CN106604847B - Image processor for vehicles - Google Patents
Image processor for vehicles Download PDFInfo
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- CN106604847B CN106604847B CN201580045655.3A CN201580045655A CN106604847B CN 106604847 B CN106604847 B CN 106604847B CN 201580045655 A CN201580045655 A CN 201580045655A CN 106604847 B CN106604847 B CN 106604847B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The image processor for vehicles for generating the vehicle-surroundings image from looking down from top around vehicle has: the side images acquisition unit (S30) of front shooting image and rear shooting image is obtained from front filming apparatus (11) and rear filming apparatus (12)；Parameter information involved in the outer diameter of the tire stored in the car status information and storage unit (34) of information involved in rotation angle using the tire comprising vehicle, come calculate vehicle moving distance calculation part (S80)；The past image that front is shot to a side of the direction of travel for vehicle of appearing before one's eyes in image and rear shooting image is used as historical record image, and synthesized historical record image with the image of another party based on moving distance, to create the composograph establishment portion (S100, S110, S120) of vehicle-surroundings image；And the parameter information stored in storage unit is updated, so as to reduce the historical record image and another party that are synthesized based on moving distance image deviation tire parameter update section (S250~S360, S440, S480, S490).
Description
The application is based on Japanese publication filed on September 2nd, 2,014 2014-178098 and on January 22nd, 2015
The Japanese publication 2015-010341 CLAIM OF PRIORITY of application, and it is hereby incorporated its contents.
Technical field
This disclosure relates to the vehicle image handled the image taken by the filming apparatus that vehicle is arranged in
Manage device.
Background technique
Conventionally, there is known a kind of a part for being continuously shot vehicle-surroundings, by shooting image taken by current time,
It is transformed to connect together from the image that the top of vehicle is overlooked with image taken before current time, so that creation is bowed
Look down vehicle from a height and one whole around it technology for looking down (top view) image (for example, referring to patent document 1).
Patent document 1: Japanese Unexamined Patent Publication 2002-373327 bulletin
In the technology documented by above patent document 1, if the outer diameter of the tire of the vehicles such as tire changing changes,
In an eye view image, it is possible to shooting image taken by current time and before current time it is taken
The near border of historical record image produces deviation.
Summary of the invention
The disclosure is completed in view of above-mentioned point, it is intended that providing a kind of even by by historical record figure
As synthesize with shooting image and the vehicle-surroundings image that creates, also by keeping the connection of shooting image and historical record image smooth
And reduce the image processor for vehicles of incongruity.
The image processor for vehicles that one mode of the disclosure is related to is filled according to multiple shootings by being set to vehicle
The image on the periphery of the vehicle of shooting is set, generates the vehicle-surroundings image from looking down from top around the vehicle, and have
Side images acquisition unit, calculation part, composograph establishment portion and tire parameter update section.
Side images acquisition unit is from the front filming apparatus of the front region for being continuously shot vehicle and is continuously shot vehicle
Rear area rear filming apparatus obtain respectively front shooting image and rear shooting image.
The car status information and storage of information involved in rotation angle of the calculation part using the tire comprising vehicle
Parameter information involved in the outer diameter of the tire stored in portion, to calculate the moving distance of vehicle.
Front is shot the one of the direction of travel for vehicle of appearing before one's eyes in image and rear shooting image by composograph establishment portion
The past image of side is used as historical record image, and historical record image and front are shot image based on moving distance
And the image synthesis of another party in rear shooting image, to create vehicle-surroundings image.
Tire parameter update section is updated the parameter information stored in storage unit, is closed with reducing based on moving distance
At historical record image and another party image deviation.
The image processor for vehicles of the disclosure constituted in this way is able to carry out the update of parameter information, so that front is clapped
It takes the photograph in image and rear shooting image and image in another party of historical record image is not used and is based on being calculated by calculation part
Moving distance out and the deviation of historical record image synthesized reduces.Therefore, though tire outer diameter due to certain factors
In the case where variation has occurred, image processor for vehicles is also able to suppress to be revolved using the tire determined by car status information
The generation of gyration and parameter information moving distance calculated this state of affairs different from the actual moving distance of vehicle.
Therefore, even if the image processor for vehicles of the disclosure is and synthesizing historical record image with shooting image
Vehicle-surroundings image is generated, can also make the connection for shooting image and historical record image smooth.The vehicle of the disclosure is used as a result,
Image processing apparatus can be realized the generation for the vehicle-surroundings image that incongruity is lowered by.
Detailed description of the invention
The above-mentioned purpose of the disclosure and other purposes, feature, advantage referring to attached drawing and by following detailed descriptions,
It can become more apparent.Its attached drawing:
Fig. 1 is the block diagram for indicating the structure of vehicle display system.
Fig. 2 is the flow chart for indicating periphery display processing.
Fig. 3 is the figure for indicating the structure of display eye view image.
Fig. 4 is to indicate that the tire parameter of first embodiment updates the flow chart of processing.
Fig. 5 is the figure for indicating the display eye view image in the case that tire outside diameter becomes larger.
Fig. 6 is the figure for indicating the display eye view image in the case that tire outside diameter becomes smaller.
Fig. 7 is to indicate that the tire parameter of second embodiment updates the flow chart of processing.
Fig. 8 is to indicate just showing the display eye view image of measurement object in rear display area and intermediate display area
Figure.
Fig. 9 is to indicate that the tire parameter of third embodiment updates the flow chart of processing.
Figure 10 is the figure for indicating the eye view image of method of the speed for illustrating to calculate mobile object.
Figure 11 A is to show in front with the figure for indicating brightness change pattern in eye view image.
Figure 11 B is to show at rear with the figure for indicating brightness change pattern in eye view image.
