JP4596566B2 - Self-vehicle information recognition device and self-vehicle information recognition method - Google Patents

Description

  The present invention relates to a host vehicle information recognition apparatus and a host vehicle information recognition method for recognizing a host vehicle position and a host vehicle direction with high accuracy using image information captured by an imaging device mounted on a vehicle.

  As a method for specifying the position and direction of a vehicle in a vehicle navigation device, the following two methods have been mainly used so far. One is GPS navigation that receives a radio signal from a GPS (Global Positioning System) satellite and specifies a position by the principle of triangulation. If this navigation is used, there is an advantage that the current position of the vehicle can be detected as an absolute coordinate. Another is that the vehicle's azimuth and travel distance are measured using various sensors such as a gyro sensor (direction sensor) and a distance sensor. This is an autonomous navigation in which the position is specified by accumulating position changes every time a certain distance is traveled. At present, a hybrid system combining these two navigation methods is often used.

  However, in GPS navigation, it is necessary to receive radio signals from GPS satellites, so position detection cannot be performed in tunnels or behind high-rise buildings. The accuracy of position detection is limited, and there are several meters to tens of meters. There is a problem that the direction detection accuracy becomes low when the vehicle speed is slow because the direction that includes the error and connects the current detection position and the previous detection position is the vehicle direction. In addition, in the autonomous navigation, there is a problem that detection errors due to sensors accumulate due to an increase in travel distance or an increase in the number of course changes. Therefore, even in the hybrid system combining these two navigation methods, it is inevitable that a certain amount of error occurs in the detection of the position and direction of the vehicle.

  Therefore, as a technique for improving the detection accuracy of the vehicle position, for example, the following Patent Document 1 describes a technique related to a vehicle position measurement device as described below. That is, this vehicle position measuring device photographs the front of the vehicle using a camera mounted on the vehicle and photographs an image of a guide sign including an intersection name. As this guide sign, the one whose installation position, size (height), etc. are determined by law is targeted. And the image of a guide sign is extracted from the image | photographed image information, and an intersection name is specified by character recognition processing. Further, based on the size of the guide sign included in the photographed image information, the distance from the vehicle position (shooting position) to the guide sign is calculated. Thereby, the distance from the intersection node specified from the intersection name to the vehicle position (shooting position) can be calculated, and the absolute coordinates of the vehicle position can be specified using the calculation result. And the process which correct | amends the vehicle position detected by the GPS receiver, the direction sensor, the distance sensor, etc. is performed using the absolute coordinate of this vehicle position. Thereby, the detection accuracy of the own vehicle position can be improved.

  Moreover, as a technique for improving the detection accuracy of the vehicle direction, for example, the following Patent Document 2 describes a technique related to the following in-vehicle navigator. That is, in this in-vehicle navigator, first, the vehicle position detected by satellite navigation by the GPS receiver is corrected on the road by map matching using the map data stored in the map data storage means by the vehicle position correction unit. Then, the display vehicle azimuth calculating unit performs a process of calculating the azimuth of the road on which the vehicle position after the map matching is on as the own vehicle azimuth. Thereby, since the direction of the own vehicle coincides with the direction of the road on which the vehicle is traveling, it is possible to prevent the display of the unnatural direction of the own vehicle.

Japanese Unexamined Patent Publication No. 2004-45227 (page 7-10, FIG. 4-5) Japanese Unexamined Patent Publication No. 6-242221 (page 3-4, FIG. 2)

  However, the technique described in Patent Document 1 performs an image recognition process for a guide sign that is a three-dimensional object, and in addition to a process for extracting the guide sign from image information, its size and height Etc., and further, recognition processing of characters included in the guide signs is also performed, so that it is necessary to perform advanced image recognition processing. Therefore, there is a problem that the processing load on the apparatus becomes very large in order to perform image recognition processing in real time with high accuracy in accordance with the traveling of the vehicle.

  In addition, the technique described in Patent Document 2 is not a technique for accurately calculating the vehicle direction, but a technique for only reflecting the map matching result in the display of the vehicle direction. Is not always accurately represented, and the wrong direction may be set as the vehicle direction. Therefore, in a situation where it is difficult to accurately estimate the course of the vehicle by map matching, such as a narrow-angle branch road, there is a problem that it is difficult to recognize the correct vehicle direction.

  The present invention has been made in view of the above-described problems, and its object is to highly accurately determine one or both of the vehicle position and the vehicle direction by using an image recognition process with a low calculation processing load and high accuracy. It is in providing the own vehicle information recognition device which can be recognized.

  In order to achieve the above object, the feature configuration of the host vehicle information recognition apparatus according to the present invention includes an image information acquisition unit that captures image information captured by an imaging device mounted on the host vehicle, and a host vehicle information acquisition unit. Vehicle position information acquisition means, feature information storage means for storing feature information including information on the position and height of the feature, date and time information, and the feature information using the feature information. Feature shadow calculation means for calculating the position and shape of the shadow, shadow image recognition means for recognizing the shadow image of the feature included in the image information, and the calculation result by the feature shadow calculation means for the same feature Vehicle information recognition means for recognizing one or both of the vehicle position and the vehicle direction based on the recognition result by the shadow image recognition means.

According to this feature configuration, for example, a planar image recognition process of recognizing a shadow image of a feature reflected on a road surface or the like of a road is performed, and a shadow image whose gradation is easily clarified is recognized as a recognition target. Therefore, it is easy to accurately perform image recognition processing such as edge extraction, so that highly accurate image recognition can be performed with a small calculation processing load. Then, based on the result of such shadow image recognition and the theoretical position and shape of the shadow calculated based on the feature information prepared in advance, one or both of the vehicle position and the vehicle direction are determined. It can be recognized with high accuracy.
At this time, since it is only necessary to recognize a shadow image of a feature reflected on the road surface or the like of the road, images of various in-vehicle cameras such as a back camera mounted on the vehicle can be suitably used.
In addition, since shadow images of features are used, for example, there are few paint displays such as pedestrian crossings and stop lines on the road surface like an expressway, and recognition of the vehicle position and vehicle direction by image recognition of the paint display is possible. Even if it cannot be performed, the vehicle position and the vehicle direction can be recognized.

  Here, the feature shadow calculation means includes the sun position calculation means for calculating the position of the sun based on the date and time information, and the features around the position indicated by the vehicle position information. The feature information acquisition means for acquiring the feature information from the feature information storage means, the calculation result by the solar position calculation means, and the feature information acquired by the feature information acquisition means It is preferable to include a theoretical shadow calculation means for calculating the theoretical shadow position and shape.

  According to this configuration, the positions and shapes of the shadows of at least some of the features included in the image information can be calculated theoretically and accurately.

