JP2006331164A - Image processing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image processing apparatus capable of confirming the sides and rear of a vehicle by images corresponding to the states of the vehicle. <P>SOLUTION: When a road sort is judged as a general road, a CPU 14 displays a lower part of a wide angle image on a display 32. When the road sort is judged as a freeway on the other hand, the CPU 14 displays the side parts of the wide angle image on the display 32. When there are many lanes, the width of a partial area is increased. When the number of lanes is small, the width of the partial area is reduced. An image corresponding to the partial area of the wide angle image may be displayed in an enlarged state. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an image processing apparatus that displays a cut-out image corresponding to a partial region of wide-angle image data on the rear side of a vehicle, and more particularly to a navigation apparatus and the like.

As a background art, there is known a display switching device that displays a wide-area image related to the rear of the vehicle when the speed is larger than a predetermined value and displays a narrow-area image related to the rear of the vehicle when the speed is smaller than a predetermined value. . This display switching device cuts out a partial area of a wide area image, creates a narrow area image, and creates an image with different viewpoints from two wide area images (refer to Patent Document 1 for the above points).
JP 2003-212041 A (refer to paragraphs [0034], [0039] and [0043] and FIG. 11 in particular)

  In the thing of patent document 1, since the wide area image which concerns on the back of a vehicle is only cut out according to speed, the side back of a vehicle cannot be confirmed with the image according to the condition of a vehicle. It was. SUMMARY OF THE INVENTION An object of the present invention is to provide an image processing apparatus capable of confirming the rear side of a vehicle with an image corresponding to the situation of the vehicle.

  An image processing apparatus according to the present invention includes a control unit that displays on a display an image corresponding to a partial area of wide-angle image data related to a rear side of a vehicle, and changes the partial area according to road type data related to a vehicle position. It is to be prepared. The interpretation of the lexical terms in the present invention is as follows.

  The “rear side of the vehicle” is a backward direction from a viewpoint determined on the right side or the left side of the vehicle. As an example of the viewpoint, a viewpoint defined on the right side of the vehicle front grille, a viewpoint defined on the left side of the vehicle front grille, a viewpoint defined on the right side mirror of the vehicle, and a viewpoint defined on the left side mirror of the vehicle and so on.

  “Wide-angle image data” is image data output by a wide-angle camera. “Wide angle” means that the angle of view is approximately 60 degrees or more.

  As a “partial region”, a region having a central coordinate at the side of the center of the wide-angle image data, a region having a central coordinate lower than the central coordinate of the wide-angle image data, and a lower side of the central coordinate of the wide-angle image data There are areas with the center as the center coordinate.

  “Road type data relating to vehicle position” is a concept including road type data in which a road position is associated with a road type and data specified by position data corresponding to the vehicle position. There are highways, general roads, national roads, city roads, toll roads, etc. as road types.

  The following is an example of a mode in which “the partial area is changed according to road type data related to the vehicle position”. If the “road type related to the vehicle position” is a general road, the “partial area” is an area having the central coordinates below the central coordinates of the wide-angle image data. Further, if the “road type related to the vehicle position” is an expressway, the “partial region” is a region having a central coordinate on the side rather than the central coordinate of the wide-angle image data.

  An image processing apparatus according to the present invention displays an image corresponding to a partial area of wide-angle image data on the rear side of a vehicle on a display, and controls the partial area according to speed data output by a speed sensor. Is provided. The interpretation of the lexical terms in the present invention is as follows.

  The following is an example of a mode in which “the partial area is made different according to speed data output by a speed sensor”. If the velocity corresponding to the velocity data is equal to or less than the first reference value, the “partial region” is a region portion whose central coordinate is below the central coordinate of the wide-angle image data. Here, the “first reference value” is determined within a range from 30 km / h to 50 km / h assuming driving in an urban area. On the other hand, if the speed corresponding to the speed data is greater than or equal to the second reference value, the “partial area” is set to an area centered on the side rather than the center coordinates of the wide-angle image data. Here, the “second reference value” is determined within a range from 60 kilometers per hour to 80 kilometers per hour assuming high speed travel.

