JP2014071080A - Traveling direction detection device for vehicle and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the traveling direction detection device of a vehicle capable of detecting the traveling direction of the vehicle on the basis of a photographic image photographed by an in-vehicle camera.SOLUTION: The traveling direction detection device of a vehicle includes: a camera 10 installed on at least one of the front face and rear face of a vehicle for photographing the front face from a position on which the camera is installed; line setting means for setting a detection line Ln in right and left directions in a photographic image photographed by the camera 10; reference point setting means for setting a point having specific luminance on the detection line Ln set by the line setting means as a right reference point Rs in a right region from the center of the photographic image, and for setting a point having specific luminance on the detection line Ln set by the line setting means as a left reference point Ls in a left region from the center of the photographic image; and detection means for detecting the traveling direction of the vehicle on the basis of a change in the positions of the right reference point Rs and the left reference point Ls set by the reference point setting means on the detection line Ln.

Description

  The present invention relates to a vehicle movement direction detection device that detects the movement direction of a vehicle equipped with a camera, and a computer program installed in the vehicle movement direction detection device.

  In order to compensate for information such as a low-accuracy vehicle speed sensor, there is a method of detecting whether the vehicle is moving and the moving direction of the vehicle with high accuracy using GPS information. However, it is difficult to detect the behavior of the vehicle using GPS information in places where it is difficult to receive GPS signals such as tunnels and indoor multilevel parking lots. Therefore, a method has been proposed for determining whether or not the vehicle is stopped based on the presence or absence of a change in the captured image captured by the in-vehicle camera (for example, Patent Document 1).

Japanese Patent No. 4939316

  However, Patent Document 1 only determines whether or not the vehicle is stopped, and cannot determine the moving direction of the vehicle when the vehicle is moving.

  In view of the above circumstances, it is a main object of the present invention to provide a vehicle movement direction detection device capable of detecting the movement direction of a vehicle based on a photographed image photographed by an in-vehicle camera.

  The invention according to claim 1 is an apparatus for detecting a moving direction of a vehicle, which is installed on at least one of the front and rear surfaces of the vehicle and shoots the front from the installed position, and the image captured by the camera. A line setting means for setting a detection line in the left-right direction in the image, and a point having a specific luminance on the detection line set by the line setting means in the left region from the center of the captured image is set as the left reference point And a reference point setting means for setting a point having a specific luminance on the detection line set by the line setting means as a right reference point in the right region from the center of the captured image, and the reference point setting means The moving direction of the vehicle is detected based on the position change on the detection line of the left reference point and the right reference point set by And it means out, the.

  According to the first aspect of the present invention, the front of the camera (the front of the camera) is photographed by the camera installed on at least one of the front and rear surfaces of the vehicle, and the detection line is set in the left-right direction in the photographed photographed image. The Further, a point having a specific luminance on the detection line in the left region from the center of the captured image is set as a left reference point, and a point having a specific luminance on the detection line in the right region from the center of the captured image Is set as the right reference point.

  The positions of the left reference point and the right reference point change on the detection line according to the moving direction of the vehicle. Therefore, the moving direction of the vehicle can be detected with high accuracy from the combination of the position change of the left reference point and the position change of the right reference point on the detection line. That is, the moving direction of the vehicle can be detected based on the captured image captured by the in-vehicle camera. In addition, if the point which has a specific brightness | luminance on a detection line is made into the stationary object which exists on a detection line, the detection accuracy of the moving direction of a vehicle can be improved.

The schematic diagram which shows the structure of the moving direction detection apparatus of the vehicle which concerns on 1st Embodiment. The figure which shows the picked-up image in case the vehicle has stopped. The figure which shows the picked-up image in case the vehicle is moving straight ahead. The flowchart which shows the detection procedure of the moving direction of the vehicle which concerns on 1st Embodiment. The flowchart which shows the detection procedure of the moving direction of the vehicle which concerns on 2nd Embodiment.

  Hereinafter, each embodiment that embodies a moving direction detection device for a vehicle will be described with reference to the drawings. In the following embodiments, parts that are the same or equivalent to each other are denoted by the same reference numerals in the drawings, and the description of the same reference numerals is used.

