JP2013172378A - Image processing device and vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To synthesize different recognition results into a single image, in overlap, of photographed images with plural exposure amounts, thereby displaying the image in real time, in a case where different recognition processes for the plural exposure amounts are required.SOLUTION: An image processing device includes: a sensor 12 for imaging responsively to a different exposure amount for each frame; an image recognition process circuit 15a for performing plural recognition processes in response to respective exposure amounts by switching the processes for each frame on the basis of image data obtained with different exposure amount for each frame; an exposure control part 16 that holds plural exposure reference values corresponding to plural recognition processes, determines an exposure amount obtained by the sensor 12 and re-sets to the sensor 12 a recognition process at the image recognition process circuit 15a at a discretionary timing and an exposure reference value corresponding to the recognition process at the aforementioned timing by feeding them back, at an appropriate timing, so as to be reflected in a next-point frame of the same kind of recognition process, among recognition processes that are switched from moment to moment; and an image overlap-synthesis part 14 for overlapping obtained images of plural recognition processes onto a single image of an exposure amount.

Description

  The present invention relates to an image processing apparatus mounted on a vehicle and capable of performing a vehicle-mounted front recognition process, and a vehicle including the same.

Conventionally, in-vehicle forward recognition processing, which is processing performed by an image processing device mounted on a vehicle, includes image processing called AHB (automatic high beam position detection) at night in addition to LDW (white line detection) that is operated even during the daytime. In order to maintain a high detection (recognition) rate in each process, an image captured with an appropriate exposure amount is required, but each exposure control technology can be considered for in-vehicle front detection image processing and is already known. Yes.
However, in conventional vehicle forward recognition processing such as LDW and AHB, it is necessary to perform image processing with an exposure amount setting suitable for each processing in order to maintain a necessary recognition rate. Conventionally, a single recognition process is used for a single exposure amount, or a single recognition process result or detection information is notified to the driver by an alarm sound by switching a plurality of exposure amounts, or used for vehicle control.
In the case of a system having a plurality of these detection / recognition processes, the appropriate exposure amount may be different. Therefore, the exposure amount setting is switched for each frame, and the recognition process (AHB or LDW) is performed for the appropriate exposure amount frame. Will be performed.
In addition, new recognition processes may be developed and increased in the future in order to detect dangers in front of the vehicle that are difficult for humans to see, such as wet or frozen road surfaces. It is expected that the driver and passengers will be able to see it.

For example, although a white line on a wet road surface is difficult to visually recognize, a conventional device assumes a warning or operation assistance such as a brake handle, not as an image.
However, it is difficult to determine whether it is close to the invisible white line, protruded from the white line, or misidentified, and display for visual recognition after a plurality of processes is not assumed.
For this reason, since frames with different exposure amounts are alternately displayed when displaying, there is a problem that they are not suitable for visual recognition.

In Patent Document 1, the position of a light spot is specified with high accuracy from a nearby headlight to a distant tail lamp at a low cost of one camera, such as a headlight, a taillight, a traffic light, a streetlight, a vending machine, etc. An object of discriminating noise light to enhance nighttime vehicle detection performance and providing more advanced functions is disclosed.
Patent Document 1 includes image analysis means for analyzing an image taken by one camera (imaging means) mounted on a vehicle, and two or more images with different exposure amounts taken by the camera by the image analysis means. An apparatus for analyzing and detecting the position of another vehicle traveling ahead is disclosed, and a configuration for analyzing a plurality of images taken while changing the exposure amount and feeding back the next exposure adjustment based on the analysis result is disclosed. Has been.

In Patent Document 2, a single camera (imaging means) mounted on a vehicle acquires a plurality of images with different exposure amounts for the purpose of obtaining an image that can easily recognize a preceding vehicle or a white line while suppressing a load. A configuration for determining a contrast and generating a composite image is disclosed.
Patent Document 2 discloses that image recognition processing in front of the vehicle is performed while changing the exposure amount. However, as shown in FIG. 8, when the results of a plurality of vehicle front image recognition processes are alternately displayed in real time, there is a problem that the image becomes flickering due to different exposure amounts and is difficult to visually recognize.

