JP2004304242A - Apparatus of picking up outside-of-vehicle video image - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus of picking up an outside-of-vehicle video image which is capable of displaying an image required for a driver by controlling a video image to be outputted to a display section while considering the positional relation between a vehicle and a road. <P>SOLUTION: A navigation device 3 acquires information about the direction and position of the vehicle 6 and roads around the vehicle 6, and inputs the acquired information into an image processing device 5. The image processing device controls a video image to be displayed on an image providing device 4, according to the information inputted from the navigation device 3. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an image pickup device outside a vehicle that displays blind spots of left and right drivers.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, when a vehicle enters an intersection with poor visibility, an image pickup device installed on the side of the vehicle is used to display images on the left and right sides of the vehicle on a monitor, thereby driving the vehicle on the left and right sides. A view assisting technology for displaying a blind spot of a person is known (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP 2002-354466 A
[Problems to be solved by the invention]
However, in the conventional field of view assisting technology, the imaging range of the imaging device is optimized with reference to the intersection where the vehicle crosses at a right angle. When a vehicle exits the road diagonally from the facility, the image necessary for the driver may not be displayed. Furthermore, with conventional vision assist technology, the left and right images of the vehicle are displayed together on a single monitor installed near the center axis of the vehicle, so the driver can intuitively view the outside of the vehicle from the displayed image. It was difficult to understand.
[0005]
[Means for Solving the Problems]
In order to solve the above-described problems, an outside-vehicle image capturing apparatus according to the present invention acquires an image capturing apparatus that captures images of left and right sides of a vehicle, and information about a direction and a position of the vehicle and roads around the vehicle. An information acquisition device, an image processing unit that performs predetermined image processing on a video image captured by the imaging device, and an image presentation unit that displays and outputs a video image that has been subjected to the predetermined image processing, according to information acquired by the information acquisition device. It is to have.
[0006]
Further, an image capturing apparatus outside a vehicle according to the present invention includes an image capturing apparatus that captures an image in the left-right direction of the vehicle, an image presenting unit that displays and outputs a video captured by the image capturing apparatus, a direction and a position of the vehicle, and a surrounding area of the vehicle. An information acquisition device for acquiring information on the road of the present invention, and an imaging direction control device for changing the imaging direction of the imaging device according to the information acquired by the information acquisition device.
[0007]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to the image pick-up apparatus outside a vehicle which concerns on this invention, since the image output to a display part is controlled in consideration of the positional relationship of a vehicle and a road, the image required for a driver can be displayed.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, with reference to the drawings, the configuration and operation of the image pickup apparatus outside the vehicle according to the first and second embodiments of the present invention will be described in detail.
[0009]
[First Embodiment]
[Structure of outside image pickup device]
First, with reference to FIGS. 1 and 2, a configuration of an outside-vehicle image pickup apparatus according to a first embodiment of the present invention will be described.
[0010]
As shown in FIG. 1, an outside-vehicle image pickup device 1 according to a first embodiment of the present invention includes, as main components, camera devices 2 a and 2 b, a navigation device 3, an image presentation device 4, and an image processing device 5. And mounted on a vehicle.
[0011]
As shown in FIG. 2, the camera devices 2a and 2b are mounted laterally on the left and right portions of the front end of the vehicle 6, respectively, and can capture images of the area A and the area B, respectively. Then, the camera devices 2 a and 2 b output the captured image of the area to the image processing device 5. In addition, as a mounting place of the camera devices 2a and 2b, for example, the right and left side portions of the front bumper are appropriate.
[0012]
The navigation device 3 is configured by a general car navigation device. Then, the navigation device 3 acquires information on the direction and position of the vehicle 6 and roads around the vehicle 6, and outputs the acquired information to the image processing device 5.
[0013]
The image presentation device 4 is configured by a two-dimensional monitor device and, as shown in FIG. 2, has a configuration in which it extends in the left-right direction about a line segment 8 passing through the center of the driver 7, and is arranged in front of the driver 7. is set up. Then, as shown in FIG. 3, the image presentation device 4 focuses the image of the left and right areas of the vehicle 6 output from the image processing device 5 by the processing described later on the line 8 as shown in FIG. 3. The display area is divided into left and right display areas A ′ and B ′. Thus, the driver can intuitively understand the situation outside the vehicle from the displayed image.
