JP2006295346A - Image processing apparatus and driving supporting device for vehicle using this - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image processing apparatus which can detect an introduced electromagnetic noise. <P>SOLUTION: The image processing apparatus includes an introduced electromagnetic noise detecting means which detects the introduced electromagnetic noise when the noise detection level calculated based on a current value or a voltage value in an optical black region in the image processing apparatus which forms output image data by classifying the predetermined image pick-up region where a plurality of imaging devices are arranged into the optical black region and the picture output region, and correcting the detection level in the image output region on the basis of the detection level in the optical black region. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention divides a predetermined imaging area in which a plurality of imaging elements are arranged into an optical black area and an image output area, and outputs by correcting the detection level in the image output area with reference to the detection level in the optical black area The present invention relates to an image processing device that generates image data and a vehicle driving support device that uses the image processing device.

  Conventionally, this type of image processing apparatus is disclosed in the following publications.

Japanese Patent Laying-Open No. 2004-72422 (Patent Document 1) discloses an imaging system that reduces the amount of noise in response to a dynamic noise factor and obtains a high-quality image. Such an imaging system estimates the amount of noise included in a digitized signal from an imaging device formed by arranging a plurality of pixels for each pixel or for each predetermined unit area composed of a plurality of pixels. Noise estimation means;
And noise reduction means for reducing noise in the signal based on the amount of noise estimated by the noise estimation means. In such an imaging system, factors such as signal level that affects noise, CCD (charge coupled device) temperature, exposure time, and gain at the time of shooting are dynamically acquired, and the noise level on the CCD is obtained by a noise estimation unit. By presuming locally (for example, in units of pixels) and suppressing signal components below this noise level in the video signal by the noise reduction unit, a high-quality image with less noise is obtained while preserving the edges of the image. . At this time, the temperature of the CCD is estimated in the noise estimation unit based on the correlation between the dispersion of the signal in the optical black region and the temperature. Further, the noise estimation unit calculates the signal level as an average value in the local region.

Japanese Patent Laid-Open No. 2000-358170 (Patent Document 2) reproduces a video signal having an accurate direct current component with a small error corresponding to each CCD even if different noise is added to the optical black level of the video signal by a different CCD. Disclosed are a video signal processing apparatus and an endoscope system. Such a video signal processing apparatus is a video signal processing apparatus that processes an imaging signal output from a solid-state imaging device that has captured a subject image, and a timing synchronized with an optical black portion in the imaging signal output from the solid-state imaging device. A timing signal generating means for generating a signal, an average value calculating means for calculating an average value of the signal level of the optical black portion in the imaging signal based on the timing signal generated from the timing signal generating means, and the average value Correction means for correcting the signal level of the image pickup signal based on the average value calculated by the calculation means; and video signal generation means for generating a video signal displayed on the display means based on the image pickup signal processed by the correction means; It is characterized by comprising.
Japanese Patent Laid-Open No. 2004-72422 JP 2000-358170 A

  Internal factor noise such as thermal noise and individual differences can be removed based on the detection value of the optical black area as in the above-described conventional technology. However, in the above-described conventional technology, noise other than the internal factor noise is eliminated. That is, since no external electromagnetic noise is assumed, if such external electromagnetic noise exists, the image quality may be deteriorated due to insufficient noise removal or excessive noise removal.

  The present invention has been made to solve such a problem, and an object of the present invention is to respond to an image processing apparatus capable of detecting external electromagnetic noise and a detection result of the external electromagnetic noise by the image processing apparatus. It is another object of the present invention to provide a vehicle driving support device that can perform appropriate measures.

  An image processing apparatus according to the present invention divides a predetermined imaging area in which a plurality of imaging elements are arranged into an optical black area and an image output area, and corrects a detection level in the image output area based on a detection level in the optical black area Thus, in the image processing device that generates the output image data, the noise detection level calculated based on the current value or voltage value in the optical black region is larger than the threshold level that is larger than the maximum level of the assumed internal factor noise. In the case where the external electromagnetic noise is too large, an external electromagnetic noise detecting means for detecting the external electromagnetic noise is provided.

