DE102015214737A1 - Recording device for a vehicle - Google Patents

Abstract

OBJECT The object of the present invention is to provide a pick-up device for a vehicle, with which the burden for the processing of the image of the surroundings of the vehicle taken with the camera can be reduced. [Means for Solving the Problem] The vehicle pickup apparatus 100 includes a front camera 1 that houses a front portion of the vehicle, a left side camera 2 that houses a left side portion of the vehicle, a right side camera 3 that has a right side Area of the vehicle receives, a rear camera 4, which receives a rear portion of the vehicle, and a signal processing unit 20, with which the signal processing is performed for the captured in each direction of the camera image and a particular signal is output. The cameras 1-4 have a receiving area for each shooting direction, the signal processing unit performing signal processing of an image obtained from a limited field of view of the camera, the limited field of view being an area located on a predetermined area within the camera's shooting area is limited.

Description

[Commercial application]

The present invention relates to a pickup device for a vehicle, with which the environment of the vehicle is recorded by means of a built-in camera in the vehicle.

[State of the art]

It is conventionally known that for the purpose of detecting an object on the road or observing the situation of the surroundings of the vehicle, a camera is installed in the vehicle. In Patent Literature 1, an example of such a vehicle in which a camera is installed is shown. Patent Literature 1 relates to a device which displays an image of the surroundings of the vehicle taken by a plurality of cameras, this device comprising means for calculating the distance to an object present in the surroundings of the vehicle, a means for cutting off, as the case may be Distance from the object, the vertical cut-off position of the image data can be changed, and a display means, which shows the cut image data comprises. In this way, the image specialized to the environment of the obstacle can be provided to the driver by changing the vertical cut-off position according to the distance to the object, so that the warning or the warning can be issued to the driver.

In Patent Literature 1, in the display of the image of the surroundings of the vehicle to the driver by the display on a screen, the area of the image to be displayed is determined by the distance information. If only the image is offered in this way, the problem does not arise even in the large range of offers that the image processing is subjected to great stress. On the other hand, if the automatic travel is performed based on the image of the surroundings of the vehicle obtained by the camera, the complicated image processing such as object recognition must be performed for the obtained image. In this case, if the processing for the image obtained by the camera is performed over the entire area, the data to be processed becomes large, so that the burden on the image processing becomes very large. However, the image processing apparatus capable of processing such huge data is, of course, expensive, so that such image processing apparatus as a device to be installed for a production vehicle is not realistic.

[Literature of the Prior Art]

[Patent Literature]

• [Patent Literature 1] JP2007-25739 A

[Overview of the Invention]

[Problem to be Solved by the Invention]

The object of the present invention is to provide a pick-up device for a vehicle, with which the burden for the processing of the image taken with the camera of the surroundings of the vehicle can be reduced.

[Means to solve the problem]

The pickup device for a vehicle according to the present invention has at least one camera which picks up various directions of the surroundings of the vehicle and a signal processing unit which performs the signal processing for the image of each direction taken by the camera and outputs a specific signal. The camera has a recording area for each shooting direction. The signal processing is performed for each image obtained from a limited field of view of the camera, the limited field of view being an area bounded by a predetermined area within the bin of the camera.

According to this pickup device for a vehicle, for each pickup direction of the camera, a limited field of view is set in a certain range, and the camera picks up the image in the range of this limited field of view. Thus, the burden on the image processing performed by the signal processing unit can be greatly reduced as compared to the case where the image taken over the entire range of the viewing angle of the camera is processed.

In the present invention, the limited visual range of each direction may be automatically selected depending on the environment outside the vehicle. In this case, the pickup device is provided with a storage means in which, depending on an environment outside the vehicle, the picking up direction of the camera and one of the plurality of limited areas accommodated in the viewing angle of the camera are stored associated with each other, means for obtaining , with which the information relating to the outside of the vehicle environment is obtained, and a means for selecting, with which the means for Obtained information regarding the environment outside the vehicle of one of the stored in the storage means multiple limited viewing areas for each shooting direction of the camera is selected. The limited viewing area selected by the means for selecting is then recorded with the camera.

In the present invention, an automatic travel signal for automatically driving the vehicle may be output from the signal processing unit.

In the present invention, the environment outside of the vehicle obtained by the means for obtaining includes, for example, the information regarding the road type. In this case, it is preferable that in the storage means for each type of road, namely, at least a highway and a normal road, the shooting direction of the camera and one of the plurality of limited view areas are stored associated with each other.

In the present invention, it may be so provided that the information regarding the road type from a car navigation system, an ETC device or a vehicle speed sensor installed in the vehicle is obtained by the means for obtaining.

In the present invention, the environment outside the vehicle obtained by the means for obtaining may further include the information regarding the road shape. In this case, it is preferable that in the storage means for each road shape, the shooting direction of the camera and a certain object or direction are stored associated with each other.

In the present invention, the plurality of limited viewing areas may be an upper area, a middle area and a lower area superimposed in the vertical direction.

