JP3488679B2 - In-vehicle camera image synthesis fluoroscope - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-vehicle camera image synthesizing and seeing-through device for switching and synthesizing and displaying images of an in-vehicle camera or the like.

[0002]

2. Description of the Related Art Conventionally, as an on-vehicle camera switching device of this type, one described in Japanese Patent Application Laid-Open No. 7-215130 is known. FIG. 4 shows a configuration of a conventional vehicle-mounted camera switching device, in which a camera 1 installed in each part of an automobile
The image signals output from 4 to 4 are selected by the switching control means 8 using the information from the driving state detection means such as the turn signal direction detection means 5, the steering wheel direction detection means 6 and the instruction input means 7 as a control signal, and the image display is performed. It is configured to be displayed on the means 9.

[0003]

However, in the above-described conventional vehicle-mounted camera switching device, only one camera image can be displayed on the image display for a certain period of time, and each of the two camera images is reduced to 1/2. If it is combined and displayed, the display area of the image becomes 1/4, which is too small to be easily seen. Further, since the vehicle-mounted camera uses the wide-angle lens, there is a problem that it is difficult to grasp the perspective. Also,
The blind spots that are larger than the driver's viewing angle can only be obtained by mapping with a conventional mirror, etc.The mirror is installed at a position very far from the driver, so the mapping is also very small and can be done in a short time. It was a difficult situation to confirm.

SUMMARY OF THE INVENTION The present invention is intended to solve such a conventional problem, and an object of the present invention is to provide an in-vehicle camera image synthesizing perspective device capable of easily confirming safety.

[0005]

In order to achieve the above object, the present invention provides a camera installed in each part of a vehicle, a driving state detecting means for detecting a driving state of the vehicle, and a camera for driving the vehicle. Switching control means for selecting a plurality of video signals based on the signal from the operating state detection means, address generation means for generating an address signal in rectangular coordinates, and a plurality of switching control means from the switching control means according to the address signal from the address generation means. Image memory for reading and storing the image signals of the above, a coordinate conversion unit configured by a ROM for converting a plurality of image signals written in the image memory in orthogonal coordinates into perspective coordinates, and the plurality of coordinate-converted images comprising a combining means for combining signals to one image signal, and image display means for displaying the synthesized image signal, the coordinate conversion means, before The side portions shrink ratio of a screen displayed by the image display means when the rectangular display, in which a function of converting to be larger than the shrink ratio of the center portion of the screen. With this configuration, it is possible to change the line of sight of an external situation that is difficult for the driver to see, by visually observing the image stereoscopically displayed at the maximum angle of view on the display inside the vehicle without impairing the perspective. It has a minimum effect that the safety can be easily confirmed in a short time.

In addition to the above structure, the present invention comprises means for compressing and storing the combined image signal, and means for reading and expanding the compressed and stored image signal. is there. With this configuration, it is possible to record and reproduce the image during operation and to clearly determine the situation at the time of an accident.

According to the present invention, in addition to the above structure, the camera includes an ultra wide-angle lens. With this configuration, when a lens with a viewing angle of 80 ° or more is used in the vehicle-mounted camera, there is no problem in the vicinity of the center of the image, but the periphery of the image becomes distorted video, so by devising a coordinate conversion circuit for conversion, Can be corrected and displayed. Coordinate conversion circuit, by changing the internal parameters,
It has an effect that it can be applied to an ultra wide-angle lens.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS. 1 to 3. FIG. 1 shows the configuration of an in-vehicle camera image synthesizing perspective device according to the present invention. In FIG. 1, this on-vehicle camera image synthesizing perspective device includes cameras 11 to 14, a vehicle speed detector 15, a front and rear detector 16, an instruction input device 17, a switching controller 18, address generators 19 and 20, an image memory 21, 22, coordinate conversion circuits 23 and 24, a synthesis circuit 25, an image display 26, an image compressor 27, a disk recorder 28, and an image decompressor 29.