  In this image processing apparatus, the imaging device is a charge coupled device, and the noise detection level may be calculated in an optical black region that does not belong to the charge transfer region of the charge coupled device. In the image processing apparatus, the imaging device is a charge coupled device that is two-dimensionally arranged and configured to perform charge transfer in a vertical or horizontal direction, and the optical black region is a region around the image output region. Among these, it can be configured to be set in the region on the side orthogonal to the charge transfer direction. Furthermore, in the image processing apparatus, the threshold level is changed according to the temperature of the predetermined imaging region.

  The present invention provides an output image generated by the image processing apparatus in a vehicle driving support apparatus that includes the image processing apparatus as described above and is mounted on a vehicle so that a camera including the imaging element images the outside of the vehicle. When the external electromagnetic noise is detected by the external electromagnetic noise detecting means, the output of the output image data on the display is stopped and the output of the output image data is temporarily caused by the external noise. The vehicle driving support device is characterized by notifying the user that the vehicle has been stopped.

  In this vehicle driving support device, when external electromagnetic noise is detected, a notification that a screen on which the noise is placed due to the external electromagnetic noise is output is notified to the user. it can.

  The present invention further includes an output generated by the image processing apparatus in a vehicle driving support apparatus that includes the image processing apparatus as described above and is mounted on the vehicle so that the camera including the imaging element images the outside of the vehicle. Control means for performing alarm output control or predetermined control that affects the running state of the vehicle using image data, and when the external electromagnetic noise is detected by the external electromagnetic noise detection means, the control means by the control means The vehicle driving support device is characterized by suppressing or prohibiting the use of the output image data.

  As described above, according to the present invention, when the noise detection level calculated based on the current value or voltage value in the optical black region is larger than the threshold level that is larger than the assumed maximum level of internal factor noise, By detecting the external electromagnetic noise, an image processing apparatus that can detect the external electromagnetic noise can be obtained.

  According to the second invention, when the external electromagnetic noise is detected by the external electromagnetic noise detection means, the output image data is not output on the display, so that the detection result of the external electromagnetic noise by the image processing apparatus is obtained. Accordingly, it is possible to obtain a vehicular driving support apparatus that can take appropriate measures accordingly.

  Further, according to the third invention, when the external electromagnetic noise is detected by the external electromagnetic noise detecting means, the use of the output image data by the control means that performs the alarm output control or the predetermined control that affects the running state of the vehicle. By suppressing or prohibiting the vehicle, it is possible to obtain a vehicular driving support device capable of performing appropriate measures according to the detection result of the external electromagnetic noise by the image processing device.

  The best mode for carrying out the present invention will be described with reference to the drawings.

  With reference to FIG. 1, the main part of a system configuration according to an embodiment of an image processing apparatus according to the present invention will be described.

  As shown in FIG. 1, the image processing apparatus according to the present invention is configured in relation to a CCD image sensor or a CMOS image sensor, and includes an imaging unit 20, an image processing circuit 30, and an output signal creation unit 40. Yes.

  The imaging unit 20 is an CCD 3 (or CMOS, hereinafter referred to as a CCD), which is an imaging device that photoelectrically converts an optical subject image formed through a lens and outputs an electrical image signal. Is provided. In the configuration for generating a color image, an appropriate color filter is disposed on the imaging surface of the CCD 3.

  The image processing circuit 30 generates various timing pulses for driving the CCD 3 to drive the CCD 3, a preamplifier 14 that performs a desired gain adjustment on the image pickup signal from the CCD 3, and a preamplifier 14. The CDS 15 that performs correlated double sampling on the imaging signal that has been gain-adjusted in accordance with the above, an A / D converter 16 that converts the signal that has been correlated double sampled by the CDS 15 into a digital signal, and a digital signal that is converted into an analog signal by the A / D converter 16. An optical black correction unit 18 that corrects the resulting video signal with reference to the optical black signal.

