JP2004064441A - Onboard image processor and ambient monitor system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an on-vehicle image processor capable of correctly generating and displaying a bird's eye view image regardless of the mounting error of a camera on a vehicle. <P>SOLUTION: The data of an image including a portion of a vehicle and a road surface photographed by a camera mounted on a vehicle are converted into the data of a bird's eye view image, and the bird's eye view image is displayed on a monitor in the vehicle. This on-vehicle image processor is provided with a means (S4) for detecting the position of a portion of the vehicle on the image photographed by the camera, a calculating means (S6) for calculating an angle made by the camera and the road surface based on the detected position, a means (S8) for preparing a conversion table for converting the position on the image photographed by the camera into the position on the bird's eye view image based on the angle detected by the calculating means (S6), and a means (S10) for storing the prepared conversion table. Then, the bird's eye view image is displayed on the monitor based on the data converted by the stored conversion table. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides an in-vehicle image processing apparatus for converting data of an image including a road surface captured by a camera attached to a vehicle into data of an overhead view image using a conversion table, and displaying the overhead view image on a monitor in the vehicle. The present invention relates to an improvement in an ambient monitoring system.
[0002]
[Prior art]
2. Description of the Related Art Recently, a peripheral monitor of a vehicle that provides a driver with a rear image when entering a garage or the like has been put to practical use. Such a surrounding monitor system includes an in-vehicle image processing device that converts an image captured by the back camera into an image (bird's-eye view, bird's-eye view) and displays the image captured by the back camera in order to more easily perform a garage entry operation or the like. The system is considered.
[0003]
In a system including such an in-vehicle image processing apparatus, an image captured by a back camera as shown in FIG. 3A is converted into a bird's-eye view image as shown in FIG. 3B and displayed on a monitor. When converting the image captured by the back camera into an overhead image, the pixel position of the image captured by the camera on the monitor is (x, y), the pixel position of the overhead image on the monitor is (X, Y), Let F be the focal length of the camera, H be the distance of the back camera from the road surface, and θ be the angle formed by the back camera and the road surface.
y = (Y sin θ−H cos θ) F / (Y cos θ + H sin θ) (1)
x = FX / (Ycosθ + Hsinθ) (2)
[0004]
[Problems to be solved by the invention]
In the above-described conversion formulas (1) and (2), the focal length F and the distance H do not greatly differ from the design values at the time of actual mounting, because they are easily adjusted. However, the angle θ differs from the design value by only about 0.1 degree, and has a great effect. In addition, the camera is mounted on the production line of the vehicle at a mounting angle within an error range of about 0.1 degree for each vehicle. There is a problem that is difficult.
[0005]
Further, as shown in FIG. 9B, when the vehicle pitches due to acceleration or deceleration or the like, the angle between the road surface and the camera changes with the change in the pitching angle. In the conversion table created in the stationary state (the pitch angle is 0) as shown in (1), there is a problem that it is difficult to generate an overhead image correctly.
There is also a problem that it is difficult to turn left and right while moving backward even if the overhead view image of the rear of the vehicle is correctly displayed on the monitor.
[0006]
The present invention has been made in view of the above circumstances, and in the first to fourth inventions, an in-vehicle vehicle capable of correctly generating a bird's-eye view image and displaying it on a monitor regardless of a mounting error of the camera to the vehicle. It is an object to provide an image processing device.
A fifth aspect of the present invention is to provide an in-vehicle image processing apparatus capable of correctly generating a bird's-eye view image and displaying the image on a monitor even when the vehicle shakes due to acceleration or deceleration.
It is an object of the sixth invention to provide an in-vehicle image processing apparatus in which a bird's-eye view image of the rear of a vehicle is correctly displayed on a monitor, and it is easy to turn left and right while moving backward.
[0007]
According to the seventh invention, an overhead view image can be correctly generated and displayed on a monitor, and an image captured by an omnidirectional camera attached to the vehicle can be converted into a panoramic image and displayed on the monitor. It is an object to provide an image processing device.
An eighth object of the present invention is to provide an in-vehicle image processing apparatus capable of correctly generating a bird's-eye view image and displaying it on a monitor, and capable of performing enlargement / reduction processing and graphic mask processing.
In a ninth aspect, an object is to provide a surroundings monitoring system including the vehicle-mounted image processing device according to the first to eighth aspects.