  In view of the above-described problems, the present invention requires different recognition processes such as oncoming vehicle high beam detection, in addition to danger recognition in front of the vehicle such as nighttime or white lines on rainy roads, in addition to recognition of situations that are difficult to visually recognize. An object of the present invention is to provide an image processing apparatus capable of generating an image capable of viewing different recognition processing results in real time without flickering.

  In order to solve the above problems, the invention of claim 1 switches a plurality of recognition processes corresponding to each exposure amount for each frame based on image data picked up with different exposure amounts for each frame by the imaging means. The image recognition processing means to be processed while holding a plurality of exposure reference values corresponding to a plurality of recognition processes in the image recognition processing means, and determining the exposure amount obtained by the imaging means for each frame, at any time Of the image recognition processing means and the exposure reference value corresponding to the recognition process at the time point are appropriately reflected so as to be reflected in the next frame in the same kind of recognition process. An exposure control unit that feeds back and resets the imaging unit, and an image that is a plurality of recognition processing results obtained by the image recognition processing unit. Wherein the image superimposing synthesizing means for superimposing the image, and an image output means for outputting a result image obtained by the image superimposing combining means, in that it comprises.

  According to the present invention, the reference value of the exposure amount of the sensor is retained as much as necessary for the recognition process, and by performing switching setting, the recognition process suitable for each of the two or more different exposure values is performed, and different recognition process results It is possible to provide an image processing apparatus capable of generating an image that can be visually recognized in real time by superimposing and synthesizing with one of a plurality of exposure amount photographed images.

The figure for demonstrating each exposure condition by the image processing apparatus concerning embodiment of this invention, the recognition process result, and the synthesized image of a result. 1 is a block diagram for explaining a configuration of an image processing apparatus according to an embodiment of the present invention. The figure for demonstrating the concrete sensor exposure amount control and image composition timing by the image processing apparatus concerning embodiment of this invention (the 1). 6 is a flowchart for explaining exposure control and image composition by the image processing apparatus according to the embodiment of the present invention. The figure for demonstrating the concrete sensor exposure amount control and image composition timing by the image processing apparatus concerning embodiment of this invention (the 2). The figure which shows the usage of the memory in the conventional image processing. The figure which shows the usage of the memory in the conventional image processing. The figure for demonstrating each conventional exposure condition, the recognition process result, and the synthesized image of a result. The schematic diagram which shows the vehicle which can apply the image processing apparatus of this embodiment.

Embodiments of the present invention will be described with reference to the drawings.
Specifically, the apparatus for combining and displaying the vehicle front image recognition processing result with the imaging result has the following characteristics.
In short, the present invention performs exposure control necessary for each of a plurality of recognition processes, and alternately switches between exposure control and recognition processing, and based on a plurality of obtained exposure values, a plurality of different recognition processing results. Is superimposed on an image adjusted with one exposure amount setting.

The above features will be specifically described with reference to the following drawings.
FIG. 1 is a diagram for explaining each exposure state, a recognition processing result, and a resultant composite image by the image processing apparatus according to the embodiment of the present invention.
For example, in the case of an AHB such as an unprocessed image 1a (low-exposure image) shown in FIG. 1, the appropriate exposure amount is reduced to a level that can maintain the recognition rate, and imaging data is acquired from the sensor. The image recognition processing unit detects the position of the high beam on the imaging frame. Based on the coordinates of the target high beam on the screen, a rectangular frame (frame of the processing result 1b) surrounding the target portion is output as the processing result.
On the other hand, in the case of an LDW such as the image 2a shown in FIG. 1, in a dark place at night or in a tunnel, the appropriate exposure amount is increased to such an extent that the recognition rate can be maintained, and image data is acquired from the sensor. The image recognition processing unit detects the position of the start point and the end point of the white line in this imaging frame. Based on the coordinates of the target white line on the screen, a straight line (line of the processing result 2b) along the target portion is output as the processing result.
When the results of these two images are superimposed on an easy-to-see imaging frame (basically a high-exposure image in a dark place such as at night) and output as a single image that can be visually confirmed, the composition processing shown in FIG. Like the result.

