JP2018125684A - On-vehicle camera - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-vehicle camera capable of reducing the cost.SOLUTION: An imaging unit 20 generates an outer image representing the vicinity of a vehicle 10. A detection part 26 detects objects existing in the vicinity of the vehicle. An output part 28 outputs a piece of image information including the outer image or a piece of detection information of the objects to a drive assist system 14. A calibration unit 30 executes a series of calibration processing of a camera 12. The detection part 26 detects a first image representing start of the calibration when the outer image includes the first image. The calibration unit 30 starts a series of calibration processing when the detection part 26 detects the first image.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an in-vehicle camera.

  An in-vehicle camera that captures an image of the rear of the vehicle and displays the captured image on a display device in the vehicle is known for driving assistance during parking. As a calibration method for such an in-vehicle camera, a method has been proposed in which an index serving as a reference marker is captured by the in-vehicle camera and an installation error of the in-vehicle camera is absorbed using the index in the captured image (for example, a patent) Reference 1).

JP 2011-155687 A

  The calibration device constituting the in-vehicle camera in Patent Document 1 automatically activates the in-vehicle camera by starting a camera calibration program for the in-vehicle camera in response to a user touch operation on the connected display device. The calibration device is configured to terminate the camera calibration program and return to the normal mode when the user touches the display device after calibration of the in-vehicle camera is completed. Since the in-vehicle camera described in Patent Document 1 starts calibration processing in response to an instruction from the display device, it is necessary to provide the in-vehicle camera with a reception unit that receives an instruction from the display device. It is necessary to provide a different reception unit for each. This causes an increase in the cost of the in-vehicle camera.

  The present invention has been made in view of such circumstances, and one object is to provide a technique for reducing the cost of an in-vehicle camera.

  In order to solve the above-described problem, an in-vehicle camera according to an aspect of the present invention is an in-vehicle camera installed in a vehicle, and is present in the periphery of the vehicle, an imaging unit that generates an external image indicating the periphery of the vehicle A detection unit for detecting an object, image information including an external image generated by the imaging unit, or an output unit for outputting detection information of the object detected by the detection unit to an external device, and calibration processing of the in-vehicle camera A calibration unit to be executed. The detection unit detects when the first image indicating the start of calibration is included in the external image generated by the imaging unit, and the calibration unit detects the first image when the detection unit detects the first image. Start the calibration process.

  An arbitrary combination of the above components, the expression of the present invention converted between a method, a computer program, a recording medium storing the computer program, a vehicle equipped with the apparatus, and the like are also included in the aspects of the present invention. It is effective as

  According to the present invention, the cost of a vehicle-mounted camera can be reduced.

It is a figure which shows typically the vehicle which concerns on an Example. It is a block diagram which shows the function structure of the camera of FIG. It is a block diagram which shows the function structure of the driving assistance device of FIG. It is a flowchart which shows operation | movement of the camera of FIG.

  FIG. 1 is a diagram schematically illustrating a vehicle 10 according to the embodiment, and is a diagram of the vehicle 10 viewed from above. The vehicle 10 includes a camera 12, a driving support device 14, and a display device 16. These devices may be connected via a known adapter and / or an in-vehicle network.

  The camera 12 is an in-vehicle camera that is mounted on the vehicle 10 and repeatedly captures the periphery of the vehicle 10. The camera 12 according to the embodiment is attached to a back door or the like at the rear of the vehicle 10, and repeatedly generates an external image indicating the state of the rear space of the vehicle 10. The camera 12 may be installed in the vicinity of the upper end of the rear glass with the optical axis extending obliquely downward rearward of the vehicle 10. As will be described later, the camera 12 has a function of automatically and autonomously calibrating the camera 12 itself.

  The driving support device 14 generates driving support information for supporting driving of the vehicle 10 based on the image information output from the camera 12, and generates parking support information in the embodiment. The display device 16 is an HMI (Human Machine Interface) device that presents various information to the driver. The display device 16 may be a car navigation device or an IVI (In-Vehicle Infotainment) device. The display device 16 according to the embodiment displays parking support information that is driving support information generated by the driving support device 14 on a monitor. The display device 16 may be a display device outside the vehicle 10, and may be connected to the vehicle 10 via an OBD (On Board Diagnostics) adapter, for example.

