JP2008306496A - Onboard imaging system and device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an onboard imaging system for accurately determining images obtained by the imaging device and displaying a high-visibility image on the display means without providing determination and display imaging devices and also to provide an imaging device constituting this system. <P>SOLUTION: The ECU 3 notifies the imaging device 1 whether to display the image obtained by the imaging device 1 on the display 5. When notified that the image is to be displayed, the imaging device 1 applies image processing such as gain control and edge-enhancement to the image by a signal processing section 11 and sends back the resulting image to the ECU 3. When notified that the image is not to be displayed, the imaging device applies image processing such as conversion from a color image to a monochrome image by the signal processing section 11 and sends back the resulting image to the ECU 3. The ECU 3 displays the gain-controlled and edge-enhanced image on the display 5 and perform various determinations on the color-converted image. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention provides an in-vehicle imaging system capable of performing imaging with an imaging device mounted on a vehicle, performing appropriate image processing on the captured image, and displaying the image on a display unit in the vehicle, and a component of the system. The present invention relates to an imaging apparatus.

  2. Description of the Related Art Conventionally, an in-vehicle imaging system that provides various information to a driver by mounting an imaging device on a vehicle, imaging the outside world of the vehicle, and displaying an image acquired by imaging on a display provided in the vehicle has been put into practical use. Has been. For example, by capturing an image of a blind spot from the driver's seat of a vehicle, a portion that cannot be directly seen by the driver can be displayed on the display, so that an accident can be prevented. The image displayed on the display is often subjected to image processing such as edge enhancement and gain adjustment in order to improve the driver's visibility, and is preferably a color image.

  In addition, the vehicle is equipped with a car navigation device, a television device, and the like, and can display a guidance image or a television program related to running on a display. However, it is rare that a separate display is mounted on the vehicle for each device, and there are many cases where only one display is mounted on the vehicle. Therefore, it is not possible to display all images output from the imaging device, the car navigation device, the television device, and the like on the display, and it is necessary to select any image and display it on the display. Further, in recent years, a plurality of imaging devices are mounted on a vehicle so that a vehicle can be imaged over a wide range, and one or a plurality of images can be selected from a plurality of images obtained by imaging and displayed on a display. Imaging systems have been put into practical use.

  As described above, when one or a plurality of images are selected from a plurality of images and displayed on the display, the driver can select the images by operating a switch or the like. A system for automatically selecting an image to be displayed on a display by making an ECU (Electronic Control Unit) mounted on a vehicle based on the determination has been researched and put into practical use. In this case, for example, whether or not a moving object such as a pedestrian or another vehicle is captured in an image captured by the imaging device, or whether or not a white line indicating a parking lot frame is captured in the image captured by the imaging device Such an image is determined by the ECU, and an image to be displayed is selected. The images used for these determinations are preferably images that have not been subjected to edge enhancement, gain adjustment, or the like, and may be preferably black and white images.

Japanese Patent Application Laid-Open No. 2004-133620 proposes an imaging apparatus that can acquire a frame image having an image quality suitable for display and a frame image suitable for image processing. This imaging device sets an exposure condition so that a video signal having a brightness level for display is obtained for an odd-numbered frame when imaging, and performs imaging under the set exposure condition to capture an image. Output. For even-numbered frames, exposure conditions are set so that a video signal having a brightness level suitable for image processing can be obtained, and an image is output under the set exposure conditions. Accordingly, a frame image suitable for display and a frame image suitable for image processing can be alternately output in time series from one imaging device.
JP 2007-13777 A

  As described above, image processing suitable for displaying an image captured by an imaging device on a display is often different from image processing suitable for an image used for determination, but these image processing are performed by an ECU. It is preferable to use an imaging device to reduce the processing load. By mounting an imaging device that captures an image for display and an imaging device that captures an image for determination on each vehicle, each imaging device can perform optimal image processing. Since the number increases, there is a problem that the cost of the in-vehicle imaging system increases.