Specific embodiment
(first embodiment)
The first embodiment of the disclosure is illustrated together with attached drawing below.
The vehicle display system 1 of present embodiment is equipped on vehicle, as shown in Figure 1, having in-vehicle camera group 2, passing
Sensor group 3, image processing apparatus 4 and display device 5.Image processing apparatus 4 is that the vehicle in the disclosure is filled with image procossing
It sets.
In-vehicle camera group 2 is made of front camera 11 and rear camera 12.Front camera 11, which is installed in, is equipped with vehicle
With the front side of the vehicle (hereinafter referred to as this vehicle) of display system 1, above the ground for shooting the front of this vehicle repeatedly.Rear
Camera 12 is installed in the rear side of this vehicle, above the ground for shooting the rear of this vehicle repeatedly.
Sensor group 3 is by vehicle speed sensor 21, yaw rate sensor 22, shift lever position sensor 23 and handling maneuver
Angle transducer 24 is constituted.The output of vehicle speed sensor 21 changes according to the rotation of axle by each predetermined angular from low level as height
The speed signal of level.Yaw rate sensor 22 detects the yaw-rate of this vehicle, and exports the yaw-rate for indicating its testing result
Signal.Shift lever position sensor 23 detects the position of the gear lever of vehicle, and exports the gear signal for indicating its testing result.
Handling maneuver angle transducer 24 detects the handling maneuver angle of the steering wheel of vehicle, and exports the handling maneuver for indicating its testing result
Angle signal.
Image processing apparatus 4 have image input signal processing unit 31, input signal processing unit 32, image transformation component 33,
Storage unit 34, control unit 35 and picture output signal processing unit 36.
Image input signal processing unit 31 is for shooting connecing for image from front camera 11 and the input of rear camera 12
Mouthful.
Input signal processing unit 32 is for the interface from various 21~24 input signals of sensor.
Image transformation component 33 is via image input signal processing unit 31 before front camera 11 and the acquisition of rear camera 12
Side's shooting image and rear shoot image, and are coordinately transformed to shooting image, thus view of the creation from the top of vehicle
The changing image (hereinafter referred to as eye view image) that point is observed.Hereinafter, by being sat by the shooting image to front camera 11
The eye view image that mark is converted and created is known as upper front part (top) image.In addition, the shooting image to rear camera 12 will be passed through
The eye view image for being coordinately transformed and creating is known as rear top image.In addition, image transformation component 33 is exported to control unit 35
The upper front part image and rear top image created.
Storage unit 34 is the storage device for storing various data, the upper front part image created to image transformation component 33
And rear top image and indicate this vehicle tire outer diameter (hereinafter referred to as this vehicle tyre outer diameter) tire parameter
Information is stored.Wherein, 4 tires of this vehicle all outer diameters having the same are set as, tire parameter information is not 4 wheels
The each outer diameter of tire and the outer diameter for indicating a tire.
Control unit 35 is constituted centered on the microcomputer being made of CPU41, ROM42 and RAM43 etc..Moreover,
Control unit 35 controls image processing apparatus 4 based on the processing of the program stored in ROM42 by CPU41 execution.
Picture output signal processing unit 36 is to have carried out the figure of image procossing by control unit 35 for exporting to display device 5
As the interface of data.
Display device 5 is the colour display device that liquid crystal display etc. has display picture, is filled according to from image procossing
It sets the input of 4 image data and various images is shown in display picture.
In the vehicle constituted in this way in display system 1, image processing apparatus 4 execute aftermentioned periphery display processing and
Tire parameter update processing.
Firstly, being illustrated to the sequence for the periphery display processing that the control unit 35 of image processing apparatus 4 executes.The periphery
Display processing is the processing executed repeatedly in the movement of image processing apparatus 4 by the preset execution period.
If executing periphery display processing, control unit 35 is handled as shown in Fig. 2, first in S10 via input signal
Portion 32 obtains speed signal, sideway from vehicle speed sensor 21, yaw rate sensor 22 and shift lever position sensor 23 respectively
Rate signal and gear signal.Moreover, the speed for indicating the speed of determination and the speed signal got in S10 is believed
Breath, indicate and the yaw rate signal got in S10 the yaw-rate information of the yaw-rate of determination and indicate by
The gear information storage of the gear signal that gets in S10 and determination is to the information of vehicles storage region for being set to storage unit 34.
Wherein, the speed that above-mentioned vehicle speed information indicates is calculated based on the time interval of speed signal input.As a result, in storage unit 34
In information of vehicles storage region, multiple vehicle speed informations, yaw-rate information and gear information are stored according to time series.
Next, obtaining upper front part image and rear top image from image transformation component 33 in S30.Also,
In S40, the upper front part image got in S30 and rear top image are stored to the front and back for being set to storage unit 34
Top image storage region.It is stored in the front and back top image storage region of storage unit 34 according to time series as a result, more
A upper front part image and rear top image.
Later, in S50, judged based on the speed signal got this vehicle travel speed whether be indicate just with
Run at a low speed this case it is preset run at a low speed determine speed (in the present embodiment, for example, 30km/h) with
Under.
Herein, in the case where the travel speed of this vehicle is more than to run at a low speed to determine speed (S50: no), in S60,
The upper front part image and rear top image got in S30 is exported to display device 5, and is temporarily terminated at the display of periphery
Reason.Upper front part image and rear top image are shown in the display picture of display device 5 as a result,.
On the other hand, under being to run at a low speed judgement speed situation below in the travel speed of this vehicle (S50: yes),
In S70, judge whether the gear of this vehicle is P (parking) or N (neutral gear) based on the gear signal got.Herein, exist
Gear is in S60, to indicate that the front got in S30 is pushed up to the output of display device 5 in the case where P or N (S70: yes)
The data of portion's image and rear top image, and temporarily terminate periphery display processing.
