JP2014026046A - Image processor for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that the conventional image processor for a vehicle cannot correct a shake of video (image blurring) due to a change in a vehicle attitude.SOLUTION: This invention includes an imaging device 1, inclination detection devices 2F, 2B, a vibration detection device 3, and an image correction device 4. The image correction device 4 comprises a vehicle attitude correction part 6, and a blur correction part 7. The vehicle attitude correction part calculates a cut-out coordinate on the basis of detection results from the inclination detection devices 2F, 2B, and cuts out a portion of an image form a wide-angle image P0 on the basis of the calculated cut-out coordinate. The blur correction part 7 calculates the cut-out coordinate on the basis of a detection result from the vibration detection device 3, and cuts out a portion of an image P from the cut-out image cut out by the vehicle attitude correction part 6 on the basis of the calculated cut-out coordinate. Consequently, this invention can correct an image blur due to a change in a vehicle attitude.

Description

  The present invention relates to an image processing apparatus for a vehicle capable of correcting image blur due to a change in the attitude of a vehicle and image blur due to vibration of the vehicle.

  This type of vehicle image processing apparatus is conventionally known (for example, Patent Document 1). Hereinafter, a conventional vehicle image processing apparatus will be described. A conventional vehicle image processing apparatus includes: an imaging unit that images a subject; a vibration detection unit that detects vertical vibrations of the vehicle; a distance calculation unit that calculates a distance to the subject; and a video signal generated by the imaging unit. Video output correction means for performing correction processing on the video to be output based on the detection result of the vibration detection means and the calculation result of the distance calculation means. As a result, the conventional vehicular image processing apparatus can correct the vertical shaking of the image due to the vertical vibration of the vehicle.

Japanese Patent Laid-Open No. 11-331681

  However, the conventional vehicular image processing apparatus cannot correct image shaking (image blurring) due to a change in the attitude of the vehicle.

  The problem to be solved by the present invention is that the conventional vehicular image processing apparatus cannot correct the shaking of the image (blurring of the image) due to the change in the posture of the vehicle.

  According to the present invention (the invention according to claim 1), an imaging device that captures an image of the periphery of a vehicle at a wider angle than a predetermined imaging range and outputs a wide-angle image, and tilt detection that detects the tilt of the vehicle and outputs a detection result An apparatus, a vibration detection device that detects a vibration of the vehicle and outputs a detection result, and an image correction device, the image correction device calculates a cutout coordinate based on the detection result from the inclination detection device, and A vehicle posture correction unit that cuts out a part of the image from the wide-angle image based on the calculated cut-out coordinate, a cut-out coordinate calculated based on a detection result from the vibration detection device, and a vehicle posture based on the calculated cut-out coordinate A blur correction unit that cuts out a part of the image from the cut-out image cut out by the correction unit.

  According to the present invention (the invention according to claim 2), an image pickup apparatus that picks up an image of the periphery of a vehicle at a wider angle than a predetermined image pickup range and outputs a wide angle image, and an inclination detection that detects the inclination of the vehicle and outputs a detection result. And an image correction device. The image correction device calculates cutout coordinates based on the detection result from the inclination detection device, and cuts out a part of the image from the wide-angle image based on the calculated cutout coordinates. A blur amount is calculated by comparing the vehicle posture correcting unit, a buffer for storing the cutout image, the cutout image from the vehicle posture correcting unit and the cutout image stored from the buffer, and based on the calculated blur amount Then, the cutout coordinates are calculated, and a part of the image is cut out from the cutout image cut out by the vehicle posture correction unit based on the calculated cutout coordinate, and the cutout image is displayed as a buffer. A blur correcting unit to be stored in the file, and a, and wherein the.

  The present invention (the invention according to claim 3) has a function of correcting blur due to vehicle vibration, and has a wide angle in which the periphery of the vehicle is imaged at a wider angle than a predetermined imaging range and the blur due to vehicle vibration is corrected. An imaging device that outputs an image, a tilt detection device that detects the tilt of the vehicle and outputs a detection result, a cut-out coordinate is calculated based on the detection result from the tilt detection device, and a wide angle is calculated based on the calculated cut-out coordinate And an image correction device that cuts out a part of the image from the image.

