JP2014000908A - Light source state detection apparatus, light source state detection method, and light source state detection program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily detect malfunction of a light source.SOLUTION: A pattern determination section determines a pattern of a lighting state of a plurality of light sources based on an operation state for instructing the lighting state of the light sources. A pattern storage section stores an image in a state where light sources that should be turned on are being lit as a pattern image for each pattern of the lighting state of the light sources, regarding an image which is captured for determining malfunction of the lighting state of the light sources. A pattern collation section collates an image which is captured for determining malfunction of the lighting state of the light sources with a pattern image stored in the pattern storage section, regarding the pattern determined by the pattern determination section. A malfunction determination section determines malfunction of the lighting state of the light sources based on a collation result by the pattern collation section.

Description

  The present invention relates to a light source state detection device, a light source state detection method, and a light source state detection program.

  In order to ensure traffic safety, vehicles such as passenger cars generally include a plurality of light sources (lamps). For example, a light bulb, a light emitting diode (Light Emitting Diode), or the like is used as the light source. Since the light source does not turn on due to aging of the material used, the light source that has stopped turning on during vehicle maintenance may be replaced with a new light source. A light source provided in a vehicle, such as a direction indicator lamp, is not always used, but if it is not lit at a necessary time, a safety problem may occur. Therefore, a method for detecting the state of the light source (for example, whether or not lighting is possible) has been proposed.

  For example, in the ball break detection device described in Patent Document 1, the first direction indicator lamp that is turned on by the lamp current of the direction indication blinking signal supplied from the direction indication blinking device and the direction indication blinking signal from the direction indication blinking device are minute. A third relay for inputting a current and a lamp current supplied from an in-vehicle power source to the second direction indicator lamp; a current detection circuit for detecting a bulb out condition of the second direction indicator lamp; and a bulb out signal of the circuit Is operated by the first relay that cuts off the input to the first direction indicator lamp and the ball-out signal, and the lamp current from the in-vehicle power source is input to the first direction indicator lamp.

JP 2008-254679 A JP 2005-75331 A

  However, in the ball break detection device described in Patent Document 1, a direction indication blinking device is provided separately from the on-vehicle power source, and a change in the load of the direction indication blinking device that occurs in the ball breakage state is electrically detected. Therefore, when there are a plurality of light sources including a direction indicator lamp, it is difficult to immediately grasp which light source is abnormal.

  The present invention has been made in view of the above points, and provides a light source state detection device, a light source state detection method, and a light source state detection program that can easily detect abnormality of a light source.

(1) The present invention has been made to solve the above-described problems, and one aspect of the present invention determines a lighting state pattern of a light source based on an operation state instructing a lighting state of a plurality of light sources. A pattern determination unit, and an image taken for determining an abnormality in the lighting state of the light source for each pattern of the lighting state of the light source, an image in a state where the light source to be lit is turned on as a pattern image A pattern for comparing a pattern image stored in the pattern storage unit with an image photographed for determining an abnormality in the lighting state of the light source for the pattern storage unit to be stored and the pattern determined by the pattern determination unit A collation unit; and an abnormality determination unit that determines an abnormality in a lighting state of the light source based on a result of the collation by the pattern collation unit. A light source state detection device.

(2) Another aspect of the present invention is the above-described light source state detection device, wherein the pattern storage unit relates to an image photographed for determining an abnormal lighting state of the light source for each pattern. An image in a state where a light source to be lit is turned on is stored as a normal pattern image, and an image in a state in which at least one light source to be lit is not turned on is stored as an abnormal pattern image. For the pattern determined by the pattern determination unit, an image captured for determining an abnormality in the lighting state of the light source is compared with a normal pattern image stored in the pattern storage unit and an abnormal pattern The image is collated with the abnormality determining unit, and the abnormality of the lighting state of the light source is determined based on the result of the collation by the pattern matching unit. In some cases, to identify the light source is abnormal and judging an abnormality.

(3) Another aspect of the present invention is the above-described light source state detection device, wherein the lighting state of the light source includes a state where the light source blinks, and the light source state detection device includes a lighting state of the light source. A continuity determination unit that determines temporal continuity of an image captured to determine abnormality is provided, and the abnormality determination unit is configured to determine whether the light source is lit based on a determination result by the continuity determination unit. It is characterized by determining abnormality.

(4) According to another aspect of the present invention, a light source to be lit is turned on with respect to an image photographed for determining an abnormality in the lighting state of the light source for each of the lighting state patterns of the plurality of light sources. In the light source state detection device including a pattern storage unit that stores an image in the pattern as a pattern image, the light source state detection device determines a lighting state pattern of the light source based on an operation state instructing a lighting state of the light source. In step 1, the light source state detection device collates, with respect to the determined pattern, an image photographed for determining an abnormality in the lighting state of the light source and a pattern image stored in the pattern storage unit. A second step and a third step in which the light source state detection device determines an abnormality in the lighting state of the light source based on a result of the collation in the second step. A source state detection method characterized by.

(5) According to another aspect of the present invention, a first procedure for determining a lighting state pattern of a light source based on an operation state instructing a computer of the light source state detection device to turn on a plurality of light sources, the determination The light source is turned on for each pattern of a plurality of light source lighting states, which is an image that is captured for determining an abnormality in the lighting state of the light source and an image that is stored in a pattern storage unit. A second procedure for collating a pattern image that is an image in a state where a light source to be lit is turned on with respect to an image photographed to determine a state abnormality, based on a result of collation by the second procedure A light source state detection program for executing a third procedure for determining an abnormality in the lighting state of the light source.

  According to the present invention, it is possible to easily detect abnormality of a light source.