(First embodiment)
First, with reference to FIG. 1, the structure of the moving direction detection apparatus of the vehicle which concerns on 1st Embodiment is demonstrated. The vehicle movement direction detection device 50 includes a camera 10 and a processing device 20, can display an image captured by the camera 10 on the display 30, and outputs a vehicle movement direction detected by the processing device 20 from the speaker 40. It is configured to be possible.

  The camera 10 includes a wide-angle lens whose lens surface is formed in a curved shape, is installed on at least one of the front and rear surfaces of the vehicle, and images the front from the installed position. When the camera 10 is installed on the front surface of the vehicle, the front of the vehicle (front of the camera 10) 180 ° is photographed. When the camera 10 is installed on the rear surface of the vehicle, the rear of the vehicle (of the camera 10 Front) Take 180 degrees. When the camera 10 is installed at the center in the left-right direction on the front or rear surface of the vehicle, the center in the left-right direction of the captured image taken by the camera 10 matches the center in the left-right direction of the vehicle. On the other hand, when the camera 10 is installed at a position shifted to the left or right from the center in the left-right direction on the front or rear surface of the vehicle, the center in the left-right direction of the image captured by the camera 10 and the left-right direction of the vehicle Does not match the center of. Even in such a case, the moving direction of the vehicle may be detected based on the center in the left-right direction of the captured image captured by the camera 10.

  The processing device 20 is a general microcomputer including a CPU, a storage device including a ROM and a RAM, and an input / output device. The ROM stores a computer program for realizing the functions of the line setting unit 21, the reference point setting unit 22, and the detection unit 23. When the CPU executes the computer program stored in the ROM, the functions of the line setting unit 21, the reference point setting unit 22, and the detection unit 23 are realized.

  The line setting means 21 sets a detection line Ln (see FIGS. 2 and 3) in the left-right direction in the captured image captured by the camera 10. First, two points Pl and Pr are set on the photographed image, and a line connecting the two points Pl and Pr is set as a detection line Ln. The two points Pl and Pr are set at arbitrary positions according to the region where the detection line Ln is to be set, for example, the infinity point in the left region and the infinity point in the right region of the captured image. The left and right infinity points may be calculated from the height and angle at which the camera 10 is set, the lens angle of view of the camera 10 and the lens distortion coefficient. When the lens angle of view of the camera 10 is smaller than 180 °, virtual left and right infinity points may be set outside the captured image area. A line connecting the two points Pl and Pr based on the lens distortion coefficient is set as a detection line Ln. That is, the detection line Ln is a straight line in real space. The detection line Ln is not necessarily one line, and may be a region having a predetermined width.

  Here, if a moving body exists on the detection line Ln, there is a possibility that the moving direction of the vehicle is erroneously detected. Therefore, setting the detection line Ln to a road surface that is easily affected by a moving body such as a pedestrian or a sky that is easily affected by a cloud is avoided. Specifically, the detection line Ln is set in the captured image so that the position is 3 to 5 m ahead of the camera 10 in the real space. The vehicle movement direction detection device 50 is often used when moving at a low speed from a state where the vehicle is parked. When the detection line Ln is set as described above, the detection line Ln is set on a vehicle parked in front of the camera 10 when parked in a general parking lot. The left reference point Ls and the right reference point Rs are set. Note that the distance between the camera 10 and the detection line Ln in the real space is converted into a distance on the captured image using the lens angle of view and the lens distortion coefficient of the camera 10.

  The reference point setting means 22 sets a point having a specific luminance on the detection line Ln as the left reference point Ls in the left region from the center of the captured image, and also detects the detection line in the right region from the center of the captured image. A point having a specific luminance on Ln is set as the right reference point Rs (see FIGS. 2 and 3). Here, the point having the specific luminance is a point where the luminance does not change even after a predetermined time has elapsed, among the points where the edge exists on the detection line Ln. A solid object exists in real space at a point where an edge exists on the detection line Ln. In particular, a stationary object exists in real space at a point where an edge whose luminance does not change even after a predetermined time has elapsed on the detection line Ln. If a point having a specific luminance on the detection line Ln is set as a stationary object existing on the detection line Ln, the left reference point Ls and the right reference point Rs become stationary points, so that the detection accuracy of the moving direction of the vehicle is improved. Can be improved.

