JP2017216736A - Picture processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a picture processing system for synchronizing imaging operation of a plurality of camera modules to synthesize, in real time, pictures imaged by the plurality of camera modules and output a synthesized picture to a monitor.SOLUTION: A picture processing system comprises: a plurality of camera modules CA1 to CA4, each of which includes an imaging unit for imaging a picture at timing of a vertical synchronization signal at a fixed cycle and a phase control unit for controlling a phase of the vertical synchronization signal, the camera modules outputting vertical synchronization signals together with picture signals obtained by imaging pictures having imaging visual fields differing from each other; picture synthesis means for synthesizing the pictures imaged by the respective camera modules to create a single synthesis picture; phase monitoring means for comparing phases of the vertical synchronization signals output from the respective camera modules; and relative phase control means for outputting a relative phase control signal to the respective camera modules so that the vertical synchronization signals of the respective camera modules are synchronized. The picture synthesis means synthesizes the pictures imaged by the respective camera modules at timing of the vertical synchronization signals on which synchronization control is performed to create the single synthesis picture.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an image processing system that generates a single composite image by combining a plurality of images having different imaging fields of view, and more particularly to an image processing system that outputs a continuously generated composite image to a monitor as a moving image.

  As a vehicle driving support system, as shown in FIG. 1, a plurality of camera modules CA <b> 1 to CA <b> 4 capture images around a vehicle 50 with different imaging fields of view at a constant period, and the vehicle 50 is obtained from images captured by the camera modules CA <b> 1 to CA <b> 4. There is known an image processing system that synthesizes a single bird's-eye view image overlooking the surroundings of the vehicle and displays the continuously generated bird's-eye view image as a moving image on a display device installed around the driver's seat.

  When images captured by a plurality of camera modules CA1 to CA4 are combined into a single combined image, it is necessary to synchronize the plurality of images to be combined. Conventionally, it is asynchronous from the individual camera modules CA1 to CA4. An image signal representing an output image is temporarily stored in a buffer, and each of the camera modules CA1 to CA4 whose phases of the vertical synchronization signal Vsync input together with the image signal are approximate to each other from a large number of image signals stored in the buffer. These images are selected and read out, and the selected images are synthesized (Patent Document 1). That is, the phase difference between the images is eliminated in the storage time stored in the buffer, and the synthesized images are generated by synchronizing the images input from the camera modules CA1 to CA4.

JP 2006-180340 A

  In the conventional image processing system described in Patent Document 1, since images from a plurality of camera modules CA1 to CA4 that are asynchronous with each other are temporarily stored in a buffer, among the images input from the camera modules CA1 to CA4, the most A composite image is generated in accordance with an image input with a phase delay, and a delay time occurs until it is displayed on the monitor.

  There is no problem as long as such an image processing system is used as a driver assistance system that supplements the driver's vision, such as garage entry and width adjustment of vehicles, but accidents can be prevented by detecting objects approaching the vehicle at high speed. In an image processing system used for the purpose of taking a treatment, real-time characteristics as much as possible are required, and a delay due to temporary storage in a buffer cannot be overlooked.

  Furthermore, since the timing of capturing images by the camera modules CA1 to CA4 is asynchronous, there is a problem that when an obstacle occurs instantaneously, some of the camera modules cannot capture images and the composite images are not continuous. For example, each of the camera modules CA1 to CA4 outputs an image to the image synthesizing apparatus side at a cycle of 33 msec of 30 frames (images) / second. / 2 msec, a delay of up to 33 msec occurs between all three adjacent images on both sides of one image, and an obstacle approaching between them may not be imaged. Therefore, accident prevention measures cannot be taken and recording In some cases, the cause of the accident cannot be clarified from the video.

  Such a problem cannot be solved essentially on the side of an apparatus that synthesizes images, and the imaging operations themselves of the camera modules CA1 to CA4 must be synchronized. Therefore, a method of synchronizing the imaging operation of each camera module CA1 to CA4 by outputting an activation signal simultaneously to each camera module CA1 to CA4 and outputting a common synchronization signal to each camera module CA1 to CA4, and A method of performing an imaging operation using a synchronization signal common to the camera modules CA1 to CA4 has been studied.

  However, in the former method, since each of the camera modules CA1 to CA4 is usually provided with a PLL (phase synchronization control circuit) individually, it is difficult to synchronize the clocks even if they are activated all at once. Even if they are temporarily synchronized, the clock of the crystal oscillator built in each camera module shifts with the elapsed time, and the phase of the vertical synchronization signal that determines the imaging timing shifts.