  The imaging device described in Patent Document 1 aims to solve this problem. However, since it is necessary to change the exposure conditions between the odd-numbered frames and the even-numbered frames, the processing is complicated, and it is necessary to change the conditions at high speed, which may increase the cost of the imaging apparatus. Further, since only the odd-numbered frames are images for display, there is a problem that the number of images for display is reduced and the image quality of images displayed as moving images on the display is lowered. In order to solve this problem, it is conceivable to increase the number of frames picked up by the image pickup apparatus, but there arises a problem that the cost of the image pickup apparatus increases.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an image picked up by a display control device that displays an image picked up by an image pickup device on display means in a vehicle. By determining whether to display the image and notifying the imaging device, and when the imaging device is notified that the image is displayed from the display control device, the image processing for display is performed and transmitted. An object of the present invention is to provide an in-vehicle imaging system capable of performing image processing suitable for display only when an image captured by an imaging device is displayed.

  Another object of the present invention is a configuration in which when an imaging device is notified that an image is displayed from a display control device, the captured image is subjected to image processing such as edge enhancement and gain adjustment and transmitted. Accordingly, an object of the present invention is to provide an in-vehicle imaging system capable of performing image processing suitable for display and displaying the image on display means.

  Another object of the present invention is to perform image processing for determination when an image pickup device is notified that an image is not displayed from the display control device, and transmit the image to the display control device. Therefore, it is desirable to provide a vehicle-mounted imaging system that can make a determination based on an image that has been subjected to image processing suitable for the determination.

  According to another object of the present invention, when the image pickup apparatus is notified that the image is not displayed from the display control apparatus, the picked-up color image is subjected to image processing for conversion into a black and white image and transmitted. By having the configuration, an object of the present invention is to provide an in-vehicle imaging system that can perform image processing suitable for determination and transmit the image processing from the imaging device to the display control device.

  Another object of the present invention is that when a specific notification is received from another device such as a display control device, an image subjected to image processing for display is transmitted and another notification is received. In such a case, by adopting a configuration for transmitting an image that has undergone image processing for determination, an image that can be transmitted by changing the image processing applied to the image captured in response to a notification given from another device. To provide an apparatus.

  An in-vehicle imaging system according to a first aspect of the present invention is an in-vehicle imaging system comprising: an imaging device mounted on a vehicle; and a display control device that displays an image captured by the imaging device on display means provided in the vehicle. The display control device includes a determination unit that determines whether to display an image captured by the imaging device on the display unit, a notification unit that notifies the imaging device of a determination result of the determination unit, and the imaging device And receiving means for receiving an image transmitted from the display, and the imaging device performs image processing for display on the captured image when notified by the display control device that the image is to be displayed. And a transmission means for transmitting the image subjected to the image processing by the display image processing means to the display control device.

  In the present invention, the in-vehicle imaging system is configured to transmit an image captured by the imaging device to the display control device, and the display control device receives the image and displays it on a display means such as a display. The display control device determines whether to display the image captured by the imaging device on the display unit and notifies the imaging device of the determination result. As a result, the display control apparatus can change the image processing performed by the imaging apparatus. When the image pickup apparatus is notified that an image is to be displayed from the display control apparatus, the image pickup apparatus performs image processing for display on the picked-up image and transmits the image to the display control apparatus. The display control device can receive an image that has been subjected to image processing suitable for display and display the image on the display means. In addition, the display control device can acquire an image that has not been subjected to display image processing that may interfere with the determination when the image captured by the imaging device is not displayed. The presence or absence of a moving object or the presence or absence of a white line can be determined.

  The on-vehicle imaging system according to the second invention is characterized in that the display image processing means performs image processing for edge enhancement and / or gain adjustment on the captured image.

  In the present invention, the image capturing apparatus performs image processing for edge enhancement and / or gain adjustment on the captured image as image processing for display. When displaying an image on a display means, visibility can be improved by performing these image processes. In addition, in the image when the display control device performs the determination, these image processes cause a decrease in accuracy. Therefore, the deterioration of the determination accuracy is prevented by performing these image processes only when the image is displayed. be able to.

  The vehicle-mounted imaging system according to a third aspect of the invention includes a determination image processing unit that performs image processing for determination on a captured image when the imaging device is notified that the display control device does not display an image. And the transmission means transmits the image subjected to the image processing by the display image processing means or the determination image processing means to the display control device, and the display control device includes the determination means. However, on the basis of the image subjected to the image processing by the determination image processing means, it is determined whether or not to display the image captured by the imaging device on the display means.

