JP2007168570A - Controller of vehicle-mounted camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly combine the functions of sensing a driver's state and of monitoring a vehicle in a controller of a vehicle-mounted camera. <P>SOLUTION: In this controller of a vehicle-mounted camera, an image processing range utilized among all of images picked up by a vehicle-mounted camera installed in a compartment is made comparatively narrow when a face direction angle of the driver is detected in a PCS system, and made comparatively wide when a wide range of picked-up images are fetched in a vehicle monitoring system. Also, the image processing range is switched between the comparatively narrow range and the comparatively wide range by turning on or off an ignition switch according to whether the vehicle is traveling or stopped. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an on-vehicle camera control device, and more particularly to an on-vehicle camera control device provided for photographing a driver's face in a vehicle interior or photographing the vehicle interior.

2. Description of the Related Art Conventionally, an apparatus that processes a captured image of an in-vehicle camera provided in a vehicle interior is known (see, for example, Patent Documents 1 and 2). In these conventional apparatuses, an in-vehicle camera having both a function for detecting a driver's state (for example, a face direction and a line of sight) and a function for preventing vehicle theft is used. Specifically, these devices detect whether the driver is looking aside or is asleep or not based on the image captured by the in-vehicle camera, while the ignition switch is turned off. When the vehicle is stopped, when a vehicle theft is detected, a captured image of the in-vehicle camera is recorded in a memory or transmitted to a predetermined report destination.
JP 2004-122969 A JP 2003-112605 A

  However, in the above-described conventional apparatus, the shooting area of the camera differs depending on whether the captured image of the in-vehicle camera is used for detecting the driver's condition (when driving the vehicle) or when used for preventing vehicle theft (when the vehicle is stopped). The captured images used are the same. For this reason, if the range of the captured image of the vehicle-mounted camera to be used is fixed, when the fixed range is relatively narrow, it is possible to accurately detect the state of the driver, but the vehicle interior is wide. However, when the fixed range is relatively wide, there is a situation where the driver's condition cannot be detected accurately even though the vehicle interior can be imaged over a wide range. In this respect, there may be a disadvantage that both functions described above are not properly compatible.

  The present invention has been made in view of the above-described points, and is a control device for an in-vehicle camera capable of appropriately achieving both a function of detecting a driver's state and a function of monitoring a vehicle including prevention of vehicle theft. The purpose is to provide.

  The above-mentioned purpose is to provide a photographing function of the in-vehicle camera provided in the vehicle interior, the first mode mainly corresponding to photographing the driver's face and the second mode mainly corresponding to photographing the vehicle interior. This is achieved by an in-vehicle camera control device including photographing function switching means for switching between modes.

  In this aspect of the invention, the in-vehicle camera photographing function in the vehicle interior includes a first mode mainly corresponding to photographing the driver's face and a second mode mainly corresponding to photographing the vehicle interior. Switch to If the shooting function of the in-vehicle camera switches between the first mode and the second mode corresponding to the state detection by the driver's face shooting and the vehicle monitoring by the vehicle interior shooting, the shooting function of the in-vehicle camera Thus, the function of detecting the driver's condition and the function of monitoring the vehicle are appropriately made compatible.

  In this case, in the on-vehicle camera control device described above, the imaging function switching means sets the imaging area of the on-vehicle camera to a narrow area when mainly imaging the driver's face, while mainly in the vehicle interior. When shooting, it may be a wide area. The in-vehicle camera's shooting area may be relatively narrow to capture the driver's face and detect its condition, but a relatively wide area is more effective for capturing the vehicle interior and monitoring the vehicle. It is. Therefore, according to the configuration of the present invention, it is possible to appropriately balance the function of detecting the driver's state and the function of monitoring the vehicle with respect to the shooting function of the in-vehicle camera.

  Moreover, in the above-described control device for the in-vehicle camera, the imaging function switching means sets the image processing range of the entire captured image captured by the in-vehicle camera to a narrow range when mainly imaging the driver's face. On the other hand, when mainly photographing the interior of the vehicle, it may be a wide range. The image processing range of the entire captured image of the in-vehicle camera is sufficient to detect the driver's face and detect its condition, but it is sufficient to monitor the vehicle by shooting the interior of the vehicle. Then, the relatively wide one is effective. Therefore, according to the configuration of the present invention, it is possible to appropriately balance the function of detecting the driver's state and the function of monitoring the vehicle with respect to the shooting function of the in-vehicle camera.

  In the above-described on-vehicle camera control device, the photographing function switching means changes the photographing function of the on-vehicle camera according to whether the vehicle is driven or stopped. It is only necessary to switch to the mode.

  In addition, the above-described object is that the function of the infrared projector associated with the in-vehicle camera provided in the vehicle interior is mainly the vehicle corresponding to the first mode corresponding to securing the illuminance mainly in the photographing region of the in-vehicle camera. This is achieved by an in-vehicle camera control device including a light projecting function switching means for switching to a second mode corresponding to the threatening light emission to the theft.

  In the invention of this aspect, the function of the infrared projector associated with the in-vehicle camera in the vehicle interior is mainly the first mode corresponding to securing the illuminance in the imaging area of the in-vehicle camera and mainly the threat to the vehicle theft. The mode is switched to the second mode corresponding to the case of performing light emission. The function of the infrared projector attached to the in-vehicle camera secures the illuminance in the shooting area of the in-vehicle camera and detects the driver's state from the captured image and performs a threatening light emission to the vehicle theft to prevent the vehicle theft If the first mode and the second mode are switched appropriately in response to the vehicle monitoring, the function of detecting the driver's state and the function of monitoring the vehicle are appropriately achieved with respect to the function of the infrared projector. The Rukoto.