[0008]
[Means for Solving the Problems]
An in-vehicle image processing apparatus according to a first aspect of the present invention converts data of an image including a part of a vehicle and a road surface photographed by a camera attached to the vehicle into data of an overhead image, and converts the overhead image in the vehicle. A detecting means for detecting a position of a part of the vehicle on the image, and calculating an angle formed by the camera and a road surface based on the position detected by the detecting means. A conversion unit for converting a position on the image into a position on the overhead view image based on the angle calculated by the calculation unit; and storing the conversion table generated by the unit. Storage means, and an overhead view image is displayed on the monitor based on the data converted by the conversion table stored in the storage means.
[0009]
In this in-vehicle image processing device, data of an image including a part of the vehicle and a road surface photographed by a camera attached to the vehicle is converted into data of an overhead image, and the overhead image is displayed on a monitor in the vehicle. The detecting means detects a position of a part of the vehicle on the image, and the calculating means calculates an angle formed by the camera and the road surface based on the position detected by the detecting means. The creating unit creates a conversion table for converting a position on an image including a part of the vehicle and a road surface captured by the camera into a position on the overhead view image based on the angle calculated by the calculating unit. The storage unit stores the created conversion table, and displays a bird's-eye view image on a monitor based on the data converted by the conversion table stored in the storage unit.
Accordingly, it is possible to realize an in-vehicle image processing apparatus that can correctly generate an overhead view image and display the image on a monitor regardless of a mounting error of the camera to the vehicle.
[0010]
In the vehicle-mounted image processing apparatus according to a second aspect of the present invention, a part of the vehicle is a bumper, and the detecting means detects, as a position of the bumper, an edge point at which luminance between the bumper and a road surface greatly changes. It is characterized by having.
[0011]
In this in-vehicle image processing device, a part of the vehicle is a bumper, and the detecting means detects an edge point at which the luminance between the bumper and the road surface greatly changes as a position of the bumper. Regardless, an in-vehicle image processing apparatus that can correctly generate an overhead image and display it on a monitor can be realized.
[0012]
The in-vehicle image processing device according to a third aspect of the invention converts data of an image including a road surface captured by a camera attached to the vehicle into data of an overhead image, and displays the overhead image on a monitor in the vehicle. Detecting means for detecting a position of a straight line drawn on a road surface on the image when the vehicle stops at a predetermined position, and the camera based on the position detected by the detecting means. Calculating means for calculating an angle formed by the road surface, and a means for creating a conversion table for converting a position on the image to a position on the overhead view image based on the angle calculated by the calculating means, Storage means for storing the created conversion table, wherein an overhead image is displayed on the monitor based on data converted by the conversion table stored in the storage means. And it features.
[0013]
In this in-vehicle image processing apparatus, data of an image including a road surface captured by a camera mounted on a vehicle is converted into data of an overhead image, and the overhead image is displayed on a monitor in the vehicle. When the vehicle stops at a predetermined position, the detecting means detects the position of a straight line drawn on the road surface on the image taken by the camera, and the calculating means detects the position of the camera and the camera based on the position detected by the detecting means. Calculate the angle formed by the road surface. The creating unit creates a conversion table for converting a position on the image captured by the camera into a position on the overhead view image based on the angle calculated by the calculating unit. The storage means stores the conversion table created by the creation means, and displays a bird's-eye view image on a monitor based on the data converted by the conversion table stored in the storage means.
Accordingly, it is possible to realize an in-vehicle image processing apparatus that can correctly generate an overhead view image and display the image on a monitor regardless of a mounting error of the camera to the vehicle.
[0014]
A vehicle-mounted image processing apparatus according to a fourth aspect is characterized in that the detecting means detects, as the position of the straight line, an edge point at which the luminance between the straight line and the road surface greatly changes.
[0015]
In this in-vehicle image processing apparatus, the detecting means detects an edge point at which the luminance between the straight line and the road surface greatly changes as the position of the straight line, so that the overhead image is correctly generated regardless of the mounting error of the camera to the vehicle. An in-vehicle image processing device capable of displaying on a monitor can be realized.