[0014]
Note that the display areas A ′ and B ′ may or may not be symmetrical with respect to the line segment 8 as long as the left-right arrangement relationship is maintained, and the positional relationship with the line segment 8 is particularly limited. You don't have to. Further, the image presentation device 4 may be configured by one two-dimensional monitor device, or may be configured by two two-dimensional monitor devices installed on the left and right of the line segment 8. .
[0015]
The image processing device 5 takes into account the positional relationship between the vehicle 6 and the road by executing the processing described below using the video of the area captured by the camera devices 2a and 2b and the information acquired and acquired by the navigation device 3. A video is generated, and the generated video is output to the image presentation device 4.
[0016]
(Operation of outside image pickup device)
Next, with reference to a flowchart shown in FIG. 4, an operation of the outside-vehicle image pickup device 1 according to the first embodiment of the present invention will be described.
[0017]
The flowchart shown in FIG. 4 is started when the driver 7 instructs the start of the outside-vehicle image pickup processing, and the image pickup processing proceeds to step S1.
[0018]
In the process of step S1, the navigation device 3 acquires information on the direction and position of the vehicle 6 and the direction of the road around the vehicle 6, and outputs the acquired information to the image processing device 5. Thereby, the process of step S1 is completed, and the imaging process proceeds from the process of step S1 to the process of step S2.
[0019]
In the process of step S2, the image processing device 5 determines the imaging ranges a and b of the camera devices 2a and 2b according to the information acquired by the navigation device 3 (imaging range determination process). Here, the imaging ranges a and b are within the photographable areas A and B of the cameras 2a and 2b. The details of the imaging range determination process will be described later with reference to FIG. Thereby, the process of step S2 is completed, and the imaging process proceeds from step S2 to step S3.
[0020]
In the process of step S3, the image processing device 5 cuts out image data corresponding to the imaging ranges a and b from the image data shot by the camera devices 2a and 2b (image cutout process). The details of the image clipping process will be described later with reference to FIGS. Thereby, the process of step S3 is completed, and the imaging process proceeds from the process of step S3 to the process of step S4.
[0021]
In the process of step S4, the image processing device 5 controls the output of the extracted video data of the left and right regions to the display areas A 'and B' of the image presentation device 4. Thus, the process of step S4 is completed, and a series of imaging processes ends.
[0022]
(Imaging range determination processing)
Next, the details of the imaging range determination processing will be described by taking as an example the processing when the vehicle 6 turns left from the road 10 and exits on the road 11 as shown in FIG.
[0023]
In the case of the example shown in FIG. 5, the image processing device 5 determines the photographing ranges a and b of the camera devices 2a and 2b so that other vehicles traveling on the road 11 can be photographed. Note that the image processing device 5 may calculate the photographing ranges a and b of the camera devices 2a and 2b with reference to the angle formed between the vehicle 6 and the road 10 or the angle formed between the road 10 and the road 11. Further, the image processing device 5 obtains information on the width of the road 11 from the navigation device 3 and, for example, sets a wider shooting range when the road width is wide, a narrower shooting range when the road width is narrow, and sets the road width as narrow. May be determined according to the conditions.
[0024]
Furthermore, when the image of the left side of the vehicle is not required, such as when the road 11 is a vehicle dedicated road and the vehicle 6 merges, only the image of the right side of the vehicle may be shot. The imaging ranges a and b may be calculated each time from the angle formed by the vehicle 6 and the road 11, but the angles formed by the vehicle 6 and the road may be substantially right angles, shallow angles (right and left), and deep angles (right , Left) may be divided into about five stages, and it may be determined whether to calculate according to the classification.
[0025]
[Image clipping process]
Next, the details of the image clipping process will be described with reference to FIGS.
[0026]
Now, considering only the camera 2b on the right side of the vehicle in order to facilitate understanding of the image clipping process, the camera device 2b always captures the area A shown in FIG. 6 and converts the data of the image 12 shown in FIG. Input to the processing device 5.
[0027]
Therefore, in this embodiment, the image processing device 5 captures the data input from the camera device 2b into a frame buffer, reconstructs the captured data into an output frame buffer, and outputs the data to the image presentation device 4. , A part of the image 12 is cut out and display control is performed. Thereby, the image processing device 5 can apparently change the shooting direction of the camera device 2b without physically changing the shooting direction of the camera device 2b.