  In this case, in the on-vehicle camera control device described above, the light projection function switching means always performs the light projection of the infrared projector when securing the illuminance mainly in the imaging region of the vehicle camera, When performing threatening light emission mainly to the vehicle theft, it may be performed intermittently. While it is appropriate to always perform the light projection of the infrared projector in order to ensure the illuminance of the photographing area of the in-vehicle camera, it is effective to intermittently perform the threatening light emission to the vehicle theft. Therefore, according to the configuration of the present invention, it is possible to appropriately balance the function of detecting the driver's state and the function of monitoring the vehicle with respect to the function of the infrared projector.

  Further, in the above-mentioned control device for the in-vehicle camera, the light projecting function switching means lowers the light output intensity of the infrared projector mainly when securing the illuminance in the imaging region of the in-vehicle camera, In the case of mainly performing threatening light emission to vehicle theft, it may be increased. The light output intensity of the infrared projector is relatively low in order to secure the illumination intensity of the shooting area of the in-vehicle camera. On the other hand, a relatively high intensity is more effective in intimidating the vehicle theft. is there. Therefore, according to the configuration of the present invention, it is possible to appropriately balance the function of detecting the driver's state and the function of monitoring the vehicle with respect to the function of the infrared projector.

  In this case, the switching of the projection output intensity by the projection function switching unit may be realized by increasing or decreasing the number of the infrared projectors that project light. It is good also as implement | achieving by increasing / decreasing the electric current value to flow.

  In the on-vehicle camera control device described above, the light projecting function switching means may change the function of the infrared projector between the first mode and the second mode depending on whether or not the vehicle is parked. Switch to.

  ADVANTAGE OF THE INVENTION According to this invention, the function which performs a driver | operator's state detection regarding the function of a vehicle-mounted camera or the infrared projector accompanying it, and the function which performs vehicle monitoring can be made to make compatible appropriately.

  FIG. 1 shows a configuration diagram of a system including a control device for an in-vehicle camera mounted on a vehicle according to an embodiment of the present invention. Moreover, FIG. 2 shows the mounting structure of the vehicle-mounted camera which a present Example has. 2A shows a view when viewed from the side of the vehicle, and FIG. 2B shows a view when viewed in the direction of arrow III shown in FIG. 2A. Show. The system of the present embodiment uses a single in-vehicle camera to detect the direction in which the face of the vehicle driver sitting on the vehicle seat is facing, and to perform vehicle monitoring for vehicle theft prevention and in-vehicle monitoring. It is.

  As shown in FIG. 1, the system of this embodiment includes an in-vehicle camera 10 and an infrared projector 12 associated with the in-vehicle camera 10. The in-vehicle camera 10 and the infrared projector 12 are housed in a single case 14. The case 14 is installed on the upper surface of a column upper cover 18 that covers the shaft portion of the steering column 16.

  The arrangement position of the case 14 on the column upper cover 18 is determined from the viewpoint of securing the clearance between the case 14 and the surface of the combination meter 20 necessary for absorbing the shock in the event of a vehicle collision. From the viewpoint of securing a large photographing area to some extent, it is desirable to be as close to the steering wheel 22 as possible. Further, the steering column 16 is integrated with the steering wheel 22 and the case 14 and is in a normal steering operation position so that the vehicle driver can easily operate when the vehicle is driven by turning on an ignition switch described later. When the vehicle is stopped by turning off the switch, the vehicle driver may be stored in the storage position on the engine room side, that is, on the combination meter side of the steering operation position so that the vehicle driver can easily get off and get on. That is, the position of the steering column 16 may be switched between the steering operation position and the storage position in accordance with the ignition operation by the vehicle driver.

  The in-vehicle camera 10 is arranged so that the camera optical axis center is located on a vertical line passing through the center O of the steering wheel 22. The in-vehicle camera 10 passes through an opening 22a that is opened on the surface of the steering wheel 22 so that the driver can grasp the steering wheel 22 by hand and visually recognize the combination meter 20, and is in a direction that faces the vehicle traveling direction. It has a camera angle of view oriented in the direction in which the head (face) exists, and can photograph the driver's face almost from the front.

  Further, the same number of infrared projectors 12 are provided in the case 14 on each of the left and right sides of the in-vehicle camera 10 (three in FIG. 2B). Each infrared projector 12 is an LED lamp that projects infrared light toward the vicinity of the vehicle driver's head, and has a function that enables night photography by the in-vehicle camera 10 by illuminating the driver's face. Have. It is to be noted that the same number of infrared projectors 12 are provided on both the left and right sides of the in-vehicle camera 10 so that the illuminance by the infrared light on the driver's face is equal left and right when the vehicle driver is almost facing the front (when not looking aside). As a result, it becomes easy to properly detect a characteristic part such as a driver's face width and a face center line from an image captured by the in-vehicle camera 10 at night shooting, and the driver's face orientation angle described later is accurate. This is because it is possible to execute simple detection.

  The in-vehicle camera 10 and the infrared projector 12 are connected to a camera ECU 24 that functions as the control device. A video signal captured by the in-vehicle camera 10 is supplied to the camera ECU 24. The camera ECU 24 is mainly composed of a computer, and processes a video signal supplied from the in-vehicle camera 10 as described later in detail. Further, as will be described later in detail, the camera ECU 24 controls infrared light projection by the infrared projector 12.

