JP2016222181A - Vehicular imaging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To readily detect dirt of a lens of a camera.SOLUTION: A vehicular imaging device includes: the camera 5 for capturing an image 3 of surrounding from a vehicle 1; and an arithmetic processing unit 7 processing the image 3 captured by the camera 5 and capable of displaying it on a display device 6, where the lens 9 of the camera 5 is installed to an exterior part of the vehicle 1 to be exposed to the outside. A marker 12 for detecting dirt of the lens 9 of the camera 5 is installed so as to be captured by the camera 5.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an imaging device for a vehicle.

  An image pickup apparatus (vehicle image pickup apparatus) is attached to a vehicle such as an automobile.

  Such an imaging apparatus includes, for example, a camera that captures a peripheral image from a vehicle, and an arithmetic processing device that can process an image captured by the camera and display the image on a display device. The camera is installed outside the vehicle.

  In such an imaging apparatus, since the camera is installed outside the vehicle, problems such as water droplets adhering to the camera lens may occur during rainy weather.

  In view of this, an apparatus for detecting dirt on a camera lens such as adhesion of water droplets has been proposed (see, for example, Patent Document 1).

JP 2015-26987 A

However, the lens dirt detection device described in Patent Document 1 has the following problems.
That is, in the lens dirt detection device, an image taken by a camera is regarded as a composite wave of a plurality of waves, and blurring of an image due to attachment of water droplets to the lens is regarded as a change in the composite wave.

  Then, pay attention to the fact that a large change occurs in the composite wave of the image as the lens dirt of the camera progresses (for example, the amount of water droplets adhering to the lens), and extracts each image frequency component that composes the composite wave Then, by analyzing the change in the magnitude relationship of the frequency components (that is, the distribution of the image frequency power), the presence or absence of the lens contamination of the camera is determined without being affected by the background image.

  However, the lens contamination detection apparatus described above is very complicated and heavy, such as extracting and comparing a plurality of frequency components for the entire image.

  Accordingly, the main object of the present invention is to solve the above-described problems.

In order to solve the above problems, the present invention provides:
A camera for capturing a peripheral image from the vehicle, and an arithmetic processing unit capable of processing the image captured by the camera and displaying the image on a display device;
An imaging device for a vehicle installed so that the lens of the camera faces the outside of the vehicle,
A marker for detecting dirt on the lens of the camera is installed so as to be reflected on the camera.

  According to the present invention, dirt on a camera lens can be easily detected by the above-described configuration.

It is a top view of the vehicle provided with the imaging device for vehicles concerning this embodiment. It is a side view of FIG. It is the elements on larger scale of FIG. FIG. 3 is a partially enlarged view of FIG. 2. It is a control system diagram of an imaging device for vehicles. It is a figure which shows the image on which the marker (laser beam) was displayed (at the time of normal). It is a figure which shows the state of the image at the time of the stain | pollution | contamination generation | occurrence | production of FIG. It is a figure which shows the state which used the laser beam as a marker (at the time of normal). It is a figure similar to FIG. 8 which shows the state which the laser beam refracted. It is a figure similar to FIG. 8 which shows the state which the laser beam scattered. It is a figure which shows the image after extinguishing a marker (laser beam) (at the time of normal). It is a flowchart which shows the process by a dirt detection part. FIG. 6 is a control system diagram of the vehicle imaging apparatus similar to FIG. 5 according to the second embodiment. It is a figure which shows the image on which the marker (wire) was displayed (normal time). It is a figure which shows the state of the image at the time of the stain | pollution | contamination generation | occurrence | production of FIG. It is the perspective view seen from the side which shows the state which used the wire as a marker. It is the figure which looked at FIG. 16 from the near side.

Hereinafter, the present embodiment will be described in detail with reference to the drawings.
1 to 17 are for explaining this embodiment. Among these, FIGS. 1 to 12 are for explaining the first embodiment.

  <Configuration> The configuration of this embodiment will be described below.

  As shown in FIGS. 3 and 4, an imaging device 2 (vehicle imaging device) is attached to a vehicle 1 such as an automobile as shown in FIGS. 1 and 2.

  As shown in FIG. 5, the imaging device 2 includes a camera 5 for capturing a surrounding image 3 from the vehicle 1, and an arithmetic processing device capable of processing the image 3 captured by the camera 5 and displaying it on the display device 6. 7. The arithmetic processing unit 7 is provided with a memory 8 for processing and storing data. The camera 5 is installed so that the lens 9 faces the outside of the vehicle 1.