  Further, the latter method requires a synchronization signal generating unit for generating a common synchronization signal, which complicates the configuration of the entire system, and the response time for the synchronization signal differs for each camera module CA1 to CA4. In some cases, a phase difference occurs in the vertical synchronization signal generated by each of the camera modules CA1 to CA4.

  Furthermore, since the existing camera module generates a vertical synchronization signal that determines the imaging timing from the built-in clock, the existing camera module cannot be used without significant modification.

  Furthermore, as described above, when each camera module outputs an image to the image synthesizing apparatus side at a cycle of 33 msec, a phase shift of a maximum of 33 msec may occur. In addition, the correction of the phase of the vertical synchronization signal of about several tens of μsec is the limit, and it has been considered extremely difficult to control the vertical synchronization signals of all camera modules from the outside.

  For these reasons, real-time performance is required for the composite image, but this cannot be realized without significantly improving the existing camera module.

  The present invention has been made in view of such conventional problems, and synchronizes the imaging operations of a plurality of camera modules. Therefore, the images captured by the plurality of camera modules are synthesized and output to the monitor in real time. An object of the present invention is to provide an image processing system.

  It is another object of the present invention to provide an image processing system that can synchronize the imaging operations of all camera modules without significantly modifying the structure of an existing camera module.

In order to achieve the above-described object, an image processing system according to claim 1 includes an imaging unit that captures an image at a timing of a vertical synchronization signal that is repeated in the same period, and a relative phase control signal that is input from the outside. A plurality of camera modules that have a phase control unit that repeats control for correcting the phase of the vertical synchronization signal according to the control content, and that outputs a vertical synchronization signal together with an image signal of an image captured from a different field of view; Based on the image signal output from the camera module and the vertical synchronization signal, the image synthesizing unit for synthesizing the images captured by the plurality of camera modules to generate one synthesized image, and the image synthesizing unit continuously generated An image processing system having a moving image output means for outputting a composite image as a moving image to a monitor, which is connected to a plurality of camera modules. The phase of the vertical synchronization signal output from each camera module via the connection cable is compared with the reference signal Sr having the same cycle as the vertical synchronization signal, and the relative phase shift from the reference signal Sr Phase monitoring means for detecting,
From the relative phase shift, a relative phase control signal for advancing or delaying the phase for each camera module is generated so that the vertical synchronization signal of each camera module monitored by the phase monitoring unit is synchronized with the reference signal Sr. A relative phase control means for outputting a relative phase control signal at a predetermined period to the phase control unit of the camera module;
The image synthesizing unit is characterized by synthesizing the images captured by the camera modules at the timing of the vertical synchronization signal controlled to be synchronized with the reference signal Sr to generate one synthesized image.

  The relative phase control means outputs the relative phase control signal at a predetermined cycle to the phase control unit of each camera module so that the vertical synchronization signal of each camera module monitored by the phase monitoring means is synchronized. The control unit repeats the control to synchronize the phase of the vertical synchronization signal with the vertical synchronization signal of the other camera module every time the relative phase control signal is input. An image captured at the timing is output.

  By repeatedly outputting a relative phase control signal for advancing or delaying the phase at a predetermined cycle from the relative phase control means to the phase control unit of the camera module, the phase shift that cannot be eliminated by one control by the phase control unit is eliminated. The vertical synchronization signal of the camera module is synchronized.

  The image processing system according to claim 2, wherein each of the plurality of camera modules is installed in each part of the vehicle that captures an image of the periphery of the vehicle having a different imaging field of view, and each of the phase monitoring unit and the relative phase control unit via the connection cable The phase monitoring means of the image composition device is connected to an image composition device having image composition means, and compares the phase of the vertical synchronization signal output from each camera module via the connection cable with the reference signal Sr. The phase control unit controls the phase of the vertical synchronization signal based on the relative phase control signal output from the relative phase control means of the image composition device via the connection cable.

  The phase control unit of each of the plurality of camera modules receives a relative phase control signal from the relative phase control unit of the image synthesis unit, and controls the vertical synchronization signal to synchronize with the vertical synchronization signal of another camera module. Each of the camera modules captures an image of the surroundings of a vehicle having a different field of view at the timing of the synchronized vertical control signal. The image synthesizing unit generates a synthesized image without delay from an image obtained by imaging the periphery of a vehicle having a different imaging field of view.

