JP2005170211A - On-vehicle imaging device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem wherein a plurality of imaging devices must be separately provided and wiring is complicated and cost becomes high, in regard to a vehicle provided with a vehicle control device for automatic travelling and an antitheft monitor device together. <P>SOLUTION: A control unit 10 detects whether a vehicle is travelling or not, and a camera 15 loaded on the inner surface glass of a window shield is automatically directed forward during the travelling by a camera driving motor 21 to pick up images in front of the vehicle necessary for an automatic travelling device. If the vehicle is not travelling, the camera is directed inside a cabin to pick up images inside the cabin necessary for the monitor device. With this structure, necessity of taking images by using a plurality of cameras is eliminated by switching image pick-up range of the camera 15 loaded on the vehicle in response to travelling condition or not-travelling condition, and image pick-up efficiency is improved. Furthermore, since the number of an expensive imaging device required is the only one, cost of the device can be reduced. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an in-vehicle imaging device that is mounted on a vehicle and captures an image necessary for controlling a traveling vehicle or monitoring a vehicle compartment while parked.

  Conventionally, as an automatic driving control device for a vehicle, an image in front of the vehicle captured by an in-vehicle monitoring camera is processed to recognize a white line drawn on the road, and the engine, brake, steering, etc. are controlled based on the recognition result. By processing a vehicle that automatically travels along a white line on the road or an image in front of the vehicle imaged by an in-vehicle monitoring camera, the distance from the preceding vehicle is recognized, and the engine is based on the recognition result. In addition, there is known one that automatically drives a vehicle so as to keep a distance from a preceding vehicle constant by controlling a brake or the like (see, for example, Patent Documents 1 and 2).

Further, as a monitoring device at the time of parking of a vehicle, a device that processes an image picked up inside the vehicle, recognizes an abnormality in the passenger compartment, issues an alarm, etc., and notifies the occurrence of the abnormality (for example, patent document). 3).
JP 2000-242769 A Japanese Patent No. 2715442 JP 2000-264128 A

  By the way, in said vehicle control apparatus and vehicle interior monitoring apparatus, it was necessary to attach an imaging device to a vehicle according to each objective. For example, in a vehicle control device, in order to image a distant view in front of the vehicle, it is necessary to attach an imaging device at a position where the front of the vehicle can be imaged. In an indoor monitoring device, in order to image a vehicle interior, It was necessary to attach an imaging device at a position where the room could be imaged. Therefore, in a vehicle having both a vehicle control device and a vehicle interior monitoring device, it is necessary to install a plurality of image pickup devices at different positions, and the wiring for the attachment becomes complicated, so that images can be taken efficiently. I couldn't.

  The present invention has been made in view of these problems, and an object of the present invention is to make it possible to efficiently capture an image in an in-vehicle imaging device.

  In the vehicle-mounted imaging device according to claim 1, which is made to achieve the above object, the vehicle state detection unit detects whether or not the vehicle is in a traveling state. Then, if the vehicle is running, the imaging area changing means changes the imaging area of the imaging means attached to the front position of the vehicle to the front of the vehicle, and takes an image of the vehicle front necessary for the vehicle control device. Further, if the vehicle is not running, the imaging area changing means changes the imaging area of the imaging means to the passenger compartment and takes an image of the passenger compartment necessary for a monitoring device that monitors the passenger compartment.

  As described above, according to the in-vehicle imaging device of the present invention, an image is acquired by switching the imaging area of one imaging means between the front of the vehicle and the interior of the vehicle according to whether or not the vehicle is running. It becomes possible.

  Therefore, it is not necessary to separately provide an imaging unit that captures an image necessary for the vehicle control device and an imaging unit that captures an image necessary for the monitoring device, and an image can be efficiently captured. In addition, since only one expensive imaging means is required, the cost of the apparatus can be reduced.

  By the way, as described above, the cost of the imaging means is relatively high among the components of the in-vehicle imaging device. In order to reduce the cost of the image pickup means, as in the vehicle-mounted image pickup apparatus according to claim 2, the image pickup means includes an image pickup device that converts an image into an electric signal, and an image formed on the image pickup device. The image means may be integrated.

