JP2008141648A - Vehicle periphery monitoring apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring apparatus capable of quickly displaying a vehicle periphery monitoring image of high image quality which is suitable for monitoring the periphery of a vehicle by preventing the reflection of deviations between odd lines and even lines which may be caused by interlacing processing on the vehicle periphery monitoring image without requiring complicated image processing with a long processing time. <P>SOLUTION: Deviation values between odd lines and even lines in images photographed by cameras 4 to 7 are found out based on a driving speed of a vehicle and a mapping table 10 for canceling the found deviation values is corrected to perform the deinterlacing processing of the images photographed by the cameras 4 to 7. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device, and more particularly, to a vehicle periphery monitoring device suitable for supporting a driving operation of a vehicle by displaying a vehicle periphery monitoring image for monitoring the periphery of the vehicle on a display unit.

  In recent years, a vehicle periphery monitoring device that generates a vehicle periphery monitoring image, which is an image for monitoring the periphery of the vehicle, and displays it on the display of the in-vehicle device is employed as a technique for improving the safety of driving operation of the vehicle. It became so.

  This type of vehicle periphery monitoring device is a bird's-eye view of a vehicle and its surroundings as viewed from above the vehicle as a vehicle periphery monitoring image based on a video image of the periphery of the vehicle such as a road surface captured by a camera installed in the vehicle. An image and a side view image for monitoring the side of the vehicle are displayed on the display.

  Also, some vehicle periphery monitoring devices employ an interlace process that divides one frame into odd lines and even lines when photographing the periphery of the vehicle with a camera. In a vehicle periphery monitoring apparatus with a simple interlace process, a captured image of one frame obtained by capturing and synthesizing an odd-line shot video (odd field) and an even-line shot video (even field) is converted using a mapping table. By doing so, a vehicle periphery monitoring image was generated.

  Here, in the vehicle periphery monitoring apparatus with such an interlace process, the timing of shooting the odd lines and the timing of shooting the even lines differ, so that the odd lines and the even lines in the captured video of one frame are different. It was known that a relative shift occurred between them.

  For example, FIG. 7 shows a one-frame shot image 1 of a parking lot shot with a left side camera equipped with a super-wide-angle lens installed in a left door mirror of a vehicle while performing an interlace process. As shown in the photographed image 1, when the interlace processing is performed, the object (parking line in FIG. 7) in the photographed image 1 is doubly shaken due to the relative shift between the odd-numbered line and the even-numbered line. Sometimes captured as a state. This is sometimes referred to as interlace stripes. Note that the captured video 1 of this camera is not directly displayed on the display but is captured internally by the camera.

  The relative shift between the odd lines and the even lines in the video captured by the camera is directly reflected in the vehicle periphery monitoring device after converting the video captured by the camera using the mapping table. It was.

  For example, FIG. 8 is a side view image 2 as a vehicle periphery monitoring device obtained by converting the captured video 1 shown in FIG. 7 using a mapping table. The side view image 2 reflects the captured video of the camera. As a result, a phenomenon in which the object in the image 2 (the parking line in FIG. 8) looks double occurs. Such a phenomenon becomes more pronounced as the vehicle travels faster (the size of the portion that looks double).

JP 2002-27448 A JP 2002-324235 A

  By the way, conventionally, deinterlace processing has been known as an image processing technique for eliminating noise (interlace fringes) caused by interlace processing.

  In this deinterlacing process, when the camera-captured video is a still image, after extracting feature points for each line in the captured video of one frame (for example, the point where the color difference in the line changes greatly), the odd lines The image processing is performed to search for a position where the feature points match (align) between the even line and the even line, and shift the even line in the longitudinal direction of the line to the position where the odd line matches the feature point.

  On the other hand, when the video captured by the camera is a moving image, feature points are extracted along the line alignment direction, and between one line and another line that is adjacent to the line in the line alignment direction and that is different from each other. In the case where the feature point position difference (position difference in the longitudinal direction of the line) is large, the deinterlacing process is stopped and the captured image is displayed as it is. At this time, some even-numbered lines and odd-numbered lines are alternately displayed for each frame.