  Further, the vehicle is provided with own vehicle direction information acquisition means for acquiring own vehicle direction information, and the feature shadow calculation means is based on the date and time information and the feature information, and has absolute coordinates fixed on the earth side. A theoretical shadow position and shape of the feature above are calculated, and the vehicle information recognition unit is configured to detect the position indicated by the vehicle position information and the vehicle based on the recognition result by the shadow image recognition unit. Shadow image calculation means for calculating the position and shape of the shadow of the feature on the absolute coordinates when the position and orientation of the imaging device determined based on the orientation indicated in the vehicle orientation information are the imaging position and the imaging orientation, respectively. And calculating one or both of the position error of the vehicle position information and the direction error of the vehicle direction information by comparing the calculation result by the feature shadow calculation unit and the calculation result by the shadow image calculation unit, Said position Preferably, the vehicle position information is corrected based on the difference, the vehicle direction information is corrected based on the heading error, and one or both of the vehicle position and the vehicle direction are recognized. .

  According to this configuration, the theoretical position and shape of the shadow of the feature calculated based on the feature information, the recognition result of the shadow image by the shadow image recognition means, the vehicle position information and the vehicle direction information are included. Since the position and shape of the shadow of the feature calculated based on the absolute coordinates can be compared, one or both of the position error of the vehicle position information and the direction error of the vehicle direction information can be easily obtained. Can be calculated. Therefore, one or both of the vehicle position information and the vehicle direction information is corrected based on one or both of the calculated position error and direction error, and one or both of the vehicle position and the vehicle direction are increased. It can be recognized with accuracy.

  The image information acquisition means captures a plurality of image information captured by the imaging device at a predetermined time interval, and the vehicle information recognition means converts the plurality of image information based on the recognition result by the shadow image recognition means. Analyzing the state of movement according to the passage of time of the shadow image of the same feature included, and equipped with a movement direction calculation means for calculating at least the direction of change of the vehicle direction based on the analysis result, the movement direction calculation means It is preferable that the vehicle direction is recognized based on the calculation result.

  According to this configuration, at least the change direction of the vehicle direction can be calculated by the movement direction calculation means, and the calculated change direction of the vehicle direction can be used for recognition of the vehicle direction and estimation of the course of the vehicle. . Therefore, even when it is difficult to determine in which direction the host vehicle travels in the conventional method, such as when the host vehicle passes through a narrow-angle branch of the road, etc. It is possible to make a good estimation of the course of the host vehicle based on the change direction. Thereby, the recognition accuracy of one or both of the vehicle position and the vehicle direction can also be improved.

  The characteristic configuration of the navigation device according to the present invention includes a vehicle information recognition device having the above characteristics, a map information storage unit storing map information, and a vehicle mark superimposed on a map acquired from the map information storage unit. A display means for displaying the vehicle mark, and displaying the vehicle mark superimposed on the map based on one or both of the vehicle position and the vehicle direction recognized by the vehicle information recognition device. It is in.

  According to this characteristic configuration, when the vehicle mark is superimposed on the map and displayed on the display unit, the vehicle mark representing the vehicle position and the vehicle direction can be displayed more accurately on the map.

  Another characteristic configuration of the navigation device according to the present invention is a host vehicle information recognition device having the above characteristics, a map information storage unit that stores map information, and a route guidance unit that performs route guidance according to a predetermined guidance route. The route guidance is performed based on the map information acquired from the map information storage means and one or both of the vehicle position and the vehicle direction recognized by the vehicle information recognition device.

  According to this characteristic configuration, when performing route guidance according to a predetermined guidance route, route guidance can be performed with more accurate timing and content based on the vehicle position and vehicle direction recognized with high accuracy.

  A characteristic configuration of the vehicle control device according to the present invention includes a host vehicle information recognition device having the above characteristics, a map information storage unit storing map information, map information acquired from the map information storage unit, The vehicle travel control is performed based on one or both of the vehicle position and the vehicle direction recognized by the vehicle information recognition device.

  According to this characteristic configuration, it is possible to perform more accurate and reliable vehicle control based on the vehicle position and the vehicle direction recognized with high accuracy.

  The characteristic configuration of the vehicle information recognition method according to the present invention includes an image information acquisition step for capturing image information captured by an imaging device mounted on the vehicle, a vehicle position information acquisition step for acquiring the vehicle position information, A feature shadow calculation step for calculating the position and shape of the shadow of the feature using the date and time information and the feature information stored in the feature information storage means, and the feature shadow calculation step of the feature included in the image information Based on the shadow image recognition step for recognizing a shadow image, the calculation result of the feature shadow calculation step for the same feature and the recognition result of the shadow image recognition step, one or both of the vehicle position and the vehicle direction A vehicle information recognition step for performing recognition.

According to this feature configuration, for example, a planar image recognition process of recognizing a shadow image of a feature reflected on a road surface or the like of a road is performed, and a shadow image whose gradation is easily clarified is recognized as a recognition target. Therefore, it is easy to accurately perform image recognition processing such as edge extraction, so that highly accurate image recognition can be performed with a small calculation processing load. Then, based on the result of such shadow image recognition and the theoretical position and shape of the shadow calculated based on the feature information prepared in advance, one or both of the vehicle position and the vehicle direction are determined. It can be recognized with high accuracy.
At this time, since it is only necessary to recognize a shadow image of a feature reflected on the road surface or the like of the road, images of various in-vehicle cameras such as a back camera mounted on the vehicle can be suitably used.
In addition, since shadow images of features are used, for example, there are few paint displays such as pedestrian crossings and stop lines on the road surface like an expressway, and recognition of the vehicle position and vehicle direction by image recognition of the paint display is possible. Even if it cannot be performed, the vehicle position and the vehicle direction can be recognized.

Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, FIG. 1 is a block diagram showing an outline of the hardware configuration of the host vehicle information recognition device 1 according to the present embodiment, a navigation device including the same, and a vehicle control device.
The own vehicle information recognition device 1 according to the present embodiment is based on the feature shadow image g1 recognized from the image information G captured by the imaging device 2 and the feature information D1 stored in the map information database 3. By comparing the theoretical shadow position and shape of the calculated feature, the vehicle position information D3 and the vehicle position information D3 acquired by the location unit 7 based on the GPS receiver 4, the direction sensor 5, and the distance sensor 6 are calculated. A process for recognizing the vehicle position and the vehicle direction with higher accuracy than the vehicle direction information D4 is performed.
Hereinafter, the configuration of each unit will be described in detail. In addition, each function part of the own vehicle information recognition apparatus 1 has hardware and / or software, or both as a function part for performing various processes with respect to the input data by using an arithmetic processing unit such as a CPU as a core member. It is implemented and configured.