  Here, the optical black signal (and the optical black region OB) will be described with reference to FIG.

  In general, as shown in FIG. 2, an imaging area in which a plurality of imaging elements are two-dimensionally arranged is divided into an optical black area OB and a so-called effective pixel area (hereinafter referred to as “image output area”). Is done. In the example shown in FIG. 2, the optical black area OB is formed around the image output area, and the image pickup element in the optical black area OB is indicated by hatched dots, and is within the image output area. This image sensor is indicated by white dots.

  The optical black area OB is an imaging area for indicating “black” configured so that light from the lens does not always reach. For this purpose, the optical black area OB has an imaging element itself. It is configured so that light does not substantially reach. The signal level detected in the optical black area OB is used as a reference level for indicating “black” when generating output image data.

  In the optical black correction unit 18, the level of a signal (hereinafter referred to as “optical black signal”) detected in the optical black area OB from the level of a signal (hereinafter referred to as “effective pixel signal”) detected in the image output area. Correction for subtracting (preferably the average value) is performed. In other words, the optical black correction unit 18 assumes that the level of the optical black signal is a dark current component, and corrects the black level by subtracting this current component from the effective pixel signal.

  The output signal creation unit 40 generates an output signal (information) required by the image utilization system 70 based on the image data output from the image processing circuit 30. The image utilization system 70 may be a rear view assistance system, a lane keeping system, a parking assistance system, an obstacle avoidance system, or the like.

  For example, in the rear view support system, the imaging unit 20 is mounted on the rear part of the vehicle (for example, a back door) so as to capture the rear of the vehicle, functions as a back camera, and the output signal creation unit 40 receives the video from the image processing circuit 30. The signal is converted into a desired RGB signal and subjected to various corrections, and then output to a display provided in the passenger compartment by a digital encoder or the like. Thereby, the user can grasp | ascertain the obstacle condition of the vehicle back at the time of parking by seeing a display (monitor).

  In the lane keeping system, the imaging unit 20 is mounted on a vehicle so as to capture a road, functions as a lane monitoring camera, and the image processing circuit 30 performs the black level correction processing on the video signal as described above. Then, the white line recognition process is performed, and the output signal creation unit 40 transmits the position information of the white line detected by the image processing circuit 30 to the travel control ECU (electronic control unit). In this case, the traveling control ECU determines whether or not the vehicle is traveling while accurately keeping the traveling lane (traveling lane) based on the position information of the white line, and the vehicle is not keeping the traveling lane. In the case of alarm output.

  Similarly, in the obstacle avoidance system, the imaging unit 20 is mounted on a vehicle (for example, in the vicinity of a room mirror in the vehicle interior) so as to capture the front of the vehicle, functions as a peripheral monitoring camera, and the image processing circuit 30 is configured as described above. As described above, the obstacle (other vehicle) recognition processing (for example, straight line / curve fitting processing) is performed on the video signal that has been subjected to the black level correction processing. Transmit to the back ECU (electronic control unit). In this case, the airbag ECU is inevitable that the vehicle collides with the obstacle based on the processing result in the image processing circuit 30 (for example, the distance information of the obstacle calculated based on the principle of triangulation and the relative speed information based thereon). When it is determined whether or not there is an obstacle and collision is unavoidable, an occupant protection device such as a seat belt pretensioner is operated.

  Similarly, in the parking assistance system, the imaging unit 20 is mounted on the vehicle so as to capture the rear of the vehicle, functions as a rear monitoring camera, and the image processing circuit 30 is a video signal that has been subjected to the black level correction processing as described above. Then, white line recognition processing and obstacle (other vehicle) recognition processing are performed, and the output signal creation unit 40 transmits the processing result in the image processing circuit 30 to the parking assist ECU (electronic control unit). The parking assist ECU determines, for example, the target parking position based on the processing result in the image processing circuit 30 (for example, the white line or the relative distance information of the obstacle calculated based on the principle of triangulation) Calculate the approach distance with obstacles.

