JP2010250503A - Vehicle controller and in-vehicle imaging apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle controller performing various vehicle control by using image information captured by an in-vehicle imaging apparatus that images a clear image with no blur, in capturing a vehicle surrounding image by emitting near-infrared light, especially at night. <P>SOLUTION: The vehicle controller 20 includes: a yaw rate sensor 205 for detecting a straight traveling state or revolving state of a vehicle; a wheel speed sensor 210 for detecting the vehicle speed; a camera control part 201 for controlling a shutter speed according to the vehicle speed detected by the wheel speed sensor 210 and the straight traveling state or revolving state of the vehicle detected by the yaw rate sensor 205; an image processing part 202 for generating a composite image by using an image captured at a shutter speed controlled by the camera control part 201; and a driver support ECU 203 for performing vehicle control based on the composite image generated by the image processing part 202. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle-mounted imaging device that captures a situation around a vehicle and a vehicle control device that performs various vehicle controls using image information captured by the vehicle-mounted imaging device, and in particular, irradiation with near infrared rays at night. The present invention relates to an in-vehicle imaging device and a vehicle control device that use it to image a situation around a vehicle.

  Conventionally, pre-crash safety (hereinafter referred to as PCS), lane, which recognizes surrounding road signs, road signs, leading vehicles, etc. using an in-vehicle camera and assists with warnings, indications, danger avoidance, etc. Vehicle control such as a Keep Assist (hereinafter referred to as LKA) function is performed.

  For example, in pre-crash brake control, which is one of vehicle controls, a collision object such as a preceding vehicle or a road structure is detected using information acquired from an in-vehicle camera or a radar device, and there is a possibility of a collision. When it is high, “Brake!” Is displayed on the display and an alarm is issued to alert the driver. When it is determined that the collision is inevitable, the brake is automatically operated.

  In the LKA function, an in-vehicle camera is used to recognize a white line drawn on the road and assist the steering operation so that the vehicle body stops within the white line on the left and right and near the center. When the vehicle is about to deviate from the white line, for example, an alarm is sounded, and the steering wheel is shaken in small steps to warn the driver.

  And in order to perform vehicle control correctly using the image information from a vehicle-mounted camera, since a clear and clear image is required, it is necessary to change the shutter speed of a camera, for example. The shutter speed has the role of adjusting the amount of light as with the aperture. The slower the shutter speed, the more light is applied to the CCD (Charged Coupled Device) and film, and the faster the light is applied to the CCD and film.

  Conventionally, as a method for controlling the shutter speed in an in-vehicle camera, for example, using average luminance information of the entire photographed image, when the average luminance is low, control is performed to slow down the shutter speed in order to increase the amount of light. There is a way.

  By the way, a speed limit recognition device capable of recognizing a speed limit of a travel path in real time has been disclosed (for example, see Patent Document 1). In this apparatus, the image recognition unit recognizes the speed limit displayed on the road sign or road surface sign based on the image ahead of the vehicle imaged by the CCD camera, and outputs the obtained speed limit to the alarm control unit. The alarm control unit compares the vehicle speed with the speed limit to determine whether the speed is exceeded. If the speed is exceeded, the alarm means is driven to notify the driver of the excess speed.

JP 2005-128790 A

  However, in the conventional method of changing the shutter speed of the in-vehicle camera using the luminance information of the image, the shutter speed is only controlled according to the brightness of the entire image. There is a problem that it is impossible to achieve both ensuring and unblurred images.

That is, (I) When photographing with priority given to the brightness of an image, it is necessary to set a long shutter speed of the camera. In this case, an imaged object that is close to the vehicle moves greatly within the screen. In particular, there is a problem that the image on the road side is blurred.
On the other hand, (II) If shooting is performed with priority given to the shutter speed in order to prevent blurring of the image, there is a problem that the image becomes dark in a region where the illumination is dark at a distance, and the entire object cannot be brightly photographed. This is a problem particularly when taking a peripheral image of a vehicle at night using near infrared rays or the like.

The present invention has been made in view of the above problems, and provides an in-vehicle imaging device capable of capturing a clear image with little blurring, particularly in the case of capturing an image around a vehicle by irradiation with near infrared rays at night. The purpose is to do.
It is another object of the present invention to provide a vehicle control device that performs various vehicle controls using clear images captured with the vehicle-mounted imaging device according to the present invention.