  The imaging device 2 includes an imaging element such as a CCD sensor or a CMOS sensor, and a lens that constitutes an optical system for guiding light to the imaging element. The imaging device 2 is mounted toward the front or rear of the host vehicle 8 and is provided so that at least the road surface of the road 9 on which the host vehicle 8 travels is photographed. Here, as shown in FIGS. 2 and 3, a case where the front of the host vehicle 8 is imaged will be described as an example. As such an imaging device 2, an in-vehicle camera or the like that is already provided for capturing images of the front and rear of the host vehicle 8 is preferably used.

  The image information acquisition unit 10 performs processing for capturing image information G captured by the imaging device 2. The captured image information G is stored in an image memory (not shown) provided in the image information acquisition unit 10. In the present embodiment, the image information acquisition unit 10 constitutes an “image information acquisition unit” in the present invention.

The image recognition unit 11 performs a process of recognizing the shadow image g1 of the feature included in the image information G acquired by the image information acquisition unit 10. Specifically, the image recognition unit 11 performs a process of extracting a feature shadow image g1 from the image information G by the pattern recognition process or the like after the contour extraction by the binarization process or the edge extraction process. Do. For example, as shown in FIG. 2, when there is a shadow S <b> 1 of the guide sign C <b> 1 due to the light of the sun 17 in front of the road 9 on which the host vehicle 8 travels, the image information G as shown in FIG. Imaged. The image recognition unit 11 performs a process of extracting only the shadow image g1 of the guide sign C1 from the image information G as shown in FIG. The features for which the shadow image is recognized by the image recognition unit 11 include, for example, various signs, traffic lights, solid objects such as buildings such as buildings.
In the present embodiment, the image recognition unit 11 constitutes “shadow image recognition means” in the present invention.

  The location unit 7 is connected to the GPS receiver 4, the direction sensor 5, the distance sensor 6, and the map information database 3. Here, the GPS receiver 4 is a device that receives a signal from the GPS satellite 12 (see FIG. 2), and the position (latitude and longitude), date, and time of the GPS receiver 4 based on the received signal. Acquire various information such as information. The date and time information acquired by the GPS receiver 4 is output to the solar position calculation unit 13 described later in addition to the location unit 7. The azimuth sensor 5 includes a geomagnetic sensor, a gyro sensor, an optical rotation sensor attached to the rotating part of the handle, a rotary resistance volume, an angle sensor attached to the wheel part, and the like. Detect. The distance sensor 6 includes a combination of a vehicle speed sensor that detects the number of rotations of the wheel, a yaw / G sensor that detects the acceleration of the host vehicle 8, and a circuit that integrates the detected acceleration twice. Detect the moving distance of. And the location part 7 performs the calculation which pinpoints the present position and direction of the own vehicle 8 by a well-known method based on the output from these GPS receiver 4, the direction sensor 5, and the distance sensor 6. FIG. The location unit 7 also acquires map information D2 from a map information database 3 described later, and corrects the current position and direction of the host vehicle 8 by performing known map matching based on the map information D2. Then, the information on the current position of the host vehicle 8 specified by the location unit 7 becomes the host vehicle position information D3, and the information on the current direction of the host vehicle 8 becomes the host vehicle direction information D4.

  Here, the vehicle position information D3 is expressed as latitude and longitude information as positions on absolute coordinates fixed on the earth side. In addition, the vehicle direction information D4 is represented as a direction on absolute coordinates fixed to the earth side. In the description of the present embodiment, “position” or “azimuth” is assumed to be a position (latitude and longitude) or azimuth on an absolute coordinate fixed on the earth side, unless otherwise specified.

The accuracy of the vehicle position information D3 and the vehicle direction information D4 acquired by the location unit 7 is greatly influenced by the accuracy of the GPS receiver 4, the direction sensor 5, and the distance sensor 6. For this reason, the own vehicle position information D3 may include an error of about several tens of meters. Further, with respect to the vehicle direction information D4, the error may become very large particularly when the traveling speed of the vehicle 8 is low.
In the present embodiment, the location unit 7 constitutes “own vehicle position information acquisition means” and “own vehicle direction information acquisition means” in the present invention.

Based on the recognition result of the feature shadow image g1 by the image recognition unit 11, the shadow image calculation unit 14 is determined based on the position indicated by the vehicle position information D3 and the direction indicated by the vehicle direction information D4. Processing for calculating the position and shape of the feature shadow recognized as the feature shadow image g1 when the position and orientation of the apparatus 2 are the imaging position and orientation of the image information G, respectively. In other words, since the imaging device 2 is fixed to the host vehicle 8, the relationship between the host vehicle position information D3 and the host vehicle orientation information D4 and the imaging position and imaging orientation by the imaging device 2 is constant. Moreover, if the imaging position and imaging direction of the imaging device 2 are determined, the actual position of the shadow of the feature imaged in the image information G based on the position and orientation of the imaging device 2 can be obtained. Therefore, the position and shape of the shadow of the feature recognized from the image information G by the image recognition unit 11 can be calculated using the vehicle position information D3 and the vehicle direction information D4 as a reference. Here, as illustrated in FIG. 7, the shadow image calculation unit 14 calculates the position (latitude and longitude) and shape of the feature on the absolute coordinates fixed on the earth side. The processing in the shadow image calculation unit 14 will be described later in detail according to a specific example.
In the present embodiment, the shadow image calculation unit 14 constitutes “shadow image calculation means” in the present invention.

The map information database 3 stores map information D2 and feature information D1. FIG. 5 is an explanatory diagram showing the contents of the map information D2 and the feature information D1 stored in the map information database 3. As shown in this figure, the map information database 3 according to this embodiment stores a road network layer L1, a road shape layer L2, and a feature layer L3 as map information.
The road network layer L1 is a layer that stores connection information between roads 9. Specifically, it has information on a large number of nodes N having position information on a map expressed by latitude and longitude, and information on a large number of links L that constitute the road 9 by connecting the two nodes N. Configured. Each link L has information such as the type of road 9 (type of highway, toll road, national road, prefectural road, etc.) and link length as link information.
The road shape layer L2 is stored in association with the road network layer L1 and stores the shape of the road 9. Specifically, information on a number of road shape complementary points S that are located between two nodes N (on the link L) and have position information on a map expressed in latitude and longitude, and each road shape complementary point The road width information in S and the like are included.