  As described above, in the present embodiment, various types of information captured via the imaging unit 20 are effectively used in the image utilization system 70 as described above.

  Incidentally, since the image processing system as shown in FIG. 1 is mounted on a vehicle, there is a problem that it is easily affected by external electromagnetic noise. The external electromagnetic noise is noise that arrives as an electromagnetic wave from the outside with respect to a housing incorporating the imaging unit 20, the image processing circuit 30, and the output signal creation unit 40, for example. An example is noise that jumps in temporarily when passing through. Such external electromagnetic noise is internal factor noise (for example, a signal or electromagnetic wave that is emitted to the outside by the imaging unit 20 or the image processing circuit 30 itself, and radiates as an electromagnetic wave simultaneously with a signal line such as a bus. Like external noise, external electromagnetic noise is different from internal factor noise, its detection method is not known, and, unlike internal factor noise, It is difficult or impossible to properly correct or remove the image processing circuit 30.

  FIG. 3A shows an image when there is no external electromagnetic noise, and FIG. 3B is a diagram showing an image when there is external electromagnetic noise. For example, when an image with extraneous electromagnetic noise is displayed on a display viewed by the user, the image on the display is inappropriate as an image for “showing” to the user as shown in FIG. It will be a thing. In addition, when an image with such external electromagnetic noise is used for the detection of the above-described obstacle or the like, the detection accuracy is deteriorated, which may affect the reliability of control.

  Thus, as described in detail below, this embodiment is characterized in that such external electromagnetic noise is appropriately detected and appropriate measures are taken when the external electromagnetic noise is detected.

  FIG. 4 is a flowchart showing an external electromagnetic noise detection processing routine realized by the image processing circuit 30 of this embodiment.

  First, as step 100, the signal level (current or voltage) of the optical black signal is measured. The signal level of the optical black signal can be calculated based on the optical black signal supplied to the optical black correction unit 18 in the image processing circuit 30. At this time, the signal level of the optical black signal may be an average value over a predetermined time. Preferably, the signal level of the optical black signal (and / or its signal level) obtained from the imaging device group in the predetermined area in the optical black area OB is preferable. Average value).

  In particular, when the imaging device is the CCD 3, the predetermined area in the optical black area OB is preferably selected from the optical black area OB that does not belong to the charge transfer area of the CCD 3. This is because, in the charge transfer region of the CCD 3, when a phenomenon called smear occurs, the high luminance is reflected, so that an appropriate signal level cannot be detected. In addition, smear means that when a strong light source such as the sun or bright illumination in the dark is photographed, the CCD 3 is exposed to strong light, and as shown in FIG. This is a phenomenon in which streaks of light occur in the vertical direction. In the case of a vertical transfer CCD, a high-brightness line runs in the vertical direction of the image.

  The optical black area OB not belonging to the charge transfer area of the CCD 3 is, for example, in the two-dimensional array of the CCD 3 in FIG. 2, when the charge transfer direction of the CCD 3 is the vertical direction (vertical direction in the figure), Of these, optical black regions OB1 and OB2 existing on the side (right and left sides in the figure) orthogonal to the charge transfer direction may be used. On the contrary, when the charge transfer of the CCD 3 is in the horizontal direction (left and right direction in the figure), the optical black areas OB3 and OB4 existing on the side (upper and lower side in the figure) perpendicular to the charge transfer direction in the periphery of the image output area. The optical black area OB which does not belong to the charge transfer area of the CCD 3 is formed.

  Returning to FIG. In step 110 following step 100, it is determined whether or not the measured signal level of the optical black signal exceeds a predetermined threshold value Vth. If the signal level of the optical black signal does not exceed the predetermined threshold value Vth, an external signal is obtained. It is determined that there is no electromagnetic noise (step 120). On the other hand, if the signal level of the optical black signal exceeds the predetermined threshold Vth, it is determined that external electromagnetic noise exists (step 130).