  In order to solve the above-described problems, a vehicle control device according to the present invention obtains image information around a vehicle from an in-vehicle imaging device using a near infrared irradiation unit, and performs vehicle control based on the image information. A control device, a turning detection means for detecting a straight traveling state or a turning state of a vehicle, a vehicle speed detection means for detecting a vehicle speed, a vehicle speed detected by the vehicle speed detection means, and a vehicle detected by the turning detection means Shutter speed control means for controlling the shutter speed according to a straight traveling state or a turning state, and an image processing means for generating a composite image using images taken at different shutter speeds controlled by the shutter speed control means, Electronic control means for performing vehicle control based on the composite image generated by the image processing means.

  With this configuration, the shutter speed control means can control the shutter speed in the in-vehicle imaging device according to the vehicle speed detected by the vehicle speed detection means and the straight traveling state or turning state of the vehicle detected by the turning detection means, In addition, the image processing unit generates a clear image with less blur by generating a composite image using an image captured at a controlled shutter speed, and the electronic control unit is free of this blur. Since various vehicle controls can be realized based on clear image information, the safety of the vehicle can be further improved.

  The shutter speed control means of the vehicle control device according to the present invention determines the shutter speed when the turning detection means determines that the vehicle is traveling straight and the vehicle speed detected by the vehicle speed detection means is less than a predetermined value. When the vehicle speed is controlled to the low speed side, it is determined that the turning detection means is traveling straight, and the vehicle speed detected by the vehicle speed detection means is equal to or higher than a predetermined value, control is performed to repeat different shutter speeds.

  With this configuration, the shutter speed control means can appropriately change the shutter speed to the low speed side or the high speed side according to the vehicle speed when the host vehicle is not turning, and can acquire a clear image with little blur.

  Further, the image processing means of the vehicle control device according to the present invention determines that the vehicle is moving straight when the turning detection means determines that the vehicle is traveling straight and the vehicle speed detected by the vehicle speed detection means is equal to or greater than a predetermined value. A composite image is generated using an image with a short shutter speed in the image area and an image area with a long shutter speed in the image area far ahead of the vehicle, and the electronic control unit performs vehicle control based on the composite image. It is characterized by that.

  With this configuration, even when imaging the surrounding situation using near infrared rays, especially at night, the image processing means is configured such that the area near the vehicle is an image captured with a short shutter speed of the camera, and the area in front of the vehicle is By synthesizing one image using images taken with a long shutter speed, it is possible to prevent blurring of a nearby object and to capture an image in which a far object is ensured in brightness. And since the said electronic control means can implement | achieve various vehicle control based on this blurring and clear image information, the safety | security of a vehicle can be improved more.

  The shutter speed control means of the vehicle control device according to the present invention is characterized in that when the turning detection means determines that the vehicle is turning, the shutter speed of the entire imaging region is controlled to a high speed side. To do.

  With this configuration, when the vehicle is turning, the shutter speed control means sets the entire screen to a short shutter speed and shoots to prevent the entire front image from flowing in the opposite direction to the vehicle turning. It is possible to capture a clear image with little blur.

  Further, the shutter speed control means of the vehicle control apparatus according to the present invention has different shutter speeds depending on the vehicle speed detected by the vehicle speed detection means and the straight traveling state or turning state of the vehicle detected by the turning detection means. A shooting mode is determined, and the shutter speed is controlled based on the determined shooting mode.

  With this configuration, the shutter speed control means can determine a specific photographing mode according to the vehicle speed detected by the vehicle speed detection means and the straight traveling state or turning state of the vehicle detected by the turning detection means.

  Further, the shooting mode of the vehicle control device according to the present invention includes a turning shooting determined according to a vehicle speed detected by the vehicle speed detecting means and a straight traveling state or a turning state of the vehicle detected by the turning detecting means. Mode, a low-speed shooting mode, a medium-speed shooting mode, and a high-speed shooting mode, and the shutter speed control means fixes the shutter speed of the in-vehicle imaging device to the low-speed side in the low-speed shooting mode, and In the shooting mode and the high-speed shooting mode, control is performed to repeat a plurality of different shutter speeds. In the turning shooting mode, the shutter speed is fixed to the high speed side.