  The feature layer L <b> 3 is a layer that is stored in association with the road network layer L <b> 1 and the road shape layer L <b> 2 and stores feature information D <b> 1 related to various features provided on the road 9 and around the road 9. As the feature information D1 stored in the feature layer L3, at least information on the position, shape, color, and the like related to the feature that can be calculated in the theoretical shadow calculation unit 15 is stored. In the present embodiment, specifically, the feature layer L3 has feature information on solid objects such as various signs, traffic lights, buildings, signboards, monuments, etc. provided on the road 9 or around the road 9. D1 is stored in association with the position on the map with the road shape complement point S or the node N as a reference. Specific contents of such feature information D1 include information on the position (latitude and longitude) of reference points of each feature, information on the height of the road 9 from the road surface, and information on planar and three-dimensional shapes. Etc. are included. Here, the sign includes, for example, a guide sign, a warning sign, a regulation sign, and the like. In addition, buildings particularly include tall buildings and the like, and particularly large-scale signs and monuments are included. Moreover, it is good also as storing the information of various features other than solid objects, such as a paint display provided on the road surface of the road 9, as the feature information D1. Thus, the feature information D1 is stored in the map information database 3 in association with the map information D2 on the feature layer L3.

The map information database 3 is an apparatus having a recording medium capable of storing information and its driving means, such as a hard disk drive, a DVD drive equipped with a DVD-ROM, a CD drive equipped with a CD-ROM, and the like. Is provided as a hardware configuration.
In the present embodiment, this map information database 3 constitutes “feature information storage means” and “map information storage means” in the present invention.

The feature information acquisition unit 16 is connected to the location unit 7 and the map information database 3. The feature information acquisition unit 16 obtains feature information D1 about the feature around the position indicated by the vehicle position information D3 from the map information database 3 based on the vehicle position information D3 specified by the location unit 7. Perform the acquisition process. Here, the feature information acquisition unit 16 is a feature included in the imaging region by the imaging device 2 when the position indicated by the own vehicle position information D3 is set as the imaging position, and is used for the calculation by the theoretical shadow calculation unit 15. The feature information D1 including the position, height, and shape of the three-dimensional object to be used (various signs, traffic lights, etc.) is extracted from the feature layer L3 of the map information database 3.
In the present embodiment, the feature information acquisition unit 16 constitutes “feature information acquisition means” in the present invention.

The sun position calculation unit 13 performs a process of calculating the position of the sun 17 at that time based on the date and time information acquired by the GPS receiver 4. Here, the sun position calculation unit 13 is connected to the GPS receiver 4 and the feature information acquisition unit 16. And the solar position calculating part 13 is based on the date and time information acquired by the GPS receiver 4, and the position of each feature included in the feature information D1 acquired by the feature information acquiring unit 16 ( Processing to calculate the azimuth and height (angle with respect to the ground surface) of the sun 17 with respect to (latitude and longitude) is performed.
In the present embodiment, the solar position calculation unit 13 constitutes “solar position calculation means” in the present invention.

The theoretical shadow calculation unit 15 calculates the position and shape of the theoretical shadow Sa of each feature using the calculation result by the sun position calculation unit 13 and the feature information D1 acquired by the feature information acquisition unit 16. Process. That is, as described above, as the calculation result of the sun position calculation unit 13, the azimuth and height of the sun with respect to the position (latitude and longitude) of each feature included in the feature information D1 acquired by the feature information acquisition unit 16 Information is input to the theoretical shadow calculator 15. In addition, information such as the position, height, and shape of each feature is input to the theoretical shadow calculation unit 15 from the feature information acquisition unit 16 as the acquired feature information D1. Then, the theoretical shadow calculation unit 15 calculates the theoretical shadow position and shape of each feature based on the input information. In the present embodiment, as an example, as shown in FIG. 7, the position, height, and shape included in the feature information D1 on the absolute coordinates represented by latitude (y-axis) and longitude (x-axis) are used. The position of the theoretical shadow Sa projected on the ground surface (road surface) by the parallel light from the imaginary sun with the azimuth and height (angle with respect to the ground surface) calculated by the solar position calculator 13 And calculating the shape. Here, as the position and shape of the theoretical shadow Sa, for example, reference position information representing an arbitrary reference point position Sa1 (for example, a position matching the reference point of the feature) with latitude and longitude, and this reference position As a reference, it can be represented by contour information representing the position of each point on the contour Sa2 representing the outer edge shape of the shadow of the feature.
In the present embodiment, the theoretical shadow calculator 15 constitutes “theoretical shadow calculator” in the present invention.

  And in this embodiment, these solar position calculating part 13, the feature information acquisition part 16, and the theoretical shadow calculating part 15 comprise the "feature shadow calculating means 18" in this invention.

  The error calculation unit 19 compares the calculation result of the theoretical shadow calculation unit 15 with the calculation result of the shadow image calculation unit 14 for the same feature, and compares the position error (Δx of the vehicle position information D3 specified by the location unit 7 with each other. , Δy) and the direction error Δθ of the vehicle direction information D4 are calculated. The processing in the error calculation unit 19 will be described in detail later according to a specific example.

The own vehicle information correction unit 20 corrects the own vehicle position information D3 based on the position error (Δx, Δy) calculated by the error calculation unit 19, and corrects the own vehicle direction information D4 based on the direction error Δθ. Process. The processing in the vehicle information correction unit 20 will be described in detail later according to a specific example.
The vehicle position information D3c corrected by the vehicle information correction unit 20 and the vehicle direction information D4c after correction are specified with higher accuracy than the vehicle position information D3 and the vehicle direction information D4 specified by the location unit 7. It becomes the information of the made own vehicle position and own vehicle direction. Therefore, in the present embodiment, the shadow image calculation unit 14, the error calculation unit 19, and the own vehicle information correction unit 20 constitute the “own vehicle information recognition unit 21” in the present invention. The corrected vehicle position information D3c and the corrected vehicle direction information D4c corrected by the vehicle information correction unit 20 are output to the navigation calculation processing unit 22 and the vehicle control calculation processing unit 23 via the navigation calculation processing unit 22.

Based on the recognition result of the image information G by the image recognition unit 11, the movement direction calculation unit 24 analyzes the state of movement of the same feature shadow image g1 included in the plurality of image information G over time, Based on the analysis result, a change direction of the vehicle direction is calculated and output as change direction information D5. Here, with respect to one or two or more feature shadow images g1 that are included in common in the image information G continuously captured at a predetermined time interval, the feature shadow image g1 moves with time. The direction to be analyzed is analyzed, and the process of calculating the direction of change of the vehicle direction is performed based on the analysis result. The processing in the movement direction calculation unit 24 will be described later in detail according to a specific example. The change direction information D5 as a calculation result of the movement direction calculation unit 24 is output to the navigation calculation processing unit 22 and the vehicle control calculation processing unit 23 via this. In addition to the change direction of the own vehicle direction, the movement direction calculation unit 24 also calculates and outputs the change amount (change angle, etc.), and can also be used for recognition of the own vehicle direction.
In the present embodiment, the movement direction calculation unit 24 constitutes “movement direction calculation means” in the present invention. And in this embodiment, this moving direction calculating part 24 also comprises the "own vehicle information recognition means 21" in this invention.