Hereinafter, in the present embodiment, an example of recognition processing that requires these two types of different exposure amounts will be described.
FIG. 2A is a block diagram for explaining the configuration of the image processing apparatus 11 according to the embodiment of the present invention.
The sensor 12 constitutes an imaging unit and images with a different exposure amount for each frame set in the register.
The image interpolation generation unit 13 is a part that performs interpolation processing of necessary pixel values depending on the pixel configuration of the sensor 12, corrects it as an image necessary for image recognition processing, and passes it to the image superimposition synthesis unit 14.
The image recognition processing unit 15 performs a plurality of recognition processes corresponding to each exposure amount while switching each frame based on image data obtained with different exposure amounts for each frame.
The image recognition processing unit 15 uses the image data stored in the memory 14c to detect a white line on a road that requires a high exposure amount in a dark place, and detects a high beam of an oncoming vehicle that requires a low exposure amount in a dark place. Processing is performed, and reference position coordinates on the recognition target image are calculated from the processing result.

The exposure control unit 16 constitutes an exposure control means, holds a plurality of exposure reference values corresponding to a plurality of recognition processes in the image recognition processing unit 15, and automatically determines the exposure amount obtained by the sensor 12 for each frame. Then, the recognition reference value in the image recognition processing unit 15 at a certain point in time and the exposure reference value corresponding to the recognized recognition processing at that point in time are used as the next frame in the same kind of recognition processing among the recognition processings that are switched every moment. In order to be reflected, feedback is automatically made at an appropriate timing to reset the sensor 12.
The exposure control unit 16 divides one frame image into blocks from the pixel data obtained from the image complementation processing generation circuit 13a and measures the luminance amount of each block, and predetermined exposure for low exposure and high exposure. A built-in register group that holds a reference amount value, a parameter value for calculating brightness, a brightness value measured in each block, and a parameter value to be set in the sensor 12 at a predetermined timing, and the brightness amount and exposure amount of each block An exposure analysis circuit 16a having a function of updating an exposure parameter to be reflected in the sensor acquired image after the reference value and a predetermined number of frames and generating an interrupt signal for every one frame of processing is provided.
The exposure control unit 16 executes desired interrupt processing and register setting to the sensor 12 in response to the interrupt, or outputs a result based on the reference position coordinates of the recognition target on the image obtained by the image recognition processing unit 15. A processor (CPU) that executes arithmetic processing to form a line or a frame to be superimposed on the exposure amount image.
The image superimposing and synthesizing unit 14 superimposes a plurality of recognition processing results obtained by the image recognition processing unit 14 on an image with one exposure amount.
The image output unit 17 outputs the result image obtained by the image superposition / synthesis unit 14.

FIG. 2B is a diagram for explaining the detailed components of the present invention.
The sensor 12 is a sensor capable of exposure control from an external signal of the I2C communication standard, and exposure amount control is performed from the image processing system.
The memory 14c is used not only as a memory and frame buffer connected to the outside of the image processing system but also for CPU processing.
The monitor 18 displays an image obtained by combining the processing results.
The image processing system includes the following circuits or interfaces.
The input signal interface 19 shapes the synchronization signal input from the sensor 12. At the same time, it receives image data, adjusts the timing, and outputs it to the image complement generation circuit 13a.
The image complement generation circuit 13a complements the pixel data of the image data via the input signal interface and outputs it to the frame buffer switching circuit 14a and the exposure analysis circuit 16a.

