1 and t2 are (x1, z1) and (x2, z2), the measurement is performed by the laser radar 1. The positions (x1L, z1L) and (x2L, z2L) of the stationary object at the times t1 and t2 can be obtained by Expression (1).
[0017]
(x1L, z1L) = (x1 · cosθ + z1 · sinθ, -x1 · sinθ + z1 · cosθ)
(x2L, z2L) = (x1 · cosθ + z1 · sinθ−V · sinθ, −x1 · sinθ + z1 · cosθ−V · cosθ) (1)
That is, when the axis deviation angle is θ and the moving distance between times t1 and t2 is V, the moving vector A is represented by the equation (2).
[0018]
(x2L−x1L, z2L−z1L) = (V · sin θ, V · cos θ) (2)
If a stationary object is detected, all the movement vectors A have the same value.
From this, since the inclination of the movement vector A always coincides with V · sin θ / V · cos θ = sin θ / cos θ = tan θ, the axis deviation angle θ can be obtained from the inclination of the movement vector A.
[0019]
Next, a process for determining that the host vehicle 21 is in a straight traveling state will be described. That is, the straight traveling determination means 9 performs image processing on the image data stored in the image memory 8 to measure that the own vehicle 21 is in a straight traveling state. This image processing can be performed by detecting a front white line and recognizing that the white line is a straight line. The white line detection here is a method described in, for example, Japanese Patent Application Laid-Open No. H10-11580, that is, by scanning imaged image information to detect the position coordinates of a feature point representing a white line (lane). With reference to the coordinates of the feature points, a white line is extracted by connecting the pixels representing the feature points so as to form a straight line or a curve, and the coordinate values of the extracted feature points and the road model stored in the memory are extracted. The coordinate system is compared with the image coordinate values converted by the coordinate conversion processing, at least one or more change components are calculated between the road shape parameter and the imaging posture parameter, and the calculated change amount is extracted. A method of updating each parameter of the road model and the coordinate conversion processing based on the white line shape may be applied. Further, the optical flow is obtained, and it can be determined that the host vehicle 21 is in the straight traveling state because most of the optical flows are heading toward the vanishing point. For the method of obtaining the optical flow, the application of the conventional method is sufficient.
[0020]
Then, when the straight traveling determining means 9 determines that the host vehicle 21 is in a straight traveling state, the straight traveling determining means 9 transmits the determination result to the moving vector calculating means 5, and the moving vector calculating means 5 When the result of the straight traveling determination is transmitted, the movement vector A is calculated.
[0021]
In the axial displacement measuring device of the vehicle-mounted sensor shown in FIG. 1, when the straight traveling determining means 9 determines that the vehicle is in the straight traveling state, the first axial displacement angle measuring means (movement vector calculating means 5, axial displacement calculating means 6) calculates the movement vector A of the stationary object and calculates the axis deviation angle θ, so that the axis deviation angle θ can be accurately obtained.
[0022]
In the present embodiment, when the straight traveling determining means 9 determines that the vehicle is in the straight traveling state, the moving vector calculating means 5 calculates the moving vector A. However, the moving vector calculating means 5 always calculates the moving vector A. Alternatively, the axis deviation angle calculation means 6 may calculate the axis deviation angle θ when the straight traveling determination means 9 determines that the vehicle is traveling straight.
[0023]
(Second embodiment)
FIG. 7 is a block diagram showing an axial displacement measuring device for an in-vehicle sensor according to the second embodiment. As shown in the figure, a laser radar 1, an electronic camera 7, a traveling direction change measuring device 10 having a gyroscope, a steering angle measuring device, and the like, and measuring a traveling direction change of the vehicle 21 are provided. The laser radar 1, the electronic camera 7, and the traveling direction change measuring device 10 are mounted on the host vehicle 21. The processing unit of the traveling direction change measuring device 10 that processes the traveling direction change data includes the second straight traveling determination unit 11 that determines that the vehicle 21 is in the straight traveling state from the traveling direction change data. The result of the straight traveling determination by the means 11 is transmitted to the movement vector calculating means 5. When the straight-moving determining means 11 determines that the vehicle is in the straight-ahead state by the moving vector calculating means 5 and the axis deviation angle calculating means 6, the moving vector A of the stopped object is calculated from the front object position data and the moving vector A is calculated. And a first axis deviation angle measuring means for calculating the axis deviation angle θ of the laser radar 1 from the above.
[0024]
In the axial displacement measuring device for an on-vehicle sensor, the straight traveling determining means 11 determines that the own vehicle 21 is in a straight traveling state from the traveling direction change data. In other words, when the traveling direction change measuring device 10 has a steering angle measuring device, when the value of normal steering continues temporally close to 0 degrees (when the value of the traveling direction change data is smaller than a predetermined value), The straight traveling determining means 11 determines that the vehicle 21 is in a straight traveling state. Similarly, when the traveling direction change measuring device 10 has a gyroscope, when the value that is parallel to the road surface is constantly observed (when the traveling direction change data value is smaller than a predetermined value), Means that the straight traveling determination means 11 determines that the host vehicle 21 is in a straight traveling state.
In other words, when the value of the traveling direction change data is larger than a predetermined value, the straight traveling determining means 11 determines that the vehicle 21 is not in a straight traveling state (curved).
Then, when the straight traveling determining means 11 determines that the vehicle 21 is in a straight traveling state, the straight traveling determining means 11 transmits the determination result to the moving vector calculating means 5, and the moving vector calculating means 5 When the result of the straight traveling determination is transmitted, the movement vector A is calculated.
[0025]
In the axial displacement measuring device for the vehicle-mounted sensor shown in FIG. 7, when the straight traveling determining means 11 determines that the vehicle is traveling straight, the first axial displacement angle measuring means (movement vector computing means 5, axial displacement calculating means 6) calculates the movement vector A of the stationary object and calculates the axis deviation angle θ, so that the axis deviation angle θ can be accurately obtained.
[0026]
In the present embodiment, when the straight traveling determining means 11 determines that the vehicle is in the straight traveling state, the moving vector calculating means 5 calculates the moving vector A. However, the moving vector calculating means 5 always calculates the moving vector A. Alternatively, the axis deviation angle calculation means 6 may calculate the axis deviation angle θ when the straight traveling determination means 11 determines that the vehicle is traveling straight.