The navigation calculation processing unit 22 is connected to the host vehicle information correction unit 20, the moving direction calculation unit 24, the map information database 3, the display device 25, and the audio output device 26. The navigation calculation processing unit 22 performs calculation processing for displaying the vehicle position and vehicle direction using the display device 25 and for route guidance using the display device 25 and the audio output device 26. Specifically, the navigation processing unit 22 acquires the map information D2 around the vehicle position from the map information database 3 and displays the map image on the display device 25. On the map image, Based on the corrected vehicle position information D3c and the corrected vehicle direction information D4c after correction by the vehicle information correction unit 20, a process of displaying the vehicle mark in an overlapping manner is performed. At this time, correction of the display of the vehicle mark (correction of the vehicle direction and the vehicle position) based on the change direction information D5 of the vehicle direction output from the movement direction calculation unit 24 is also performed. Further, the navigation calculation processing unit 22 is based on a guide route set in advance to connect the departure point and the destination point by a known method, the corrected vehicle position information D3c, the vehicle direction information D4c, and the like. A process of displaying a route on the display device 25 and outputting a voice for route guidance by the voice output device 26 at an intersection or the like is performed. Although not shown, the navigation processing unit 22 is connected to various other known configurations necessary for a navigation device such as a user interface such as a remote controller and a touch panel.
In the present embodiment, the display device 25 constitutes “display means” in the present invention, and the display device 25 and the audio output device 26 constitute “route guidance means” in the present invention.

  The vehicle control arithmetic processing unit 23 is connected to the navigation arithmetic processing unit 22, and from the navigation arithmetic processing unit 22, map information D <b> 2 around the vehicle position from the map information database 3, vehicle information correction is performed. The vehicle position information D3c corrected by the unit 20 and the vehicle direction information D4c after correction and the vehicle direction change direction information D5 output from the moving direction calculation unit 24 are input, or these information are used for navigation. Information on the result of processing in the arithmetic processing unit 22 is input. The vehicle control arithmetic processing unit 23 performs traveling control of the host vehicle 8 based on these pieces of information input from the navigation arithmetic processing unit 22. Specifically, the vehicle control calculation processing unit 23, based on the own vehicle position and the vehicle direction specified with high accuracy, and the map information D2 around the own vehicle position, for example, lane keeping or overspeed. A process for outputting control signals for prevention or the like to each part of the vehicle such as a brake, a handle, and a throttle is performed. The vehicle control calculation processing unit 23 is directly connected to the vehicle information correction unit 20, the movement direction calculation unit 24, and the map information database 3, and directly from the vehicle position information D3, the vehicle direction information D4, and the map. It is also possible to obtain information D2 and the like.

  The external situation determination unit 27 is based on the date and time information acquired by the GPS receiver 4 and the brightness information outside the host vehicle 8 acquired by the brightness sensor 28. The process determines whether or not the situation is a situation where the shadow image g1 of the feature can be recognized. If it is determined that the shadow image g1 of the feature can be recognized, the shadow image calculation unit 14, the theoretical shadow calculation unit 15, the feature information acquisition unit 16, the sun position calculation unit 13, and the like are processed. When a signal permitting execution is output and it is determined that the shadow image g1 of the feature cannot be recognized, a signal prohibiting execution of the process is output.

  Next, a specific example of the vehicle position and vehicle direction recognition processing in the vehicle information recognition apparatus 1 according to the present embodiment will be described with reference to the flowchart shown in FIG. Here, as shown in FIG. 2, as an example, the vehicle position information D3 and the vehicle direction information D4 are corrected by recognizing the image of the shadow S1 of the guide sign C1 ahead of the traveling vehicle 8. explain. Note that the processing of the flowchart shown in FIG. 6 is continuously repeated at a predetermined time interval (for example, about 10 to 50 ms).

  As shown in FIG. 6, the vehicle information recognition apparatus 1 first determines an external situation in the external situation determination unit 27 (step # 01). Specifically, the host vehicle information recognition device 1 is based on the date and time information acquired by the GPS receiver 4 and the brightness information outside the host vehicle 8 acquired by the brightness sensor 28. Then, a process of determining whether or not the situation outside the host vehicle 8 is a situation where the shadow image g1 of the feature can be recognized is performed. That is, the own vehicle information recognition device 1 is based on the current date and time when the current time is the sun 17 and the brightness of the outside of the own vehicle 8 is sufficient to shadow the feature. If the brightness is high, it is determined that the feature shadow image g1 can be recognized. Here, if it is determined that the situation outside the host vehicle 8 is not a situation where the shadow image g1 of the feature can be recognized (step # 01: NG), the process does not proceed to the subsequent process.

  If the external situation determination unit 27 determines that the situation outside the host vehicle 8 is a situation where the shadow image g1 of the feature can be recognized (step # 01: OK), then the location unit 7, own vehicle position information D3 and own vehicle direction information D4 are acquired (step # 02). Specifically, as described above, the current position and direction of the host vehicle 8 are specified based on the information from the GPS satellite 12 received by the GPS receiver 4 and the outputs from the direction sensor 5 and the distance sensor 6, Further, by performing map matching based on the map information D2 acquired from the map information database 3 and correcting the current position and direction so that the position and direction of the own vehicle 8 match the road 9, the own vehicle position information D3 and own vehicle direction information D4 are acquired.

Next, the feature information acquisition unit 16 acquires feature information D1 of a three-dimensional object around the vehicle position (step # 03). Specifically, based on the own vehicle position information D3 specified by the location unit 7, when the position indicated by the own vehicle position information D3 is set as the imaging position, the three-dimensional object included in the imaging region by the imaging device 2 The feature information D1 is extracted from the feature layer L3 of the map information database 3 and acquired. The contents of the feature information D1 acquired here include information on the position, height, and shape of each feature. In the situation shown in the example of FIG. 2, information on the position (latitude and longitude) of the guide sign C1, the height from the road surface of the road 9, and the shape is acquired as the feature information D1. In this step # 03, a plurality of feature information D1 may be acquired, but here, for simplification of explanation, only the feature information D1 of one guide sign C1 is acquired as an example. explain.
When the feature information D1 is acquired by the processing of step # 03 (step # 04: YES), the process proceeds to the processing after step # 05, and when the feature information D1 is not acquired, that is, the imaging device 2 When the three-dimensional feature information D1 is not included in the imaging region by (step # 04: NO), the process returns to step # 01.

  When the feature information D1 is acquired by the processing of step # 03 (step # 04: YES), the sun position calculation unit 13 calculates the azimuth and height of the sun with respect to the position of each feature (step # 05). . Specifically, based on the date and time information acquired by the GPS receiver 4, the position (latitude and longitude) of each feature included in the feature information D1 acquired by the feature information acquisition unit 16 The azimuth and height (angle with respect to the ground surface) of the sun corresponding to is calculated. Thereby, the azimuth | direction and height of the sun corresponding to the feature information D1 acquired by the process of step # 03 are calculated. In the example shown in FIG. 2, the azimuth and height (angle with respect to the ground surface) of the sun 17 with respect to the position (latitude and longitude) of the guide sign C1 are calculated.