[0016]
An in-vehicle image processing apparatus according to a fifth aspect of the present invention provides a bird's-eye view of a conversion table for converting data of an image including a road surface captured by a camera mounted on a vehicle from a position on the image to a position on a bird's-eye image. An in-vehicle image processing device for converting the image into image data and displaying the bird's-eye view image on a monitor in the vehicle, an acquisition unit for acquiring a pitch angle of the vehicle, and a pitch to be acquired by the acquisition unit. Storage means for storing a plurality of the conversion tables respectively corresponding to angles, and means for selecting from the conversion tables stored in the storage means in accordance with the pitch angle acquired by the acquisition means, wherein the means selects A bird's-eye view image is displayed on the monitor based on the data converted by the conversion table.
[0017]
In this in-vehicle image processing apparatus, data of an image including a road surface photographed by a camera mounted on a vehicle is converted into data of an overhead image by a conversion table for converting a position on the image to a position on the overhead image. Process and display the overhead image on the monitor in the vehicle. The obtaining means obtains the pitch angle of the vehicle, and the storage means stores a plurality of conversion tables respectively corresponding to the pitch angles to be obtained by the obtaining means. The selecting means selects from the conversion table stored in the storage means in accordance with the pitch angle obtained by the obtaining means, and displays the bird's-eye view image on the monitor based on the data converted by the conversion table selected by the selecting means. I do.
This makes it possible to realize an in-vehicle image processing apparatus that can correctly generate a bird's-eye view image and display the image on a monitor even when the vehicle shakes due to acceleration or deceleration.
[0018]
An in-vehicle image processing apparatus according to a sixth aspect of the present invention includes a means for acquiring a steering angle of the vehicle, and a guide line for indicating a position at which an end or a wheel of the vehicle should move backward when the steering angle is acquired by the means. Means for calculating a position on the overhead view image, and means for adding the guide line to the position on the overhead view image calculated by the means.
[0019]
In this in-vehicle image processing apparatus, the obtaining means obtains the steering angle of the vehicle, and the calculating means obtains the guide line which indicates the position at which the end of the vehicle or the wheel should be moved backward at the obtained steering angle. The means for calculating and adding the position on the overhead image adds a guide line to the calculated position on the overhead image.
Accordingly, it is possible to realize an in-vehicle image processing apparatus in which the overhead view image of the rear of the vehicle is correctly displayed on the monitor and the vehicle can easily turn left and right while moving backward.
[0020]
The in-vehicle image processing apparatus according to a seventh aspect, wherein the storage unit further stores a conversion table for converting data of an image captured by an omnidirectional camera attached to the vehicle into data of a panoramic image. A panoramic image is displayed on the monitor based on the data converted by the conversion table.
[0021]
In this in-vehicle image processing apparatus, the storage unit further stores a conversion table for converting data of an image captured by an omnidirectional camera attached to the vehicle into data of a panoramic image, and performs a conversion process based on the conversion table. A panoramic image is displayed on the monitor based on the data thus obtained.
This enables in-vehicle image processing to correctly generate a bird's-eye view image and display the image on a monitor, and convert an image captured by an omnidirectional camera attached to the vehicle into a panoramic image and display the image on a monitor. The device can be realized.
[0022]
An in-vehicle image processing apparatus according to an eighth aspect of the present invention is the vehicle-mounted image processing apparatus, wherein the storage means includes: a conversion table for performing enlarged image processing of image data to be displayed on the monitor; a conversion table for performing reduced image processing of the image data; One or more conversion tables for performing graphic mask processing on the image data are further stored, and displayed on the monitor based on the data converted by the conversion table stored in the storage unit. And
[0023]
In this in-vehicle image processing device, the storage means includes a conversion table for performing an enlarged image processing of the image data to be displayed on the monitor, a conversion table for performing a reduced image processing of the image data, and graphically displaying the image data. One or more conversion tables for mask processing are further stored, and displayed on a monitor based on data converted by the conversion table stored in the storage means.
As a result, an overhead image processing apparatus can be correctly generated and displayed on a monitor, and an in-vehicle image processing apparatus capable of performing enlargement / reduction processing and graphic mask processing can be realized.
[0024]
The surroundings monitoring system according to a ninth aspect of the present invention is configured to convert data of an image including a camera attached to a vehicle and a road surface taken by the camera into data of a bird's-eye view image. And a monitor for displaying a bird's-eye view image based on the data converted by the vehicle-mounted image processing apparatus.
[0025]
In this surroundings monitoring system, a camera is mounted on a vehicle, and the in-vehicle image processing apparatus according to any one of claims 1 to 8 converts data of an image including a road surface captured by the camera into data of an overhead image. To process. The monitor displays a bird's-eye view image based on the data converted by the vehicle-mounted image processing apparatus.
