JP2006024120A - Image processing system for vehicle and image processing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image processing system for vehicles excellent in the visibility ahead of the vehicles according to the travelling state of vehicles, and an image processor constituting the image processing system for vehicles. <P>SOLUTION: An image processor 3 receives an angle of view from video cameras 1 and 2, acquires a vehicle speed from a speed sensor 5, and compares the acquired speed with a threshold TH associated with the received angle of view. When the vehicle speed is smaller than the threshold TH, the image processor 3 sends out an OFF signal to the video camera 2 with a telephoto lens while sending out an imaging start signal to the video camera 1 with a wide angle lens, receives image data from the video camera 1 with a wide angle lens, performs predetermined pedestrian recognition processing, and outputs the image data after image processing to a display device 4. When the vehicle speed is greater than the threshold TH, the image processor 3 sends out the imaging start signal to the video camera 2 with the telephoto lens. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle image processing system that captures an image of the outside world of a vehicle with an imaging device, displays image data obtained by imaging, and an image processing device that constitutes the vehicle image processing system.

  There has been proposed a forward monitoring system that assists the driver by imaging the front of the vehicle with an imaging device mounted on the vehicle, and processing and displaying image data obtained by imaging. Such a forward monitoring system avoids an object according to the traveling state of the vehicle by causing the driver to accurately recognize an object such as a pedestrian, an obstacle, or a vehicle in front of the vehicle, and causes a collision or contact. This is to prevent such dangers.

  In a city area or near an intersection, it is assumed that a pedestrian or vehicle suddenly jumps out from the left-right direction, so the driver needs to drive the vehicle at a low speed and pay attention to a wide area in front of the vehicle. . On the other hand, on a highway or a suburban road, the driver needs to detect danger at a long distance ahead of the vehicle rather than around the vehicle in order to drive the vehicle at a high speed.

Therefore, in order to easily recognize an object in front of the vehicle according to the traveling state of the vehicle, a zoom mechanism having a zoom lens is arranged around the front grille of the vehicle, and when the vehicle speed is slower than the reference value, When the zoom lens is driven to recognize a wide range around the vehicle with a larger angle of view than the reference angle of view, if the vehicle speed is faster than the reference value, the zoom lens is driven to exceed the reference angle of view. An image recognition device for a vehicle that recognizes a long distance ahead of the vehicle with a small angle of view has been proposed (see Patent Document 1).
JP-A-7-105481

  However, the example of Patent Document 1 has a movable part for driving a zoom lens by a stepping motor. In some cases, the movable part may cause a decrease in the reliability of the vehicle against external factors peculiar to the vehicle such as vibration applied when the vehicle travels, temperature change of the outside air, dust from the outside air, and rain. For this reason, the use of the zoom mechanism in a vehicle tends to be avoided, and a mechanism that replaces the zoom mechanism has been desired in order to improve the reliability of the vehicular image recognition apparatus.

  In addition, the zoom mechanism requires a high-precision movable part for accurately driving the zoom lens, and the cost of parts is high. Therefore, a mechanism with reduced cost has been desired.

  Furthermore, the zoom mechanism uses ten or more lenses, and it is difficult to arrange the optical axes of the lenses so that the optical axes of the lenses do not coincide with each other. May further overlap. For this reason, light may not pass through the correct optical path, and irregular reflection of light may occur inside the housing that houses the lens. In addition, when white blurring occurs in part of the image due to light that does not pass through the correct optical path, or the transmittance of each lens is superimposed, the light transmittance decreases in the process of passing through many lenses, and the contrast decreases In some cases, the image quality may deteriorate. Particularly when using a far-infrared camera, the reduction in transmittance due to the material of the lens becomes more noticeable than in the case of a visible light camera, and an image processing apparatus with excellent visibility even in the far-infrared region is desired. It was.

  The present invention has been made in view of such circumstances, and by providing a plurality of imaging devices having optical elements with different angles of view, and including switching means for switching the imaging device according to the speed of the vehicle, Provided are an image processing system for a vehicle that can image an external environment in front of the vehicle at different angles of view according to the traveling state of the vehicle without using a zoom mechanism, and an image processing device that constitutes the image processing system for the vehicle. For the purpose.