  In the present invention, when notified from the display control device that an image is not displayed, the imaging device performs image processing for determination on the captured image and transmits the image to the display control device. The display control device can determine whether or not to display the image captured by the imaging device on the display unit based on the image that has been subjected to image processing suitable for determination. There is a possibility that the visibility of the image is reduced by performing image processing suitable for the determination, but the visibility of the image displayed on the display means is performed only when the image is not displayed on the display means. Can be prevented.

  The on-vehicle imaging system according to a fourth aspect is characterized in that the determination image processing means performs image processing for converting a captured color image into a black and white image.

  In the present invention, the image capturing apparatus performs image processing for converting a color image into a black and white image as image processing for determination. When the display control apparatus determines, for example, the presence or absence of a moving object or the presence or absence of a white line based on the captured image, a black and white image may be preferable. Conversely, the image displayed on the display means is preferably a color image. Therefore, when an image is not displayed on the display means, the imaging device transmits a black and white image to the display control device. When an image is displayed, the imaging device transmits a color image to the display control device. The display control apparatus can acquire images suitable for display and determination.

  An image pickup apparatus according to a fifth aspect of the present invention is an image pickup apparatus that is mounted on a vehicle and has a communication function, and a display image processing unit that performs image processing for display on a picked-up image when receiving a specific notification. An image processing unit that performs image processing for determination on a captured image when another notification is received, and the image processing unit for display or the image processing unit for determination performs image processing. Is transmitted.

  In the present invention, when a specific notification, that is, a notification for displaying an image is received from another device such as a display control device, an image subjected to image processing for display is transmitted. If another notification, that is, a notification not displaying an image is received, an image subjected to image processing for determination is transmitted. Appropriate image processing can be performed in response to a notification from another device, and this image can be transmitted to the other device. Therefore, another device that has transmitted the notification can receive the image suitable for the processing from the imaging device and perform the processing.

  In the case of the first invention, the display control device determines whether or not to display the image captured by the imaging device on the display unit, notifies the imaging device, and is notified when the imaging device displays an image from the display control device. In this case, the display control apparatus can receive and display an image that has been subjected to image processing suitable for display by displaying the image processing for display. Further, when the image captured by the imaging device is not displayed, the display control device can acquire and determine an image that has not been subjected to display image processing that may interfere with the determination. Therefore, since the display control device can receive an image suitable for display and determination from one image capturing device without providing an image capturing device for display and determination, respectively, an increase in the cost of the in-vehicle image capturing system is suppressed. Thus, an image with high visibility can be displayed on the display means, and whether or not the captured image is to be displayed can be determined with high accuracy.

  According to the second aspect of the present invention, when the captured image is displayed on the display means by performing an image processing for edge enhancement and / or gain adjustment as the image processing for display, Since the display control device can acquire an image that has been subjected to image processing suitable for display, the visibility of the displayed image can be improved. Further, these image processes may hinder the determination of the display control device, but since these image processes are performed only when an image is displayed, it is possible to prevent a decrease in determination accuracy. Therefore, the display control device can reliably acquire an image suitable for display and determination, and a high-quality in-vehicle imaging system with high display quality and determination system can be provided.

  In the case of the third invention, when the display control device notifies that the image is not displayed, the imaging device performs image processing for determination on the captured image and transmits the image to the display control device. With this configuration, the display control device determines whether to display the image captured by the imaging device on the display unit based on the image that has been subjected to the image processing suitable for the determination. Judgment can be made. When displaying a captured image, it is possible to acquire an image that has not been subjected to image processing that may hinder the visibility of the image and display the acquired image on the display unit. Therefore, since the display control device can more reliably acquire an image suitable for display and determination from only one imaging device without providing imaging devices for display and determination, respectively, the cost of the in-vehicle imaging system can be reduced. It is possible to reliably suppress the increase, and to reliably display an image with high visibility on the display unit, and to determine whether or not to display the captured image with higher accuracy.

  According to the fourth aspect of the invention, as the image processing for determination, when the imaging device performs image processing for converting a color image into a black and white image, the captured image is not displayed on the display unit. Since the display control device can acquire an image that has been subjected to image processing suitable for determination, the accuracy of determination can be improved. In addition, black and white images may have low visibility. However, since a color image is converted into a black and white image only when the image is not displayed, a reduction in visibility can be prevented. Therefore, the display control apparatus can more reliably acquire an image suitable for display and determination, and a high-quality in-vehicle imaging system with high display quality and determination system can be provided.