  With this configuration, the shutter speed control means can detect the vehicle speed detected by the vehicle speed detection means from the turning shooting mode, the low speed shooting mode, the medium speed shooting mode, and the high speed shooting mode, and the vehicle traveling straight detected by the turning detection means. One shooting mode with different shutter speed control is determined according to the state or the turning state. Since the image processing unit 202 can perform image composition processing according to each shooting mode, the image processing unit 202 can acquire a clear image that prevents image blurring. Moreover, since various vehicle controls can be realized based on clear image information, the safety of the vehicle can be further improved.

  Further, the image processing means of the vehicle control device according to the present invention is configured such that, in the medium-speed shooting mode and the high-speed shooting mode, the image area near the vehicle has an image with a short shutter speed and an image in front of the vehicle. A composite image is generated using an image with a long shutter speed in the region, and the electronic control means performs vehicle control based on the composite image.

  With this configuration, when the vehicle is traveling straight ahead, the image processing means has an image area with a short shutter speed in an image area near the vehicle and a shutter in an image area far in the front of the vehicle, depending on the shooting mode. Since images are synthesized using images with a high speed, image blurring can be prevented and clear images can be obtained. The electronic control means can be used for various vehicles based on the image information without blurring and Since the control can be realized, the safety of the vehicle can be further improved.

  In the turning shooting mode of the vehicle control device according to the present invention, the irradiation range of the irradiation means using near infrared rays is expanded.

  With this configuration, it is possible to expand the near-infrared irradiation range in the turning shooting mode and prevent the image from becoming dark.

  The in-vehicle image pickup apparatus according to the present invention is an in-vehicle image pickup apparatus that picks up image information around a vehicle using a near infrared irradiation unit, and the shutter speed is determined according to the vehicle speed and the straight traveling state or turning state of the vehicle. And a shutter speed control means for controlling the image, and an image processing means for generating a composite image using images taken at different shutter speeds controlled by the shutter speed control means.

  With this configuration, the shutter speed control unit appropriately changes the shutter speed in accordance with the vehicle speed and the straight traveling state or turning state of the vehicle, and the image processing unit uses images captured at different shutter speeds. A composite image can be generated. Therefore, the vehicle-mounted imaging device according to the present invention can capture a clear image with less blur even when imaging the surrounding situation using near infrared rays at night.

  In addition, it implement | achieves as an imaging method and vehicle control method which use the process means which comprises the vehicle-mounted imaging device and vehicle control apparatus which concern on this invention as a step, implement | achieves these steps as a program which makes a computer perform, Needless to say, it can be distributed via a recording medium such as a DVD or CD-ROM or a transmission medium such as a communication network.

In the in-vehicle imaging device according to the present invention, even when imaging at night with a small amount of light using near infrared rays, imaging is performed by appropriately changing the shutter speed of the camera according to the vehicle speed and the turning or straight traveling state of the vehicle, By generating a composite image in the image processing unit, it is possible to capture a clearer image with less blur.
In the vehicle control device according to the present invention, more accurate various vehicle controls can be realized based on image information captured by the in-vehicle imaging device.

Overall view of a vehicle equipped with a front camera that captures a front image of the vehicle using a near-infrared projector mounted on the headlamp portion of the vehicle Functional block diagram of a vehicle control device according to an embodiment Flowchart for explaining the overall operation procedure of the in-vehicle imaging device according to the embodiment The flowchart which shows the detailed operation | movement procedure in low-speed imaging mode and medium-speed imaging mode in the vehicle-mounted imaging device which concerns on embodiment. In the control apparatus which concerns on embodiment, the flowchart which shows the detailed operation | movement procedure in high-speed imaging | photography mode and turning imaging | photography mode. The figure for demonstrating the relationship between the shutter speed and image area in the front camera which concerns on embodiment

  Hereinafter, embodiments of an in-vehicle imaging device and a vehicle control device according to the present invention will be described with reference to the drawings.

(Embodiment)
FIG. 1 shows an overall view of a vehicle 10 that includes a front camera 200 that captures a front image of the vehicle using a near-infrared projector 101 mounted on a headlamp portion of the vehicle.