  Another object of the present invention is to provide storage means for associating and storing the angle of view and the threshold value, comparing the vehicle speed and the threshold value associated with the received angle of view, and comparing the results. By switching means for switching the imaging device based on the above, even when the imaging device is replaced with an imaging device having a different angle of view, the outside world in front of the vehicle can be imaged with a different angle of view according to the traveling state of the vehicle. Another object is to provide a vehicular image processing system capable of switching an imaging device using a threshold corresponding to the size of the angle of view.

  Another object of the present invention is to provide an optical element that transmits infrared light and an infrared light imaging element that captures infrared light, so that the vehicle travels even when traveling at night. An object of the present invention is to provide a vehicular image processing system capable of imaging the outside world ahead of the vehicle at different angles of view depending on the state.

  An image processing system for a vehicle according to a first aspect of the present invention is an image processing system for a vehicle that captures an image of the outside world of the vehicle with an imaging device, and performs image processing on the image data obtained by the imaging with the image processing device. A plurality of imaging devices having different optical elements, and the image processing device includes an acquisition unit that acquires the speed of the vehicle, and a switching unit that switches the imaging device according to the speed acquired by the acquisition unit. The switching means is configured to image the outside world with the imaging device switched.

  In the vehicle image processing system according to a second aspect of the present invention, in the first aspect of the invention, the image processing device receives storage for storing the angle of view in association with the magnitude of the threshold and the angle of view of the optical element. And a comparison means for comparing the speed acquired by the acquisition means and a threshold value associated with the angle of view received by the reception means, and the switching means is based on the result of comparison by the comparison means The image pickup apparatus is configured to be switched.

  According to a third aspect of the present invention, in the first or second aspect of the invention, the imaging device includes an optical element that transmits infrared light and an infrared light imaging element that images the transmitted infrared light. It is characterized by comprising.

  An image processing apparatus according to a fourth aspect of the present invention is an image processing apparatus that performs image processing on captured image data, and switches an image capture destination according to the acquisition means for acquiring the vehicle speed and the speed acquired by the acquisition means. And a switching means.

  In the first invention and the fourth invention, a plurality of imaging devices having optical elements having different angles of view are provided. For example, an imaging apparatus having a wide-angle lens having a field angle larger than a standard field angle of 40 ° to 50 ° and an imaging apparatus having a telephoto lens having a field angle smaller than the standard field angle are provided. When the detection means detects the speed of the vehicle and the detected speed of the vehicle is higher than a predetermined speed, the image pickup apparatus is switched to an imaging device with a small angle of view. Thereby, the object which exists in the long distance ahead of the vehicle is displayed large on the screen. On the other hand, when the speed of the vehicle is slower than the predetermined speed, the imaging device is switched to an imaging device with a large field angle. Thereby, the object which exists in the wide range of the left-right direction ahead of vehicles is displayed on a screen. Without using a zoom mechanism, an imaging device having optical elements with different angles of view is switched according to the speed of the vehicle. In addition, since the optical element with a fixed angle of view uses only 1 to 5 lenses compared to the zoom mechanism, the transmittance does not decrease.

  In the second aspect of the invention, storage means is provided that stores in advance the angle of view and the threshold value in association with each other for different sets of angles of view (wide angle and telephoto). The receiving means receives an angle of view of an optical element included in an imaging device attached to the vehicle. The vehicle speed acquired by the acquisition means is compared with the threshold value associated with the received angle of view. If the vehicle speed is greater than the threshold value, the image pickup apparatus is switched to an imaging device having an optical element with a large angle of view. On the other hand, when the speed of the vehicle is smaller than the threshold value, the imaging device is switched to an imaging device having an optical element with a small angle of view. Thereby, even when the imaging device is newly attached or replaced with an imaging device with a different angle of view, the image processing device receives and receives the angle of view of the optical element of the imaging device. A threshold corresponding to the selected angle of view is used. Further, in the case where the storage unit stores a threshold value in association with each combination of the wide-angle lens and the telephoto lens, the threshold value decreases as the angle of view of the wide-angle lens increases, and the threshold value decreases as the angle of view of the telephoto lens decreases. Is enlarged. When the vehicle speed is smaller than the threshold and the vehicle is switched to a wide-angle lens imaging device and the field angle of the wide-angle lens is large, the vehicle is switched to the telephoto lens imaging device before the vehicle speed becomes too high. Accordingly, the telephoto lens imaging device is switched at a low speed, and a reduction in visibility in the distance in front of the vehicle of the wide-angle lens having a large angle of view is prevented. On the other hand, when the vehicle speed is larger than the threshold value and the vehicle is switched to a telephoto lens imaging device and the field angle of the telephoto lens is small, the wide-angle lens imaging device can be used before the vehicle speed becomes too slow. Switch. This switches to an imaging device with a wide-angle lens at a high speed, and prevents a reduction in visibility in a wide range around the front of the vehicle that the telephoto lens with a small angle of view has.