  The camera ECU 24 is connected to an ignition switch 26 and a key lock switch 28 that are operated by a vehicle driver. The ignition switch 26 is a switch that is turned on when the vehicle is operating and is turned off when the vehicle is stopped. The key lock switch 28 is used when the vehicle door is locked by inserting a vehicle key into the door key cylinder from the outside of the vehicle and performing a door lock operation or performing a remote door lock operation using wireless communication. It is a switch that is turned on at other times and turned off at other times. The camera ECU 24 determines whether the vehicle is driven or stopped based on the state of the ignition switch 26, and determines whether the vehicle door is locked from the outside of the vehicle based on the state of the key lock switch 28. That is, it is determined whether or not the vehicle is parked. Based on these determination results, the camera ECU 24 processes the captured image of the in-vehicle camera 10 and performs the light projection control of the infrared projector 12.

  An inter-vehicle control ECU 30 mainly composed of a computer is connected to the camera ECU 24 for communication. The inter-vehicle control ECU 30 is connected to an obstacle sensor 32 disposed on a bumper, a front grill or the like at the front end of the vehicle body. The obstacle sensor 32 is configured by, for example, a millimeter wave radar, a laser radar, a camera, or the like, and sends a signal corresponding to an obstacle existing in front of the host vehicle (particularly on the course of the host vehicle) to the inter-vehicle control ECU 30. Output. Based on the output signal of the obstacle sensor 32, the inter-vehicle control ECU 30 detects the presence or absence of a front obstacle that should be most carefully observed when the host vehicle travels. The distance to the obstacle is detected, and the relative speed between the two is detected based on the detected distance and the vehicle speed detected using a vehicle speed sensor or the like. And the collision with the own vehicle and a front obstruction is estimated based on those results.

  Information on the face direction angle of the vehicle driver during the vehicle driving described later detected by the camera ECU 24 is supplied to the inter-vehicle control ECU 30. The inter-vehicle control ECU 30 grasps the face orientation angle θ, which is the direction in which the driver faces, based on the information on the driver's face orientation angle supplied from the camera ECU 24. The inter-vehicle control ECU 30 corrects the prediction of a collision between the host vehicle and the front obstacle detected using the obstacle sensor 32 or the like according to the driver's face angle θ.

  An alarm display 34 and an alarm buzzer 36 are connected to the inter-vehicle control ECU 30. The alarm display 34 is a meter unit provided on, for example, an instrument panel in the vehicle interior, and alerts the vehicle driver by displaying an alarm in accordance with a drive command from the inter-vehicle control ECU 30. The alarm buzzer 36 is a buzzer alarm provided in the passenger compartment, and alerts the vehicle driver by sounding a buzzer according to a drive command from the inter-vehicle control ECU 30. The inter-vehicle control ECU 30 drives the alarm display 34 and the alarm buzzer 36 as appropriate in accordance with the prediction result of the collision between the host vehicle and the front obstacle.

  The camera ECU 24 is connected to a vehicle monitoring ECU 40 mainly composed of a computer. The above-described ignition switch 26 and key lock switch 28 are connected to the vehicle monitoring ECU 40. The vehicle monitoring ECU 40 determines whether or not the vehicle is being driven or stopped based on the state of the ignition switch 26, and whether or not the vehicle door is locked from the outside of the vehicle based on the state of the key lock switch 28. That is, it is determined whether the vehicle is parked, and the state of the vehicle, specifically, the vehicle is in a driving state (vehicle driving mode) or the vehicle is stopped but the vehicle door is It is detected whether the vehicle is not locked (in-vehicle monitoring mode) or whether the vehicle is stopped and the vehicle door is locked (theft prevention mode).

  An intrusion sensor 42 is also connected to the vehicle monitoring ECU 40. The intrusion sensor 42 is, for example, a detection sensor that detects movement or vibration of a vehicle itself or a vehicle interior using radio waves, ultrasonic waves, infrared rays, or the like, a load sensor that detects a load applied to a vehicle seat, and the like. A signal is output to the vehicle monitoring ECU 40 in accordance with the act of entering the vehicle and the presence or absence of a person in the passenger compartment. The vehicle monitoring ECU 40 detects a vehicle intrusion action in a broad sense such as the presence of a person in the vehicle interior based on the output signal of the intrusion sensor 42.

  An alarm alarm 44, a recording device 46, and a transmitter 48 are further connected to the vehicle monitoring ECU 40. The alarm alarm 44 is an alarm alarm device that outputs an alarm alarm toward the periphery of the vehicle. By issuing an alarm alarm in accordance with a drive command from the vehicle monitoring ECU 40, an illegal act such as theft of a person around the vehicle in the own vehicle. Informs that is being performed. The captured image taken by the on-vehicle camera 10 is supplied to the vehicle monitoring ECU 40 via the camera ECU 24 while the vehicle is stopped. The recording device 46 is configured by a hard disk or the like, and records a captured image of the in-vehicle camera 10 supplied from the camera ECU 24 side. The transmitter 48 is a data communication module (DCM) or the like for wireless communication with a help net center that can make a rescue request to a rescue organization such as a police station or a fire department. The supplied captured image of the in-vehicle camera 10 is transmitted to the help net center via the communication network. The vehicle monitoring ECU 40 drives the alarm alarm 44, the recording device 46, and the transmitter 48 as appropriate according to the detected vehicle state and the detection result of the intrusion sensor 42.