  The image processing apparatus according to the present invention controls the display to display an image corresponding to the partial area of the wide-angle image data on the rear side of the vehicle, and varies the partial area according to the range data output on the transmission side. It has a part. The interpretation of the lexical terms in the present invention is as follows.

  “Range” is the state of the transmission, and if it is a manual transmission, it is 1st, 2nd, 3rd, 4th, 5th, 6th, N (neutral), P (parking), R ( In the case of an automatic transmission, there are 1st speed (or L), 2nd speed (or S), D (drive), N (neutral), P (parking), R (reverse), and the like.

  The following is a mode in which “the partial area is made different according to the range data output on the transmission side”. If the range corresponding to the range data is the reverse range, the “partial area” is an area having the central coordinates below and on the side of the central coordinates of the wide-angle image data.

  The present invention displays an image corresponding to the partial area of the wide-angle image data related to the rear side of the vehicle on the display, and makes the partial area different according to various data related to the situation of the vehicle. It is possible to provide an image processing apparatus having an effect that it can be confirmed by an image according to the situation of the vehicle.

<First Embodiment> A navigation apparatus according to a first embodiment for carrying out an image processing apparatus according to the present invention will be described with reference to FIGS.
<Overall Configuration> The overall configuration of the present embodiment will be described with reference to FIG. As shown in FIG. 1, the vehicle 1 includes a wide-angle camera 2a and a wide-angle camera 2b on the right and left sides of the front grill 1a, respectively. The vehicle 1 is equipped with a navigation device 10 according to the present embodiment.

The wide-angle camera 2 a captures the right rear (corresponding to “side rear”) of the vehicle 1 and outputs wide-angle image data related to the right rear of the vehicle 1. On the other hand, the wide-angle camera 2 b captures the left rear of the vehicle 1 (corresponding to “side rear”) and outputs wide-angle image data relating to the left rear of the vehicle 1. These wide-angle image data are input to the navigation device 10.
<Apparatus Configuration> The configuration of the navigation apparatus 10 according to the present embodiment will be described with reference to FIG. As shown in FIG. 2, the navigation device 10 corresponds to an input interface (hereinafter referred to as an input IF) 11 for inputting various data, an HDD 12 for storing various data, and a ROM 13 (“control unit”) for storing various programs. CPU 14 (corresponding to a “control unit”) that interprets and executes a program stored in the ROM 13, a RAM 15 that holds data from the input IF 11, the CPU 14, and the like, and an audio output according to the data from the CPU 14 An audio processor 16 for controlling the image, an image processor 17 for controlling image output in accordance with data from the CPU 14, a VRAM 18 for holding image data, and an output interface (hereinafter referred to as output IF) 19 for outputting various data. These are connected by a bus.

  The input IF 11 includes a wide-angle camera 2a, a wide-angle camera 2b, a GPS receiver 21 that receives GPS data from a satellite, an azimuth sensor 22 that outputs azimuth data corresponding to the azimuth, and speed data corresponding to the speed. A speed sensor 23 for output and a touch panel 24 for outputting data related to contact coordinates in response to contact with an object are connected. In particular, wide-angle image data output from the wide-angle camera 2a and the wide-angle camera 2b is input to the RAM 15 via the input IF 11.

  The HDD 12 stores link data, map image data, road type data in which a position is associated with a road type, lane number data in which a position is associated with the number of lanes, and the like.

  In the ROM 13, in addition to the navigation program, the CPU 14 displays an image corresponding to the partial area of the wide-angle image data on the rear side of the vehicle 1 on the display 32, and this partial area is displayed according to the road type data related to the vehicle position. An image processing program for functioning as a different control unit is stored.

The output IF 19 is connected to a speaker 31 that outputs sound corresponding to the sound data and a display 32 that displays an image corresponding to the image data. The display 32 is located on the back surface of the touch panel 24 so that the contact coordinates of the touch panel 24 coincide with the display coordinates of the display 32.
<Operation (Processing)> The operation of the navigation device 10 configured as described above will be described with reference to FIGS. As shown in FIG. 3, the CPU 14 interprets the image processing program stored in the ROM 13 and executes the following processing.