This makes it possible to realize a surroundings monitoring system including the in-vehicle image processing device according to the first to eighth inventions.
[0026]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the present invention will be described with reference to the drawings showing the embodiments.
FIG. 1 is a block diagram showing a configuration of an embodiment of an in-vehicle image processing device and a surrounding monitor system according to the present invention. The in-vehicle image processing apparatus and the surrounding monitor system are installed in the vehicle, and a back camera 3 that captures an image behind the vehicle on an information LAN 7 (Local Area Network), and a blind that captures an image in a blind spot direction of the vehicle. A corner camera 5, a left rear monitoring camera 6 for photographing an image in the left rear direction of the vehicle, an omnidirectional camera 6a for photographing the periphery of the vehicle, and an image processing ECU 2 (Electronic Control Unit) which is an in-vehicle image processing device are connected. I have.
[0027]
The information LAN 7 is a communication line that conforms to a communication standard such as IEEE (Institute of Electrical and Electronic Engineers) 1394, which is a high-speed serial bus interface, and includes a back camera 3, a blind corner camera 5, a left rear monitoring camera 6, and an omnidirectional camera. The video data of the camera 6a is transmitted uncompressed or compressed in a highly real-time compression format such as DV (Digital Video) compression. In the case of transmission without compression, the IIDC Digital Camera Specification Ver. It is transmitted according to a protocol such as 1.30, and in the case of DV compression, it is transmitted according to a protocol such as IEC61883.
[0028]
The information LAN 7 is also connected to the body LAN 8 via the gateway 4. The body LAN 8 includes a pitch angle sensor 9 for detecting the pitch angle of the vehicle, and a steering angle of the steering wheel (handle). Is connected to an operating device 8a including a touch panel, a switch, and the like.
The monitor 1 installed in the driver's seat of the vehicle is connected to the image processing ECU 2, and each image (image) of the back camera 3, the blind corner camera 5, the left rear monitoring camera 6, and the panoramic image (image) ) Is selected from the monitor 1 and displayed on the monitor 1. The image processing ECU 2 switches the camera video stream (the back camera 3, the omnidirectional camera 6a, etc.) and the conversion table based on a trigger signal from the operation device 8a.
[0029]
FIG. 2 is a block diagram illustrating a configuration example of the image processing ECU 2. In the image processing ECU 2, a microcomputer 15, a communication interface 11, a frame memory 12, a conversion table memory 13 (means for storing), and a monitor interface 14 are connected to an image processing ASIC 18 (Application Specific Integrated Circuit). The information interface LAN 7 is connected to the communication interface 11, the monitor 1 is connected to the monitor interface 14, and the RAM 16 and the ROM 17 are connected to the microcomputer 15.
In the case of using DV compression when transmitting video, it is necessary to provide a DV decoder in the communication interface or the image processing ASIC. In the case of using other types of compression, a decoder corresponding to the format is required. It is necessary to have.
[0030]
The image processing ASIC 18 stores the data of the images captured by the cameras 3, 5, 6, and 6a in the frame memory 12 for each frame, and outputs the data to the monitor 1 for display. Among these, the data of the image as shown in FIG. 3A taken by the back camera 3 is obtained by referring to the conversion table in the conversion table memory 13 and referring to the image of the overhead view image as shown in FIG. The data is converted into data and output to the monitor 1 for display.
When converting the image captured by the back camera 3 into an overhead image, the image processing ASIC 18 determines the pixel position of the image captured by the back camera 3 on the monitor 1 by (x, y), and Assuming that the pixel position is (X, Y), the focal length of the back camera 3 is F, the distance of the back camera 3 from the road surface is H, and the angle between the back camera 3 and the road surface (mounting angle) is θ, for example, Is converted by
[0031]
y = (Y sin θ−H cos θ) F / (Y cos θ + H sin θ) (1)
x = FX / (Ycosθ + Hsinθ) (2)
When the back camera 3 is mounted on a mass production line of a vehicle, a mounting error of about 0.1 degrees or more may occur in the angle θ between the back camera 3 and the road surface. Since this mounting error has a great effect on the bird's-eye view image, the mounting angle θ is calculated by image recognition after mounting the back camera 3 on the vehicle, and based on the calculated mounting angle θ, the microcomputer 15 calculates (1) ( 2) A conversion table is created by calculating the expression. The created conversion table is associated with (x, y) and (X, Y), and is stored in the conversion table memory 13.