In addition, when in the case where S70 middle gear is not any one of P and N (S70: no), in S80, based on passing through
Multiple vehicle speed informations for being stored in storage unit 34 according to time series, yaw-rate information, gear information and the speed of determination,
Yaw-rate and gear successively calculate the moving distance and moving direction of this vehicle.Wherein, in S80, based on by storing
The moving direction of left and right is calculated in portion 34 according to yaw-rate determined by multiple yaw-rate information that time series is stored.Separately
Outside, based on by calculating front and back according to gear determined by multiple gear informations that time series is stored in storage unit 34
Moving direction.In addition, based on determined by multiple vehicle speed informations by being stored in storage unit 34 according to time series
This vehicle tyre outer diameter that speed and the tire parameter information stored in storage unit 34 indicate calculates the movement of this vehicle
Distance.
Then, in S90, judge whether the gear of this vehicle is D (driving).Herein, in the case where gear is D
(S90: yes), using the upper front part creation of image center top image stored in storage unit 34, will created in S100
Center top image store to after being set to the center top image memory region of storage unit 34, move to S120.Centre top
Portion's image be between region represented by region and rear top image represented by the upper front part image region (with
Under, referred to as intermediate region) in eye view image.Wherein, center top image is equivalent to the historical record image in the disclosure.
In S100, based on calculated moving distance and moving direction in S80, shot from the extraction of storage unit 34
The upper front part image of above-mentioned intermediate region.Also, in S100, according to the upper front part image that extracts and it is above-mentioned in
Between region deviation, the upper front part image for carrying out making to extract moves in parallel or the coordinate transform of moving in rotation, to create
Center top image.Wherein, the upper front part image extracted in S100 is equivalent to the image of the side in the disclosure, according to
The historical record image in the upper front part creation of image disclosure extracted.
On the other hand, in the case where the gear of this vehicle is not D (S90: no), be judged as this vehicle gear be R (after
Move back (reverse)), in S110, using the rear top image stored in storage unit 34, using method same as S100 come
Center top image is created, is stored by the center top image storage of creation to the center top image for being set to storage unit 34
After region, S120 is moved to.Wherein, the rear top image extracted in S110 is equivalent to the figure of the side in the disclosure
Picture creates the historical record image in the disclosure according to the rear top image extracted.
Then, it if moving to S120, creates the eye view image for being shown in display device 5 and (hereinafter referred to as shows with bowing
It looks down from a height image).
Display eye view image is shown as shown in figure 3, being set with front display area R1, rear display area R2 and centre
Show region R3.Front display area R1 is the region for showing the eye view image in front of this vehicle.Rear display area R2 is aobvious
Show the region of the eye view image at the rear of this vehicle.Intermediate display area R3 is to show bowing between the front of this vehicle and rear
It looks down from a height the region of image.
In S120, front display area R1 and rear display area R2 are assigned with respectively before getting in S30
Square top image and rear top image, also, the intermediate display area R3 center top image for being assigned with storage unit 34 is deposited
The newest center top image stored in storage area domain.Also, in S120, this vehicle figure is configured in intermediate display area R3
As CG.The creation of display eye view image is completed as a result,.
Then, if processing terminate by S120, as shown in Fig. 2, being indicated to the output of display device 5 in S120 in S130
The data of eye view image are used in the display of middle creation, and temporarily terminate periphery display processing.Display is shown with eye view image as a result,
In the display picture of display device 5.
Next, the sequence that the tire parameter executed to the control unit 35 of image processing apparatus 4 updates processing is illustrated.
Tire parameter update processing is the processing immediately begun to after the starting of image processing apparatus 4.
If executing tire parameter update processing, control unit 35 first in S210 as shown in figure 4, judge to preset
Processing start condition it is whether true.The processing start condition of present embodiment is this vehicle from previous processing start condition
Set up travelled it is preset processing start determine distance.
Herein, in the case where processing start condition is invalid (S210: no), by the way that the processing of S210 is repeated, come
It is standby to processing start condition set up until.
On the other hand, in the case where processing start condition is set up, (S210: yes) judges the row of this vehicle in S220
Sail whether speed is that preset processing starts to determine speed (in the present embodiment, for example, 40km/h) below.Herein,
It is more than (S220: no) in the case that processing starts to determine speed in the travel speed of this vehicle, by the place that S220 is repeated
Reason, come it is standby to travel speed become processing start judgement speed below until.
On the other hand, start to determine in speed situation below (S220: yes) for processing in the travel speed of this vehicle,
In S230, judge whether this vehicle is keeping straight on based on the handling maneuver angle signal from handling maneuver angle transducer 24.Tool
For body, handling maneuver angle signal indicate handling maneuver angle be preset straight trip judgement angular range in (for example,-
3 °~+3 °) in the case where, it is judged as that this vehicle is being kept straight on.
Herein, in the case where this vehicle is not straight trip (S230: no), by the processing of S230 repeatedly, come standby to this
Until vehicle becomes the state of straight trip.On the other hand, in the case where this vehicle is being kept straight on (S230: yes), in S240, base
It come the gear for judging this vehicle whether is R (retrogressing) in the gear signal from shift lever position sensor 23.
Herein, in the case where gear is not R (S240: no), it is judged as that gear is D, in S250, by using storage
The newest rear top image that stores in portion 34 carries out image recognition processing (such as pattern match), so that detection is appeared before one's eyes
Measurement object in the top image of rear.The measurement of present embodiment is, for example, pylon (pylon), mark, road with object
Face printing, working hole (manhole) and bar.