It is the schematic which shows the structure of the light source state detection system which concerns on embodiment of this invention. It is a front view which shows an example of arrangement | positioning of an imaging | photography part and a light source. It is a rear view which shows an example of arrangement | positioning of an imaging | photography part and a light source. It is a right view which shows an example of arrangement | positioning of an imaging | photography part and a light source. It is a surface view which shows an example of arrangement | positioning of an imaging | photography part and a light source. It is a surface view which shows an example of the irradiation angle of a light source. It is a table | surface which shows an example of the determination item which concerns on this embodiment. It is a figure which shows an example of the instruction | indication signal which concerns on this embodiment. An example of the pattern of the instruction | indication with respect to the light source which concerns on this embodiment is shown. It is the schematic which shows the structure of a front state determination part. It is a figure which shows an example of the normal pattern image which concerns on this embodiment. It is a figure which shows the other example of the normal pattern image which concerns on this embodiment. It is a figure which shows an example of the abnormal pattern image which concerns on this embodiment. It is a figure which shows an example of the input image which concerns on this embodiment. It is a flowchart which shows the light source state detection process which concerns on this embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram illustrating a configuration of a light source state detection system 1 according to the present embodiment.
The light source state detection system 1 includes an imaging unit 11, an environment detection unit 12, an operation input unit 13, a light source state detection unit 14, and a notification unit 15.

  The imaging unit 11 is, for example, a camera that captures an image and generates an image signal indicating the captured image for each frame. The imaging unit 11 is attached to a vehicle and captures an image representing an area where a light source attached to the vehicle emits a light beam and reflects the light beam. The number of the imaging units 11 may be one or plural. The imaging unit 11 outputs the generated image signal to the light source state detection unit 14 at a predetermined time interval (for example, 1/30 seconds). An arrangement example of the photographing unit 11 and the light source will be described later.

  The environment detection unit 12 detects environment information representing the environment at the time of shooting. The environment detection unit 12 is, for example, a raindrop sensor. A rain sensor is attached to the back surface of the front window on the front surface of the vehicle, for example. The raindrop sensor includes a light-emitting diode that is a light source, a prism that refracts a light beam to form an optical path, and a photodiode that is a light-receiving element. Thus, the light beam emitted from the light emitting diode and passed through the prism is refracted by the water droplets attached to the front window and enters the photodiode. The photodiode converts the incident light beam into an electrical signal, and outputs the converted electrical signal to the light source state detection unit 14 as an environmental signal.

The operation input unit 13 receives an operation input instructing driving of the vehicle or an operation of a function unit associated therewith among operation inputs related to driving by the driver, and an instruction signal indicating the received operation input is received as a light source state detection unit 14 for output. An example of the instruction signal will be described later.
Based on the image signal input from the imaging unit 11, the environment signal input from the environment detection unit 12, and the instruction signal input from the operation input unit 13, the light source state detection unit 14 generates an abnormality for each of the light sources. Detect whether or not. The light source state detection unit 14 generates a light source state signal indicating whether an abnormality has occurred. The light source state detection unit 14 outputs the generated light source state signal to the notification unit 15. The light source state detection unit 14 may be configured as an independent light source state detection device that can be attached to and detached from other functional units such as the photographing unit 11 and the like. A configuration example of the light source state detection unit 14 will be described later.

  The notification unit 15 notifies that an abnormality has occurred for each light source based on the light source state signal input from the light source state detection unit 14. An abnormality is a state in which lighting is instructed but does not light, for example, a state in which a bulb filament is broken (so-called “bulb out”). The alerting | reporting part 15 alert | reports that it is normal about some light sources among all the light sources, and you may make it alert | report that it is abnormal about the remaining light sources as a whole.

  The alerting | reporting part 15 is equipped with the warning light which shows that abnormality has generate | occur | produced in the said light source for every above-mentioned light source, for example. For example, the warning light is installed at a position visually recognized by the driver, such as the front of the driver's seat, and indicates that an abnormality has occurred in the corresponding light source by turning on. In addition, the alerting | reporting part 15 may be a display apparatus which displays the image showing the label | marker (mark) which shows each of the light source installed in the vehicle. For light sources in which an abnormality has occurred, corresponding signs are used in a manner that is different from the light source in which no abnormality has occurred (for example, color, size, blinking, etc.) and that alerts the driver. It may be displayed. The notification unit 15 may reproduce a warning sound when there is a light source in which an abnormality has occurred. This alerts the driver that an abnormality has occurred in the light source.

(Configuration of light source state detection unit)
Next, the configuration of the light source state detection unit 14 according to the present embodiment will be described.
The light source state detection unit 14 includes an environment determination unit 141, a pattern determination unit 142, and a light source state determination unit 143. The light source state detection unit 14 may be configured as an independent device (light source state detection device) that is detachable from other configurations including the imaging unit 11.
The environment determination unit 141 is based on the image signal input from the imaging unit 11, the environment signal input from the environment detection unit 12, or the instruction signal input from the operation input unit 13. It is determined whether or not to operate (environment suitability determination). If the environment determination unit 141 determines to operate, the environment determination unit 141 outputs the input image signal to the light source state detection unit 14. When the environment determination unit 141 determines not to operate, the environment determination unit 141 stops the subsequent processing. Examples of items (determination items) determined by the environment determination unit 141 will be described later.

  The pattern determination unit 142 determines a pattern indicating whether power is supplied to each of the light sources corresponding to the instruction signal input from the operation input unit 13 (that is, the light source is turned on) (vehicle state) Judgment). The pattern determination unit 142 may determine the pattern for each of a light source installed in front of the vehicle and a light source installed in the rear of the vehicle. The pattern determination unit 142 generates pattern information indicating the determined pattern, and outputs the generated pattern information to the light source state determination unit 143. Examples of patterns determined by the pattern determination unit 142 will be described later.

The light source state determination unit 143 includes a front state determination unit 143-1 and a rear state determination unit 143-2 (bulb break detection). Based on the image signal input from the environment determination unit 141 and the pattern information input from the pattern determination unit 142, the front state determination unit 143-1 determines whether or not each of the light sources installed in front of the vehicle is abnormal. judge. The front state determination unit 143-1 generates a light source state signal indicating whether or not each of the light sources installed in front of the vehicle is abnormal, and outputs the generated light source state signal to the notification unit 15.
The rear state determination unit 143-2 determines whether or not the light source installed behind the vehicle is abnormal based on the image signal input from the environment determination unit 141 and the pattern information input from the pattern determination unit 142. . The rear state determination unit 143-2 generates a light source state signal indicating whether or not each of the light sources installed behind the vehicle is abnormal, and outputs the generated light source state signal to the notification unit 15.
The configuration of the forward state determination unit 143-1 will be described later. The configuration of the rear state determination unit 143-2 is also the same as that of the front state determination unit 143-1 except that the information to be processed is a light source installed behind the vehicle.