[0027]
(Third embodiment)
FIG. 8 is a block diagram illustrating an apparatus for measuring an axial deviation of a vehicle-mounted sensor according to the third embodiment. As shown in the figure, a straight traveling confirmation means 12 for confirming that the vehicle 21 is in a straight traveling state based on the judgment result of the straight traveling judgment means 9 and the judgment result of the straight traveling judgment means 11 is provided. The result of the straight traveling confirmation is transmitted to the movement vector calculation means 5. That is, when the straight traveling determination means 9 determines that the own vehicle 21 is in the straight traveling state and the straight traveling determining means 11 determines that the own vehicle 21 is also in the straight traveling state, the straight traveling confirmation means 12 determines whether the own vehicle 21 is in the straight traveling state. When the straight traveling confirmation means 12 confirms that the vehicle is traveling straight, the result of the confirmation is transmitted to the movement vector calculation means 5. Then, when the straight traveling confirmation means 12 confirms that the vehicle is in the straight traveling state by the movement vector computing means 5 and the axis deviation angle computing means 6, the moving vector A of the stationary object is calculated from the front object position data and the moving vector A is calculated. And a first axis deviation angle measuring means for calculating the axis deviation angle θ of the laser radar 1 from the above.
[0028]
Here, the straight-moving determining means 9 and the straight-moving determining means 11 are not necessarily means for which a correct answer is required. For example, when the straight-moving determining means 9 cannot determine the straight-moving state properly in bad weather which is a defect of the image processing in the image processing. There is also. Further, in the case of the straight traveling determining means 11, for example, when the straight traveling state is determined only by the traveling direction change data of the traveling direction change measuring device 10 having the steering angle measuring device, when the road surface is inclined, the measured value of the steering angle measuring device becomes In some cases, the vehicle 21 is traveling on a curve despite the angle being 0 degrees. Therefore, in the axis deviation measuring device for the vehicle-mounted sensor shown in FIG. 8, the straight traveling judgment is performed by two different means, namely, the straight traveling judging means 9 and the straight traveling judging means 11, so that the straight traveling judgment can be performed more reliably. Further, only when the straight traveling confirmation means 12 confirms that the vehicle 21 is traveling straight, the axis deviation angle θ of the laser radar 1 which is a sensor other than the electronic camera 7 and the traveling direction change measuring device 10 is calculated. Can be obtained more accurately.
[0029]
In this embodiment, when the straight traveling confirmation means 12 confirms that the vehicle is traveling straight, the movement vector calculation means 5 calculates the movement vector A, but the movement vector calculation means 5 always calculates the movement vector A. Alternatively, when the straight traveling confirmation means 12 confirms that the vehicle is traveling straight, the axis deviation angle calculating means 6 may calculate the axis deviation angle θ.
[0030]
(Fourth embodiment)
FIG. 9 is a block diagram illustrating an apparatus for measuring an axial deviation of a vehicle-mounted sensor according to the fourth embodiment. As shown in the figure, a movement vector calculation means 41 for calculating a movement vector A from the forward object position data when the straight movement determination means 9 determines that the vehicle is in a straight movement state, and a movement vector A calculated by the movement vector calculation means 41. And a variance of the directions of the plurality of motion vectors A stored in the motion vector storage means 42 within a predetermined time, and only the motion vector A whose variance is smaller than a predetermined value is extracted. It has a movement vector extraction unit 43 and an axis deviation angle calculation unit 6 (second axis deviation angle measurement unit) that calculates the axis deviation angle θ of the position measuring device from the movement vector A extracted by the movement vector extraction unit 43. . Then, when the straight-moving determining means 9 determines that the vehicle is in the straight-ahead state by the moving vector calculating means 41 and the moving vector storing means 42, the moving vector A for calculating and storing the moving vector A of the stationary object from the preceding object position data. It constitutes calculation storage means.
[0031]
FIG. 10 is an explanatory diagram of the operation of the axis deviation measuring device of the vehicle-mounted sensor shown in FIG. 9, that is, a diagram showing a plurality of movement vectors A detected during the time Δt. As shown in the figure, a plurality of normally stopped objects are detected, but when the straight traveling determining means 9 determines that the vehicle is in the straight traveling state, the moving vector calculating means 41 calculates the moving vector A, and the moving vector storing means 42 The plurality of movement vectors A calculated are stored. That is, the movement vector storage means 42 stores the movement vector A obtained by performing a plurality of times of scanning of the laser radar 1 when the straight movement determination means 9 determines that the vehicle is in the straight traveling state, or the movement vector obtained during a predetermined time or more. Save A.
[0032]
Then, the movement vector extraction means 43 calculates the variance of the movement vector A measured at the same time, extracts only the movement vector A whose variance is smaller than a predetermined value, and uses the value of the movement vector A as the axis deviation angle calculation means 6. To communicate. That is, the movement vector extraction unit 43 extracts only the movement vector A having high reliability. For this reason, it is possible to confirm that the vehicle is in the straight traveling state not only from the straight traveling determination means 9 but also from the measurement result of the laser radar 1. This dispersion is determined from the movement vector A on which the axis deviation angle θ is calculated. The movement vector A due to erroneous measurement can be removed, and the axis shift angle θ can be obtained more accurately. In other words, if the object is a stationary object, all the movement vectors A should have the same value, that is, the value of the equation (2), regardless of the detection position. (A state in which a part of the front object at the back is hidden by another front object), the correct movement vector A may not be obtained (the object detection units 34a and 34b in FIG. 10). In addition, the forward objects detected by the laser radar 1 may include a moving object that moves at a low speed, a moving object that moves in a transverse direction, and the like. Such a moving object is shown in FIG. Since it is difficult to determine the stop movement described above, the moving object that is actually moving may be mistaken for the stop object. In other words, if there is no erroneous determination or erroneous measurement, the movement vector A is the same when the host vehicle 21 is in the straight traveling state, but there is a case where the actually calculated movement vector A includes erroneous measurement. is there. The value of the movement vector A that cannot be used for calculating such an axis deviation angle θ can be excluded.
[0033]
As a result, the reliability can be improved by first storing a large number of the movement vectors A, and only the highly reliable movement vector A can be selected from the many stored movement vectors A. The value of θ can be calculated more reliably.
[0034]
In the present embodiment, the movement vector calculation means 41 calculates the movement vector A when the straight traveling determination means 9 determines that the vehicle is in the straight traveling state, but the movement vector calculation means 41 always calculates the movement vector A. Alternatively, the movement vector storage means 42 may store the movement vector A when the straight traveling determination means 9 determines that the vehicle is in the straight traveling state.