Then, in S260, judge measurement object whether is detected in S250.Herein, measurement use is not being detected
In the case where object (S260: no), S250 is moved to, repeatedly above-mentioned processing.On the other hand, in the feelings for detecting measurement object
Under condition (S260: yes), in S270, extracting to appear before one's eyes among the upper front part image stored in storage unit 34 has and in S250
The image of the identical measurement object of the measurement object detected.
Then, in S280, calculate detected in S250 measurement object rear top image right moment for camera with
Time difference between the right moment for camera of the upper front part image extracted in S270 (hereinafter referred to as surrounding time is poor).In turn,
In S290, the position appeared before one's eyes based on measurement object in the rear top image for detecting measurement object in S250,
The position appeared before one's eyes with measurement object in the upper front part image that is extracted in S270, to calculate this vehicle in surrounding time
The distance (hereinafter referred to as front and back operating range) travelled in poor, then moves to S350.
In addition, when in the case where S240 middle gear is R (S240: yes), in S300, by using being deposited in storage unit 34
The newest upper front part image of storage, is carried out similarly image recognition processing with S250, so that detection is appeared before one's eyes in upper front part figure
The measurement object of picture.
Then, in S310, judge measurement object whether is detected in S300.Herein, measurement use is not being detected
In the case where object (S310: no), S300 is moved to, repeatedly above-mentioned processing.On the other hand, in the feelings for detecting measurement object
Under condition (S310: yes), in S320, extracting to appear before one's eyes among the rear top image stored in storage unit 34 has and in S300
The image of the identical measurement object of the measurement object detected.
Then, in S330, calculate detected in S300 measurement object upper front part image right moment for camera with
Time difference between the right moment for camera of the rear top image extracted in S320 (surrounding time is poor).In turn, in S340,
The position appeared before one's eyes based on measurement object in the upper front part image for detecting measurement object in S300 and in S320
The position that measurement object is appeared before one's eyes in the rear top image extracted, to calculate this vehicle traveling in surrounding time difference
Distance (front and back operating range), then moves to S350.
It is poor first with surrounding time calculated in S280 or S330 and speed is believed moreover, if moving to S350
Number, the angle (hereinafter referred to as front and back tire rotation angle) that the tire to calculate in this poor vehicle of surrounding time has rotated.Its
In, front and back tire rotation angle can be calculated based on the number of speed signal is had input in during surrounding time difference.Before
Rear tyre rotation angle can be more than that 360 ° of ground calculate.In turn, in S350, before calculated in S290 or S340
Operating range and calculated front and back tire rotation angle calculates this vehicle tyre outer diameter in S350 afterwards.Specifically, base
Wheel is used as in front and back operating range and front and back tire rotation angle to calculate the distance that tire is travelled during being rotated by 360 °
The perimeter of tire, and the perimeter of the tire is set as this vehicle tyre outer diameter divided by the resulting value of π.
Then, in S360, the value of the tire parameter information stored in storage unit 34 is updated to calculate in S350
Value, and terminate tire parameter update processing.
The image processing apparatus 4 constituted in this way obtains the shooting to the front camera 11 for the front region for being continuously shot vehicle
Image has carried out the resulting upper front part image of the coordinate transform from looking down above vehicle and to being continuously shot vehicle
The shooting image of the rear camera 12 of rear area has carried out the resulting rear of coordinate transform from looking down above vehicle
Top image (S30).
In addition, image processing apparatus 4 in vehicle speed information, yaw-rate information and gear information and storage unit 34 using depositing
Tire parameter information involved in the outer diameter of the tire of storage calculates the moving distance (S80) of vehicle.
In addition, the past front that image processing apparatus 4 in the case where vehicle is being kept straight on, will store in storage unit 34
Top image is used as historical record image, and will be accessed by historical record image and current time based on moving distance
Rear top image synthesis, to create display eye view image (S100, S120).In addition, image processing apparatus 4 vehicle just
In the case where retrogressing, the past rear top image stored in storage unit 34 is used as historical record image, and base
Historical record image is synthesized with upper front part image accessed by current time in moving distance, to create display with bowing
Look down from a height image (S110, S120).
Then, image processing apparatus 4 is updated the tire parameter information stored in storage unit 34, to reduce based on shifting
Upper front part image accessed by dynamic distance and the historical record image synthesized and current time or rear top image
Deviation (S250~S360).
In this way, image processing apparatus 4 is able to carry out the update of tire parameter information, to reduce upper front part image and rear
The image in another party of historical record image and the going through for synthesizing based on calculated moving distance are not used in top image
The deviation of Records of the Historian record image.Therefore, even if in the case where variation has occurred because of certain factors in the outer diameter of tire, image procossing
Device 4 be also able to suppress the movement that is calculated using the tire rotation angle that is determined by vehicle speed information and tire parameter information away from
Generation from this state of affairs different from the actual moving distance of vehicle.
Therefore, even if image processing apparatus 4 is generated and shown with bowing by synthesize historical record image with shooting image
It looks down from a height image, can also make the connection for shooting image and historical record image smooth.Image processing apparatus 4 can be realized not as a result,
Coordinate the generation for the display eye view image that sense reduces.
For example, being greater than the feelings of this vehicle tyre outer diameter represented by tire parameter information in actual vehicle tyre outer diameter
Under condition, such as shown in figure 5, show same pylon PL2, PL3 in rear display area R2 and intermediate display area R3 both sides,
In the near border of rear display area R2 and centre display area R3, deviation is produced along the direction of travel DM of vehicle.This
It is because the actual moving distance of this vehicle is longer than the calculated moving distance of image processing apparatus 4, accordingly, for this vehicle
For at a distance from pylon, actual distance DC2 is than the distance DC3 long that image processing apparatus 4 identifies.