  The CPU 14 determines whether or not road type data relating to the vehicle position is stored in the RAM 15 (step S1). Here, the road type data related to the vehicle position is obtained from the vehicle position indicated by the GPS data received by the GPS receiver 21 and the road type data stored in the HDD 12. If it is determined in step S1 that the road type data is not held (No in S1), the CPU 14 ends the process.

  On the other hand, when it is determined in step S1 that the road type data is held (Yes in S1), the CPU 14 determines whether or not the road type corresponding to the road type data is a general road (step S1). S2).

  If it is determined in step S2 that the road type is a general road (Yes in S2), the CPU 14 displays the lower part of the wide-angle image (see FIG. 5A) with respect to the display 32 (see FIG. 5B). ) Is displayed (step S3). Specifically, the CPU 14 outputs control data for cutting out an area (corresponding to a “partial area”) whose center coordinates are below the center coordinates of the wide-angle image data. The image processor 17 transfers the partial area of the wide-angle image data from the RAM 15 to the VRAM 18 in accordance with the control data from the CPU 14 and outputs the partial area of the wide-angle image data held in the VRAM 18 to the display 32. At this time, the CPU 14 may refer to the lane number data stored in the HDD 12 and vary the size of the partial area in the width direction in accordance with the number of lanes on the running road. That is, the greater the number of lanes, the greater the width of the partial area. On the other hand, if the number of lanes is small, the width of the partial area is small. In addition, an image corresponding to a partial region of the wide-angle image may be enlarged and displayed.

  On the other hand, if it is determined in step S2 that the road type is not a general road (No in S2), the CPU 14 determines whether or not the road type corresponding to the road type data is an expressway (step S4). ).

  If it is determined in step S4 that the road type is an expressway (Yes in S4), the CPU 14 displays a side portion (see FIG. 6A) of the wide-angle image (see FIG. 6A) with respect to the display 32. b) is displayed (step S5). Specifically, the CPU 14 outputs control data for cutting out a region (corresponding to a “partial region”) whose side coordinates are the center coordinates of the wide-angle image data. The image processor 17 transfers the partial area of the wide-angle image data from the RAM 15 to the VRAM 18 in accordance with the control data from the CPU 14 and outputs the partial area of the wide-angle image data held in the VRAM 18 to the display 32.

On the other hand, when it is determined in step S4 that the road type is not a highway (No in S4), the CPU 14 displays a wide-angle image on the display 32 (step S6). Specifically, the CPU 14 outputs control data for cutting out the entire area of the wide-angle image data. The image processor 17 transfers the entire area of the wide-angle image data from the RAM 15 to the VRAM 18 in accordance with the control data from the CPU 14, and outputs the entire area of the wide-angle image data held in the VRAM 18 to the display 32. The image corresponding to the partial area of the wide-angle image may be enlarged and displayed.
<Effects of the Present Embodiment> As described above, according to the present embodiment, if the vehicle 1 is traveling on a general road, the lower portion (FIG. 5B) of the wide-angle image (see FIG. 5A) is displayed. Is displayed on the display 32. The lower part of the wide-angle image approximates an image obtained by setting the camera angle to the depression angle, so that the driver can be informed of the situation in the vicinity of the vehicle that is necessary when turning right or left. In addition, since the image to be obtained by setting the camera angle to the depression angle is approximated to the lower part of the wide-angle image, it is not necessary to control the angle of the wide-angle camera 2 and the configuration of the wide-angle camera 2 is simplified.

  According to the present embodiment, the size in the width direction of the partial area varies depending on the number of lanes of the road on which the vehicle is traveling. The driver can be informed of the situation.