The image processing system according to claim 3 includes an imaging unit that captures an image at a timing of a vertical synchronization signal that is repeated at a constant period, and each of the image signal of an image captured from an image having a different imaging field of view and the imaging timing thereof. At least three camera modules that output imaging signals including vertical synchronization signals to be expressed, and a plurality of camera modules based on image signals and vertical synchronization signals included in the imaging signals output from the plurality of camera modules An image processing system including an image composition device that synthesizes captured images to generate a single composite image,
Connect the image synthesizer to the most downstream camera module of all the camera modules connected in a daisy chain, and all the camera modules except the most upstream camera module connected in a daisy chain among the multiple camera modules Is equipped with a phase control unit that controls the vertical synchronization signal representing the imaging timing of the camera module to synchronize with the phase of the vertical synchronization signal representing the imaging timing of the camera module connected upstream of the camera module. All camera modules except the module input the imaging signals output by all the upstream camera modules from the camera modules connected upstream, and are connected upstream from the input imaging signals. Vertical synchronization that represents the imaging timing of the camera module A camera module connected to the downstream of the input imaging signal, in addition to an imaging signal including a vertical synchronization signal controlled to be synchronized with the signal and an image signal of an image captured at the timing of the vertical synchronization signal, or It outputs to an image composition apparatus.

  The vertical sync signal of all camera modules converges to a phase that is synchronized with the vertical sync signal of the most upstream camera module, and images are taken at the timing of the vertical sync signal controlled synchronously from all camera modules connected in a daisy chain. An image signal of the image is output to the image composition device.

  The image processing system according to claim 4 is characterized in that the plurality of camera modules connected in a daisy chain are installed in each part of the vehicle that captures the periphery of the vehicle having different imaging fields of view.

  From the image composition means, all the plurality of camera modules installed in each part of the vehicle are connected in series by a connection cable.

  According to the first aspect of the present invention, an image captured in synchronism with the imaging operation of each camera module is input to the image composition means, so that a composite image can be generated and displayed on the monitor in real time.

  In addition, since the imaging operations of all the camera modules that capture an image to be a composite image are synchronously controlled, there is no problem that some camera modules cannot capture an obstacle that is approaching, and continuous images between composite images Sex is not impaired.

  In addition, an existing camera module that generates a vertical synchronization signal from the built-in clock and can only perform phase correction of several tens of microseconds at a time by the phase control unit can be used as an imaging operation of another camera module without modifying its structure. Since they can be synchronized, it is possible to easily add an imaging field of view and replace a camera module using an existing camera module.

  According to the second aspect of the present invention, images around the vehicle with different visual fields can be displayed on the monitor as a composite image in real time, so that it can be used in a driving support system that detects an object approaching the vehicle at high speed and takes accident prevention measures.

  In addition, since images around the vehicle with different fields of view are captured by a plurality of camera modules with synchronized imaging timing, a composite image can be generated without losing continuity between images and a moving image output to the monitor can be recorded. The cause of the accident can be elucidated from images taken from different fields of view without omission.

  Furthermore, without changing the structure of the existing camera module, the camera module can be added to the new installation location of the vehicle or the camera module can be exchanged simply by connecting to the image composition apparatus with a connection cable.

  According to the invention of claim 3, it is possible to synchronize the imaging operation by daisy-chaining all the camera modules in a row and synchronizing the vertical synchronization signals of the camera modules.

  According to the fourth aspect of the present invention, it is possible to combine the images captured by all the camera modules into a combined image and display a moving image overlooking the periphery of the vehicle on the display device.

4 is a plan view showing an imaging field of view of each camera module CA1 to CA4 installed in each part of the vehicle 50. FIG. 1 is a block diagram showing an image processing system 1 according to an embodiment of the present invention. It is explanatory drawing showing the relative phase control signal output to the phase control part 3 of each camera module CA from the relative phase control part 12. FIG. It is a block diagram which shows the image processing system 30 which concerns on 2nd Embodiment.

  Hereinafter, an image processing system 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3. This image processing system 1 is used in a driving support system for the purpose of detecting an object approaching a vehicle at high speed and taking accident prevention measures. As shown in FIG. 1, using four camera modules CA1 to CA4, The camera module CA1 is placed in front of the vehicle 50 so that the imaging direction is slightly forward of the vehicle 50, and the camera module CA2 is placed on the right side of the vehicle 50 so that the imaging direction is slightly downward of the vehicle 50. The camera module CA3 is positioned behind the vehicle 50 so that the imaging direction is slightly downward from the vehicle 50, and the camera module CA4 is positioned toward the left of the vehicle 50 so that the imaging direction is slightly downward. It is installed.