  In the third invention, by providing an optical element that transmits infrared light and an infrared light imaging element that images infrared light, the infrared ray emitted from the heat source existing in front of the vehicle is sensed and an image is detected. Get. Since humans emit more heat sources than other objects, they have relatively higher brightness than other objects in infrared images. Thereby, a pedestrian is recognized also at the time of the night driving | running | working at which it is difficult to recognize the pedestrian ahead of a vehicle with visible light.

  In the first invention and the fourth invention, since the zoom mechanism is not used, it is not affected by the external factors peculiar to the vehicle, and the angle of view corresponding to the speed of the vehicle is reduced by a simpler mechanism than in the past. The front of the vehicle can be displayed by the imaging device. In addition, by using an imaging device that uses a small number of lenses and has a fixed angle of view in place of the zoom mechanism, the cost required for a complicated zoom mechanism can be saved, and the component cost can be reduced compared to the conventional zoom mechanism. In addition, it is possible to prevent a decrease in transmittance or deterioration in image quality.

  In the second aspect of the invention, even if the imaging device has a different angle of view, the angle of view of the imaging device can be received and a threshold value corresponding to the angle of view can be used. It is possible to use an imaging device having an angle of view according to the above. Further, by using a threshold value corresponding to the angle of view of the imaging device, the speed for switching the imaging device is not fixed, and visibility in front of the vehicle can be improved.

  In the third aspect of the invention, even during nighttime travel, it is possible to recognize a pedestrian by switching the angle of view according to the vehicle travel state. Further, since the zoom mechanism is not used, it is possible to prevent a decrease in transmittance or deterioration in image quality.

  FIG. 1 is a schematic diagram showing an outline of a vehicle image processing system according to the present invention. In the figure, reference numerals 1 and 2 denote far-infrared video cameras mounted on a vehicle for recognizing pedestrians at night and humans riding bicycles. Each of the video cameras 1 and 2 is juxtaposed in the center of the front grille at an appropriate length in the vertical direction, and is connected to the image processing device 3 via an in-vehicle LAN communication line 6 compliant with IEEE1394. . A display device 4 having an operation unit and a speed sensor 5 for detecting the speed of the vehicle are connected to the image processing device 3 via a communication line 6.

  FIG. 2 is a schematic diagram showing the configuration of the video camera 1. In the figure, 11 is an image pickup unit, and germanium lenses 110, 111, 112, and 113 that receive infrared light from the outside world are arranged with the optical axis aligned and with a suitable separation distance. It is. The pyroelectric image sensor 114 is disposed so that the infrared light transmitted through the lens 113 forms an image, and the optical axis is positioned at the center of the imaging surface. Thereby, a pedestrian is imaged regardless of day and night.

  By changing the relative positions and shapes of the lenses 110, 111, 112, and 113, the angle of view of the entire lens group can be changed. The video camera 1 is a wide-angle video camera having an angle of view of about 90 °. The video camera 2 has the same configuration as the video camera 1 and is a telephoto video camera having an angle of view of about 20 °.

  Infrared light that has passed through the lenses 110, 111, 112, and 113 is input to the pyroelectric image sensor 114. The pyroelectric imaging device 114 converts the input infrared light into RGB (R: red, G: green, B: blue) analog signals and outputs the analog signals to the signal processing unit 12.

  The signal processing unit 12 converts an analog signal input from the pyroelectric image sensor 114 into a digital signal, and performs processing for removing various distortions generated in the optical system, low-frequency noise removal processing, and correction of gamma characteristics. Perform correction processing. Further, the RGB signal is converted into a YUV (Y: luminance, U, V: color difference) signal, and the converted YUV signal is temporarily stored in the image memory 13 as image data.

  The interface unit 15 communicates with the image processing device 3 via the in-vehicle LAN communication line 6 and outputs the image data stored in the image memory 13 to the image processing device 3 in accordance with a command transmitted from the image processing device 3. .

  The storage unit 16 stores the angle of view set for the entire lens including the lenses 110, 111, 112, and 113 used in the video camera 1.