  Then, the theoretical shadow calculation unit 15 calculates the position and shape of the theoretical shadow Sa of each feature indicated by the feature information D1 acquired by the process of step # 03 (step # 06). Specifically, the position and shape of the theoretical shadow Sa of each feature are calculated using the calculation result by the sun position calculation unit 13 and the feature information D1 acquired by the feature information acquisition unit 16. In the example shown in FIG. 2, the direction and height (angle with respect to the ground surface) of the sun 17 with respect to the position (latitude and longitude) of the guide sign C1 and the guide sign C1 acquired by the feature information acquisition unit 16 Based on the position, height, and shape information included in the feature information D1, as shown in FIG. 7, on the absolute coordinates represented by latitude (y-axis) and longitude (x-axis), virtual The position and shape of the theoretical shadow Sa of the guide sign C1 projected on the ground surface (road surface) is calculated by parallel light from the sun. In this example, the position and shape of the theoretical shadow Sa of the guide sign C1 are the reference point position Sa1 set at the top end of the upper left leg in the figure, and the contour line representing the outer edge shape of the shadow of the guide sign C1. It is represented by an outline Sa2 representing the position of the point. Here, the reference point position Sa1 of the theoretical shadow Sa of the guide sign C1 matches the position of the reference point of the feature information D1 of the guide sign C1 (the position indicated as the position information of the feature information D1). It is said.

  When the feature information D1 is acquired by the process of step # 03 (step # 04: YES), the image information acquisition unit 10 captures the image information G captured by the imaging device 2 (step # 07). In the example shown in FIG. 2, image information G as shown in FIG. 3 is captured.

  Next, the image recognition unit 11 recognizes the shadow image g1 of the feature included in the image information G (step # 08). Specifically, after contour extraction by binarization processing, edge extraction processing, or the like, processing for extracting a shadow image g1 of a feature from the image information G is performed by pattern recognition processing or the like. From the image information G shown in FIG. 3, a shadow image g1 of the guide sign C1 is extracted as shown in FIG.

  Thereafter, in the shadow image calculation unit 14, the position and orientation of the imaging device 2 determined based on the position indicated by the own vehicle position information D3 acquired by the location unit 7 and the orientation indicated by the own vehicle orientation information D4 are respectively displayed as image information G. The position and shape of the shadow of the feature recognized by the image recognition unit 11 (hereinafter referred to as “location portion reference shadow Sb”) when the imaging position and the imaging orientation are set (step # 09). In this example, as shown in FIG. 2, the imaging device 2 is fixed at a predetermined vertical angle toward the front of the host vehicle 8. The shadow image g1 of the guide sign C1 extracted from the image information G shown in FIG. 3 captured by the imaging device 2 has a position and shape in the image information G as shown in FIG. Therefore, based on the fixed position and imaging direction of the imaging device 2 with respect to the own vehicle 8 and the position and shape in the image information G of the shadow image g1 of the guide sign C1, the own vehicle position information D3 and the own vehicle The position and shape of the shadow Sb based on the location part of the guide sign C1 when the direction information D4 is the position and direction of the host vehicle 8 can be calculated. At this time, in this example, in order to facilitate the comparison with the calculation result by the theoretical shadow calculation unit 15, as shown in FIG. 7, on the absolute coordinates represented by the latitude (y axis) and the longitude (x axis), The position and shape of the shadow Sb based on the location portion of the guide sign C1 are calculated. In this example, the position and shape of the reference portion shadow Sb of the guide sign C1 are the reference point position Sb1 set at the top of the upper left leg in the figure and the contour line indicating the outer edge shape of the shadow of the guide sign C1. It is represented by an outline Sb2 representing the position of each point.

  Then, the error calculation unit 19 compares the calculation result of the theoretical shadow calculation unit 15 and the calculation result of the shadow image calculation unit 14 with respect to the same feature, and the position error of the vehicle position information D3 specified by the location unit 7 (Δx, Δy) and the direction error Δθ of the vehicle direction information D4 are calculated (step # 10). In this example, as shown in FIG. 7, the position and shape of the theoretical shadow Sa of the guide sign C1 calculated by the theoretical shadow calculation unit 15, and the location part of the guide sign C1 calculated by the shadow image calculation unit 14 Comparing the position and shape of the reference shadow Sb, the position error (Δx, Δy) of the vehicle position information D3 and the direction error Δθ of the vehicle direction information D4 based on the difference between the position and the direction (angle). Is calculated. That is, since the theoretical position and shape of the shadow Sa are calculated based on the feature information D1 stored in the map information database 3 and the virtual sun position, the position of the shadow is almost accurate. And the shape. On the other hand, the position and shape of the shadow Sb based on the location part are the position and shape of the shadow when the own vehicle position information D3 and the own vehicle direction information D4 specified by the location part 7 are used as the position and direction of the own vehicle 8. The position error (Δx, Δy) of the own vehicle position information D3 and the direction error Δθ of the own vehicle direction information D4 are included. Therefore, the position and shape deviation of the location-based reference shadow Sb with respect to the theoretical position and shape of the shadow Sa can be calculated as an error of the vehicle position information D3 and the vehicle direction information D4 specified by the location unit 7.

  Here, the error calculation unit 19 first calculates the difference in azimuth (angle) between the theoretical shadow Sa and the location-based reference shadow Sb, that is, the azimuth error Δθ. Specifically, the difference Δθ in the azimuth (angle) on the absolute coordinates of the corresponding portion of the theoretical shadow Sa and the location-based reference shadow Sb, in particular, the linear portions of the contour lines Sa2 and Sb2 This is done by calculating on the basis of the upper shadow Sa.

  Next, the error calculation unit 19 corrects the azimuth error Δθ of the location portion reference shadow Sb with reference to the vehicle position M indicated in the vehicle position information D3 specified by the location unit 7, and the theoretical shadow Sa. And the difference in position of the corresponding point between the shadow Sb of the location portion reference after correction of the azimuth error Δθ, that is, the position error (Δx, Δy) is calculated. Specifically, the coordinates (x0, y0) of the reference point position Sa1 of the theoretical shadow Sa and the coordinates (x1, y1) of the reference point position Sb1 ′ of the location-side reference shadow Sb after correcting the azimuth error Δθ. Is calculated using the coordinates (x0, y0) of the reference point position Sa1 of the theoretical shadow Sa as a reference. That is, the position error (Δx, Δy) is the position error Δx = x0−x1 in the longitude direction and the position error Δy = y0−y1 in the latitude direction.

