JP2009212703A - On-vehicle camera system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a photographed image in which the influence of vehicle behavior is suppressed by correcting a photographing range considering the vehicle behavior. <P>SOLUTION: The on-vehicle camera system includes: a photographing means 104 installed in a vehicle, for photographing the outside of the vehicle; a vehicle information detection means 101 for detecting the vehicle information of the behavior of the vehicle when photographing is instructed to the photographing means 104 from a photographing timing input means 102 and the behavior of the vehicle when the photographing means 104 receives the instruction of photographing and actually performs photographing; and a photographed image correction means 103 for calculating a photographing range when photographing is instructed to the photographing means 1 from the photographing range when the photographing means 104 actually performs photographing on the basis of the vehicle information detected in the vehicle information detection means 101, correcting the photographing range, and turning the image of the corrected photographing range to the photographed image. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an in-vehicle camera system that corrects and adjusts an image captured by an in-vehicle camera.

  Conventionally, as this type of technology, for example, those described in the following documents are known (see Patent Document 1). This document is a photographing system for photographing the outside of a vehicle installed in a vehicle, photographing the outside of the vehicle with a camera, obtaining current traveling environment information of the vehicle from the car navigation system, and a camera according to the traveling environment. An invention is described in which when a captured image is output, the image is output brighter or darker than normal, and an appropriate image is displayed according to the current driving environment of the vehicle.

For example, in this photographing system, when it is determined that the area where the vehicle currently travels is an expressway, the captured image is output brighter than normal, and the region where the vehicle currently travels is a straight suburban road. If it is determined, the captured video is output darker than normal.
JP 2004-123061 A

  In the conventional vehicle photographing system, the output correction of the photographed image is performed considering only the traveling environment outside the vehicle. That is, in the output correction of the captured image, the behavior of the vehicle equipped with the imaging system, for example, whether the vehicle is traveling or stopped, requirements such as traveling speed and vehicle posture are not considered. For this reason, there is a risk of inconvenience caused by these requirements, for example, an inconvenience that an image when an instruction to shoot is different from an actually shot image.

  Accordingly, the present invention has been made in view of the above, and an object of the present invention is to correct an imaging range in consideration of the vehicle behavior and to obtain a captured image in which the influence of the vehicle behavior is suppressed. Is to provide.

  In order to achieve the above object, means for solving the problems of the present invention are: a photographing means installed in a vehicle and photographing the outside of the vehicle; a behavior of the vehicle when the photographing means is instructed to photograph; and the photographing Based on vehicle information detected by the vehicle information detecting means, vehicle information detecting means for detecting vehicle information of the behavior of the vehicle when the means receives a shooting instruction and actually shooting, the shooting means A shooting image correction unit that calculates a shooting range when shooting is instructed to the shooting unit from a shooting range when the shooting is actually performed, corrects the shooting range, and uses an image in the corrected shooting range as a shot image; It is characterized by that.

  According to the present invention, a photographed image corresponding to the photographed image taken at the time of the photographing instruction is avoided by avoiding the difference in the photographed image between the photographing instruction and the actual photographing without being influenced by the behavior of the vehicle. Can be obtained.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS The best embodiment for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a diagram showing a configuration of an in-vehicle camera system according to Embodiment 1 of the present invention. The system of Embodiment 1 shown in FIG. 1 includes a vehicle information detection unit 101, a shooting timing input unit 102, a shot image correction unit 103, a shooting unit 104, a shot image storage unit 105, and a display unit 106. In the following description, a shooting range and a shot image actually shot by the shooting unit 104 are referred to as an actual shooting range and a shot image, and a shooting range of a preset range narrower than the actual shooting range and its range These photographed images are referred to as the photographing range and the photographed image as they are.