[0035]
(Fifth embodiment)
FIG. 11 is a block diagram illustrating an apparatus for measuring an axial deviation of an in-vehicle sensor according to the fifth embodiment. As shown in the figure, a movement vector calculation means 41 for calculating a movement vector A from the forward object position data when the straight movement determination means 11 determines that the vehicle is in a straight movement state, and a movement vector A calculated by the movement vector calculation means 41. And a variance of the directions of the plurality of motion vectors A stored in the motion vector storage means 42 within a predetermined time, and only the motion vector A whose variance is smaller than a predetermined value is extracted. It has a movement vector extraction unit 43 and an axis deviation angle calculation unit 6 that calculates an axis deviation angle θ of the position measuring device from the movement vector A extracted by the movement vector extraction unit 43. Then, when the straight ahead determining means 11 determines that the vehicle is in the straight running state by the movement vector calculating means 41 and the movement vector storing means 42, the moving vector A for calculating and storing the moving vector A of the stationary object from the forward object position data. It constitutes calculation storage means.
[0036]
In the axis deviation measuring device for the vehicle-mounted sensor, the movement vector calculation means 41 calculates the movement vector A when the straight traveling determination means 11 determines that the vehicle is in the straight traveling state, and the movement vector storage means 42 Save the movement vector A. Then, the movement vector extraction means 43 calculates the variance of the movement vector A measured at the same time, extracts only the movement vector A whose variance is smaller than a predetermined value, and uses the value of the movement vector A as the axis deviation angle calculation means 6. To communicate. For this reason, it is possible to confirm that the vehicle is in the straight traveling state not only from the straight traveling determination means 11 but also from the measurement result of the laser radar 1. This dispersion is determined from the movement vector A on which the axis deviation angle θ is calculated. The movement vector A due to erroneous measurement can be removed, and the axis shift angle θ can be obtained more accurately.
[0037]
In the present embodiment, the movement vector calculation means 41 calculates the movement vector A when the straight traveling determination means 11 determines that the vehicle is in the straight traveling state, but the movement vector calculation means 41 always calculates the movement vector A. Alternatively, the movement vector storage means 42 may store the movement vector A when the straight traveling determination means 11 determines that the vehicle is traveling straight.
[0038]
(Sixth embodiment)
FIG. 12 is a block diagram illustrating an apparatus for measuring an axial deviation of a vehicle-mounted sensor according to the sixth embodiment. As shown in the drawing, a movement vector calculation means 41 for calculating a movement vector A from the forward object position data when the straight traveling confirmation means 12 confirms that the vehicle is traveling straight, and a movement vector calculated by the movement vector calculation means 41. A movement vector storage means 42 for storing A, and a variance of directions of a plurality of movement vectors A stored in the movement vector storage means 42 within a predetermined time is calculated, and only the movement vector A whose variance is smaller than a predetermined value is extracted. And a displacement vector calculating means 6 for calculating a displacement angle θ of the position measuring device from the displacement vector A extracted by the displacement vector extracting means 43. Then, the movement vector calculating means 41 and the movement vector storage means 42 calculate and store the movement vector A of the stationary object from the forward object position data when the straight traveling confirmation means 12 confirms that the vehicle is traveling straight. It constitutes a vector calculation storage means.
[0039]
In the on-vehicle sensor axis deviation measuring device, the movement vector calculation means 41 calculates the movement vector A when the straight traveling confirmation means 12 confirms that the vehicle is traveling straight, and the movement vector storage means 42 Is stored.
Then, the movement vector extraction means 43 calculates the variance of the movement vector A measured at the same time, extracts only the movement vector A whose variance is smaller than a predetermined value, and uses the value of the movement vector A as the axis deviation angle calculation means 6. To communicate. For this reason, it is possible to confirm that the vehicle is in the straight traveling state not only from the straight traveling confirmation means 12 but also from the measurement result of the laser radar 1, and the variance is determined from the movement vector A on which the axis deviation angle θ is calculated. The movement vector A due to erroneous measurement can be removed, and the axis shift angle θ can be obtained more accurately.
[0040]
In the present embodiment, when the straight traveling confirmation means 12 confirms that the vehicle is traveling straight, the movement vector calculation means 41 calculates the movement vector A, but the movement vector calculation means 41 always calculates the movement vector A. Then, the movement vector storage means 42 may store the movement vector A when the straight traveling confirmation means 12 confirms that the vehicle is traveling straight.
[0041]
(Seventh embodiment)
FIG. 13 is a block diagram showing an axial displacement measuring device for a vehicle-mounted sensor according to the seventh embodiment. As shown in the figure, a vanishing point position measuring means 51 for measuring the position of the vanishing point on the image in the X-axis direction (direction parallel to the road surface and perpendicular to the axle 22) from the image data, An axis deviation angle calculating means 52 (third axis deviation measuring means) for calculating an axis deviation angle (optical axis deviation angle) α of the camera 7 is provided. That is, in the seventh embodiment, the axis deviation angle α of the optical axis 24 with respect to the axle 22 is calculated at the same time as the axis deviation angle θ.
[0042]
FIG. 14 is an explanatory diagram of the operation of the axis deviation measuring device of the on-vehicle sensor shown in FIG. 13. The vanishing point on the image is obtained from the result of the detection of the white line 61 and the result of the optical flow detection when the vehicle 21 is in the straight traveling state. Can be determined. The vanishing point is a position where the point at infinity is captured in a forward image captured by the electronic camera 7 mounted on the vehicle. As shown in FIG. 14A, when the vehicle is traveling straight on a straight road, the intersection of the white lines 61 is a white line vanishing point 62. Further, as shown in FIG. 14B, when the host vehicle 21 is traveling straight, the optical flow of the stopped object ahead (the apparent movement of the object) is a vector starting from the optical flow vanishing point 63. Become.
[0043]
On the other hand, FIG. 15 is an explanatory diagram of the operation of the axis deviation measuring device for the vehicle-mounted sensor shown in FIG. 13, that is, when the optical axis 24 of the electronic camera 7 having the lens 7a coincides with the axle 22, FIG. 9 is a diagram showing the position of a vanishing point on an image when the image is shifted by an axis shift angle α with respect to FIG. In FIG. 15, the positions (imaging positions) of the infinite point on the image are the white line vanishing point 62 and the optical flow vanishing point 63. That is, as shown in FIG. 15A, when the optical axis 24 coincides with the axle 22, the white line vanishing point 62 and the optical flow vanishing point 63 coincide with the center O of the image, and FIG. When the optical axis 24 is shifted from the axle 22 by the axis shift angle α, the X-coordinates of the white line vanishing point 62 and the optical flow vanishing point 63 on the image are shifted by xb from the center O as shown in FIG. If the focal length (unit: pixel) is f, the value of the shift amount xb can be obtained by equation (3).