[0028]
Specifically, when the image processing device 5 cuts out the data corresponding to the image 12a shown in FIG. 7, the image corresponding to the area a1 shown in FIG. 6 is displayed in the display area B ′. The shooting range of 2b is apparently the area a1. Similarly, when the image processing device 5 cuts out the data corresponding to the image 12b shown in FIG. 7, the image corresponding to the area a2 shown in FIG. 6 is displayed in the display area B '. The shooting range of the camera device 2b is apparently the area a2. Further, when the image processing device 5 cuts out data corresponding to the image 12c shown in FIG. 7, an image corresponding to the area a3 shown in FIG. 6 is displayed in the display area B '. The shooting range of the camera device 2b is apparently an area a3.
[0029]
In the examples shown in FIGS. 6 and 7, the cut-out areas of the image are set to the areas 12a, 12b, and 12c, so that the shooting range of the camera device 2b is divided into three areas of apparent areas a1, a2, and a3. However, the shooting range may be divided into any number of regions. Further, the size of the image to be cut out (= the apparent shooting range of the camera device 2b) may be changed for each image. Also, image data in a desired shooting direction can be obtained by performing similar clipping processing on image data shot by the left camera device 2a.
[0030]
As is clear from the above description, according to the outside video imaging device 1 according to the first embodiment of the present invention, the image processing device 5 displays on the image presentation device 4 according to the information acquired by the navigation device 3. Since the image is controlled, the image necessary for the driver can be displayed (the effect of claim 1).
[0031]
Further, according to the image capturing apparatus outside the vehicle according to the first embodiment of the present invention, the image processing device 5 changes the images cut out from the image data captured by the camera devices 2a and 2b, thereby changing the images of the cameras 2a and 2b. Since the shooting direction is apparently changed, the shooting direction of the cameras 2a and 2b can be changed by a simple mechanism (the effect of claim 2).
[0032]
Furthermore, according to the image capturing apparatus outside the vehicle according to the first embodiment of the present invention, the image processing device 5 changes the image to be cut out in a stepwise manner according to the angle formed by the vehicle 6 and the road. Can be displayed (effect of claim 3).
[0033]
[Second embodiment]
[Structure of outside image pickup device]
Next, with reference to FIGS. 8 and 9, a configuration of a vehicle outside image pickup apparatus according to a second embodiment of the present invention will be described.
[0034]
As shown in FIG. 8, a vehicle outside image pickup device 21 according to a second embodiment of the present invention includes, as main components, camera devices 22a and 22b, a navigation device 23, an image presentation device 24, and an image pickup direction control device. 25 and is mounted on a vehicle.
[0035]
As shown in FIG. 9, the camera devices 22 a and 22 b are mounted horizontally on the left and right portions of the front end of the vehicle 6, respectively, and output captured images to the image presentation device 24. In addition, as a mounting place of the camera devices 22a and 22b, for example, the right and left side portions of the front bumper are appropriate.
[0036]
The navigation device 23 is configured by a general car navigation device. Then, the navigation device 23 acquires information on the direction and position of the vehicle 6 and roads around the vehicle 6, and outputs the acquired information to the imaging direction control device 25.
[0037]
The image presentation device 24 directly outputs the video captured by the camera devices 22a and 22b. The other configuration of the image presentation device 24 is the same as that of the image presentation device 4 of the first embodiment, and a description thereof will not be repeated.
[0038]
The imaging direction control device 25 changes the imaging direction of the cameras 22a and 22b by outputting a control signal to the camera devices 22a and 22b according to the information acquired by the navigation device 23. As a method of changing the photographing direction, a method of moving the camera device itself by an actuator, a method of moving a mirror installed in front of the camera device by the actuator, and the like are considered.
[0039]
(Operation of outside image pickup device)
Next, with reference to a flowchart shown in FIG. 10, an operation of the outside-vehicle image pickup device 21 according to the second embodiment of the present invention will be described.
[0040]
The flowchart illustrated in FIG. 10 is started when the driver 7 instructs the start of the outside-vehicle image capturing process, and the image capturing process proceeds to a process of step S11.
[0041]
In the process of step S11, the navigation device 23 acquires information on the direction and position of the vehicle 6 and the direction of the road around the vehicle 6, and outputs the acquired information to the imaging direction control device 25. Thereby, the process of step S11 is completed, and the imaging process proceeds from the process of step S11 to the process of step S12.
[0042]
In the process of step S12, the imaging direction control device 25 determines the imaging direction of the camera devices 22a and 22b according to the information acquired by the navigation device 23. Thus, the process of step S12 is completed, and the imaging process proceeds from step S12 to step S13.
[0043]
Here, specifically, when the vehicle 6 turns left from the road 10 and exits on the road 11 as shown in FIG. 11, the imaging direction control device 25 determines the direction and position of the vehicle 6 in the process of step S12. With reference to the directions of the roads 10 and 12, the photographing directions 26a and 26b of the camera devices 22a and 22b are determined so that the other vehicles 6 traveling on the road 11 can be photographed.
