JP2010173347A - Optical axis calibration system of in-vehicle camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an optical axis calibration system of an in-vehicle camera capable of preventing the increase of a tact time when an ECU as a request destination for the optical axis calibration of the in-vehicle camera is determined. <P>SOLUTION: The optical axis calibration system of the in-vehicle camera includes a vehicle to which the in-vehicle camera of which an optical axis is calibrated is mounted, and an external computer communicating with the vehicle. The external computer acquires, from the vehicle, request destination information directly or indirectly indicating an in-vehicle ECU as a request destination of an output of a screen for optical axis calibration, and requests to output the screen for the optical axis calibration to the in-vehicle ECU as the request destination based on the acquired request destination information. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an optical axis calibration system for an in-vehicle camera.

2. Description of the Related Art Conventionally, an in-vehicle camera calibration apparatus that calibrates a camera at a vehicle manufacturing site or the like in order to accurately display image data captured by the in-vehicle camera on a monitor in the vehicle is known. (For example, refer to Patent Document 1). The in-vehicle camera calibration device described in Patent Document 1 images a calibration index placed on a vehicle stop surface in order to adjust the yaw angle, pitch angle, and roll angle, which are parameters for mounting the in-vehicle camera. The calibration index falls within a predetermined range in the image. At this time, the in-vehicle camera calibration device adjusts the size and angle of the window drawn on the monitor based on the calibration index reflected in the image, and acquires the camera parameters after calibration.
JP 2001-245326 A

  By the way, in general, the optical axis calibration of the in-vehicle camera is performed by an operator using an optical axis calibration screen displayed on the in-vehicle display in a vehicle factory. This type of optical axis calibration screen is displayed on the in-vehicle display by connecting a factory-side computer to the vehicle-side connector and requesting from the factory-side computer to the in-vehicle ECU to which the in-vehicle camera is connected. This requested in-vehicle ECU is an in-vehicle ECU having an image processing function to which an in-vehicle camera is connected. However, in recent years, due to the flow of integration of functions between various in-vehicle ECUs, there is a request due to a difference in the connection mode of the in-vehicle camera. The above-mentioned in-vehicle ECU may be different for each vehicle.

  More specifically, as a first type of vehicle in-vehicle camera connection mode, there is a type in which only the display ECU has an image processing function and the in-vehicle camera is connected to the display ECU. In the second type, the in-vehicle camera ECU simply uses the image processing function of the display ECU simply by instructing the display ECU to output an image (various images used during parking assist control). In such a first type, the ECU to which the optical axis calibration screen is requested is a display ECU. In addition, as a second type of vehicle, the display ECU and the in-vehicle camera ECU have image processing functions for the purpose of providing compatibility with the new camera system and the right-and-left legislation just before the mirror is replaced by the camera. There is a type in which the in-vehicle camera is connected to the in-vehicle camera ECU. In such a second type, the requesting ECU of the optical axis calibration screen is an in-vehicle camera ECU.

  For example, in such a line in which vehicles of the first and second types are mixed, first, a request for an optical axis calibration screen is made to the display ECU (thus, if it is the first type, the request is successful). If there is no response from the display ECU, it is also possible to request the optical axis calibration screen to the in-vehicle camera ECU. However, there is a problem that the time for stopping the line is increased by the time during which a response is awaited from the display ECU, and the tact time is affected.

  Therefore, an object of the present invention is to provide an optical axis calibration system for an in-vehicle camera that can prevent an increase in tact time when determining an ECU that is a request destination for optical axis calibration of the in-vehicle camera.

In order to achieve the above object, according to one aspect of the present invention, there is provided an optical axis calibration system for an in-vehicle camera,
A vehicle equipped with an in-vehicle camera to be calibrated,
An external computer that communicates with the vehicle,
The external computer obtains request destination information from the vehicle side, which directly or indirectly represents the in-vehicle ECU of the output destination of the optical axis calibration screen by communication with the vehicle during the optical axis calibration of the in-vehicle camera, An optical axis calibration system is provided, which requests an in-vehicle ECU as a request destination based on the acquired request destination information to output an optical axis calibration screen.