In the present invention, the plurality of limited view areas may be a left area, a middle area and a right area side by side in the horizontal direction.

In the present invention, it is preferable that a front camera that houses a front portion of the vehicle includes a left side camera that receives a left side portion of the vehicle, a right side camera that receives a right side portion of the vehicle, and a rear side camera Camera, which receives a rear portion of the vehicle, are provided when multiple camera are used.

In the present invention, the plurality of cameras may be the cameras that receive the limited field of view and have a narrow viewing angle. In this case, each camera accommodates the limited field of view by installing the cameras in the mounting height determined for each camera and with the mounting angle determined for each camera in the vehicle.

In the present invention, it is preferable that the camera is a distance-imaging camera having a projection member projecting a light to an object and a light-receiving member receiving the light reflected at the object, and for each pixel of the light-receiving member Distance information about the object receives.

[Effects and Effects Achieved by the Invention]

According to the present invention, it is possible to provide a pickup device for a vehicle which can reduce the burden of processing the camera-captured image of the surroundings of the vehicle.

[Simple explanation of the drawings]

1 shows a vehicle to which the first embodiment of the present invention is applied, wherein 1A . 1B and 1C show a side view, a plan view and a front view;

2 shows a perspective view of the camera to be installed in the receiving part;

3 shows a schematic image of the pixel of the light receiving element;

4 shows a horizontal viewing angle of each camera;

5 shows a block diagram of the recording device according to the invention for a vehicle;

6 shows a receiving area of the front camera according to the first embodiment;

7 Fig. 16 shows an image for explaining the basis of the angle conditions of the front camera;

8th shows an example of the picture taken with the front camera;

9 shows a receiving area of the lateral camera according to the first embodiment;

10 shows an example of the vehicle having a large space below the deck;

11 shows a receiving area of the rear camera according to the first embodiment;

12 shows a pattern table used in the first embodiment;

13 shows a schematic image of the limited field of view;

14 FIG. 12 is a flowchart illustrating the operation of the vehicle pickup apparatus according to the first embodiment; FIG.

15 shows a schematic diagram of another example of the limited field of view; and

16 shows a vehicle to which the second embodiment of the present invention is applied, wherein 16A and 16B show a side view and a front view.

Embodiment of the Invention

Hereinafter, embodiments of the present invention will be explained with reference to the drawings. In each figure, the same components or the corresponding components are provided with a same reference numeral.

First, a first embodiment will be explained. In 1 is the vehicle 200 a car, the four cameras 1 - 4 having. In 1 The respective reference characters F, B, L and R respectively represent the front direction, the rear direction, the left direction and the right direction. The front camera 1 is attached to the center of the front part and occupies a front area of the vehicle 200 on. The left side camera 2 is on the left side of the front of the vehicle 200 attached and takes a left-side area of the vehicle 200 on. The right side camera 3 is on the right side at the front of the vehicle 200 attached and takes a right-sided area of the vehicle 200 on. The rear camera 4 is attached to the middle of the rear part and occupies a rear area of the vehicle 200 on.

The height Hf of the front camera measured from the road surface G 1 is for example 50 cm. The height Hs of the left side camera measured from the road surface G 2 and the right side camera 3 is for example 80 cm. The height Hr of the rear camera measured from the road surface G 4 is for example 80 cm. However, these values are an example. Other values can be used.

Every camera 1 - 4 consists of a distance-imaging camera, with which the three-dimensional distance information can be detected. With this distance-imaging camera, the distance information is detected by measuring, at each pixel of the light-receiving element, the time in real time, which takes from the reflection of the light projected by a projection element on an object to the reception with the light-receiving element. When the distance imaging camera is used, the three-dimensional distance information in the photographing area such as distance to the object or dimensions, shape, positional relationship of the object, etc., can be detected regardless of the sunlight and lighting conditions.

In every camera 1 - 4 is an in 2 shown receiving part 10 built-in. The recording part 10 has a housing 13 , a projection element 11 and a light receiving element 12 on that in the case 13 are included. The projection element 11 consists of z. B. an infrared LED and projects the infrared pulse light through the front end face 13a of the housing 13 to the object. The light receiving element 12 consists of z. B. receives a CMOS image sensor and receives the pulse light reflected at the object through the front end face 13a of the housing 13 ,

The light receiving element 12 points as in 3 shown n pixels (pixels) P, wherein the distance information d1, d2, ... and dn are detected in each pixel P. Concretely speaking, the distance information d1, d2, ... and dn are detected by e.g. B. with respect to each pixel P, the phase delay of the Lichtempfangspulssignals is measured against the Projizierungspulssignal (phase contrast method).

Every camera 1 - 4 each has a horizontal viewing angle Z1-Z4, as in 4 shown on. The viewing angle Z1 of the front camera 1 partially overlaps the viewing angle Z2 of the left side camera 2 and the viewing angle Z3 of the right side camera 3 , The viewing angle Z4 of the rear camera 4 partly also overlaps the viewing angle Z2 of the left lateral camera 2 and the viewing angle Z3 of the right side camera 3 , The vertical angle of view of each camera 1 - 4 will be mentioned later.