According to the present embodiment, if the vehicle 1 is traveling on a highway, a side portion (see FIG. 6B) of a wide-angle image (see FIG. 6A) is displayed on the display 32. The Since the side portion of the wide-angle image approximates an image obtained by a narrow-angle camera (a camera with a large focal length), the driver can be informed of the distant state of the vehicle necessary when changing lanes. In addition, since the image to be obtained by the narrow-angle camera is approximated to the side portion of the wide-angle image, it is not necessary to provide a wide-angle camera and a narrow-angle camera separately.
<Modification> In the above description, the case where the road type is a general road and the case where the road type is a highway have been described, but other road types can be similarly applied. For example, when the same processing is performed as when the road type is a general road, there are many road types that exist in urban areas such as city roads, national roads, and private roads. On the other hand, as a case where the same processing is performed as when the road type is a highway, there is a road type such as a toll road whose legal speed is set to 70 km / h to 80 km / h.
<Second Embodiment> A navigation apparatus according to a second embodiment for carrying out an image processing apparatus according to the present invention will be described with reference mainly to FIGS. The description overlapping with the first embodiment is omitted.
<Device Configuration> The configuration of the navigation device 40 according to the present embodiment will be described with reference to FIG.

In the ROM 13, in addition to the navigation program, the CPU 14 causes the display 32 to display an image corresponding to the partial area of the wide-angle image data on the rear side of the vehicle 1, and the partial area is converted into speed data output by the speed sensor 23. An image processing program for functioning as a control unit that varies depending on the image processing program is stored.
<Operation (Processing)> The operation of the navigation device 40 configured as described above will be described with reference to FIG. As shown in FIG. 7, the CPU 14 interprets the image processing program stored in the ROM 13 and executes the following processing.

  The CPU 14 determines whether or not speed data is held in the RAM 15 (step S11). If it is determined in step S11 that the speed data is not held (No in S11), the CPU 14 ends the process.

  On the other hand, when it is determined in step S11 that the speed data is retained (Yes in S11), the CPU 14 determines whether or not the speed V corresponding to the speed data is 60 km / h or less (step S11). S12).

  When it is determined in step S12 that the speed V is 60 km / h or less (Yes in S12), the CPU 14 displays the lower part of the wide-angle image (see FIG. 5A) with respect to the display 32 (see FIG. 5). (See (b)) is displayed (step S13).

  On the other hand, when it is determined in step S12 that the speed V is not 60 km / h or less (No in S12), the CPU 14 determines whether or not the speed V is 80 km / h or more (step S14).

  When it is determined in step S14 that the speed V is 80 km / h or more (Yes in S14), the CPU 14 displays a side portion of the wide-angle image (see FIG. 6A) with respect to the display 32 (see FIG. 6). 6 (b)) is displayed (step S15).

On the other hand, if it is determined in step S14 that the speed V is not 80 km / h or higher (No in S14), the CPU 14 displays a wide-angle image on the display 32 (step S16).
<Effect in this Embodiment> As described above, according to this embodiment, if the speed of the vehicle 1 is 60 km / h or less, the lower part of the wide-angle image (see FIG. 5A) (FIG. 5B). Is displayed on the display 32. The lower part of the wide-angle image approximates an image obtained by setting the camera angle to the depression angle, so that the driver can be informed of the situation in the vicinity of the vehicle that is necessary when turning right or left. In addition, since the image to be obtained by setting the camera angle to the depression angle is approximated to the lower part of the wide-angle image, it is not necessary to control the angle of the wide-angle camera 2 and the configuration of the wide-angle camera 2 is simplified.