If it does in this way, a commercially available video camera etc. can be used as an imaging means, for example, and it becomes possible to reduce the cost of an imaging means.
On the other hand, when a commercially available video camera or the like is used as an image pickup means in which the image pickup device and the image forming means are integrated, it is difficult to select a suitable one for in-vehicle use because the size and shape are determined. is there. In particular, it is considered that it is too large to be mounted in a narrow area in front of the vehicle, which impairs the comfort in the passenger compartment.

  In such a case, as in the vehicle-mounted imaging device according to claim 3, the first imaging means for imaging the front of the vehicle and the second imaging means for imaging the vehicle interior are provided. In this way, the imaging area changing means may take an image in front of the vehicle or in the passenger compartment by displacing the imaging surface of the imaging element to the imaging position of the imaging means.

  If it does in this way, it will become possible to arrange | position the 1st, 2nd image formation means in the position suitable for imaging. Further, the imaging region changing means can be reduced in size by displacing only the imaging device (for example, a semiconductor imaging device such as a small and light CCD).

  When the imaging means is mounted in a narrow area such as the front position of the vehicle, the first and second imaging means and the downsized imaging area changing means are formed into the shape of the narrow area at the front position of the vehicle. Since it is possible to arrange them together, comfort in the passenger compartment can be ensured.

  Furthermore, in this case, the two imaging means can each have an optimum structure for imaging the front of the vehicle and the interior of the vehicle (for example, fixing the focus), and a complicated structure such as a zoom mechanism is not required. Therefore, reliability is improved and miniaturization is possible.

  By the way, in the present invention, an image picked up in the middle of changing the image pickup area of the image pickup means (in other words, in the middle of the image pickup means being displaced) is the front of the vehicle required by the vehicle control device or the monitoring device. Since the vehicle interior is not captured, it cannot be used for image processing of a vehicle control device or a monitoring device. Therefore, as in the in-vehicle imaging device according to claim 4, when the imaging area changing unit finishes changing the imaging area, the imaging area changing unit sends a completion signal indicating completion of the changing operation to the vehicle control device. Or it is good to make it output to a monitoring apparatus.

  In this way, it is only necessary to start each process after receiving the completion signal on the vehicle control device side or the monitoring device side that uses the image, so that the necessary image is obtained at an appropriate timing. And efficient processing becomes possible.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of an in-vehicle imaging device to which the present invention is applied. FIG. 2 (a) is a vehicle as viewed from the upper surface of the vehicle, and FIG. 2 (b) is a vehicle as viewed from the side of the vehicle. It is the schematic which shows the structure of an imaging device, and the attachment state to a vehicle.

  As shown in FIG. 1, an in-vehicle imaging device 1 includes a camera 15 in which a lens, an imaging element, or an electronic circuit are integrated, and a camera drive that moves the camera 15 to change an imaging area by the camera 15. A control unit 10 that controls the camera drive unit 11, and limit switches 13 and 14 that limit a movement range of the camera 15 (in other words, an area captured by the camera 15).

  2A, the camera drive unit 11 includes a bracket 23 that supports the camera 15, a camera drive motor 21 that moves the bracket 23 (in other words, moves the camera 15), and camera drive. Reduction gears 24 and 26 that transmit the rotation of the motor 21 to the bracket 23 are provided.

  The bracket 23 is formed by bending a long plate into an L-shape, and a camera 15 is attached to the surface of one of the L-shaped plates so that the outside of the L-shape is in the imaging direction. A rotating shaft 25 is provided in the vicinity of the tip of the other plate surface of the character to rotate the bracket 23 along the plate surface. A reduction gear 24 is attached to the rotary shaft 25, and a reduction gear 26 is attached to the output shaft of the camera drive motor 21, and the reduction gear 24 and the reduction gear 26 are arranged so as to be fitted to each other. It is installed. Therefore, the rotation of the output shaft of the camera drive motor 21 is transmitted to the rotary shaft 25 while being decelerated via the reduction gears 26 and 24. As the rotary shaft 25 rotates, the bracket 23 rotates around the rotary shaft 25 so as to draw a circle. For this reason, the camera 15 moves so that the imaging direction draws an arc as the bracket 23 moves.

  The limit switch 13 is attached to a position where the camera 15 moves to a position where the front of the vehicle can be imaged and is turned on, and the limit switch 14 is moved to a position where the camera 15 can image the interior of the vehicle and is turned on. It is attached to the position to do.