  Next, the operation of the system of this embodiment will be described. The system of the present embodiment (1) predicts a collision between the host vehicle and a front obstacle by detecting the face orientation angle θ of the vehicle driver using a captured image of the in-vehicle camera 10, and responds to the result of the collision prediction. This is a pre-crash safety (PCS) system that issues a warning for collision avoidance or collision mitigation, and (2) a vehicle monitoring system that uses the intrusion sensor 42 and the in-vehicle camera 10 to prevent vehicle theft and monitor the inside of the vehicle.

  In the system of the present embodiment, the camera ECU 24 determines whether the vehicle is being operated or stopped based on the state of the ignition switch 26 as described above, and also determines whether the vehicle is based on the state of the key lock switch 28. It is determined whether or not the vehicle door is locked from the outside, that is, whether or not the vehicle is parked.

  When the camera ECU 24 determines that the vehicle is being driven by turning on the ignition switch 26 as a result of the above determination, the camera ECU 24 outputs a video signal input from the in-vehicle camera 10 to enable the operation of the PCS system. Image processing such as binarization processing and feature point extraction processing is performed on the captured image. And while detecting the driver | operator's face width and face centerline from the captured image, and calculating the left-right distance ratio of the driver's face projected on the captured image from those detection parameters, the left-right distance ratio To the direction in which the driver's face faces, that is, the face orientation angle θ from the front (note that the angle when the driver turns his face directly in front of the vehicle is 0 °). Information on the detected driver's face orientation angle θ is supplied from the camera ECU 24 to the inter-vehicle distance control ECU 30.

  Further, when the camera ECU 24 determines that the vehicle is being driven by turning on the ignition switch 26, the infrared projector 12 is always turned on to project infrared light so as to ensure the illuminance near the driver's face. Light up. In this case, since the image of the driver's face is illuminated by the infrared light from the infrared projector 12 and is taken by the in-vehicle camera 10, the driving of the camera captured image by the camera ECU 24 during driving at night is also performed. Characteristic parts such as the driver's face width and face center line are easily detected appropriately, and the driver's face orientation angle θ is easily detected.

  As described above, the inter-vehicle control ECU 30 detects the presence or absence of a front obstacle that should be most careful when the host vehicle travels based on the output signal of the obstacle sensor 32. As a result, when the presence of the front obstacle is detected, the current vehicle is determined based on the distance and relative speed with the front obstacle, the course of the own vehicle, the position of the front obstacle with respect to the course, and the like. To calculate the possibility of collision with a front obstacle (collision possibility). In addition, since the possibility of the collision increases as the time until the own vehicle collides with the obstacle ahead, the possibility of the collision calculated by the inter-vehicle control ECU 30 depends on the distance between the own vehicle and the obstacle ahead and the relative speed of both. The value corresponding to the time obtained by dividing by (collision prediction time) may be used. In this case, the shorter the collision prediction time, the larger the value. Therefore, the inter-vehicle control ECU 30 determines in advance the possibility of a collision that makes it difficult for the driver to effectively take a collision avoiding action without feeling uncomfortable by the operation (warning) of the PCS system. The predicted time is stored as a reference threshold level (for example, 1.8 seconds or 2 seconds; reference time t1) for starting an alarm.

  In addition, driver's carelessness due to a side look that the driver looks at the inner mirror, the outer mirror on the driver's side or the passenger's side, the display on the inside of the vehicle, or the outside of the vehicle for safety confirmation on the left and right sides of the vehicle body occurs. Then, the frontal collision of the vehicle is likely to occur, and the possibility of the vehicle colliding increases. Therefore, in order to avoid collision and reduce damage to the vehicle, when the driver's attention to the front of the vehicle is reduced before the collision, the above warning is given to the vehicle driver at an earlier timing than usual. It is appropriate to do. Therefore, the inter-vehicle control ECU 30 stores in advance a face orientation angle threshold value θ0 (for example, ± 15 °) for determining whether or not the driver is looking aside to remove the face from the front direction. .

  The inter-vehicle control ECU 30 compares the face orientation angle θ with the threshold value θ0 each time information on the driver's face orientation angle θ is supplied from the camera ECU 24. As a result, when θ ≦ θ0 is satisfied, it can be determined that the driver's face is substantially facing the front. Therefore, when the possibility of collision between the host vehicle and the obstacle ahead is calculated as described above. Then, the collision prediction time is compared with a normal reference time t1. When the predicted collision time becomes equal to or less than the reference time t1, a drive command is issued to the alarm display 34 and the alarm buzzer 36 so that an alarm is issued from that point to at least the time of the collision. In this case, the alarm display display 34 displays an alarm and the alarm buzzer 36 sounds a buzzer, thereby prompting the driver to avoid or mitigate the collision between the host vehicle and the front obstacle.

  On the other hand, when [theta]> [theta] 0 is established, it can be determined that the driver's face is not facing in the front direction. Therefore, in order to start a warning to the driver, the estimated time for collision with the front obstacle should be reached first. By making the threshold time tt longer than the above-mentioned reference time t1 (by making it earlier with respect to the time of collision), the threshold level at which the possibility of a collision should be lowered from the above-mentioned reference threshold level. Let The threshold time threshold is increased by increasing the threshold time tt from the reference time t1 as the duration of the sideward that the driver's face is not facing forward is longer. The amount of decrease from the value level may be increased. Next, when the possibility of collision between the host vehicle and the front obstacle is calculated, the predicted collision time is compared with the threshold time tt set at that time. As a result of the comparison, when the collision prediction time becomes equal to or less than the threshold time tt, a drive command is issued to the alarm display 34 and the alarm buzzer 36 so that an alarm is given at least from the time until the collision. In this case, the alarm display display 34 displays an alarm and the alarm buzzer 36 sounds a buzzer, thereby prompting the driver to avoid or mitigate the collision between the host vehicle and the front obstacle.