(Arrangement example of shooting section and light source)
Next, an arrangement example of the photographing unit 11 and the light source will be described.
Hereinafter, a case where four photographing units 11-1 to 11-4 and a plurality of light sources are arranged in the vehicle 3 will be described as an example with reference to FIGS. Examples of the light source provided in the vehicle 3 include two headlamps (headlights) 31-1, 31-2, six direction indicator lamps (winkers) 32-1 to 32-6, and four fog lights. Lights (fog lamps) 33-1 to 33-4, two vehicle width lights 34-1 and 34-2, two tail lights (tail lamps) 35-1 and 35-2, and two brake lights (brake lamps) 36-1, 36-2, two back lights (back lamp, backward light) 37-1, 37-2 and a license light (number light) 38.

FIG. 2 is a front view illustrating an example of the arrangement of the photographing unit 11-1 and the light source.
FIG. 2 shows the front of the vehicle 3. The left side of FIG. 2 shows the right side toward the front of the vehicle 3, and the vertical direction of FIG. 2 shows the vertical direction of the vehicle 3.
The imaging unit 11-1 is installed forward in the upper central portion of the windshield of the vehicle 3. Thereby, the imaging unit 11-1 captures an image in front of the vehicle 3.
The headlamps 31-1 and 31-2 are installed on the left and right sides of the front surface of the vehicle 3. The headlamps 31-1 and 31-2 are illumination devices that improve the visibility of surrounding objects with respect to the driver and improve the visibility of the vehicle 3 from the outside. The irradiation angles at which the headlamps 31-1 and 31-2 emit light rays are, for example, 60 ° with respect to the horizontal direction. The direction in which the headlamps 31-1 and 3-2 emit light can be adjusted such that the center direction is a horizontal direction (high beam) or an oblique downward direction (for example, 5 °, low beam) from the horizontal direction.

The direction indicating lights 32-1 and 32-2 are installed below the headlamps 31-1 and 31-2 at positions shifted to the left and right ends of the vehicle 3, respectively. The direction indicating lights 32-1 and 32-2 are lights indicating that the driver makes a left turn or a right turn with respect to the outside.
The fog lights 33-1 and 33-2 are installed at positions shifted to the center of the vehicle 3 from the direction indicator lights 32-1 and 32-2, respectively. When the field of view is limited due to the generation of dense fog, the fog lights 33-1 and 33-2 ensure visibility while suppressing reflection of emitted light to the driver and improve visibility from the outside. It is an illuminating device. The irradiation angles of the fog lights 33-1 and 33-2 are wider than the irradiation angles of the headlamps 31-1 and 31-2. For example, the angle is 100 ° with respect to the horizontal direction.
The vehicle width lamps 34-1 and 34-2 are adjacent to positions shifted to the center of the vehicle 3 relative to the headlamps 31-1 and 31-2. The vehicle widths 34-1 and 34-2 are illumination devices for the purpose of recognizing the vehicle width of the vehicle 3 from the outside.

FIG. 3 is a rear view illustrating an example of the arrangement of the imaging unit 11-2 and the light source.
FIG. 3 shows the rear surface of the vehicle 3. 3 indicates the left-right direction toward the front of the vehicle 3, and the up-down direction in FIG. 3 indicates the up-down direction of the vehicle 3.
The photographing unit 11-2 is installed in the lower central part of the rear glass of the vehicle 3 so as to face rearward. Thereby, the imaging unit 11-2 captures an image behind the vehicle 3.
The direction indicator lights 32-3 and 32-4 are installed on the left side and the right side of the rear surface of the main body of the vehicle 3, respectively.
The fog lights 33-3 and 33-4 are positions below the direction indicator lights 32-3 and 32-4, respectively, and are shifted to the center of the vehicle 3 than the direction indicator lights 32-3 and 32-4, respectively. Is installed.
The tail lights 35-1 and 35-2 are installed directly above the direction indicating lights 32-3 and 32-4, respectively. The tail lights 35-1 and 35-2 are illumination devices that indicate that the host vehicle is traveling with respect to the following vehicle at night. When the headlamps 31-1, 31-2 emit light, the taillights 35-1, 35-2 may also emit light in conjunction with these.

The brake lights 36-1 and 36-2 are adjacent to a position shifted to the center of the vehicle 3 with respect to the direction indicating lights 32-3 and 32-4. The brake lights 36-1 and 36-2 are illumination devices that indicate that the host vehicle is performing a brake operation on the following vehicle.
The back lights 37-1 and 37-2 are installed directly below the direction indicating lights 32-3 and 32-4, respectively. The back lights 37-1 and 37-2 are illumination devices that indicate that the host vehicle is moving backward or backward relative to the following vehicle.
The license lamp 38 is an illuminating device that is installed at the center of the back of the main body of the vehicle 3 and irradiates a license plate with a light beam to improve the visibility.

FIG. 4 is a right side view illustrating an example of the arrangement of the imaging units 11-1, 11-2, and 11-4 and the light source.
FIG. 4 represents the right side surface of the vehicle 3. The left side and the vertical direction in FIG. 4 indicate the rear side and the vertical direction of the vehicle 3, respectively. As described above, the photographing units 11-1 and 11-2 are installed at the front and rear of the vehicle 3, respectively. The photographing unit 11-4 is installed on the upper front side of the front right door of the vehicle 3 toward the right side. Thereby, the imaging unit 11-4 captures an image on the right side of the vehicle 3. The direction indicator lamp 32-6 is installed almost directly below the photographing unit 11-4.
Note that the photographing unit 11-3 and the direction indicator lamp 32-5 are installed at positions that are symmetrical to the vehicle 3 with respect to the photographing unit 11-4 and the direction indicator lamp 32-6.