  And the control part 10 receives the IG signal which will be in an ON state when a vehicle is a driving | running state, and when the IG signal is ON, it controls the camera drive motor 21 to move the camera 15 in the vehicle forward direction, When the IG signal is OFF, the camera drive motor 21 is controlled so as to move the camera 15 toward the vehicle interior. Then, when the limit switch 13 or the limit switch 14 is turned on, the control unit 10 receives the signal and controls the camera drive motor 21 so as to stop the movement of the camera 15.

  Further, the control unit 10 is electrically connected to the security control unit 17 as an external monitoring device and the automatic travel control unit 18 as a vehicle control device, and an abnormality of the camera drive unit 21 or the like occurs in the in-vehicle imaging device 1. When this happens, an abnormality notification signal is output to each unit.

  In addition, a security set / unset signal is input to the control unit 10 from the security control unit 17 that monitors the interior of the vehicle using an image captured by the camera 15 while the vehicle is parked. This security set / unset signal becomes a security set (High state) when the driver or the like operates the security control unit 17 to put the vehicle in a monitoring state, and a security unset (when the security control unit 17 is deactivated) Low state). Therefore, when the IG signal from the vehicle input to the control unit 10 is OFF and the security set / unset signal input from the security control unit 17 is a security set (High state), the control unit 10 causes the camera 15 The camera drive unit 11 is controlled so that is directed toward the vehicle interior.

Next, the flow of processing performed by the control unit 10 will be described with reference to the flowchart of FIG.
As shown in FIG. 3, the control unit 10 first determines whether or not the IG signal that is in the ON state when the vehicle is in a driving state is “ON” in S110, and if the IG signal is in the “ON” state, The process proceeds to S115, and if the IG signal is in the “OFF” state, the process proceeds to S140.

  Next, in S115, the position of the camera 15 is confirmed by the limit switches 13 and 14. If the limit switch 13 is “ON” (that is, the camera 15 faces the front of the vehicle), the process returns to S110, which is the first process, and the process is repeated. If the limit switch 14 is “ON” (that is, the camera 15 is facing the vehicle interior), the process proceeds to S120.

  In S120, the camera drive motor 21 is driven to rotate the camera 15 in the direction of the forward monitoring position. In S125, the limit switch 13 is turned “ON” (the camera 15 has been moved to the forward monitoring position). It is determined whether or not. If it is determined in S125 that the limit switch 13 is “ON”, the process proceeds to S127, and the camera drive motor 21 is stopped (in other words, the movement of the camera 15 is stopped).

On the other hand, if the limit switch 13 is “OFF” (the camera 15 is moving to the forward monitoring position) in S125, the process proceeds to S130.
In S130, it is determined whether a time-out period (for example, 5 seconds) that is sufficient for the camera 15 to finish moving to the forward monitoring position has elapsed. If the time-out period has not elapsed, the process returns to S125, and again. Then, “ON / OFF” determination of the limit switch 13 is performed. If the time-out time has elapsed in S130 (in other words, the camera 15 does not move to the forward monitoring position even after the time-out time has elapsed since the camera drive motor 21 was started to be driven in S120). If an abnormality has occurred, the process proceeds to S135 and outputs an abnormality notification signal. Then, the process proceeds to S127, and the camera drive motor 21 is stopped.

Then, after executing the process of S127, the process returns to S110 and repeats the process. On the other hand, if it is determined in S110 that the IG signal is “OFF” and the process proceeds to S140, the security set from the security control unit 17 is set. / Unset signal is monitored. If “security set”, the process proceeds to S145, and if “security unset”, the process returns to S110, which is the first process, and the process is repeated.

  Next, in S145, it is confirmed by the limit switches 13 and 14 whether the position of the camera 15 is the vehicle interior monitoring position. If the limit switch 14 is “ON” (that is, the camera 15 faces the vehicle interior), the process returns to S110 as the first process and the process is repeated. If the limit switch 13 is “ON” (that is, the camera 15 faces the front of the vehicle), the process proceeds to S150.

  In S150, the camera drive motor 21 is driven to rotate the camera 15 in the direction of the vehicle interior monitoring position. Then, in S155, it is determined whether or not the limit switch 14 is turned “ON” (whether the camera 15 has been moved to the vehicle interior monitoring position). If it is determined that the limit switch 14 is “ON”, the process proceeds to S127, and the camera drive motor 21 is stopped (in other words, the movement of the camera 15 is stopped). On the other hand, if the limit switch 14 is “OFF” in S155 (the camera 15 is moving to the vehicle interior monitoring position), the process proceeds to S160.