  Thereby, each camera module CA1-CA4 images the images IM1-IM4 of the imaging visual fields VW1-VW4 at a speed of 30 frames / second, respectively. Since the images IM1 to IM4 of the adjacent imaging fields of view VW1 to VW4 are overlapped as shown in the figure, the control circuit 14 operating as an image compositing means to be described later corrects the overlapping portion of the images IM1 to IM4 to 4 The types of images IM <b> 1 to IM <b> 4 are combined to generate a single combined image that looks as if seen from above the vehicle 50.

  Each of the camera modules CA1 to CA4 is a camera module CA having the same configuration that is normally used in this type of driving support system. As shown in FIG. 2, the imaging unit 2 that images the imaging fields of view VW1 to VW4, and the imaging A phase control unit 3 that controls the phase of the vertical synchronization signal Vsync indicating the imaging timing of the unit 2; and a serial-parallel / flat-serial conversion circuit 4 that is an input / output interface of the camera module CA.

  The imaging unit 2 responds to a horizontal synchronization signal Hsync and a vertical synchronization signal Vsync obtained by dividing a clock of a built-in oscillator (not shown) at 1/30 seconds that is an imaging cycle of one frame, that is, a cycle of about 33 msec. A VW image IM is picked up, and together with the image signal Sp representing the image IM, the horizontal synchronizing signal Hsync and the vertical synchronizing signal Vsync when the image IM is picked up are converted into a 96 Mhz 8-bit parallel signal directly via the data bus 5. Output to the parallel / flat serial conversion circuit 4.

  Here, since each camera module CA1 to CA4 is designed to have the same configuration and the same specification, the frequency of the vertical synchronization signal Vsync obtained by dividing the clock is also the same, but the phase of the vertical synchronization signal Vsync at the time of activation is Each of the camera modules CA1 to CA4 is independent and has a phase shift. For ease of explanation, as shown in FIG. 3, for example, the vertical synchronization signal Vsync-1 of the camera module CA1 advances by + α1 with respect to the reference signal Sr having a period of 1/30 seconds, and the vertical synchronization signal of the camera module CA2 It is assumed that Vsync-2 is advanced by + α2, the vertical synchronization signal Vsync-3 of the camera module CA3 is delayed by −α3, and Vsync-4 of the camera module CA4 is advanced by + α4.

  The phase control unit 3 receives a relative phase control signal output from the relative phase control unit 12 described later from the data bus 5, and controls the phase of the vertical synchronization signal Vsync ± 10 μsec by one control according to the control content of the relative phase control signal. Correct within the range. That is, when the relative phase control signal for the advance control is input, the control for advancing the phase of the vertical synchronization signal Vsync by +10 μsec is repeated, and when the relative phase control signal for the delay control is input, the vertical synchronization signal Vsync is The control for advancing the phase by +10 μsec is repeated.

  Each of the camera modules CA1 to CA4 is connected to an image composition device 10 installed near the driver's seat of the vehicle 50 by an LVDS (Low voltage differential signing) cable 6 having a length of 3 to 8 m. Since the LVDS cable 6 is a bidirectional serial transmission line, the serial-parallel / flat-serial conversion circuit 4 of each camera module CA1 to CA4 is an 8-bit parallel signal image signal Sp and a horizontal synchronization signal output from the data bus 5. The Hsync and the vertical synchronization signal Vsync are converted into a parallel series and output to the LVDS cable 6, and the relative phase control signal input from the relative phase control unit 12 via the LVDS cable 6 is serially parallel converted to the data bus 5. Output to.

  Similarly, a serial / parallel / serial converter circuit 13 is connected between the data bus 16 in the image composition device 10 and the LVDS cable 6 connected to each of the camera modules CA1 to CA4, and is output to each LVDS cable 6. The image signal Sp, the horizontal synchronizing signal Hsync, and the vertical synchronizing signal Vsync are serial-parallel converted and input to the data bus 16, and a relative phase control signal represented by an 8-bit parallel signal output from the data bus 16 is received. The signal is converted into a flat serial signal and output to each LVDS cable 6.