  ADVANTAGE OF THE INVENTION According to this invention, the optical axis calibration system of the vehicle-mounted camera etc. which can prevent the increase in the tact time at the time of determining ECU of the optical axis calibration request | requirement of a vehicle-mounted camera are obtained.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a diagram showing an embodiment of an optical axis calibration system according to the present invention. As an example, an optical axis calibration system 1 in a vehicle production line is shown. The production line includes an optical axis calibration section 2 in which an optical axis calibration process for an in-vehicle camera is performed. In the production line, factory adjustment such as optical axis calibration of an in-vehicle camera is performed on the vehicle 70 that sequentially flows into the optical axis calibration section 2. Factory adjustment such as optical axis calibration of the in-vehicle camera is executed by displaying various adjustment screens on the in-vehicle display of the vehicle 70. The adjustment screen includes an adjustment screen for optical axis calibration of the in-vehicle camera (hereinafter referred to as “optical axis calibration screen”), as well as the steering angle required to superimpose the steering angle interlock line on the video of the in-vehicle camera during reverse parking. An adjustment screen for determining and storing the neutral position of the sensor and the left and right maximum rudder angle value (hereinafter referred to as “steer angle related adjustment screen”) may be included.

  As shown in FIG. 1, the in-vehicle camera optical axis calibration system 1 includes a vehicle 70 and a factory computer 10.

  The vehicle 70 is a vehicle produced at a vehicle production factory, and is a vehicle in a stage where the optical axis calibration process of the in-vehicle camera is entered on the production line. The vehicle 70 at this stage is a substantially complete vehicle before shipment. However, the vehicle 70 only needs to be assembled until at least a stage in which components (such as various ECUs) to be described later are assembled and at least the power can be turned on. In the case where the optical axis calibration system 1 is embodied in a repair shop, a dealer, or the like, the vehicle 70 is a completed vehicle after shipment.

  The factory computer 10 is typically a host computer that comprehensively manages the production line processes of the vehicle production factory, but may be a computer that manages only predetermined processes of the production line. In the illustrated example, the factory computer 10 is arranged in relation to the optical axis calibration section 2, but it may be installed at a remote location.

  The factory computer 10 is configured to be able to communicate with each vehicle 70 that sequentially flows into the optical axis calibration section 2. The communication form may be wireless or wired. In this example, as an example, the communication between the factory computer 10 and the vehicle 70 is performed by connecting the connector 14 of the communication line 12 connected to the factory computer 10 to a connector (not shown) provided in the vehicle 70. Possible states are formed. In this state, the factory computer 10 is connected to a CAN (controller area network) of the vehicle 70 and can communicate with various ECUs in the vehicle 70 via the CAN.

  FIG. 2 is a diagram showing main variations of camera system connection modes that can be employed in the vehicle 70 in the optical axis calibration system 1.

  FIG. 2A shows a first type camera system 30. The first type is characterized in that a camera video input is directly input to the display ECU 40. Therefore, in the first type, only other inputs such as a switch are directly input to the in-vehicle camera ECU 50. The display ECU 40 and the in-vehicle camera ECU 50 are connected by a CAN, and the in-vehicle camera ECU 50 instructs the display ECU 40 to output various images.

  In the illustrated example, an IPA (Intelligent Parking Assist) control function 64 relating to parking assist control is set in the in-vehicle camera ECU 50, while a camera image processing function 62 and a multiple camera function 66 are set in the display ECU 40. The camera image processing function 62 is a function for processing a camera image and generating a desired display (for example, a display in which a steering angle interlocking line is superimposed on a back camera image at the time of parking assistance). This includes a function for generating an adjustment screen for factory adjustment, such as an adjustment screen for a factory. Therefore, for example, at the time of parking assist control, the in-vehicle camera ECU 50 calculates the relative relationship between the target parking position and the vehicle position based on the signals from the steering angle sensor and the vehicle speed sensor by the IPA control function 64 and calculates the relative relationship. The display ECU 40 is instructed so that an image indicating the target parking position is superimposed and displayed at a position corresponding to the relative position. In response to this, the display ECU 40 causes the camera image processing function 62 to superimpose an image indicating the target parking position on the instructed position of the video of the back camera, and outputs it to a display (not shown).