  Next, in the own vehicle information correction unit 20, the own vehicle position information D3 is corrected based on the position error (Δx, Δy) calculated by the error calculation unit 19, and the own vehicle direction information D4 is calculated based on the direction error Δθ. Correction is performed (step # 11). In this example, regarding the correction of the vehicle position information D3, if the coordinates of the vehicle position M indicated by the vehicle position information D3 specified by the location unit 7 are (X, Y), the position error (Δx , Δy) is added to the corrected vehicle position information D3c (X + Δx, Y + Δy). Further, regarding the correction of the vehicle direction information D4, if the vehicle direction indicated by the vehicle direction information D4 specified by the location unit 7 is Θ, the direction Θ + Δθ obtained by adding the direction error Δθ to the direction is corrected. Processing to obtain vehicle direction information D4c is performed.

Then, the vehicle position information D3c corrected by the vehicle information correction unit 20 and the vehicle direction information D4c after correction calculated in this way are calculated for the vehicle control via the navigation calculation processing unit 22 and this. The data is output to the processing unit 23 (step # 12).
Accordingly, in the navigation calculation processing unit 22 and the vehicle control calculation processing unit 23 that receive the input of the corrected host vehicle position information D3c and the corrected host vehicle direction information D4c, the host vehicle position and the host vehicle are detected. The direction can be recognized with higher accuracy. Accordingly, the navigation calculation processing unit 22 can more accurately display the vehicle position and direction and the route guidance, or the vehicle control calculation processing unit 23 can more accurately control the traveling of the host vehicle 8. .

  Further, after the feature shadow image g1 included in the image information G is recognized in step # 08, the moving direction calculation unit 24 includes the image information G based on the recognition result of the image information G. The state of movement of the feature shadow image g1 over time is analyzed (step # 13). Then, based on the analysis result, the direction of change of the vehicle direction is calculated, and the result of the calculation is supplied to the navigation calculation processing unit 22 and the vehicle control calculation processing unit 23 as the change direction information D5 of the vehicle direction. Output (step # 14). The processing of step # 13 and step # 14 by the movement direction calculation unit 24 will be described below based on FIGS.

  For example, as shown in FIG. 8, when the shadow S2 of the speed sign C2 is present in front of the road 9 on which the host vehicle 8 travels, the image information G captured by the imaging device 2 can be obtained from, for example, FIG. A shadow image g1 as shown in FIG. Since the processes of step # 07 and step # 08 are continuously repeated at a predetermined time interval as described above, the shadow of the same feature is obtained from a plurality of pieces of image information G that are continuously captured. It is possible to analyze how the image g1 moves with time. For example, when a shadow image g1 as shown in FIG. 9B is extracted from the image information G captured after FIG. 9A, the shadow image g1 of the speed indicator C2 rotates clockwise. Since the vehicle is moving in the approaching direction, it can be seen that the direction of the vehicle has changed in the left direction opposite to the moving direction of the shadow image g1. On the other hand, when a shadow image g1 as shown in FIG. 9C is extracted from the image information G captured after FIG. 9A, the shadow image g1 of the speed indicator C2 rotates counterclockwise. However, since the vehicle is moving in the approaching direction, it can be seen that the direction of the vehicle has changed in the right direction opposite to the moving direction of the shadow image g1. Based on such an analysis result, the direction of change of the direction of the vehicle can be obtained. In this example, the case where the direction of change of the vehicle direction is calculated based on two pieces of image information G that move forward and backward in time has been described. However, the tendency of change based on three or more pieces of continuous image information G is described. Can be calculated more accurately.

  In this way, the moving direction calculation unit 24 calculates the direction of change of the vehicle direction and outputs the calculation result as the direction of change information D5 of the vehicle direction. In the arithmetic processing unit 22 and the vehicle control arithmetic processing unit 23, the traveling direction of the host vehicle 8 can be specified with higher accuracy, and the course of the host vehicle 8 can be estimated well. For example, as shown in FIG. 8, even when there is a narrow-angle branch ahead of the road 9 on which the host vehicle 8 travels, the host vehicle 8 moves to the left or right direction based on the change direction information D5 of the host vehicle direction. It can be estimated well whether it progresses. Accordingly, the navigation calculation processing unit 22 can more accurately display the vehicle position and direction and the route guidance, or the vehicle control calculation processing unit 23 can more accurately control the traveling of the host vehicle 8. .

[Other Embodiments]
(1) In the above embodiment, the position and shape of the theoretical shadow Sa calculated in the theoretical shadow calculation unit 15 constituting the feature shadow calculation means, and the calculation in the shadow image calculation unit 14 constituting the shadow image calculation means. The case where the error of the vehicle position information D3 and the vehicle direction information D4 is calculated and corrected by comparing the position and shape of the shadow Sb based on the location part on the absolute coordinates has been described. However, the scope of application of the present invention is not limited to this. For example, the configuration of the vehicle information recognition device 1 as described below is also one preferred embodiment. That is, the vehicle information recognition device 1 uses the feature shadow calculation means to add the vehicle position information D3 and the vehicle direction information D4 from the location unit 7 in addition to the date and time information and the feature information D1. To get. Based on these information, an image of a theoretical shadow of a feature when the virtual image pickup device captures an image from the vehicle position and the vehicle direction indicated by the vehicle position information D3 and the vehicle direction information D4. Generate information. On the other hand, the image recognition means generates image information of actual shadows for the same feature from the image information G captured by the imaging device 2. Then, by comparing the position of the shadow in the theoretical shadow image information and the position of the shadow in the actual shadow image information, the error of the vehicle position information D3 and the vehicle direction information D4 is calculated. to correct. That is, the vehicle information recognition device 1 is configured to correct the vehicle position information D3 and the vehicle direction information D4 based on the position of the shadow in the image information G.

(2) In the above embodiment, by comparing the calculation result of the theoretical shadow calculation unit 15 with the calculation result of the shadow image calculation unit 14 for the same feature, the vehicle position information D3 specified by the location unit 7 A case has been described in which the position error (Δx, Δy) and the direction error Δθ of the vehicle direction information D4 are calculated, and both the vehicle position information D3 and the vehicle direction information D4 are corrected and recognized. However, the embodiment of the present invention is not limited to this, and either the position error (Δx, Δy) of the vehicle position information D3 or the direction error Δθ of the vehicle direction information D4 is performed by the same method as the above embodiment. One of the preferred embodiments is to calculate one of them and correct and recognize only one of the vehicle position information D3 and the vehicle direction information D4.