  Therefore, according to the PCS system of this embodiment, before the vehicle collides with the obstacle ahead, the alarm display 20 and the alarm buzzer 22 for avoiding the collision or reducing the damage are alerted, and the alarm is further provided. In a situation where the driver's face is determined not to face the front by image processing of the camera-captured image, the driver's normal collision avoidance behavior started in a situation where the driver is determined to be facing the front It is possible to start earlier than the timing that can be taken. For this reason, according to the PCS system of the present embodiment, the collision avoidance action caused by the driver's aside is delayed while suppressing the driver from being bothered by an alarm as much as possible before the collision with the front obstacle. Therefore, it is possible to improve safety when the vehicle is running.

  In addition, when the camera ECU 24 determines that the vehicle is stopped by turning off the ignition switch 26, the camera ECU 24 is configured to capture a captured image as a video signal input from the vehicle camera 10 so as to enable the operation of the vehicle monitoring system. As described above, the image data is supplied as it is to the vehicle monitoring ECU 40 without performing image processing such as binarization processing and feature point extraction for detecting the driver's face orientation angle θ.

  As described above, the vehicle monitoring ECU 40 determines whether the vehicle is operated or stopped based on the state of the ignition switch 26 and locks the vehicle door from the outside of the vehicle based on the state of the key lock switch 28. It is determined whether or not the vehicle is parked, that is, whether or not the vehicle is parked. As a result of the determination, when it is determined that the vehicle is being driven by turning on the ignition switch 26, the intrusion sensor 42 is invalidated and no alarm is issued by the alarm alarm 44, while the vehicle is turned off by turning off the ignition switch 26. When it is determined that the alarm is stopped, the alarm alarm 44 or the like is allowed to be driven.

  Specifically, when the vehicle is stopped and the vehicle door is not locked from the outside of the vehicle, the vehicle monitoring ECU 40 may have a regular vehicle occupant remaining in the passenger compartment after the vehicle stops. For the purpose of monitoring the state of the vehicle interior, the captured image of the in-vehicle camera 10 supplied from the camera ECU 24 side is recorded in the recording device 46 while keeping the intrusion sensor 42 invalid (in-vehicle monitoring mode). In addition, when the vehicle is stopped and the vehicle door is locked from the outside of the vehicle, it can be determined that a legitimate vehicle occupant has exited after the vehicle has stopped. Therefore, in order to prevent vehicle theft by suspicious persons, While enabling the sensor 42, the alarm alarm 44, the recording device 46, and the transmitter 48 are all allowed to be driven (theft prevention mode). When the vehicle intrusion action is detected using the intrusion sensor 42 in the anti-theft mode, the alarm alarm 44 is driven to notify a person around the vehicle that the vehicle has entered, and the vehicle is supplied from the camera ECU 24 side. The captured image of the camera 10 is recorded in the recording device 46, and the captured image of the in-vehicle camera 10 supplied from the camera ECU 24 side is transmitted to the help net center via the communication network using the transmitter 48.

  Therefore, according to the vehicle monitoring system of the present embodiment, after the ignition is turned off, vehicle monitoring such as in-vehicle monitoring and vehicle theft prevention is performed, and in particular, the camera-captured image is recorded in the recording device 46 so as to leave the vehicle interior state as an image. Furthermore, when an intrusion action is detected using the intrusion sensor 42, it can be transmitted to the help net center using the transmitter 48. For this reason, according to the vehicle monitoring system of the present embodiment, it is possible to improve vehicle security by ensuring vehicle intrusion prevention and theft prevention.

  By the way, when the captured image of one vehicle-mounted camera 10 is used for detection of the driver's face orientation angle θ in the PCS system and when it is used for vehicle monitoring in the vehicle monitoring system, the entire captured image to be used is used. If the image processing range is the same and is fixed at a constant value, when the fixed range is relatively narrow, it is possible to accurately detect the driver's face orientation angle, but the vehicle interior is wide. However, when the fixed range is relatively wide, the driver's face angle cannot be accurately detected even if the vehicle interior can be imaged over a wide range. A situation arises and in this respect there may be a disadvantage that the functions of both systems are not compatible.

  In addition, in the PCS system of the present embodiment, when the driver's face orientation angle θ is detected using the captured image of the in-vehicle camera 10, the infrared projector 12 transmits the infrared light so that accurate detection can be easily performed. Light is projected. However, in the vehicle monitoring system of the present embodiment, it is not necessary to detect the driver's face orientation angle θ, and therefore it is not necessary to project infrared light from the infrared projector 12 for the detection. In order to inform people that vehicle monitoring is being performed, it is effective to project the infrared light.

  Therefore, in the system of the present embodiment, the first is that the photographing function of the in-vehicle camera 10 is appropriately switched so that the function of the PCS system using the captured image of the in-vehicle camera 10 and the function of the vehicle monitoring system are appropriately compatible. The second feature is that the function of the infrared projector 12 is switched between when the PCS system is operated and when the vehicle monitoring system is operated. Hereinafter, the characteristic part of the present embodiment will be described with reference to FIGS.