  The control unit 14 controls processing of the image capturing unit 11, the signal processing unit 12, and the interface unit 15. For example, it interprets a command from the image processing device 3, reads the image data stored in the image memory 13, and outputs it to the image processing device 3 via the interface unit 15.

  FIG. 3 is a block diagram illustrating a configuration of the image processing apparatus 3. In the figure, reference numeral 31 denotes an interface unit which receives the speed of the vehicle from the speed sensor 5, sends a switching signal of the video cameras 1 and 2, transfers a command to the video cameras 1 and 2, and images from the video cameras 1 and 2. Data is transferred and the input image data is stored in the image memory 32 in units of frames.

  The speed comparison unit 33 receives and stores the angle of view of the video cameras 1 and 2 input via the interface unit 31. In addition, the speed comparison unit 33 acquires the vehicle speed input via the interface unit 31. Further, the speed comparison unit 33 reads the threshold value TH associated with the angle of view from the storage unit 362 based on the received angle of view. Further, the speed comparison unit 33 compares the acquired vehicle speed with the read threshold value TH and, based on the comparison result, issues an on / off command for switching the video camera 1 or 2 to the interface unit. The video is output to the video cameras 1 and 2 via 31. Thereby, one of the video cameras 1 and 2 performs an imaging process.

  The image processing unit 36 includes a calculation unit 361 and a storage unit 362. The calculation unit 361 reads image data for one frame stored in the image memory 32, extracts a feature image as a pedestrian based on the luminance distribution of the read image data, performs a pedestrian recognition process, The subsequent image data is stored in the image memory 32. After performing the above recognition process on the image data for one frame, the image processing unit 36 performs the same recognition process for each frame after the first frame.

  The storage unit 362 stores a threshold value table 362a indicating threshold values associated with the angle of view. FIG. 4 is an explanatory diagram showing the configuration of the threshold table 362a. As shown in the figure, the threshold value TH of the speed is stored in association with the combination of the angle of view of the wide angle lens and the telephoto lens with the angle of view of the standard lens (about 40 ° to 50 °) as a boundary. For example, when the angle of view of the wide-angle lens is θ11 and the angle of view of the telephoto lens is θ21, the threshold is TH1. The angle of view of the wide-angle lens has a relationship of θ11> θ12>... The angle of view of the telephoto lens has a relationship of θ21> θ22>. Further, the threshold values have a relationship of TH1 <TH2 <... and a relationship of TH10 <TH11 <....

  The output unit 35 reads out the image data processed by the image processing unit 36 from the image memory 32 and outputs it to the display device 4 so that the display device 4 displays the image data in which the pedestrian is recognized.

  The image processing control unit 34 stores the image data output from the interface unit 31 in the image memory 32, reads out the image data from the image memory 32 of the image processing unit 36, and outputs to the output unit 35 of the recognized image data. Control processing such as output.

  Next, the video camera switching operation will be described. When the driver operates the operation unit provided in the display device 4 to turn on the operation switch of the video cameras 1 and 2 while the vehicle is traveling, the image processing device 3 that receives the operation signal from the operation unit An initial command is sent to the video cameras 1 and 2 via the unit 31.

  The video cameras 1 and 2 that have received the initial command send the angle of view information stored in the video cameras 1 and 2 to the image processing apparatus 3. The speed comparison unit 33 reads the threshold value TH corresponding to the combination of the angle of view of the video cameras 1 and 2 from the storage unit 362 based on the angle of view information of the video cameras 1 and 2 input via the interface unit 31. Store in the speed comparison unit 33.

  The speed comparison unit 33 acquires the vehicle speed from the speed sensor 5 via the interface unit 31, and compares the acquired speed with a threshold value TH. When the vehicle speed is smaller than the threshold value TH, the speed comparison unit 33 sends an imaging start signal to the video camera 1 having a wide-angle lens and sends an off signal to the video camera 2 having a telephoto lens. Send it out.

  The video camera 1 that has received the imaging start signal starts imaging the outside of the vehicle from the image imaging unit 11. The signal processing unit 12 converts the captured image data from an RGB signal to a YUV signal, and once records the image data in the image memory 13. Then, the image processing device 12 performs image data for one frame via the interface unit 14. Send to 3.

  On the other hand, the video camera 2 that has received the OFF signal stops the imaging process and enters a waiting state for waiting for a command from the image processing device 3.