  Such a deinterlacing process seems to be applicable to the display of the vehicle periphery monitoring image.

  However, when such a deinterlacing process is applied to the display of the vehicle periphery monitoring image as it is, there are the following problems.

  That is, as described above, performing image processing for extracting feature points for each line and shifting even lines to positions where the feature points are aligned with odd-numbered lines takes too much time for image processing. A vehicle periphery monitoring image corresponding to a change in the situation around the vehicle cannot be displayed promptly.

  On the other hand, as described above, if the deinterlacing process is stopped and even lines and odd lines are displayed alternately, the image becomes rough. In particular, when generating a vehicle periphery monitoring image, linear interpolation has conventionally been performed to make the image clear. However, when deinterlacing is stopped, lines used for linear interpolation are lost. , Linear interpolation becomes impossible. In particular, since the captured video used for the vehicle periphery monitoring image is captured by a camera equipped with a super-wide-angle lens such as a fisheye lens, the captured image (original image) is magnified at a high magnification depending on the location. Since it is displayed as a monitoring image, it becomes a very rough image.

  As described above, conventionally, as a means for preventing the deviation between the odd lines and the even lines due to the interlace processing from being reflected in the vehicle periphery monitoring image without heavy image processing which takes time, it is effective. The fact is that no proposal has been made.

  Therefore, the present invention has been made in view of such a point, and the shift between the odd lines and the even lines caused by the interlace processing is reflected in the vehicle periphery monitoring image without complicated image processing having a long processing time. Accordingly, an object of the present invention is to provide a vehicle periphery monitoring device that can quickly display a high-quality vehicle periphery monitoring image suitable for monitoring the periphery of the vehicle.

  In order to achieve the above-described object, a vehicle periphery monitoring device according to the present invention is installed in the vehicle in a state where the periphery of the vehicle can be photographed, and when photographing the periphery of the vehicle, one frame is divided into odd lines and even numbers. A vehicle periphery monitoring device that includes a camera that performs interlace processing for capturing images divided into lines, and that generates a vehicle periphery monitoring image for monitoring the periphery of the vehicle based on a captured image of the camera and displays the image on a display unit A mapping table storage unit that stores a mapping table indicating a correspondence relationship between the video captured by the camera and the vehicle periphery monitoring image, and the vehicle periphery using the mapping table stored in the mapping table storage unit Image processing means for performing processing for generating a monitoring image and displaying the generated vehicle periphery monitoring image on the display unit; The relative shift between the odd line and the even line with the traveling of the vehicle from when one of the odd line or the even line is shot until the other is shot is Deinterlace processing means for performing deinterlacing processing for preventing reflection in the vehicle periphery monitoring image, and traveling speed detection means for detecting the traveling speed of the vehicle, wherein the deinterlacing processing means detects the traveling speed detection Based on the detection result of the means, a relative shift amount between the odd line and the even line corresponding to the traveling speed is obtained, and the shift amount is eliminated when the vehicle periphery monitoring image is generated. The de-interlacing process is performed by correcting the mapping table.

  And according to such a structure, the relative deviation | shift amount of an odd line and an even line is calculated | required simply and rapidly based on the driving speed of a vehicle, and a mapping table is correct | amended so that this deviation | shift amount may be eliminated. As a result, it is possible to perform a deinterlacing process on the video image taken by the camera.

  Further, another vehicle periphery monitoring device according to the present invention includes coefficient storage means for storing a coefficient indicating a correspondence relationship between the travel speed and the deviation amount obtained in advance, and the deinterlacing processing means includes the coefficient The shift amount is calculated using the coefficient stored in the storage means.

  And according to such a structure, the relative deviation | shift amount of an odd-numbered line and an even-numbered line is calculated | required more simply and rapidly by using the coefficient which shows the correspondence of the traveling speed and deviation | shift amount calculated | required previously. It becomes possible.

  Furthermore, another vehicle periphery monitoring device according to the present invention includes table storage means for storing a table indicating a correspondence relationship between the travel speed and the deviation amount obtained in advance, and the deinterlacing processing means includes the table. The shift amount is calculated using the table stored in the storage means.

  And according to such a structure, the relative deviation | shift amount of an odd-numbered line and an even-numbered line is calculated | required more simply and rapidly by using the table which shows the corresponding relationship of the running speed and deviation | shift amount calculated | required previously. It becomes possible.

  Furthermore, in another vehicle periphery monitoring apparatus according to the present invention, the deinterlacing processing unit performs the deinterlacing process on the video of the vehicle itself and the video behind the vehicle in the video captured by the camera. It is characterized by not being formed.

  According to such a configuration, with respect to the image of the vehicle itself and the image of the shadow of the vehicle in which the relative positional relationship with the camera is kept constant regardless of the traveling speed of the vehicle, the vehicle travels. Assuming that there is no shift between the odd lines and the even lines, it is possible to prevent the deinterlacing process from being performed.

  In another vehicle periphery monitoring apparatus according to the present invention, the camera is a camera having an ultra-wide-angle lens, and the deinterlacing processing unit is configured to detect an object that is located far from the camera in an image captured by the camera. The video is formed so as not to perform the deinterlacing process.

  According to such a configuration, in the captured image of the camera equipped with the super-wide-angle lens, there is little change in the image of the object existing in the distance of the camera regardless of the traveling of the vehicle. With respect to the image of the object to be performed, it is possible to prevent the deinterlacing process from being performed, assuming that there is little deviation between the odd-numbered line and the even-numbered line as the vehicle travels.

  Furthermore, another vehicle periphery monitoring device according to the present invention is characterized in that the vehicle periphery monitoring image is an overhead image in which the vehicle and its periphery are looked down from above the vehicle.

  According to such a configuration, the vehicle periphery monitoring image is used using the mapping table corrected so as to eliminate the relative shift amount between the odd line and the even line obtained based on the traveling speed of the vehicle. It is possible to generate an overhead image as

  Furthermore, another vehicle periphery monitoring apparatus according to the present invention is characterized in that the vehicle periphery monitoring image is a side view image for monitoring a side of the vehicle.

  According to such a configuration, the vehicle periphery monitoring image is used using the mapping table corrected so as to eliminate the relative shift amount between the odd line and the even line obtained based on the traveling speed of the vehicle. It is possible to generate a side view image as

  According to the vehicle periphery monitoring apparatus according to the present invention, the relative deviation amount between the odd-numbered line and the even-numbered line is easily and quickly obtained based on the traveling speed of the vehicle, and the mapping table is set so that the deviation amount is eliminated. Since the de-interlacing process can be performed on the video captured by the camera by correcting the difference between the odd line and the even line due to the interlace process without complicated image processing with a long processing time, Reflection can be prevented, and as a result, a high-quality vehicle periphery monitoring image suitable for monitoring the periphery of the vehicle can be quickly displayed.

  Further, according to another vehicle periphery monitoring device according to the present invention, the relative shift amount between the odd-numbered line and the even-numbered line can be obtained by using a coefficient indicating the correspondence relationship between the travel speed and the shift amount obtained in advance. Furthermore, since it can obtain | require easily and rapidly, a vehicle periphery monitoring image can be displayed more rapidly.

  Furthermore, according to another vehicle periphery monitoring apparatus according to the present invention, the relative deviation amount between the odd-numbered line and the even-numbered line can be determined by using a table indicating a correspondence relationship between the travel speed and the deviation amount obtained in advance. Furthermore, since it can obtain | require easily and rapidly, a vehicle periphery monitoring image can be displayed more rapidly.

  Furthermore, according to another vehicle periphery monitoring apparatus according to the present invention, the relative positional relationship with the camera is maintained constant regardless of the traveling speed of the vehicle, and the image of the vehicle itself and the shadow image of the vehicle are displayed. On the other hand, since it can be assumed that there is no deviation between the odd lines and the even lines due to the running of the vehicle, the deinterlacing process is not performed, so the time required for the deinterlacing process can be shortened. The vehicle periphery monitoring image can be displayed more quickly.