[0032]
The frame memory 12 is a high-speed accessible RAM such as an SRAM (Static Random Access Memory) and an SDRAM (Synchronous Dynamic RAM). The conversion table memory 13 is a repeatedly rewritable ROM such as a flash electric flash (erasable and programmable read only memory) or an EEPROM. However, some of these ROMs are difficult to read out in real time from the viewpoint of access speed. Therefore, once the selected conversion table is once read into a high-speed RAM (SRAM, SDRAM), a camera image is read. The conversion table data may be read out in real time according to the input, and may have a double structure of a ROM and a RAM.
[0033]
As described above, the conversion table in the conversion table memory 13 is created by the microcomputer 15 and is used in advance to perform a conversion table for performing overhead image processing on image data, a conversion table for performing enlarged image processing on image data, Various patterns, such as a conversion table for performing reduced image processing of data, are prepared. In addition, a conversion table for performing graphic mask processing on image data and a conversion table for converting data of an image captured by the omnidirectional camera 6a into data of a panoramic image are prepared.
[0034]
As a result, the bird's-eye view image can be correctly displayed on the monitor 1, and the image subjected to the enlargement / reduction processing, the image subjected to the graphic mask processing, the panorama image, and the like can be displayed on the monitor 1.
[0035]
Hereinafter, the operation of the vehicle-mounted image processing apparatus and the surrounding monitor system having such a configuration will be described with reference to the flowcharts of FIGS.
After the back camera 3 of the surrounding monitor system is attached to the vehicle, the image processing ECU 2 serving as an in-vehicle image processing device creates a conversion table for converting an image captured by the back camera 3 into a bird's-eye view image. FIG. 4 is a flowchart showing the operation of creating this conversion table.
When creating the conversion table, the image processing ECU 2 first reads data of an image captured by the back camera 3 (S2), and detects the position of a vehicle bumper (part of the vehicle) on the image (S4). .
[0036]
When detecting the position of the bumper (S4), the image processing ECU 2 searches for a luminance difference value (edge point) exceeding a threshold from below the image (screen), as shown in FIG. 5, and finds it from each edge point. The position of the bumper 21 on the image is detected based on the curve.
Next, the image processing ECU 2 calculates the mounting angle θ based on a table that has been created in advance and indicates the correspondence between the position of the bumper 21 on the image and the mounting angle θ of the back camera 3 (S6).
[0037]
Next, the image processing ECU 2 creates a conversion table by calculating the equations (1) and (2) using the calculated mounting angle θ (S6) (S8), and uses the created conversion table for the conversion table. It is stored in the memory 13 (S10) and the process returns.
After storing the created conversion table in the conversion table memory 13, the image processing ECU 2 converts the data of the image captured by the back camera 3 into an overhead image while referring to the conversion table in the conversion table memory 13. And outputs the image data to the monitor 1 for display.
[0038]
FIG. 6 shows another operation in which the image processing ECU 2 creates a conversion table for converting an image taken by the back camera 3 into a bird's-eye view image after the back camera 3 of the surrounding monitor system is attached to the vehicle. It is a flowchart.
In this case, as shown in FIG. 7A, the vehicle 20 is positioned at a predetermined position in a space for creating a conversion table, in which two reference lines 19 (straight lines) are drawn in parallel according to the width of the vehicle 20. Let it stop.
When creating the conversion table, the image processing ECU 2 first reads the data of the image captured by the back camera 3 (S12), and detects the positions of the two reference lines 19 on the image (S14).
[0039]
When the image processing ECU 2 detects the positions of the two reference lines 19 (S14), as shown in FIG. 7B, the brightness difference value exceeding the threshold value from the center of the image (screen) to the left and right is obtained as shown in FIG. Edge points) are searched, and the positions of the two reference lines 19 on the image are detected by interpolating between the found edge points.
Next, the image processing ECU 2 calculates the mounting angle θ based on mapping data indicating the correspondence between the tilt angles of the left and right reference lines 19 on the image and the mounting angle θ of the back camera 3 created in advance. (S16).