  The vehicle information detection means 101 includes a vehicle speed of the vehicle including at least a vehicle speed detected by a vehicle speed sensor or the like via a vehicle-mounted LAN every predetermined time (for example, 1 msec) and a steering steering angle detected by a steering angle sensor or the like. The vehicle information of the behavior is detected and acquired. The vehicle information detection means 101 detects the driving operation and vehicle speed of the driver by various sensors, and automatically controls the brake pressure and engine output to improve the stability of the vehicle, such as VDC (Beagle Dynamics Control). In a vehicle equipped with a vehicle control system, the inclination angle of a vehicle having a plurality of axes of the vehicle body is detected and acquired as vehicle information on the behavior of the vehicle.

  The photographing timing input means 102 uses a two-stage push switch mechanism provided in a push switch, a digital camera, or the like, and is arranged in the vicinity of the steering or the instrument panel. The photographing means 104 is operated by a driver or a passenger performing a switch operation. Instruct the camera to shoot (timing). The shooting timing input unit 102 notifies the shot image correction unit 103 of the shooting timing when the shooting is instructed via the shooting unit 104.

  The photographed image correcting means 103 is vehicle information (Vs) at the photographing timing (t1) instructed by the photographing timing input means 102 and vehicle information at the photographing timing (t2) when the photographing means 104 is actually photographed. (Vr) is acquired by the vehicle information detection means 101. The captured image correcting means 103 calculates and estimates the vehicle inclination based on the difference between the acquired vehicle information (Vs) −vehicle information (Vr), and actually starts shooting from the timing (t1) when imaging is instructed based on the estimated inclination. The imaging range that has changed until the timing (t2) when the imaging was performed is calculated. The captured image correcting unit 103 corrects the captured image based on the calculated imaging range and records the corrected captured image in the captured image storage unit 105.

  The imaging unit 104 is a unit that is fixedly installed on, for example, a side mirror or an A-pillar of a vehicle, and is capable of capturing the situation around the vehicle as a still image or a moving image. For example, a CCD, a CMOS, or the like may be used as the imaging element of the imaging unit 104. The photographing unit 104 outputs and displays an image in a photographing range narrower than the actual photographing range on the display unit 106 so that the operator can confirm the photographing range in advance. The operator of the photographing unit 104 determines the photographing timing while viewing the image displayed on the display unit 106. The photographing unit 104 performs photographing based on a photographing instruction from the photographing timing input unit 102, and the photographed actual photographed image is given to the photographed image correcting unit 103.

  The captured image storage unit 105 is a data recording unit configured with a hard disk, a flash memory, or the like. An actual captured image, vehicle information (V0, Vs, Vr), and a corrected captured image are recorded via the captured image correcting unit 103. The information recorded in the photographed image storage means 105 can be displayed on the display means 106 and can be recorded and moved on an external recording medium such as a CF card or an SD card.

  The display means 106 displays the shooting range for the operator to determine the shooting timing, and displays the shot image for confirming the shot image. The display unit 106 may display an image on a liquid crystal screen, for example, and may share it with a display unit used in, for example, a car navigation system. As the range of the image displayed on the display unit 106 when the operator determines the shooting timing, a shooting range of a preset range narrower than the actual shooting range that the shooting unit 104 actually takes is displayed in real time. .

  FIG. 2 is a diagram showing a state of photographing along the time axis. In FIG. 2, when a vehicle equipped with an in-vehicle camera system starts running from, for example, when the vehicle is stopped (t 0) and shooting is instructed at time (t 1), display means is displayed when the operator instructs the shooting timing. The image displayed at 106 is, for example, an image indicated by reference numeral 201, and the image of the vehicle posture at that time is, for example, an image indicated by reference numeral 202. After that, the actual shooting is performed at time (t2), and the vehicle posture at that time is tilted as in the image of the vehicle posture indicated by reference numeral 203, for example, compared to the vehicle posture at the time (t1) at which shooting was instructed. The actual shooting range actually shot by the shooting unit 104 is a range indicated by reference numeral 204, the shooting range calculated by the shot image correction unit 103 is a range indicated by reference numeral 205, and the display range of the image displayed on the display unit 106 is displayed. Is in a range as indicated by reference numeral 206. Further, the corrected captured image is a captured image as indicated by reference numeral 207.