  The front camera 200 provided in the vehicle 10 is subject to near infrared rays emitted from the near infrared projector 101 provided in the headlamp unit to a region 101a that is not perceived by human eyes at night when the amount of light such as sunlight or sunlight is low. This is an in-vehicle image pickup device in which reflected light reflected by the light is received by an image pickup device such as a CCD and converted into a video signal. In FIG. 1, an area 200 a indicates an imaging area of the front camera 200.

FIG. 2 shows a functional block diagram of the vehicle control device 20 according to the present embodiment.
The vehicle control device 20 includes a front camera 200, a driver support ECU (Electronic Control Unit) 203 (corresponding to electronic control means in claims), a meter 204, a yaw rate sensor 205, a snake angle sensor 206, a power A steering ECU 207, an electric power steering 208, a brake ECU 209, a wheel speed sensor 210, a brake actuator 211, and an alarm buzzer 212 are provided.

Hereinafter, functions of the processing units 200 to 212 will be described.
As shown in FIG. 1, the front camera 200 is an in-vehicle imaging device such as a CCD camera that is provided near the top of the windshield of a vehicle and photoelectrically converts a charge amount of light and sequentially reads it to convert it into an electrical signal. is there. Note that the front camera 200 is not limited to a single camera, and may include a plurality of cameras.

The driver support ECU 203 is composed of a semiconductor integrated circuit, and includes a microcomputer for performing various vehicle controls such as PCS and LKA in order to support the driving of the driver based on image information from the front camera 200. Further, the driver support ECU 203 analyzes the driving speed such as the vehicle speed, turning, or going straight from the sensor information of the yaw rate sensor 205, the snake angle sensor 206, the wheel speed sensor 210, etc., and controls the shutter speed of the front camera 200 in order to These pieces of information are transmitted to the camera control unit 201 provided in the camera 200.
The meter 204 is a display for acquiring vehicle speed information from the wheel speed sensor 210 and displaying the vehicle speed to the driver.

  A yaw rate sensor (acceleration sensor) 205 is a sensor that detects a speed at which the vehicle rotates, and detects a yaw rate that is a change speed of a rotation angle in the turning direction of the host vehicle.

  The snake angle sensor 206 is a sensor that senses the steering angle of the front wheels when the driver turns the steering wheel. The driver support ECU 203 detects the steering angle detected by the snake angle sensor 206 and the data detected by the yaw rate sensor 205. Is used to determine whether the vehicle is turning.

  The power steering ECU 207 is an electronic control unit for controlling the electric power steering 208 and calculates an assist current from the steering torque and the vehicle speed to drive the motor. The electric power steering 208 generates assist torque during steering and reduces the steering force by the action of the motor and the speed reducer.

The brake ECU 209 is connected to the driver support ECU 203 via a communication line, and controls the brake actuator 211 and the alarm buzzer 212 based on signal information related to vehicle control transmitted from the driver support ECU 203.
The wheel speed sensor 210 detects, for example, a change in magnetism due to rotation of the magnetic rotor, and outputs it to the brake ECU 209 as a vehicle speed pulse.

  The brake actuator 211 receives a control signal transmitted from the brake ECU 209 and performs brake control based on the control signal. The alarm buzzer 212 receives a control signal transmitted from the brake ECU 209 and emits a warning sound based on the control information.

Next, functions of the front camera 200 according to the present invention will be described.
The front camera 200 includes a camera control unit (equivalent to a shutter speed control unit in claims) 201 and an image processing unit (equivalent to an image processing unit in claims) 202. The camera control unit 201 has driver support. The shutter speed of the front camera 200 is controlled using the vehicle speed acquired from the ECU 203 and the turning or straight traveling information of the vehicle. Note that the shutter speed control in the camera control unit 201 is performed by electromagnetic control using a solenoid or the like. Further, specific shutter speed control in the camera control unit 201 will be described with reference to FIG.

  The image processing unit 202 combines a plurality of images taken with the front camera 200 and having different shutter speeds into one image. For example, when the vehicle is traveling straight, the image processing unit 202 uses an image with a short shutter speed in the image area near the vehicle, and an image with a long shutter speed in the image area far in front of the vehicle. A single image is generated by combining the images. Then, the image signal processed by the image processing unit 202 is input to the driver support ECU 203, and obstacle recognition and sign recognition are performed based on the image.