  The first type of camera system 30 shown in FIG. 2A has various specifications such as a specification having only an IPA control function, a specification having only a plurality of cameras, and a specification having both an IPA control function and a plurality of cameras. This can be handled with an inexpensive system configuration. However, the first type of camera system 30 has a disadvantage that a new camera system cannot be adopted later because the display ECU 40 is a standard ECU.

  FIG. 2B shows a second type of camera system 32. The second type is characterized in that a camera video input is directly input to the in-vehicle camera ECU 50 and a video output from the in-vehicle camera ECU 50 is input to the display ECU 40. In the illustrated example, in addition to the camera video input, other input such as a switch is directly input to the in-vehicle camera ECU 50. The display ECU 40 and the in-vehicle camera ECU 50 are connected by CAN and AVC-LAN (Audio Visual Communication-Local Area Network), and the in-vehicle camera ECU 50 controls video output based on the camera image to the display ECU 40 through the AVC-LAN. . The AVC-LAN is a control communication line for controlling video output based on camera video between the in-vehicle camera ECU 50 and the display ECU 40, and determines whether or not video output is performed through this communication exchange. Note that control may be performed by superimposing video output and audio output on the control communication line.

  In the illustrated example, the camera image processing function 60, the IPA control function 64, and the multiple camera function 66 are set in the in-vehicle camera ECU 50, while the camera image processing function 62 is set in the display ECU 40. The camera image processing function 60 set in the in-vehicle camera ECU 50 is a function for processing a camera image and generating a desired display (for example, a display in which a steering angle interlocking line is superimposed on the image of the back camera during parking assistance). And a function for generating an adjustment screen for factory adjustment, such as an adjustment screen for optical axis calibration of an in-vehicle camera. The camera image processing function 60 set in the in-vehicle camera ECU 50 may be the same as the camera image processing function 62 set in the display ECU 40.

  In the configuration of the second type according to the illustrated example, for example, during parking assist control, the in-vehicle camera ECU 50 calculates the relative relationship between the target parking position and the vehicle position by the IPA control function 64, and by the camera image processing function 60. Then, an image indicating the target parking position is superimposed at a position corresponding to the calculated relative position in the image of the back camera, and the image generated by the superposition is output to the display ECU 40. In response to this, the display ECU 40 outputs the video output from the in-vehicle camera ECU 50 to a display (not shown) as it is.

  The camera system 32 of the second type shown in FIG. 2B is expensive as a system because the camera image processing functions 60 and 62 are included in both the in-vehicle camera ECU 50 and the display ECU 40. In the case of the right-left legislation just before the mirror replacement and the new camera system, it is not possible to cope with the configuration of the second type.

  By the way, when the vehicle 70 arrives at the optical axis calibration section 2 and the connection of the connector 14 is completed, the factory computer 10 requests the vehicle side to output an adjustment screen used for various factory adjustments. At this time, the requesting ECU of the adjustment screen is an ECU to which a camera image is directly input, and needs to be an ECU having a camera image processing function. Therefore, in the case of the first type camera system 30 shown in FIG. 2A, the factory computer 10 needs to request an adjustment screen from the display ECU 40, while the second computer shown in FIG. 2B. In the case of this type of camera system 32, it is necessary to request an adjustment screen from the in-vehicle camera ECU 50. At this time, even if the factory computer 10 is the case of the second type camera system 32 shown in FIG. 2 (B), the display ECU 40 may accidentally request an adjustment screen. The response of the display ECU 40 cannot be obtained. Therefore, if the response of the display ECU 40 cannot be obtained, the factory adjustment itself can be performed without any problem by requesting the adjustment screen to the in-vehicle camera ECU 50 again. However, in this case, there arises a problem that the tact time increases corresponding to the response waiting time of the display ECU 40.

  Therefore, in this embodiment, the factory computer 10 acquires information (hereinafter, also referred to as “request destination information”) indicating an ECU of an appropriate request destination by communicating with the vehicle 70 before requesting the adjustment screen. An appropriate request destination ECU is determined based on the acquired request destination information, and an adjustment screen request is made to the appropriate request destination ECU.