  As shown in FIG. 2, the image composition device 10 includes a phase monitoring unit 11, a relative phase control unit 12, a control circuit 14, and an SDRAM 15 that are connected via a data bus 16. Each time the image signal Sp is input from each of the camera modules CA1 to CA4, the control circuit 14 receives the image signal Sp based on the horizontal synchronization signal Hsync and the vertical synchronization signal Vsync input together with the image signal Sp. Images IM1 to IM4 captured by the modules CA1 to CA4 are temporarily stored in the SDRAM 15.

  Further, when the image signal Sp is input from each of the camera modules CA1 to CA4, the phase monitoring unit 11 monitors the phase of the vertical synchronization signal Vsync input together with the image signal Sp, and the camera modules CA1 to CA4 are mutually connected. Compare the relative phases of. In the comparison of the relative phase, the vertical synchronization signal Vsync of any camera module CA may be used as a reference signal, and the phase shift with the vertical synchronization signal Vsync of other camera modules CA may be compared. The relative phase shifts of the camera modules CA1 to CA4 are compared with the reference signal Sr having a period of 1/30 second generated from a clock (not shown).

  The relative phase control unit 12 corrects the phase of the vertical synchronization signal Vsync for each camera module CA1 to CA4 from the relative phase shift of each camera module CA1 to CA4 detected by the phase monitoring unit 11 at a constant cycle. The relative phase control signal is generated and output to the phase control unit 3 of each camera module CA1 to CA4 via the LVDS cable 6. Here, when the phase of the vertical synchronization signal Vsync input from each of the camera modules CA1 to CA4 is delayed with respect to the reference signal Sr, the relative phase control signal for the advance control is displayed. A control signal is generated and output to the phase control unit 3 of the camera modules CA1 to CA4. Further, when the phase of the vertical synchronizing signal Vsync matches the reference signal Sr, the relative phase control signal is not output. For example, if the vertical synchronization signal Vsync of each camera module CA1 to CA4 has the phase shown in FIG. 3, a relative phase control signal for delay control is sent to the phase control unit 3 of the camera modules CA1, CA2, and CA4. A relative phase control signal for advance control is output to the phase controller 3 of the module CA3.

  Although the period for outputting the relative phase control signal from the relative phase control unit 12 can be arbitrarily set, here, it is output with the period of the reference signal Sr. Therefore, the phase control unit 3 of each camera module CA1 to CA4 corrects the phase of the vertical synchronization signal Vsync according to the control content of the relative phase control signal until the next relative phase control signal is input in the cycle of the reference signal Sr. Repeat control. As long as the vertical synchronization signal Vsync is out of phase with the reference signal Sr, the phase control to synchronize with the reference signal Sr is repeated, so that the vertical synchronization signals Vsync of all the camera modules CA1 to CA4 eventually become the reference signal Sr. It converges to the same phase.

  Since the camera modules CA1 to CA4 respectively capture the images IM1 to IM4 at the timing of the vertical synchronization signal Vsync synchronized with the reference signal Sr, and output the image signals Sp representing the images IM1 to IM4 to the image composition device 10, The control circuit 14 reads the four images IM1 to IM4 stored in the RAM 15 almost simultaneously from the SDRAM 15 and generates a single composite image. Since the image signals Sp representing the images IM1 to IM4 are input at a cycle of 1/30 seconds, the control circuit 14 also outputs a composite image to the display device 20 at a cycle of 1/30 seconds, A moving image overlooking around 50 from above is displayed.

  In the above-described embodiment, the control content of the relative phase control signal output by the relative phase control unit 12 at a predetermined cycle is two types of advance control or delay control, but according to the phase difference together with the advance control or delay control. The number of times that the phase control unit 3 of each camera module CA1 to CA4 corrects and controls the phase of the vertical synchronization signal Vsync may be included.

  In the above-described embodiment, a relative phase control signal is output to the phase control unit 3 of each of the camera modules CA1 to CA4 that is star-connected with the LVDS cable 6 to the image composition device 10 that generates a composite image. The imaging timings of the camera modules CA1 to CA4 are synchronized, but all the camera modules CA1 to CA4 are divided into two or more groups, and the camera modules CA of each group are connected by daisy chain connection via the LVDS cable 6. The relative phase control signal may be output from the image synthesis device 10 to the phase control unit 3 of the camera module CA connected to the image synthesis device 10 that generates the synthesized image.