FIG. 5 is a surface view illustrating an example of the arrangement of the imaging units 11-1 to 11-4 and the light sources.
FIG. 5 shows the surface of the vehicle 3 from above. The up-down direction and left-right direction in FIG. 5 indicate the front-rear direction and the left-right direction of the vehicle 3, respectively.
As described above, the headlamps 31-1 and 31-2 and the vehicle width lamps 34-1 and 34-2 are installed on the front surface of the vehicle 3. -1 is installed. However, the direction indicating lights 32-1 and 32-2 and the fog lights 33-1 and 33-2 are not shown in FIG. 5 because they are directly below the headlamps 31-1 and 31-2.
On the back of the vehicle 3, tail lights 35-1 and 35-2, brake lights 36-1 and 36-2, and a license light 38 are installed, and a photographing unit 11-2 is located below the center of the windshield of the vehicle 3. is set up. However, the direction indicating lights 32-3 and 32-4 and the back lights 37-1 and 37-2 are not shown in FIG. 5 because they are directly below the tail lights 35-1 and 35-2, respectively.
On the left side surface of the vehicle 3, an imaging unit 11-3 and a direction indicator lamp 32-5 are installed.
On the right side surface of the vehicle 3, an imaging unit 11-4 and a direction indicator lamp 32-6 are installed.
Note that the arrangement and the number of the photographing units 11 and the light sources are not limited to the examples illustrated in FIGS. For example, it may differ depending on the vehicle type.

(Example of irradiation angle of each light source)
Next, an example of the irradiation angle of the light source installed in front of the vehicle 3 will be described.
FIG. 6 is a surface view showing an example of the irradiation angle of the light source.
In FIG. 6, the positional relationship between each light source and the photographing unit installed in the vehicle 3 is the same as that in FIG. However, in FIG. 6, the light source and the photographing unit installed behind the vehicle 3 are omitted.
The sectors 41-1, 41-2, 42-1, 42-2, 43-1, 43-2, 44-1 and 44-2 shown in FIG. 6 are the headlamps 31-1, 31 respectively. -2, the direction indication lamps 32-1, 32-2, the fog lights 33-1, 33-2, and the width lights 34-1, 34-2 are shown. A sector 45 indicated by a broken line indicates a viewing angle (view angle) of the photographing unit 11-1.
Therefore, the imaging unit 11-1 captures an image including an area that represents an object (for example, the ground) that reflects the light beam emitted from each light source and an area that does not reflect the light beam.
During operation (including running and stopping), not all light sources are instructed to be supplied with power (switched on). The driver is instructed to supply power to some of the light sources. In the present embodiment, a light source that does not emit light despite being instructed to supply power is detected as abnormal.
Note that the light sources installed behind the vehicle 3 also have different irradiation angles depending on their types.

(Example of judgment items)
An example of items (determination items) determined by the environment determination unit 141 is shown in FIG.
FIG. 7 is a table showing an example of determination items according to the present embodiment.
The left column in FIG. 7 indicates determination items, and the right column indicates determination information. The determination information indicates the determination result of each determination item. Among these, the determination result shown in the left column is an affirmative determination that affirms that the operation of the own apparatus (light source state detection unit 14) is performed. The determination result shown in the right column is a negative determination that denies the operation of the device itself. The environment determination unit 141 determines to operate the own device when, for example, an affirmative determination is obtained for all the determination items. The environment determination unit 141 determines not to operate the own device when a negative determination is obtained for at least one determination item. Moreover, you may abbreviate | omit one or arbitrary combinations of some of these determination items, for example, a weather, a road surface, and a wiper operation | movement.

The day and night in the second row in FIG. 7 indicates whether or not the area represented by the input image is daytime or an environment having illuminance similar to daytime. The environment determination unit 141 determines, for example, daytime (bright) when the average value of the luminance values of the input image signal is larger than a predetermined threshold value, and night (darkness) when it is equal to or smaller than the threshold value. The night is not limited to night, but may include an environment having lower illuminance than daytime, for example, evening or early morning.
The weather (precipitation) in the third row in FIG. 7 indicates whether there is precipitation in the region represented by the input image. For example, the environment determination unit 141 determines that there is precipitation when a spatially continuous area that takes the maximum value of the luminance value of the input image signal is smaller than a predetermined size. The environment determination unit 141 determines that there is no precipitation when there is no such region. This is because the region covered with water by precipitation reflects the light incident from the light source sharply.

The road surface (asphalt, etc.) in the fourth row in FIG. 7 is an area covered by the input image that is covered with a material having a specific color (eg, asphalt (dark), asphalt (light), concrete, etc.). Indicates whether or not For example, the environment determination unit 141 determines that the input image signal is applicable when it includes a region that takes a range of luminance values related to the color of the material. If the environment determination unit 141 does not include such a region, the environment determination unit 141 determines that the region is not applicable. Further, the environment determination unit 141 may determine whether or not a region such as a road surface represented by the input image is covered with a material having another specific color (for example, soil, snow, etc.). . For example, even when an input image signal includes a region that takes a range of luminance values related to the color of the material, it is determined as not applicable.
The weather (precipitation) in the fifth row in FIG. 7 also indicates whether there is precipitation in the area represented by the input image. For example, when the signal value of the environment signal input from the environment detection unit (raindrop sensor) 12 is greater than a predetermined threshold, the environment determination unit 141 determines that there is precipitation. The environment determination unit 141 determines that there is no precipitation when the signal value of the input environmental signal is equal to or smaller than a predetermined threshold value.
The wiper operation in the sixth row in FIG. 7 indicates whether or not the driver has instructed the wiper operation. For example, when the instruction signal instructing to perform the wiper operation is included in the instruction signal input from the operation input unit 13, the environment determination unit 141 determines that there is a wiper operation. The environment determination unit 141 determines that there is no wiper operation when the instruction signal instructing to perform the wiper operation is not included.

(Example of instruction signal)
Next, an example of an instruction signal for instructing operations such as whether or not each light source shown in FIGS.
FIG. 8 is a diagram illustrating an example of an instruction signal according to the present embodiment.
The left column in FIG. 8 represents the light source, and the right column represents the content of the instruction indicated by the instruction signal.
For example, the instruction signals for the headlamps 31-1 and 31-2 shown in the second row of FIG. 8 are turned on (horizontal), turned on (down diagonally), or turned off (total of three types). It is a signal to show. Illumination (horizontal) indicates that light is emitted with the central axis in the horizontal direction as described above. Illumination (downwardly oblique) indicates that a light beam is emitted with the central axis directed obliquely downward from the horizontal direction. For both lighting (horizontal) and lighting (down diagonally), power is supplied to the headlamps 31-1 and 31-2. “Turn off” indicates that no light is emitted without supplying power to the headlamps 31-1 and 31-2. For example, the operation input unit 13 receives a switch operation on the headlamps 31-1 and 31-2 by the driver, and generates an instruction signal.
The instruction signals for the direction indicator lamps (left) 32-1, 32-3, and 32-5 shown in the third row of FIG. 8 are signals that indicate blinking or extinguishing. Flashing means repeating lighting and extinguishing at a predetermined cycle (for example, once or twice per second), that is, with respect to the direction indicator lamps (left) 32-1, 32-3, 32-5. Indicates that the presence or absence of power supply is repeated in the cycle. For example, the operation input unit 13 receives a switch operation on the left turn direction indicator by the driver, and generates an instruction signal.