  In step 110, the predetermined threshold Vth is set to a value larger than the assumed maximum value of internal factor noise. The predetermined threshold value Vth is determined depending on a range that can be taken by the level of the internal factor noise (accordingly, depending on the circuit configuration of the imaging unit 20 and the image processing circuit 30). Can be set to fit based on For example, it is determined based on a measurement result of a noise level (internal factor noise) generated when the imaging unit 20 or the image processing circuit 30 is actually operated in a test environment in which intrusion of electromagnetic waves from the outside is completely shielded. Is done.

  Here, referring back to FIG. 1, the external electromagnetic noise is represented by the external electromagnetic noise a and the imaging unit for the imaging unit 20 as schematically shown by lightning marks a, b, c, d, and e in FIG. 1. The external electromagnetic noise b for the signal line between 20 and the image processing circuit 30 and the external electromagnetic noise c for the image processing circuit 30 (more precisely, the circuit portion up to the optical black correction unit 18) are mixed in the optical black signal. Will be.

  Therefore, according to the present embodiment, the signal level of the optical black signal is monitored, and when a noise level exceeding the level that can be generated by the internal factor noise is detected, it is determined that the external electromagnetic noise has been detected. Therefore, it is possible to detect external electromagnetic noise with high accuracy. In this embodiment, as described above, the external electromagnetic noise is detected with high accuracy even when smear occurs by monitoring the signal level of the optical black signal in the optical black area OB not belonging to the charge transfer area of the CCD 3. It becomes possible.

  Here, in this embodiment, the predetermined threshold value Vth in step 110 may be changed according to the temperature of the CCD 3 (for example, detected by a temperature sensor set in the imaging region). This is because the range that the internal factor noise can take changes depending on the operating temperature of the CCD 3. In this case, the image processing circuit 30 detects external electromagnetic noise with reference to a given map that defines a predetermined threshold value Vth for the temperature of the CCD 3. As a result, it is possible to realize the separation between the external electromagnetic noise and the internal factor noise with higher accuracy.

  Next, with reference to FIG. 6, some examples of appropriate measures for the case where the external electromagnetic noise is detected as described above will be described.

  FIG. 6 is a flowchart illustrating an example of measures for detecting external electromagnetic noise executed in the rear view assistance system. The processing of the following steps is realized by an ECU that supervises the rear vision support system. Here, the ECU (Electronic Control Unit) is constituted by a microcomputer, for example, a ROM for storing a control program, a readable / writable RAM for storing calculation results, a timer, a counter, an input interface, and an output interface. And the like.

  In step 200, when a shift operation of the shift lever to the R range is detected based on the output signal of the shift position sensor, the image captured by the above-described imaging unit 20 functioning as a back camera is displayed on the display. That is, the process of inputting the video signal supplied from the output signal creation unit 40 to the video signal input unit of the display is started.

  In step 210, it is determined whether or not external electromagnetic noise has been detected. The ECU may determine whether or not the external electromagnetic noise is detected with reference to a flag set by the image processing circuit 30 when the external electromagnetic noise is detected, for example.

  If the external electromagnetic noise is detected in this step 210, the ECU stops the video output on the display (step 220). On the other hand, if no external electromagnetic noise is detected, the ECU continues to output the video on the display (step 230).

  Thereby, it is possible to prevent an inappropriate video with external electromagnetic noise as shown in FIG. 3B from being output and displayed. At this time, the ECU may notify that the image is not temporarily output (the screen visibility is reduced) due to the disturbance of the image due to the external electromagnetic noise. This notification can be implemented by sound output via a microphone or speaker set in the passenger compartment or video output on a display. As a result, it is possible to inform the user of the reason why the video is not output on the display, and it is possible to prevent a fear of malfunction or the like due to the video output being temporarily stopped.