  FIG. 2 is a block diagram showing a functional configuration of the camera 12 of FIG. The camera 12 includes an imaging unit 20, a control unit 22, an output unit 28, and a calibration unit 30. The control unit 22 includes an image processing unit 24 and a detection unit 26. In addition, the camera 12 is provided with a normal mode for outputting image information based on an external image and a calibration mode for executing an automatic calibration process of the own device as operation states.

  Each block shown in the block diagram of the present specification can be realized in terms of hardware by an element such as a CPU / memory of a computer or a mechanical device, and in terms of software, it can be realized by a computer program or the like. Then, the functional block realized by those cooperation is drawn. Those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software. For example, a computer program including a module corresponding to each block in FIG. 2 may be stored in the memory of the camera 12. The CPU of the camera 12 may exhibit the function of each block by appropriately reading and executing the computer program. Further, the camera 12 may include a calibration ECU (Electronic Control Unit) that executes an automatic calibration process.

  The imaging unit 20 generates an external image indicating the periphery of the vehicle. The imaging unit 20 according to the embodiment images the rear space of the vehicle 10 and generates an external image indicating the state of the rear space. The control unit 22 executes various data processing based on the external image generated by the imaging unit 20.

  The image processing unit 24 generates image information based on the external image. In the embodiment, the image processing unit 24 generates image information including a corrected image obtained by performing distortion correction on an external image. The image processing unit 24 outputs the generated image information to the output unit 28. As a modification, the image processing unit 24 may output the external image output from the imaging unit 20 as it is to the output unit 28 without processing it.

  The detection unit 26 detects various objects included in the external image by a known method such as pattern matching (in other words, template matching), optical flow, or the like, in other words, detects an object existing in the imaging target space. . The object to be detected may include a pedestrian, an obstacle, a car stop, a sign, and the like. The detection unit 26 is detection information indicating the detected object. For example, the detection unit 26 outputs detection information indicating the name of the object specified by pattern matching to the output unit 28 and the calibration unit 30.

  The detection unit 26 stores the pattern of the first instruction image and the pattern of the second instruction image as patterns for pattern matching. The first instruction image is an image in a mode predetermined as indicating a calibration start instruction. The second instruction image is an image different from the first instruction image, and is an image in a predetermined mode as an instruction to end calibration. The first instruction image and the second instruction image may be a combination of a predetermined shape, pattern, and color. The first instruction image and the second instruction image may be a one-dimensional barcode or a two-dimensional barcode. When the first instruction image is included in the external image, the detection unit 26 detects this by pattern matching. In addition, when the second instruction image is included in the external image, the detection unit 26 detects this by pattern matching.

  The output unit 28 outputs the image information received from the image processing unit 24 and the detection information received from the detection unit 26 to the driving support device 14. Furthermore, the output unit 28 is information indicating the operating state of the camera 12, and outputs information indicating the calibration status to the driving support device 14, for example.

  The calibration unit 30 shifts the camera 12 to the maintenance mode when the first instruction image is detected by the detection unit 26, in other words, when the detection information output from the detection unit 26 indicates the detection fact of the first instruction image. Let Along with the shift to the maintenance mode, the calibration unit 30 activates a camera calibration program stored in advance, thereby causing the camera 12 (for example, the imaging unit 20) to execute an automatic calibration process. For the automatic calibration processing of the camera 12, a known technique may be employed, for example, the technique described in Patent Document 1 may be applied.

  The calibration unit 30 periodically outputs information indicating the calibration status to the output unit 28 during the calibration process of the camera 12 and causes the output unit 28 to output the information to the driving support device 14. The information indicating the calibration status may include the progress status of the calibration process. Further, the information indicating the calibration status may include a ratio of the number of completed work items to the number of work items in the entire calibration process, or may include an expected time until the calibration process is completed.

  When the detection unit 26 detects the second instruction image, in other words, when the detection information output from the detection unit 26 indicates the detection fact of the second instruction image, the calibration unit 30 shifts the camera 12 to the normal mode. Let The calibration unit 30 of the embodiment shifts to the normal mode when the second instruction image is detected by the detection unit 26 in a state where the calibration process of the camera 12 has been completed. With the shift to the normal mode, the calibration unit 30 ends the camera calibration program. At the same time, the calibration unit 30 outputs information indicating the normal mode (or information indicating that the camera calibration is completed) to the output unit 28 and causes the output unit 28 to transmit the information to the driving support device 14.