  In contrast to the above-described configuration, this embodiment has the following configuration.

  (1-1) As shown in FIG. 5 (see also FIG. 6 and FIG. 7), the marker 12 for detecting dirt on the lens 9 (the front side) of the camera 5 is reflected in the camera 5. Install.

  Here, the vehicle imaging device can be used for one or a plurality of visual field assistance devices such as a side mirror camera, a back monitor camera, an omnidirectional viewing camera, and the like. The side mirror camera is provided in place of the side mirror (door mirror or fender mirror), and eliminates the restriction of the field of view by a physical mirror. In addition, by reducing the overhang from the vehicle body, the aerodynamic characteristics of the vehicle are improved, so that the fuel efficiency can be improved. When the vehicular imaging device is used as a side mirror camera, the camera 5 is, for example, as shown in FIGS. 1 to 4, a camera cover 17 installed at a position on the front side of the side window glass 16 on the front upper portion of the front door 15. The lens 9 is installed with the lens 9 facing substantially rearward.

  Moreover, the image 3 of this vehicle imaging device can be displayed on, for example, a display device 6 such as a dedicated or general-purpose display device 6 installed in the passenger compartment or a car navigation device or a head-up display device. The photographed image 3 can be displayed on the display device 6 in real time, but may be recorded or stored once and then displayed later. In addition to these, the vehicular imaging device can also be used for a travel information storage device such as a drive recorder, a sensor camera for a warning information presentation device, an automatic brake system, and a cruise control device, for example. .

  (1-2) Then, as shown in FIG. 5, the arithmetic processing unit 7 detects a dirt on the lens 9 (front side) of the camera 5 based on a change in the image 3 of the marker 12. 21.

  Here, the change in the image 3 of the marker 12 is caused by, for example, the refraction (see FIG. 9) or scattering (see FIG. 10) of the light caused by the water droplet 25 or the like attached to the lens 9 in FIGS. This is a disturbance of the image 3 (for example, a change in the image 3 such as a displacement of the marker 12, a blur of the outline of the marker 12, a deformation of the marker 12).

  (1-3) When the dirt detection unit 21 detects dirt on the lens 9 (the front side) of the camera 5, the arithmetic processing device 7 is provided on the display device 6 or the lens 9. A warning display signal 32 or an operation signal 33 is output to at least one of the dirt removing devices 31.

  Here, the warning by the warning display signal 32 is, for example, a message that causes the display device 6 to display characters such as “Please wipe the dirt on the lens” or a figure such as a mark designed to remind the wiper. It can be. The dirt removing device 31 includes a wiper device 35 that wipes the water droplets 25 on the surface of the lens 9 with a wiper, and a blower device 36 that blows the water droplets 25 by blowing air onto the surface of the lens 9. Such a water droplet removing device, a lens cleaning device in which the surface of the lens 9 is washed by spraying a washer liquid on the surface of the lens 9, and the water droplet 25 is moved from the center of the lens 9 to the periphery by applying vibration to the lens 9. It can be at least one of a vibration device or the like that is moved to the part.

  (1-4) As shown in FIG. 5, the arithmetic processing device 7 includes an application processing unit 41 that performs an application process so that the image 3 of the marker 12 is not displayed on the display device 6. The

  Here, for example, as shown in FIG. 11, the erase process is performed by filling the display position of the marker 12 with a color that is inconspicuous (relative to the peripheral portion), or the data of the image 3 in the peripheral portion of the marker 12. The image 3 of the part reaching the display position of the marker 12 among the images 3 pasted at the display position of the marker 12 or changed by the traveling of the vehicle 1 is stored in the memory 8 in advance. The image 3 of the portion can be pasted to the display position of the marker 12 in accordance with the timing at which the image 3 reaches the position of the marker 12 (with necessary deformation such as enlargement or reduction).

  In addition, the above can be made common to each embodiment.

  (1-5) As shown in FIG. 8 (FIG. 10 to FIG. 10), the marker 12 is a laser beam 51 emitted toward the lens 9 of the camera 5.

  Here, it is assumed that the laser beam 51 is always irradiated from a fixed point outside the lens 9 toward one point of the lens 9. The laser beam 51 to be irradiated can be obtained using a laser light source 55 such as an LED or a laser oscillator. The laser light source 55 is installed inside the camera cover 17 or the like.

  (1-6) Preferably, the laser beam 51 is invisible light 61.

  <Operation> The operation of this embodiment will be described below.

  In such an imaging apparatus 2, since the lens 9 of the camera 5 is installed so as to face the outside of the vehicle 1, there is a possibility that a water droplet 25 adheres to the lens 9 of the camera 5 when it rains. There is sex.