  In the vehicle image processing apparatus of the present invention, the inclination detection device detects the inclination of the vehicle, and the vehicle attitude correction unit of the image correction apparatus or the image correction apparatus calculates cut-out coordinates based on the vehicle inclination. A part of the image is cut out from the wide-angle image of the imaging device based on the calculated cut-out coordinates. As a result, image blur due to a change in the posture of the vehicle can be corrected.

  In addition, the vehicle image processing apparatus according to the present invention can correct image blur due to vehicle vibration or the like, similar to the conventional vehicle image processing apparatus.

  That is, the image processing apparatus for a vehicle according to the present invention (the invention described in claim 1) detects the vibration of the vehicle by the vibration detection device, and based on the vibration of the vehicle by the shake correction unit of the image correction device. The cutout coordinates are calculated, and a part of the image is cut out from the cutout image cut out by the vehicle posture correcting unit based on the calculated cutout coordinates. As a result, image blur due to vehicle vibration or the like can be corrected.

  In the vehicle image processing apparatus according to the present invention (invention of claim 2), the cutout image from the vehicle attitude correction unit and the cutout image stored from the buffer are obtained by the shake correction unit of the image correction device. A blur amount is calculated by comparison, a cutout coordinate is calculated based on the calculated blur amount, and a part of the image is cut out from the cutout image cut out by the vehicle posture correction unit based on the calculated cutout coordinate, The cut out image is stored in the buffer. As a result, image blur due to vehicle vibration or the like can be corrected.

  Furthermore, the image processing apparatus for a vehicle according to the present invention (the invention described in claim 3) has a function of correcting blur due to the vibration of the vehicle of the imaging device, so that the periphery of the vehicle is made wider than the predetermined imaging range by the imaging device. In the captured image, blur due to vehicle vibration is corrected. As a result, image blur due to vehicle vibration or the like can be corrected.

FIG. 1 is a functional block diagram of the overall configuration showing Embodiment 1 of the vehicle image processing apparatus according to the present invention. FIG. 2 is an explanatory diagram illustrating a state in which image blurring is corrected. FIG. 3 is a flowchart showing the operation. FIG. 4 is a functional block diagram of the overall configuration showing Embodiment 2 of the vehicle image processing apparatus according to the present invention. FIG. 5 is a flowchart showing the operation. FIG. 6 is a functional block diagram of the overall configuration showing Embodiment 3 of the vehicle image processing apparatus according to the present invention.

  Hereinafter, three examples (embodiments) of an image processing apparatus for a vehicle according to the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this embodiment.

(Description of Configuration of Embodiment 1)
1 to 3 show Embodiment 1 of a vehicle image processing apparatus according to the present invention. Hereinafter, the configuration of the vehicle image processing apparatus according to the first embodiment will be described. As shown in FIG. 1, the image processing apparatus for a vehicle according to the first embodiment includes an imaging device (camera) 1, tilt detection devices 2F and 2B, a vibration detection device 3, and an image correction device (image processing ECU). 4. An image display device (monitor) 5 is connected to the image correction device 4 of the vehicle image processing device according to the first embodiment.

(Description of Imaging Device 1)
The imaging device 1 is mounted on both the left and right sides of a vehicle (not shown). For example, it is mounted on the mirror base of an outside mirror device such as a door mirror device (not shown) mounted on the left and right doors of the vehicle or on the vehicle body of the vehicle.

  The imaging device 1 is connected to the image correction device 4. The imaging device 1 is directed rearward with respect to the vehicle. As shown in FIG. 2, the imaging device 1 captures information on the rear side (rear right side) as the image data (see FIG. 2). This is output to the image correction device 4. That is, the imaging device 1 has a wider angle (wide range) than an image in a predetermined (desired) range (an image surrounded by a dotted line in FIGS. 2A, 2B, and 2C) P. The wide-angle image (image in a range surrounded by a solid line in FIGS. 2A, 2B, and 2C) P0 is output to the image correction device 4 by imaging.