  Further, all the camera modules CA1 to CA4 are connected in a daisy chain to an image composition device that generates a composite image, and the vertical synchronization signal Vsync of each camera module CA1 to CA4 is synchronized to synchronize the imaging operation. You can also. Hereinafter, the image processing system 30 according to the second embodiment will be described with reference to FIG. In the description of the image processing system 30, the same or corresponding components as those in the first embodiment are denoted by the same reference numerals in the drawing, and detailed description thereof is omitted.

  In the image processing system 30, four camera modules CA <b> 1 to CA <b> 4 shown in FIG. 1 are connected in a daisy chain to an image composition device 31 installed near the driver's seat of the vehicle 50. That is, a pair of the camera modules CA1 to CA4 and the image synthesizing apparatus 31 that are adjacent to each other in the clockwise direction when viewed from above the vehicle 50 are connected by the LVDS cable 32 wired between them, and the uppermost camera module CA1 performs image synthesis. Up to the device 31 is connected in series. Therefore, all the camera modules CA <b> 1 to CA <b> 4 can be connected to the image composition device 31 with almost one wiring around the vehicle 50.

  Similar to the first embodiment, each of the camera modules CA1 to CA4 is a camera module CA having the same configuration that is normally used in this type of driving support system, and the imaging unit 2 that images the imaging fields of view VW1 to VW4. A phase control unit 33 that controls the phase of the vertical synchronization signal Vsync indicating the imaging timing of the imaging unit 2, and a serial-parallel / flat-serial conversion circuit 4 that is an input / output interface. Of these, the most upstream camera module CA1 is not necessarily provided with the phase control unit 33, and the serial-parallel / flat-serial conversion circuit 4 may be replaced with a circuit only for flat-serial conversion.

  The imaging unit 2 of the most upstream camera module CA1 has a horizontal synchronization signal Hsync and a vertical synchronization signal obtained by dividing a clock of an internal oscillator (not shown) at a period of 1/30 seconds that is an imaging period of one frame, that is, a period of about 33 msec. A horizontal synchronization signal Hsync-1 and a vertical synchronization signal Vsync-1 (hereinafter referred to as an image signal Sp) when the image IM1 of the imaging visual field VW1 is captured in response to Vsync and the image IM is captured together with the image signal Sp1 representing the image IM1. And the horizontal synchronization signal Hsync and the vertical synchronization signal Vsync output together with the image signal Sp are referred to as the imaging signal Sim) to the downstream camera module CA2 via the LVDS cable 32.

  In addition, the camera module CA2 receives an image signal Sim-2 including an image signal Sp2 of an image IM2 obtained by imaging the imaging field of view VW2, and a horizontal synchronization signal Hsync-1 and a vertical synchronization signal Vsync-1 when the image IM2 is captured. In addition to the imaging signal Sim-1 input from the camera module CA1, it is further output to the downstream camera module CA3 via the LVDS cable 32.

  Thereafter, the camera modules CA3 and CA4 execute the same processing, whereby the imaging signals Sim-1 to Sim-4 representing the images IM1 to IM4 are transmitted from the camera module CA4 to the image synthesizer 31 via the LVDS cable 32. Is output. The control circuit 14 of the image synthesizing device 31 synthesizes the images IM1 to IM4 generated based on the imaging signals Sim-1 to Sim-4 to form a synthesized image, and outputs the synthesized image to the display device 20 with a period of 1/30 seconds. Then, a moving image overlooking the periphery of the vehicle 50 from above is displayed on the display device 20.

  The phase control unit 33 of each of the camera modules CA2 to CA4 except the most upstream camera module CA1 monitors the phase of the vertical synchronization signal Vsync-1 included in the imaging signal Sim-1 input from the upstream camera module CA. Then, the phase correction control in the range of ± 10 μsec is repeated so that its own vertical synchronization signal Vsync is synchronized with the vertical synchronization signal Vsync-1. As a result, the vertical synchronization signal Vsync of all the camera modules CA1 to CA4 converges to a phase synchronized with the vertical synchronization signal Vsync-1 of the camera module CA1, and from all the camera modules CA1 to CA4 connected in a daisy chain. The image signals Sp1 to Sp4 of the images IM1 to IM4 captured at the timing of the synchronization-controlled vertical synchronization signal Vsync are output to the image synthesizer 31 connected to the most downstream side.