  The detection means 23 detects the vehicle movement direction based on the position change of the left reference point Ls and the right reference point Rs on the detection line Ln. When the vehicle is stopped, the position of the left reference point Ls and the right reference point Rs does not change on the detection line Ln. When the vehicle is moving, the position of the left reference point Ls and the right reference point Rs changes on the detection line Ln according to the moving direction of the vehicle. Therefore, the moving direction of the vehicle can be detected from the combination of the position change of the left reference point Ls and the position change of the right reference point Rs on the detection line Ln.

  2 to 3 show changes in the positions of the left reference point Ls and the right reference point Rs on the detection line Ln when the vehicle goes straight ahead from the stopped state. 2 to 3, the horizontal axis is the x-axis, the vertical axis is the y-axis, the coordinates of the upper left corner point are (x, y) = (0, 0), and the lower right corner coordinates are (x, y). y) = (639, 479), and the center of the screen in the horizontal direction is x = 320. Then, the parked vehicle that exists on the detection line Ln in the left region from the center of the captured image is set as the left reference point Ls, and the parked vehicle that exists on the detection line Ln in the right region from the center of the captured image. Set as the right reference point Rs.

  In FIG. 2 in a state where the vehicle is stopped, the x coordinate value of the left reference point Ls is 265, and the x coordinate value of the right reference point Rs is 415. On the other hand, in FIG. 3, the x coordinate value of the left reference point Ls is 215, and the x coordinate value of the right reference point Rs is 480. In FIG. 3, the x coordinate value of the left reference point Ls is smaller and the x coordinate value of the right reference point Rs is larger than in the state of FIG. That is, in FIG. 3, compared with the state of FIG. 2, the left reference point Ls and the right reference point Rs are separated from the center of the detection line Ln to the left and right.

  When the left reference point Ls and the right reference point Rs are separated from the center of the detection line Ln in the captured image, the camera 10 approaches the parked vehicle set as the left reference point Ls and the right reference point Rs in real space. . Therefore, in this case, it is detected that the vehicle is traveling straight ahead of the camera 10. The correspondence between the combination of the position change of the left reference point Ls and the position change of the right reference point Rs on the other detection line Ln and the moving direction of the vehicle will be described later.

  The display 30 is configured using a liquid crystal display, an organic EL display, a plasma display, or the like. The display 30 is installed at a position where the driver can visually recognize the vehicle interior, and sequentially displays captured images output from the processing device 20. When the camera 10 is installed in front of the vehicle, the display 30 displays a normal image of the front image of the vehicle as a captured image. On the other hand, when the camera 10 is installed on the rear surface of the vehicle, the display 30 displays a mirror image of the rear image of the vehicle as a photographed image so that the driver can easily see.

  Therefore, regardless of whether the camera 10 is installed on the front or rear surface of the vehicle, if the vehicle turns forward in front of the camera 10 and turns in the same direction with respect to the front of the vehicle, the left reference point Ls and the right reference point Rs changes its position in the same manner on the detection line Ln.

  Based on the output of the processing device 20, the speaker 40 outputs an alarm sound for warning that the vehicle is moving and the detected moving direction as a voice message.

  The processing device 20, the display 30, and the speaker 40 may be incorporated in the car navigation device or may be a dedicated device installed in the vehicle.

  Next, with reference to FIG. 4, a vehicle movement direction detection procedure executed by the vehicle movement direction detection device 50 will be described. Here, it is assumed that the vehicle travels ahead of the camera 10.

  First, when the ignition (IG) is turned on in S11 (YES), the vehicle moving direction detection device 50 is activated, and in S12, the captured image captured by the camera 10 is input to the processing device 20. In S13, the line setting unit 21 sets the detection line Ln on the input captured image, and the reference point setting unit 22 sets the left reference point Ls and the right reference point Rs on the detection line Ln. If the ignition is not ON in S11 (NO), the process waits until it is turned ON.

  Next, in S14 to S21, the detection means 23 detects the moving direction of the vehicle based on the positional changes of the left reference point Ls and the right reference point Rs. Specifically, in S14, it is determined whether the x coordinate value of the left reference point Ls is small and the x coordinate value of the right reference point Rs is large. That is, it is determined whether the left reference point Ls and the right reference point Rs are separated from the center of the detection line Ln. When the left reference point Ls and the right reference point Rs are separated from the center of the detection line Ln in the captured image, the camera 10 approaches the object set as the left reference point Ls and the right reference point Rs in the real space. Therefore, if the x coordinate value of the left reference point Ls is small and the x coordinate value of the right reference point Rs is large in S14 (YES), it is detected in S15 that the vehicle is moving straight ahead. . On the other hand, if an affirmative determination is not made in S14 (NO), the process proceeds to a determination in S16.