The exposure analysis circuit 16a estimates the exposure amount of the frame from the luminance data for one frame, and stores the exposure amount according to the condition in the exposure setting register as compared with a predetermined reference exposure amount.
The frame buffer switching circuit 14a receives the image data from the image complement generation circuit 13a, and switches the frame buffer area of the memory 14c as the output destination by an internal register. Image data is output to the area for one frame from the set head address of the frame buffer. On the way through the bus interface and the memory control circuit 14b.
The image superimposing / synthesizing unit 14 has a memory, and the frame buffer switching circuit 14a provides an area as a frame buffer in the memory, an area for reading an output image as a desired superposition result, an image processing area, An area for writing an image obtained from the image pickup means and a buffer area for preventing reading and writing to the same area at the same time when the frame is switched, and sequentially switching the image area according to the timing from the exposure control unit 16 select.
The memory control circuit 14b controls the operation of the memory 14c, and arbitrates the data flow between the memory 14c, the frame buffer switching circuit 14a, the CPU 22, the image recognition processing circuit 15a, and the image output circuit 17a.

The image recognition processing circuit 15a reads the processing image frame that has been written from the preprocessing circuit in the frame buffer of the memory 17c, and performs recognition processing. The recognition result is written in a predetermined frame buffer area. The predetermined frame buffer in this case indicates an area held as a frame of an image synthesis result read out by the subsequent image output circuit 17a after processing for the processing image frame is completed.
The image output circuit 17a reads image frame data from a predetermined frame buffer in the memory 14c and outputs it to the monitor 18. The image output circuit 17a has a register for holding the start address of a predetermined frame buffer, and updates the register value at any time during interrupt processing corresponding to the read interrupt signal so as to read the image frame buffer area after the processing is completed.

The CPU 22 constitutes a central processing unit, and reads and executes a program from a ROM provided therein, thereby executing register read / write and an interrupt handler in the program.
The sensor control circuit 16 b has a control register and is connected to the sensor 12. The register value of the sensor 12 can be updated by writing to the register from the CPU 22. The sensor control circuit 16b is used to control the initial setting and exposure amount of the sensor 12.
The register interface 20 reads and writes the registers of the exposure analysis circuit 16b and the image recognition processing circuit 15a.

3 to 5 are diagrams for explaining exposure amount control and image synthesis timing for specific sensors.
Hereinafter, exposure control will be described with reference to the flowchart shown in FIG.
In step S10, an imaging frame reflecting exposure control is output from the sensor 12 to the image processing system. Sensor exposure control is performed through CPU processing (processing (1) or processing (8) shown in FIG. 3). The reference values for the exposure amount are set to dedicated registers for high and low values, and each is used alternately at the timing of sensor control, so images that have been corrected to appropriate exposures at high and low exposures are obtained alternately. It is done. Note that a low-exposure image and a high-exposure image obtained alternately are set as a synthesis processing unit.
In step S15, the luminance in the frame acquired by the exposure analysis circuit 16a is measured, it is determined whether the current exposure setting is high or low based on the luminance measurement value, the exposure correction parameter value is calculated, and the exposure is low. If it is determined that the frame is a frame, the low exposure amount parameter used after a predetermined number of frames is updated to the calculated correction value.

On the other hand, when it is determined that the frame has a high exposure, the exposure amount parameter used after a predetermined number of frames is updated to the calculated correction value (process (2) or process (9) shown in FIG. 3). .
In step S20, the exposure analysis circuit 16a issues an interrupt signal immediately after step S15 and issues it to the interrupt control circuit 2 (process (3) or process (10) shown in FIG. 3).
In step S <b> 25, the interrupt control circuit 21 arbitrates with other interrupt signals and generates an exposure control interrupt signal to the CPU 22. The CPU 22 acquires this interrupt signal, reads the exposure setting register value (parameter) by the interrupt handler, and writes it to the register of the sensor 12 via the sensor control circuit 16b. (Process (4) or process (11) shown in FIG. 3)
Although the reflection timing to the sensor 12 depends on the specification of the sensor, exposure can be set alternately regardless of the frame time until reflection by the following mechanism.

