JP2018117218A - Vehicle driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect peeling of a film provided in a photographing direction of a photographing unit.SOLUTION: A vehicle driving support device extracts two or more parallel white lines from a photographed image of a camera (100 and 102). The device calculate a vanishing point of each of the parallel white lines extracted from the photographed image after running by a predetermined distance and calculate a deviation of the vanishing points (104 to 108). Then, the device detects peeling of a film by determining film peeling when the deviation of the vanishing points is equal to or larger than a threshold value (110 and 112).SELECTED DRAWING: Figure 4

Description

  The present invention relates to a vehicle driving support apparatus that collects necessary information by a photographing unit such as a camera and performs driving support.

  The vehicle is equipped with an imaging unit such as a camera, and technology that collects information necessary for driving assistance from the captured image taken by the imaging unit, and driving assistance display is superimposed on the captured image taken by the imaging unit to support driving Technology to do is known.

  For example, in the driving support device described in Patent Document 1, driving support display is superimposed on a captured image of a vehicle-mounted camera to support driving.

  Further, in the technique of Patent Literature 1, a vanishing point of an optical flow is calculated from a plurality of images captured in time series, and a calculation unit that calculates an amount of rotation of the in-vehicle camera from an amount of deviation of the vanishing point with respect to the optical axis; The correction means for changing the superimposed display position of the driving support display according to the calculated rotation amount is provided to facilitate the calibration of the mounting angle of the in-vehicle camera.

JP 2012-074777 A

  However, in Patent Document 1, when a film for the purpose of cloud prevention or the like is provided in the shooting direction of the shooting unit, there is a risk that calibration will be performed without noticing the peeling of the film. When a film is provided on the film, it is necessary to detect film peeling. In addition, there is room for improvement because an appropriate captured image cannot be obtained when the film is peeled off.

  The present invention has been made in consideration of the above facts, and an object thereof is to detect peeling of a film provided in the photographing direction of the photographing unit.

  In order to achieve the above-mentioned object, the invention described in claim 1 is provided in a vehicle interior, and photographs the outside of the vehicle interior through a film attached to a vehicle window and a portion of the window to which the film is attached. And a plurality of parallel lines extending in the shooting direction from the photographed image photographed by the photographing unit, and the disappearance of each of the extracted parallel lines after traveling a predetermined distance A determination unit that determines that the film is peeled when the point shift is more than a predetermined threshold; and

It has.

  According to the first aspect of the present invention, the photographing unit photographs the outside of the vehicle compartment through the film affixed to the window of the vehicle and the portion where the film of the window is affixed. That is, when film peeling occurs, the refractive index differs between the part where the film is peeled off and the part where the film is not peeled off, and the captured image is distorted.

  Therefore, the determination unit extracts a plurality of parallel lines extending in the shooting direction from the captured image captured by the imaging unit, and each vanishing point of the extracted plurality of parallel lines after traveling a predetermined distance. It is determined that the film is peeled off when the difference between the two is more than a predetermined threshold. That is, the vanishing points of a plurality of parallel lines substantially coincide with each other when the film is not peeled off. Therefore, it is determined that the film is peeled off when the vanishing point is shifted by a predetermined threshold value or more. be able to. Therefore, peeling of the film provided in the photographing direction of the photographing unit can be detected.

  As described above, according to the present invention, there is an effect that it is possible to detect the peeling of the film provided in the photographing direction of the photographing unit.

(A) is a figure which shows the vehicle mounting position of the vehicle driving assistance device which concerns on this embodiment, (B) is a side view of the vehicle driving assistance device which concerns on this embodiment, (C) is this implementation It is a front view of the driving assistance device for vehicles concerning a form. It is a block diagram which shows the structure of the control system of the driving assistance device for vehicles which concerns on this embodiment. (A) is a diagram showing a photographed image of a camera at a certain time point, and (B) is a case where there is no film peeling when the distance from the time point (A) to the point B in front of the vehicle (in the x-axis direction) It is a figure which shows an example of the picked-up image of (C), (C) is an example of a picked-up image in case there exists film peeling when the distance to B point advances ahead of a vehicle (x-axis direction) from the time of (A). FIG. It is a flowchart which shows an example of the process performed with the control apparatus of the driving assistance device for vehicles which concerns on this embodiment.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1A is a diagram illustrating a vehicle mounting position of the vehicle driving support device according to the present embodiment, and FIG. 1B is a side view of the vehicle driving support device according to the present embodiment. FIG. 1C is a front view of the vehicle driving support apparatus according to the present embodiment.

  As shown in FIG. 1A, the vehicle driving support apparatus 10 according to the present embodiment is provided in the vicinity of the inner mirror 14 disposed in the vicinity of the upper portion of the front windshield glass W as a vehicle window. .

  As shown in FIG. 1 (B), the vehicle driving support apparatus 10 includes a camera 12 as a photographing unit that photographs the front of the vehicle at a predetermined angle of view. The camera 12 is disposed on a bracket 20 fixed to the vehicle body.

