CN111886858B - Image system for vehicle - Google Patents
Image system for vehicle Download PDFInfo
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- CN111886858B CN111886858B CN201980019090.XA CN201980019090A CN111886858B CN 111886858 B CN111886858 B CN 111886858B CN 201980019090 A CN201980019090 A CN 201980019090A CN 111886858 B CN111886858 B CN 111886858B
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- 238000004040 coloring Methods 0.000 claims abstract description 10
- 238000003384 imaging method Methods 0.000 claims description 16
- 230000037237 body shape Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 238000003709 image segmentation Methods 0.000 claims 1
- 230000026676 system process Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
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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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The vehicle video system processes the image of the area around the vehicle body captured by the camera for the electronic mirror, and easily discriminates the reflected image reflected on the vehicle body from the actual scene. A camera (2) for capturing an area around a vehicle body and an ECU (3) for displaying an image (6) captured by the camera (2) on a monitor (4) are provided. In an ECU (3), a video (6) of a region around a vehicle body captured by a camera (2) is analyzed, and a region having a small amount of change in the video is defined as a region (S1), and the remaining region is divided into regions (S2). By coloring the region (S1) and outputting the colored region to the monitor (4), the reflected image reflected on the vehicle body and the actual scenery can be easily distinguished.
Description
Technical Field
The present invention relates to a vehicle video system for capturing an image of the periphery of a vehicle body with a camera and displaying the image on a monitor of a driver's seat.
Background
In recent years, the following electronic mirror techniques are known: the rear side of the vehicle body is photographed by a camera instead of a rear view mirror or a side rear view mirror, and the photographed image is displayed on a monitor of a driver's seat, thereby securing a visual field around the vehicle body. For example, patent document 1 proposes a vehicle rear recognition device that uses an electronic mirror and removes a side mirror to reduce air resistance during traveling. Patent document 2 proposes a vehicle imaging system that is provided with an electronic mirror and that is capable of checking a blind spot that is not reflected on a rear view mirror or a side view mirror.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2003-312359
Patent document 2: japanese laid-open patent publication No. 2016-048839
Disclosure of Invention
Technical problem to be solved by the invention
However, in the devices and systems of patent documents 1 and 2, since the camera is attached to a lower position of the vehicle body such that the camera is closer to the fender than the conventional side mirror, the vehicle body is projected to a wider range, and the driver may confuse the actual scenery with the scenery projected onto the vehicle body and erroneously recognize the position of the vehicle driving by himself/herself.
As a solution to this problem, for example, a method of removing the vehicle body from the image capturing range without displaying the vehicle body may be considered. However, the driver usually relatively grasps the positional relationship with the surrounding obstacles and other vehicles with reference to the vehicle driven by the driver. Therefore, if the vehicle body of the driver is simply removed from the video, the driver cannot grasp his/her own situation, and a driving error occurs.
Accordingly, an object of the present invention is to provide a vehicle image system that displays an image in which a driver can easily distinguish between an actual scene and a scene reflected in a vehicle body.
Means for solving the problems
In order to solve the above problem, a vehicle imaging system according to the present invention includes: a camera that photographs a region around a vehicle body; and a control unit that displays the image of the camera on the monitor, the control unit including: an image dividing unit that divides an image of the camera into a 1 st region including the vehicle body and a 2 nd region other than the 1 st region, based on the image of the camera; and an image processing unit for performing predetermined processing on the 1 st region.
Here, the image dividing means determines an area in the camera image having a smaller amount of change than the surrounding image as the 1 st area.
The video image dividing means compares the 1 st region with the 2 nd region, and determines, for example, a region in which the video image is less clear as the 1 st region. The region in which the image is more curved may be determined as the 1 st region.
The image processing means colors the determined 1 st region. The 1 st region may be covered with a predetermined vehicle body shape.