In the exposure analysis circuit 16a, when the type of exposure amount N is two types of high and low in the register that holds the exposure setting value at a certain time, it is set to expo [0] (for low exposure) and expo [1] (for high exposure). It is assumed that expo [i] (i = 0 or 1) at a certain time point, and in the next setting, the value of expo [next_i] (next_i = 0 or 1) is used for sensor control.
Assuming that the frame time from when the register value of the sensor 12 is updated until the value is reflected in the exposure of the sensor 12 is the number of frames F, which exposure setting register is used at the next time in the following equation. Is determined.
next_i = mod ((i + F), N) (1)
Note that mod in the equation (1) is a surplus operation.

In step S30, the sensor 12 uses the exposure setting written in the register for imaging after a predetermined number of frames. By rewriting different exposure settings alternately at appropriate timing for each imaging, frames with low exposure and frames with high exposure can be obtained alternately.
In the example shown in the figure, the type of exposure amount is N = 2 and the number of frames F = 3. If the low exposure value expo [0] register is used at a certain point in time, next_i = 1 and the high exposure value is set. The expo [1] register value is set in the sensor 12 and is reflected in the exposure amount to the image obtained from the sensor 12 after three frames. Next, it returns to step S10 and repeats the said process.
In the example of exposure control shown in this embodiment, the exposure value is set in two types of relatively high and low, but the present invention is not limited to such a case. By mounting two or more types of expo [i] registers, more different exposure values can be set.

Hereinafter, image composition will be described with reference to the flowchart shown in FIG.
In step S50, pixel data complemented by the image complement generation circuit 13a is output to the frame buffer switching circuit 14a from the sensor image obtained in the process (1). When an interrupt signal is generated immediately after all the previous frames are sent to the frame buffer, the frame buffer switching circuit 14a activates an interrupt handler for frame buffer address switching by CPU processing, and switches the write destination address.
The frame buffer switching circuit 14a simultaneously switches the processing address so that the write destination and the address being processed do not overlap. The frame buffer switching circuit 14a reads the exposure condition (high / low) at the time when switching the address. When the exposure amount at the time is high, the switching destination is for the low exposure amount frame, and when it is low, the switching destination is the high exposure amount. The frame buffer address for the frame is used. (Process (5) or process (12) shown in FIG. 3)
In step S55, the frame data in the memory 14c output from the image complement generation circuit 13a is stored in the frame buffer. In the example shown in FIG. 3, the frame immediately before the process (1) is switched to the low exposure frame buffer address immediately after being sent to the frame buffer. Therefore, the low exposure amount image obtained in the process (1) is temporarily stored in the low exposure amount frame buffer in the memory 14c. Similarly, the high exposure image obtained in the process (8) is temporarily stored in the high exposure frame buffer in the memory 14c.

In step S60, the image recognition processing circuit 15a performs recognition processing. In the example shown in FIG. 3, the frame immediately before the process (1) is switched to the low-exposure frame buffer address (for processing) immediately after being sent to the frame buffer. The exposure amount image is read from the low exposure amount frame buffer (for processing), and the processing result is held in the register. In the auto high beam detection process, the coordinates of the upper left and lower right of the rectangular frame surrounding the recognized high beam on the image with low exposure are maintained. In the white line detection process, the coordinates of the start point and end point of the straight line along the recognized white line are held.
In step S65, a straight line or a frame line is superimposed and synthesized on the high-exposure image already stored in the frame buffer in the memory 14c based on the recognition result coordinates.
In step S70, the image output circuit 17a reads the synthesized image and outputs it to the monitor 18. An interrupt signal is generated every time reading of one frame is completed, and the frame buffer area to be read is switched. Next, it returns to step S50 and repeats a process.

This example is not limited to frame buffer switching when the exposure value is two types of high and low, but a frame buffer area corresponding to the exposure value is mounted, and a plurality of exposure values are obtained by synchronizing with the exposure amount control described above. It can correspond to the recognition process according to.
When N types of exposures are required in the recognition process, the superimposed image display is delayed in time by N-1 frames from the time of imaging. In practice, it is desirable that the type of exposure amount is N ≦ 4.
Even in this case, the recognition result may be shifted by several frames. However, since the recognition result is displayed as a simple figure such as a line or a frame, use a sensor that has a sufficiently high imaging frame speed for actual driving. Therefore, there will be no significant shift on the image.
The number of recognition processes itself need not be the same as the exposure amount, and may be implemented as long as the system capacity and processing speed allow. In that case, it is assumed that some recognition processes share one of a plurality of exposure values.