(3) In said embodiment, the solar position calculating part 13 calculates the azimuth | direction and height (angle with respect to the ground surface) of the sun with respect to the position (latitude and longitude) of each feature included in each feature information D1. Explained the case of performing. However, it can be considered that the azimuth and height of the sun are almost the same at any position within a limited range in the imaging region around the vehicle position. Therefore, in order to simplify the calculation process, the vehicle position indicated in the vehicle position information D3 acquired by the location unit 7 or the position of the feature included in any one feature information D1 is used as a reference. It is also a preferred embodiment to perform processing for calculating the azimuth and height of the sun.

The block diagram which shows the outline of the hardware constitutions of the own vehicle information recognition apparatus which concerns on embodiment of this invention, a navigation apparatus provided with the same, and a vehicle control apparatus The figure which shows an example of the own vehicle by which the own vehicle information recognition apparatus which concerns on embodiment of this invention is mounted, and its surrounding state The figure which shows the image information imaged from the own vehicle shown in FIG. The figure which shows the image which extracted only the shadow of the guidance sign from the image information shown in FIG. Explanatory drawing which shows the content of the map information stored in the map information database of the own vehicle information recognition apparatus which concerns on embodiment of this invention, and feature information The flowchart which shows the specific example of the recognition process of the own vehicle position and the own vehicle direction in the own vehicle information recognition apparatus which concerns on embodiment of this invention. The absolute position represented by the latitude (y axis) and longitude (x axis) of the theoretical shadow of the guide sign calculated by the vehicle information recognition apparatus according to the embodiment of the present invention and the shadow position and shape of the location part reference Explanatory drawing expressed on coordinates The figure which shows another example of the own vehicle by which the own vehicle information recognition apparatus which concerns on embodiment of this invention is mounted, and its surrounding state The figure which shows a mode that the image information imaged from the own vehicle shown in FIG. 8 changes with time passage.

Explanation of symbols

1: Vehicle information recognition device 2: Imaging device 3: Map information database (feature information storage means, map information storage means)
7: Location part (own vehicle position information acquisition means, own vehicle direction information acquisition means)
8: Own vehicle 10: Image information acquisition unit (image information acquisition means)
11: Image recognition unit (shadow image recognition means)
13: Solar position calculator (solar position calculator)
14: Shadow image calculation unit (shadow image calculation means)
15: Theoretical shadow calculation unit (theoretical shadow calculation means)
16: Feature information acquisition unit (feature information acquisition means)
18: feature shadow calculation means 19: error calculation section 20: own vehicle information correction section 21: own vehicle information recognition means 22: calculation processing section for navigation 23: calculation processing section for vehicle control 24: movement direction calculation section (movement direction Calculation means)
25: Display device (display means, route guidance means)
26: Audio output device (course guidance means)
G: Image information g1: Image of shadow of feature D1: Feature information D2: Map information D3: Own vehicle position information D3c: corrected vehicle position information D4: own vehicle direction information D4c: corrected vehicle direction Information D5: Change direction information Sa: Theoretical shadow Sb: Location part reference shadow

Claims (8)

Image information acquisition means for capturing image information captured by an imaging device mounted on the host vehicle;
Own vehicle position information acquisition means for acquiring own vehicle position information;
Feature information storage means for storing feature information including information on the position and height of the feature;
Feature shadow calculation means for calculating the position and shape of the shadow of the feature using the date and time information and the feature information;
A shadow image recognition means for recognizing a shadow image of a feature included in the image information;
Vehicle information recognition means for recognizing one or both of the vehicle position and the vehicle direction based on the calculation result of the feature shadow calculation means for the same feature and the recognition result of the shadow image recognition means;
A vehicle information recognition device comprising: The feature shadow calculation means includes:
Solar position calculating means for calculating the position of the sun based on the date and time information;
Feature information acquisition means for acquiring the feature information about the features around the position indicated by the vehicle position information from the feature information storage means;
Theoretical shadow calculation means for calculating the theoretical shadow position and shape of the feature using the calculation result by the solar position calculation means and the feature information acquired by the feature information acquisition means;
The vehicle information recognition device according to claim 1, comprising: A vehicle direction information acquisition means for acquiring the vehicle direction information is provided,
The feature shadow calculation means calculates the theoretical shadow position and shape of the feature on absolute coordinates fixed on the earth side based on the date and time information and the feature information;
The own vehicle information recognizing means determines the position and orientation of the imaging device determined based on the position indicated by the own vehicle position information and the orientation indicated by the own vehicle direction information based on the recognition result by the shadow image recognizing means. Shadow image calculation means for calculating the position and shape of the shadow of the feature on the absolute coordinates when the imaging position and the imaging direction are set, respectively, and the calculation result by the feature shadow calculation means and the shadow image calculation means Comparing the calculation result to calculate one or both of the position error of the vehicle position information and the direction error of the vehicle direction information, correcting the vehicle position information based on the position error, and correcting the direction error The vehicle information recognition device according to claim 1 or 2, wherein the vehicle direction information is corrected based on the vehicle position to recognize one or both of the vehicle position and the vehicle direction. The image information acquisition means captures a plurality of image information captured by the imaging device at a predetermined time interval,
The vehicle information recognizing unit analyzes the movement state of the image of the shadow of the same feature included in the plurality of pieces of image information over time based on the recognition result by the shadow image recognizing unit. 4. The vehicle according to claim 1, further comprising a movement direction calculation unit that calculates at least a change direction of the vehicle direction based on the vehicle direction, and recognizes the vehicle direction based on a calculation result of the movement direction calculation unit. Self-vehicle information recognition device. The own vehicle information recognition device according to any one of claims 1 to 4, a map information storage unit storing map information, and a vehicle mark superimposed on a map acquired from the map information storage unit. Display means for displaying,
A navigation device that displays the vehicle mark superimposed on the map based on one or both of the vehicle position and the vehicle direction recognized by the vehicle information recognition device. The host vehicle information recognition device according to any one of claims 1 to 4, a map information storage unit that stores map information, and a route guidance unit that performs route guidance according to a predetermined guidance route,
A navigation device that performs the route guidance based on map information acquired from the map information storage means and one or both of a vehicle position and a vehicle direction recognized by the vehicle information recognition device. The vehicle information recognition device according to any one of claims 1 to 4, and a map information storage unit that stores map information,
A vehicle control device that performs vehicle travel control based on map information acquired from the map information storage means and one or both of a vehicle position and a vehicle direction recognized by the vehicle information recognition device. An image information acquisition step for capturing image information captured by an imaging device mounted on the host vehicle;
Own vehicle position information acquisition step for acquiring own vehicle position information;
A feature shadow calculation step for calculating the position and shape of the shadow of the feature using the date and time information and the feature information stored in the feature information storage means;
A shadow image recognition step for recognizing a shadow image of a feature included in the image information;
A vehicle information recognition step for recognizing one or both of the vehicle position and the vehicle direction based on the calculation result of the feature shadow calculation step for the same feature and the recognition result of the shadow image recognition step;
A vehicle information recognition method comprising:

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