(Explanation of tilt detection devices 2F and 2B)
The tilt detection devices 2F and 2B are connected to the image correction device 4. The tilt detection devices 2F and 2B detect the tilt of the vehicle, in this example, the tilt in the front-rear direction of the vehicle (change in posture, etc.), and output the detected result to the image correction device 4. .

  The tilt detection device includes a front wheel height sensor 2F mounted on the front wheel side of the vehicle and a rear wheel height sensor 2B mounted on the rear wheel side of the vehicle. The front wheel height sensor 2F detects the vehicle height on the front wheel side. The rear wheel height sensor 2B detects the vehicle height on the rear wheel side. The amount of inclination of the vehicle in the front-rear direction is detected from the vehicle height on the front wheel side detected by the front wheel vehicle height sensor 2F and the vehicle height on the rear wheel side detected by the rear wheel vehicle height sensor 2B.

(Description of vibration detection device 3)
The vibration detection device 3 is connected to the image correction device 4. The vibration detection device 3 detects vertical vibrations in a short cycle with respect to vertical vibrations of the vehicle, in this example, the longitudinal inclination of the vehicle, and the detected result is corrected to the image. This is output to the device 4.

  The vibration detection device is composed of a vibration sensor 3 mounted at or near a portion of the vehicle where the imaging device 1 is mounted. The vibration sensor 3 uses, for example, an acceleration sensor described in the above-mentioned Patent Document 1, and the amount of vibration (blurring in the vertical direction of the vehicle, in particular, the location where the imaging device 1 is mounted or its vicinity. Amount).

(Description of Image Correction Device 4)
The image correction device 4 is connected to the imaging device 1, the front wheel height sensor 2F and the rear wheel height sensor 2B of the tilt detection device, the vibration sensor 3 of the vibration detection device, and the image display device 5, respectively. Has been. The image correction device 4 includes a vehicle posture correction unit 6 and a shake correction unit 7.

  The vehicle attitude correction unit 6 is connected to the imaging device 1, the front wheel height sensor 2F and the rear wheel height sensor 2B of the tilt detection device, and the shake correction unit 7, respectively. The vehicle attitude correction unit 6 calculates cutout coordinates based on the detection results from the front wheel height sensor 2F and the rear wheel height sensor 2B, and calculates from the wide-angle image P0 based on the calculated cutout coordinates. A part image, that is, the image P in the predetermined range is cut out.

  Here, the change in the wide-angle image P0 captured by the imaging device 1 due to the change in the attitude of the vehicle, that is, the inclination in the front-rear direction of the vehicle will be described with reference to FIG. The wide-angle image P0 shown in FIG. 2A shows a wide-angle image when the vehicle is tilted upward. The wide-angle image P0 shown in FIG. 2B shows a wide-angle image when the vehicle has a tilt in the front-rear direction of zero. The wide-angle image P0 shown in FIG. 2C shows a wide-angle image when the vehicle is tilted downward. Reference numerals “C” and “W” in FIG. 2 are other vehicles imaged by the imaging device 1 and white lines.

  When the front side of the vehicle is tilted upward, the imaging device 1 facing rearward with respect to the vehicle is tilted downward, so that the wide-angle image P0 shown in FIG. For this reason, the other vehicle C and the white line W in the wide-angle image P0 shown in FIG. 2A are compared with the other vehicle C and the white line W in the wide-angle image P0 shown in FIG. Thus, it changes relatively upward. On the other hand, when the vehicle tilts downward, the imaging device 1 tilts upward, so that the wide-angle image P0 shown in FIG. 2B changes upward. For this reason, the other vehicle C and the white line W shown in FIG. 2 (C) change downward relative to the other vehicle C and the white line W shown in FIG. 2 (B).

  For this reason, if the cut-out coordinates (position) of the image P in the predetermined range are fixed, the other vehicle in the image P in the predetermined range shown by the two-dot chain line in FIGS. C and the white line W change up and down with respect to the other vehicle C and the white line W in the image P in the predetermined range shown by the dotted line in FIG. As a result, vertical blurring of the other vehicle C and the white line W occurs in the image P in the predetermined range.