(Pattern example)
An example of the correspondence between the pattern determined by the pattern determination unit 142 and the instruction signal will be described. However, the instruction signal described below indicates an instruction for the light source installed in front of the vehicle.
FIG. 9 shows an example of an instruction pattern for the light source according to the present embodiment.
In FIG. 9, in order from the leftmost column to the right, instructions for the headlamps 31-1, 31-2, instructions for the direction indicator lamp (left) 32-1, instructions for the direction indicator lamp (right) 32-2, fog lights Instructions for 33-1 and 33-2, instructions for vehicle width lights 34-1 and 34-2, and pattern numbers for identifying combinations of these instructions are shown.

9 shows three patterns for the headlamps 31-1, 31-2, two instructions for the direction indicator lamp (left) 32-1, and two patterns for the direction indicator lamp (right) 32-2. , Two kinds of instructions for fog lights 33-1 and 33-2, and two kinds of combinations of two kinds of instructions for vehicle width lights 34-1 and 34-2 (total 48 kinds).
For example, the 17th line in FIG. 9 indicates that the indication signals are the lighting (horizontal) for the headlamps 31-1, 31-2, the direction indicator (left) 32-1, and the direction indicator (right) 32-2. , The fog lamps 33-1 and 33-2 and the vehicle width lights 34-1 and 34-2 are instructed to be turned off. In this case, the pattern determination unit 142 indicates that the pattern 16 is determined.
The pattern determination unit 142 includes a storage unit that stores in advance an instruction signal indicating a combination of instructions for each light source illustrated in FIG. 9 and pattern information, and reads pattern information corresponding to the input instruction signal. Also good.

(Configuration of forward state determination unit)
Next, the configuration of the forward state determination unit 143-1 will be described.
FIG. 10 is a schematic diagram illustrating the configuration of the forward state determination unit 143-1.
The forward state determination unit 143-1 includes a parameter setting unit 1431-1, a preprocessing unit 1432-1, a pattern storage unit 1433-1, a pattern matching unit 1434-1, a continuity determination unit 1437-1, and an abnormality determination unit 1438-. 1 is comprised.

  The parameter setting unit 1431-1 determines parameters used in the preprocessing described later based on the image signal input from the environment determination unit 141, and outputs the determined parameters to the preprocessing unit 1432-1. The parameters include, for example, the maximum value, minimum value, average value for each color signal value indicated by the input image signal, and other parameters based on the color and brightness of the road surface (the color of asphalt covering the road surface and the brightness of external light). , Thresholds, etc.

  The preprocessing unit 1432-1 performs preprocessing on the image signal input from the environment determination unit 141, and outputs the preprocessed image signal to the pattern matching unit 1434-1. Preprocessing includes, for example, brightness correction, mask processing, filtering processing, edge processing, and the like. For example, the preprocessing unit 1432-1 performs, for example, brightness correction based on the parameter input from the parameter setting unit 1431-1. Here, the pre-processing unit 1432-1 linearly converts the signal value of the input image signal using the input parameters so that the maximum value, the minimum value, and the average value for each predetermined color signal value are obtained. To do. The preprocessing unit 1432-1 may perform mask processing on the image signal that has been subjected to brightness correction by removing a signal value relating to a region representing a color that each light source does not emit. The preprocessing unit 1432-1 may further perform filtering processing by smoothing the signal value in order to reduce noise. The preprocessing unit 1432-1 may further perform edge processing by extracting a portion where the gradient of the signal value is larger than a predetermined threshold value.

The pattern storage unit 1433-1 stores a normal pattern image signal and an abnormal pattern image signal for each pattern information. The normal pattern image signal is an image signal indicating an image photographed by the photographing unit 11-1 when all of the light sources instructed to be turned on for the pattern emit light. That is, the normal pattern image signal is an image signal obtained when the light source emits light as instructed by the instruction signal. The abnormal pattern image signal is an image signal indicating an image captured by the imaging unit 11-1 when at least one of the light sources instructed to be turned on for the pattern does not emit light. That is, the abnormal pattern image signal is an image signal obtained when the light source does not emit light as instructed by the instruction signal. The state of the light source that does not emit this light is abnormal. Since there are not necessarily one light source that is instructed to be lit and one that does not emit light, there may be more than one abnormal pattern image signal.
Of the light sources instructed to be lit, information indicating a combination of light sources that do not emit light is referred to as abnormal pattern information. The pattern storage unit 1433-1 further stores the abnormal pattern image signal and the abnormal pattern information in association with each other. Examples of normal pattern image signals and abnormal pattern image signals will be described later.

  The normal pattern matching unit 1435-1 reads a normal pattern image signal corresponding to the pattern information input from the pattern determination unit 142 from the pattern storage unit 1433-1. The normal pattern collation unit 1435-1 collates (matches) the read normal pattern image signal with the image signal input from the preprocessing unit 1432-1. Here, the normal pattern matching unit 1435-1 calculates an index value indicating the similarity between the normal pattern image signal and the input image signal, and outputs the calculated index value to the continuity determination unit 1437-1. As the index value, for example, SAD (Sum of Absolute Differences) can be used, but the index value is not limited thereto. SAD is a sum between absolute values of pixels with respect to a difference between signal values of image signals to be compared. Therefore, the smaller the SAD, the more similar the image signal to be compared.

  The abnormal pattern matching unit 1436-1 reads the abnormal pattern image signal and the abnormal pattern information corresponding to the pattern information input from the pattern determining unit 142 from the pattern storage unit 1433-1. The abnormal pattern matching unit 1436-1 collates each of the read abnormal pattern image signals with the image signal input from the preprocessing unit 1432-1. Here, the abnormal pattern matching unit 1436-1 calculates an index value indicating the similarity between the abnormal pattern image signal and the input image signal, and associates the calculated index value with the read abnormal pattern information. It outputs to the sex judgment part 1437-1.