[0044]
xb = f · tanα (3)
It can be seen that if the positions of the white line vanishing point 62 and the optical flow vanishing point 63 on the image, that is, the shift amount xb, can be obtained by such a principle, the value of the axis shift angle α can be obtained.
[0045]
That is, in the seventh embodiment, the white line vanishing point 62 and the optical flow vanishing point 63 on the image when the straight ahead confirming unit 12 determines that the straight ahead confirming unit 12 is in the straight traveling state using the image data by the vanishing point position measuring unit 51. The position is measured, and the axis deviation angle α of the optical axis 24 with respect to the axle 22 is calculated by the axis deviation angle calculating means 52 based on the positions of the white line vanishing point 62 and the optical flow vanishing point 63.
[0046]
As a result, not only the axis deviation angle θ but also the axis deviation angle α can be correctly measured. Further, since the axis deviation angle θ and the axis deviation angle α are measured simultaneously, the axial relation of the electronic camera 7 to the laser radar 1 or the axis relation of the laser radar 1 to the electronic camera 7 can be obtained. become.
[0047]
In the present embodiment, the positions of the white line vanishing point 62 and the optical flow vanishing point 63 on the image when the straight ahead checking unit 12 determines that the straight traveling confirmation unit 12 is in the straight traveling state by the vanishing point position measuring unit 51 are measured. The vanishing point position measuring unit 51 may measure the positions of the white line vanishing point 62 and the optical flow vanishing point 63 on the image when the moving vector extracting unit 43 determines that the variance of the moving vector A is smaller than the predetermined value.
[0048]
(Eighth embodiment)
FIG. 16 is a block diagram showing an axial displacement measuring device for an in-vehicle sensor according to the eighth embodiment. As shown in the figure, a variance calculating means for calculating the variance in the X-axis direction of the position of the vanishing point measured within a predetermined time when the straight ahead confirming means 12 determines that the straight running confirmation means 12 is in the straight running state by the vanishing point position measuring means 51. When the variance calculated by the variance calculating means 71 is smaller than a predetermined value, the axis shift angle calculating means 52 calculates the axis shift angle α of the electronic camera 7. That is, in the eighth embodiment, the position in the X-axis direction of the vanishing point calculated at the time of going straight is the same position unless there is an erroneous detection. Therefore, when the variance is smaller than the predetermined value, the reliability is high. Using this, the axis deviation angle α is calculated using the position of the vanishing point with high reliability.
[0049]
As described above, the white line vanishing point 62 and the optical flow vanishing point 63 can be obtained with high reliability when the straight traveling state continues correctly, similarly to the axis deviation angle θ. Therefore, the variance calculating unit 71 first stores the positions of the white line vanishing point 62 and the optical flow vanishing point 63 on the image measured within the predetermined time by the vanishing point position measuring unit 51. At this time, since the white line vanishing point 62 and the optical flow vanishing point 63 may be erroneously measured due to white line detection or erroneous measurement of the optical flow, the variance calculating means 71 stores the white line vanishing point in order to maintain a highly reliable value. The variance of the positions of the vanishing point 62 and the optical flow vanishing point 63 is calculated. A supplementary description of this dispersion will be given with reference to FIG.
[0050]
FIG. 17 is an explanatory diagram of the operation of the axis deviation measuring device for the vehicle-mounted sensor shown in FIG. 16, that is, a diagram in which the white line vanishing point 62 on the image measured within a predetermined time by the method described with reference to FIG. Normally, since the preceding vehicle 31 moves in the pitch direction, there is a variation in the vertical direction (Y-axis direction), but the white line vanishing point 62 is always at the same position while traveling straight. From this, in order to confirm the straightness and the reliability of the point, when the straight traveling confirmation means 12 confirms that the vehicle is traveling straight, if the variation (variance) in the X-axis direction is smaller than a predetermined value, the The white line vanishing point 62 can be determined to have high reliability. Therefore, when the variance calculated by the variance calculating means 71 is smaller than the predetermined value, the axis shift angle calculating means 52 calculates the axis shift from the equation (3) using the shift amount xb of the white line vanishing point 62 (optical flow vanishing point 63). The value of the shift angle α is calculated.
[0051]
Accordingly, the axis shift angle α can be calculated using the position of the vanishing point with high reliability, and thus the value of the axis shift angle α can be accurately measured.
[0052]
Note that when the white line 61 is determined to be a straight line by the processing of the image data and the variance in the X direction of the positions of the white line vanishing point 62 and the optical flow vanishing point 63 is smaller than a predetermined value, the axis deviation angle θ and the axis deviation angle α May be calculated.
[0053]
(Ninth embodiment)
In the ninth embodiment, the vanishing point position measuring means 51 calculates the position in the X-axis direction of the white line vanishing point 62 from the intersection of the white line, and calculates the optical flow from the intersection of the optical flow measured near the stationary object existence position. The position of the flow vanishing point 63 in the X-axis direction is calculated, and the positions of the white line vanishing point 62 and the optical flow vanishing point 63 measured by the variance calculating unit 71 within a predetermined time by the vanishing point position measuring unit 51 in the X-axis direction are calculated. The variance is calculated, and when the variance of the positions of the white line vanishing point 62 and the optical flow vanishing point 63 is smaller than a predetermined value, the axis deviation angle calculation means 52 calculates the axis deviation angle α.
[0054]
That is, in the ninth embodiment, the straight traveling confirmation unit 12 confirms that the vehicle is traveling straight, and the variance of the position of the white line vanishing point 62 in the direction parallel to the road surface calculated from the intersection of the white lines is smaller than a predetermined value. And three conditions that the variance of the position of the optical flow vanishing point 63 in the direction parallel to the road surface calculated from the intersection line of the optical flow measured near the position of the stationary object being measured by the laser radar 1 is smaller than a predetermined value. Is set, the axis shift angle calculating means 52 calculates the axis shift angle α.
[0055]
As a result, since the conditions for determining the straight traveling state are increased, it is possible to more reliably determine that the vehicle is in the straight traveling state, and erroneous determination can be prevented. It is possible to measure more accurately.
[0056]
Note that when the white line 61 is determined to be a straight line by the processing of the image data and the variance in the X direction of the positions of the white line vanishing point 62 and the optical flow vanishing point 63 is smaller than a predetermined value, the axis deviation angle θ and the axis deviation angle α May be calculated.