  In S16, it is determined whether the x coordinate value of the left reference point Ls and the x coordinate value of the right reference point Rs are large. That is, it is determined whether the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs is away from the center of the detection line Ln. In the captured image, when the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs is away from the center of the detection line Ln, the camera 10 is set as the left reference point Ls in real space. It is turning toward the object. Therefore, if the x-coordinate value of the left reference point Ls and the x-coordinate value of the right reference point Rs are large in S16 (YES), the vehicle turns in the left direction with reference to the front of the vehicle in S17. Detect that you are. On the other hand, if an affirmative determination is not made in S16 (NO), the process proceeds to a determination in S18.

  In S18, it is determined whether the x coordinate value of the left reference point Ls and the x coordinate value of the right reference point Rs are small. That is, it is determined whether the left reference point Ls is away from the center of the detection line Ln and the right reference point Rs is approaching the center of the detection line Ln. When the left reference point Ls is separated from the center of the detection line Ln and the right reference point Rs is close to the center of the detection line Ln in the captured image, the camera 10 faces the object set as the right reference point Rs in real space. Is turning. Therefore, if the x-coordinate value of the left reference point Ls and the x-coordinate value of the right reference point Rs are small in S18 (YES), the vehicle turns in the right direction with reference to the front of the vehicle in S19. Detect that you are. On the other hand, if an affirmative determination is not made in S18 (NO), the process proceeds to a determination in S20.

  In S20, it is determined whether the x coordinate values of the left reference point Ls and the right reference point Rs have changed. That is, it is determined whether or not the position of the left reference point Ls and the right reference point Rs has changed on the detection line Ln. When the left reference point Ls and the right reference point Rs do not change in the captured image, the position of the camera 10 does not change in real space. Therefore, if the x coordinate values of the left reference point Ls and the right reference point Rs are not changed in S20 (YES), it is detected in S21 that the vehicle is stopped.

  According to 1st Embodiment described above, there exist the following effects.

  The positions of the left reference point Ls and the right reference point Rs change on the detection line Ln according to the moving direction of the vehicle. Therefore, the moving direction of the vehicle can be detected with high accuracy from the combination of the position change of the left reference point Ls and the position change of the right reference point Rs on the detection line Ln. In other words, the moving direction of the vehicle can be detected based on the captured image captured by the camera 10 mounted on the vehicle.

  In the captured image, when the left reference point Ls and the right reference point Rs are separated from the center of the detection line Ln to the left and right, the camera 10 approaches the object set as the left reference point Ls and the right reference point Rs in real space. . Therefore, it can be detected that the vehicle is traveling straight ahead of the camera 10.

  When the vehicle is moving ahead of the camera 10 and the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs moves away from the center of the detection line Ln in the photographed image, the camera 10 in real space Is turning toward the object set as the left reference point Ls. Therefore, it can be detected that the vehicle is turning leftward with respect to the front of the vehicle.

  When the vehicle is moving ahead of the camera 10 and the left reference point Ls is away from the center of the detection line Ln and the right reference point Rs is close to the center of the detection line Ln in the captured image, the camera 10 is in real space. , Turning toward the object set as the right reference point Rs. Therefore, it can be detected that the vehicle is turning rightward with respect to the front of the vehicle.

  When the left reference point Ls and the right reference point Rs do not change in the captured image, the position of the camera 10 does not change in real space. Therefore, it can be detected that the vehicle is stopped.

  If the computer program for realizing the functions of the line setting means, the reference point setting means, and the detection means is installed in the navigation device, the navigation device can be configured as the moving direction detection device 50 for the vehicle.

(Second Embodiment)
The difference between the vehicle movement direction detection device according to the second embodiment and the configuration of the vehicle movement direction detection device according to the first embodiment will be described. In the second embodiment, the detection means 23 of the vehicle movement direction detection device 50 acquires the shift position of the vehicle transmission from a shift position sensor (shift position acquisition means) (not shown).