  A film 16 attached to the front windshield glass W is provided on the vehicle front side of the camera 12 as shown in FIGS. The camera 12 takes an image of the front of the vehicle through a portion where the film 16 and the film 16 of the front windshield glass W are attached. For example, the film 16 having a cloud prevention function is attached to the front windshield glass W for the purpose of cloud prevention, and is attached to a range that covers the angle of view of the camera 12, for example.

  A portion of the front windshield glass W corresponding to the periphery of the camera 12 is coated with a black ceramic paint (so-called black ceramic) 22 as shown in FIG.

  FIG. 2 is a block diagram illustrating a configuration of a control system of the vehicle driving support apparatus 10 according to the present embodiment.

  As shown in FIG. 2, the vehicle driving support device 10 includes a control device 18 as an example of a determination unit in addition to the camera 12 described above.

  The camera 12 captures the front of the vehicle at a predetermined angle of view under the control of the control device 18 and outputs the captured image to the control device 18.

  The control device 18 includes a microcomputer in which a CPU 18A, a ROM 18B, a RAM 18C, and an I / O (input / output interface) 18D are connected to a bus 18E.

  The camera 12 as a control target of the control device 18 is connected to the I / O 18D, and the ROM 16B of the control device 18 peels off the film 16 from a program for controlling the drive of the camera 12 and a photographed image of the camera 12. Is stored. The RAM 18C is used as a working memory for performing various calculations performed by the CPU 18A.

  In the present embodiment, as described above, since the film 16 is affixed to the front windshield glass W on the front side of the camera 12, the adhesive material deteriorates due to aging deterioration, and the adhesive strength decreases. May occur. If a part of the film 16 is peeled off, the refractive index changes and a normal photographed image cannot be obtained, and it is necessary to detect the peeling of the film 16 in order to prevent an adverse effect due to distortion of the photographed image. Therefore, the control device 18 has a function of determining peeling of the film 16 based on a photographed image photographed by the camera 12.

  Here, a method for determining peeling of the film 16 from the photographed image will be described. FIG. 3 is a diagram for explaining a method for determining peeling of the film 16 from a photographed image. Specifically, FIG. 3A is a diagram illustrating a captured image of the camera 12 at a certain time point. FIG. 3B is a diagram illustrating an example of a photographed image when there is no film peeling when the distance from the point in FIG. 3A to the point B is advanced in the front of the vehicle (in the x-axis direction). FIG. 3C is a diagram illustrating an example of a photographed image when film peeling occurs when the distance from the point in FIG. 3A to the point B is advanced in the front of the vehicle (in the x-axis direction). Note that x in FIG. 3 indicates the vehicle forward direction, y indicates the vehicle right direction, and z indicates the vehicle upward direction.

  In order to determine peeling of the film 16, in the present embodiment, first, a white line is extracted as an example of two or more parallel lines extending in the shooting direction of the camera 12 from the shot image of the camera 12. Specifically, a plurality of white lines are extracted from the captured image. Here, the parallel white lines are approximately coincident with the intersection (disappearance point) of the extension line obtained by extending each white line and the disappearance line (a line generated when the plane is extended to infinity (for example, a horizontal line)). Therefore, a plurality of parallel white lines are extracted by extracting white lines whose vanishing points substantially coincide. The example of FIG. 3A shows an example in which four parallel white lines (1) to (4) are extracted. Note that the vanishing points substantially coincide with each other includes a case where the vanishing point shift is within a predetermined range in addition to the case where the vanishing points substantially coincide.

  Here, when the vehicle travels to point B in FIG. 3 (A), the vanishing point of each white line is as shown in FIG. 3 (B) when the film 16 is not peeled off. The substantially matched state is maintained.

  On the other hand, in the state where the film 16 is peeled off, the refractive index of the part where the film 16 is peeled is different from that of the other part, so that the photographed image is distorted. As shown in FIG. The vanishing points do not match and cause a shift. That is, in the example of FIG. 3C, the vanishing points of the white lines (1) and (2) are the vanishing points A, whereas the vanishing points of the white lines (3) and (4) are vanished due to distortion of the captured image. It becomes point A ′. That is, when a shift occurs in the vanishing points of a plurality of parallel white lines after traveling for a predetermined distance, it can be determined that the film 16 is peeled off. Note that the hatched portion in the lower left portion in FIG. 3C represents a portion where the film 16 is peeled off.

  Therefore, in this embodiment, by extracting a plurality of parallel lines and determining whether or not the vanishing point of each extracted line after traveling a predetermined distance is shifted by a predetermined threshold value or more, Detects peeling. Thereby, peeling of the film 16 can be easily detected from the photographed image. The predetermined distance may be set to be shorter than the distance at which the plurality of extracted parallel lines are outside the captured image range. For example, when white lines between B′-B are detected as a plurality of parallel lines as shown in FIG. 3A, B′− as shown in FIGS. You may set the distance shorter than the distance from which the white line between B remove | deviates from a picked-up image range. This makes it possible to detect film peeling using only the straight line portion of the white line.