FIG. 3 is a flowchart for explaining the overall operation procedure of the in-vehicle imaging device according to the present embodiment.
First, the driver support ECU 203 determines whether the vehicle is traveling straight or turning using the detection values from the yaw rate sensor 205 and the snake angle sensor 206 (step S301). Here, the driver support ECU 203 determines, for example, whether or not the vehicle is turning using a radius of curvature.

  When the driver support ECU 203 determines that the vehicle is turning (YES in step S301), the camera control unit 201 sets a turning shooting mode shown in FIGS. 5B and 6C described later as a shooting mode. Setting is performed (step S307).

  Further, when the vehicle is not turning (NO in step S301), the driver support ECU 203 performs vehicle speed determination using the vehicle speed information acquired from the wheel speed sensor 210, and determines whether or not the vehicle speed is 40 km / h or more. (Step S302). If the vehicle speed is less than 40 km / h (NO in step S302), the driver support ECU 203 sets the low-speed shooting mode in the camera control unit 201 as the shooting mode (step S304).

  On the other hand, when the vehicle speed is 40 km / h or more, the driver support ECU 203 determines whether or not the vehicle speed is 80 km / h or more (step S303), and when the vehicle speed is less than 80 km / h, FIG. And the medium-speed photography mode shown to Fig.6 (a) is set to the camera control part 201 (step S305).

  Further, when the vehicle speed is 80 km / h or higher (YES in step S303), the driver support ECU 203 sets the high-speed shooting mode shown in FIGS. 5A and 6B described later in the camera control unit 201. (Step S306).

  Finally, the image processing unit 202 performs composition processing using a plurality of images captured by changing the shutter speed in the medium speed shooting mode and the high speed shooting mode, and inputs the resulting image information to the driver support ECU 203. The driver support ECU 203 recognizes a sign, an obstacle, and the like by using clearer image information with less blur and executes various vehicle controls such as LKA (step S308).

  In the low-speed shooting mode and the turning shooting mode, the image processing unit 202 does not particularly need to perform image synthesis, and outputs a video signal captured by the front camera 200 to the driver support ECU 203. In addition, the vehicle speeds of 40 km / h and 80 km / h in the explanation of this figure are examples, and vehicle speeds other than these can also be used.

  FIG. 4 is a flowchart showing detailed operation procedures in the low-speed shooting mode (corresponding to step S304) and the medium-speed shooting mode (corresponding to step S305) in the in-vehicle imaging device according to the present embodiment.

  In the low-speed shooting mode shown in FIG. 4A, first, the camera control unit 201 fixes the shutter speed of all frames to 1/30 second on the low-speed side, and performs imaging with the front camera 200 (step S401). Next, the front camera 200 outputs each captured frame image to the driver support ECU 203 (step S402).

  In the medium-speed shooting mode shown in FIG. 4B, the shutter speed of the Nth frame (where N is a positive odd number) is 1/30 seconds, and the shutter speed of the (N + 1) th frame is 1/100 seconds. Imaging is performed (step S403). Next, the image processing unit 202 combines the Nth frame and the (N + 1) th frame captured by the front camera 200 in the set image area, and then outputs the synthesized image area to the driver support ECU 203 (step S404).

  FIG. 5 is a flowchart showing detailed operation procedures in the high-speed shooting mode (corresponding to step S306) and the turning shooting mode (corresponding to step S307) in the control device according to the present embodiment.

  In the high-speed shooting mode shown in FIG. 5A, the shutter speed of the Nth frame is 1/30 seconds, the shutter speed of the (N + 1) th frame is 1/100 seconds, and the shutter speed of the (N + 2) th frame is 1/500 seconds. Then, imaging is performed (step S501). Next, the image processing unit 202 combines the Nth frame, the (N + 1) th frame, and the (N + 2) th frame captured by the front camera 200 in the set image area, and then outputs the synthesized image area to the driver support ECU 203 (step S502). .

  In the turning shooting mode shown in FIG. 5B, first, the shutter speed of all frames is fixed to 1/100 second on the high speed side, and imaging is performed using the front camera 200 (step S503). Next, the front camera 200 outputs each captured frame image to the driver support ECU 203 (step S504). In this turning shooting mode, it may be possible to prevent the image from being darkened by irradiating far away by expanding the irradiation range of the near infrared ray.