In this way, when a plurality of frame buffer areas in the memory 14c are provided for each exposure type, and the writing area, the processing area, and the composite output area are switched for each exposure amount, as shown in FIG. Become. The N / A area shown in FIG. 5 is a buffer area for preventing simultaneous access to the read area when the write timing is read.
As shown in FIG. 5, when one buffer area N / A becomes redundant, this area may be reduced by one to further save the memory area.

Incidentally, as a method of using the memory in the conventional image processing, as shown in FIG. 6, a method of switching the storage in the memory 100 to a toggle shape is conceivable. However, the conventional simple toggle method can cope with a single processing result, but cannot cope with outputting a plurality of recognition results.
Further, as shown in FIG. 7, after the image data from the sensor is temporarily stored in the memory 110 and the image recognition process including the superposition synthesis is performed in the memory 110 as in the normal image processing system, the result image is copied to the output memory 120. In the configuration in which the data is output to the monitor after that, the memory resources are not fully utilized.
On the other hand, according to the present embodiment, the frame buffer in the memory 14c as described above is switched. That is, as shown in FIG. 5, by sequentially switching the areas like a toggle format, it is possible to effectively use memory resources and display a plurality of image recognition processing results on the same screen.
According to the present invention, the reference value of the exposure amount of the sensor is stored as much as necessary for the recognition processing, and the recognition processing suitable for each of the two or more different exposure values can be performed by switching setting.

In addition, recognition processing of invisible information such as white lines on rainy roads or information that is difficult to visually recognize coexists with other recognition processing that requires multiple different exposure amounts, and without recognizing the recognition rate. The result is displayed on the same image.
Furthermore, since a plurality of recognition processes can be performed with a single system, the cost of the apparatus can be reduced.
As a result, detected object information that is difficult to visually recognize, such as night lines and white lines on rainy roads, and a plurality of different recognition processing results can be visually recognized on the same screen in real time. Therefore, it becomes easier to judge safe driving.
In addition, it can be expected to reduce the cost of the system and expand according to the type of recognition processing.

<Other embodiments>
FIG. 9 is a schematic diagram showing a vehicle to which the image processing apparatus of this embodiment can be applied.
The image processing system according to the present embodiment includes an image display unit 101 for acquiring an image around the vehicle 100, for example, a front image, and an image display in which an image in front of the vehicle 100 analyzed for the acquired image is provided at an appropriate position in the vehicle. And an image analysis unit 102 that outputs to the unit 103.
Note that the image processing system (image processing apparatus) 12 of the above-described embodiment can be applied as a partial function of the image analysis unit 102.
Further, the sensor 12 of the above embodiment can be applied as the imaging unit 101, and the monitor 18 of the above embodiment can be applied as the image display unit 103.
In addition, the imaging unit 101 is installed in a room mirror position of the seat or the like so that an image in front of the vehicle 100 traveling can be captured.

A video (image) in front of the vehicle imaged by the imaging unit 101 is converted into an image signal and input to the image analysis unit 102. The image analysis unit 102 analyzes the image signal output from the imaging unit 101 and displays a video in front of the vehicle on the image display unit 103 (monitor 18).
By using the image processing apparatus of the above-described embodiment as an image analysis unit, it is possible to visually recognize detected object information such as night lines and white lines on rainy roads and a plurality of different recognition processing results on the same screen in real time. . Therefore, it is possible to realize a vehicle that makes it easier to judge safe driving.
Note that the installation position of the imaging unit 101 is not limited to the position of the room mirror for imaging the front of the vehicle. For example, the rear window can be used to capture the rear of the vehicle during parking or the like and display the image on the image display unit 103. You may make it provide in the periphery.