  When the vehicle travels behind the camera 10, the correspondence between the movement direction of the left reference point Ls and the right reference point Rs on the detection line Ln and the turning direction is opposite to the case where the vehicle travels ahead of the camera 10. For example, when the vehicle travels ahead of the camera 10, when the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs moves away from the center of the detection line Ln in the captured image, the vehicle is It turns to the left with reference to the front. On the other hand, when the vehicle travels behind the camera 10, when the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs moves away from the center of the detection line Ln in the captured image, the vehicle is It turns to the right with reference to the front. Therefore, the vehicle movement direction detection device 50 according to the second embodiment acquires information indicating whether the shift position of the vehicle is in a position that advances forward or backward of the camera 10, and more accurately moves the vehicle. Is detected.

  Next, with reference to FIG. 5, a vehicle movement direction detection procedure executed by the vehicle movement direction detection device 50 will be described. Here, it is assumed that the vehicle travels forward and backward of the camera 10.

  First, when the ignition (IG) is turned on in S31 (YES), the vehicle moving direction detection device 50 is activated, and in S32, the captured image captured by the camera 10 is input to the processing device 20. In step S33, the line setting unit 21 sets the detection line Ln on the input captured image, and the reference point setting unit 22 sets the left reference point Ls and the right reference point Rs on the detection line Ln. If the ignition is not ON in S31 (NO), the process waits until it is turned ON.

  Next, in S34 to S45, the detection unit 23 detects the moving direction of the vehicle based on the position change and the shift position of the left reference point Ls and the right reference point Rs. Specifically, in S34, it is determined whether the x coordinate value of the left reference point Ls is small and the x coordinate value of the right reference point Rs is large. When the left reference point Ls and the right reference point Rs are separated from the center of the detection line Ln in the captured image, the camera 10 approaches the object set as the left reference point Ls and the right reference point Rs in the real space. Therefore, if the x-coordinate value of the left reference point Ls is small and the x-coordinate value of the right reference point Rs is large in S34 (YES), the vehicle moves straight ahead of the camera 10 in S35. Detects that On the other hand, if an affirmative determination is not made in S34 (NO), the process proceeds to a determination in S36.

  In S36, it is determined whether the x coordinate value of the left reference point Ls is large and the x coordinate value of the right reference point Rs is small. That is, it is determined whether the left reference point Ls and the right reference point Rs are close to the center of the detection line Ln. When the left reference point Ls and the right reference point Rs approach the center of the detection line Ln in the captured image, the camera 10 is separated from the object set as the left reference point Ls and the right reference point Rs in the real space. Therefore, if the x-coordinate value of the left reference point Ls is large and the x-coordinate value of the right reference point Rs is small in S36 (YES), the vehicle moves straight forward to the rear of the camera 10 in S37. Detects that On the other hand, if an affirmative determination is not made in S36 (NO), the process proceeds to a determination in S38.

  In S38, it is determined whether the x coordinate value of the left reference point Ls and the x coordinate value of the right reference point Rs are large. If the x-coordinate value of the left reference point Ls and the x-coordinate value of the right reference point Rs are large in S38 (YES), the shift position acquired by the shift position acquisition means 24 in S39 is It is determined whether or not the position is forward. If it is determined in S39 that the shift position is a position that advances forward of the camera 10 (YES), it is detected in S40 that the vehicle is turning leftward with respect to the front of the vehicle. On the other hand, if the shift position is not a position that advances forward of the camera 10 in S39 (NO), the shift position is a position that advances backward of the camera 10. When the shift position of the vehicle is a position that advances backward of the camera 10 and the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs moves away from the center of the detection line Ln in the captured image, the real space The camera 10 is turning toward the object set as the right reference point Rs. Therefore, in S41, it is detected that the vehicle is turning rightward with reference to the front of the vehicle. If an affirmative determination is not made in S38 (NO), the process proceeds to S42.