  Here, the request destination information is preferably generated in advance on the vehicle 70 side before the factory computer 10 and the vehicle 70 are communicably connected in the optical axis calibration section 2. For example, the request destination information may be generated by any vehicle-mounted ECU that can specify which of the above-described first and second types. The request destination information is preferably generated by the request destination information generation / storage unit 68 (see FIG. 2) of the display ECU 40. This is because, unlike the in-vehicle camera ECU 50, the display ECU 40 is an ECU that is always mounted on the vehicle 70 on which the camera is mounted.

  The request destination information may be information that directly represents an appropriate request destination ECU, or may be information that indirectly represents an appropriate request destination ECU. For example, the information indirectly indicating the appropriate requesting ECU is, for example, type information indicating which of the above-described first and second types, or the camera is directly connected to the in-vehicle camera ECU 50 (or the display ECU 40). Information indicating whether the camera image processing function 60 is set in the in-vehicle camera ECU 50, or the like. When the request destination information is information indicating whether or not the camera is directly connected to the in-vehicle camera ECU 50, the factory computer 10 has obtained request destination information indicating that the camera is directly connected to the in-vehicle camera ECU 50. In this case, the adjustment screen is requested to the in-vehicle camera ECU 50, and when request destination information indicating that the camera is not directly connected to the in-vehicle camera ECU 50 is obtained, the adjustment screen is displayed to the display ECU 40. It is possible to make a request. When the request destination information is information indicating whether or not the camera image processing function 60 is set in the in-vehicle camera ECU 50, the factory computer 10 confirms that the camera image processing function 60 is set in the in-vehicle camera ECU 50. When the request destination information shown is obtained, the adjustment screen is requested to the in-vehicle camera ECU 50, and the request destination information indicating that the camera image processing function 60 is not set in the in-vehicle camera ECU 50 is obtained. May make a request for an adjustment screen to the display ECU 40.

  The request destination information is preferably supplied from the vehicle 70 side to the factory computer 10 by communication when the factory computer 10 and the vehicle 70 are communicably connected in the optical axis calibration section 2. In this case, the request destination information may be supplied to the factory computer 10 from the vehicle 70 side as a trigger when the factory computer 10 and the vehicle 70 are connected to be communicable, or a request from the factory computer 10 Depending on the situation, it may be supplied to the factory computer 10 from the vehicle 70 side.

  The ECU (display ECU 40 or in-vehicle camera ECU 50) that has received a request for the adjustment screen from the factory computer 10 outputs an optical axis calibration screen and a steering angle related adjustment screen to a display (not shown). In addition, each request | requirement of the optical axis calibration screen and the steering angle related adjustment screen may be realized by a separate request, or may be realized collectively by a single request. When the optical axis calibration screen or the like is output to the display, for example, the operator can adjust the optical axis calibration while adjusting the mounting angle of the in-vehicle camera. The optical axis calibration method itself using the optical axis calibration screen may be any method. Similarly, the initial setting method itself such as the neutral point of the rudder angle sensor using the rudder angle related adjustment screen may be an arbitrary method.

  In this way, according to the present embodiment, the factory computer 10 acquires the request destination information from the vehicle 70 before requesting the adjustment screen, and determines an appropriate request destination ECU based on the request destination information. Since it can be specified, it is possible to perform factory adjustment such as optical axis calibration of the camera efficiently without increasing the tact time.

  In the configuration shown in FIG. 2, the display ECU 40 does not have to be an ECU that controls only display on the display, but may be an ECU that realizes other controls or functions (for example, a navigation function).

  Next, a more specific embodiment will be described with reference to FIG.

  FIG. 3 is a diagram showing various variations of the camera system assumed in the following description. Note that the in-vehicle camera 52 shown in FIGS. 3A to 3C is composed of three types of cameras, a front camera, a side camera, and a back camera. One type or two types may be included, and other types of cameras may be included.

  A camera system 30A shown in FIG. 3A is a kind of the first type camera system 30 shown in FIG. 2A, and an in-vehicle camera 52 is directly connected to the display ECU 40. In the case of the camera system 30A, since it is the first type, the ECU requested for the adjustment screen is the display ECU 40.

  A camera system 32 </ b> A shown in FIG. 3B is a type of the second type camera system 32 shown in FIG. 2B, and an in-vehicle camera 52 is directly connected to the in-vehicle camera ECU 50. In the case of the camera system 32A, since it is the second type, the ECU to which the adjustment screen is requested is the in-vehicle camera ECU 50.