  In addition, according to another vehicle periphery monitoring device according to the present invention, in a captured image of a camera provided with a super-wide-angle lens, there is little change in the image of an object existing in the distance of the camera regardless of the traveling of the vehicle. For the image of an object located far away from this camera, it can be considered that there is little deviation between the odd line and the even line as the vehicle travels, and deinterlace processing is not performed. The time required for processing can be shortened, and the vehicle periphery monitoring image can be displayed more quickly.

  Furthermore, according to another vehicle periphery monitoring device according to the present invention, the mapping table corrected so as to eliminate the relative shift amount between the odd line and the even line obtained based on the traveling speed of the vehicle is used. Thus, since an overhead image as a vehicle periphery monitoring image can be generated, a high-quality overhead image can be quickly displayed.

  Furthermore, according to another vehicle periphery monitoring device according to the present invention, the mapping table corrected to eliminate the relative shift amount between the odd line and the even line obtained based on the traveling speed of the vehicle is provided. It is possible to generate a side view image as a vehicle periphery monitoring image, so that a high-quality overhead image can be quickly displayed.

  Hereinafter, an embodiment of a vehicle periphery monitoring device according to the present invention will be described with reference to FIGS. 1 to 6.

  As shown in FIG. 1, the vehicle periphery monitoring device 3 in this embodiment has a total of four cameras 4, 5, 6, and 7 installed at different locations of the vehicle. One of these four cameras 4, 5, 6, and 7 is installed at the front of the vehicle (for example, the emblem) so that the running surface (road surface, etc.) in front of the vehicle is looked down at an angle. The front camera 4 shoots an object (such as a road surface) existing in front of the vehicle as the periphery of the vehicle. One of the other three cameras 5, 6, 7 is a left side camera 5 installed on the left door mirror of the vehicle so as to look down on the driving surface on the left side of the vehicle diagonally. The left side camera 5 captures an object (road surface or the like) existing on the left side of the vehicle as the periphery of the vehicle. One of the other two cameras 6 and 7 is a right side camera 6 that is installed on the right door mirror of the vehicle so as to look down on the traveling surface on the right side of the vehicle. The right side camera 6 captures an object (road surface or the like) existing on the right side of the vehicle as the periphery of the vehicle. The remaining one camera 7 is a back camera 7 installed at the rear part (for example, rear hatch) of the vehicle so as to obliquely look down on the traveling surface behind the vehicle. As described above, an object (road surface or the like) existing behind the vehicle is photographed.

  These cameras 4, 5, 6, and 7 are super-wide-angle lenses such as fish-eye lenses and are cameras that form an image of an object on an imaging surface of a solid-state imaging device such as a CCD.

  Each camera 4, 5, 6, 7 performs an interlace process in which one frame is divided into odd lines and even lines when photographing the periphery of the vehicle. The cameras 4, 5, 6, and 7 in the present embodiment first shoot even lines and then shoot odd lines as interlace processing when shooting the first frame immediately after the start of shooting. Shall. Thereafter, even lines and odd lines are alternately updated by interlace processing.

  Each camera 4, 5, 6, 7 is connected to an image processing unit 8 serving as an image processing unit. The image processing unit 8 is connected to each camera 4, 5, 5 from each camera 4, 5, 7. Six and seven photographed images are acquired, and a vehicle periphery monitoring image for monitoring the periphery of the vehicle is generated based on the acquired captured images.

  In the present embodiment, the image processing unit 8 includes, as a vehicle periphery monitoring image, an overhead image obtained by looking down on the vehicle and its periphery from above the vehicle (vertically upward), and a side view image for monitoring the side of the vehicle. It is designed to generate.

  The image processing unit 8 is connected with a mapping table storage unit 9 as a mapping table storage unit. The mapping table storage unit 9 includes a mapping table for overhead images and a mapping table for side view images, respectively. It is remembered. Note that the overhead image mapping table may be independent for each of the cameras 4, 5, 6, and 7.