  In the case of temporary external electromagnetic noise, video output (rear view support) on the display is resumed immediately after external electromagnetic noise is no longer detected after the processing of step 220 described above.

  As described above, according to the present embodiment, when external electromagnetic noise is detected, by stopping the output of the video, it is possible to prevent the inappropriate video with the external electromagnetic noise from being shown to the user. be able to.

  In this embodiment, the video output stop process when the external electromagnetic noise is detected is performed only when the video signal from the image processing circuit 30 to the output signal creation unit 40 is detected while the external electromagnetic noise is detected. This may be realized by stopping the supply or by stopping the supply of the video signal from the output signal creation unit 40 to the video signal input unit of the display.

  In addition, when the image processing circuit 30 is configured to detect the generation level of the external electromagnetic noise stepwise, the video output mode on the display is changed stepwise according to the stepwise generation level of the external electromagnetic noise. It is also possible to make it. In this case, only when external electromagnetic noise exceeding the permissible limit for visual recognition is detected, video output is stopped on the display, and the level of external electromagnetic noise is within the permissible limit for visual recognition. If the video does not reach, the user will be alerted when viewing the video while continuing to output the video (for example, “There is a temporary disturbance of the video due to external electromagnetic noise. “Please do” ”.

  Furthermore, when the external electromagnetic noise is detected, the user can be notified that the screen on which the noise is placed due to the external electromagnetic noise is output.

  FIG. 7 is a flowchart showing an example of measures for detecting external electromagnetic noise executed in the lane keeping system.

  In step 300, the image processing circuit 30 starts a process for detecting a traveling lane based on the video imaged by the imaging unit 20 functioning as a lane monitoring camera, and at the same time, the lane keeping control by the ECU is started. The During execution of the lane keep control, the ECU determines whether the vehicle is traveling while maintaining a predetermined traveling lane based on the lane information acquired from the image processing circuit 30 via the output signal creation unit 40. Then, perform alarm output and intervention steering as necessary.

  In step 310, it is determined whether or not external electromagnetic noise has been detected. The ECU may determine whether or not the external electromagnetic noise is detected with reference to a flag set by the image processing circuit 30 when the external electromagnetic noise is detected, for example.

  If external electromagnetic noise is detected in step 310, the ECU stops lane keeping control (step 320). On the other hand, when no external electromagnetic noise is detected, the ECU continues the lane keep control (step 330).

  Accordingly, it is possible to prevent lane keep control from being continued based on lane information with low reliability based on an inappropriate image on which external electromagnetic noise is carried. At this time, the ECU may notify that the lane keep control is temporarily stopped due to the disturbance of the image due to the external electromagnetic noise. This notification can be implemented by sound output via a microphone or speaker set in the passenger compartment or video output on a display. As a result, the user can be informed of the reason why an alarm or the like based on the lane keep control is not output, and it is possible to prevent a fear of a malfunction or the like due to the lane keep control being temporarily stopped.

  In this embodiment, the lane keep control stop process when the external electromagnetic noise is detected is the lane detection from the image processing circuit 30 to the output signal creation unit 40 only while the external electromagnetic noise is detected. This may be realized by stopping the supply of the result or by stopping the supply of the lane detection result from the output signal creation unit 40 to the ECU.

  In this embodiment, when external electromagnetic noise is detected in the current detection cycle, the lane keep control is not immediately stopped, but the external electromagnetic noise is continuously detected in a predetermined number of cycles thereafter. In addition, the lane keep control may be stopped. Accordingly, it is possible to prevent the lane keep control from being frequently stopped and restarted due to instantaneous arrival of external electromagnetic noise on the premise that the safety of traveling is ensured.