  FIG. 3 is a diagram for explaining a technique for achieving both the function of the PCS system and the function of the vehicle monitoring system in the present embodiment. 3A shows a view when viewed from above the vehicle, and FIG. 3B shows an example of a captured image taken by the in-vehicle camera 10. Further, FIG. 4 shows a flowchart of an example of a control routine executed by the camera ECU 24 in the control device for the in-vehicle camera 10 of the present embodiment. The routine shown in FIG. 4 is a routine that is repeatedly activated every predetermined time. When the routine shown in FIG. 4 is started, first, the process of step 100 is executed.

  In extracting the driver's face from the camera-captured image and detecting the face orientation angle θ, it is sufficient that only the driver's face is displayed in the camera-captured image. On the other hand, when recording a camera-captured image for vehicle monitoring or transmitting it to a help net center, it is appropriate that a wide area is projected on the camera-captured image over the vehicle interior. Therefore, as shown in FIG. 3, an image processing range used for detection of the driver's face orientation angle after setting the area (camera angle of view) that can be taken by the in-vehicle camera 10 to a certain extent so that the entire vehicle interior is projected. If the image processing range used for vehicle monitoring is set to the entire camera captured image, the above-described PCS system and vehicle monitoring system It is possible to achieve both.

  In addition, it is appropriate to always project infrared light from the infrared projector 12 in order to accurately detect the driver's face orientation angle θ using a camera-captured image even at night or during tunnel travel. Further, in order to inform a person that the in-vehicle monitoring is being performed, it is effective to intermittently project infrared light from the infrared projector 12. In particular, when a vehicle intrusion is detected during vehicle theft monitoring, intimidating light emission by infrared light projection from the infrared projector 12 is effective for preventing the vehicle theft. is there.

  In this embodiment, the state of the ignition switch 26 and the state of the key lock switch 28 are input to the camera ECU 24 (step 100). When the camera ECU 24 determines that the vehicle is being driven by turning on the ignition switch 26 (when a negative determination is made in step 102), the camera ECU 24 enters a face orientation detection mode that enables the operation of the PCS system (step 104). ).

  In the face orientation detection mode, the camera ECU 24 selects an image processing range used for extracting the driver's face from the captured image captured by the in-vehicle camera 10 as shown in FIG. The driver's face orientation angle θ is detected by performing image processing on a relatively narrow image processing range in the entire captured image, and the infrared projector 12 always projects infrared light. (Step 106). At this time, the position and size of the entire image captured by the camera in the image processing range limited to a part of the above may include the face of the vehicle driver who is normally seated on the vehicle seat. That's fine. Further, the infrared light projection by the infrared projector 12 is not always performed, but may be performed only when the vehicle interior becomes relatively dark. Further, the output intensity of this light projection only needs to be secured to such an extent that the illuminance in the vicinity of the driver's face can be extracted, and even if it is suppressed lower than the maximum intensity allowed in the infrared projector 12. Good. For example, this reduction in output intensity is realized by reducing the number of all infrared projectors 12 that project infrared light, or by reducing the current flowing to each infrared projector 12 and the voltage applied. You can do that.

  According to such a configuration, in the face orientation detection mode, the driver's face orientation angle θ can be detected by image processing in the minimum necessary range of the camera-captured images, and at the time of night photography or tunnel running The face angle θ can be accurately detected at times. For this reason, it is possible to appropriately perform alarm control in the PCS system according to the driver's face orientation angle θ obtained by image processing of the camera captured image.

  The camera ECU 24 determines that the vehicle is stopped and the door is not locked from the outside of the vehicle by turning off the ignition switch 26 and turning off the key lock switch 28 (affirmative determination in step 102 and negative in step 108). At the time of determination, an in-vehicle monitoring mode that enables the in-vehicle monitoring operation in the vehicle monitoring system is set (step 110).

  In the in-vehicle monitoring mode, the camera ECU 24 sets an image processing range used for in-vehicle monitoring of the entire captured image captured by the in-vehicle camera 10 to the entire captured image as shown in FIG. While supplying to vehicle monitoring ECU40, the infrared projector 12 makes the infrared light projection intermittently (step 112). In this case, infrared light projection may be performed continuously for a predetermined time at a predetermined interval. Moreover, the output intensity of the light projection only needs to be suppressed lower than the maximum intensity allowed in the infrared projector 12.

  According to such a configuration, in the in-vehicle monitoring mode, it is possible to take an image of a somewhat wide area such that the entire vehicle interior is projected using the in-vehicle camera 10, and the captured image in which the imaging area is projected is recorded in the recording device 46. Can be recorded. For this reason, when the door is not locked from the outside of the vehicle when the vehicle is stopped, it is possible to perform appropriate in-vehicle monitoring by recording the camera-captured image showing the entire vehicle interior in the recording device 46. . Further, in the in-vehicle monitoring mode, the infrared projector 12 can be blinked intermittently, so that it is possible to notify the people around the vehicle that the in-vehicle monitoring is being performed, and to prevent illegal acts on the vehicle. It is possible to plan.

  Furthermore, when the camera ECU 24 determines that the vehicle is stopped and the door is locked from the outside of the vehicle by turning off the ignition switch 26 and turning on the key lock switch 28 (positive determination in step 102 and positive in step 108). At the time of determination, the anti-theft mode is enabled to enable the vehicle anti-theft operation in the vehicle monitoring system (step 114). In addition, when the vehicle monitoring ECU 40 determines that the vehicle is stopped and the door is locked from the outside of the vehicle, the intrusion sensor 42 is enabled and the anti-theft mode is set. When the vehicle intrusion action is detected using the intrusion sensor 42 in the antitheft mode, information indicating that the vehicle intrusion action has occurred is transmitted to the camera ECU 24.