Next, the construction of the vehicle mounting apparatus of the present invention will be described with reference to FIGS 5 explained. In 5 is the cradle 100 for a vehicle in the 1 shown vehicle 200 assembled. In the cradle 100 for a vehicle are the front camera 1 , the left side camera 2 , the right side camera 3 and the rear camera 4 mentioned above and a signal processing unit 20 intended. In every camera 1 - 4 are that, in 2 shown receiving part 10 , a CPU 15 and a memory 16 built-in. The CPU 15 forms a control unit for controlling the operation of the camera. In the store 16 The pictures taken by the camera are temporarily saved.

The signal processing unit 20 processes the signals for the pictures taken by each camera 1 - 4 in each direction, and generates certain signals based on the result of this processing, and outputs these signals to the vehicle control unit 30 out. In the signal processing unit 20 are the CPU 21 and the memory 22 intended. The CPU 21 forms a control unit for controlling the operation of the signal processing unit 20 , In the storage room 22 is previously a pattern table 23 stored in the 12 is shown. The pattern table 23 will be explained later.

The vehicle control unit 30 Forms a controller that controls every part of the vehicle 200 controls. The vehicle control unit 30 gives the steering control unit 40 a control command and controls the steering angle of the vehicle 200 as well as gives the engine control unit 50 a control command and controls the drive and the engine off. With the vehicle control unit 30 are except the steering control unit 40 and the engine control unit 50 also connected to other control units, but this is not in 5 shown. In the vehicle 200 is provided a function for automatic travel, wherein in the automatic driving on the basis of the signal processing unit 20 to the vehicle control unit 30 output signals for the automatic drive the steering control unit 40 so the steering control makes that the obstacles are avoided when, for example, these obstacles on the road with the front camera 1 be recorded.

In the signal processing unit 20 be different signals from the in the vehicle 200 built-in onboard device 60 entered. The on-board device 60 includes a car navigation system 61 , an ETC (Electronic Toll Collection) facility 62 , a vehicle speed sensor 63 and a communication device 64 , In practice, the on-board device comprises 60 however, other devices besides the above devices are not directly related to the present invention, so the illustration of these devices is omitted.

In the above construction is the CPU 21 (or CPU 15 ) an example of "means for obtaining" and "means for dialing" in the present invention and the memory 22 (or memory 16 ) is an example of "storage means" in the present invention.

• (a) Winkelbedingung für die Abwärtsrichtung: Ein um 3 m vorne liegendes Objekt Z (Hindernis) auf der Straßenoberfläche G kann erfasst werden.
• (b) Winkelbedingung für die Aufwärtsrichtung: Ein vorne liegendes Fahrzeug 201 kann erfasst werden.

Next, the details of the receiving device 100 explained for a vehicle recording. As in 6 shown is the front camera 1 a camera having a vertical viewing angle of θ and front in the vertical direction, the photographing area of θ. When the pictures taken over the entire area of the shooting area are taken with the signal processing unit 20 be processed, the load on the CPU 21 but greatly increased. The following angle conditions are therefore given to the shooting range of the front camera 1 to limit.

• (a) Angle condition for the downward direction: A 3 m forward object Z (obstacle) on the road surface G can be detected.
• (b) Angle condition for the upward direction: A front vehicle 201 can be detected.

The above angle conditions are intended for the case in which the vehicle 200 on a motorway or normal road (This also applies to the lower conditions (c) to (f).).

Condition (a) is based on the following basis: As in 7 is shown, the steering angle of the tire is usually max. 30 °, if such a case is assumed, in which the vehicle 200 z. B. in an emergency to the edge strips to about 1 m drives and stops there. If it is confirmed that there is no object 3 m in front, by steering by 30 ° the vehicle can be in the condition in which the vehicle 200 on the edge strip is driven by 1 m, stop at the edge strip.

The condition (b) is necessary for measuring the distance from the front vehicle. However, the entire vehicle needs 201 not be detected, but at least one tire is to be detected. When the mounting height of the front camera 1 , as in 6 Thus, it is sufficient that a region below the horizontal line a having the height of 50 cm (including the horizontal line a) is included to satisfy the condition (b).

From the above, the shooting range of the front camera is the same 1 which satisfies the conditions (a) and (b) above, in 6 area shown with the oblique lines. In this case, the declination angle (viewing angle) θ1, which is directed downward, θ1 = 9.5 °. When the shooting area as in 6 is given, at least one tire T as shown in the picture 8th be shown, even if the vehicle at the front is a truck and below the loading area a large space is available, so that this vehicle can be detected the same as in the car. The area shown with the oblique lines in 6 is the Minimum requirement of the area. However, this range can be increased depending on the needs of the receiving area, that the angle θ1 is set so that this angle is greater than 9.5 °. It is also possible to enlarge the pickup area up to a certain area located above the horizontal line a.