Effects of the invention
According to the display system for a vehicle of the present invention, the periphery of the vehicle body is photographed by the camera, the photographed image is divided into the 1 st region including the vehicle body and the 2 nd region other than the first region, and the 1 st region is subjected to the predetermined image processing, and therefore, the following excellent effects are obtained: the driver can easily distinguish the actual landscape (area 2) from the reflected image of the landscape (area 1) reflected on the vehicle body, and can accurately grasp the driving situation.
Drawings
Fig. 1 is a schematic view showing a vehicle video system according to an embodiment of the present invention.
Fig. 2 is a schematic view of the vehicle video system of fig. 1 viewed from the left side direction.
Fig. 3 is a block diagram of the vehicle video system of fig. 1.
Fig. 4 is a schematic view of an image captured by the camera.
Fig. 5 is a schematic diagram showing a case where the image of fig. 4 is subjected to the segmentation processing.
Fig. 6 is a schematic diagram showing a case where the image of fig. 5 is subjected to image processing such as coloring.
Description of the symbols
1 vehicle video system
2 vidicon
3 ECU
31 image dividing part
32 image processing part
33 image display part
4 monitor
5 vehicle body
51 door handle
52 tyre
6 image
71 white line
72 following vehicle
Detailed Description
An embodiment of the present invention is described below with reference to the drawings. The vehicle video system 1 shown in fig. 1 includes: cameras 2L and 2R that capture images of a peripheral region of the vehicle body 5; an ECU 3 as a control unit that performs image processing on a captured image 6 (see fig. 4) and outputs the processed image to the monitors 4L and 4R; and monitors 4L and 4R that display the processed images 6 (see fig. 6) of the cameras 2R and 2L, respectively.
As shown in fig. 2, the camera 2 is attached to a fender of the vehicle 5 so as to be able to mainly photograph the side and rear of the vehicle body. In this case, the imaging area of the camera 2 also includes a door and a rear fender on the side of the vehicle body 5.
As shown in fig. 3, the ECU 3 includes: a video dividing unit 31 that analyzes the video of the cameras 2L and 2R and divides the video into a region S1, which is a 1 st region including the vehicle body, and a region S2, which is a 2 nd region other than the region; an image processing unit 32 for performing processing such as coloring on the region S1; and a video display unit 33 for outputting the processed video images of the cameras 2L and 2R to the monitors 4L and 4R, respectively.
In the vehicle video system 1 configured as described above, the video 6 captured by the cameras 2L and 2R is divided into the 1 st region S1 and the 2 nd region S2 by the video dividing unit 31 of the ECU 3, the 1 st region S1 is processed by the video processing unit 32, and then the processed video is output to the monitors 4L and 4R by the video display unit 33.
Next, the image processing of the vehicle image system 1 configured as described above will be described in detail with reference to fig. 4 to 6. As shown in fig. 4, the image 6 captures the landscape of the vehicle body 5 and the area around the vehicle body, and includes a white line 71 of the road and a reflection image 71 'thereof reflected on the vehicle body, another vehicle 72 traveling behind, and a reflection image 72' thereof reflected on the vehicle body.
As shown in fig. 5, the video image dividing unit 31 analyzes the received video image 6 of the camera 2, extracts the area occupied by the vehicle body 5 in the video image, sets the area as the area S1 as the 1 st area, and divides the other areas into the area S2 as the 2 nd area.
The analysis process is performed by extracting a region having a high degree of stillness, that is, a small amount of change in the image, from the image 6. Since the camera 2 is fixed to the vehicle body 5, the amount of change in the image of the region where the vehicle body 5 is captured should be small, and if the region is extracted, the region including the vehicle body 5 can be extracted. In the extraction, for example, an upper threshold of the amount of change in the still region detected in advance may be used as a reference.