  Next, the operation procedure of the in-vehicle camera system will be described with reference to the flowchart shown in FIG. This flow is repeatedly executed at regular intervals when the in-vehicle system is operated.

  In FIG. 3, first, it is determined whether or not a shooting instruction operation has been performed by the shooting timing input means 102 (step 301). As a result of the determination, if no shooting is instructed, a shot image in a shooting range that is narrower than the actual shooting range of the shooting unit 104 is displayed on the display unit 106 (step 302). Adjust the shooting timing.

  On the other hand, as a result of the determination, if the photographing is instructed, the photographed image correcting unit 103 acquires the vehicle information (Vs) at the time of photographing instruction (t0) from the vehicle information detecting unit 101 based on the notification of the photographing timing. The shooting instruction time (t0) and the vehicle information (Vs) are recorded (step 303).

  Thereafter, the photographing unit 104 photographs the periphery of the vehicle based on the photographing instruction from the photographing timing input unit 102 (step 304). The photographed actual photographed image is given to the photographed image correcting means 103.

  Further, when shooting is actually performed, based on the notification from the shooting unit 104, the shot image correction unit 103 acquires the vehicle information (Vr) of the shooting time (t1) from the vehicle information detection unit 101, and the shooting is performed. Time (t1) and vehicle information (Vr) are recorded (step 305).

  Next, the shooting range where the shooting was actually performed is estimated (step 306). First, the displacement of the vehicle speed and the steering angle is calculated based on the vehicle information Vr and Vs. In addition, when the vehicle information includes information on the tilt angle of the vehicle body as mentioned above, a map showing the relationship between the tilt angle prepared in advance by experiment etc. and the displacement of the photographing range, A shooting range as indicated by reference numeral 205 in FIG. 2 is calculated using a calculation formula prepared by desk study.

  On the other hand, when the vehicle information does not include a tilt angle, the vehicle tilt angle is estimated based on a map or the like that shows a relationship between the vehicle speed and the change in the steering angle and the vehicle tilt angle prepared in advance through experiments or the like. Then, the imaging range is calculated in the same manner as described above based on the estimated inclination angle.

  For example, when the vehicle at the time of actual shooting decelerates relative to the time of shooting instruction, the X axis, Y axis, and Z axis of the vehicle as shown in FIGS. 4 (a), 4 (b), and 4 (c). The vehicle sinks in front of the vehicle body around the X axis. Therefore, the shooting range is displaced downward as shown in FIG. 5B with respect to the basic shooting range when the vehicle is stopped as shown in FIG. Specifically, as shown in FIG. 6, for example, the coordinates (P1 (x1, y1), P2 (x2, y2), P3 () of the shooting range narrower than the actual shooting range 600 are compared with the actual shooting range 600. x3, y3) and P4 (x4, y4)) are displaced to the negative side of the Y-axis due to the sinking of the vehicle with respect to the shooting instruction. Therefore, the coordinate value of the Y axis is moved to the plus side by the correction amount (Δ) corresponding to the displacement of the vehicle posture, and the coordinates of the shooting range are (P1m (x1, y1 + Δ), P2m (x2, y2 + Δ), P3m ( x3, y3 + Δ), P4m (x4, y4 + Δ)). Thereby, an image corresponding to the corrected photographing range is set as a photographed image at the time of photographing instruction.

  It should be noted that the posture of the vehicle at an arbitrary time between the time when the photographing means 104 is instructed to take a picture and the time when the photographing means 104 actually takes a picture is interpolated from the posture of the vehicle at both times by a linear interpolation method or the like. Based on the estimated vehicle posture, it is possible to calculate an arbitrary shooting range between when the shooting is instructed to the shooting unit 104 and when the shooting is actually performed. By adopting such an interpolation method, it is possible to calculate and estimate the shooting range at an arbitrary time point between the shooting instruction and the shooting time even if vehicle information is not acquired, and the shooting range is expanded. be able to.