  Therefore, as indicated by solid arrows in FIGS. 2A and 2C, the cutout coordinates of the image P in the predetermined range with the same amount of change as the amount of change above and below the other vehicle C and the white line W. The (position) is corrected from the coordinates (position) indicated by the two-dot chain line to the coordinates (position) indicated by the dotted line. In the image P in the predetermined range, the vertical blur of the other vehicle C and the white line W can be suppressed (cancelled).

  The amount of inclination of the vehicle in the front-rear direction and the amount of change in the vertical direction of the wide-angle image P0 are in a relative relationship. For this purpose, the vehicle posture correction unit 6 determines the vertical direction of the wide-angle image P0 from the detection results from the front wheel height sensor 2F and the rear wheel height sensor 2B, that is, the amount of inclination of the vehicle in the front-rear direction. , And the cut-out coordinates of the corrected image P in the predetermined range can be calculated based on the change amount. Then, the vehicle posture correction unit 6 is a slightly wider angle image (not shown) than the partial image from the wide-angle image P0, that is, the corrected image P in the predetermined range, based on the calculated cut-out coordinates. Cut out.

  The blur correction unit 7 is connected to the vibration sensor 3, the image display device 5, and the vehicle attitude correction unit 6 of the vibration detection device. The blur correction unit 7 calculates a cutout coordinate based on the detection result from the vibration sensor 3, and the cutout image (the predetermined range) cut out by the vehicle posture correction unit 6 based on the calculated cutout coordinate. A part of the image P, that is, the image P in the predetermined range is cut out from the image P having a slightly wider angle than the image P.

  Here, when the vehicle swings upward, the clipped image changes to the upper side, and when the vehicle swings downward, the clipped image changes to the lower side. Note that the vertical change of the cutout image due to the vertical vibration of the vehicle is substantially the same as the vertical change of the wide-angle image P0 due to the inclination of the vehicle in the front-rear direction shown in FIG. Description is omitted.

  The vertical vibration amount of the vehicle and the vertical change amount of the cut-out image are similar to the relative relationship between the vertical tilt amount of the vehicle and the vertical change amount of the wide-angle image P0. In a relative relationship.

  For this purpose, the blur correction unit 7 calculates the amount of change in the vertical direction of the clipped image from the detection result from the vibration sensor 3, that is, the amount of vibration in the vertical direction of the vehicle (blur amount). Based on the change amount, the cut-out coordinates of the corrected image P in the predetermined range can be calculated. Then, the blur correction unit 7 cuts out a part of the cut image, that is, the corrected image P of the predetermined range, from the cut image based on the calculated cut coordinates.

(Description of the image display device 5)
The image display device 5 displays the image P in the predetermined range corrected by the blur correction unit 7. The image display device 5 is provided, for example, in the center of an instrument panel in a driver's cab and displays the left and right corrected images P in the predetermined range together (simultaneously). The image display device 5 is provided, for example, on each of the left and right front pillars in the cab, and displays the corrected image P in the predetermined range on the left and right.

  The image display device 5 uses, for example, an organic EL display, a plasma display, a liquid crystal display, or a laser projector or a head-up display that displays on the front window glass of the vehicle. The image display device 5 is provided integrally or separately from a display device (not shown) having other functions.

(Description of the operation of the first embodiment)
The vehicular image processing apparatus according to the first embodiment is configured as described above, and the operation thereof will be described below with reference to the flowchart of FIG.

  First, the engine is started by turning on an ignition switch (not shown). First, the front wheel height sensor 2 </ b> F and the rear wheel height sensor 2 </ b> B of the inclination detection device detect the vehicle front-rear direction inclination, and output the detected result to the vehicle posture correction unit 6 of the image correction device 4. Further, the vibration sensor 3 of the vibration detection device detects vibration (blur) in the vertical direction of the vehicle, and outputs the detected result to the blur correction unit 7 of the image correction device 4. Further, the imaging device 1 captures the periphery of the vehicle and outputs the captured wide-angle image P0 to the vehicle posture correction unit 6 of the image correction device 4.