  When the camera ECU 24 receives information indicating that a vehicle intrusion has occurred from the vehicle monitoring ECU 40 in the anti-theft mode, the image processing range used for the anti-theft of all the captured images taken by the in-vehicle camera 10 is shown in FIG. As shown in FIG. 4, the entire captured image is set and supplied to the vehicle monitoring ECU 40, and infrared light projection by the infrared projector 12 is performed intermittently and with increased output intensity (step 116). . At this time, the output intensity of the light projected by the infrared projector 12 may be the maximum intensity allowed in the infrared projector 12, and infrared light is projected from all the infrared projectors 12 and each infrared light is projected. What is necessary is just to set the electric current and voltage which are sent to the light projector 12 to a maximum permissible value. In addition, this light projection may be performed with the same cycle or duration as the interval cycle or duration in the above-described in-vehicle monitoring mode, but in order to increase a sense of urgency, it is performed with a shorter cycle or duration. It is good also as what is said.

  According to such a configuration, when a vehicle intrusion action is detected in the anti-theft mode, the vehicle interior 10 can be used to capture a certain wide area so that the entire vehicle interior is displayed, and the imaging area is displayed. The captured image can be recorded in the recording device 46 and transmitted to the help net center. For this reason, it is possible to appropriately prevent theft when the vehicle is stopped and the door is locked from the outside of the vehicle, that is, when the vehicle is parked. In addition, when a vehicle intrusion action is detected in the anti-theft mode, the infrared projector 12 can be intermittently blinked with an increased output intensity, which can threaten an intruder into the vehicle. It is possible to prevent intrusion and vehicle theft.

  As described above, in the system of this embodiment, one in-vehicle camera 10 is used as both a PCS system that operates when the ignition is on and a vehicle monitoring system that operates when the ignition is off, and the imaging function of the in-vehicle camera 10 is , A face orientation detection mode corresponding to detecting the driver's face orientation angle θ required in the PCS system, and an in-vehicle monitoring mode and theft corresponding to acquiring a wide range of images required in the vehicle monitoring system Switch to prevention mode. Specifically, when the image processing range used in the entire captured image captured by the in-vehicle camera 10 whose imaging region is set in advance to a constant angle of view detects the driver's face orientation angle θ in the PCS system. Is a relatively narrow range, while it is a relatively wide range when acquiring a wide range of captured images in the vehicle monitoring system.

  The image processing range used in the entire captured image of the in-vehicle camera 10 is sufficient to detect the driver's face orientation angle θ, as long as the driver's face is reflected in the captured image, and is relatively narrow. On the other hand, it is effective to monitor the vehicle interior and monitor the vehicle, and it is effective that the captured image shows not only the driver's face but also the vehicle interior widely. It is. Therefore, according to the system of the present embodiment, it is possible to appropriately detect the driver's face orientation angle θ in the PCS system, and the camera captured image in which the vehicle interior in the vehicle monitoring system is projected in a wide range. Therefore, the functions of both systems can be appropriately made compatible with respect to the photographing function of one in-vehicle camera 10 used both as a PCS system and a vehicle monitoring system.

  In this regard, according to the present embodiment, the photographing function of one in-vehicle camera 10 can be switched appropriately corresponding to each of the PCS system and the vehicle monitoring system, so that separate cameras are applied to both systems. Is unnecessary, and it is possible to simplify the system and reduce the cost.

  In the system of the present embodiment, the infrared projector 12 is used in both modes of the PCS system and the vehicle monitoring system, and the function of the infrared projector 12 is necessary for the driver's face required in the PCS system. Face orientation detection mode corresponding to securing illuminance in the vehicle, vehicle interior monitoring mode corresponding to informing the outside that the vehicle interior monitoring required in the vehicle monitoring system is performed, and vehicle entry required in the vehicle monitoring system It switches to the anti-theft mode corresponding to threatening the person. Specifically, the light projection of the infrared projector 12 is always performed at a relatively low output intensity when securing the illuminance on the driver's face in the PCS system, and the vehicle monitoring system performs in-vehicle monitoring. This is done intermittently with a relatively low output intensity when notifying the outside, and intermittently with a relatively high output intensity when threatening a vehicle intruder in the vehicle monitoring system.

  While it is appropriate to always perform the light projection of the infrared projector 12 in order to ensure the illuminance of the photographing area of the in-vehicle camera 10, it informs the people around the vehicle that the in-vehicle monitoring is being performed or the vehicle is stolen. It is effective to intermittently emit threatening light to the person. In addition, the light output intensity of the infrared projector 12 is used to ensure the illuminance of the photographing area (particularly the driver's face) of the in-vehicle camera 10 or to inform people around the vehicle that the in-vehicle monitoring is being performed. While a relatively low value is sufficient, a relatively high value is more effective for intimidating light emission to a vehicle theft person. Therefore, according to the system of this embodiment, the infrared light projection by the infrared projector 12 is performed in the vehicle monitoring system so that the PCS system can easily detect the face angle θ of the driver. In the monitoring mode, the PCS system and the vehicle monitoring can be appropriately performed so as to notify the outside that the inside of the vehicle is being monitored, and in the anti-theft mode in the vehicle monitoring system so as to threaten the vehicle theft. With respect to the function of the infrared projector 12 that is also used in the system, the function of each mode of both systems can be appropriately exhibited.

  In this regard, according to the present embodiment, the function of the common infrared projector 12 can be switched appropriately corresponding to each of the PCS system and the vehicle monitoring system. Is unnecessary, and it is possible to simplify the system and reduce the cost.