DESCRIPTION OF SYMBOLS 11 Image processing apparatus, 12 Sensor, 13 Image interpolation production | generation part, 14 Image superimposition synthetic | combination part, 14a Frame buffer switching circuit, 14b Memory control circuit, 14c Memory, 15 Image recognition processing part, 15a Image recognition processing circuit, 16 Exposure control part , 16a Exposure analysis circuit, 17 image output unit, 18 monitor, 19 input signal interface, 20 register interface, 21 interrupt control circuit

Japanese Patent No. 4253271 JP 2009-177250 A

Claims (9)

Image recognition processing means for processing a plurality of recognition processes corresponding to each exposure amount while switching for each frame, based on image data picked up with different exposure amounts for each frame by the imaging means;
A plurality of exposure reference values corresponding to a plurality of recognition processes in the image recognition processing means are held, an exposure amount obtained by the imaging means is determined for each frame, and a recognition process in the image recognition processing means at an arbitrary time point Then, the exposure reference value corresponding to the recognition process at the time point is fed back at an appropriate timing so that it is reflected in the next point frame in the same kind of recognition process among the recognition processes that are switched every moment, and is re-applied to the imaging unit. Exposure control means to be set;
Image superimposing and synthesizing means for superimposing an image as a plurality of recognition processing results obtained by the image recognition processing means on an image of one exposure amount;
And an image output means for outputting a result image obtained by the image superposition and synthesis means.   The image superimposing / synthesizing unit has a memory, and an area as a frame buffer is provided in the memory, an area for reading an output image as a desired superimposition result, an image processing area, and an image obtained from the imaging unit Frame buffer switching means for dividing the image area into a buffer area for preventing simultaneous reading and writing to the same area at the frame switching timing, and sequentially switching and selecting the image area in accordance with the timing from the exposure control means The image processing apparatus according to claim 1, further comprising:   An exposure analysis unit that calculates an exposure amount setting value for setting in the imaging unit for a subsequent frame for each of a plurality of image recognition processes based on image data obtained from the imaging unit is provided. The image processing apparatus according to claim 1.   The image processing apparatus according to claim 3, further comprising an exposure control unit configured to set a different exposure amount in the imaging unit at a predetermined timing based on an exposure amount setting value from the exposure analysis unit. Image complement processing means for complementing image data obtained from the imaging means to data suitable for image processing;
For inputting image data obtained from the image pickup means and transferring the image data to the image complement processing means, and simultaneously for data processing to the image complement processing means, the exposure analysis means and the frame buffer switching means, and timing adjustment of interrupt signals. The image processing apparatus according to claim 4, further comprising a signal generation unit configured to generate a signal.   The exposure control unit has a function of dividing one frame image into blocks from the image data obtained from the image complement processing unit and measuring the luminance amount of each block, and predetermined exposure amounts for low exposure and high exposure Built-in register group that holds reference values, parameter values for brightness calculation, brightness values measured in each block, and parameter values for setting to the image pickup means at a predetermined timing, and the brightness amount and exposure amount of each block 2. An exposure analysis unit having a function of updating a reference value and an exposure parameter to be reflected in a sensor-acquired image after a predetermined number of frames and generating an interrupt signal for each process of one frame. The image processing apparatus described.   Using the image data stored in the memory, white line detection processing for roads requiring high exposure in dark places, high beam detection processing for oncoming vehicles requiring low exposure in dark places, and processing results 2. The image processing apparatus according to claim 1, further comprising image recognition processing means for calculating a reference position coordinate on the recognition target image.   The exposure control means executes a desired interrupt process and register setting to the imaging means in response to the interrupt, or results based on the reference position coordinates of the recognition object on the image obtained by the image recognition processing means. The image processing apparatus according to claim 1, further comprising: a processor that executes arithmetic processing to form lines and frames to be superimposed on the output exposure amount image.   Imaging means for acquiring image data around the vehicle, image processing means for processing the image data picked up by the imaging means, and an image display device for displaying an image related to the image data processed by the image processing means The vehicle is characterized in that the image processing means is the image processing apparatus according to any one of claims 1 to 8.

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