  The vehicle attitude correction unit 6 calculates the cutout coordinates based on the detection results input from the front wheel height sensor 2F and the rear wheel height sensor 2B of the tilt detection device (calculates cutout coordinates based on the tilt sensor S1). Next, the vehicle posture correction unit 6 is based on a part of the wide-angle image P0 input from the imaging device 1, that is, the corrected image P in the predetermined range, based on the cut-out coordinates calculated in (S1). Also cut out a wide-angle image. That is, a primary image cutout process is performed (image cutout process S2). The vehicle attitude correction unit 6 outputs the cut-out clipped image to the shake correction unit 7.

  Based on the detection result input from the vibration sensor 3 of the vibration detection device, the shake correction unit 7 calculates the cutout coordinates of the corrected image P in the predetermined range (calculate cutout coordinates based on the vibration sensor S3). Next, the blur correction unit 7 cuts out a part of the image, that is, the corrected image P in the predetermined range, from the cutout image based on the cutout coordinates calculated in (S3). That is, a secondary image cutout process is performed (image cutout process S4). The blur correction unit 7 outputs the clipped image P in a predetermined range to the image display device 5 (outputs the clipped image to the display device S5).

  And it returns to said (S1). Further, the image display device 5 displays the image P in a predetermined range input from the shake correction unit 7 of the image correction device 4.

(Description of the effect of Embodiment 1)
The vehicular image processing apparatus according to the first embodiment is configured and operated as described above, and the effects thereof will be described below.

  The vehicle image processing apparatus according to the first embodiment detects the inclination of the vehicle by the front wheel height sensor 2F and the rear wheel height sensor 2B of the inclination detection device, and also detects the vehicle posture correction unit 6 of the image correction device 4. Thus, the cutout coordinates are calculated based on the inclination of the vehicle, and a part of the image is cut out from the wide-angle image P0 of the imaging device 1 based on the calculated cutout coordinates. As a result, it is possible to correct the vertical blur of the image due to the change in the posture of the vehicle (the inclination of the vehicle in the front-rear direction).

  The vehicle image processing apparatus according to the first embodiment detects the vibration of the vehicle by the vibration sensor 3 of the vibration detection apparatus, and based on the vibration of the vehicle by the shake correction unit 7 of the image correction apparatus 4. Cutout coordinates are calculated, and a part of the image is cut out from the cutout image cut out by the vehicle posture correction unit 6 based on the calculated cutout coordinates. As a result, it is possible to correct the vertical blur of the image due to the vibration of the vehicle in the vertical direction (the vertical blur in a short cycle with respect to the tilt in the longitudinal direction of the vehicle).

  As described above, the image processing apparatus for a vehicle according to the first embodiment can correct image blur due to a change in the posture of the vehicle and image blur due to vibration of the vehicle. For this reason, an image in which the blur due to the change in the posture of the vehicle and the blur due to the vibration of the vehicle are canceled or suppressed is obtained. This image is displayed at a fixed position on the image display device 5, and a display image that is easy to see for the driver and high in visibility is obtained. In particular, when the vehicle travels at a medium to high speed, there is no blur and an image that is easy to see for the driver and high in visibility can be obtained.

(Description of Configuration of Embodiment 2)
4 and 5 show Embodiment 2 of the vehicular image processing apparatus according to the present invention. Hereinafter, the configuration of the vehicle image processing apparatus according to the second embodiment will be described. In the figure, the same reference numerals as those in FIGS. 1 to 3 denote the same components.

  Blur correction means by the digital correction (blur correction unit 70 and buffer 8 of the image correction apparatus 40) of the vehicle image processing apparatus according to the second embodiment and the vibration detection apparatus of the vehicle image processing apparatus according to the first embodiment. The configuration is different from that of the means (vibration sensor 3 of the vibration detection device, blur correction unit 7 of the image correction device 4).