  FIG. 3 is a block diagram showing a functional configuration of the driving support device 14 of FIG. The driving support device 14 includes an image acquisition unit 40, a guide line generation unit 42, an image processing unit 44, an operation status acquisition unit 46, and an output unit 48. The image acquisition unit 40 acquires image information and detection information output from the camera 12.

  The guide line generator 42 generates vehicle width guide line data based on a guide generation criterion stored in a storage unit (not shown). For example, the guide line generation unit 42 generates vehicle width guide line data having a range, size, shape, and color determined by the guide generation reference. The vehicle width guide line includes a vehicle width line indicating the vehicle width of the vehicle 10 and / or a planned travel path line of the vehicle 10.

  The image processing unit 44 generates the corrected image indicated by the image information acquired by the image acquisition unit 40, the information such as the obstacle indicated by the detection information acquired by the image acquisition unit 40, and the guide line generation unit 42. Parking assistance information is generated based on the vehicle width guide line. For example, the image processing unit 44 may generate a rear view image or a top view image, which is a composite image obtained by combining a correction image, an image showing an obstacle, and the like, and a vehicle width guide line as parking assistance information. The image processing unit 44 outputs the generated parking support information to the output unit 48.

  The operation status acquisition unit 46 acquires information indicating the operation state of the camera 12 output from the camera 12 and outputs the information to the output unit 48. The output unit 48 outputs the parking support information output from the image processing unit 44 and the information indicating the operation state of the camera 12 output from the operation state acquisition unit 46 to the display device 16. The display device 16 displays parking support information (for example, a rear view image) acquired from the driving support device 14 and information indicating the operation state of the camera 12 on the screen.

  The operation of the camera 12 having the above configuration will be described. FIG. 4 is a flowchart showing the operation of the camera 12. When the gear of the vehicle 10 is set to reverse, the camera 12 starts the process of FIG. The imaging unit 20 repeatedly generates an external image indicating the state of the rear space of the vehicle 10 (S10). The detection unit 26 detects an object present in the imaging target space based on the external image (S12).

  Among the detected objects, the first instruction image does not exist (N in S14), the second instruction image does not exist (N in S16), and the camera 12 is in the normal mode (Y in S18). The image processing unit 24 generates image information based on the external image (S20). The output unit 28 outputs the image information generated by the image processing unit 24 and the object detection information generated by the detection unit 26 to the driving support device 14 (S22). The driving support device 14 generates parking support information based on these pieces of information, and causes the display device 16 to display the parking support information. If the camera 12 is not in the normal mode (if the camera 12 is in the maintenance mode) (N in S18), the processes in S20 and S22 are skipped. When a predetermined end condition is satisfied, for example, when the gear of the vehicle 10 is changed to something other than reverse, or when the power of the vehicle 10 is turned off (Y in S24), the camera 12 is shown in this figure. The process ends. If the predetermined termination condition is not satisfied (N in S24), the process returns to S10.

  Although not shown in FIG. 3, for example, during maintenance of the camera 12 at a car dealer or the like, the maintenance worker puts a card or the like indicating the first instruction image in front of the camera 12 in order to start calibration processing of the camera 12. Hold it over. Further, when the calibration process of the camera 12 is ended, the maintenance worker holds the card indicating the second instruction image in front of the camera 12.

  When the first instruction image is detected by the detection unit 26 (Y in S14), the calibration unit 30 shifts the camera 12 to the maintenance mode (S26), starts a predetermined camera calibration program, and performs automatic calibration. The process is started (S28). The calibration unit 30 outputs the progress of the calibration process to the driving support device 14 via the output unit 28 (S30). The driving support device 14 outputs the progress of the calibration process in the camera 12 to the display device 16 and displays it on the screen of the display device 16. The maintenance worker can check the progress of the calibration process by looking at the display device 16. If the calibration process is being executed (N in S32), the process returns to S30. When the calibration process is completed (Y in S32), the process returns to S10.

  When the second instruction image is detected by the detection unit 26 (Y in S16), the calibration unit 30 ends the camera calibration program started in S28 (S34) and shifts to the normal mode (S36). The calibration unit 30 outputs information indicating the normal mode or information indicating that the camera calibration process is completed to the driving support device 14 via the output unit 28 (S38), and returns to S10. The driving support device 14 outputs the information to the display device 16 and displays the information on the screen of the display device 16. The maintenance worker can confirm the end of the calibration process by looking at the display device 16.