  Further, instead of the posture of the vehicle when the photographing means is instructed to shoot, the photographing range may be calculated using the prepared posture of the vehicle when the vehicle is stopped. In this case, it is possible to calculate a shooting range corresponding to shooting when the vehicle is stopped at a point where shooting is instructed, and an image equivalent to an image shot after stopping can be obtained.

  After correcting the shooting range, the corrected shot image, the corrected shooting range, and the vehicle information (Vr, Vs) are stored together in the shot image storage means 105 and recorded (step 307). The recorded data can be displayed on the display means 106, or stored and used as RAW data or JPEG data on an external recording medium.

  As described above, in the above embodiment, the posture of the vehicle changes between the time of shooting instruction and the time of shooting by correcting the shooting range based on the posture of the vehicle at the time of shooting instruction and at the time of shooting. Even when the shooting range is displaced, it is possible to estimate the shooting range at the time of shooting instruction. As a result, it is possible to obtain a captured image corresponding to the captured image captured at the time of the shooting instruction, and to avoid a difference in the captured image between the shooting instruction and the time of shooting.

  In addition, by recording and saving the shooting range, the shot image, and the vehicle information when these data are obtained in the shot image storage unit 105, the shot image is processed in consideration of the vehicle information, or shot by the above-described interpolation. Post-processing such as range calculation can be easily performed. In addition, it enables various searches according to the behavior of the vehicle, such as a search for captured images with a vehicle speed above or below a predetermined speed, and a search for captured images with a vehicle inclination above or below a predetermined speed. improves.

It is a figure which shows the structure of the vehicle-mounted camera system which concerns on Example 1 of this invention. It is a figure which shows the mode of the vehicle information and imaging | photography range at the time of imaging | photography instruction | indication and at the time of imaging | photography. It is a flowchart which shows the procedure of the operation | movement process which concerns on Example 1 of this invention. It is a figure which shows the coordinate axis in a vehicle. It is a figure which shows the relationship between a vehicle behavior and an imaging | photography range. It is a figure which shows an example of correction | amendment of an imaging | photography range.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 ... Vehicle information detection means 102 ... Shooting timing input means 103 ... Shooting image correction means 104 ... Shooting means 105 ... Shooting image storage means 106 ... Display means

Claims (5)

A photographing means installed in the vehicle and photographing the outside of the vehicle;
Vehicle information detection means for detecting vehicle information of the behavior of the vehicle when the photographing means instructs the photographing and the behavior of the vehicle when the photographing means actually takes a photographing instruction;
Based on the vehicle information detected by the vehicle information detection means, the shooting range when the shooting is instructed to the shooting means is calculated from the shooting range when the shooting means actually shot and the shooting range is corrected. A vehicle-mounted camera system comprising: a captured image correction unit that uses the corrected image in the imaging range as a captured image. The photographed image correcting means is an arbitrary vehicle between the behavior of the vehicle when the photographing means is instructed to photograph and the behavior of the vehicle when the photographing means is actually photographed in response to the photographing instruction. The behavior of the vehicle when the photographing means is instructed to take a picture and the behavior of the vehicle when the photographing means actually takes a picture when receiving the photographing instruction based on the estimated behavior of the vehicle The in-vehicle camera system according to claim 1, wherein an arbitrary shooting range is calculated. The photographed image correcting means has information on the posture of the vehicle when the vehicle is stopped, and calculates the photographing range as the posture of the vehicle when the photographing means is instructed to photograph the vehicle posture information. The in-vehicle camera system according to claim 1 or 2. The imaging correction unit calculates an inclination angle of the attitude of the vehicle based on vehicle information of a vehicle speed and a steering angle of the vehicle, and corrects an imaging range based on the calculated inclination angle. The vehicle-mounted camera system of any one of 1-3. The in-vehicle camera system according to any one of claims 1 to 4, further comprising a storage unit that records and saves a captured image and vehicle information when the captured image is obtained.

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