Conversely, being less than the feelings of this vehicle tyre outer diameter represented by tire parameter information in actual vehicle tyre outer diameter
Under condition, the actual moving distance of this vehicle is shorter than the calculated moving distance of image processing apparatus 4.Thus, for example such as Fig. 6 institute
Show, at a distance from this vehicle with pylon, (the pylon PL2 of Fig. 6 is shown in rear and shows actual distance DC2
Region R2) (the pylon PL2A of Fig. 6 is not shown in rear display area by the distance DC2A that identifies than image processing apparatus 4
R2) short.As a result, in the near border of rear display area R2 and centre display area R3, produced along the direction of travel DM of vehicle
Deviation is given birth to.
In addition, each middle detection of the image processing apparatus 4 from multiple upper front part images and multiple rear top images
Object (S250~S270, S290~S310) is used in preset measurement.
Also, image processing apparatus 4 is to the upper front part image for the measurement object for having appeared before one's eyes common and rear top
Time difference at the time of image is taken is measured, and then is based on appearing before one's eyes in upper front part image and rear top image
Common measurement the operating range (S280, S290, S330, S340) of the vehicle driving within the time difference is measured with object.
Then, image processing apparatus 4 is rotated based on the time difference and operating range measured and within the time difference
Tire rotation angle calculates this vehicle tyre outer diameter (S350) of update.
Therefore, image processing apparatus 4 is able to use for in-vehicle camera group 2 needed for creating display eye view image, comes
Measure this vehicle tyre outer diameter.It is filled that is, image processing apparatus 4 does not need the newly additional measurement for measuring this vehicle tyre outer diameter
It sets, the structure of image processing apparatus 4 can be made to simplify.In addition, since image processing apparatus 4 is by the shooting image of front camera 11
It is compared with the shooting image of rear camera 12, so this vehicle tyre can be measured based on the result of tire multiple rotary
Outer diameter, and can precisely detect the variation of the perimeter associated with the variation of tire outside diameter.
In addition, image processing apparatus 4 determines whether vehicle is in straight-going state (S230), it is being determined as it being the feelings in straight trip
Under condition, it is updated the processing of tire parameter information.Image processing apparatus 4 only carries out tire parameter information in straight trip as a result,
The calculating of represented value, can ignore the deviation of the left and right directions of vehicle substantially to carry out the update of tire parameter information,
The accuracy of tire parameter information can be improved.
In addition, image processing apparatus 4 determines whether the travel speed of vehicle is that preset processing starts to determine speed
(S220) below is under processing starts to determine speed situation below, to be updated tire in the travel speed for being determined as vehicle
The processing of parameter information.Image processing apparatus 4 only carries out the calculating of value represented by tire parameter information in low speed as a result,
It can reduce the influence skidded caused by tire, it is easy to ensure that the accuracy of tire parameter information.
In the embodiment described above, front camera 11 and rear camera 12 are the filming apparatus in the disclosure, S30
Processing be side images acquisition unit in the disclosure, the processing of S80 is the calculation part in the disclosure, S100, S110, S120's
Processing is the composograph establishment portion in the disclosure, and the processing of S250~S360 is the tire parameter update section in the disclosure.
In addition, the processing of S250~S270, S290~S310 are the measurement object detection portions in the disclosure, S280,
The processing of S290, S330, S340 are the measurement units in the disclosure, and the processing of S230 is the straight trip determination unit in the disclosure, S220
Processing be vehicle speed determining portion in the disclosure.
(second embodiment)
Hereinafter, being illustrated together with attached drawing to the second embodiment of the disclosure.Wherein, in this second embodiment,
The part being different from the first embodiment is illustrated.
The vehicle display system 1 of second embodiment is other than tire parameter update processing is changed this point with the
One embodiment is identical.
The tire parameter of second embodiment updates processing of the processing in addition to omitting S270~S290, S320~S360, and
And it adds identical with first embodiment other than the processing this point of S410~S490.
That is, as shown in fig. 7, in the case where detecting measurement object (S260: yes), in S410, in the same manner as S80
Calculate the moving distance and moving direction of this vehicle.Then, in S420, the upper front part image stored in storage unit 34 is used
It indicates that the position of rear display area R2 and centre display area R3 are compared with image to create, and compares by the position of creation
It is stored with image to the position for being set to storage unit 34 and is compared with after image memory region, move to S430.
In S420, shot based on moving distance calculated in S410 and moving direction from the extraction of storage unit 34
The upper front part image of rear display area R2 and centre display area R3.In turn, it in S420, is pushed up according to the front extracted
Make, the upper front part image extracted moves in parallel the deviation of portion's image and intermediate region or the coordinate of moving in rotation becomes
It changes, uses image to create position and compare.
Next, being compared using the position of storage unit 34 with the newest position stored in image memory region in S430
It sets to compare with image and carries out image recognition processing, so that detection appears before one's eyes and compares the measurement object with image in position.
Later, in S440, this vehicle tyre outer diameter is calculated, S490 is then moved to.Specifically, being firstly used in S250
In the measurement of rear top image that detects with object compared with the position detected in S430 with the measurement object of image
The distance of body, to calculate the variable quantity of this vehicle tyre outer diameter.Such as shown in figure 8, being shown in rear display area R2's
In the case that the measurement object PL2 and measurement object PL3 for being shown in intermediate display area R3 is same measurement object,
Calculate the variable quantity of this vehicle tyre outer diameter with object PL3 distance DC with measurement using measurement with object PL2.Then, right
The value of the tire parameter information stored in storage unit 34, which adds, perhaps subtracts calculated variable quantity and by the additive value or phase
Depreciation is as new this vehicle tyre outer diameter.