  That is, the image correction apparatus 40 of the vehicle image processing apparatus according to the second embodiment includes the vehicle attitude correction unit 6, the shake correction unit 70, and the buffer 8 according to the first embodiment. The buffer 8 is connected to the blur correction unit 70. The buffer 8 is a cut-out image (corrected predetermined range image P) and stores the cut-out image cut out by the blur correction unit 70.

  The blur correction unit 70 is connected to the image display device 5, the vehicle posture correction unit 6, and the buffer 8. The blur correction unit 70 compares the cut-out image from the vehicle posture correction unit 6 (an image having a slightly wider angle than the image P in a predetermined range) with the cut-out image stored from the buffer 8 in the vertical direction. The amount of blur is calculated. That is, the amount by which the cut-out image from the vehicle posture correction unit 6 changes in the vertical direction with respect to the cut-out image stored from the buffer 8 is calculated.

  The blur correction unit 70 calculates cut-out coordinates based on the calculated blur amount. That is, the cut-out coordinates corrected in the vertical direction by the same amount as the calculated blur amount are calculated. The blur correction unit 70 cuts out a part of the image from the cut-out image cut out by the vehicle posture correction unit 6 based on the calculated cut-out coordinates. The blur correction unit 70 outputs the cut out image to the buffer 8 for storage, and outputs it to the image display device 5.

(Description of operation of Embodiment 2)
The vehicular image processing apparatus according to the second embodiment is configured as described above, and the operation thereof will be described below with reference to the flowchart of FIG.

  First, the engine is started by turning on an ignition switch (not shown). First, the front wheel height sensor 2 </ b> F and the rear wheel height sensor 2 </ b> B of the inclination detection device detect the vehicle front-rear direction inclination, and output the detected result to the vehicle posture correction unit 6 of the image correction device 40. In addition, the imaging device 1 captures the periphery of the vehicle and outputs the captured wide-angle image P0 to the vehicle posture correction unit 6 of the image correction device 40. Furthermore, the blur correction unit 70 outputs the cut out image to the buffer 8 and stores it.

  The vehicle posture correction unit 6 calculates cutout coordinates based on the detection results input from the front wheel height sensor 2F and the rear wheel height sensor 2B of the tilt detection device (calculate cutout coordinates based on the tilt sensor S11). Next, the vehicle posture correcting unit 6 is based on a part of the wide-angle image P0 input from the imaging device 1, that is, the corrected image P in the predetermined range, based on the cut-out coordinates calculated in (S11). Also cut out a wide-angle image. That is, primary image cutout processing is performed (image cutout processing S12). The vehicle attitude correction unit 6 outputs the cut-out clipped image to the shake correction unit 70.

  The blur correction unit 70 compares the clipped image (current image) from the vehicle posture correction unit 6 and the clipped image stored from the buffer 8 to calculate the vertical blur amount (the buffer image and the current image). The amount of blur is calculated from the image of S13). The blur correction unit 70 calculates cutout coordinates based on the calculated blur amount (calculate cutout coordinates based on the blur amount S14). The blur correction unit 70 cuts out a part of the image from the cut-out image cut out by the vehicle posture correction unit 6 based on the calculated cut-out coordinates. That is, a secondary image cutout process is performed (image cutout process S15). The blur correction unit 70 outputs the cut out image to the buffer 8 for storage, and outputs it to the image display device 5 (the cut image is saved in the buffer and output to the display device S16).

  And it returns to said (S11). Further, the image display device 5 displays the image P in a predetermined range input from the shake correction unit 70 of the image correction device 40.

(Description of the effect of Embodiment 2)
Since the vehicular image processing apparatus according to the second embodiment is configured and operated as described above, substantially the same effects as the vehicular image processing apparatus according to the first embodiment can be achieved.

  That is, the vehicular image processing apparatus according to the second embodiment is similar to the vehicular image processing apparatus according to the first embodiment described above by using the front wheel height sensor 2F and the rear wheel height sensor 2B of the tilt detection apparatus. And the cutout coordinates are calculated based on the vehicle inclination by the vehicle posture correction unit 6 of the image correction device 40, and a part of the wide angle image P0 of the imaging device 1 is calculated based on the calculated cutout coordinates. The image is cut out. As a result, it is possible to correct the vertical blur of the image due to the change in the posture of the vehicle (the inclination of the vehicle in the front-rear direction).