According to the present embodiment, when the speed of the vehicle 1 is 80 km / h or higher, a side portion (see FIG. 6B) of the wide-angle image (see FIG. 6A) is displayed on the display 32. Is done. Since the side portion of the wide-angle image approximates an image obtained by a narrow-angle camera (a camera with a large focal length), the driver can be informed of the distant state of the vehicle necessary when changing lanes. In addition, since the image to be obtained by the narrow-angle camera is approximated to the side portion of the wide-angle image, it is not necessary to provide a wide-angle camera and a narrow-angle camera separately.
<Modification> In the above description, the case where the speed of the vehicle 1 is 60 km / h or less and the case where the speed of the vehicle 1 is 80 km / h or more have been described, but other speeds can be similarly applied. For example, the conditions for performing the same processing as when the speed of the vehicle 1 is 60 km / h or less are sufficient as long as it can be assumed to run in an urban area, and the determination threshold ranges from 30 kilometers per hour to 50 kilometers per hour. It may be determined within. On the other hand, the conditions for performing the same processing as when the speed of the vehicle 1 is 80 km / h or more are sufficient as long as driving on a highway can be assumed, and the determination threshold is from 60 km / h to 80 km / h. It may be determined within the range.
<Third Embodiment> A navigation apparatus according to a third embodiment for carrying out an image processing apparatus according to the present invention will be described with reference mainly to FIGS. The description overlapping with the first embodiment is omitted.
<Device Configuration> The configuration of the navigation device 50 according to the present embodiment will be described with reference to FIG.

In the ROM 13, in addition to the navigation program, the CPU 14 displays an image corresponding to a partial area of the wide-angle image data on the rear side of the vehicle 1 on the display 32, and the partial area is not shown in the drawing (so-called automatic transmission or manual transmission). An image processing program for functioning as a control unit that varies depending on the range data output on the transmission or the like side is stored.
<Operation (Processing)> The operation of the navigation device 50 configured as described above will be described with reference to FIG. As shown in FIG. 8, the CPU 14 interprets the image processing program stored in the ROM 13 and executes the following processing.

  The CPU 14 determines whether or not range data is held in the RAM 15 (step S21). If it is determined in step S21 that the range data is not held (No in S21), the CPU 14 ends the process.

  On the other hand, if it is determined in step S21 that the range data is held (Yes in S21), the CPU 14 determines whether or not the state of the transmission corresponding to the range data is reverse (R). (Step S22).

  When it is determined in step S22 that the state of the transmission is reverse (R) (Yes in S22), the CPU 14 is below and lateral to the display 32 below the wide-angle image (see FIG. 9A). The portion (see FIG. 9B) is displayed (step S23).

  On the other hand, when it is determined in step S22 that the state of the transmission is not reverse (R) (No in S22), the CPU 14 determines whether or not the state of the transmission is 4th gear or less (step). S24).

  If it is determined in step S24 that the state of the transmission is 4th gear or less (Yes in S24), the CPU 14 displays the lower part of the wide-angle image (see FIG. 5A) with respect to the display 32 (see FIG. 5). 5 (b) is displayed (step S25).

On the other hand, when it is determined in step S24 that the state of the transmission is not the fourth speed or less (No in S24), the CPU 14 moves to the side of the wide-angle image (see FIG. 6A) with respect to the display 32. (See FIG. 6B) is displayed (step S26).
<Effects in the Present Embodiment> As described above, according to the present embodiment, if the state of the transmission is 4th or less, the lower part (see FIG. 5B) of the wide-angle image (see FIG. 5A) is displayed. Is displayed on the display 32. The lower part of the wide-angle image approximates an image obtained by setting the camera angle to the depression angle, so that the driver can be informed of the situation in the vicinity of the vehicle that is necessary when turning right or left. In addition, since the image to be obtained by setting the camera angle to the depression angle is approximated to the lower part of the wide-angle image, it is not necessary to control the angle of the wide-angle camera 2 and the configuration of the wide-angle camera 2 is simplified.

  According to the present embodiment, if the state of the transmission is 5th or higher, the side portion (see FIG. 6B) of the wide-angle image (see FIG. 6A) is displayed on the display 32. The Since the side portion of the wide-angle image approximates an image obtained by a narrow-angle camera (a camera with a large focal length), the driver can be informed of the distant state of the vehicle necessary when changing lanes. In addition, since the image to be obtained by the narrow-angle camera is approximated to the side portion of the wide-angle image, it is not necessary to provide a wide-angle camera and a narrow-angle camera separately.