Next, the operation will be described. The cameras 11 to 14 installed in each part of the automobile generate the surrounding situation as a video signal and output the generated video signal to the switching controller 18. Vehicle speed detection knowledge unit 15 generates a control signal for operating the apparatus only at low speed, forward backward detection Intellectual <br/> 16 generates a selection signal of a camera image that performs image signal processing, the instruction input unit 17 Generates a control signal for inputting a driver's instruction. Based on the control signals from these three operating state detectors, the switching controller 18 determines that each camera 11
The video signals from 14 to 14 are selected. Address generator 1
Reference numerals 9 and 20 generate an address signal in rectangular coordinates from the pixel reference clock CLK, and the image signals selected by the switching controller 18 are sequentially output to the image memories 21 and 22 by the address signals output from the address generators 19 and 20. Remembered. The image memories 21 and 22 store the image signals corresponding to the rectangular coordinates, and the coordinate conversion circuits 23 and 24 generate address signals for reading the image signals written in the image memories 21 and 22, and at the same time, the image Memory 21, 2
The image signal written in Cartesian coordinates 2 is affine transformed into perspective coordinates and written in the image memories 21 and 22. The synthesizing circuit 26 synthesizes two images read by the coordinate conversion circuits 23 and 24 from the image memories 21 and 22 in perspective coordinates. The synthesizing circuit 26 synthesizes two camera images into one image to obtain a perspective image. A certain image is transparently displayed on the image display 26. Image compressor 27 to reduce the data capacity when recording the image data to the disk recorder 28, the disk recorder 28, an image of the event of an accident and stored temporarily, the image decompressor 29, an image The data compressed by the compressor 27 is reproduced, and the image at the time of the accident can be reproduced by the input from the instruction input device 17.

FIG. 2 shows a display example of the on-vehicle camera image synthesis see-through device according to the present embodiment. In FIG. 2, the in-vehicle camera is attached at an angle of about 45 degrees laterally both forward and backward, so that an image captured by the camera captures an image in a range beyond the driver's viewing angle, that is, a blind spot. For example, on the left side of the front left camera image, the right side A ′ captures an object located further away. Since the vehicle-mounted camera uses a wide-angle lens, the distance from the driver at points A and A'is different, but if the camera image is displayed on the display as it is, the perspective is impaired. Therefore, as in the front side display example (a), the vertical reduction rate of the point A ′ far from the driver is 50%, and the vertical reduction rate of the point A close to the driver is 100%. It becomes possible to give a sense of perspective by setting. Similarly, if the left side of the front right camera image is B ′ and the right side is B, the left side B ′ is closer to the driver and conversely the right side B is farther away from the driver. Therefore, the vertical reduction ratio of the point B ', which is far from the driver, is 50%,
The vertical reduction ratio of point B, which is close to the driver, is 10
By setting it to 0%, it is possible to give a sense of perspective.

In this way, by combining and displaying the two left front and right front camera images on one display, it is useful for improving the visibility of an intersection with no traffic light and poor visibility. In other words, up to the mounting position of the front vehicle-mounted camera, in this example, the front bumper position, you can see the outside situation that is difficult for the driver to see, just by getting on the road where the driver crosses, without impairing perspective. By visually observing the display inside the car, which is indicated by a corner, it is possible to easily confirm safety.

As for the rear side, the control signal output from the front / rear detector 16 of FIG. 1 switches the processing to the rear side vehicle-mounted camera to display two screens. Figure 2
In the rear side display example (b), if the left side of the left rear camera image is C and the right side is C ', the right side C'is closer to the driver and conversely the left side C is farther from the driver. It will catch the object that is located. Since the vehicle-mounted camera uses a wide-angle lens, the distances from the driver at points C and C'are different, but if the camera image is displayed on the display as it is, the perspective is impaired. Therefore, it is possible to give a sense of perspective by setting the vertical reduction rate of the point C far from the driver to 50% and the vertical reduction rate of the point C'close to the driver to 100%. Becomes Similarly, if the left side of the camera image on the right rear side is D'and the right side is D, the left side D'is closer to the driver and the right side D is distant from the driver. Become. Therefore, it is possible to give a sense of perspective by setting the vertical reduction ratio of the D point that is far from the driver to 50% and the vertical reduction ratio of the D'point that is close to the driver to 100%. Becomes

As described above, by combining and displaying the two camera images of the rear left and the rear right on one display, it is possible to prevent the accident of being caught in the vehicle. In other words, the rear side vehicle-mounted camera mounting position, in this example, the outside condition that is difficult for the driver to see behind the door mirror position can see the in-vehicle indicator that is displayed at the maximum angle of view without impairing perspective. By doing so, easy safety confirmation is possible.

By installing another vehicle-mounted camera in the rear, the process is switched to the rear vehicle-mounted camera to display the screen by the control signal output from the instruction input device 17 in FIG. In the rear display example (c) of FIG. 2, the CCD of the vehicle-mounted camera has a structure opposite to the right and left, so that the driver can display an image that does not feel uncomfortable on the display, so that it is easy to check the rear when parking. Become.