  In the vehicular image processing apparatus according to the second embodiment, the shake correction unit 70 of the image correction apparatus 40 compares the cut-out image from the vehicle posture correction unit 6 with the cut-out image stored from the buffer 8. The amount of blur is calculated, the cut-out coordinates are calculated based on the calculated amount of blur, and a part of the image is cut out from the cut-out image cut out by the vehicle posture correcting unit 6 based on the calculated cut-out coordinates. The extracted image is stored in the buffer 8. As a result, it is possible to correct the vertical blur of the image due to the vibration of the vehicle in the vertical direction (the vertical blur in a short cycle with respect to the tilt in the longitudinal direction of the vehicle).

(Description of Configuration of Embodiment 3)
FIG. 6 shows Embodiment 3 of the vehicular image processing apparatus according to the present invention. Hereinafter, the configuration of the vehicle image processing apparatus according to the third embodiment will be described. In the figure, the same reference numerals as those in FIGS. 1 to 5 denote the same components.

  Blur correction means (image pickup apparatus 100, image correction apparatus 400) by optical correction of the vehicle image processing apparatus of the third embodiment, and blur correction means (vibration) by the vibration detection apparatus of the vehicle image processing apparatus of the first embodiment. The vibration sensor 3 of the detection device, the shake correction unit 7 of the image correction device 4, and the shake correction means by digital correction (the shake correction unit 70 and the buffer of the image correction device 40) of the vehicle image processing device of the second embodiment. The configuration is different from 8).

  That is, the imaging apparatus 100 of the vehicle image processing apparatus according to the third embodiment has a function of correcting blur due to vehicle vibration. The correction function means moves the lens or the image sensor of the image capturing apparatus 100 so as to cancel out the vertical blur in a short cycle with respect to the tilt in the front-rear direction of the vehicle. That is, the correction function means suppresses the vertical blur of the image due to the vertical vibration of the vehicle using the camera shake correction.

  The imaging device 100 captures the periphery of the vehicle at a wider angle than a predetermined imaging range, and outputs a wide-angle image in which blur due to the vibration of the vehicle is corrected by the correction function unit.

  The image correction device 400 of the vehicle image processing device according to the third embodiment calculates the cut-out coordinates based on the detection results from the front wheel height sensor 2F and the rear wheel height sensor 2B of the inclination detection device, and calculates the calculated coordinates. Based on the cut-out coordinates, from the wide-angle image input from the imaging device 100 (the image in which the vertical blurring having a short period is negated with respect to the vehicle tilt in the front-rear direction by the correction function means). A part of the image (image P in a predetermined range) is cut out. The image correction device 400 outputs the cut image to the image display device 5.

(Explanation of action and effect of Embodiment 3)
Since the vehicular image processing apparatus according to the third embodiment has the above-described configuration, substantially the same operations and effects as the vehicular image processing apparatus according to the first and second embodiments can be achieved.

  That is, the vehicular image processing apparatus according to the third embodiment is substantially the same as the vehicular image processing apparatus according to the first and second embodiments, and the front wheel height sensor 2F and the rear wheel height sensor 2B of the tilt detection apparatus. Thus, the inclination of the vehicle is detected, and the image correction device 400 calculates the cutout coordinates based on the vehicle inclination, and based on the calculated cutout coordinates, the wide-angle image of the imaging device 100 (blurring due to vehicle vibrations). A part of the image is cut out from the wide-angle image corrected by the correction function means. As a result, it is possible to correct the vertical blur of the image due to the change in the posture of the vehicle (the inclination of the vehicle in the front-rear direction).