  The continuity determination unit 1437-1 receives the index value from the normal pattern matching unit 1435-1 and the index value and the abnormal pattern information from the abnormal pattern matching unit 1436-1. In addition, the continuity determination unit 1437-1 determines whether the pattern information input from the pattern determination unit 142 includes information indicating blinking. In this example, the information indicating blinking (flashing information) indicates blinking to at least one of the direction indicator lamp (left) 32-1 and the direction indicator lamp (right) 32-2 as a blinking light source. Information.

When it is determined that the blinking information is included, the continuity determination unit 1437-1 determines whether or not the blinking light source constantly blinks (continuity determination process). Here, the stationarity determination unit 1437-1 has the largest spatial average value of signal values (for example, an average value between pixels included in a frame) for the blinking cycle of the light source or a period longer than the blinking cycle. Input data for an input signal acquired at a certain time is employed. The input data is the index value input from the normal pattern matching unit 1435-1 and the index value and abnormal pattern information input from the abnormal pattern matching unit 1436-1. Stationarity determination unit 1437-1 rejects input data for input signals acquired at other times. As a result, even if the light source is blinking, the input data for the input signal at the time of lighting is adopted, so that erroneous determination that an abnormality has occurred is avoided. The continuity determination unit 1437-1 outputs the adopted input data to the abnormality determination unit 1438-1. In this way, the stationarity determination unit 1437-1 can improve stationarity (continuity) and improve determination reliability.
When it is determined that the information indicating blinking is not included, the continuity determination unit 1437-1 includes the index value input from the normal pattern matching unit 1435-1 and the index input from the abnormal pattern matching unit 1436-1. The value and the abnormal pattern information are output to the abnormality determining unit 1438-1.

  Note that the continuity determination unit 1437-1 omits determining whether the pattern information input from the pattern determination unit 142 includes blinking information, and the light source instructed to be lit is steadily used. You may determine whether it lights. Therefore, the continuity determination unit 1437-1 employs input data for the input signal acquired at the time when the spatial average value of the signal value becomes the largest for a period longer than a predetermined time (for example, 1 second). To do. As a result, even when an input signal related to an image in which the region that reflects light rays is unclear depending on the operating environment is temporarily acquired, an abnormality has occurred because the input data for the input signal related to the clear image is adopted. Is avoided. This operating environment is, for example, the case where the imaging unit 11-1 or the like vibrates, or the case where at least a part of the light source is shielded.

The abnormality determination unit 1438-1 determines the presence / absence of abnormality for each light source based on the pattern having the largest index value among the index values input from the continuity determination unit 1437-1 and the input abnormal pattern information. When the index value with the largest index value is the index value input from the normal pattern matching unit 1435-1, the abnormality determination unit 1438-1 determines that there is no abnormality for each light source.
When the index value with the largest index value is the index value input from the abnormal pattern matching unit 1436-1, it is determined that the light source that does not emit the light indicated by the input abnormal pattern information is abnormal, and otherwise It is determined that there is no abnormality with respect to the light source.
The abnormality determination unit 1438-1 generates a light source state signal indicating whether or not each of the light sources is abnormal, and outputs the generated light source state signal to the notification unit 15.

In addition, the determination result which concerns on the presence or absence of abnormality for every light source may be obtained in multiple times for every period which determined the above-mentioned continuity. In that case, the abnormality determination unit 1438-1 aggregates the same determination result for each period and for each light source, and counts the number of times for each integrated determination result for each light source. Then, the abnormality determination unit 1438-1 determines that the light source exceeds the predetermined rate (for example, 50%, 90%, etc.), and the number of times that the determination result is abnormal is determined to be abnormal. You may determine with normal about the light source which is less than a rate. In this way, the abnormality determination unit 1438-1 can improve the continuity of the determination result.
In the above description, the case where the input data for the input signal acquired at the time when the spatial average value of the signal value becomes the largest in each period in which the stationarity is determined is described as an example. Is not limited. In the present embodiment, the continuity may be improved by acquiring the index value and the abnormal pattern information for each pattern information for the time average value of the signal value for each pixel in the period with respect to the input signal.

(Example of pattern image)
Next, an example of a normal pattern image will be described. A normal pattern image is an image represented by a normal pattern image signal.
FIG. 11 is a diagram illustrating an example of a normal pattern image according to the present embodiment.
An image 41 shown in FIG. 11 is a normal pattern image related to the pattern 16 (FIG. 9). The areas 51-1 and 51-2 brighter than the surroundings shown in the image 41 are areas representing road surfaces on which the headlamps 31-1 and 31-2 have emitted light. The image 41 includes light sources other than the headlamps 31-1 and 31-2, direction indicator lights 32-1 and 32-2, fog lights 33-1 and 33-2, and vehicle width lights 34-1 and 34-2. Indicates that no light is being emitted.

FIG. 12 is a diagram illustrating another example of the normal pattern image according to the present embodiment.
An image 42 shown in FIG. 12 is a normal pattern image related to the pattern 10 (FIG. 9). In the image 42, in addition to the areas 51-1 and 51-2, bright areas 53-1 and 53-2 are shown in the image 42. Regions 53-1 and 53-2 are regions that represent road surfaces on which the fog lights 33-1 and 33-2 have emitted light rays. The image 42 includes light sources other than the headlamps 31-1, 31-2, fog lights 33-1, 33-2, direction indicator lights 32-1, 32-2, and vehicle width lights 34-1, 34-2. Indicates that no light is being emitted.

Next, an example of an abnormal pattern image will be described. The abnormal pattern image is an image represented by the abnormal pattern image signal.
FIG. 13 is a diagram illustrating an example of an abnormal pattern image according to the present embodiment.
An image 43 shown in FIG. 13 is an abnormal pattern image related to the pattern 16 (FIG. 9). In the image 43, the region 51-1 is represented, but the region 51-2 is not represented. That is, the image 43 indicates that the headlamp 31-2 is not emitting light although it is instructed to emit light. This indicates that an abnormality has occurred in the headlamp 31-2.