  Here, the mapping table describes the correspondence between the captured images of the cameras 4, 5, 6, and 7 and the overhead view image or the side view image.

Specifically, as shown in FIG. 2, the mapping table 10 includes coordinate points (Xc _i , Yc _j ) (i, jεN, in the XY coordinate system of cameras 4, 5, 6, and 7; , I ≠ 5, j ≠ 2), one pixel in the captured image of the cameras 4, 5, 6 and 7 is represented by a coordinate point (Xt _m , Yt _n ) (Xt Y, Yt _n ) ( m, nεN, where m ≠ 4, n ≠ 3) is used to generate one pixel in the overhead view image or the side view image.

  Note that the mapping table 10 may describe that two or more pixels in the captured images of the cameras 4, 5, 6, and 7 are used to generate one pixel of the overhead view image or the side view image ( (For example, see paragraphs 0041 and 0044 in Patent Document 1). Further, the mapping table 10 has a content for performing coordinate conversion in consideration of correcting distortion of a captured image due to the influence of the super wide-angle lens.

  The image processing unit 8 converts (viewpoint conversion) the captured images of the cameras 4, 5, 6, and 7 into images in the XY coordinate system of the display 11 using the mapping table 10 for overhead images. A bird's-eye view image is generated by combining the images.

  Further, the image processing unit 8 generates a side view image by converting the captured video of the left side camera 5 into an image in the XY coordinate system of the display 11 using the mapping table 10 for the side view image. It has become.

  A display 11 is connected to the image processing unit 8, and an overhead image and a side view image generated by the image processing unit 8 are output and displayed on the display 11.

  Here, the process of displaying the bird's-eye view image and the side view image using the mapping table 10 as it is is effective in a state where the vehicle is not traveling. , 6 and 7, when there is a shift between the odd lines and the even lines, the shift reflects the overhead view image and the side view image, resulting in a decrease in image quality.

  Therefore, in the present embodiment, the odd lines and even lines associated with the running of the vehicle from the time when one of the odd lines or even lines is photographed until the other is photographed without complicated image processing with a long processing time. Means are taken to prevent the relative shift from being reflected in the overhead view image and the side view image.

  That is, in addition to the above configuration, the mapping table storage unit 9 is connected to a deinterlacing processing unit 12 as a deinterlacing processing unit, and the deinterlacing processing unit 12 has a traveling speed as a traveling speed detecting unit. The detection unit 14 and a deviation amount-speed correspondence information storage unit 15 as a coefficient storage unit or a table storage unit are connected to each other.

  The traveling speed detection unit 14 sequentially detects the traveling speed of the vehicle and outputs the detection result to the deinterlace processing unit 12.

  The deviation amount-speed correspondence information storage unit 15 stores the traveling speed of the vehicle in the traveling section from when one of the odd lines or even lines is photographed until the other is photographed, and the odd lines associated with traveling in this traveling section. And information indicating the correspondence between the deviation amount and the even number line (hereinafter referred to as deviation amount-speed correspondence information) is stored. This deviation amount-speed correspondence information is obtained in advance by measurement.

  This deviation amount-speed correspondence information is obtained by comparing the traveling speed of the vehicle in the traveling section from when one of the odd line or even line is photographed until the other is photographed, and the corresponding odd line and even line. It is also possible to use a coefficient indicating a correspondence relationship with the amount of deviation. As a most typical coefficient, as shown in FIG. 3, when there is a proportional relationship between the travel speed (km / h) and the deviation amount (pixel), an arbitrary travel speed X (km / h) ) And the corresponding shift amount Y (pixel) Y / X, the slope of the proportional straight line L can be used. In the present embodiment, the shift amount between the odd-numbered line and the even-numbered line is assumed to be a shift amount in the vehicle traveling direction (lateral direction in FIG. 7).

  Further, as shown in FIG. 4, the deviation amount-speed correspondence information includes the vehicle traveling speed (km / h) in the traveling section from when one of the odd line or even line is photographed until the other is photographed. The table 16 indicating the correspondence between the relative shift amount (pixel) between the odd-numbered line and the even-numbered line corresponding to this may be used.