  Therefore, it is possible to detect dirt on the lens 9 of the camera 5 such as adhesion of the water droplet 25. In this embodiment, a stain detection unit 21 is provided in the arithmetic processing unit 7 so that the stain detection unit 21 automatically detects the stain of the lens 9.

  FIG. 12 is a flowchart showing a specific process of the dirt detection unit 21 provided in the arithmetic processing unit 7. This process is performed, for example, constantly or periodically at regular intervals.

  When the process is started, the first position of the normal photographing range of the image 3 of the marker 12 is set in step S1 (position setting process). When the marker 12 is the laser beam 51, the normal photographing range of the image 3 of the marker 12 is a circular range in which the laser beam 51 is to be captured (when there is no dirt) in the sensor of the camera 5. The dirt detection unit 21 scans this circular range in the horizontal direction or the vertical direction.

  Next, in step S2, data at the set position (in this case, the first position) is read (reading process).

  In step S3, it is determined whether the read data is the final position of the normal imaging range (final position determination process). If NO in step S3, it is determined in step S4 whether the read data is the image 3 of the marker 12 (marker 12 image 3 determination process). The determination of whether or not the image is the image 12 of the marker 12 can be made based on a difference in color (color temperature or the like) between the read data and the marker 12 or a difference in brightness.

  If NO in step S4, the abnormality is counted in step S5 (abnormality count process). In step S6, the image 3 data is replaced with inconspicuous color data or the like, and an erase process is performed.

  On the other hand, in the case of YES in step S4, the abnormality process is performed as it is in step S6 without counting the abnormality. In step S7, the next position of the normal photographing range of the image 3 of the marker 12 is set.

  Note that when the abnormality is counted in step S5, the data is not the image 3 of the marker 12, so the process proceeds directly to step S7 as shown by the broken line without performing the erase process in step S6. The next position of the normal photographing range of the image 3 of the marker 12 may be set.

  Thereafter, the process returns to step S2, and the above is repeated until the step S3 becomes YES (the final position of the normal photographing range) (loop processing).

  If step S3 is YES, it means that all the images 3 of the marker 12 have been checked, and a final abnormality determination is performed in step S8. In this abnormality determination, for example, the number of abnormalities counted is compared with a preset threshold value, and when the number of abnormalities is larger than the threshold value, it is determined that there is dirt, and when it is small, it is determined that there is no dirt. .

  Finally, in step S9, when there is dirt, the warning display signal 32 or the operation signal 33 is output (signal output processing), and the processing is terminated. If it is determined in step S8 that there is no dirt, the process is terminated without outputting the warning display signal 32 or the operation signal 33.

  Note that the erase process in step S6 may be performed in a lump after step S3 becomes YES, for example.

  Alternatively, in addition to the processing described above, for example, the contour of the marker 12 is extracted from the photographed image 3, and the extracted contour is compared with the contour of the normal marker 12 set in advance. When the value is larger than a preset threshold value, a process for determining an abnormality (contamination present) may be performed.

  <Effect> According to this embodiment, the following effects can be obtained.

(Operational effect 1-1)
The vehicular imaging device can capture a peripheral image 3 from the vehicle 1 with the camera 5, process the image 3 captured with the camera 5 with the arithmetic processing device 7, and display the processed image 3 on the display device 6. .

  At this time, by installing the lens 9 of the camera 5 so as to face the outside of the vehicle 1, the surrounding image 3 from the vehicle 1 can be photographed in a state where there is little hindrance by the vehicle body. On the other hand, since the camera 5 is installed so that the lens 9 faces the outside of the vehicle 1, the image 3 becomes difficult to see due to a water droplet 25 adhering to the front side of the lens 9 of the camera 5 in rainy weather. Malfunctions can occur.

  Therefore, in this embodiment, the marker 12 serving as a (physical) determination index for determining the adhesion of the water droplet 25 or the like is installed so as to be reflected in the camera 5. Thereby, based on the marker 12 or the image 3 around the marker 12 (that is, a part of the image 3 of the camera 5) (such as attachment of a water droplet 25 in rainy weather), the front side of the lens 9 of the camera 5 It becomes possible to detect dirt.

  The detection of the dirt on the front side of the lens 9 of the camera 5 can be performed, for example, by examining the disturbance of the image 3 of the marker 12 due to light refraction or scattering by the water droplet 25. Disturbance of the image 3 of the marker 12 can be performed by directly viewing the image 3 (visual determination) or by software processing as described later. As a result, it is possible to detect dirt on the front side of the lens 9 of the camera 5 more easily and reliably than in the case where the marker 12 is not provided.