  FIG. 6 is a diagram for explaining the relationship between the shutter speed and the image area in the front camera 200 according to the present embodiment. Note that the shutter speed in the description of this drawing is an example, and other shutter speeds can be set.

  FIG. 6A is a diagram illustrating shutter speeds in the imaging area 600 of the camera in the medium-speed shooting mode. The shutter speed is 1/30 seconds in the imaging area 600a and the shutter speed 1/100 seconds in the imaging area 600b. For example, when shooting at an imaging frame cycle of 30 Hz (33.3 ms cycle), the camera control unit 201 electronically changes the shutter speed alternately in imaging, and the image processing unit 202 changes the shutter speed. Two images picked up at the shutter speed are combined in the set image pickup region, and one image signal is output every 66.6 ms.

  FIG. 6B is a diagram showing shutter speeds in the imaging area 601 of the camera in the high-speed shooting mode at a vehicle speed of 80 km or higher. The shutter speed is 1/30 seconds in the imaging area 601a, and the shutter speed is 1 in the imaging area 601b. For example, when shooting at a frame cycle of 30 Hz (33.3 ms cycle) so that the shutter speed is 1/500 seconds in the imaging region 601c, the camera control unit 201 sets the shutter speed to 1/30. The change of 1/100 and 1/500 seconds is repeated, and the image processing unit 202 synthesizes three images captured at different shutter speeds in the imaging region and outputs one image signal every 100 ms.

FIG. 6C is a diagram illustrating shutter speeds in the imaging region 602 of the camera in the turning shooting mode, and the camera control unit 201 sets all the imaging regions 602a to the shutter speed 1/100 second on the high speed side. . Then, the image processing unit 202 outputs the captured image to the driver support ECU 203 without performing the process of combining the captured images.
Note that the imaging region for changing the shutter speed is not limited to the content shown in FIG. 6, and it is conceivable to divide an image with a different shape or increase or decrease the number of image divisions.

  As described above, in the in-vehicle imaging device and the vehicle control device according to the present embodiment, the driver support ECU 203 analyzes the vehicle speed and the turning or straight traveling state of the vehicle, and the camera control unit 201 of the front camera 200 is analyzed. Performs the imaging process by changing the shutter speed using the analyzed vehicle information. In addition, when the vehicle is traveling straight, the image processing unit 202 displays an image with a short shutter speed in an image area near the vehicle and a shutter speed in an image area far ahead of the vehicle according to each shooting mode. An image is synthesized using a long image.

For this reason, in the present invention, even when the surrounding situation is imaged using near infrared rays at night when the amount of light decreases, the area near the vehicle is imaged with a short shutter speed of the camera, and the area in front of the vehicle is By capturing a long shutter speed, it is possible to prevent blurring of a nearby object and to acquire an image in which brightness is secured for a distant object.
In addition, when turning the vehicle, all of the front image flows in the opposite direction to the turning of the vehicle, so that the entire image is shot at a short shutter speed and the image becomes darker by expanding the irradiation range of near infrared rays. Can be prevented.

  The in-vehicle imaging device and the vehicle control device according to the present invention can be used, for example, in a vehicle that performs vehicle control by determining a surrounding situation of the vehicle using irradiation with near infrared rays at night.

DESCRIPTION OF SYMBOLS 10 Vehicle 20 Vehicle control apparatus 101 Infrared projector 200 Front camera 201 Camera control part 202 Image processing part 203 Driver support ECU
204 Meter 205 Yaw rate sensor 206 Snake angle sensor 207 Power steering ECU
208 Electric power steering 209 Brake ECU
210 Wheel speed sensor 211 Brake actuator 212 Alarm buzzer

Claims (13)