  In the present embodiment, the deinterlace processing unit 12 uses the detection result output from the traveling speed detection unit 14 and the deviation amount-speed correspondence information stored in the deviation amount-speed correspondence information storage unit 15. By using it, a deviation amount corresponding to the current traveling speed of the vehicle is obtained.

  Here, when the deviation amount-speed correspondence information is the coefficient Y / X indicating the slope of the proportional line L described above, the deviation amount can be obtained by multiplying the current traveling speed of the vehicle by the coefficient Y / X. it can. On the other hand, when the deviation amount-speed correspondence information is the table 16, the deviation amount can be obtained by extracting the deviation amount corresponding to the current traveling speed from the table 16.

  Then, the deinterlacing processing unit 12 performs the deinterlacing process by correcting the mapping table 10 stored in the mapping table storage unit 9 so that the obtained shift amount is eliminated.

  For example, as shown in FIG. 5, in a captured image 17 of one frame when the parking lot is photographed by the left side camera 5, the vehicle travels between the odd lines and the even lines (in the horizontal direction in FIG. 5). When it is determined that there is a relative shift amount of 4 pixels, the deinterlacing processing unit 12 shifts the conversion destination of the even lines in the corrected mapping table 10 by eliminating the shift amount of 4 pixels. In this way, correction for changing the coordinates of the conversion destination of even lines is performed.

  Then, the image processing unit 8 uses the mapping table 10 corrected by the deinterlacing process of the deinterlace processing unit 12 to convert the captured images of the cameras 4, 5, 6, and 7 when the vehicle is running. The overhead view image and the side view image are generated, and the generated image is displayed on the display 11.

  Therefore, according to the present embodiment, the relative shift amount between the odd-numbered line and the even-numbered line in the captured images of the cameras 4, 5, 6, and 7 is easily and quickly obtained based on the traveling speed of the vehicle. By correcting the mapping table so that is eliminated when the depression angle image and the side view image are generated, the deinterlacing process for the captured images of the cameras 4, 5, 6, and 7 can be performed easily and quickly.

  By the way, as shown in the area surrounded by the alternate long and short dash line in FIG. 5, the captured image 17 of the camera 5 may include an image of the vehicle itself (a part of the vehicle). In such an image of the vehicle itself, the relative positional relationship with the cameras 4, 5, 6, and 7 is kept constant regardless of the traveling speed of the vehicle. Therefore, it can be considered that the image of the vehicle itself does not cause a relative shift between the odd-numbered line and the even-numbered line as the vehicle travels. This is the same for the shadow image of the vehicle, though not shown.

  In addition, since the captured images of the cameras 4, 5, 6, and 7 in the present embodiment are captured images captured by the cameras 4, 5, 6, and 7 having the super-wide-angle lens, the images in FIG. As shown in the region surrounded by the chain line, the image of the object existing far away from the camera 5 in the image captured by the camera 5 has little deviation between the odd line and the even line even when the vehicle travels. Can be considered.

  Therefore, in the present embodiment, the deinterlacing processing unit 12, as shown in FIG. 5, the image of the vehicle itself and the image of the shadow of the vehicle (not shown) and the camera in the captured images of the cameras 4, 5, 6, 7. The deinterlacing process is not performed on the image of the object existing far away.

  As a result, the time required for the deinterlacing process can be further shortened.

  Next, the operation of this embodiment will be described.

  In the present embodiment, first, the surroundings of the vehicle are photographed by the cameras 4, 5, 6, and 7, the photographed video is output to the image processing unit 8, and the traveling speed of the vehicle is detected by the traveling speed detection unit 14, The detection result is output to the deinterlace processing unit 12.

  Next, when the traveling speed detecting unit 14 detects that the vehicle is stopped, that is, the traveling speed is 0 (km / h), the image processing unit 8 maps the mapping table storage unit 9. The mapping table 10 stored in the above is used as it is to generate an overhead view image and a side view image and display them on the display 11.