  A camera system 30B shown in FIG. 3C is a kind of the first type camera system 30 shown in FIG. 2A, and an in-vehicle camera 52 is directly connected to the display ECU 40. Unlike the camera system 30A shown in FIG. 3A, the camera system 30B shown in FIG. 3C does not include the in-vehicle camera ECU 50 itself. Since the camera system 30B is the first type, the ECU requested for the adjustment screen is the display ECU 40.

  A system 34 shown in FIG. 3D is a system that does not belong to any of the first and second types described above, and is a system that does not include the in-vehicle camera 52 itself. In the case of this type of system 34, the optical axis calibration or the like is not necessary, so requests for various adjustment screens should not be executed.

  FIG. 4 is a flowchart showing an example of main processing executed by the request destination information generation / storage unit 68 (see FIG. 2) of the display ECU 40.

  In step 400, the power-on time of the vehicle 70 is detected. The power supply of the vehicle 70 is preferably turned on before the vehicle 70 reaches the optical axis calibration section 2 (see FIG. 1). When it is detected that the vehicle 70 is powered on, the routine proceeds to step 402.

  In step 402, it is determined whether or not the in-vehicle camera 52 is directly connected to the in-vehicle camera ECU 50. Whether the in-vehicle camera 52 is directly connected to the in-vehicle camera ECU 50 may be determined based on the presence or absence of the AVC-LAN. For example, when there is an AVC-LAN, it is determined that the in-vehicle camera 52 is directly connected to the in-vehicle camera ECU 50, and when there is no AVC-LAN, it is determined that the in-vehicle camera 52 is not directly connected to the in-vehicle camera ECU 50. May be.

  If it is determined in this step 402 that the in-vehicle camera 52 is directly connected to the in-vehicle camera ECU 50, it is determined that it is a second type camera system (camera system 32A in FIG. 3B), and the step Proceed to step 408, otherwise, it is determined that the camera system is not the second type, and the process proceeds to step 404.

  In step 404, the presence / absence of the in-vehicle camera 52 is determined. If the in-vehicle camera 52 is not present, it is determined that the camera system is a type that is neither the first type nor the second type (the system 34 without the camera in FIG. 3D), and the process proceeds to step 410. On the other hand, if the in-vehicle camera 52 is present, it is determined that the camera system is the first type of camera system (camera system 30A in FIG. 3A or camera system 30B in FIG. 3C), and the process proceeds to step 406.

  In step 406, request destination information indicating that the appropriate request destination ECU on the adjustment screen is the display ECU 40 is generated and stored. The request destination information may be information indirectly indicating that the appropriate request destination ECU of the adjustment screen is the display ECU 40. For example, in this case, the request destination information is the camera system installed. Is information indicating that the in-vehicle camera 52 is directly connected to the display ECU 40, information indicating that the in-vehicle camera 52 is not directly connected to the in-vehicle camera ECU 50, and the like. There may be.

  In step 408, request destination information indicating that the appropriate request destination ECU on the adjustment screen is the in-vehicle camera ECU 50 is generated and stored. Note that the request destination information may be information that indirectly represents that the appropriate request destination ECU on the adjustment screen is the in-vehicle camera ECU 50. For example, the request destination information is obtained by the camera system installed. Information indicating that the in-vehicle camera 52 is not directly connected to the display ECU 40, information indicating that the in-vehicle camera 52 is directly connected to the in-vehicle camera ECU 50, and the like. Also good.

  In step 410, information indicating that camera-related factory adjustment such as optical axis adjustment is unnecessary is generated and stored. In this case, the request destination information may be information indicating that there is no appropriate request destination ECU.

  FIG. 5 is a flowchart illustrating an example of the adjustment screen request process executed by the factory computer 10. The process shown in FIG. 5 is executed when the factory computer 10 and the vehicle 70 are communicably connected in the optical axis calibration section 2. In this case, the process shown in FIG. 5 may be executed with the factory computer 10 and the vehicle 70 connected to be communicable in the optical axis calibration section 2 as a trigger, or from a user (for example, an operator). It may be executed with a trigger that the predetermined input is detected.