  Further, in the case of the fifth invention, when a specific notification is received from another device, an image subjected to display image processing is transmitted, and when another notification is received, a determination image is received. By adopting a configuration in which the processed image is transmitted, it is possible to perform appropriate image processing in response to a notification from another device and transmit this image to another device. Since the image processing applied to the captured image can be changed and the one imaging device can be used for various purposes, the cost of a system including this imaging device can be reduced.

  Hereinafter, the present invention will be specifically described with reference to the drawings showing embodiments thereof. 1 and 2 are block diagrams showing the configuration of the in-vehicle imaging system according to the present invention. FIG. 1 shows details of the imaging device 1 that constitutes the in-vehicle imaging system, and FIG. 2 shows the ECU 3 that constitutes the in-vehicle imaging system. The details are shown. An in-vehicle image pickup system according to the present invention includes an image pickup device 1 that is mounted in the vicinity of a vehicle bumper (not shown) or inside a side mirror and the like, picks up an image of the outside of the vehicle, a display 5 that is provided in the vicinity of a driver seat of the vehicle, The ECU 3 mainly performs a control process of selecting one image from an image given from the device 1 or an image given from another device such as the car navigation device 7 and displaying the selected image on the display 5.

  The imaging device 1 includes an imaging element 10, a signal processing unit 11, a transmission unit 15, and a reception unit 19, and a control unit 17 that controls these units (see FIG. 1). The imaging device 10 is a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) or the like, and receives light collected by a lens (not shown) provided in the imaging device 1. Thus, imaging is performed at a frequency of about 30 times per second, and an image signal corresponding to the received light is output. Note that the exposure time, shutter speed, and the like when the image sensor 10 captures an image are performed based on the control of the control unit 17. The imaging device 10 is configured to give an image acquired by imaging to the signal processing unit 11 as an image signal.

  The signal processing unit 11 performs various image processing on the image captured by the image sensor 10 under the control of the control unit 17 and outputs the processed image. The exposure / gain adjustment unit 12, the edge enhancement unit 13, and the color conversion unit 14 are output. The functional block for performing image processing such as the above is provided. The exposure / gain adjustment unit 12 automatically adjusts the exposure and gain (gain, amplification factor) according to, for example, the brightness of the image signal supplied from the image sensor 10, and amplifies the image signal with the adjusted exposure and gain. The image processing to be output is performed. The edge enhancement unit 13 performs image processing for enhancing the edge portion of the image related to the image signal given from the image sensor 10. The image sensor 10 captures a color image of RGB, but the color converter 14 performs image processing for converting the color image provided from the image sensor 10 into a black and white image. Whether or not to perform image processing by these units included in the signal processing unit 11 is determined by control of the control unit 17. The signal processing unit 11 is configured to give the image subjected to image processing to the transmission unit 15.

  The transmission unit 15 has a connection port for connecting a connection cable, and is connected to the ECU 3 via the connection cable. The transmission unit 15 converts the image given from the signal processing unit 11 into a signal of the LVDS (Low Voltage Differential Signaling) method or the NTSC (National TV Standards Committee) method, and transmits the image to the ECU 3 via the connection cable. To do.

  The receiving unit 19 is for receiving various control commands and messages transmitted from the ECU 3. Similarly to the transmission unit 15, the reception unit 19 is provided with a connection port for connecting a connection cable, and is connected to the ECU 3 via the connection cable. However, when transmitting and receiving control commands and messages between the imaging device 1 and the ECU 3 by PLC (Power Line Communication), a power line is connected to the receiver 19 and a function of extracting a signal superimposed on the power line is extracted. Is provided in the receiving unit 19. The control command and message received by the receiving unit 19 are given to the control unit 17.

  The control unit 17 performs control processing of various units of the imaging apparatus 1 and various arithmetic processes in accordance with control commands, messages, and the like given from the ECU 3. For example, the control unit 17 controls whether or not the signal processing unit 11 performs image processing by the exposure / gain adjustment unit 12, the edge enhancement unit 13, and the color conversion unit 14 on the image captured by the image sensor 10. Can do. The control unit 17 includes a register 18 that defines a control mode for the signal processing unit 11, and a display mode or a determination mode can be set as the control mode. The control mode of the register 18 can be set by the ECU 3 giving a control command, a message, and the like to the imaging apparatus 1.