  On the other hand, when the traveling speed detection unit 14 detects that the host vehicle is traveling (traveling speed 0 (km / h) or more), the image processing unit 8 uses the camera 4 by the deinterlacing processing unit 12. Waiting for deinterlacing processing on the captured images of 5, 6, and 7, the overhead view image and the side view image are generated.

  In this case, first, the deinterlace processing unit 12 uses the deviation amount-speed correspondence information in the deviation amount-speed correspondence information storage unit 15 as the deviation amount corresponding to the detection result of the traveling speed detection unit 14. Ask.

  At this time, when a coefficient is used as the deviation amount-speed correspondence information, a deviation amount with a decimal number may be obtained as the deviation amount corresponding to the traveling speed detected by the traveling speed detection unit 14. However, since the actual shift amount is generated in units of integer pixels, when the shift amount obtained using the coefficient has a decimal number, for example, the fractional part may be rounded off.

  Further, when the table 16 is used as the deviation amount-speed correspondence information, the vehicle travels at a traveling speed that does not match the speed allocated for each predetermined unit (for example, 2 km / h) in the table 16. Of course it is possible. In that case, a deviation amount corresponding to the speed in the table 16 close to the actual traveling speed may be selected. In this case, when the actual traveling speed is closer to 0 (km / h) than the minimum speed in the table 16, the deinterlacing process may not be performed.

  Next, the deinterlace processing unit 12 corrects the mapping table 10 in the mapping table storage unit 18 to eliminate the obtained shift amount, so that the captured images of the cameras 4, 5, 6, and 7 are obtained. Is deinterlaced.

  At this time, the deinterlace processing unit 12 converts the image of the vehicle itself, the image of the shadow of the vehicle, and the image of the object located far away from the cameras 4, 5, 6, and 7 in the captured images of the cameras 4, 5, 6, and 7. On the other hand, the deinterlacing process is not performed. That is, correction is not performed for portions corresponding to these images in the mapping table 10.

  Then, the image processing unit 8 uses the mapping table 10 that has been corrected by the deinterlacing process by the deinterlace processing unit 12 to display the overhead view image 18 and the side view image 19 on the display 11 as shown in FIG. indicate.

  Note that the side view image 19 is generated by converting the captured video 17 of the left side camera 5 using the mapping table 10 for the side view image, as shown in FIG.

  Also, the bird's-eye view image 18 is an image 18a after conversion (viewpoint conversion) by the mapping table 10 for the bird's-eye view image 18 for the captured image of the front camera 4, and after conversion by the mapping table 10 for the captured image of the left side camera 5. The image 18b of the right side camera 6, the image 18c after the conversion by the mapping table 10 for the video captured by the right side camera 6, the image 18d after the conversion by the mapping table 10 for the video captured by the back camera 7, and the illustration image 18e of the vehicle. Has been.

  Here, as shown in FIG. 6, parking line images are respectively displayed in the overhead view image 18 and the side view image 19, and these parking line images are displayed as double as shown in FIG. 8. The boundary with the ground portion of the road surface can be clearly identified.

  As described above, according to the present embodiment, the relative shift amount between the odd-numbered line and the even-numbered line is easily and quickly obtained based on the traveling speed of the vehicle, and the mapping table is set so that the shift amount is eliminated. By correcting, deinterlace processing can be performed on the video captured by the camera.

  As a result, it is possible to prevent the shift between the odd line and the even line resulting from the interlace process from being reflected in the overhead view image 18 and the side view image 19 without complicated image processing having a long processing time. High-quality overhead image 18 and side view image 19 suitable for monitoring the periphery of the image can be quickly displayed.

  In addition, this invention is not limited to embodiment mentioned above, A various change is possible as needed.

  For example, it is not always necessary to perform the deinterlacing process on the captured images of all the cameras 4, 5, 6, and 7, for example, an odd number associated with the traveling of the vehicle due to the inclination of the camera optical axis with respect to the traveling surface. For a camera in which the occurrence of a shift between the line and the even line is small, the deinterlacing process may not be performed on the captured video.