  Thereby, when the speed of the vehicle is smaller than the threshold value TH, the image processing device 3 receives the image data from the video camera 1 having the wide-angle lens, performs a predetermined pedestrian recognition process, and performs the image processing after the image processing. Data is output to the display device 4.

  The speed comparison unit 33 acquires the speed of the vehicle from the speed sensor 5 at predetermined time intervals. When the speed of the vehicle becomes larger than the threshold value TH, the speed comparison unit 33 sends an off signal to the video camera 1 having a wide-angle lens and also takes an imaging start signal to the video camera 2 having a telephoto lens. Is sent out.

  The video camera 1 that has performed the imaging process stops the imaging process by receiving the off signal, and enters a waiting state for waiting for a command from the image processing apparatus 3. On the other hand, the video camera 2 that has been in a waiting state starts imaging the outside of the vehicle from the image imaging unit 11 and sends the captured image data to the image processing device 3.

  As described above, the video cameras 1 and 2 are switched according to the speed of the vehicle. Thus, when traveling at a speed smaller than the threshold TH, the front of the vehicle can be imaged by the video camera 1 having a wide-angle lens, and a wide range in front of the vehicle can be imaged. On the other hand, when the vehicle travels at a speed higher than the threshold TH, it is possible to capture a far object in front of the vehicle with the video camera 2 having a telephoto lens, and to display a large distance object in front of the vehicle on the display device 4. .

  FIG. 5 is an explanatory diagram showing the relationship between the angle of view and the imaging range. As shown in the figure, when imaging with a video camera 1 having a wide-angle lens (angle of view θ1), an object within the range of the imaging angle θ1 from the front center of the vehicle can be recognized. Particularly in urban areas or in the vicinity of intersections, it is possible to easily recognize pedestrians crossing a pedestrian crossing, bicycles traveling along the road, and the like. When a wide-angle lens is used, an object at a long distance in front of the vehicle tends to be small on the display screen, but the vehicle speed is low. Then there are few obstacles.

  Further, as shown in the figure, when imaging with a video camera 2 having a telephoto lens (viewing angle θ2), it is possible to recognize an object within the range of the shooting angle θ2 from the front center of the vehicle. Especially when driving on suburbs or highways, it is important to recognize objects far away from the left and right sides of the vehicle at an early stage to avoid dangers. By using, a distant object can be displayed larger on the display device 4 than when a wide-angle lens is used.

  FIG. 6 is an explanatory diagram showing the relationship between the angle of view and the threshold value of speed. 6A is equipped with a video camera 2 having a telephoto lens with an angle of view θ22, and when the speed threshold is TH2, FIG. 6B is a video camera 2 having a telephoto lens with an angle of view θ21 (> θ22). And the speed threshold is TH1 (<TH2).

  When the angle of view of the telephoto lens is small (view angle θ22), the speed threshold TH2 is large (TH2> TH1), and the image pickup device is switched to a wide-angle lens before the vehicle speed becomes too slow. If the stop distance of the vehicle when the vehicle speed is the threshold value TH2 is L2, and the stop distance when the speed is the threshold value TH1 is L1, then TH2> TH1, and therefore L2> L1. When the angle of view of the telephoto lens is small (view angle θ22), the telephoto lens has a long stop distance L2 (> L1) and is switched to the wide-angle lens imaging device. Therefore, when the angle of view of the telephoto lens is small (view angle θ22), it is possible to quickly switch to the wide-angle lens imaging device, and the visibility in a wide range around the front of the vehicle possessed by the telephoto lens with a small angle of view is reduced. Can be prevented. In addition, a long stop distance can be secured to avoid danger.

  The threshold value corresponding to the combination of the wide-angle lens and the telephoto lens can be calculated as follows. The measurement distance d is calculated by the following equation, where θ is the angle of view of the wide-angle lens, Nw is the number of pixels of the captured image data, No is the minimum number of pixels necessary to recognize the pedestrian, and W is the height of the person. .

  Here, Nw can be 320 × 240, No can be 40 × 16, and W = 1. The measurement distance d calculated in Equation 1 is used as the stop distance + the margin distance, and the speed calculated from the stop distance = speed × average reaction time + speed / (2 × 9.8 × road friction coefficient) can be used as a threshold value. it can. Here, a predetermined numerical value may be used as the margin distance.