  The ECU 3 is configured to set the control mode of the control unit 17 to the display mode when the image captured by the imaging device 1 is displayed on the display 5. When the image captured by the imaging device 1 is not displayed on the display 5, the control mode is set to the determination mode. FIG. 3 is a chart showing the correspondence between control modes and image processing. When the control mode of the control unit 17 is set to the display mode, the control unit 17 performs signal processing for performing gain adjustment and edge enhancement image processing on the image captured by the image sensor 10 and not performing color conversion image processing. The processing unit 11 is controlled. In addition, when the control mode is set to the determination mode, the control unit 17 controls the signal processing unit 11 so as to perform color conversion image processing and not perform gain adjustment and edge enhancement image processing.

  Thus, the ECU 3 can change the image processing performed by the imaging device 1 by transmitting a control command, a message, or the like to the imaging device 1. The ECU 3 includes a transmission unit 30, a control unit 31, an operation unit 32, a reception unit 33, an image processing unit 34, an output unit 35, an image memory 36, and the like. The operation unit 32 has a plurality of switches or buttons arranged on, for example, an instrument panel in the vicinity of the driver's seat of the vehicle, and receives a driver's operation. For example, the driver can perform display switching of the display 5 by operating the operation unit 32, and switches and displays an image outside the vehicle by the imaging device 1 or a map image that guides the travel route by the car navigation device 7. Can be made. However, the vehicle-mounted imaging system according to the present embodiment has a moving object such as a pedestrian or another vehicle around the vehicle even when the image by the car navigation device 7 is displayed on the display 5. When this moving object exists in the imaging range of the imaging device 1, it has a function of automatically switching the display on the display 5 to an image by the imaging device 1 and giving a warning to the driver. Further, the operation unit 32 is provided with an off switch for turning off the display of the display 5, and the display 5 can be hidden by the driver operating the off switch. The operation content received by the operation unit 32 is notified to the control unit 31.

  The control unit 31 performs control processing of various units in the ECU 3 and various arithmetic processes, and is specifically configured by a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 31 can control the output unit 35 in accordance with the operation content given from the operation unit 32 and can switch the image displayed on the display 5. In addition, the control unit 31 performs a process of determining whether or not a moving object has been transferred to the image from the imaging device 1 in cooperation with the image processing unit 34, and an image to be displayed on the display 5 according to the determination result. The process of automatically switching between is performed.

  Furthermore, the control unit 31 can set the display mode in the register 18 of the control unit 17 of the imaging apparatus 1 by transmitting a display notification as a message from the transmission unit 30 and also transmits a non-display notification. As a result, the determination mode can be set in the register 18 of the imaging apparatus 1. Thereby, since the image processing performed in the signal processing unit 11 of the imaging device 1 is changed by the control unit 17, the control unit 31 of the ECU 3 can change the image processing performed by the imaging device 1. Furthermore, it is also possible to end the imaging by the imaging device 1 by transmitting an end notification as a message to the imaging device 1.

  The transmission unit 30 includes a connection port for connecting a connection cable, is connected to the imaging device 1 via the connection cable, and transmits a control command or a message or the like given from the control unit 31 to the imaging device 1. Is to do. However, when transmission / reception of a control command and a message between the imaging device 1 and the ECU 3 is performed by the PLC, a power line is connected to the transmission unit 30, and a signal related to the control command or the message or the like given from the control unit 31. Is superimposed on the power line and transmitted to the imaging apparatus 1.

  The receiving unit 33 has a connection port for connecting a connection cable, and is connected to the imaging device 1 via the connection cable. The receiving unit 33 receives a signal of the LVDS system or the NTSC system transmitted from the imaging device 1, converts the received signal into an image of digital data, and gives the image to the image processing unit 34.

  When the image processing unit 34 displays an image captured by the imaging device 1 on the display 5, the image processing unit 34 provides the output unit 35 with the image provided from the reception unit 33 and displays it on the display 5. At this time, the image processing unit 34 may perform image processing such as image viewpoint conversion, partial enlargement, or superimposition of a message or an icon.