  Since each of the above-described embodiments is the image processing system 1 or 30 used for the vehicle driving support system, each camera module CA1 to CA4 is installed in each part of the vehicle 50, but has a different imaging field of view. As long as the image processing system synthesizes images obtained by capturing images at a certain period and displays continuously generated synthesized images on the display device as moving images, the installation positions and the number of camera modules are not limited to the above-described embodiments. .

  Further, the moving image display means and display method for continuously displaying the composite image can be arbitrarily selected according to the application.

  It is suitable for an image processing system that detects an object approaching at high speed in a wide imaging field of view.

1, 30 Image processing system 2 Imaging unit 3 Phase control unit 6 LVDS cable (connection cable)
DESCRIPTION OF SYMBOLS 10 Image composition apparatus 11 Phase monitoring part (phase monitoring means)
12 Relative phase control unit (relative phase control means)
14 Control circuit (image composition means, moving image output means)
20 Display device (monitor)
31 Image Synthesizer 50 Vehicle IM Image Vsync Vertical Sync Signal CA Camera Module Sp Image Signal VW Imaging Field of View

Claims (4)

An imaging unit that captures an image at the timing of a vertical synchronization signal that is repeated in the same cycle, and a phase control unit that repeats control for correcting the phase of the vertical synchronization signal according to the control content of the relative phase control signal input from the outside A plurality of camera modules for outputting a vertical synchronization signal together with an image signal of an image obtained by capturing images having different imaging fields;
Based on the image signal output from each of the plurality of camera modules and the vertical synchronization signal, an image combining unit that combines the images captured by the plurality of camera modules to generate one composite image;
An image processing system comprising a moving image output means for outputting a composite image continuously generated by the image composition means to a monitor as a moving image,
A plurality of camera modules are connected in a daisy chain with a connection cable, and the phase of a vertical synchronization signal output from each camera module via the connection cable is compared with a reference signal Sr having the same cycle as the vertical synchronization signal. Phase monitoring means for detecting a phase shift relative to the signal Sr;
From the relative phase shift, a relative phase control signal for advancing or delaying the phase for each camera module is generated so that the vertical synchronization signal of each camera module monitored by the phase monitoring unit is synchronized with the reference signal Sr. A relative phase control means for outputting a relative phase control signal at a predetermined period to the phase control unit of the camera module;
The image synthesizing unit synthesizes an image captured by each camera module at a timing of a vertical synchronization signal controlled to be synchronized with the reference signal Sr to generate a single synthesized image. Each of the plurality of camera modules is installed in each part of a vehicle that captures the surroundings of a vehicle having a different imaging field of view, and is connected to an image composition device having a phase monitoring unit, a relative phase control unit, and an image composition unit via connection cables, respectively. And
The phase monitoring means of the image synthesizer compares the phase of the vertical synchronizing signal output from each camera module via the connection cable with the reference signal Sr,
2. The phase control unit of each camera module controls the phase of a vertical synchronization signal based on a relative phase control signal output from a relative phase control unit of an image composition device via a connection cable. The image processing system described in 1. It has an imaging unit that captures images at the timing of a vertical synchronization signal that is repeated at a constant cycle, and outputs an imaging signal that includes an image signal of an image captured from an image with a different field of view and a vertical synchronization signal that represents the imaging timing. At least three camera modules,
An image composition device that synthesizes images picked up by a plurality of camera modules based on image signals and vertical synchronization signals included in image pickup signals output from the plurality of camera modules to generate a single composite image An image processing system comprising:
Connecting the image composition device to the most downstream camera module of all the plurality of camera modules connected in a daisy chain;
Among the plurality of camera modules, all the camera modules except the most upstream camera module connected in a daisy chain receive the vertical synchronization signal indicating the imaging timing of the camera module and the imaging of the camera module connected upstream thereof. A phase control unit that controls to synchronize with the phase of the vertical synchronization signal representing the timing,
All the camera modules except the most upstream camera module respectively input imaging signals output from all the upstream camera modules from the camera modules connected upstream thereof, and input imaging An imaging signal including a vertical synchronization signal controlled to synchronize with a vertical synchronization signal representing an imaging timing of the camera module connected upstream from the signal, and an image signal of an image captured at the timing of the vertical synchronization signal. In addition to the input image pickup signal, the image processing system outputs the image signal to a camera module or an image composition device connected downstream thereof. The image processing system according to claim 3, wherein the plurality of camera modules connected in a daisy chain are installed in each part of the vehicle that captures the periphery of the vehicle having different imaging fields of view.

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