• (c) Winkelbedingung für die Abwärtsrichtung: Ein laufendes Kind, ein Motorrad oder ein Fahrrad kann erfasst werden.
• (d) Winkelbedingung für die Aufwärtsrichtung: Im Abstand von 3 m kann ein Objekt bis zu einer Höhe von 1,5 m aufgenommen werden.

Subsequently, the details of the shot through the side cameras 2 . 3 explained. The following is an example only the right side camera 3 explained. The same applies to the left side camera 2 , As in 9 is the right side camera 3 a camera whose view angle is θ in the vertical direction, and this camera has a pickup area of θ on the right side in the vertical direction. This viewing angle θ is the same as the viewing angle θ of the front camera 1 ( 6 ). However, these two viewing angles may differ. Regarding the right side camera 3 The following angle conditions are given to limit the pickup area.

• (c) Angle condition for the downward direction: A running child, a motorcycle or a bicycle can be detected.
• (d) Angle condition for the upward direction: At an interval of 3 m, an object can be picked up to a height of 1.5 m.

With respect to the condition (c), it is sufficient that an area at least 80 cm or higher from the road surface G can be accommodated if so specified that the height of the child K is 80 cm or more and the height of the motorcycle or bicycle (not shown) is 80 cm or higher. When the mounting height of the right side camera 3 , as in 9 Thus, it is sufficient that a region (having the horizontal line b comprising) exceeding the horizontal line b having the height of 80 cm is picked up to satisfy the condition (c).

The condition (d) is necessary for the sideways moving truck 202 safely detected. When the back of the truck 202 , as in 10 shown, high and a large room S is present below the loading area, only the room S can be accommodated and the truck 202 may not be detected if the recording area is too low. However, it is also in the case of 10 shown truck 202 possible, this truck 202 to capture when the right side camera 3 At a distance of 3 m, an object with a height of 1.5 m can be accommodated.

From the above, the shooting area corresponds to the right side camera 3 which satisfies the conditions (c) and (d), which corresponds to 9 area shown with the oblique lines. In this case, the elevation angle (viewing angle) θ2, which is directed upward, θ2 = 13.1 °. The area shown with the oblique lines in 9 is the minimum requirement of the area. However, this area can be increased as required by the receiving area by setting the angle θ2 so that this angle is larger than 13.1 °. It is also possible to increase the pickup area up to a certain area located below the horizontal line b.

• (e) Winkelbedingung für die Abwärtsrichtung: Ein laufendes Kind, ein Motorrad oder ein Fahrrad kann erfasst werden.
• (f) Winkelbedingung für die Aufwärtsrichtung: Im Abstand von 10 m kann ein Objekt bis zu einer Höhe von 3 m aufgenommen werden.

Next are the details of the shot with the rear camera 4 explained. As in 11 shown is the rear camera 4 such a camera, which has the vertical viewing angle of θ, the rear camera 4 in the rear vertical direction has the receiving area of θ. This viewing angle θ is the same as the viewing angle θ of the front camera 1 ( 6 ). However, the two viewing angles may differ. In terms of the rear camera 4 The following angle conditions are given to limit the pickup area.

• (e) Angle condition for the down direction: A running child, a motorcycle or a bicycle can be detected.
• (f) Angle condition for the upward direction: At an interval of 10 m, an object can be picked up to a height of 3 m.

Regarding condition (e), it is the same as the right side camera 3 sufficient that a range of at least 80 cm or more from the road surface G can be accommodated, if so specified, that the height of the child K is 80 cm or higher and the height of the motorcycle or bicycle (not shown) ) Is 80 cm or higher. When the mounting height of the rear camera 4 , as in 11 Thus, it is sufficient that a region above the horizontal line c having the height of 80 cm (including the horizontal line c) is picked up to satisfy the condition (e).

Condition (f) is based on the fact that the truck lying at a distance of 10 m at the rear 204 with the height of 3 m must be recorded to determine the type of car behind the vehicle.

From the above, the shooting range of the rear camera is the same 4 , which satisfies the conditions (e) and (f), which corresponds to 11 area shown with the oblique lines. In this case, the elevation angle (viewing angle) θ3, which is directed upward, θ3 = 12.4 °. The area shown with the oblique lines in 11 is the minimum requirement of the area. However, this range may vary as needed of the receiving area be increased by the angle θ3 is set so that this angle is greater than 12.4 °. It is also possible to increase the pickup area to a certain area located below the horizontal line c.

In this way, the viewing area restricted to a certain area (hereinafter referred to as "limited viewing area"), as in FIG 6 . 9 and 11 shown with the oblique lines, for each camera 1 - 4 given, with the cameras 1 - 4 take the picture in the limited field of view. The limitation of the field of view is carried out by certain pixels P in the 3 shown light receiving element 12 to get voted. In this case, only the image which is in the area formed by the selected pixels P is obtained.

Each camera 1 - 4 corresponding limited viewing areas can be found in the 6 . 9 and 11 be set range. However, in the present embodiment, it is provided that according to the pattern table 23 the optimal, limited field of view can be selected according to the environment outside the vehicle, such as road type, road shape, etc. The details below are explained below.