[0040]
Next, the image processing ECU 2 creates a conversion table by calculating the expressions (1) and (2) using the calculated mounting angle θ (S16) (S18), and uses the created conversion table for the conversion table. It is stored in the memory 13 (S20) and the process returns.
After storing the created conversion table in the conversion table memory 13, the image processing ECU 2 converts the data of the image captured by the back camera 3 into an overhead image while referring to the conversion table in the conversion table memory 13. And outputs the image data to the monitor 1 for display.
[0041]
FIG. 8 is a flowchart illustrating an operation of processing data of an image captured by the back camera 3 after the created conversion table is stored in the conversion table memory 13.
As shown in FIG. 9B, when the vehicle 20 pitches due to acceleration or deceleration or the like, the angle between the road surface and the back camera 3 changes with the change in the pitch angle. Therefore, the microcomputer 15 creates a plurality of conversion tables corresponding to pitch angles different by a few degrees from the reference mounting angle θ of the back camera 3 in the state shown in FIG. Is stored in the storage memory 13. Then, a conversion table corresponding to the pitch angle of the vehicle 20 detected by the pitch angle sensor 9 is selected, and while referring to the selected conversion table, the data of the image captured by the back camera 3 is converted to the image data of the overhead view image. And output it to the monitor 1 for display.
[0042]
The image processing ECU 2 first reads data of an image captured by the back camera 3 (S22), and then acquires the pitch angle of the vehicle 20 detected by the pitch angle sensor 9 (S24).
Next, the image processing ECU 2 selects a conversion table corresponding to the acquired pitch angle (S24) (S26), and refers to the selected conversion table to convert the data of the image captured by the back camera 3 into an overhead image. (S28).
[0043]
Next, the image processing ECU 2 obtains the steering angle of the vehicle 20 detected by the steering angle sensor 10 (S30), and indicates the position at which the end of the vehicle 20 or the wheel should move backward at the obtained steering angle. The position of the guide line on the overhead image is calculated (S32).
Next, the image processing ECU 2 displays the bird's-eye view image based on the converted image data (S28) on the monitor 1 (S34), and updates the calculated image data at the calculated position (S32) with graphic data, as shown in FIG. As shown in (5), the guide line 22 is added to the bird's-eye view image (S36), and the process returns.
In the present embodiment, the configuration of the image processing device alone is described. However, a configuration in which the function of the image processing ECU is woven into the display or a configuration in which the function of the image processing ECU is woven into the gateway device may be adopted.
[0044]
【The invention's effect】
According to the in-vehicle image processing apparatus according to the first to fourth inventions, it is possible to realize an in-vehicle image processing apparatus that can correctly generate a bird's-eye view image and display it on a monitor regardless of a mounting error of the camera to the vehicle.
[0045]
According to the in-vehicle image processing apparatus according to the fifth aspect of the present invention, it is possible to realize an in-vehicle image processing apparatus that can correctly generate a bird's-eye view image and display it on a monitor even when the vehicle shakes due to acceleration or deceleration. .
[0046]
According to the in-vehicle image processing device according to the sixth aspect, it is possible to realize an in-vehicle image processing device in which a bird's-eye view image behind the vehicle is correctly displayed on the monitor, and the vehicle can easily turn left and right while moving backward.
[0047]
According to the in-vehicle image processing apparatus according to the seventh aspect, the bird's-eye view image can be correctly generated and displayed on the monitor, and the image taken by the omnidirectional camera attached to the vehicle is converted into a panoramic image to be monitored. , An in-vehicle image processing apparatus capable of displaying the information on the vehicle.
[0048]
According to the in-vehicle image processing apparatus according to the eighth aspect, an in-vehicle image processing apparatus capable of correctly generating a bird's-eye view image and displaying the same on a monitor and capable of performing enlargement / reduction processing and graphic mask processing can be realized.
[0049]
According to the surroundings monitoring system according to the ninth aspect, a surroundings monitoring system including the in-vehicle image processing device according to the first to eighth aspects can be realized.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of an in-vehicle image processing apparatus and a surrounding monitor system according to the present invention.
FIG. 2 is a block diagram illustrating a configuration example of an image processing ECU.
FIG. 3 is an explanatory diagram showing an operation of an image processing ECU.
FIG. 4 is a flowchart showing an operation of the image processing ECU for creating a conversion table.
FIG. 5 is an explanatory diagram illustrating an operation of an image processing ECU.
FIG. 6 is a flowchart showing another operation of the image processing ECU for creating a conversion table.