  Further, when the image captured by the imaging device 1 is not displayed on the display 5, that is, when the image from the car navigation device 7 is displayed on the display 5, the image processing unit 34 captures images 2 taken at different points in time by the imaging device 1. Based on the two images, a moving object determination process is performed to determine whether or not a moving object is shown in the image. Since the moving object determination process is a known technique, a detailed description thereof will be omitted. For example, when a difference between pixel values of two images captured at different times is calculated and the calculated difference exceeds a threshold value, It can be determined that the moving object is captured. It is also possible to determine a moving object by searching for corresponding points for two images and calculating an optical flow. The image processing unit 34 notifies the control unit 31 of the determination result obtained by the moving object determination process.

  The control unit 31 notified of the determination result of the moving object determination process from the image processing unit 34 transmits a display notification as a message to the imaging device 1 and controls the output unit 35 when it is determined that a moving object exists. Thus, the image displayed on the display 5 is switched from the image of the car navigation device 7 to the image captured by the imaging device 1. The control unit 31 has a timer (not shown) inside, and starts counting by the timer when an image to be displayed on the display 5 is switched to an image captured by the imaging device 1, and displays the display after a predetermined time has elapsed. The display of 5 is returned to the image of the car navigation device 7. When the image processing unit 34 determines that there is no moving object, the control unit 31 does not switch the display and continuously displays the image of the car navigation device 7.

  The automatic switching described above is performed when the driver operates the operation unit 32 to display the image of the car navigation device 7 on the display 5. When the driver operates the operation unit 32 to display the image captured by the imaging device 1 on the display 5, automatic switching is not performed and the image captured by the imaging device 1 is continuously displayed on the display 5. Is displayed.

  Further, when the image processing unit 34 performs a moving object detection process or various image processes, an image can be temporarily stored in the image memory 36. The image memory 36 is composed of a rewritable large-capacity memory element such as SRAM or DRAM, and can also be used as a reception buffer for temporarily storing images received by the receiving unit 33. When displaying an image captured by the imaging device 1 on the display 5, the image processing unit 34 applies the image provided from the receiving unit 33 to the output unit 35 after performing various image processing depending on circumstances. It is like that.

  The output unit 35 is provided with an image from the image processing unit 34 and an image from the car navigation device 7, and selects one of these images according to control by the control unit 31. is there. The output unit 35 converts the selected image into a signal suitable for the display 5 and outputs this signal to the display 5. Thereby, either the image captured by the imaging device 1 or the image of the car navigation device 7 is displayed on the display 5.

  FIG. 4 is a flowchart showing a procedure of image display control processing performed by the ECU 3 of the in-vehicle imaging system according to the present invention. First, the control part 31 of ECU3 performs the process which displays the guidance image of the car navigation apparatus 7 on the display 5 as a default display (step S1). This is performed by controlling the control unit 31 to transmit a non-display notification message from the transmission unit 30 to the imaging device 1 and to output the image provided from the car navigation device 7 to the display unit 5 to the output unit 35. Can do.

  Next, the control unit 31 checks whether or not an operation for turning off the display 5 is performed by the driver operating the off switch of the operation unit 32 (step S2). When an operation to turn off the display is performed (S2: YES), the control unit 31 sends a message of termination from the transmission unit 30 to the imaging device 1 (step S3), terminates the operation of the imaging device 1, and displays the display 5 To hide the process.

  When the operation to turn off the display is not performed (S2: NO), the control unit 31 checks whether the image captured by the imaging device 1 is received by the reception unit 33 (step S4). If no image has been received (S4: NO), the process returns to step S1, and the control unit 31 repeats the above-described processing. When the image captured by the imaging device 1 is received (S4: YES), the control unit 31 performs a moving object determination process in the image processing unit 34 (step S5), and there is a moving object in the received image. It is checked whether or not to perform (step S6). If there is no moving object (S6: NO), the process returns to step S1, and the control unit 31 repeats the above-described processing.

  When it is determined by the moving object determination process that a moving object is present (S6: YES), the control unit 31 transmits a display notification from the transmission unit 30 to the imaging device 1 as a message (step S7). Thereby, the imaging device 1 can be set to the display mode. Subsequently, the control part 31 performs the process which displays the image imaged by the imaging device 1 on the display 5 (step S8). This is performed by giving the image received by the receiving unit 33 from the image processing unit 34 to the output unit 35 and controlling the output unit 35 to output the image given from the image processing unit 34 to the display 5. be able to. At this time, the control unit 31 starts measuring time by a timer.