[0044]
Note that the imaging direction control device 25 may determine the imaging direction of the camera devices 22a and 22b with reference to the angle formed between the vehicle 6 and the road 10, or the angle formed between the road 10 and the road 11. Further, when the image on the left side of the vehicle is not required, for example, when the road 11 is a vehicle dedicated road and the vehicle 6 merges, only the image on the right side of the vehicle may be taken. The photographing direction may be calculated in each case from the angle formed by the vehicle 6 and the road 11, but the angle formed by the vehicle 6 and the road may be substantially perpendicular and shallow (right and left) and deep (right and left). May be divided into five stages, and whether to calculate according to the classification may be determined.
[0045]
In the processing of step S13, the imaging direction control device 25 controls the imaging directions of the camera devices 22a and 22b to the imaging directions determined in the processing of step S12. Thereby, the process of step S13 is completed, and the imaging process proceeds from the process of step S13 to the process of step S14.
[0046]
In the process of step S14, the image processing device 5 controls the output of the images captured by the camera devices 22a and 22b to the display areas A 'and B', respectively. Thus, the process of step S14 is completed, and a series of imaging processes ends.
[0047]
As is apparent from the above description, according to the outside-vehicle image pickup device 21 according to the second embodiment of the present invention, the image-pickup direction control device 25 uses the camera devices 22a and 22b to shoot images according to the information acquired by the navigation device 23. Since the direction is controlled, an image necessary for the driver can be displayed (effect of claim 4).
[0048]
Further, according to the image capturing apparatus 21 outside the vehicle according to the second embodiment of the present invention, the image capturing direction control device 25 changes the image capturing direction of the camera devices 22a and 22b stepwise according to the angle formed between the vehicle 6 and the road. Therefore, it is possible to display an image necessary for the driver (effect of claim 5).
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of an outside-vehicle image pickup apparatus according to a first embodiment of the present invention.
FIG. 2 is a diagram for explaining positions of a camera device and an image presentation device shown in FIG. 1;
FIG. 3 is a diagram for explaining a position of a display area of the image presentation device.
FIG. 4 is a flowchart showing the flow of the operation of the image pickup apparatus outside the vehicle shown in FIG.
FIG. 5 is a diagram for explaining an imaging range determination process shown in FIG. 4;
FIG. 6 is a diagram for explaining the image cutout processing shown in FIG. 4;
FIG. 7 is a diagram for explaining the image cutout processing shown in FIG. 4;
FIG. 8 is a block diagram illustrating a configuration of an outside-vehicle image pickup apparatus according to a second embodiment of the present invention.
9 is a diagram for explaining the position of the camera device shown in FIG.
FIG. 10 is a flowchart showing the flow of the operation of the image pickup apparatus outside the vehicle shown in FIG.
11 is a diagram for explaining the photographing direction determination process shown in FIG.
[Explanation of symbols]
1, 21 Outside vehicle image pickup device 2a, 2b, 22a, 22b Camera device 3, 23 Navigation device 4, 24 Image presentation device 5 Image processing device 25 Image pickup direction control device

Claims (5)

An imaging device that captures images of the left and right sides of the vehicle,
An information acquisition device that acquires information about the direction and position of the vehicle, and roads around the vehicle,
According to the information acquired by the information acquisition device, an image processing unit that performs predetermined image processing on the video captured by the imaging device,
An image presenting unit that displays and outputs the image that has been subjected to the image processing,
An image pickup apparatus outside a vehicle, comprising: The outside image pickup apparatus according to claim 1, wherein the image processing unit cuts out a part of an image captured by the image pickup apparatus, and changes a cut-out part so that an image displayed and output changes apparently. The outside image pickup apparatus according to claim 2, wherein the image processing unit changes a portion to be cut out stepwise according to a direction of the vehicle and a direction of a road. An imaging device that captures an image of the vehicle in the left-right direction;
An image acquisition unit that displays and outputs a video taken by the imaging device, an orientation and position of the vehicle, and an information acquisition device that acquires information about roads around the vehicle,
An image capturing direction control device that changes an image capturing direction of the image capturing device according to the information acquired by the information acquiring device. The image capturing apparatus according to claim 4, wherein the image capturing direction control device changes the image capturing direction of the image capturing device stepwise according to the direction of the vehicle and the direction of the road.

Images