[0057]
(Tenth embodiment)
FIG. 18 is a block diagram showing an axial displacement measuring device for a vehicle-mounted sensor according to the tenth embodiment. As shown in the figure, the front object detection means 3 for determining the object detection unit 34 from the front object position data and the detection unit width of the object detection unit 34, that is, the direction (X direction) parallel to the road surface and perpendicular to the axle 22. The movement vector calculation means 41 calculates the movement vector A using only the object detection unit 34 having a detection unit width smaller than a predetermined value.
[0058]
FIG. 19 is a diagram illustrating the operation of the on-vehicle sensor axis deviation measuring device shown in FIG. When there are a wide road reflector 32 and a narrow road reflector 32, or, for example, the reflection surface of the road reflector 32 is a curved surface, the reflected light from the laser radar 1 becomes unstable, and either In the case where the position of the end or both ends cannot be determined, as shown in the figure, an object detection unit 34 having a wide detection unit and an object detection unit 34 having a small detection unit width are detected. The horizontal position (position on the X coordinate) of the narrow object detection unit 34 is uniquely determined, whereas the X coordinate of the object detection unit 34 is unstable in the case of the wide object detection unit 34. become. In addition, when there are many other front objects, there is a problem that the lateral position of the road reflector 32 cannot be correctly obtained due to the occlusion problem (the object detection unit 34c in FIG. 19). Accordingly, the movement vector A is calculated by the movement vector calculation means 41 using only the object detection unit 34 whose detection unit width is smaller than the predetermined value.
[0059]
As a result, the straight traveling determination based on the movement vector A calculated by the movement vector calculation means 41 and the calculation of the axis deviation angle θ from the movement vector A can be performed more accurately.
[0060]
In the present embodiment, the movement vector calculation unit 41 calculates the movement vector A using only the object detection unit 34 whose detection unit width is smaller than the predetermined value. A stop movement determination of only the forward object corresponding to the object detection unit 34 smaller than the predetermined value is performed, and the width calculation unit 81 determines that the detection unit width is smaller than the predetermined value, and the stop movement determination unit 4 determines the stop object. The movement vector A may be calculated by the movement vector calculation unit 41 using only the object detection unit 34 determined to be the detection unit 34.
[0061]
(Eleventh embodiment)
FIG. 20 is a block diagram showing an axial displacement measuring device for an in-vehicle sensor according to the eleventh embodiment. As shown in the figure, the position in the X-axis direction, that is, the calculated position on the image of the electronic camera 7 of the front vehicle 31 measured by the laser radar 1 is calculated from the front object position data, the axis deviation angle θ, and the axis deviation angle α. Position calculating means 91 for calculating the position of the preceding vehicle 31 on the image of the electronic camera 7 in the X-axis direction, that is, image position calculating means 92 for calculating the image position, and position comparing means for comparing the image position with the image position 93.
[0062]
When the value of the axis deviation angle θ calculated by the axis deviation angle calculation means 6 and the value of the axis deviation angle α calculated by the axis deviation angle calculation means 52 are accurate, the position of the forward object detected by the laser radar 1 If it is known, the calculation position can be obtained by geometric calculation. FIG. 21 is an explanatory diagram thereof. For example, when the laser axis 23 and the optical axis 24 are displaced by an angle β (the value of the angle β can be obtained from the values of the axis deviation angle θ and the axis deviation angle α), the azimuth Θ and the distance The position xc on the image of the preceding vehicle 31 detected at the position of zL can be obtained by equation (4).
[0063]
xc = ftan (Θ-β) (4)
Verification of the values of the axis deviation angle θ and the axis deviation angle α takes into account the axis deviation angle θ and the axis deviation angle α (the angle β), and considers both the processing of the front object position data and the processing of the image data. This is done by tracking the same target in the process. That is, the calculated position of the preceding vehicle 31 is calculated by the calculated position calculating means 91, the image position of the preceding vehicle 31 is calculated by the image position calculating means 92, and the calculated position and the image position are compared by the position comparing means 93. Verify the values of the axis deviation angle θ and the axis deviation angle α
FIG. 22 is a diagram showing the relationship between the size of the target (the forward vehicle 31 in this case) captured on the image and the distance. As shown in the drawing, when the front vehicle 31 having the vehicle width W is measured, the width wc of the image of the front vehicle 31 on the image can be calculated by Expression (5).
[0064]
wc = W · f / zL (5)
That is, when the same front vehicle 31 is correctly tracked in the processing of the front object position data and the processing of the image data, the width wc of the image of the front vehicle 31 on the image changes according to the distance zL, and the distance zL is the laser radar. Measured at 1. From this, the forward vehicle 31 is tracked by the laser radar 1, the distance zL and the azimuth Θ are obtained, and the image of the forward vehicle 31 existing in the azimuth Θ at the position considering the axis shift angle θ and the axis shift angle α is considered. By observing that the width wc above changes in response to the change in the distance zL, it can be verified that the vehicle is tracking the same preceding vehicle 31.
[0065]
The change in the width wc of the image of the front vehicle 31 on the image may be obtained from template matching in consideration of enlargement or reduction, or a change in the position between a plurality of edges of the front vehicle 31 (for example, the distance between the lowermost edge and the uppermost edge). .
[0066]
That is, in the eleventh embodiment, the position on the image to be imaged of the preceding vehicle 31 being detected and tracked by the laser radar 1 is obtained from the axis deviation angle θ and the axis deviation angle α. The tracking on the image is performed in consideration of the scaling ratio of the target on the image according to the change in the distance zL to the preceding vehicle 31 which is continuously measured in time. That is, the position comparing means 93 determines that the change in the calculated position calculated by the calculated position calculating means 91 in accordance with the distance zL measured by the laser radar 1 and the change in the image position calculated by the image position calculating means 92 match. Thus, it can be confirmed that the same front vehicle 31 is being measured and that the measurement results of the axis deviation angle θ and the axis deviation angle α are correct.
[0067]
This makes it possible to confirm the accuracy of the axis shift angle θ and the axis shift angle α from the recognition and tracking processing, so that the reliability of the values of the axis shift angle θ and the axis shift angle α increases. Further, after confirming that the values of the axis deviation angle θ and the axis deviation angle α are correct, the tracking of the same forward vehicle 31 using the two sensors of the laser radar 1 and the electronic camera 7 causes this axis deviation. Using the values of the angle θ and the axis deviation angle α, the detection positions of the same preceding vehicle 31 can be calculated.