(Operation effect 1-2)
The arithmetic processing unit 7 is provided with a dirt detection unit 21. By the dirt detection unit 21, changes such as disturbance of the image 3 of the marker 12 due to refraction or scattering of light by the water drop 25 (for example, displacement of the marker 12, blurring of the outline of the marker 12, deformation of the marker 12, etc.) Such a change in the image 3) is processed by software, so that the stain on the front side of the lens 9 of the camera 5 can be automatically detected.

  As described above, the software processing may be performed based only on the marker 12 or the image 3 around the marker 12. For example, various processing is performed on the basis of the data of the entire image 3 of the camera 5 to remove the stain. Software processing can be made much simpler and lighter than those making decisions. In addition, an accurate determination result can be obtained instantaneously as much as unnecessary data processing is not required. Therefore, software processing can be performed without using a large-scale server or the like and at low cost.

(Operation effect 1-3)
When the dirt detector 21 detects dirt on the front side of the lens 9 of the camera 5, the arithmetic processing device 7 warns at least one of the display device 6 and the dirt remover 31 provided on the lens 9. The display signal 32 or the operation signal 33 is output. Therefore, a warning is displayed on the display device 6 by the warning display signal 32 to alert the occupant, or the dirt removing device 31 provided on the lens 9 is driven by the operation signal 33 to automatically It is possible to remove dirt on the front side of the lens 9.

(Operational effect 1-4)
An arithmetic processing unit 41 is provided in the arithmetic processing unit 7. Thereby, it is possible to prevent the image 3 of the marker 12 from being displayed on the display device 6 by performing the erase process in the erase processor 41 (if necessary). This is suitable when the image 3 of the camera 5 is displayed on the display device 6 and the stain on the front side of the lens 9 is detected by software processing on the back side.

(Effect 1-5)
The marker 12 is a laser beam 51 that is irradiated toward the lens 9 of the camera 5. Thereby, the spot-like clear image 3 by the laser beam 51 can be used as the marker 12, and the image 3 of the marker 12 can be minimized.

  Further, as described above, when the marker 12 is processed by software to detect dirt on the front side of the lens 9, the software processing can be simplified by making the marker 12 a spot-like laser beam 51. can do.

  Further, since the laser beam 51 is considered to be the clearest (one of the other markers 12), it can be effective even in situations where judgment is difficult such as at night. .

(Operation effect 1-6)
The laser light 51 was invisible light 61 (light having a wavelength in the invisible region). Thereby, it can be made invisible with the display apparatus 6 that the laser beam 51 is irradiated. For this reason, it is not necessary to perform an erase process (image 3 process to erase the image 3 of the marker 12 so as not to be displayed on the display device 6) as will be described later. Software processing in the case of detecting dirt can be further simplified.

  13 to 17 are for explaining this embodiment. In addition, about this (1-1)-(1-4), since this Example is also the same, description is abbreviate | omitted.

  <Configuration> The configuration of this embodiment will be described below.

  In this embodiment, the following configuration is provided.

  (2-1) The marker 12 is a wire 71 installed on the front side of the lens 9 of the camera 5.

  Here, the wire 71 is installed inside the camera cover 17. It is preferable that the wire 71 is disposed so as to pass substantially the center line of the lens 9 of the camera 5 (or the central part or the important part of the image 3). In this case, one wire 71 is installed along the center line in the vertical direction. Or you may make it install one wire 71 along the centerline of the left-right direction. Alternatively, two wires 71 may be installed in a cross shape by combining one wire along the vertical center line and one wire along the horizontal center line. Or you may make it install one or several wires 71 along the centerline extended in the diagonal direction. The number of wires 71 may be single or plural, and the installation pattern in the case of multiple wires 71 may be anything such as a grid-like Thai island shape or a horizontal stripe shape, but is effective for detecting dirt, and It is preferable from the viewpoint of efficiency that the minimum number is provided in consideration of an arrangement that does not cause the software processing to become too heavy.

  The distance between the wire 71 and the lens 9 is minimized while ensuring the space necessary for installing the dirt removing device 31 as described above, as well as focusing on the wire 71 together with the external scenery. Is preferred.

  In addition, regarding the normal photographing range of the image 3 of the marker 12 in the dirt detection unit 21, when the marker 12 is a wire 71, the wire 71 in the sensor of the camera 5 (when there is no dirt) should be a linear shape. Part. The dirt detector 21 performs scanning linearly along this line.