FIG. 3 shows another example of the coordinate conversion circuit according to this embodiment. Address generator 19, 20
Causes the X coordinate counter 30 to generate the X coordinate from the pixel reference clock CLK, the Y coordinate counter 31 to generate the Y coordinate based on the output value of the X coordinate counter, and outputs the orthogonal coordinate to the coordinate conversion circuit 32. The coordinate conversion circuits 23 and 24 of FIG.
Is configured to perform matrix operation of affine transformation from Cartesian coordinates and output perspective coordinates. Originally, matrix operation of affine transformation is to perform complicated operation in multiple stages and to change parameters. Will cause the effect to change continuously. However, if the image effect can be limited to several kinds as in the present invention, by storing the address data tabulated in the external ROM in advance for the effect, the coordinate conversion circuit can be operated in a complicated arithmetic circuit. The coordinate conversion circuit can be configured by guiding the ROM data with a computer or the like without the need to configure in multiple stages. The coordinate conversion circuit 32 in FIG. 3 is composed of a ROM, and the data in the ROM has the X coordinate as in the front side display example (a) in FIG.
The number of vertical lines in the coordinates is ((1-X coordinate / X maximum value)
* Y maximum value) can be easily calculated, and image memory 21, 2
2 can be written in perspective coordinates. In addition, the places not written in the image memories 21 and 22 are (Y maximum value / number of lines + 1), and the first place can be easily calculated. Therefore, all the places can be calculated by multiplying the number obtained earlier. By deriving the calculation result by a computer or the like and converting it into ROM, the processing time required for the operation for affine transformation of the coordinate conversion circuit can be made faster, and the coordinate conversion can be performed only by the access time to the ROM.

[0016]

The present invention has the following effects, as is apparent from the above embodiment. (1) to the perspective transformation camera images in real time, so combining displays by changing the shrink rate a plurality of camera images in the lateral portion and the central portion to one display device, without a complicated operation by the driver It is possible to get a sense of perspective, which makes it easier to confirm safety when approaching or moving away from the vehicle.By adding an automatic front / rear switching function, it is possible to easily confirm safety when making a call or moving backward. it can. (2) By recording the image during operation, the situation at the time of an accident can be reproduced and judged. (3) By using the ultra wide-angle lens for the vehicle-mounted camera, the coordinate conversion circuit can display an image with little distortion only by changing the internal parameters. (4) By configuring the coordinate conversion circuit with the ROM, the circuit scale can be reduced and the cost can be reduced as compared with the case where the complicated operation circuit is configured with multiple stages.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an in-vehicle camera image see-through device according to an embodiment of the present invention.

FIG. 2 is a screen diagram showing a display example of a vehicle-mounted camera image see-through device according to an embodiment of the present invention.

FIG. 3 is a block diagram of an address generator and a coordinate conversion circuit according to the embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration of a conventional vehicle-mounted camera switching device.

[Explanation of symbols]

11, 12, 13, 14 In-vehicle camera 15 Vehicle speed detector 16 front and rear detector 17 Instruction input device 18 Switching controller 19, 20 Address generator 21, 22 image memory 23, 24 Coordinate conversion circuit 25 Compositing circuit 26 Image display 27 Image compressor 28 Disk recorder 29 Image decompressor 30 X coordinate counter 31 Y coordinate counter 32 coordinate conversion circuit (ROM)

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI B60R 21/00 B60R 21/00 622L 622T 624 624C 626 626G G09G 5/00 530 G09G 5/00 530M 550 550C H04N 5/225 H04N / 225 C 5/262 5/262 7/18 7/18 J (56) Reference JP-A-7-215130 (JP, A) JP-A-9-48282 (JP, A) JP-A-9-11793 ( JP, A) JP 8-96118 (JP, A) JP 8-48198 (JP, A) JP 7-220057 (JP, A) JP 7-186833 (JP, A) JP Flat 3-99952 (JP, A) Actual flat 5-48051 (JP, U) Actual flat 5-3037 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B60R 1 / 00 B60R 21/00 G09G 5/00 530 G09G 5/00 550 H04N 5/225 H04N 5/262 H04N 7/18

Claims (3)

(57) [Claims] 1. A camera installed in each part of a vehicle, a driving state detecting means for detecting a driving state of the vehicle, and a plurality of video signals from the cameras are selected on the basis of signals from the driving state detecting means. Switching control means, address generating means for generating a rectangular coordinate address signal, an image memory for reading and storing a plurality of video signals from the switching control means in accordance with the address signal from the address generating means, and the image memory. Coordinate conversion means composed of a ROM for converting a plurality of video signals written in Cartesian coordinates into perspective coordinates, synthesizing means for synthesizing the plurality of coordinate transformed video signals into one image signal, and the synthesizing means. Image display means for displaying the image signal, and the coordinate conversion means is a screen displayed by the image display means in the front side display. Side portions shrink rate of in-vehicle camera image synthesizing fluoroscopic apparatus characterized by comprising a function of converting manner is larger than shrink rate in the central portion of the screen. 2. The in-vehicle camera image synthetic see-through device according to claim 1, further comprising means for compressing and storing the synthesized image signal, and means for reading and expanding the compressed and stored image signal. 3. The in-vehicle camera image synthesizing perspective device according to claim 1, wherein the camera includes an ultra wide-angle lens.