A vehicle control device that obtains image information around a vehicle from an in-vehicle imaging device that uses a near infrared irradiation means, and performs vehicle control based on the image information,
Turn detection means for detecting a straight traveling state and a turning state of the vehicle;
Vehicle speed detection means for detecting the vehicle speed;
Shutter speed control means for controlling the shutter speed according to the vehicle speed detected by the vehicle speed detection means and the straight traveling state or turning state of the vehicle detected by the turning detection means;
Image processing means for generating a composite image using images taken at different shutter speeds controlled by the shutter speed control means;
Electronic control means for performing vehicle control based on the composite image generated by the image processing means. The shutter speed control means controls the shutter speed to a low speed side when the turning detection means determines that the vehicle is traveling straight and the vehicle speed detected by the vehicle speed detection means is less than a predetermined value, and the turning detection means 2. The vehicle control device according to claim 1, wherein when the vehicle speed is determined to be in a straight line and the vehicle speed detected by the vehicle speed detection unit is equal to or higher than a predetermined value, a different shutter speed is repeatedly controlled. The image processing means determines that the vehicle is traveling straight in the turning detection means, and if the vehicle speed detected by the vehicle speed detection means is equal to or higher than a predetermined value, an image with a short shutter speed is displayed in the image area near the vehicle. , And a composite image is generated using an image with a long shutter speed in an image area in front of the vehicle,
The vehicle control apparatus according to claim 2, wherein the electronic control unit performs vehicle control based on the composite image. 2. The vehicle control device according to claim 1, wherein the shutter speed control unit controls the shutter speed of the entire imaging region to a high speed side when the turning detection unit determines that the vehicle is turning. 3. The shutter speed control means determines a shooting mode having a different shutter speed according to a vehicle speed detected by the vehicle speed detection means and a straight traveling state or a turning state of the vehicle detected by the turning detection means. The vehicle control device according to claim 1, wherein the vehicle control device controls the shutter speed based on a shooting mode. The shooting mode includes a turning shooting mode, a low-speed shooting mode, and a medium-speed shooting mode, which are determined according to the vehicle speed detected by the vehicle speed detection means and the straight traveling state or turning state of the vehicle detected by the turning detection means. , And high-speed shooting mode,
The shutter speed control unit performs control to fix the shutter speed of the in-vehicle imaging device to a low speed side in the low speed shooting mode and to repeat a plurality of different shutter speeds in the medium speed shooting mode and the high speed shooting mode. The vehicle control device according to claim 5, wherein the shutter speed is fixed to a high speed side in the turning shooting mode. In the medium-speed shooting mode and the high-speed shooting mode, the image processing unit uses an image with a short shutter speed in the image area near the vehicle and an image with a long shutter speed in the image area in front of the vehicle. To generate a composite image,
The vehicle control apparatus according to claim 6, wherein the electronic control unit performs vehicle control based on the composite image. The vehicle control device according to claim 6, wherein in the turning shooting mode, an irradiation range of the irradiation unit using near infrared rays is expanded. An in-vehicle imaging device that captures image information around a vehicle using a near infrared irradiation means,
Shutter speed control means for controlling the shutter speed in accordance with the vehicle speed and the straight traveling state or turning state of the vehicle;
An in-vehicle imaging apparatus comprising: an image processing unit that generates a composite image using images captured at different shutter speeds controlled by the shutter speed control unit. The shutter speed control means controls the shutter speed to the low speed side when the vehicle is traveling straight and the vehicle speed is less than a predetermined value, and is different when the vehicle speed is determined to be traveling straight and the vehicle speed is greater than or equal to the predetermined value. The vehicle-mounted imaging device according to claim 9, wherein control for repeating the shutter speed is performed. When it is determined that the vehicle is traveling straight and the vehicle speed is equal to or higher than a predetermined value, the image processing means has an image area with a short shutter speed in the image area near the vehicle, and a shutter speed in the image area far in the vehicle. The vehicle-mounted imaging device according to claim 10, wherein a composite image is generated using a long image. The in-vehicle imaging device according to claim 9, wherein the shutter speed control means controls the shutter speed to a high speed side when it is determined that the vehicle is turning. A vehicle control method for acquiring image information around a vehicle from an in-vehicle imaging device that uses a near-infrared irradiation means, and performing vehicle control based on the image information,
A turn detection step for detecting a straight traveling state and a turning state of the vehicle;
A vehicle speed detection step for detecting the vehicle speed;
A shutter speed control step for controlling a shutter speed in accordance with a vehicle speed detected in the vehicle speed detection step and a straight traveling state or a turning state of the vehicle detected in the turning detection step;
An image processing step of generating a composite image using images taken at different shutter speeds controlled in the shutter speed control step;
An electronic control step of performing vehicle control based on the composite image generated in the image processing step.

Images