  (2-2) The wire 71 is colored with a fluorescent color 81.

  Here, the fluorescent color 81 may have any number of colors. However, in order to improve the recognition rate at night, it is preferable to use a bright color such as yellow or orange.

  <Effect> According to this embodiment, the following effects can be obtained.

(Operational effect 2-1)
The marker 12 was a wire 71 installed on the front side of the lens 9 of the camera 5.

  Note that the wire 71 is always stretched linearly by applying tension or the like. When the marker 12 is a wire 71 installed on the front side of the lens 9 of the camera 5, the lens 9 is pan-focused so that both the surrounding image 3 and the wire 71 from the vehicle 1 are simultaneously focused. It is preferable that the aperture value is increased to increase the depth of field.

  Thereby, the linear image 3 by the wire 71 can be used as the marker 12. Then, the marker 12 can be installed with the addition of the minimum configuration of installing the wire 71 on the front side of the lens 9, and the apparatus cost is hardly increased.

In addition, since the wire 71 installed on the front side of the lens 9 also functions as a lens 9 protection member, it is possible to obtain an effect of making it difficult to attach dirt to the front side of the lens 9 simply by installing the wire 71.
Further, as described above, when the marker 12 is processed by software to detect the dirt on the front side of the lens 9, the software processing is simplified by using the marker 12 as the elongated wire 71. be able to.

(Operation effect 2-2)
The wire 71 was colored with a fluorescent color 81. As a result, the difference between the surrounding image 3 (background image) from the vehicle 1 and the image 3 of the wire 71 can be highlighted by the coloring of the fluorescent color 81, and the wire 71 can be easily recognized even at night. It becomes possible.

  While the embodiments have been described in detail with reference to the drawings, the embodiments are merely illustrative. Therefore, the present invention is not limited to the configuration of the embodiment, and it is a matter of course that changes in design and the like within a range not departing from the gist are included. Further, for example, when each embodiment includes a plurality of configurations, it is a matter of course that possible combinations of these configurations are included even if not specifically described. Further, when a plurality of embodiments and modification examples are disclosed, it is needless to say that possible combinations of configurations extending over these are included even if not specifically described. Further, the configuration depicted in the drawings is of course included even if not particularly described. Further, when there is a term of “etc.”, it is used in the sense that the equivalent is included. In addition, when there are terms such as “almost”, “about”, “degree”, etc., they are used in the sense that they include those in the range and accuracy recognized by common sense.

DESCRIPTION OF SYMBOLS 1 Vehicle 3 Image 5 Camera 6 Display apparatus 7 Arithmetic processing apparatus 9 Lens 12 Marker 21 Dirt detection part 31 Dirt removal apparatus 32 Warning display signal 33 Operation signal 41 Disappearance processing part 51 Laser light 61 Invisible light 71 Wire 81 Fluorescent color

Claims (8)

A camera for capturing a peripheral image from the vehicle, and an arithmetic processing unit capable of processing the image captured by the camera and displaying the image on a display device;
An imaging device for a vehicle installed so that the lens of the camera faces the outside of the vehicle,
An imaging apparatus for a vehicle, wherein a marker for detecting dirt on a lens of the camera is installed so as to be reflected on the camera. The vehicle imaging device according to claim 1,
An imaging apparatus for a vehicle, wherein the arithmetic processing unit includes a dirt detection unit that detects dirt on a lens of the camera based on a change in an image of the marker. The vehicle imaging device according to claim 2,
When the dirt detecting unit detects dirt on the lens of the camera, the arithmetic processing unit gives a warning display signal to at least one of the display device or the dirt removing device provided on the lens, or An imaging device for a vehicle characterized by outputting an operation signal. It is an imaging device for vehicles given in any 1 paragraph of Claims 1 thru / or 3,
An imaging apparatus for a vehicle, wherein the arithmetic processing unit includes a blanking processing unit that performs blanking processing so that an image of the marker is not displayed on a display device. The vehicle imaging device according to any one of claims 1 to 4, wherein:
The vehicular imaging apparatus, wherein the marker is laser light emitted toward a lens of the camera. The vehicle imaging device according to claim 5,
The vehicular imaging apparatus, wherein the laser beam is invisible light. The vehicle imaging device according to any one of claims 1 to 4, wherein:
The vehicular imaging device, wherein the marker is a wire installed on the front side of the lens of the camera. The vehicle imaging device according to claim 7,
An imaging apparatus for a vehicle, wherein the wire is colored in a fluorescent color.