[0068]
(Twelfth embodiment)
In the twelfth embodiment, at least one of the mounting position of the laser radar 1 and the mounting position of the electronic camera 7 is shifted in a direction (X direction) parallel to the road surface and perpendicular to the axle 22 to calculate the calculation position. Calculates the calculated position of the front vehicle 31 measured by the laser radar 1 from the front object position data, the axis deviation angle θ, the axis deviation angle α, and the offset value of the mounting position of the laser radar 1 and the electronic camera 7.
[0069]
That is, in the twelfth embodiment, when one vehicle 31 (target) is tracked by two sensors, the laser radar 1 and the electronic camera 7, for example, as shown in FIG. The mounting position of the camera 7 is shifted in a direction (X direction) parallel to the road surface and perpendicular to the axle 22, and the calculation position calculation by the calculation position calculating means 91 is performed in parallel with the road surface of the mounting position of the electronic camera 7 with respect to the axle 22. This is performed in consideration of the offset value Xd in the direction. Here, the offset value Xd is a value that can be measured by a measure or the like when the electronic camera 7 is mounted. Further, the positional relationship between the laser radar 1 and the electronic camera 7 in consideration of the offset value Xd is geometrically determined from the positional relationship between the two coordinate systems in consideration of the axis shift angle θ and the axis shift angle α. Calculation is possible.
[0070]
By taking into account the offset value Xd that can be measured by this measure or the like, the calculation position can be obtained more accurately, so that the preceding vehicle 31 can be tracked more accurately, and the axis deviation angle can be obtained. The values of θ and the axis shift angle α can be verified more accurately.
[0071]
In the present embodiment, the mounting position of the electronic camera 7 is shifted parallel to the road surface and in a direction perpendicular to the axle 22, but the mounting position of the laser radar 1 is parallel to the road surface and perpendicular to the axle 22. The position of the laser radar 1 and the electronic camera 7 may be parallel to the road surface and the axle may be calculated in consideration of the offset value of the mounting position of the laser radar 1 with respect to the axle 22. Alternatively, the calculation position may be calculated in consideration of the offset value of the mounting position of the laser radar 1 and the electronic camera 7 with respect to the axle 22 in consideration of the offset value with respect to the axle 22. In the present embodiment, the offset value Xd of the mounting position of the electronic camera 7 with respect to the axle 22 is also taken into consideration. However, the offset value Xd and the direction perpendicular to the road surface between the laser axis 23 and the optical axis 24 are determined. May be determined in consideration of the offset value of.
[0072]
(Thirteenth embodiment)
FIG. 24 is a block diagram showing an axial displacement measuring device for a vehicle-mounted sensor according to the thirteenth embodiment. As shown in the figure, when the position comparison means 93 determines that the difference between the calculated position and the image position is larger than a predetermined value, the movement vector calculation means 41 calculates the movement vector A, and the movement vector storage means 42 The vector A is stored (the movement vector calculation and storage unit calculates and stores the movement vector A), and the vanishing point position measuring unit 51 calculates the positions of the white line vanishing point 62 and the optical flow vanishing point 63.
[0073]
That is, in the present embodiment, the position comparison means 93 determines the data used to calculate the axis deviation angle θ and the axis deviation angle α, that is, the positions of the movement vector A, the white line vanishing point 62, and the optical flow vanishing point 63. Automatically collect at the timing of the operation, and the axis deviation angle θ and the axis deviation angle α can be automatically updated by using the data of the traveling during normal driving.
[0074]
Since the data collection at the positions of the movement vector A, the vanishing point 62 of the white line, and the vanishing point 63 of the optical flow in the present embodiment is performed during normal traveling, the axis deviation angle θ and the axis deviation angle α are adjusted. It is not necessary to drive the vehicle specially or to inform the driver that collection is in progress. The deviation angle α can be adjusted.
[0075]
In the present embodiment, when the position comparing means 93 determines that the difference between the calculated position and the image position is larger than a predetermined value, the moving vector calculating means 41 calculates the moving vector A, and the moving vector storing means 42 stores the movement vector A, but when the position comparing means 93 determines that the difference between the calculated position and the image position is larger than a predetermined value, the first axis deviation angle measuring means calculates the movement vector A and Is also good.
[0076]
(14th embodiment)
FIG. 25 is a block diagram showing an axial displacement measuring device for a vehicle-mounted sensor according to a fourteenth embodiment. As shown in the figure, from when the movement vector calculation means 41a calculates the movement vector A and when the movement vector storage means 42a stores the movement vector A (when the movement vector calculation and storage means calculates and stores the movement vector A). After the predetermined time has elapsed, the movement vector calculation means 41a calculates the movement vector A again, and the movement vector storage means 42a stores the movement vector A (the movement vector calculation and storage means calculates and stores the movement vector A again. ), The vanishing point position measuring means 51a again outputs the white line vanishing point 62 and the optical flow after a predetermined time has elapsed since the vanishing point position measuring means 51a calculated the positions of the white line vanishing point 62 and the optical flow vanishing point 63. The position of the vanishing point 63 is calculated.
[0077]
That is, in the present embodiment, the data used to calculate the axis shift angle θ and the axis shift angle α, that is, the positions of the movement vector A, the white line vanishing point 62, and the optical flow vanishing point 63 are determined by the movement vector calculating unit 41a ( (Movement vector calculation and storage means), automatically collects at the timing determined by the vanishing point position measurement means 51a, and automatically updates the axis deviation angle θ and the axis deviation angle α.
[0078]
Since the data collection at the positions of the movement vector A, the vanishing point 62 of the white line, and the vanishing point 63 of the optical flow in the present embodiment is performed during normal traveling, the axis deviation angle θ and the axis deviation angle α are adjusted. It is not necessary to drive the vehicle specially or to inform the driver that collection is in progress, and to automatically adjust the misalignment angle θ and the misalignment angle α after purchasing the vehicle without imposing a burden on the driver Can be done.
[0079]
In the present embodiment, the movement vector calculation and storage means calculates the movement vector A again after a predetermined time has elapsed from the time when the movement vector calculation and storage means calculated the movement vector A. After a predetermined time has elapsed since the shift angle measuring means calculated the movement vector A, the first axis shift angle measuring means may calculate the movement vector A again.
[0080]
In the above-described embodiment, the first and second axis deviation angle measuring means for calculating the axis deviation angle θ are used as the first and second axis deviation measuring means, but the first and second axis deviation measuring means are used. The direction of the axis shift of the position measuring device may be measured by the shift measuring unit. Further, in the above embodiment, the laser radar 1 is used as the position measuring device, but another position measuring device may be used. Further, in the seventh to fourteenth embodiments, the case where the present invention is applied to the fourth embodiment has been described, but the present invention may be applied to the first to third, fifth, and sixth embodiments. .