According to the present embodiment, if the state of the transmission is the reverse range (R), the lower side portion (see FIG. 9B) of the wide-angle image (see FIG. 9A) is displayed. 32. The lower and side portions of the wide-angle image approximate an image obtained by setting the angle of a narrow-angle camera (a camera with a large focal length) to a depression angle. Can let you know. In addition, since the image to be obtained by setting the angle of the narrow-angle camera to the depression angle is approximated to the lower side portion of the wide-angle image, it is not necessary to separately provide the wide-angle camera and the narrow-angle camera. There is no need to control.
<Modification> In the above description, it has been described that traveling in an urban area can be assumed if the state of the transmission is 4th or less. However, the determination threshold should be appropriately set according to the nature of the transmission and the like. Is.

  As described above, the image processing apparatus according to the present invention has an effect that the side rear side of the vehicle can be confirmed by an image according to the situation of the vehicle, and is useful as a navigation device or the like.

The figure which shows the whole structure of the best form for implementing the image processing apparatus which concerns on this invention The figure which shows the apparatus structure of the navigation apparatus which is the best form for implementing the image processing apparatus which concerns on this invention. The flowchart which shows the flow of the process in 1st Embodiment. The figure which shows the relationship between the wide-angle image data and partial area | region in this Embodiment (A) The figure which shows the wide area image of the vehicle side back during driving | running | working on the general road obtained with the wide angle camera (b) The figure which shows a mode that the partial area was enlargedly displayed (A) The figure which shows the wide area image of the vehicle side back in the highway driving | running | working obtained with the wide angle camera (b) The enlarged view of a partial area | region The flowchart which shows the flow of the process in 2nd Embodiment. The flowchart which shows the flow of the process in 3rd Embodiment (A) The figure which shows the wide area image of the vehicle side back during the reverse obtained with the wide angle camera (b) The enlarged view of a partial area | region

Explanation of symbols

1, 40, 50 Navigation device (image processing device)
13 ROM (control unit)
14 CPU (control unit)
17 Image processor (control unit)
32 displays

Claims (10)

An image processing apparatus comprising: a control unit configured to display an image corresponding to a partial area of wide-angle image data related to a rear side of a vehicle on a display and to change the partial area according to road type data related to a vehicle position. 2. The control unit according to claim 1, wherein if the road type corresponding to the road type data is a general road, an area having a lateral coordinate as a central coordinate rather than a central coordinate of the wide-angle image data is set as the partial area. The image processing apparatus according to 1. 2. The control unit according to claim 1, wherein if the road type corresponding to the road type data is an expressway, an area centered at a lower coordinate than the central coordinate of the wide-angle image data is set as the partial area. An image processing apparatus according to 1. An image processing apparatus comprising: a control unit configured to display an image corresponding to a partial region of wide-angle image data on a rear side of a vehicle on a display and to change the partial region according to speed data output by a speed sensor. The controller is characterized in that if the speed corresponding to the speed data is equal to or less than a first reference value, an area having a center coordinate below the center coordinate of the wide-angle image data is set as the partial area. Item 5. The image processing apparatus according to Item 4. The image processing apparatus according to claim 5, wherein the control unit determines the first reference value within a range from 30 kilometers per hour to 50 kilometers per hour. If the speed corresponding to the speed data is greater than or equal to a second reference value, the control unit sets an area having a lateral coordinate as a central coordinate rather than a central coordinate of the wide-angle image data as the partial area. The image processing apparatus according to claim 4. The image processing apparatus according to claim 7, wherein the control unit determines the second reference value within a range from 60 kilometers per hour to 80 kilometers per hour. An image processing apparatus comprising: a control unit configured to display an image corresponding to a partial area of wide-angle image data relating to a rear side of a vehicle on a display and to change the partial area according to range data output on a transmission side. 2. The control unit according to claim 1, wherein if the range corresponding to the range data is a reverse range, an area having a central coordinate at a position lower than a central coordinate of the wide-angle image data and at a side is defined as the partial area. The image processing apparatus according to 10.

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