  In S42, it is determined whether the x coordinate value of the left reference point Ls and the x coordinate value of the right reference point Rs are small. If the x-coordinate value of the left reference point Ls and the x-coordinate value of the right reference point Rs are small in S42 (YES), the shift position acquired by the shift position acquisition means 24 in S43 is It is determined whether or not the position is forward. If it is determined in S43 that the shift position is a position that advances forward of the camera 10 (YES), it is detected in S44 that the vehicle is turning in the right direction with reference to the front of the vehicle. On the other hand, if the shift position is not a position that advances forward of the camera 10 in S44 (NO), the shift position is a position that advances backward of the camera 10. When the shift position of the vehicle is a position that advances backward of the camera 10, the left reference point Ls is separated from the center of the detection line Ln, and the right reference point Rs approaches the center of the detection line Ln in the captured image, the real space The camera 10 is turning toward the object set as the left reference point Ls. Accordingly, in S45, it is detected that the vehicle is turning leftward with respect to the front of the vehicle.

  If a positive determination is not made in S42 (NO), it is detected in S46 that the vehicle is stopped.

  According to 2nd Embodiment described above, there exist the following effects.

  When the left reference point Ls and the right reference point Rs approach the center of the detection line Ln in the captured image, the camera 10 is separated from the object set as the left reference point Ls and the right reference point Rs in real space. Therefore, it can be detected that the vehicle is traveling straight behind the camera 10.

  When the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs moves away from the center of the detection line Ln in the photographed image on the condition that the shift position of the vehicle is a position that advances forward of the camera 10 Can be detected with higher accuracy when the vehicle is turning leftward with respect to the front of the vehicle.

  A case where the left reference point Ls is separated from the center of the detection line Ln and the right reference point Rs is close to the center of the detection line Ln in the photographed image on the condition that the shift position of the vehicle is a position that advances forward of the camera 10 Can be detected with higher accuracy when the vehicle is turning rightward with respect to the front of the vehicle.

  When the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs moves away from the center of the detection line Ln in the photographed image on condition that the speed change position of the vehicle is a position that advances backward of the camera 10 Can detect that the vehicle is turning rightward with respect to the front of the vehicle.

  A case where the left reference point Ls is away from the center of the detection line Ln and the right reference point Rs is closer to the center of the detection line Ln in the photographed image on the condition that the shift position of the vehicle is a position that advances backward of the camera 10 Can detect that the vehicle is turning leftward with respect to the front of the vehicle.

(Other embodiments)
The present invention is not limited to the description of each embodiment described above, and may be modified as follows.

  In the determinations of S14 and S34, it may be determined whether the difference between the x coordinate value of the left reference point Ls and the x coordinate value of the right reference point Rs is large.

  In the determinations of S16 and S38, there is no change in the difference between the x coordinate value of the left reference point Ls and the x coordinate value of the right reference point Rs, and the x coordinate value of either the left reference point Ls or the right reference point Rs is You may determine whether it is large. If there is no change in the difference between the x coordinate value of the left reference point Ls and the right coordinate point Rs, and the x coordinate value of either the left reference point Ls or the right reference point Rs is large, the left The x coordinate value of the reference point Ls and the x coordinate value of the right reference point Rs are large. Therefore, assuming that the vehicle travels in front of the camera, it can be determined that the left reference point Ls approaches the center of the detection line Ln and the right reference point Rs moves away from the center of the detection line Ln in the captured image.

  In the determination of S18 and S42, there is no change in the difference between the x coordinate value of the left reference point Ls and the right coordinate point Rs, and the x coordinate value of either the left reference point Ls or the right reference point Rs is You may determine whether it is small. If the difference between the x-coordinate value of the left reference point Ls and the x-coordinate value of the right reference point Rs does not change and the x-coordinate value of either the left reference point Ls or the right reference point Rs is small, the left The x coordinate value of the reference point Ls and the x coordinate value of the right reference point Rs are small. Therefore, assuming that the vehicle travels in front of the camera, it can be determined that the left reference point Ls is away from the center of the detection line Ln and the right reference point Rs is closer to the center of the detection line Ln in the captured image.

  In the determination of S36, it may be determined whether the difference between the x coordinate value of the left reference point Ls and the x coordinate value of the right reference point Rs is small.

  A plurality of detection lines Ln may be set. Then, the left reference point Ls and the right reference point Rs may be set by selecting a detection line Ln where a stationary object is present on the detection line Ln among the plurality of detection lines Ln. Further, the left reference point Ls and the right reference hand Rs may be set on each of the plurality of detection lines Ln. If the vehicle moving direction is detected based on the change in position of the plurality of left reference points Ls and right reference points Rs, the moving direction of the vehicle can be detected with higher accuracy.