  In addition, the image processing apparatus for a vehicle according to the third embodiment is an image in which the periphery of the vehicle is imaged at a wider angle than the predetermined imaging range by the imaging apparatus 100 by the function of correcting the blur due to the vibration of the imaging apparatus 100. In the above, blurring due to vehicle vibration is corrected. As a result, it is possible to correct the vertical blur of the image due to the vibration of the vehicle in the vertical direction (the vertical blur in a short cycle with respect to the tilt in the longitudinal direction of the vehicle).

"Description of examples other than Embodiments 1, 2, and 3"
In the first, second, and third embodiments, the imaging devices 1 and 100 are mounted on the left and right sides of the vehicle, for example, on the mirror base of the outside mirror device that is mounted on the left and right doors of the vehicle, It is mounted on the car body. However, in the present invention, the position where the imaging devices 1 and 100 are mounted is not particularly limited.

  In the first, second, and third embodiments, images output from the image correction devices 4, 40, and 400 are displayed on the image display device 5. However, in the present invention, the images output from the image correction devices 4, 40, and 400 may be used for devices other than the image display device 5. For example, when the imaging device is a wide-angle camera (fisheye camera) using a wide-angle lens (fisheye lens), the image is output from a device that corrects a peripheral portion of the wide-angle image (fisheye image) and the image correction devices 4, 40, and 400. In some cases, the apparatus is used for a device that detects an object such as a pedestrian, a bicycle, or another vehicle from a captured image, or a device that calculates a relative distance or a relative speed with respect to the detected object. In this case, since an image in which the blur due to the change in the posture of the vehicle and the blur due to the vibration of the vehicle are canceled or suppressed is obtained, highly accurate correction accuracy, detection accuracy, and calculation accuracy can be obtained.

1, 100 Imaging device 2F Front wheel height sensor (Tilt detection device)
2B Rear wheel height sensor (Tilt detector)
3 Vibration sensor (vibration detector)
4, 40, 400 Image correction device 5 Image display device 6 Vehicle posture correction unit 7, 70 Shake correction unit 8 Buffer P Image in a predetermined range P0 Wide angle image C Other vehicle W White line

Claims (3)

An imaging device for imaging a periphery of the vehicle at a wider angle than a predetermined imaging range and outputting a wide-angle image; and
An inclination detection device for detecting the inclination of the vehicle and outputting a detection result;
A vibration detection device that detects the vibration of the vehicle and outputs a detection result;
An image correction device;
With
The image correction device calculates a cutout coordinate based on the detection result from the tilt detection device, and a vehicle posture correction unit that cuts out a part of the image from the wide-angle image based on the calculated cutout coordinate; A blur correction unit that calculates a cutout coordinate based on the detection result from the vibration detection device and cuts out a part of the image from the cutout image cut out by the vehicle posture correction unit based on the calculated cutout coordinate. And consists of,
An image processing apparatus for a vehicle. An imaging device for imaging a periphery of the vehicle at a wider angle than a predetermined imaging range and outputting a wide-angle image; and
An inclination detection device for detecting the inclination of the vehicle and outputting a detection result;
An image correction device;
With
The image correction device calculates a cutout coordinate based on the detection result from the tilt detection device, and a vehicle posture correction unit that cuts out a part of the image from the wide-angle image based on the calculated cutout coordinate; A buffer for storing a clipped image, a clipped image from the vehicle posture correcting unit and a clipped image stored from the buffer are calculated to calculate a blur amount, and the clip coordinates are calculated based on the calculated blur amount And a shake correction unit that cuts out a part of the image from the cutout image cut out by the vehicle posture correction unit based on the calculated cutout coordinate and stores the cutout image in the buffer. Composed of,
An image processing apparatus for a vehicle. An imaging apparatus having a function of correcting blur due to vibration of the vehicle, imaging a periphery of the vehicle at a wider angle than a predetermined imaging range, and outputting a wide-angle image in which the blur due to vibration of the vehicle is corrected;
An inclination detection device for detecting the inclination of the vehicle and outputting a detection result;
An image correction device that calculates cutout coordinates based on the detection result from the tilt detection device, and cuts out a part of the image from the wide-angle image based on the calculated cutout coordinates;
Comprising
An image processing apparatus for a vehicle.

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