  In S160, it is determined whether a time-out period (for example, 5 seconds) that is sufficient for the camera 15 to finish moving to the vehicle interior monitoring position has elapsed. If the time-out period has not elapsed, the process returns to S155, The “ON / OFF” determination of the limit switch 14 is performed again. If the time-out time has elapsed (in other words, the camera 15 does not move to the vehicle interior monitoring position even after the time-out time elapses after the camera drive motor 21 starts to be driven in S150), an abnormality occurs. Is generated, the process proceeds to S135, and an abnormality notification signal is output. Then, the process proceeds to S127, and the camera drive motor 21 is stopped.

And after performing the process of S127, it returns to S110 and repeats a process.
As described above, in the present embodiment, the control unit 10 detects the driving state of the vehicle and the state of the security control unit 17, and if the vehicle is in the driving state, the imaging direction of the camera 15 is directed to the front of the vehicle. If the vehicle is not in a driving state and the security control unit 17 is set to monitor the interior of the vehicle, the imaging direction of the camera 15 is directed toward the interior of the vehicle, Control is performed to capture an image.

  For this reason, it is possible to take images of the front of the vehicle and the interior of the vehicle with only one camera 15, and the images necessary for the vehicle control device and the images necessary for the security device are separated as in the conventional case. It is no longer necessary to take an image using a camera, wiring in the vehicle can be reduced, and efficient imaging is possible.

  Further, instead of the security set / unset signal of the security control unit 17, the vehicle interior can be monitored by detecting a door lock signal that is turned on when the vehicle door is closed and locked. . That is, in S140 of the flowchart shown in FIG. 3, it is determined whether the vehicle door lock signal is ON / OFF instead of the security set / unset signal High / Low determination, and the door lock signal is ON (the door is locked). Then, as in the case where the security set / unset signal is High (security set state), the camera 15 is directed toward the vehicle interior.

As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various aspect can be taken.
For example, in the above embodiment, the camera 15 is attached to the bracket 23 formed in an L shape, but the shape of the bracket 23 may be a cylindrical shape as shown in FIG. 4 instead of the L shape. 4A is a schematic diagram of the vehicle imaging device, FIG. 4B is a top view of the vehicle imaging device, and FIG. 4C is a cross-sectional side view.

  As shown in FIG. 4C, the bracket 23 is formed in a cylindrical shape having an end face plate 27 on one end face. The camera 15 is mounted on the side surface of the cylindrical bracket 23, and the rotating shaft 25 is provided through the end face plate 27 of the bracket 23.

  A reduction gear 24 is formed on the inner surface of the bracket 23, and a reduction gear 26 is attached to the output shaft of the camera drive motor 21, so that each reduction gear 24 and the reduction gear 26 are fitted to each other. It is arranged. Therefore, the rotation of the output shaft of the camera drive motor 21 is transmitted to the bracket 23 while being decelerated via the reduction gears 26 and 24. The bracket 23 rotates around the rotation shaft 25. For this reason, the camera 15 moves so that the imaging direction draws an arc as the bracket 23 moves. Then, the range of movement is limited by the limit switches 13 and 14 as in the above embodiment.

  Moreover, in the said embodiment, although the bracket 23 was formed in the cylindrical shape which has the end surface board 27 in one end surface, and demonstrated the camera 15 of the side surface being mounted | worn, the bracket 23 is replaced with the end surface plate 27. As shown in FIG. 5, it may be formed by a curved surface in which the side surface plate 27 and the side surface forming the cylinder are integrated, and the camera 15 may be mounted on this curved surface. .

  In the above-described embodiment, the camera 15 is used for imaging, and the imaging area is changed by rotating the camera 15. In order to capture a close-up view of the vehicle interior, a zoom function or the like is usually required for the lens. However, it is conceivable that a lens having a zoom function or the like has a complicated configuration and is difficult to downsize.

  In such a case, it is preferable to rotate only the image sensor as shown in FIG. 6 instead of rotating the entire camera 15. Here, FIG. 6A is a schematic view showing the structure of the vehicle imaging device and the state of attachment to the vehicle as seen from the top surface of the vehicle and FIG. 6B from the side surface of the vehicle.