  -In addition to the turning direction of the vehicle, the forward / backward direction of the vehicle may be detected in consideration of information indicating whether the camera 10 is installed on the front or rear surface of the vehicle. For example, if it is known that a camera is installed in front of the vehicle, it can be detected in S17 that the vehicle is turning left while moving forward. Further, the forward / backward direction of the vehicle may be detected in consideration of information on the shift position of the transmission.

  DESCRIPTION OF SYMBOLS 10 ... Camera, 20 ... Processing apparatus, 30 ... Display, 50 ... Movement direction detection apparatus, Ln ... Detection line, Ls ... Left reference point, Rs ... Right reference point.

Claims (11)

A camera (10) installed on at least one of a front surface and a rear surface of the vehicle and photographing a front surface from the installed position;
Line setting means (21) for setting a detection line in the left-right direction in the captured image captured by the camera;
In the left region from the center of the photographed image, a point having a specific luminance on the detection line set by the line setting unit is set as a left reference point, and in the right region from the center of the photographed image, Reference point setting means (22) for setting a point having a specific luminance on the detection line set by the line setting means as a right reference point;
Detection means (23) for detecting a moving direction of the vehicle based on a change in position of the left reference point and the right reference point on the detection line set by the reference point setting means;
A vehicle moving direction detecting device (50), comprising:   2. The moving direction of the vehicle according to claim 1, wherein the detection unit detects that the vehicle is traveling straight ahead of the camera when the left reference point and the right reference point are separated from a center of the detection line. Detection device.   When the left reference point approaches the center of the detection line and the right reference point moves away from the center of the detection line, the detection means turns the vehicle leftward with respect to the front of the vehicle. The vehicle moving direction detection device according to claim 1, wherein the moving direction detection device detects that the vehicle is moving.   When the left reference point is away from the center of the detection line and the right reference point is close to the center of the detection line, the vehicle turns to the right with respect to the front of the vehicle. The vehicle moving direction detecting device according to any one of claims 1 to 3, wherein the moving direction detecting device detects the vehicle moving direction.   5. The detection unit according to claim 1, wherein when the left reference point and the right reference point approach a center of the detection line, the detection unit detects that the vehicle is traveling straight behind the camera. Vehicle moving direction detection device. The vehicle movement direction detection device includes shift position acquisition means for acquiring a shift position of a transmission of the vehicle,
The detection means detects that the vehicle is turning leftward on the condition that the shift position of the vehicle acquired by the shift position acquisition means is a position that advances forward of the camera. The moving direction detection apparatus of the vehicle as described. The vehicle movement direction detection device includes shift position acquisition means for acquiring a shift position of a transmission of the vehicle,
The detection means detects that the vehicle is turning rightward on the condition that the shift position of the vehicle acquired by the shift position acquisition means is a position that advances forward of the camera. The moving direction detection apparatus of the vehicle as described. The vehicle movement direction detection device includes shift position acquisition means for acquiring a shift position of a transmission of the vehicle,
The detection means is such that the left reference point approaches the center of the detection line and the right reference is provided on the condition that the shift position of the vehicle acquired by the shift position acquisition means is a position that advances backward of the camera. The vehicle movement direction detection device according to any one of claims 1 to 7, wherein when the point moves away from the center of the detection line, it is detected that the vehicle is turning rightward with respect to the front of the vehicle. The vehicle movement direction detection device includes shift position acquisition means for acquiring a shift position of a transmission of the vehicle,
The detection means is provided on the condition that the shift position of the vehicle acquired by the shift position acquisition means is a position that advances backward of the camera. The vehicle movement direction detection device according to claim 1, wherein when the point approaches the center of the detection line, the vehicle is detected to turn leftward with respect to the front of the vehicle.   The vehicle movement direction detection device according to claim 1, wherein the detection unit detects that the vehicle is stopped when the position of the left reference point and the right reference point does not change. The vehicle movement direction detection device according to any one of claims 1 to 10, wherein the movement direction detection device is a navigation device mounted on the vehicle,
A computer program installed in the navigation device for realizing the functions of the line setting means, the reference point setting means, and the detection means.

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