  Even if the headlamps 31-1, 31-2 and the fog lamps 33-1, 33-2 are all instructed to emit light, both the fog lamps 33-1, 33-2 Due to the occurrence of an abnormality, only the headlamps 31-1 and 31-2 may emit light. In such a case, an image 41 is obtained (FIG. 11). That is, an abnormal pattern image signal related to a certain piece of pattern information may become a normal pattern image signal related to other pattern information. Therefore, the pattern storage unit 1433-1 may store the normal pattern image signal related to the other pattern information as the abnormal pattern image signal in association with the one pattern information. As a result, storing the same abnormal pattern image signal is avoided, and the storage capacity can be saved.

Next, an example of an image signal input from the preprocessing unit 1432-1 to the pattern matching unit 1434-1 will be described. An image indicated by this image signal is called an input image.
FIG. 14 is a diagram illustrating an example of an input image according to the present embodiment.
An image 44 illustrated in FIG. 14 includes regions 51-1 and 51-2 and a region 52-1 that is brighter than the region 51-1. An area 52-1 indicates an area in which a light is emitted when the turn signal lamp 32-1 that is instructed to blink is turned on. This image 44 approximates a normal pattern image for the pattern 4 (FIG. 9) indicating that the headlamps 31-1, 31-2 and the direction indicating lamp 32-1 are emitting light.

  On the other hand, when the turn signal lamp 32-1 instructed to blink is extinguished, it does not have the area 52-1, but only the areas 51-1 and 51-2. The image obtained at this time approximates the image 41 (FIG. 11) which is an abnormal pattern image with respect to the pattern 4 (FIG. 9). Therefore, the abnormality determination unit 1438-1 may erroneously determine that an abnormality has occurred in the direction indicator lamp 32-1. However, as described above, the continuity determination unit 1437-1 employs the input data acquired when the direction indicator lamp 32-1 is turned on, so that such erroneous determination can be avoided.

(Light source state detection processing)
Next, the light source state detection process performed by the light source state detection unit 14 will be described.
FIG. 15 is a flowchart showing a light source state detection process according to the present embodiment.
(Step S101) The environment determination unit 141 receives an image signal from the photographing unit 11, an environment signal from the environment detection unit 12, and an instruction signal from the operation input unit 13 (data input). Then, it progresses to step S101.
(Step S102) The environment determination unit 141 determines whether or not to execute the subsequent steps based on the input image signal, environment signal, or instruction signal. When it determines with performing (step S102 Y), the environment determination part 141 outputs the input image signal to the parameter setting part 1431-1 and the pre-processing part 1432-1, and progresses to step S103. If it is determined not to execute (N in step S102), the process is terminated.

(Step S103) The pattern determination unit 142 determines a pattern indicating whether or not each of the light sources corresponding to the instruction signal input from the operation input unit 13 is lit. The pattern determination unit 142 generates pattern information indicating the determined pattern, and outputs the generated pattern information to the normal pattern matching unit 1435-1, the abnormal pattern matching unit 1436-1, and the continuity determination unit 1437-1. Thereafter, the process proceeds to step S104.
(Step S104) The parameter setting unit 1431-1 determines parameters used for preprocessing for the image signal based on the image signal input from the environment determination unit 141 (parameter setting). The preprocessing unit 1432-1 performs preprocessing on the image signal input from the environment determination unit 141 using the parameters determined by the parameter setting unit 1431-1. The preprocessing unit 1432-1 outputs the image signal generated by performing the preprocessing to the normal pattern matching unit 1435-1 and the abnormal pattern matching unit 1436-1. Thereafter, the process proceeds to step S105.

(Step S105) The normal pattern matching unit 1435-1 reads the normal pattern image signal corresponding to the pattern information input from the pattern determination unit 142 from the pattern storage unit 1433-1. The normal pattern matching unit 1435-1 calculates an index value indicating the similarity between the read normal pattern image signal and the image signal input from the preprocessing unit 1432-1, and uses the calculated index value as a continuity determination unit 1437. Output to -1. Thereafter, the process proceeds to step S106.

(Step S106) The abnormal pattern matching unit 1436-1 reads the abnormal pattern image signal and the abnormal pattern information corresponding to the pattern information input from the pattern determining unit 142. The abnormal pattern matching unit 1436-1 calculates an index value indicating the similarity between each of the read abnormal pattern image signals and the image signal input from the preprocessing unit 1432-1, and the calculated index value and the read abnormality The pattern information is associated with each other and output to the continuity determination unit 1437-1. Thereafter, the process proceeds to step S107.

(Step S107) The continuity determination unit 1437-1 receives the index value from the normal pattern matching unit 1435-1 and the index value and the abnormal pattern information from the abnormal pattern matching unit 1436-1. When the pattern information input from the pattern determination unit 142 includes information indicating that it blinks, the continuity determination unit 1437-1 determines whether or not the blinking light source constantly blinks, and lights up. The index value and the abnormal pattern information with respect to the input signal at the time are adopted, and the adopted input data is output to the abnormality determining unit 1438-1. When the pattern information input from the pattern determination unit 142 does not include information indicating that the pattern information blinks, the input index value and the abnormal pattern information are adopted, and the adopted input data is output to the abnormality determination unit 1438-1. Thereafter, the process proceeds to step S108.

(Step S108) The abnormality determining unit 1438-1 is the presence / absence of abnormality for each light source based on the pattern having the largest index value among the index values input from the continuity determining unit 1437-1 and the input abnormal pattern information. Determine. The abnormality determination unit 1438-1 generates a light source state signal indicating whether or not each of the light sources is abnormal, and outputs the generated light source state signal to the notification unit 15. Thereafter, the process proceeds to step S109.
(Step S109) The notification unit 15 notifies the light source that an abnormality has occurred for each light source based on the light source state signal input from the light source state detection unit 14, and that the light source has an abnormality. Thereafter, the process ends.

In the above description, the case where the front state determination unit 143-1 mainly determines whether there is an abnormality in the light source installed on the front surface of the vehicle 3 has been described as an example. However, the present embodiment is not limited thereto. . In the present embodiment, the rear state determination unit 143-2 has the same configuration as the front state determination unit 143-1 and is installed on the back surface of the vehicle 3 based on the image signal captured by the photographing unit 11-2. The presence or absence of abnormality with respect to the light source is determined.
Moreover, in this embodiment, you may provide the left side state determination part and the right side state determination part which respectively have the structure similar to the front state determination part 143-1. The left side state determination unit determines whether there is an abnormality in the light source (for example, the direction indicator lamp 32-5) installed on the left side surface of the vehicle 3 based on the image signal captured by the imaging unit 11-3. The right side state determination unit determines whether there is an abnormality in the light source (for example, the direction indicator light 32-6) installed on the right side surface of the vehicle 3 based on the image signal captured by the imaging unit 11-4.