FIG. 7 is an explanatory diagram showing an operation of the image processing ECU.
FIG. 8 is a flowchart illustrating an operation of the image processing ECU for processing data of an image captured by a back camera.
FIG. 9 is an explanatory diagram showing the operation of the image processing ECU.
FIG. 10 is an explanatory diagram showing the operation of the image processing ECU.
[Explanation of symbols]
1 monitor
2 Image processing ECU (in-vehicle image processing device)
3 back camera (camera)
5 Blind corner camera
6 Left rear surveillance camera
6a Omnidirectional camera
8a Operating device
9 Pitch angle sensor
10 Steering angle sensor
12 frame memory
13 Conversion table memory (means for storing)
15 Microcomputer
18 Image Processing ASIC
19 Reference line (straight line)
20 vehicles
21 Bumper (part of vehicle)
22 Guide line

Claims (9)

An in-vehicle image processing device for converting data of an image including a part of a vehicle and a road surface captured by a camera attached to the vehicle into data of an overhead image, and displaying the overhead image on a monitor in the vehicle. At
Detecting means for detecting a position of a part of the vehicle on the image; calculating means for calculating an angle formed by the camera and a road surface based on the position detected by the detecting means; Means for creating a conversion table for converting to a position on the image based on the angle calculated by the calculation means; and storage means for storing the conversion table created by the means. An in-vehicle image processing apparatus characterized in that an overhead image is displayed on the monitor based on data converted by a table. 2. The in-vehicle image processing apparatus according to claim 1, wherein a part of the vehicle is a bumper, and the detecting unit detects, as a position of the bumper, an edge point at which luminance between the bumper and a road surface greatly changes. . In an in-vehicle image processing device for converting data of an image including a road surface captured by a camera attached to a vehicle into data of an overhead image, and displaying the overhead image on a monitor in the vehicle,
Detecting means for detecting a position of a straight line drawn on the road surface on the image when the vehicle stops at a predetermined position; and calculating an angle formed by the camera and the road surface based on the position detected by the detecting means. Calculating means, means for creating a conversion table for converting a position on the image to a position on the overhead view image based on the angle calculated by the calculating means, and storage for storing the conversion table created by the means Means for displaying an overhead image on the monitor based on data converted by a conversion table stored in the storage means. 4. The in-vehicle image processing apparatus according to claim 3, wherein the detection unit detects, as a position of the straight line, an edge point at which luminance between the straight line and a road surface greatly changes. Data of an image including a road surface photographed by a camera attached to the vehicle is converted into data of an overhead image by a conversion table for converting a position on the image to a position on the overhead image, and the overhead image is converted. In a vehicle-mounted image processing device for displaying on a monitor in the vehicle,
Acquisition means for acquiring the pitch angle of the vehicle, storage means for storing a plurality of the conversion tables respectively corresponding to the pitch angles to be acquired by the acquisition means, and according to the pitch angle acquired by the acquisition means. Means for selecting from a conversion table stored in the storage means, and displaying an overhead view image on the monitor based on data converted by the conversion table selected by the means. In-vehicle image processing device. Means for obtaining the steering angle of the vehicle, and calculating the position on the overhead view image of a guide line indicating the position at which the end of the vehicle or the wheel should move backward when the steering angle is obtained by the means. The in-vehicle image processing apparatus according to claim 1, further comprising: a unit; and a unit configured to add the guide line to a position on the overhead view image calculated by the unit. The storage means further stores a conversion table for converting data of an image captured by an omnidirectional camera attached to the vehicle into data of a panoramic image, and performs a panorama based on the data converted by the conversion table. 7. The in-vehicle image processing device according to claim 1, wherein an image is displayed on the monitor. The storage means includes a conversion table for processing image data to be displayed on the monitor in an enlarged image processing, a conversion table for processing reduced image processing of the image data, and a graphic mask processing for processing the image data. 8. The in-vehicle image processing according to claim 1, further comprising storing one or more of the conversion tables and displaying the data on the monitor based on the data converted by the conversion table stored in the storage unit. apparatus. A vehicle mounted image processing apparatus according to any one of claims 1 to 8, wherein the camera mounted on the vehicle, and data of an image including a road surface photographed by the camera is converted into data of an overhead view image. A monitor that displays a bird's-eye view image based on the data converted by the processing device.

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