  According to the camera 12 of the embodiment, it is not necessary to include a reception unit (reception function) for receiving an instruction to start the calibration process or end the calibration process from the external apparatus. It is not necessary to provide a different reception unit (reception function) for each specification of the display device 16). Thereby, the development cost and manufacturing cost of the camera 12 can be reduced. Moreover, the versatility of manufacture of the camera 12 can be improved.

  In addition, if the camera includes an imaging unit that generates an external image of a predetermined space and a detection unit that detects an object present in the imaging target space, an application program (control) is provided for a control unit built in the camera. It is possible to cause the automatic calibration processing as in this embodiment to be performed by adding a program). For this reason, the versatility of manufacture of the camera 12 can be improved.

  In the above, this invention was demonstrated based on the Example. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to each of those constituent elements or combinations of processing processes, and such modifications are also within the scope of the present invention. .

  As a modification, when the detection unit 26 detects an object performing a predetermined first operation over a plurality of external images by optical flow, the detection unit 26 detects the image of the object as a first instruction image. May be. Further, when the detection unit 26 detects an object performing a predetermined second operation over a plurality of external images, the detection unit 26 may detect the image of the object as the second instruction image. According to this modification, the user can instruct the start and end of the calibration process of the camera 12 by a predetermined gesture, gesture, and hand gesture.

  In the embodiment, the first instruction image indicating the calibration start instruction and the second instruction image indicating the calibration end instruction are detected. However, the present invention is not limited to this. For example, an instruction image for another process such as a calibration stop instruction for interrupting the calibration process during the calibration process of the camera 12 may be set and detected as the third instruction image. Thereby, the maintainability (operability) by the maintenance worker is improved.

  In the embodiment, the camera 12 and the driving support device 14 are configured separately, but the driving support device 14 may be built in the camera 12. In this case, the same effect can be enjoyed.

Note that the techniques described in the examples and the modifications may be specified by the following items.
[Item 1]
An on-vehicle camera installed in a vehicle, an image including an imaging unit that generates an external image indicating the periphery of the vehicle, a detection unit that detects an object existing around the vehicle, and an image including the external image generated by the imaging unit An in-vehicle camera comprising: an output unit that outputs information or detection information of an object detected by the detection unit to an external device; and a calibration unit that executes a calibration process of the in-vehicle camera. The detection unit detects when the first image indicating the start of calibration is included in the external image generated by the imaging unit, and the calibration unit detects the first image when the detection unit detects the first image. Start the calibration process.
According to this configuration of the in-vehicle camera, the calibration process is automatically executed in accordance with information (such as an object) indicating a calibration start instruction existing in the imaging target space by the imaging unit. This eliminates the need to provide the in-vehicle camera with a reception unit that receives an instruction to start calibration from an external device (such as an HMI device), thereby reducing the cost of the in-vehicle camera.
[Item 2]
The detection unit detects that a second image indicating an instruction to end calibration is included in the external image generated by the imaging unit, and the calibration unit detects the second image by the detection unit. If so, the calibration process may be terminated.
According to this aspect, the calibration program can be terminated without providing the reception unit.

  Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiment resulting from the combination has the effects of the combined example and modification. Further, it should be understood by those skilled in the art that the functions to be fulfilled by the constituent elements described in the claims are realized by the individual constituent elements shown in the embodiments and the modified examples or by their cooperation.

  DESCRIPTION OF SYMBOLS 10 Vehicle, 12 Cameras, 14 Driving support apparatus, 16 Display apparatus, 20 Imaging part, 24 Image processing part, 26 Detection part, 28 Output part, 30 Calibration part

Claims (2)

An in-vehicle camera installed in a vehicle,
An imaging unit that generates an external image showing the periphery of the vehicle;
A detection unit for detecting an object existing around the vehicle;
Image information including an external image generated by the imaging unit, or an output unit that outputs detection information of an object detected by the detection unit to an external device;
A calibration unit that executes calibration processing of the in-vehicle camera;
With
When the first image indicating the start of calibration is included in the external image generated by the imaging unit, the detection unit detects that,
The calibration unit is a vehicle-mounted camera that starts a calibration process when the detection unit detects the first image. When the second image indicating an instruction to end calibration is included in the external image generated by the imaging unit, the detection unit detects that,
The in-vehicle camera according to claim 1, wherein the calibration unit ends the calibration process when the second image is detected by the detection unit.

Images