In 12 are on the pattern table 23 the "road type", the "road shape" and the "additional factor" are given as rough categories of the environment external to the vehicle. The "road type" is further sorted into the exact categories "highway", "normal road", "residential road" and "parking", with the patterns A1-A4 each assigned to one of the exact categories. The "road shape" is further sorted into the exact categories "intersection", "curve", "branch" and "climb / descent", with the patterns B1-B4 each assigned to one of the exact categories. The "additional factor" is further sorted into the exact categories "traffic jam", "construction site / accident" and "emergency vehicle", with the patterns C1-C3 each assigned to one of the exact categories.

For each camera, one of the "road type" patterns A1-A4 corresponding to an "upper area", a "middle area" or a "lower area" is given as the limited field of view. That is, the shooting direction of the camera and one of the plurality of limited viewing areas that are receivable in the viewing angle of the camera are stored in association with each other. 13 schematically shows the upper area Xu, the central area Xm and the lower area Xd in the receiving area. As explained above, the upper region Xu, the central region Xm or the lower region Xd can be determined by the pixels P of the light receiving element 12 to get voted.

The limited field of view of the front camera 1 is set to the center area Xm in the patterns A1 and A2 and to the sub-area Xd in the patterns A3 and A4. The limited field of view of the side cameras 2 . 3 is set to the center area Xm in the patterns A1 and A2 and to the sub-area Xd in the patterns A3 and A4. The limited area of the rear camera 4 is set to the upper area Xu in the pattern A1 and to the center area Xm in the pattern A2, and to the lower area Xd in the patterns A3 and A4.

How out 6 . 9 and 11 It can be seen, the cameras have 1 - 4 the vertical viewing angle θ, with which the wider area than the limited field of view can be accommodated, so that the area recordable in the viewing angle θ comprises the several limited viewing areas (upper area Xu, middle area Xm and lower area Xd), which, as in FIG 13 shown side by side in the vertical direction. The upper area Xu and the central area Xm as well as the central area Xm and the lower area Xd are partially superimposed.

With reference back to 12 is corresponding to patterns B1-B4 of the "road shape" on the pattern table 23 a given object (vehicle, road surface) or a certain direction (curve direction, branch direction, slope direction) for each camera predetermined. Further, the patterns C1-C3 of the "additional factor" on the pattern table 23 a particular object (vehicle) or a specific direction (direction of the construction site / accident, direction of the edge strip) for each camera specified.

Because of the on-board device 60 information obtained distinguishes the signal processing unit 20 ( 5 ), which pattern of the pattern table 23 the outside of the vehicle 200 present environment corresponds. For example, it is possible due to the car navigation system 61 , the ETC facility 62 and the vehicle speed sensor 63 which pattern of A1-A4 corresponds to the "street type". Further, it is possible due to the car navigation system 61 information to be distinguished from which pattern of B1-B4 corresponds to the "road shape". Furthermore, it is possible due to the car navigation system 61 and the communication device 64 information to be distinguished from which pattern of C1-C3 the "additional factor" corresponds.

When a pattern is discriminated from the road-type patterns A1-A4, this pattern becomes the signal processing unit 20 every camera 1 - 4 communicated. Every camera 1 - 4 Sets the limited field of view and records this area by the pixels P of the light receiving element 12 be chosen so that the recording area that the signal processing unit 20 shared pattern corresponding to limited visual range (upper, middle or lower).

For example, if the vehicle 200 driving on a highway or a normal road (patterns A1, A2), takes the front camera 1 the limited field of view in as in 6 shown center area. The limited field of view of the front camera 1 however, it is switched from the central area to the lower area when the vehicle 200 entering a residential area (pattern A3) or parked (pattern A4). Thus, the shooting range of the front camera becomes 1 moved down.

For example, if the vehicle 200 driving on a highway or a normal road (pattern A1, A2), take the side cameras 2 . 3 the limited field of view in as in 9 shown center area. The limited field of view of the side cameras 2 . 3 however, it is switched from the central area to the lower area when the vehicle 200 entering a residential area (pattern A3) or parked (pattern A4). Thus, the shooting range of the side cameras becomes 2 . 3 moved down.

For example, if the vehicle 200 driving on a residential highway (pattern A3) or parked (pattern A4), takes the rear camera 4 the limited field of view in the sub-area. The limited field of view of the rear camera 4 However, on the like in 11 shown center area switched when the vehicle 200 entering a normal street (pattern A2). Thus, the shooting range of the rear camera becomes 4 moved up. If the vehicle 200 entering a freeway (pattern A1) becomes the limited field of view of the rear camera 4 switched to the upper area and the receiving area of the rear camera 4 will be moved up.

In this way, the limited field of view of each camera 1 - 4 automatically switched according to the road surface type A1-A4.