  The description regarding the rear vision support system and the other image utilization system 70 of the lane keeping system is omitted, but the lane keeping is also performed when the external electromagnetic noise is detected in the obstacle avoidance system, the parking assistance system, or other systems. The use of information based on inappropriate images carrying external electromagnetic noise can be restricted in the same restricting manner as the system or the rear view support system.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the signal level of the optical black signal is detected by the image processing circuit 30 (more precisely, the optical black correction unit 18) in order to detect external electromagnetic noise without greatly changing the existing circuit configuration. Although monitoring is performed, the present invention is not limited to such a configuration. For example, the optical black signal input to the optical black correction unit 18 may be further branched and supplied to the output signal generation unit 40 by time division multiplexing using the same signal line. As a result, the signal level of the optical black signal can be monitored by the output signal creation unit 40. In this case, in addition to the external electromagnetic noises a, b, and c described above, the image processing circuit 30 and the output signal creation unit 40 It is also possible to detect the external electromagnetic noise d with respect to the signal line between and the external electromagnetic noise e with respect to the output signal creation unit 40 (exactly part thereof).

It is a figure which shows the system configuration | structure by one Example of the image processing apparatus which concerns on this invention. It is a figure which shows the two-dimensional array of an image pick-up element. FIG. 3A shows an image when there is no external electromagnetic noise, and FIG. 3B is a diagram showing an image when there is external electromagnetic noise. It is explanatory drawing of a smear. It is a flowchart which shows the external electromagnetic noise detection processing routine implement | achieved by the image processing circuit 30 of a present Example. It is a flowchart which shows an example of the measure at the time of the external electromagnetic noise detection performed in a back view assistance system. It is a flowchart which shows an example of the measure at the time of the detection of the external electromagnetic noise performed in a lane keeping system.

Explanation of symbols

3 CCD
13 Drive pulse generation circuit 14 Preamplifier 15 CDS
16 A / D converter 18 Optical black correction unit 20 Imaging unit 30 Image processing circuit 40 Output signal creation unit 70 Image utilization system OB Optical black

Claims (7)

By dividing a predetermined imaging area in which a plurality of imaging elements are arranged into an optical black area and an image output area, and correcting the detection level in the image output area based on the detection level in the optical black area, output image data In the image processing device to be generated,
External electromagnetic noise detection that detects external electromagnetic noise when the noise detection level calculated based on the current value or voltage value in the optical black region is greater than a threshold level that is greater than the maximum level of assumed internal factor noise An image processing apparatus comprising: means.   The image processing apparatus according to claim 1, wherein the imaging device is a charge coupled device, and the noise detection level is calculated in an optical black region that does not belong to a charge transfer region of the charge coupled device. The imaging device is a charge coupled device that is two-dimensionally arranged and configured to perform charge transfer in a vertical or horizontal direction,
The image processing apparatus according to claim 2, wherein the optical black region is set to a region on a side orthogonal to the charge transfer direction in a peripheral region of the image output region.   The image processing apparatus according to claim 1, wherein the threshold level is changed according to a temperature of the predetermined imaging region. In the vehicle driving assistance device equipped with the image processing device according to any one of claims 1 to 4 and mounted on the vehicle so that the camera including the imaging element images the outside of the vehicle.
A display for outputting output image data generated by the image processing apparatus;
When the external electromagnetic noise is detected by the external electromagnetic noise detection means, the output image data output on the display is stopped, and a notification that the output image data output has been temporarily stopped due to the external noise is issued. A vehicle driving support apparatus, which is performed for a user.   The vehicle driving support apparatus according to claim 5, wherein, when external electromagnetic noise is detected, the user is notified that a screen on which the noise is placed due to the external electromagnetic noise is output. In the vehicle driving assistance device equipped with the image processing device according to any one of claims 1 to 3, and mounted on the vehicle so that the camera including the imaging element images the outside of the vehicle.
Using output image data generated by the image processing device, comprising control means for performing alarm output control or predetermined control that affects the running state of the vehicle,
A vehicular driving support apparatus that suppresses or prohibits use of the output image data by the control means when external electromagnetic noise is detected by the external electromagnetic noise detection means.

Images