The block diagram which shows embodiment of the vehicle periphery monitoring apparatus which concerns on this invention The figure which shows a mapping table in embodiment of the vehicle periphery monitoring apparatus which concerns on this invention. Explanatory drawing for demonstrating the coefficient as an example of deviation | shift amount-speed correspondence information in embodiment of the vehicle periphery monitoring apparatus which concerns on this invention. The figure which shows the table as an example of deviation | shift amount-speed correspondence information in embodiment of the vehicle periphery monitoring apparatus which concerns on this invention. In the embodiment of the vehicle periphery monitoring device according to the present invention, an explanatory view showing an example of a captured image of a camera together with a restriction on a region where deinterlacing processing is performed. The figure which shows an overhead image and a side view image in embodiment of the vehicle periphery monitoring apparatus which concerns on this invention. A figure showing an example of a camera video image together with a shift between an odd line and an even line due to interlace processing Explanatory diagram showing conventional problems

Explanation of symbols

DESCRIPTION OF SYMBOLS 3 Vehicle periphery monitoring apparatus 4 Front camera 5 Left side camera 6 Right side camera 7 Back camera 8 Image processing part 9 Mapping table storage part 11 Display 12 Deinterlace processing part 14 Traveling speed detection part 15 Deviation amount-speed correspondence information storage part 16 Table 17 Shooting video 18 Overhead image 19 Side view image

Claims (7)

A camera that is installed in the vehicle in a state in which the periphery of the vehicle can be photographed and that performs interlace processing for photographing one frame divided into odd lines and even lines when photographing the periphery of the vehicle; A vehicle periphery monitoring device for generating a vehicle periphery monitoring image for monitoring the periphery of the vehicle based on the captured video and displaying it on a display unit,
Mapping table storage means for storing a mapping table indicating a correspondence relationship between the video captured by the camera and the vehicle periphery monitoring image;
Image processing means for generating the vehicle periphery monitoring image using the mapping table stored in the mapping table storage means, and performing processing for displaying the generated vehicle periphery monitoring image on the display unit;
A relative shift between the odd line and the even line as the vehicle travels from when one of the odd line or the even line is photographed until the other is photographed with respect to the image captured by the camera. Deinterlacing processing means for performing deinterlacing processing to prevent reflection in the vehicle periphery monitoring image;
And a traveling speed detecting means for detecting the traveling speed of the vehicle,
The deinterlacing processing unit obtains a relative shift amount between the odd line and the even line corresponding to the travel speed based on a detection result of the travel speed detection unit, and the shift amount is the vehicle periphery monitoring. A vehicle periphery monitoring device configured to perform the deinterlacing process by correcting the mapping table so as to be eliminated when an image is generated. Coefficient storage means for storing a coefficient indicating a correspondence relationship between the travel speed and the deviation amount obtained in advance,
2. The vehicle periphery monitoring device according to claim 1, wherein the deinterlace processing unit is configured to obtain the deviation amount using the coefficient stored in the coefficient storage unit. Comprising a table storage means for storing a table indicating a correspondence relationship between the travel speed and the deviation amount obtained in advance;
2. The vehicle periphery monitoring device according to claim 1, wherein the deinterlacing processing unit is configured to obtain the shift amount using the table stored in the table storage unit. The deinterlacing processing unit is formed so as not to perform the deinterlacing process on the image of the vehicle itself and the image of the shadow of the vehicle in the image captured by the camera. The vehicle periphery monitoring apparatus according to any one of claims 1 to 3. The camera is a camera with an ultra-wide angle lens,
The deinterlacing processing unit is formed so as not to perform the deinterlacing process on an image of an object located far from the camera in a video captured by the camera. The vehicle periphery monitoring apparatus of any one of Claim 4. The vehicle periphery monitoring device according to any one of claims 1 to 5, wherein the vehicle periphery monitoring image is an overhead image obtained by looking down the vehicle and its periphery from above the vehicle. . The vehicle periphery monitoring device according to any one of claims 1 to 5, wherein the vehicle periphery monitoring image is a side view image for monitoring a side of the vehicle.

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