  In step 500, request destination information is acquired from the display ECU 40 by communication. For example, the request destination information may be acquired by sending a transmission request signal requesting the display ECU 40 to transmit the request destination information.

  In step 502 and subsequent steps, an appropriate request destination ECU for the adjustment screen is determined based on the acquired request destination information, and a request for the adjustment screen is executed with respect to the appropriate request destination ECU.

  Specifically, in step 502, it is determined based on the acquired request destination information whether the appropriate request destination ECU on the adjustment screen is the in-vehicle camera ECU 50. For example, when the request destination information is information indicating that the in-vehicle camera 52 is not directly connected to the display ECU 40, it is determined that the appropriate request destination ECU on the adjustment screen is the in-vehicle camera ECU 50. On the other hand, for example, when the request destination information is information indicating information indicating that the in-vehicle camera 52 is directly connected to the display ECU 40, it is determined that the appropriate request destination ECU on the adjustment screen is not the in-vehicle camera ECU 50. . When it is determined that the appropriate request destination ECU on the adjustment screen is the in-vehicle camera ECU 50, the process proceeds to step 506, and otherwise, the process proceeds to step 504.

  In step 504, it is determined whether or not the appropriate request destination ECU on the adjustment screen is the display ECU 40 based on the acquired request destination information. If it is determined that the appropriate ECU on the adjustment screen is the display ECU 40, the process proceeds to step 508. Otherwise, the process proceeds to step 510.

  In step 506, the in-vehicle camera ECU 50 is requested to output an adjustment screen by communication. The request for the adjustment screen may include a request for the steering angle related adjustment screen subsequent to the request for the optical axis calibration screen. In this case, a request is made to the vehicle-mounted camera ECU 50 in both cases. When this request is transmitted to the in-vehicle camera ECU 50, the in-vehicle camera ECU 50 outputs an adjustment screen to the display.

  In step 508, the display ECU 40 is requested to output an adjustment screen by communication. The request for the adjustment screen may include a request for the steering angle related adjustment screen subsequent to the request for the optical axis calibration screen. In this case, a request is made to the display ECU 40 in all cases. When this request is transmitted to the display ECU 40, the display ECU 40 outputs an adjustment screen to the display.

  In step 510, since no factory adjustment is required, an adjustment screen output request is not made. That is, it is determined that the system is not one of the first and second types (system 34 in FIG. 3D), and no adjustment screen output request is made.

  As described above, according to the present embodiment, as described above, the factory computer 10 acquires request destination information from the vehicle 70 before requesting the adjustment screen, and an appropriate request is obtained based on the request destination information. Since the previous ECU can be specified, factory adjustment such as optical axis calibration of the camera can be performed efficiently without increasing the tact time.

  In the configuration shown in FIG. 3 as well, the display ECU 40 does not have to be an ECU that controls only display on the display, but may be an ECU that realizes other controls or functions (for example, a navigation function).

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, either the display ECU 40 or the in-vehicle camera ECU 50 is the requested ECU, but the present invention is not limited to this. For example, when the navigation ECU and the display ECU 40 are separate bodies and a function for controlling the display image (for example, the camera image processing function 62) is set in the navigation ECU, the navigation ECU requests the adjustment screen instead of the display ECU 40. It may function as a previous ECU (and an ECU that generates and stores request destination information).

It is a figure which shows one Example of the optical axis calibration system by this invention. FIG. 10 is a diagram illustrating main variations of connection modes of a camera system that can be employed in a vehicle. It is a figure which shows the various variations of the camera system used for description after FIG. 7 is a flowchart showing an example of main processing executed by a request destination information generation / storage unit 68 of the display ECU 40. 4 is a flowchart showing an example of an adjustment screen request process executed by the factory computer 10.