In addition, detected in S310 in the case where measurement object (S310: yes) as shown in fig. 7, working as, in S450,
The moving distance and moving direction of this vehicle are calculated in the same manner as S80.Then, in S460, use what is stored in storage unit 34
Rear top image indicates that the position of front display area R1 and centre display area R3 are compared with image to create, and will create
The position built is compared to be stored with image to the position for being set to storage unit 34 and be compared with after image memory region, and S470 is moved to.
In S470, based on calculated moving distance and moving direction in S450, clapped from the extraction of storage unit 34
Take the photograph the rear top image of front display area R1 and centre display area R3.Also, in S470, according to the rear extracted
The deviation of top image and intermediate region moves in parallel or the coordinate of moving in rotation make the rear top image extracted
Transformation, uses image to create position and compare.
Next, being deposited compared with being used in the same manner the position of storage unit 34 with S430 in image memory region in S470
The newest position of storage, which is compared with image, carries out image recognition processing, so that detection appears before one's eyes and compares the measurement with image in position
Use object.
Later, in S480, using the measurement object of the upper front part image detected in S300 and in S470
The distance of the measurement object with image is compared in the position detected, and vehicle tyre outer diameter is calculated in the same manner as S440, is moved to
S490。
Then, if moving to S490, the value of the tire parameter information stored in storage unit 34 is updated in S440 or
Calculated value in S480, and terminate tire parameter update processing.
The image processing apparatus 4 constituted in this way upper front part image or rear top graph accessed by the current time
As and storage unit 34 in the position that stores compare with each middle preset measurement object of detection of image (S250,
S430,S300,S470).Then, image processing apparatus 4 is updated tire parameter information, is appeared before one's eyes with reducing at current time
Measurement object in accessed upper front part image or rear top image is compared with reflecting present position in image
Measurement use object deviation (S440, S480, S490).
Therefore, image processing apparatus 4 is able to use for in-vehicle camera group 2 needed for creating display eye view image, comes
Measure this vehicle tyre outer diameter.It is filled that is, image processing apparatus 4 does not need the newly additional measurement for measuring this vehicle tyre outer diameter
It sets, the composition of image processing apparatus 4 can be made to simplify.
In the embodiment described above, the processing of S250, S420, S300, S470 are the measurement objects in the disclosure
Body test section, the processing of S440, S480, S490 are the tire parameter update section in the disclosure.
(third embodiment)
The third embodiment of the disclosure is illustrated together with attached drawing below.Wherein, in the third embodiment, right
The part being different from the first embodiment is illustrated.
The vehicle display system 1 of third embodiment is other than tire parameter update processing is changed this point with the
One embodiment is identical.
The tire parameter update processing of third embodiment is in the movement of image processing apparatus 4 according to preset
The processing that the execution period executes repeatedly.
If executing tire parameter update processing, control unit 35 first in S610 as shown in figure 9, judge to preset
Processing start condition it is whether true.The processing start condition of present embodiment be the tire parameter that is arranged in compartment update by
Button is pressed.
Herein, in the case where processing start condition is invalid (S610: no), temporarily terminate tire parameter update processing.
On the other hand, in the case where processing start condition is set up (S610: yes), in S620, this vehicle is judged in the same manner as S70
Whether gear is P or N.Herein, in the case where gear is P N (S620: yes), the processing of S620 is repeated.
In addition, when in the case where S620 middle gear is not any one of P and N (S620: no), in S630, with S80
Similarly calculate the moving distance of this vehicle.
Then, in S640, judge whether the gear of this vehicle is D in the same manner as S90.Herein, the case where gear is D
Under (S640: yes) top among the upper front part creation of image stored in storage unit 34 is used in the same manner with S100 in S650
Portion's image, and by the storage of the center top image of creation to be set to storage unit 34 center top image memory region it
Afterwards, S670 is moved to.
On the other hand, in the case where the gear of this vehicle is not D (S640: no), it is judged as that the gear of this vehicle is R,
In S660, the rear top image that stores in storage unit 34 is used in the same manner with S110 to create center top image, and
After the center top image of creation is stored in center top image memory region, S670 is moved to.
Moreover, if moving to S670, judge this vehicle from current time to preparatory based on the speed signal got
During until before during the speed judgement of setting, if travelled with certain speed.Herein, in this vehicle not with one
In the case where fixed speed traveling (S670: no), S620 is moved to.
On the other hand, in the case where this vehicle is being travelled with certain speed (S670: yes), in S680, from
Pass through the S30 multiple upper front part images got during until before during current time to speed judgement and multiple rears are pushed up
Portion's image detection optical flow field (optical flow).
Then, it in S690, is calculated and is appeared before one's eyes in upper front part image with after using the optical flow field detected in S680
The velocity vector of the mobile object (0 mobile object MO1, MO2, MO3, MO4, MO5 referring to Fig.1) of square top image is (referring to figure
10 vector V1, V2, V3, V4, V5).
Next, in S700, before during current time to speed determines until during by S650 or
Multiple center top image detection optical flow fields of S660 creation.
Then, in S710, the shifting appeared before one's eyes in center top image is calculated using the optical flow field detected in S700
The velocity vector (0 vector V6, V7 referring to Fig.1) of animal body (0 mobile object MO6, MO7 referring to Fig.1).
Later, in S720, based on the obtained velocity vector of optical flow field by being detected in S680 and S700
Several and direction, to judge whether calculated velocity vector is effective in S690 and S710.It herein, is not effective in velocity vector
In the case where (S720: no), move to S620.
On the other hand, in the case where velocity vector is effective situation (S720: yes), in S730, using in S690 and S710
In calculated velocity vector this vehicle tyre outer diameter X calculated by following formula (1).Wherein, in following formula (1), L is storage unit
This vehicle tyre outer diameter represented by the tire parameter information stored in 34.V is the big of the calculated velocity vector in S690
It is small.Va is the size of the calculated velocity vector in S710.