  As described above, in the present invention, when a plurality of video cameras having different angles of view are provided and the video cameras are switched according to the vehicle speed, the vehicle speed is relatively low. The image is captured by a video camera having a wide-angle lens to ensure visibility in a wide range in front of the vehicle. On the other hand, when the speed of the vehicle is high, the video camera having a telephoto lens is switched to ensure the visibility of the farther ahead of the vehicle. Since a high-precision mechanism such as a zoom mechanism is not required, it is not affected by external factors specific to the vehicle, and it is possible to reduce the cost of components and reduce the transmittance or the image quality compared to the conventional mechanism. Can be prevented.

  Further, even when the imaging device is replaced with an imaging device having a different angle of view, the angle of view of the imaging device can be acquired and a threshold value corresponding to the angle of view can be used. An imaging device can be used. Furthermore, by using a threshold value corresponding to the angle of view of the imaging device, the speed for switching the imaging device is not fixed, and visibility in front of the vehicle can be improved.

  In the above-described embodiment, the video cameras 1 and 2 are far-infrared video cameras. However, the video cameras 1 and 2 are not limited to this, and may be video cameras for visible light. In this case, the lenses 110, 111, 112, and 113 are glass lenses, and the image sensor 114 is a CCD.

  In the above-described embodiment, the speed of the vehicle is detected by the speed sensor 5, but the present invention is not limited to this. For example, the speed of the vehicle can be calculated in the image processing device 3. That is, the brightness edge belonging to the road surface display or the white line is detected from the image data obtained by imaging the road surface display or the white line. Next, between the frames, the same combination of light and shade edges is extracted, and the movement amount of the extracted light and shade edges per frame is calculated. A configuration may be employed in which the speed of the vehicle is calculated based on the calculated movement amount, and the speed comparison unit 33 acquires the calculated speed. Thereby, the communication line between the image processing apparatus and the speed sensor can be omitted.

  In the above-described embodiment, the connection between the video camera and the image processing apparatus is performed via the in-vehicle LAN communication line compliant with IEEE 1394. Good.

  In the above-described embodiment, the threshold value TH is stored in association with one value of the angle of view such as θ11 and θ21. However, the present invention is not limited to this, and for example, θ11 to θ12, θ21 to The configuration may be such that the threshold value TH is stored corresponding to a predetermined range of the angle of view as θ22.

It is a schematic diagram which shows the outline | summary of the image processing system for vehicles which concerns on this invention. It is a schematic diagram which shows the structure of a video camera. It is a block diagram which shows the structure of an image processing apparatus. It is explanatory drawing which shows the structure of a threshold value table. It is explanatory drawing which shows the relationship between an angle of view and an imaging range. It is explanatory drawing which shows the relationship between a view angle and the threshold value of a speed.

Explanation of symbols

1, 2 video camera
3 Image processing device
DESCRIPTION OF SYMBOLS 4 Display apparatus 5 Speed sensor 6 Communication line 11 Image pick-up part 12 Signal processing part 13, 32 Image memory 14 Control part 15, 31 Interface part 33 Speed comparison part 34 Image processing control part 35 Output part 36 Image processing part 362a Threshold table 110 , 111, 112, 113 Lens 114 Pyroelectric image sensor

Claims (4)

In an image processing system for a vehicle that images an external environment of a vehicle with an imaging device and displays image data obtained by imaging with an image processing device.
A plurality of imaging devices having optical elements with different angles of view,
The image processing apparatus includes:
An acquisition means for acquiring the speed of the vehicle;
Switching means for switching the imaging device according to the speed acquired by the acquisition means,
A vehicular image processing system configured to image the outside world with the imaging device switched by the switching means. The image processing apparatus includes:
Storage means for storing the angle of view in association with the threshold size;
Receiving means for receiving an angle of view of the optical element;
Comparing means for comparing the speed acquired by the acquiring means and a threshold value associated with the angle of view received by the receiving means,
The vehicular image processing system according to claim 1, wherein the switching unit is configured to switch the imaging device based on a result of comparison by the comparison unit.   The vehicle according to claim 1, wherein the imaging device includes an optical element that transmits infrared light and an infrared light imaging element that images the transmitted infrared light. Image processing system. In an image processing apparatus that performs image processing on captured image data,
An acquisition means for acquiring the speed of the vehicle;
An image processing apparatus comprising: a switching unit that switches an image capture destination according to the speed acquired by the acquisition unit.

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