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating an apparatus for measuring an axial deviation of a vehicle-mounted sensor according to a first embodiment;
FIG. 2 is a schematic plan view showing a vehicle equipped with the on-board sensor axis deviation measuring device shown in FIG.
FIG. 3 is a schematic front view showing a vehicle equipped with the on-board sensor axis deviation measuring device shown in FIG. 1;
FIG. 4 is an explanatory view of the operation of the apparatus for measuring axis deviation of an on-vehicle sensor shown in FIG. 1;
FIG. 5 is an explanatory diagram of the operation of the on-vehicle sensor axis deviation measuring device shown in FIG. 1;
FIG. 6 is a diagram illustrating the operation of the on-vehicle sensor axis deviation measuring device shown in FIG. 1;
FIG. 7 is a block diagram illustrating an apparatus for measuring an axial deviation of a vehicle-mounted sensor according to a second embodiment;
FIG. 8 is a block diagram illustrating an apparatus for measuring an axial deviation of an on-vehicle sensor according to a third embodiment.
FIG. 9 is a block diagram illustrating an apparatus for measuring an axial deviation of a vehicle-mounted sensor according to a fourth embodiment;
FIG. 10 is an explanatory diagram of the operation of the axial displacement measuring device of the vehicle-mounted sensor shown in FIG. 9;
FIG. 11 is a block diagram illustrating an apparatus for measuring an axial deviation of a vehicle-mounted sensor according to a fifth embodiment;
FIG. 12 is a block diagram illustrating a device for measuring an axial deviation of an on-vehicle sensor according to a sixth embodiment;
FIG. 13 is a block diagram showing an axial displacement measuring device for a vehicle-mounted sensor according to a seventh embodiment.
FIG. 14 is an explanatory diagram of the operation of the on-vehicle sensor axis deviation measuring device shown in FIG. 13;
FIG. 15 is a diagram illustrating the operation of the on-board sensor axis deviation measuring device shown in FIG. 13;
FIG. 16 is a block diagram showing an axial displacement measuring device for an in-vehicle sensor according to an eighth embodiment.
17 is an explanatory diagram of the operation of the on-vehicle sensor axis deviation measuring device shown in FIG. 16;
FIG. 18 is a block diagram illustrating an apparatus for measuring an axial deviation of a vehicle-mounted sensor according to a tenth embodiment;
19 is an explanatory diagram of the operation of the on-board sensor axial deviation measuring device shown in FIG. 18;
FIG. 20 is a block diagram showing an axial displacement measuring device for an in-vehicle sensor according to an eleventh embodiment.
21 is an explanatory diagram of the operation of the axial displacement measuring device of the vehicle-mounted sensor shown in FIG. 20;
22 is an explanatory diagram of the operation of the axis deviation measuring device for the vehicle-mounted sensor shown in FIG. 20;
FIG. 23 is a schematic plan view showing a vehicle equipped with the on-vehicle sensor axis deviation measuring device of the embodiment of FIG. 12;
FIG. 24 is a block diagram illustrating a device for measuring an axial deviation of a vehicle-mounted sensor according to a thirteenth embodiment;
FIG. 25 is a block diagram illustrating a device for measuring an axial deviation of a vehicle-mounted sensor according to a fourteenth embodiment;
[Explanation of symbols]
1 ... Laser radar
2: Data memory
3. Forward object detection means
4: Stop movement determination means
5. Moving vector calculation means
6 ... Axis shift angle calculation means
7. Electronic camera
8 Image memory
9: first straight traveling determination means
10: Traveling direction change measuring means
11: second straight traveling determination means
12: Straight-ahead confirmation means
21 ... Own vehicle
34: Object detection unit
41 ... movement vector calculation means
42 ... movement vector storage means
43 ... movement vector extraction means
51 vanishing point position calculating means
52 ... Axis deviation angle calculating means
62 ... White line vanishing point
63: Optical flow vanishing point
71. Variance calculation means
81 Width calculation means
91: calculation position calculation means
92 image position calculating means
93 ... Position comparison means

Claims (14)

A position measuring device mounted on the vehicle and measuring the position of a forward object existing in front of the vehicle,
A data memory for storing front object position data of the position measuring device,
An electronic camera that captures an image in the same direction as the measurement direction of the position measurement device,
In an on-vehicle sensor of an on-vehicle sensing system having an image memory for storing image data captured by the electronic camera,
First straight traveling determination means for determining that the vehicle is in a straight traveling state from the image data;
When the first straight traveling determination means determines that the vehicle is traveling straight, a first vector for calculating a movement vector of the stationary object from the front object position data and measuring the axis deviation of the position measurement device from the movement vector. An axis deviation measuring device for an in-vehicle sensor, comprising: an axis deviation measuring unit. A position measuring device mounted on the vehicle and measuring the position of a forward object existing in front of the vehicle,
A data memory for storing front object position data of the position measuring device,
An electronic camera that captures an image in the same direction as the measurement direction of the position measurement device,
In an on-vehicle sensor of an on-vehicle sensing system having an image memory for storing image data captured by the electronic camera,
Traveling direction change measuring means for measuring a traveling direction change of the vehicle,
A second straight traveling determining unit that determines that the vehicle is in a straight traveling state from traveling direction change data of the traveling direction change measuring unit;
A first step of calculating a movement vector of a stationary object from the front object position data and measuring an axis deviation of the position measuring device from the movement vector when the second straight traveling determination means determines that the vehicle is traveling straight; An axis deviation measuring device for an in-vehicle sensor, comprising: an axis deviation measuring unit. A position measuring device mounted on the vehicle and measuring the position of a forward object existing in front of the vehicle,
A data memory for storing front object position data of the position measuring device,
An electronic camera that captures an image in the same direction as the measurement direction of the position measurement device,
In an on-vehicle sensor of an on-vehicle sensing system having an image memory for storing image data captured by the electronic camera,
First straight traveling determination means for determining that the vehicle is in a straight traveling state from the image data;
Traveling direction change measuring means for measuring a traveling direction change of the vehicle,
A second straight traveling determining unit that determines that the vehicle is in a straight traveling state from traveling direction change data of the traveling direction change measuring unit;
Straight traveling confirmation means for confirming that the vehicle is in a straight traveling state based on the determination results of the first and second straight traveling determination means;
A first axis shift calculating a movement vector of a stationary object from the front object position data and measuring an axis shift of the position measuring device from the movement vector when the straight running checking means confirms that the vehicle is in a straight running state; An axis deviation measuring apparatus for a vehicle-mounted sensor, comprising: a measuring unit. A position measuring device mounted on the vehicle and measuring the position of a forward object existing in front of the vehicle,
A data memory for storing front object position data of the position measuring device,
An electronic camera that captures an image in the same direction as the measurement direction of the position measurement device,
In an on-vehicle sensor of an on-vehicle sensing system having an image memory for storing image data captured by the electronic camera,