  Next, the control unit 31 checks whether or not an operation for turning off the display 5 is performed by the driver operating the off switch of the operation unit 32 (step S9). When an operation to turn off the display is performed (S9: YES), the control unit 31 transmits a message of termination from the transmission unit 30 to the imaging device 1 (step S10), terminates the operation of the imaging device 1, and displays the display 5 To hide the process.

  When the operation to turn off the display is not performed (S9: NO), the control unit 31 switches the display so that the image captured by the imaging device 1 is displayed on the display 5 by the timer, and then performs a predetermined change. It is checked whether or not time has elapsed (step S11). When the predetermined time has not elapsed (S11: NO), the process returns to step S8, and the control unit 31 continues to display the image captured by the imaging device 1 until the predetermined time elapses. When the predetermined time has elapsed (S11: YES), the control unit 31 transmits a non-display notification as a message from the transmission unit 30 to the imaging device 1 (step S12). Thereby, the control part 31 can set the imaging device 1 to determination mode. Then, it returns to step S1, and the control part 31 performs the process which displays the guidance image of the car navigation apparatus 7, and performs the process of step S1-S12 until the operation which turns off a display is made in step S2 or S9. Repeat.

  FIG. 5 is a flowchart showing a procedure of imaging processing performed by the imaging device 1 of the in-vehicle imaging system according to the present invention. First, the control unit 17 of the imaging device 1 sets a determination mode as a default control mode (step S21). Next, the control unit 17 checks whether or not the reception unit 19 has received an end notification from the ECU 3 as a message (step S22). When the end notification is received (S22: YES), the imaging process ends.

  If the reception unit 19 has not received an end notification (S22: NO), the control unit 17 further checks whether or not the display unit 19 has received a display notification as a message (step S23). If the display notification is not received (S23: NO), the control unit 17 further checks whether or not the non-display notification is received as a message by the receiving unit 19 (step S24). When the non-display notification is not received by the receiving unit 19 (S24: NO), that is, when any notification is not received, the process proceeds to step S27. When the display notification is received by the receiving unit 19 (S23: YES), the control unit 17 sets the control mode to the display mode (step S25), and proceeds to step S27. When the non-display notification is received by the receiving unit 19 (S24: YES), the control unit 17 sets the control mode to the determination mode (step S26) and proceeds to step S27.

  Next, imaging by the image sensor 10 is performed (step S27), and the control unit 17 checks whether or not the control mode is the display mode (step S28). When the control mode is the display mode (S28: YES), the control unit 17 performs image processing for gain adjustment on the image captured by the image sensor 10 in the signal processing unit 11 (step S29), and performs image processing for edge enhancement. Perform (step S30). When the control mode is not the display mode (S28: NO), that is, when the control mode is the determination mode, the control unit 17 converts the color image captured by the image sensor 10 in the signal processing unit 11 into a black and white image. Color conversion image processing is performed (step S31). After the image processing by the signal processing unit 11 is completed, the control unit 17 transmits the image subjected to the image processing from the transmission unit 15 to the ECU 3 (step S32), and returns to step S22. Thereafter, the control unit 17 repeats the processes of steps S22 to S32 until an end notification is received from the ECU 3.

  In the in-vehicle imaging system having the above configuration, the imaging device 1 performs different image processing in the signal processing unit 11 and transmits the image to the ECU 3 depending on whether or not the image captured by the imaging device 1 is displayed on the display 5. By setting it as the structure to perform, ECU3 can acquire the image in which the image processing optimal for a display or determination was performed. Therefore, an image with high visibility can be displayed on the display 5 without mounting separate imaging devices for display and determination, and the accuracy of the moving object determination process performed by the ECU 3 can be improved. Therefore, a highly convenient and high-quality in-vehicle imaging system can be provided at a low cost.

  In the present embodiment, the display 5 is configured to select and display either the image captured by the imaging device 1 or the image of the car navigation device 7 on the display 5, but the device mounted on the vehicle is the car navigation device 7. However, the present invention is not limited to this, and when another device (for example, a television device) is mounted, it may be configured to select and display either an image from this device or an image from the imaging device 1. Further, the number of other devices is not limited to one and may be plural.