After selecting the road-type pattern A1-A4, the road-shape patterns B1-B4 are subsequently determined by the car navigation system 61 received information by the signal processing unit 20 distinguished. If the patterns B1-B4 are distinguished, the signal processing unit shares 20 this pattern every camera 1 - 4 With. Every camera 1 - 4 In the captured image of the limited field of view of each camera selected with the patterns B1-B4, the limited field of view subtended by the signal processing unit 20 is communicated pattern B1-B4, or the processing such as the highlighting of the image, etc., achieved by increasing the resolution in the area concerned is performed. As in the pattern table 23 is shown, the limited viewing areas corresponding to the patterns B1-B4 are objects (vehicle, road surface) or directions (curve direction, branch direction, slope direction).

Specifically, if the vehicle 200 For example, when traveling on a normal road (pattern A2) and reaching an intersection (pattern B1), the image portion of the oncoming vehicle or the road surface present in the captured image in the center area selected with the pattern A2 is passed through the front camera 1 cut off or highlighted. The image part of the side vehicle or the rear vehicle in the image captured by each camera is viewed through the side cameras 2 . 3 or the rear camera 4 also processed. Furthermore, if the vehicle 200 on a highway (pattern A1) and reaching a curve (pattern B2), the image portion of the curve present in the captured image in the limited viewing area selected with the pattern A1 is truncated or highlighted by each camera. If the road shape does not correspond to any of the patterns B1-B4, the above processing is not performed.

Subsequently, the additional factor patterns C1-C3 are determined by the car navigation system 61 or the communication device 64 received information by the signal processing unit 20 distinguished. If the patterns C1-C3 are distinguished, the signal processing unit shares 20 this pattern every camera 1 - 4 With. Every camera 1 - 4 In the captured image of the limited field of view of each camera selected with the patterns A1-A4 and B1-B4, the limited field of view subtended by the signal processing unit 20 is communicated pattern C1-C3, or the processing such as the highlighting of the image, etc., achieved by increasing the resolution in the area concerned is performed. As in the pattern table 23 is shown, the limited viewing areas corresponding to the patterns C1-C3 are objects (vehicle) or directions (direction of the construction site / accident, direction of the edge strip). If the additional factor does not correspond to any of the patterns C1-C3, the above processing is not performed.

The pictures taken in this way by each camera 1 - 4 be on the signal processing unit 20 transfer. Before that, a preprocessing in the camera 1 - 4 , as Data conversion for which recorded images are performed. The from each camera 1 - 4 obtained images (distance images) are processed by the signal processing unit 20 analyzed and processed to detect the object. If in this case an oncoming vehicle, for example, with the front camera 1 After that, the positional relationship between the oncoming vehicle and the own vehicle can be estimated based on the driving information (vehicle speed, etc.), so that the reception of the oncoming vehicle with the side cameras 2 . 3 or the rear camera 4 and the image processing is no longer necessary. If it is possible that in the automatic driving the as in 6 shown roadside obstruction (object Z) from that with the front camera 1 is detected, the obstacle avoidance, as stated above, by the steering control means of the steering control unit 40 possible.

The object information obtained as a result of the object recognition processing is output by the signal processing unit 20 on the vehicle control unit 30 transfer. The vehicle control unit 30 is due to the signal processing unit 20 Obtained object information of the steering control unit 40 , Engine control unit 50 and the other control units, not shown, command and control each part of the vehicle 200 ,

14 shows a flowchart illustrating the operation of the recording device 100 for a vehicle shows. Steps S1-S6 and S9-S10 are executed by the CPU 21 the signal processing unit 20 and steps S7-S8 are performed by the CPU 15 every camera 1 - 4 carried out.

In step S1, the road type information is informed by the signal processing unit 20 from the car navigation system 61 , the ETC facility 62 and the vehicle speed sensor 63 receive. In step S2, the information regarding the road shape is obtained by the signal processing unit 20 from the car navigation system 61 receive. In step S3, the information relating to the additional factor by the signal processing unit 20 from the car navigation system 61 and the communication device 64 receive. The order of steps S1-S3 can be changed.

In step S4, the memory becomes 22 saved pattern table 23 through the signal processing unit 20 and in step S5, the patterns A1-A4, B1-B4, C1-C3 are detected on the basis of the road type information, the road shape information, and the additional factor information obtained in steps S1-S3 the signal processing unit 20 selected.

In step S6, the patterns selected in step S5 are respectively applied to the front camera 1 , the left side camera 2 , the right side camera 3 and the rear camera 4 through the signal processing unit 20 transfer.

In step S7, every camera becomes 1 - 4 the limited field of view (upper, middle, sub) due to the signal processing unit 20 transferred pattern selected.

In step S8, the limited field of view selected in step S7 is taken by each camera 1 - 4 recorded and the distance image in the area concerned is obtained. The obtained distance image is first stored in the camera built-in memory 16 preliminarily stored and then after a certain processing on the signal processing unit 20 transfer.

In step S9, the object recognition processing is performed based on the distance images taken by each camera 1 - 4 were obtained by the signal processing unit 20 carried out.