Next, the video divider 31 compares the extracted region S1 with the extracted region S2 to verify the extraction result. Specifically, the image of the white line 71 of the road (the area S2) is compared with the image of the reflected image 71 'of the white line (the area S1), and the image of the other vehicle 72 that actually travels behind (the area S2) is compared with the image of the reflected image 72' of the other vehicle (the area S1), and as a result, an area including an image that is determined to be less clear is determined as the area S1, for example. Alternatively, an area including a video determined to be more curved may be determined as the area S1. Since the reflected image of the landscape projected onto the vehicle body 5 appears less clearly than the directly-imaged landscape due to fine irregularities or dirt of the paint on the surface of the vehicle body, or appears curved depending on the shape of the surface of the vehicle body, the region S1 can be determined by determining an unclear region or a curved region from the image 6.
The divided video 6 is sent to the video processing unit 32, and the region S1 is processed. For example, as shown in fig. 6 (a), the area S1 may be colored with a predetermined color, or as shown in fig. 6 (b), a photograph or CG image of the vehicle body 5 prepared in advance may be overlaid on the area S1.
According to the vehicle video system configured as described above, since the vehicle body video (the area S1) is subjected to processing such as coloring in the video 6 displayed on the monitor 4, there is an excellent effect that the driver can easily distinguish between the actual scenery and the scenery that is reflected on the vehicle body, and can accurately grasp the driving situation.
As a modification of the present invention, for example, the reflection intensity and brightness to the vehicle body 5 may be measured, and the transparency of the coloring, the transmittance of the photograph, or the CG image may be adjusted according to the degree of the measurement. In this case, the uncomfortable feeling of the driver can be reduced. In addition, since a phenomenon (saturation) in which headlights and streetlights of the following vehicles diffuse toward the vehicle body 5 may occur during night driving, the ECU 3 may detect the occurrence of the phenomenon and reduce the brightness of the saturated region and the surrounding region. In this case, the glare of the field of view can be reduced, and the driver can grasp the situation around the vehicle more accurately.
As another modification, as shown in fig. 6 (c), processing may be performed by coloring only the boundary with the area S2 or by reducing the frame rate of displaying a photograph or CG image of the vehicle body. In this case, the effect of reducing the burden of video processing is obtained. The displays shown in fig. 6 (a) to (c) may be used in combination as appropriate.
The present invention is not limited to the above-described embodiments, and may be implemented by appropriately changing the configurations of the respective portions as described below without departing from the gist of the present invention.
(1) The camera 2 is installed in a place or a position where air resistance is not easily received during traveling, for example, in a vehicle lamp such as a door handle 51 (see fig. 2) or a side turn signal lamp.
(2) The monitors 4L and 4R are attached to positions where the images of the cameras 2L and 2R can be easily checked, for example, the vicinity of a door mirror and an instrument panel.
(3) The images of the monitors 4L and 4R are combined and displayed on one monitor.
(4) The ECU 3 is installed on the cameras 2L and 2R and the monitors 4L and 2R, respectively, separately from the left and right.
Claims (13)
1. An imaging system for a vehicle, comprising:
a camera that photographs a region around a vehicle body; and
a control unit that displays an image of the camera on a monitor,
the control section includes: an image dividing unit that divides the image of the camera into a 1 st region including the vehicle body and a 2 nd region other than the 1 st region, based on the image of the camera; and an image processing means for performing predetermined processing on the 1 st region,
wherein the image segmentation unit analyzes the image of the camera to extract the 1 st region including the vehicle body, and compares the extracted 1 st region and the 2 nd region to verify an extraction result.
2. The vehicular imaging system according to claim 1,
the image dividing means determines an area having a smaller amount of change than that of the surrounding image in the camera image as the 1 st area.
3. The vehicular imaging system according to claim 1 or 2,
the image dividing means compares the 1 st area with the 2 nd area, and determines an area where an image is less clear as the 1 st area.
4. The vehicular imaging system according to claim 1 or 2,
the image dividing means compares the 1 st region with the 2 nd region, and determines a region in which an image is more curved as the 1 st region.