As described above, in the present embodiment, for each image of the light source lighting state pattern, an image in a state where the light source to be lit is turned on with respect to an image photographed for determining abnormality of the light source lighting state. As previously stored. Further, in the present embodiment, the pattern of the lighting state of the light source is determined based on the operation state instructing the lighting state of the plurality of light sources, and imaging is performed for determining the abnormality of the lighting state of the light source for the determined pattern. The image to be checked is compared with the stored pattern image. And in this embodiment, the abnormality of the lighting state of a light source is determined based on the result of the collation. Moreover, in this embodiment, the image in the state in which the light source which should be lighted as a pattern image is lighting is a normal pattern. While storing as an image, an abnormal pattern image is stored in the state where at least one light source to be lit is not lit.
Thereby, since the light source in which abnormality has generate | occur | produced is specified, the user including a driver | operator can detect abnormality of a light source easily.

  In the present embodiment, the lightness of the light source includes a state where the light source blinks, and a continuity determination unit that determines temporal continuity of an image that is captured in order to determine abnormality of the light source. And determining abnormality of the lighting state of the light source based on the determination result of temporal continuity. Therefore, erroneous detection of an abnormality when the at least one light source is temporarily turned off can be avoided.

In addition, you may make it implement | achieve a part of the light source state detection part 14 in embodiment mentioned above, for example, the environment determination part 141, the pattern determination part 142, and the light source state determination part 143 with a computer. In that case, the program for realizing the control function may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read by a computer system and executed. Here, the “computer system” is a computer system built in the light source state detection unit 14 and includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” is a medium that dynamically holds a program for a short time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, In such a case, a volatile memory inside a computer system serving as a server or a client may be included and a program that holds a program for a certain period of time. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.
Moreover, you may implement | achieve part or all of the light source state detection part 14 in embodiment mentioned above as integrated circuits, such as LSI (Large Scale Integration). Each functional block of the light source state detection unit 14 may be individually made into a processor, or a part or all of them may be integrated into a processor. Further, the method of circuit integration is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. Further, in the case where an integrated circuit technology that replaces LSI appears due to progress in semiconductor technology, an integrated circuit based on the technology may be used.

  As described above, the embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the scope of the present invention. It is possible to

DESCRIPTION OF SYMBOLS 1 ... Light source state detection system, 11 (11-1 to 11-4) ... Imaging | photography part, 12 ... Environment detection part, 13 ... Operation input part,
14 ... Light source state detection unit, 141 ... Environment determination unit, 142 ... Pattern determination unit,
143 ... Light source state determination unit, 143-1 ... Front state determination unit,
1431-1 ... parameter setting unit, 1432-1 ... pre-processing unit,
1433-1 ... pattern storage unit, 1434-1 ... pattern matching unit,
1435-1: Normal pattern matching unit, 1436-1: Abnormal pattern matching unit,
1437-1 ... stationarity determination unit, 1438-1 ... abnormality determination unit,
143-2 ... a rear state determination unit,
15 ... Notification section

Claims (5)

A pattern determination unit for determining a lighting state pattern of the light source based on an operation state instructing a lighting state of a plurality of light sources;
A pattern storage unit that stores, as a pattern image, an image in a state where a light source to be lit is turned on for an image photographed for determining an abnormality in the lighting state of the light source for each pattern of the lighting state of the light source; ,
About the pattern determined by the pattern determination unit, a pattern matching unit that collates an image photographed for determining an abnormality in the lighting state of the light source and a pattern image stored in the pattern storage unit;
Based on the result of matching by the pattern matching unit, an abnormality determination unit that determines an abnormality in the lighting state of the light source;
A light source state detection device comprising: The pattern storage unit stores, as a normal pattern image, an image in a state where a light source to be lit is turned on for an image photographed for determining an abnormality in a lighting state of the light source for each pattern. Storing an image in a state where at least one light source to be lit is not lit as an abnormal pattern image,
The pattern collation unit collates, with respect to the pattern determined by the pattern determination unit, an image captured for determining an abnormality in the lighting state of the light source and a normal pattern image stored in the pattern storage unit. Along with the abnormal pattern image,
The abnormality determining unit determines an abnormality by identifying a light source having an abnormality when there is an abnormality in the lighting state of the light source based on a result of the collation by the pattern matching unit.
The light source state detection apparatus according to claim 1. The lighting state of the light source includes a state where the light source blinks,
The light source state detection device includes a continuity determination unit that determines temporal continuity for an image captured to determine an abnormality in the lighting state of the light source,
The abnormality determination unit determines an abnormality in the lighting state of the light source based on a determination result by the continuity determination unit.
The light source state detection apparatus according to claim 1 or 2, A pattern storage unit that stores, as a pattern image, an image in a state where a light source to be lit is turned on for an image photographed for determining an abnormality in the lighting state of the light source for each of the lighting state patterns of a plurality of light sources. In the light source state detection device comprising:
The light source state detection device is configured to determine a pattern of a lighting state of the light source based on an operation state instructing a lighting state of the light source;
The light source state detection device, for the determined pattern, a second process of collating an image photographed to determine abnormality of the lighting state of the light source and a pattern image stored in the pattern storage unit ,
The light source state detection device includes a third step of determining an abnormality in the lighting state of the light source based on a result of collation in the second step,
The light source state detection method characterized by having. In the computer of the light source state detection device,
A first procedure for determining a lighting state pattern of the light source based on an operation state instructing lighting states of a plurality of light sources;
For the determined pattern, an image photographed for determining an abnormality in the lighting state of the light source, and an image stored in a pattern storage unit, the light source for each of the lighting state patterns of a plurality of light sources A second procedure for collating a pattern image, which is an image in a state in which a light source to be lit is on, with respect to an image photographed to determine an abnormality in the lighting state of
A third procedure for determining an abnormality in the lighting state of the light source based on a result of the collation by the second procedure;
A light source state detection program for executing

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