In step S10, the object information obtained by the object recognition processing is detected by the signal processing unit 20 on the vehicle control unit 30 transfer. Thereafter, a certain control, as mentioned above, by the vehicle control unit 30 carried out.

According to the above first embodiment, the limited viewing area becomes for each camera 1 - 4 given, with the cameras 1 - 4 take the picture in this limited field of view. Consequently, by the CPU 21 the signal processing unit 20 resulting load for image processing over the case where that over the entire range of the viewing angle 6 the cameras 1 - 4 recorded image is processed, greatly reduced.

Because the limited field of view of each camera 1 - 4 depending on the outside of the vehicle environment, such as road type, road shape, additional factor, etc., is automatically switched, the optimal limited field of view can always be selected. Thus, by reducing the amount of data, the necessary images of each direction can be obtained.

In 13 For example, the limited viewing area is defined as the upper area Xu, the center area Xm, and the lower area Xd superimposed in the vertical direction. However, it is also possible the limited field of view, as in 15 3, the left side area YL, the center area Ym and the right area Yr are shown to be juxtaposed in the horizontal direction. The limited field of view according to 13 and the limited field of view according to 15 can be used simultaneously.

Next, the second embodiment will be explained. 16 shows the vehicle 300 to which the second embodiment is applied, wherein 16A a side view and 16B a front view is. Because the top view is the same as that of 1B is, this is omitted. At the vehicle 300 are the front camera 1 , the left side camera 2 , the right side camera 3 and the rear camera 4 appropriate. These cameras 1 - 4 are the same as the cameras except for the viewing angle 1 - 4 according to the first embodiment. Furthermore, the 2 - 5 also applicable to the second embodiment. However, in the second embodiment, the in 5 shown pattern table 23 not provided.

In the first embodiment, the cameras are 1 - 4 those cameras having the wide viewing angle θ in the vertical direction and provided so that the plurality of limited viewing areas (upper area, middle area, sub area) including the taking-in area of view angle θ may be selected depending on the road type. On the other hand, the cameras 1 - 4 in the second embodiment, as in 16 shown, those cameras having the narrow in the vertical direction viewing angle φ, the cameras each at the predetermined mounting height Hf, Hs, Hr and with the mounting bracket α, β, γ on the vehicle 300 be attached. In 16 are the viewing angle φ of the front camera 1 , the viewing angle φ of the side cameras 2 . 3 and the viewing angle φ of the rear camera 4 equal. However, these viewing angles can be different. The cameras 1 - 4 take the picture in the field of vision, which is limited by the viewing angle φ.

In the second embodiment, the limited field of view of each camera 1 - 4 with the viewing angle φ of the camera, the mounting height Hf, Hs, Hr of the camera and the mounting angle α, β, γ of the camera. In this case, according to the angle conditions (a) - (f) in the first embodiment or other scales, it may be determined which area is defined as the limited viewing area of each direction.

According to the second embodiment, it is not possible that, depending on the road type, the limited field of view is automatically switched. However, it is possible the same as in the first embodiment, the load for image processing in the signal processing unit 20 thereby significantly reducing the cameras 1 - 4 be used, which have the narrow viewing angle φ. Furthermore, since the camera with the narrow viewing angle is inexpensive, the cost of the recording device 100 be reduced for a vehicle.

In the present invention, various embodiments other than the above embodiments may be used.

In the above embodiments, there are four cameras 1 - 4 intended. The number of cameras does not have to be four, but can be six, for example. In the first embodiment, only one camera is necessary when using a camera that can rotate 360 °. Furthermore, the camera used in the present invention need not be fixed in a fixed manner, but may be formed in a movable manner.

In the above embodiments are used by the cameras 1 - 4 get the three-dimensional pictures. However, it does not have to be limited to these. It is possible to obtain the distance information by obtaining the two-dimensional images from the plurality of cameras and measuring the parallax.

In 13 and 15 For example, the two-dimensional area was shown as the limited field of view. It is also possible to form the limited viewing area as a three-dimensional area in which the depth is taken into account by taking advantage of that by the cameras 1 - 4 the three-dimensional distance image can be obtained.

In the in 12 shown pattern table 23 For example, a "When parking the vehicle" pattern may be added, and when parking the vehicle, the recognition mode of the image may be switched to the gesture recognition mode. In this case, if a driver or a passenger behind the vehicle has an electronic key of some kind of remote control, the door can be unlocked by that of the rear camera 4 recorded picture the door opening gesture is recognized.

In the in 12 shown pattern table 23 If a pattern can be added "When getting out" and when the passenger alight, the detection mode of the image can be switched to the exit mode. In this case, for example, an adjacent vehicle, an obstacle, an approaching vehicle, etc. can be detected, to which the door opening at the time of disembarking can be knocked, by the movable area and the front and rear directional space of the door as the limited viewing area is selected when a passenger operates a switch for opening the door from the inside of the vehicle.