  Moreover, although the configuration in which one imaging device 1 is mounted on the vehicle is not limited thereto, a configuration in which a plurality of imaging devices 1 are mounted on the vehicle may be used. In this case, the ECU 3 selects an image to be displayed on the display 5 from a plurality of images including images from the plurality of imaging devices 1 and images from other devices. When displaying an image from one imaging device 1 on the display 5, the ECU 3 sets only one imaging device 1 to the display mode, sets the other imaging device 1 to the determination mode, and sets the other imaging. An image from the apparatus 1 is received and a moving object determination process is performed for each imaging apparatus 1.

  Moreover, although it was set as the structure which determines whether the image imaged by the imaging device 1 is displayed on the display 5 by a moving object determination process, it is not restricted to this, For example, it is a white line from the image given from the imaging device 1. It may be configured to perform extraction and determine according to whether a parking lot or a roadway is shown in the image, or may be determined by other methods. The image processing performed by the signal processing unit 11 of the imaging device 1 is three types of gain adjustment, edge enhancement, and color conversion. However, the present invention is not limited to this, and other image processing may be performed. .

  In the procedure shown in FIG. 4 and FIG. 5, the display of the image on the display 5 is terminated when an operation for turning off the display is performed by the operation unit 32 of the ECU 3. The display is not limited, and the display may be terminated in other cases such as when the vehicle engine is stopped. Even when an operation to turn off the display is performed, the moving object determination process is continuously performed without displaying an image on the display 5, and when it is determined that a moving object exists, the display 5 It is good also as a structure which turns on a display and displays the image which the imaging device 1 imaged. In addition, the display 5 is automatically switched to display the image captured by the imaging device 1 and then the display is restored when a predetermined time has elapsed. However, the present invention is not limited to this. It is good also as a structure which returns a display by conditions. For example, the moving object determination process may be performed again when a predetermined time has elapsed, and the display may be returned only when there is no moving object.

It is a block diagram which shows the structure of the vehicle-mounted imaging system which concerns on this invention. It is a block diagram which shows the structure of the vehicle-mounted imaging system which concerns on this invention. It is a chart which shows the correspondence of control mode and image processing. It is a flowchart which shows the procedure of the image display control process which ECU of the vehicle-mounted imaging system which concerns on this invention performs. It is a flowchart which shows the procedure of the imaging process which the imaging device of the vehicle-mounted imaging system which concerns on this invention performs.

Explanation of symbols

1 imaging device 3 ECU (display control device)
5 Display (display means)
7 Car Navigation Device 10 Image Sensor 11 Signal Processing Unit 12 Exposure / Gain Adjustment Unit (Display Image Processing Means)
13 Edge enhancement unit (display image processing means)
14 Color converter (determination image processing means)
15 Transmitter (transmission means)
17 control unit 19 receiving unit 30 transmitting unit (notification means)
31 Control unit (determination means)
33 Receiver (Receiver)
34 Image processing unit 35 Output unit

Claims (5)

In an in-vehicle imaging system comprising: an imaging device mounted on a vehicle; and a display control device that displays an image captured by the imaging device on a display unit provided in the vehicle.
The display control device includes:
Determining means for determining whether or not to display an image captured by the imaging device on the display means;
Notification means for notifying the imaging device of the determination result of the determination means;
Receiving means for receiving an image transmitted from the imaging device;
The imaging device
Display image processing means for performing image processing for display on a captured image when notified by the display control device to display an image;
A vehicle-mounted imaging system comprising: a transmission unit configured to transmit an image subjected to image processing by the display image processing unit to the display control device. The in-vehicle imaging system according to claim 1, wherein the display image processing unit performs image processing for edge enhancement and / or gain adjustment on the captured image. The imaging device
A determination image processing means for performing determination image processing on the captured image when notified from the display control device that an image is not displayed;
The transmission means transmits the image subjected to the image processing by the display image processing means or the determination image processing means to the display control device;
The display control device includes:
The determination unit is configured to determine whether or not to display the image captured by the imaging device on the display unit based on the image subjected to the image processing by the determination image processing unit. The in-vehicle imaging system according to claim 1 or 2. The in-vehicle imaging system according to claim 3, wherein the determination image processing means performs image processing for converting a captured color image into a black and white image. In an imaging device mounted on a vehicle and having a communication function,
Display image processing means for performing image processing for display on the captured image when receiving a specific notification;
A determination image processing means for performing determination image processing on the captured image when another notification is received, and
An image pickup apparatus, wherein the display image processing unit or the determination image processing unit transmits an image subjected to image processing.

Images