  In the above embodiment, the face direction detection mode is described as “first mode” described in the claims, and the in-vehicle monitoring mode and the anti-theft mode are described in claims 1 to 4. The anti-theft mode corresponds to the “second mode” described in claims 5 to 10 in the claims, and the camera ECU 24 is shown in FIG. By executing the processing of steps 102 to 116 in the routine, the “imaging function switching means” and the “light projection function switching means” described in the claims are realized.

  By the way, in said Example, after fixing the imaging | photography area | region which the vehicle-mounted camera 10 image | photographs to a fixed angle of view beforehand, the image processing range of the whole captured image is narrowed or expanded according to a case. However, the present invention is not limited to this, and conversely, the photographing area itself of the in-vehicle camera 10 is narrowed (narrowed) or widened (widened) by changing the angle of view according to circumstances. ) And image processing may be performed on the entire captured image obtained. Note that the change of the shooting area of the in-vehicle camera 10 may be realized by automatically switching the lens of the in-vehicle camera 10 or changing the zoom magnification. Even in the configuration in which the shooting function of the in-vehicle camera 10 is switched in hardware, the same effect as the configuration in which the shooting function of the in-vehicle camera 10 in the above embodiment is switched in software can be obtained.

  Further, in the above-described embodiment, the information on the vehicle driver's face orientation angle θ detected using the captured image of the in-vehicle camera 10 is used for the PCS system that predicts the collision between the host vehicle and the front obstacle. However, the present invention is not limited to this, and may be used for a system that issues an alarm according to the magnitude of the face angle θ.

  In the above-described embodiment, the face orientation angle θ of the vehicle driver is detected using the captured image of the in-vehicle camera 10, but the driver state detected using the captured image of the in-vehicle camera 10 is the face orientation angle. However, the present invention is not limited to θ, and it may be one that detects the line-of-sight direction facing the eyes, facial expression, blinking, lack of extension, etc. on the driver's face.

  Further, in the above-described embodiment, when the vehicle is stopped by turning off the ignition switch 26 and the key lock switch 28 and the door is not locked from the outside of the vehicle, the vehicle monitoring system can be operated for in-vehicle monitoring. The in-vehicle monitoring mode is realized, and a captured image of the in-vehicle camera 10 in which a relatively wide range is projected is recorded in the recording device 46. At this time, the in-vehicle camera 10 does not perform any function. The captured image may not be recorded in the recording device 46. In such a configuration, when the vehicle is stopped and the door is locked from the outside of the vehicle, when the vehicle intrusion action is detected by the intrusion sensor 42, the in-vehicle camera that displays a relatively wide range in the vehicle interior. Ten captured images are recorded in the recording device 46.

It is a block diagram of a system provided with the control apparatus of the vehicle-mounted camera which is one Example of this invention. It is a figure which shows the mounting structure of the vehicle-mounted camera which a present Example has. In this embodiment, a method for achieving compatibility between the function of the PCS system and the function of the vehicle monitoring system is described. It is a flowchart of an example of the control routine performed in the control apparatus of the vehicle-mounted camera of a present Example.

Explanation of symbols

10 In-vehicle camera 12 Infrared projector 24 Camera ECU
26 Ignition switch 28 Key lock switch

Claims (10)

  Shooting for switching the shooting function of the in-vehicle camera provided in the vehicle interior between a first mode corresponding mainly to photographing the driver's face and a second mode mainly corresponding to photographing the vehicle interior. An on-vehicle camera control device comprising function switching means.   The photographing function switching means is characterized in that a photographing region of the in-vehicle camera is a narrow region when mainly photographing a driver's face, and a wide region when photographing mainly a vehicle interior. The on-vehicle camera control device according to claim 1.   The image capturing function switching means sets the image processing range of the entire captured image captured by the in-vehicle camera to a narrow range when mainly photographing the driver's face, while mainly capturing the interior of the vehicle. 2. The on-vehicle camera control device according to claim 1, wherein a wide range is provided.   The photographing function switching means switches the photographing function of the in-vehicle camera between the first mode and the second mode depending on whether the vehicle is driven or stopped. Item 4. The on-vehicle camera control device according to any one of Items 1 to 3.   The function of the infrared projector associated with the in-vehicle camera provided in the vehicle interior is the first mode corresponding mainly to securing the illuminance in the photographing area of the in-vehicle camera and the threatening light emission mainly to the vehicle theft. An in-vehicle camera control device comprising: a light projecting function switching unit that switches to a second mode corresponding to the second mode.   The light projecting function switching means always performs the light projection of the infrared projector mainly when securing the illuminance in the imaging area of the in-vehicle camera, while mainly performing threatening light emission to the vehicle theft 6. The in-vehicle camera control device according to claim 5, wherein the control is performed intermittently.   The light projecting function switching means lowers the light output intensity of the infrared projector mainly when securing the illuminance in the imaging area of the in-vehicle camera, while mainly emitting threatening light to vehicle thefters. The on-vehicle camera control device according to claim 5 or 6, characterized in that when it is performed, the height is increased.   8. The on-vehicle camera control device according to claim 7, wherein switching of the projection output intensity by the projection function switching unit is realized by increasing or decreasing the number of the infrared projectors that project light.   8. The on-vehicle camera control device according to claim 7, wherein switching of the projection output intensity by the projection function switching unit is realized by increasing / decreasing a current value flowing through the infrared projector.   6. The light projecting function switching means switches the function of the infrared projector between the first mode and the second mode according to whether or not a vehicle is parked. The vehicle camera control device according to claim 9.

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