First straight traveling determination means for determining that the vehicle is in a straight traveling state from the image data;
A movement vector calculation storage unit that calculates and stores a movement vector of a stationary object from the front object position data when the first straight traveling determination unit determines that the vehicle is in a straight traveling state;
A moving vector extracting unit that calculates a variance of directions of the plurality of moving vectors stored within a predetermined time in the moving vector calculating and storing unit and extracts only the moving vector in which the variance is smaller than a predetermined value;
A second axis deviation measuring unit for measuring an axis deviation of the position measuring device from the movement vector extracted by the movement vector extracting unit; A position measuring device mounted on the vehicle and measuring the position of a forward object existing in front of the vehicle,
A data memory for storing front object position data of the position measuring device,
An electronic camera that captures an image in the same direction as the measurement direction of the position measurement device,
In an on-vehicle sensor of an on-vehicle sensing system having an image memory for storing image data captured by the electronic camera,
Traveling direction change measuring means for measuring a traveling direction change of the vehicle,
A second straight traveling determining unit that determines that the vehicle is in a straight traveling state from traveling direction change data of the traveling direction change measuring unit;
When the second straight ahead determination unit determines that the vehicle is in a straight ahead state, a movement vector calculation storage unit that calculates and stores a movement vector of a stationary object from the front object position data,
A moving vector extracting unit that calculates a variance of directions of the plurality of moving vectors stored within a predetermined time in the moving vector calculating and storing unit and extracts only the moving vector in which the variance is smaller than a predetermined value;
A second axis deviation measuring unit for measuring an axis deviation of the position measuring device from the movement vector extracted by the movement vector extracting unit; A position measuring device mounted on the vehicle and measuring the position of a forward object existing in front of the vehicle,
A data memory for storing front object position data of the position measuring device,
An electronic camera that captures an image in the same direction as the measurement direction of the position measurement device,
In an on-vehicle sensor of an on-vehicle sensing system having an image memory for storing image data captured by the electronic camera,
First straight traveling determination means for determining that the vehicle is in a straight traveling state from the image data;
Traveling direction change measuring means for measuring a traveling direction change of the vehicle,
A second straight traveling determining unit that determines that the vehicle is in a straight traveling state from traveling direction change data of the traveling direction change measuring unit;
Straight traveling confirmation means for confirming that the vehicle is in a straight traveling state based on the determination results of the first and second straight traveling determination means;
When the straight traveling confirmation means confirms that the vehicle is traveling straight, a motion vector of a stationary object is calculated from the front object position data and stored, and
A moving vector extracting unit that calculates a variance of directions of the plurality of moving vectors stored within a predetermined time in the moving vector calculating and storing unit and extracts only the moving vector in which the variance is smaller than a predetermined value;
A second axis deviation measuring unit for measuring an axis deviation of the position measuring device from the movement vector extracted by the movement vector extracting unit; A vanishing point position measuring unit for measuring a position of a vanishing point on the image from the image data; and a third axis deviation measuring unit for measuring an axis deviation of the electronic camera from the position of the vanishing point. The axis deviation measuring device for an in-vehicle sensor according to any one of claims 1 to 6. A variance calculating means for calculating a variance of the position of the vanishing point measured within a predetermined time by the vanishing point position measuring means, wherein the variance calculated by the variance calculating means is smaller than a third value. The axis deviation measuring device according to claim 7, wherein the axis deviation measuring means measures an axis deviation of the electronic camera. The vanishing point position measuring means calculates the position of the white line vanishing point from the intersection of the white lines and calculates the position of the optical flow vanishing point from the intersection of the optical flows measured near the stationary object existence position, and the variance calculating means The variance of the positions of the white line vanishing point and the optical flow vanishing point measured within a predetermined time by the vanishing point position measuring means is calculated, and the variance of the positions of the white line vanishing point and the optical flow vanishing point is greater than a predetermined value. 9. The apparatus according to claim 8, wherein the third axis deviation measuring unit measures the axis deviation of the electronic camera when the distance is small. A front object detection unit for determining an object detection unit from the front object position data; and a width calculation unit for calculating a detection unit width of the object detection unit, wherein the first axis deviation measurement unit or the movement vector calculation The apparatus according to any one of claims 1 to 9, wherein the storage unit calculates the movement vector using only the object detection unit having the detection unit width smaller than a predetermined value. . A calculation position calculation unit that calculates a calculation position on the image of the front object measured by the position measurement unit from the front object position data, the axis shift of the position measurement unit, and the axis shift of the electronic camera; An image position calculating means for calculating an image position of the front object on the image of the expression camera, and a position comparing means for comparing the calculated position with the image position. An axis deviation measuring device for an in-vehicle sensor according to any one of the above. At least one of the mounting position of the position measuring device and the mounting position of the electronic camera is shifted in a direction parallel to a road surface and at a right angle to the axle of the vehicle, and the calculated position calculating means calculates the forward object position data and the position measurement. The axis of a vehicle-mounted sensor according to claim 11, wherein the calculated position is calculated from an axis deviation of a unit, an axis deviation of the electronic camera, and an offset value of an attachment position of the position measuring device and the electronic camera. Deviation measuring device. When the position comparing means determines that the difference between the calculated position and the image position is larger than a predetermined value, the first axis deviation measuring means or the movement vector calculation storage means calculates a movement vector, and 13. The apparatus according to claim 11, wherein the vanishing point position measuring means calculates the position of the vanishing point. After a lapse of a predetermined time from when the first axis deviation measuring means or the movement vector calculation and storage means calculates the movement vector, the first axis deviation measurement means or the movement vector calculation and storage means Along with calculating the movement vector, after a lapse of a predetermined time from when the vanishing point position measuring means calculates the position of the vanishing point, the vanishing point position measuring means may calculate the position of the vanishing point again. An apparatus for measuring an axial deviation of an on-vehicle sensor according to claim 7.

Images