X=L × v/va ... (formula 1)
Then, in S740, the value of the tire parameter information stored in storage unit 34 is updated to calculate in S730
This vehicle tyre outer diameter X value, and terminate tire parameter update processing.
The image processing apparatus 4 constituted in this way detects the object moved in upper front part image and rear top image
Movement speed (hereinafter referred to as first movement speed) (S680, S690).In addition, the detection of image processing apparatus 4 is in center top figure
The movement speed (hereinafter referred to as the second movement speed) (S700, S710) of the object moved as in.Then, image processing apparatus 4
This vehicle tyre outer diameter (S730) of update is calculated based on first movement speed and the second movement speed.
Therefore, image processing apparatus 4 is able to carry out the update of tire parameter information, so that at upper front part image and rear
It the movement speed (first movement speed) of the object actually moved in top image and is actually moved in center top image
The movement speed (the second movement speed) of object is consistent.
Image processing apparatus 4 can make the upper front part image and rear top image actually synthesized and centre as a result,
The connection of top image is smooth, it can be achieved that reducing the generation of the display eye view image of incongruity.
In the embodiment described above, the processing of S680, S690 are the first movement speed detecting portions in the disclosure,
The processing of S700, S710 are the second movement speed test sections in the disclosure, and the processing of S730, S740 are the tires in the disclosure
Parameter update section.
More than, an embodiment of the disclosure is illustrated, but the disclosure is not limited to the above embodiment, only
Belong to scope of the presently disclosed technology, it will be able to adopt in various manners.
(variation 1)
Such as in the above-described embodiment, it shows in the case where speed is to run at a low speed judgement speed situation below, display
The display picture of display device 5 is shown in eye view image, however, you can also not pipe speeds how all to show display aerial view
Picture.
(variation 2)
In addition, in the above-described embodiment, showing tire parameter information indicates tire outside diameter, but tire parameter information is only
If can determine the information of tire outside diameter, however it is not limited to this, for example, it may be indicate the value of the perimeter of tire, it can also
To be the corrected value for correcting outer diameter or perimeter as benchmark.
(variation 3)
In addition, in the above-described embodiment, showing the shooting based on the upper front part image for detecting measurement object
Time difference between opportunity and the right moment for camera of rear top image, come calculate this vehicle tire outer diameter.However, it is also possible to
The measurement object of upper front part image and rear top image is replaced using brightness change pattern, and calculates the wheel of this vehicle
The outer diameter of tire.Such as shown in Figure 11 A, the direction of travel DM brightness change along this vehicle is detected in upper front part image
Brightness change pattern P B1.White line WL of the brightness change pattern P B1 for example because dividing such as dotted line shape in the lane of road
(lane center line) and generate.Later, as shown in Figure 11 B, when detected in the top image of rear have and brightness change figure
It, being capable of shooting time based on upper front part image and rear in the case where the brightness change pattern P B2 of the identical waveform of case PB1
The speed of time difference of the shooting time of top image and this vehicle calculates the outer diameter of the tire of this vehicle.
Specifically, firstly, according to the right moment for camera for the upper front part image for detecting brightness change pattern P B1 and detection
Time difference (surrounding time is poor) between the right moment for camera of the rear top image of brightness change pattern P B2 and speed signal out,
The angle (front and back tire rotation angle) being had rotated come the tire calculated in this poor vehicle of surrounding time.
Also, based on the position that brightness change pattern P B1 appears before one's eyes in upper front part image and in the top image of rear
The position that brightness change pattern P B2 appears before one's eyes calculate this vehicle surrounding time difference in travel distance (front and back operating range).
Then, this vehicle tyre outer diameter is calculated based on front and back operating range and front and back tire rotation angle.Specifically, being based on front and back
Operating range and front and back tire rotation angle calculate perimeter of the distance travelled during tire is rotated by 360 ° as tire,
And the perimeter of the tire is set as this vehicle tyre outer diameter divided by the resulting value of π.
(variation 4)
In addition, in the above-described embodiment, showing and starting the preset processing of this vehicle driving to determine distance
It is set as processing start condition.However, it is also possible to which will test out tire changing is set as processing start condition.Alternatively, it is also possible to take turns
The air pressure of tire, which changes, is set as processing start condition.For example, in the case where checking oil supply, it is possible to determine that for tire
Air pressure rises.Alternatively, it is also possible to determine since previous processing start condition at erecting by preset processing
Time is set as processing start condition.Alternatively, it is also possible to start and driver carries out in advance to make tire parameter update to handle
The processing of setting starts to operate (such as the operation for the operation button being arranged to calculate tire outside diameter) and be set as handling to start item
Part.
It is wanted furthermore it is possible to which function possessed by a constituent element in above embodiment is made to be separated into multiple compositions
Element, or function possessed by multiple constituent elements is unified into a constituent element.Furthermore it is possible to omit above embodiment
Structure a part.Alternatively, it is also possible to add or be replaced into others at least part of the structure of above embodiment
The structure of above embodiment.Wherein.Only own by what the technical idea that text documented by technical solution determines was included
Mode is all embodiment of the present disclosure
The disclosure is described according to embodiment, it should be understood that the disclosure is not limited to the embodiment, structure.This
Disclosure is also comprising the deformation in various modifications example, equivalency range.In addition to this, various combinations, mode, even at them
In the scope and thought of the disclosure are only also contained in comprising an element, its above or its following element other combination or mode
In range.