In the in 12 shown pattern table 23 the tunnel etc. can be added as the exact categories of the "road shape". Distinguishing the tunnel may be due to the car navigation system 61 and the illuminometer (not shown), etc. are performed. As the exact categories of the "additional factor", the night, the morning sun / evening sun, the rain / snow, the fog, etc. can be added. The distinguishing of these may be due to the car navigation system 61 of the clock (not shown), the rain sensor (not shown), etc., are performed.

The categories of the off-vehicle environment in the pattern table 23 Not only the above-mentioned items but also the current position of an ambulance vehicle expected to be provided in the future may include the route information and so forth.

In step S6 in the flowchart in FIG 14 Then, the pattern (A1-A4, B1-B4, C1-C3) selected in step S5 is applied to each camera 1 - 4 transfer.

The limited viewing area corresponding to the selected pattern (upper, middle, lower) of each camera 1 - 4 can on every camera 1 - 4 be transmitted.

The pattern table 23 in 12 can in memory 16 the cameras 1 - 4 get saved. In this case, that of the onboard device 60 obtained information regarding the environment outside the vehicle without change by the signal processing unit 20 on the cameras 1 - 4 transfer. The pattern is due to the signal processing unit 20 obtained information regarding the environment outside of the vehicle by the cameras 1 - 4 The limited field of view corresponding to the different pattern is different from the cameras 1 - 4 chosen and that area concerned by the cameras 1 - 4 is recorded.

In the above embodiments, the vehicle is 200 . 300 in which the cradle 100 is installed for a vehicle, exemplified as a car. However, the vehicle may be a truck or a bus.

LIST OF REFERENCE NUMBERS

1

front camera

2

left side camera

3

right side camera

4

rear camera

11

projection element

12

Light-receiving element

15, 21

CPU (means for receiving, means for dialing)

16, 22

Memory (storage medium)

20

Signal processing unit

23

pattern table

61

Car Navigation System

62

ETC device

63

Vehicle speed sensor

64

communicator

100

Recording device for a vehicle

200, 300

vehicle

Hf, Hs, Hr

Mounting height of the camera

α, β, γ

Mounting bracket of the camera

θ, φ

Viewing angle of the camera

Xu

Upper area (limited field of vision)

xm

Mid-range (limited field of view)

xd

Sub-area (limited field of view)

YL

Left area (limited viewing area)

Ym

Mid-range (limited field of view)

Yr

Right area (limited field of view)

Claims (10)

A recording device for a vehicle, comprising: at least one camera recording images of the surroundings of the vehicle in different directions, and a signal processing unit with which the signal processing for the image of each direction captured by the camera is performed and a specific signal is output, characterized in that the camera has a recording area for each recording direction, the signal processing unit performing signal processing of an image obtained from a limited viewing area of the camera, the limited viewing area being an area delimited to a predetermined area within the shooting area of the camera. A vehicle accommodation device according to claim 1, characterized in that the accommodation device is provided with: a storage means in which, depending on an environment outside the vehicle, the Recording direction of the camera and one of the plurality of limited areas, which are recorded in the viewing angle of the camera are stored, associated with each other, a means for obtaining, with which the information relating to the outside of the vehicle environment is obtained, and a means for selecting, with in that, on the basis of the information obtained with the means for obtaining the environment outside the vehicle, one of the plurality of limited viewing areas stored in the storage means is selected for each shooting direction of the camera, the limited viewing area selected by the means for selecting being taken with the camera. A pickup device for a vehicle according to claim 2, characterized in that signal processing is performed by the signal processing unit for each picture taken with the camera, and a signal for automatic running of the vehicle is output from the signal processing unit. A vehicle accommodation apparatus according to claim 2 or 3, characterized in that the environment outside the vehicle obtained by the means for obtaining includes the information regarding the road type. A pickup device for a vehicle according to claim 4, characterized in that in the storage means for each road type, namely at least for a highway and a normal road, the shooting direction of the camera and one of the plurality of limited viewing areas are stored associated with each other. A pickup device for a vehicle according to claim 4 or 5, characterized in that the road type information from a car navigation system, an ETC device or a vehicle speed sensor installed in the vehicle is obtained by the means for obtaining. The vehicle accommodation apparatus according to any one of claims 4 to 6, characterized in that the environment outside the vehicle obtained from the means for obtaining further comprises the information regarding the road shape, wherein in the storage means for each road shape, the shooting direction of the camera and a specific one Object or a specific direction are assigned to each other. A vehicle accommodation apparatus according to any one of claims 2 to 7, characterized in that said plurality of limited view areas include a top, a middle area and a bottom area superimposed in a vertical direction. A vehicle accommodation apparatus according to any one of claims 2 to 7, characterized in that said plurality of limited view areas comprise a left area, a middle area and a right area side by side in the horizontal direction. Recording apparatus for a vehicle according to claim 1, characterized in that the camera is a front camera taking a front portion of the vehicle, a left side camera that captures a left-side area of the vehicle, a right lateral camera which includes a right side area of the vehicle includes, and a rear camera, which receives a rear portion of the vehicle comprises.

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