  As shown in FIG. 6A, the lens 31 having a viewing angle suitable for capturing a distant view in front of the vehicle has a viewing angle suitable for capturing a close-up view in the vehicle front direction and in the vehicle interior. The lens 32 is disposed toward the vehicle interior.

  As shown in FIG. 6B, the L-shaped bracket 23 is provided with a small and lightweight imaging element 30 such as a CCD that is a semiconductor imaging element instead of the camera 15, and the imaging surface is L-shaped. It is mounted so as to be in the outward direction. Other configurations are the same as those of the embodiment shown in FIG.

  As in the embodiment shown in FIG. 2, the rotation of the output shaft of the camera drive motor 21 is transmitted to the rotation shaft 25 while being decelerated via the reduction gears 26 and 24, and along with the rotation of the rotation shaft 25. The bracket 23 rotates around the rotary shaft 25 so as to draw a circle. As a result, the image sensor 30 mounted on the bracket 23 rotates and stops at the imaging position of the lens 31 or the lens 32 by the limit switches 13 and 14. In this way, the imaging area is changed.

  In this way, since only the lighter image sensor 30 needs to be rotated and moved rather than rotating the entire camera 15, the components such as the camera drive motor 21 and the bracket 23 can be reduced in size and weight. And the vehicle imaging device as a whole can be downsized. Further, the power required for the camera drive motor 21 can be kept low.

  Furthermore, it is not necessary to provide each lens 31 and 32 with a complicated mechanism such as a zoom function, and it is possible to make the lenses inexpensive.

It is explanatory drawing which shows the system schematic structure of embodiment. It is explanatory drawing which shows the schematic structure of the vehicle-mounted imaging device of embodiment, and the attachment state to a vehicle. It is a control flowchart which shows the processing content of embodiment shown in FIG. It is explanatory drawing which shows schematic structure of the vehicle-mounted imaging device at the time of making the bracket 23 cylindrical. It is explanatory drawing which shows schematic structure of the vehicle-mounted imaging device at the time of comprising the bracket 23 with a curved surface. It is explanatory drawing which shows schematic structure of the vehicle-mounted imaging device at the time of comprising so that only an image pick-up element may rotate.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle-mounted imaging device, 5 ... Exposure control part, 10 ... Control part, 11 ... Camera drive part, 13, 14 ... Limit switch, 15 ... Camera, 17 ... Security control unit, 18 ... Automatic travel control unit, 21 ... Camera drive motor, 23 ... bracket, 24, 26 ... reduction gear, 25 ... rotating shaft, 30 ... image sensor, 31, 32 ... lens

Claims (4)

In a vehicle equipped with a vehicle control device that controls a vehicle using an image obtained by imaging the front of the vehicle while the vehicle is running, and a monitoring device that monitors the vehicle interior using an image obtained by imaging the vehicle interior while the vehicle is parked A vehicle-mounted imaging device that captures an image necessary for the operation of the vehicle control device and the monitoring device, using one imaging means mounted in a front position of the vehicle,
Vehicle state detection means for detecting whether or not the vehicle is in a running state;
An imaging area changing means for changing an imaging area of the imaging means so that images of the vehicle front and the passenger compartment are taken by the imaging means in accordance with the vehicle state detected by the vehicle state detecting means;
An in-vehicle imaging device comprising: The image pickup means is configured by integrating an image pickup element that picks up an image and converts it into an electrical signal, and an image forming means that optically forms an image on the image pickup element,
The in-vehicle imaging device according to claim 1, wherein the imaging area changing unit changes the imaging area by displacing the integrated imaging unit. The imaging means includes
An image sensor that captures an image and converts it into an electrical signal;
A first imaging means for optically imaging a vehicle front image on the image sensor and a second imaging means for optically imaging a vehicle interior image;
With
The imaging area changing means is configured to cause the imaging surface of the imaging element to be positioned at either the imaging position of the first imaging means or the imaging position of the second imaging means. The in-vehicle imaging device according to claim 1, wherein the imaging region is changed by displacing the lens.   The imaging region changing means, when changing the imaging region, outputs a completion signal indicating that to the vehicle control device or the monitoring device that uses the image of the changed imaging region. The in-vehicle imaging device according to any one of claims 3 to 4.

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