Claims (7)
1. a kind of image processor for vehicles is according to the above-mentioned vehicle shot by the multiple filming apparatus for being set to vehicle
The image on periphery generates the image processor for vehicles of the vehicle-surroundings image from looking down from top around the vehicle
(4), have:
Side images acquisition unit, front filming apparatus (11) and continuous bat from the front region for being continuously shot above-mentioned vehicle
The rear filming apparatus (12) for taking the photograph the rear area of above-mentioned vehicle obtains front shooting image and rear shooting image respectively；
Calculation part, the car status information of information involved in the rotation angle using the tire comprising above-mentioned vehicle, Yi Jicun
Parameter information involved in the outer diameter of the above-mentioned tire stored in storage portion (34), to calculate the moving distance of above-mentioned vehicle；
Above-mentioned front is shot the traveling for above-mentioned vehicle of appearing before one's eyes in image and above-mentioned rear shooting image by composograph establishment portion
The past image of one side in direction is used as historical record image, and is based on above-mentioned moving distance for above-mentioned historical record figure
Image as shooting another party in image and above-mentioned rear shooting image with above-mentioned front synthesizes, to create above-mentioned vehicle
Side images；And
Tire parameter update section is updated the above-mentioned parameter information stored in above-mentioned storage unit, to reduce based on above-mentioned
Moving distance and the deviation of the image of above-mentioned historical record image and above-mentioned another party synthesized.
2. image processor for vehicles according to claim 1, wherein have:
Measurement object detection portion, from the multiple above-mentioned fronts shooting images got repeatedly by above-mentioned side images acquisition unit with
And object is used in each middle preset measurement of detection of multiple above-mentioned rear shooting images；And
Measurement unit, the above-mentioned front shooting image of the existing common above-mentioned measurement object of mapping and above-mentioned rear shoot image
Time difference at the time of being taken is measured, and then shoots image and above-mentioned rear shooting figure in above-mentioned front based on appearing before one's eyes
Common above-mentioned measurement as in measures the operating range of within the time difference above-mentioned vehicle driving with object,
Above-mentioned tire parameter update section based on the above-mentioned time difference and above-mentioned operating range measured by above-mentioned measurement unit and
The rotation angle for the above-mentioned tire being had rotated in the time difference, to calculate the above-mentioned parameter information of update.
3. image processor for vehicles according to claim 1, wherein have:
Measurement object detection portion, from the image of the above-mentioned another party got repeatedly by above-mentioned side images acquisition unit and
Each middle preset measurement object of detection of the above-mentioned historical record image stored in above-mentioned storage unit,
Above-mentioned tire parameter update section is updated above-mentioned parameter information, appears before one's eyes in the image of above-mentioned another party to reduce
Above-mentioned measurement object and the deviation of above-mentioned measurement object appeared before one's eyes in above-mentioned historical record image.
4. image processor for vehicles according to claim 3, wherein
Above-mentioned storage unit includes storage area, the storage area to have taken appear before one's eyes the image of above-mentioned another party range it is upper
Historical record image is stated to be stored.
5. image processor for vehicles according to claim 1, wherein
Have the straight trip determination unit for determining whether above-mentioned vehicle is in straight-going state,
Above-mentioned tire parameter update section is updated above-mentioned in the case where being determined as by above-mentioned straight trip determination unit is in straight trip
The processing of parameter information.
6. image processor for vehicles described according to claim 1~any one of 5, wherein
Have and determine whether the travel speed of above-mentioned vehicle is preset judgement speed vehicle speed determining portion below,
Above-mentioned tire parameter update section is above-mentioned judgement in the travel speed for being determined as above-mentioned vehicle by above-mentioned vehicle speed determining portion
In speed situation below, it is updated the processing of above-mentioned parameter information.
7. image processor for vehicles according to claim 1, wherein have:
First movement speed detecting portion, to the movement speed i.e. first movement speed of the object moved in the image of above-mentioned another party
Degree is detected；And
Second movement speed test section, to the mobile speed of the movement speed i.e. second of the object moved in above-mentioned historical record image
Degree is detected,
Above-mentioned tire parameter update section calculates the upper of update based on above-mentioned first movement speed and above-mentioned second movement speed
State parameter information.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014178098 | 2014-09-02 | ||
| JP2014-178098 | 2014-09-02 | ||
| JP2015-010341 | 2015-01-22 | ||
| JP2015010341A JP6327160B2 (en) | 2014-09-02 | 2015-01-22 | Image processing apparatus for vehicle |
| PCT/JP2015/004133 WO2016035271A1 (en) | 2014-09-02 | 2015-08-19 | Image processing device for vehicle |
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| CN106604847A CN106604847A (en) | 2017-04-26 |
| CN106604847B true CN106604847B (en) | 2018-12-25 |
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| JP (1) | JP6327160B2 (en) |
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| KR20180069380A (en) * | 2016-12-15 | 2018-06-25 | 주식회사 와이즈오토모티브 | Apparatus and method for supporting driving of vehicle |
| US10744941B2 (en) | 2017-10-12 | 2020-08-18 | Magna Electronics Inc. | Vehicle vision system with bird's eye view display |
| CN108039048B (en) * | 2017-12-25 | 2021-02-19 | 重庆冀繁科技发展有限公司 | Traffic flow monitoring method |
| JPWO2019156087A1 (en) * | 2018-02-07 | 2021-04-01 | 株式会社小糸製作所 | Image processing equipment and vehicle lighting equipment |
| JP7128723B2 (en) * | 2018-11-12 | 2022-08-31 | 本田技研工業株式会社 | Image management device, road surface information management system, vehicle, program, and image management method |
| JP7243478B2 (en) * | 2019-06-24 | 2023-03-22 | トヨタ自動車株式会社 | Vehicle information recording device |
| CN112622761B (en) * | 2019-09-24 | 2022-07-29 | 博泰车联网科技(上海)股份有限公司 | Backing display method and device and computer storage medium |
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| CN106604847A (en) | 2017-04-26 |
| JP6327160B2 (en) | 2018-05-23 |
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