DESCRIPTION OF SYMBOLS 1 Optical axis calibration system 2 Optical axis calibration section 10 Factory computer 12 Communication line 14 Connector 30, 30A, 30B 1st type camera system 32, 32A 2nd type camera system 34 Other types system 40 Display ECU
50 On-board camera ECU
52 In-vehicle camera 60, 62 Camera image processing function 64 IPA control function 66 Multiple camera function 68 Request destination information generation / storage unit 70 Vehicle

Claims (11)

An in-vehicle camera optical axis calibration system,
A vehicle equipped with an in-vehicle camera to be calibrated,
An external computer that communicates with the vehicle,
The external computer obtains request destination information from the vehicle side, which directly or indirectly represents the in-vehicle ECU of the output destination of the optical axis calibration screen by communication with the vehicle during the optical axis calibration of the in-vehicle camera, An optical axis calibration system that requests an on-vehicle ECU that is a request destination based on the acquired request destination information to output an optical axis calibration screen. Used in production lines where vehicles produced or vehicles in production flow continuously,
The vehicle flowing through the production line includes a vehicle equipped with a first type camera system in which the in-vehicle camera is directly connected to the display ECU, and a second type in which the in-vehicle camera is connected to the display ECU via the in-vehicle camera ECU. Including a vehicle equipped with a camera system of
In the case of the first type camera system, the request destination information indicates that the display ECU is the request destination in-vehicle ECU, and in the case of the second type camera system, the in-vehicle camera ECU is the request destination in-vehicle ECU. The optical axis calibration system according to claim 1, which represents an ECU.   In the first type of camera system, the in-vehicle camera is directly connected to the display ECU, the in-vehicle camera ECU is connected to the display ECU, the in-vehicle camera is directly connected to the display ECU, and The optical axis calibration system according to claim 2, including a camera system of a type that does not have an in-vehicle camera ECU.   The optical axis calibration system according to claim 2, wherein a display ECU of each vehicle is configured to hold the request destination information and supply the request destination information to the external computer through communication.   The external computer requests the optical axis calibration screen when performing processing for storing the neutral point and the left and right maximum steering angle values necessary for superimposing a steering interlock line on the video of the in-vehicle camera. The optical axis calibration system according to claim 1, wherein an adjustment screen for storing a neutral point and a left and right maximum steering angle value of the rudder angle sensor is requested from the same in-vehicle ECU as the in-vehicle ECU. The request destination information is information indicating the type of the camera system,
In the case of the first type camera system, the external computer requests the display ECU to output an optical axis calibration screen based on the request destination information, and in the case of the second type camera system. 4. The optical axis calibration system according to claim 2, wherein the on-vehicle camera ECU is requested to output an optical axis calibration screen. The request destination information is information representing a connection mode of the in-vehicle camera,
Based on the request destination information, the external computer requests the display ECU to output an optical axis calibration screen when the in-vehicle camera is directly connected to the display ECU. The optical axis calibration system according to claim 2 or 3, wherein when not connected, the in-vehicle camera ECU is requested to output an optical axis calibration screen. The request destination information is information indicating whether or not the in-vehicle camera ECU has an image processing function,
The external computer requests the display ECU to output an optical axis calibration screen when the in-vehicle camera ECU does not have an image processing function. 4. The optical axis calibration system according to claim 2, wherein the optical axis calibration system requests to output an axis calibration screen. An external computer used in an in-vehicle camera optical axis calibration system,
It is configured to be able to communicate with a vehicle equipped with a vehicle-mounted camera whose optical axis is calibrated.
The external computer acquires, from the vehicle side, request destination information that directly or indirectly represents the in-vehicle ECU that requests the output of the optical axis calibration screen through communication with the vehicle, and based on the acquired request destination information An external computer, characterized in that a request is made to output an optical axis calibration screen to a requesting vehicle-mounted ECU. An on-vehicle ECU of a plurality of on-vehicle ECUs mounted on a vehicle,
A request destination information holding function for generating and holding information directly or indirectly representing the in-vehicle ECU that is the request destination of the output of the optical axis calibration screen;
An in-vehicle ECU, comprising: a request destination information supply function for supplying the request destination information held by the request destination information holding means to an external computer used in the optical axis calibration system. An optical axis calibration method for an in-vehicle camera using a vehicle equipped with an in-vehicle camera to be optically calibrated and an external computer communicating with the vehicle,
Using the external computer, through communication with the vehicle, obtaining request destination information directly or indirectly representing the in-vehicle ECU requested to output the optical axis calibration screen from the vehicle side;
Using the external computer, based on the acquired request destination information, determining an in-vehicle ECU that is a request destination of output of the optical axis calibration screen;
And a step of requesting the determined in-vehicle ECU to output a screen for optical axis calibration through communication with a vehicle using the external computer.

Images