5. The vehicular imaging system according to claim 3,
the image dividing means compares the 1 st region with the 2 nd region, and determines a region in which an image is more curved as the 1 st region.
6. The vehicle imaging system according to claim 1 or 2, wherein the image processing unit performs a coloring process on the 1 st region.
7. The vehicular imaging system according to claim 3,
the image processing unit applies coloring treatment to the 1 st region.
8. The vehicular imaging system according to claim 4,
the image processing unit applies coloring treatment to the 1 st region.
9. The vehicular imaging system according to claim 5,
the image processing unit applies coloring treatment to the 1 st region.
10. The vehicular imaging system according to claim 1 or 2,
the image processing means covers a predetermined vehicle body shape in the 1 st region.
11. The vehicular imaging system according to claim 3,
the image processing means covers a predetermined vehicle body shape in the 1 st region.
12. The vehicular imaging system according to claim 4,
the image processing means covers a predetermined vehicle body shape in the 1 st region.
13. The vehicular imaging system according to claim 5,
the image processing means covers a predetermined vehicle body shape in the 1 st region.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018047493 | 2018-03-15 | ||
| JP2018-047493 | 2018-03-15 | ||
| PCT/JP2019/010306 WO2019177036A1 (en) | 2018-03-15 | 2019-03-13 | Vehicle imaging system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111886858A CN111886858A (en) | 2020-11-03 |
| CN111886858B true CN111886858B (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980019090.XA Active CN111886858B (en) | 2018-03-15 | 2019-03-13 | Image system for vehicle |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7258847B2 (en) |
| CN (1) | CN111886858B (en) |
| WO (1) | WO2019177036A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7506036B2 (en) | 2021-07-29 | 2024-06-25 | Kddi株式会社 | Apparatus, method and program for discriminating mirror images |
| CN117011830B (en) * | 2023-08-16 | 2024-04-26 | 微牌科技(浙江)有限公司 | Image recognition method, device, computer equipment and storage medium |
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| JP2000059763A (en) * | 1998-08-06 | 2000-02-25 | Mitsubishi Electric Corp | Monitoring device around vehicle |
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| WO2015016016A1 (en) * | 2013-08-01 | 2015-02-05 | 株式会社島津製作所 | Height measurement device |
| JP5977900B2 (en) * | 2014-06-18 | 2016-08-24 | オリンパス株式会社 | Image processing device |
| JP6256509B2 (en) * | 2016-03-30 | 2018-01-10 | マツダ株式会社 | Electronic mirror control device |
-
2019
- 2019-03-13 JP JP2020506613A patent/JP7258847B2/en active Active
- 2019-03-13 WO PCT/JP2019/010306 patent/WO2019177036A1/en active Application Filing
- 2019-03-13 CN CN201980019090.XA patent/CN111886858B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1735204A (en) * | 2004-08-04 | 2006-02-15 | 株式会社自动网络技术研究所 | Vehicle circumstance visible recognizing device |
| CN102271966A (en) * | 2009-01-06 | 2011-12-07 | 株式会社伊美吉内柯斯特 | Method and apparatus for generating a surrounding image |
| CN102714710A (en) * | 2009-12-07 | 2012-10-03 | 歌乐牌株式会社 | Vehicle periphery image display system |
| CN102713988A (en) * | 2010-01-14 | 2012-10-03 | 本田技研工业株式会社 | Vehicle periphery monitoring device |
| JP2013183298A (en) * | 2012-03-02 | 2013-09-12 | Nissan Motor Co Ltd | Rearward visibility support device for vehicle and rearward visibility support method for vehicle |
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| JP2015201680A (en) * | 2014-04-04 | 2015-11-12 | 富士通株式会社 | Image display apparatus, image display method, and image display program |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP7258847B2 (en) | 2023-04-17 |
| CN111886858A (en) | 2020-11-03 |
| WO2019177036A1 (en) | 2019-09-19 |
| JPWO2019177036A1 (en) | 2021-03-11 |
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