  Next, a specific processing example performed by the control device 18 of the vehicle driving support device 10 according to the present embodiment configured as described above will be described. FIG. 4 is a flowchart illustrating an example of a flow of processing performed by the control device 18 of the vehicle driving support device 10 according to the present embodiment. Note that the processing in FIG. 4 starts, for example, every time a predetermined time has elapsed.

  In step 100, the CPU 18A acquires a captured image of the camera 12, and proceeds to step 102.

  In step 102, the CPU 18A extracts two or more parallel lines from the captured image, and proceeds to step 104. For two or more parallel lines, a plurality of white lines are extracted, and a plurality of white lines in which the vanishing point that is the intersection of the line obtained by extending the extracted white line and the vanishing line is within a predetermined range are extracted as parallel lines. To do. For example, as shown in FIG. 3A, four white lines (1) to (4) are extracted.

  In step 104, the CPU 18A determines whether or not two or more parallel lines cannot be extracted. If the determination is affirmative, the process returns to step 100 and the above-described processing is executed again. If the determination is negative, the process proceeds to step 106.

  In step 106, the CPU 18 </ b> A acquires a captured image of the camera 12 after traveling a predetermined distance in the x-axis direction (vehicle forward direction), and proceeds to step 108.

  In step 108, the CPU 18A calculates again the vanishing point after traveling for the two or more extracted parallel lines, and proceeds to step 110. That is, vanishing points A, A ′, A ″, A ″ ″... After the vehicle has traveled a predetermined distance are calculated for each of the extracted parallel lines. For example, in the example of FIGS. 3B and 3C, the vanishing point A of the four white lines of (1) to (4) is calculated by calculating the intersection of the extension line of the part indicated by the black line and the vanishing line. , A ′, A ″, A ′ ″.

  In step 110, the CPU 18A calculates the amount of deviation of the vanishing point of each white line, and proceeds to step 112. That is, the shift amount with respect to each vanishing point A, A ′, A ″, A ″ ″... Is calculated. As an example of calculating the shift amount, the shift amount with respect to each vanishing point is calculated as | A′−A ″ |. In the example of FIGS. 3B and 3C, the amount of deviation of each of the four white lines with respect to the vanishing points A, A ′, A ″, A ″ ″ is calculated.

  In step 112, the CPU 18A determines whether or not the amount of deviation of the vanishing point of each white line is equal to or greater than a predetermined threshold value. If the determination is negative, the series of processing is terminated, and if the determination is affirmative, the routine proceeds to step 114.

  In step 114, the CPU 18A determines that the film 16 is peeled off, performs a predetermined film peeling determination process, and ends the series of processes. In the film peeling determination process, for example, an alarm indicating that the film 16 is peeled off may be displayed on the display unit or the like, or a warning lamp may be provided and turned on.

  As described above, in the present embodiment, a plurality of parallel lines are extracted from the captured image of the camera 12, and the displacement of each vanishing point of the extracted parallel lines is obtained, thereby easily detecting peeling of the film 16. be able to.

  In the above embodiment, the film 16 is intended to be cloud-proof as an example, and the example in which the film 16 having the cloud-proof function is pasted on the vehicle interior side of the front windshield glass W has been described. is not. For example, you may affix the film which has these functions on the vehicle interior side of the front windshield glass W for the purpose of reflection prevention other than cloud prevention, heat insulation, condensation prevention, etc. The film 16 may be attached to the outside of the front windshield glass W in the passenger compartment.

  In the above embodiment, an example in which a white line is extracted as an example of parallel lines has been described. However, the present invention is not limited to a white line, and may be, for example, a yellow line or a white line and a yellow line. Alternatively, other color lines may be used. Alternatively, the guard rails on both sides of the road may be extracted as parallel lines.

  In the above-described embodiment, the vehicle driving support apparatus including the camera 12 that captures the front of the vehicle has been described as an example. However, the present invention is not limited to the front of the vehicle, and includes a camera that captures the side or the rear. The present invention may be applied to a vehicle driving support device.

  Moreover, although the process performed by the control apparatus 18 in said embodiment was demonstrated as a software process performed by running a program, it is good also as a process performed by hardware. Alternatively, the processing may be a combination of both software and hardware. The program stored in the ROM may be stored and distributed in various storage media.

  Furthermore, the present invention is not limited to the above, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

10 Vehicle Driving Support Device 12 Camera (Photographing Unit)
18 Control device (determination unit)

Claims (1)

A filming unit that is provided in a vehicle interior and that photographs a vehicle exterior through a portion of the window pasted on a film pasted on a vehicle window;
A plurality of parallel lines extending in the photographing direction are extracted from the photographed image photographed by the photographing unit, and the vanishing point shift of each of the plurality of parallel lines extracted after traveling a predetermined distance is previously determined. A determination unit that determines that the film is peeled off when a predetermined threshold value is exceeded,
A vehicle driving support apparatus comprising: