JP2018169353A - Mounting error detecting device, mounting error detecting method, and mounting error detecting program - Google Patents

Abstract

To provide a mounting error detecting device, a mounting error detecting method, and a mounting error detecting program, capable of easily detecting a mounting error of an on-vehicle camera.SOLUTION: A mounting error detecting device detects a mounting error of an on-vehicle camera mounted on a vehicle using a portable terminal 3 displaying a prescribed adjustment pattern. The mounting error detecting device comprises: a camera image acquisition unit 111 which acquires a camera image of the adjustment pattern imaged by the on-vehicle camera; a terminal attitude acquisition unit 112 which acquires a terminal attitude of the portable terminal when the camera image is imaged; and an error calculation unit 113 which calculates a mounting error of the on-vehicle camera using the imaging pattern in the camera image corresponding to the adjustment pattern, the terminal attitude, the adjustment pattern, and a reference attitude of the portable terminal.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an attachment error detection device, an attachment error detection method, and an attachment error detection program for detecting an attachment error of an in-vehicle camera.

  Conventionally, a vehicle-mounted display device that has a built-in display unit that displays a vehicle's peripheral field of view (for example, a rear field of view) captured by a vehicle-mounted camera installed in the vehicle and can visually recognize the vehicle's peripheral field of view with a camera image of the display unit has been put into practical use. Has been. In such an in-vehicle display device, in order to display a desired peripheral field of view on the display unit, it is necessary to accurately adjust the imaging field of view, that is, the optical axis and the rotational position around the optical axis when the in-vehicle camera is attached. is there.

  The adjustment of the mounting state of the in-vehicle camera is performed by, for example, moving the vehicle to a place where the adjustment pattern is arranged and shifting the imaging pattern included in the camera image captured by the in-vehicle camera and the reference pattern to be captured. Based on this, it is implemented by detecting a shift of the optical axis and a shift of the rotational position around the optical axis (hereinafter referred to as “attachment error”) (for example, Patent Document 1). The reference pattern to be imaged is a pattern included in the camera image when the adjustment pattern is imaged by the in-vehicle camera in which the imaging field of view is in an appropriate state (there is no attachment error). Is the same as the adjustment pattern except for the size.

JP 2005-77107 A

  However, in the technique disclosed in Patent Document 1, since it is necessary to move the vehicle to the place where the adjustment pattern is arranged in order to detect the mounting error of the in-vehicle camera, it takes time and effort. The mounting state cannot be adjusted.

  An object of the present invention is to provide an attachment error detection device, an attachment error detection method, and an attachment error detection program that can easily detect an attachment error of an in-vehicle camera.

The mounting error detection device according to the present invention is
An attachment error detection device that detects an attachment error of an in-vehicle camera attached to a vehicle using a mobile terminal that displays a predetermined adjustment pattern,
A camera image acquisition unit that acquires a camera image of the adjustment pattern imaged by the in-vehicle camera;
A terminal attitude acquisition unit that acquires a terminal attitude of the mobile terminal when the camera image is captured;
An error calculating unit that calculates an attachment error of the in-vehicle camera using an imaging pattern in the camera image corresponding to the adjustment pattern, the terminal attitude, the adjustment pattern, and a reference attitude of the mobile terminal; It is characterized by providing.

The mounting error detection method according to the present invention is:
An attachment error detection method for detecting an attachment error of an in-vehicle camera attached to a vehicle using a mobile terminal displaying a predetermined adjustment pattern,
Obtaining a camera image of the adjustment pattern imaged by the in-vehicle camera;
Obtaining a terminal posture of the mobile terminal when the camera image is captured;
Calculating an attachment error of the in-vehicle camera using an imaging pattern in the camera image corresponding to the adjustment pattern, the terminal attitude, the adjustment pattern, and a reference attitude of the mobile terminal. It is characterized by.

The installation error detection program according to the present invention is:
An installation error detection program for detecting an installation error of an in-vehicle camera attached to a vehicle using a portable terminal displaying a predetermined adjustment pattern,
On the computer,
Processing for obtaining a camera image of the adjustment pattern imaged by the in-vehicle camera;
Processing for obtaining a terminal posture of the mobile terminal when the camera image is captured;
A process of calculating an attachment error of the in-vehicle camera using an imaging pattern in the camera image corresponding to the adjustment pattern, the terminal attitude, the adjustment pattern, and a reference attitude of the mobile terminal. .

  According to the present invention, it is possible to easily detect an installation error of an in-vehicle camera.

It is a figure which shows the structural example of the vehicle-mounted display apparatus to which this invention is applied. It is a figure which shows an example of the pattern for adjustment. It is a flowchart which shows an example of an attachment error detection process. It is a figure which shows an example of an imaging pattern. It is a figure which shows another example of an imaging pattern. It is a figure which shows the structural example of the portable terminal to which this invention is applied.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram showing a configuration example of an in-vehicle display device 1 to which an attachment error detection device of the present invention is applied. The in-vehicle display device 1 is used for confirming the rear view of the vehicle.

  As shown in FIG. 1, the in-vehicle display device 1 includes a processing unit 11, a storage unit 12, a display unit 13, an operation unit 14, a terminal communication unit 15, a vehicle communication unit 16, a rear camera 20, and the like.

  The rear camera 20 includes an image sensor such as a charge-coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. An electrical signal indicating a rear view image photoelectrically converted by the image sensor is transmitted to the processing unit 11 by wireless communication or wired communication. The rear camera 20 can use existing equipment in the vehicle.

  The rear camera 20 has a main body that is movable in a state where it is installed in a vehicle, and can adjust the mounting state, that is, the optical axis of the rear camera 20 and the rotational position around the optical axis. The rear camera 20 is fixed so as to be in a predetermined attachment state (hereinafter referred to as “reference state”) when attached to the vehicle. The reference state is a state defined in advance according to the mounting position of the rear camera 20 so that a desired rear field of view is displayed on the display unit 13, and the direction of the optical axis of the rear camera 20 and the direction around the optical axis. Includes rotational position.

  The display unit 13 is a display such as a liquid crystal display or an organic EL display, for example. The display part 13 is arrange | positioned at the instrument panel of a vehicle, for example. A camera image captured by the rear camera 20 is displayed on the display unit 13.

  The operation unit 14 is an input device that can input characters and numbers, for example. The display unit 13 and the operation unit 14 may be configured by a flat panel display with a touch panel.

  The processing unit 11 includes a CPU (Central Processing Unit) as an arithmetic / control device, a ROM (Read Only Memory) and a RAM (Random Access Memory) as a main storage device (all not shown). The ROM stores application programs and basic setting data. The CPU centrally controls the operation of each block of the in-vehicle display device 1 by reading out a program corresponding to the processing content from the ROM, developing it in the RAM, and executing the expanded program, for example.

  The processing unit 11 functions as a camera image acquisition unit 111, a terminal posture acquisition unit 112, and an error calculation unit 113 by executing an attachment error detection program. These functions will be described in detail according to the flowchart of FIG. The attachment error detection program is stored in the ROM of the processing unit 11, for example. The attachment error detection program is provided, for example, via a computer-readable portable storage medium (including an optical disc, a magneto-optical disc, and a memory card) in which the program is stored. Further, for example, the attachment error detection program may be provided by downloading from a server having the program via a network.

  Further, the processing unit 11 functions as an image processing unit 114 and a display control unit 115. The image processing unit 114 performs various correction processes such as color tone correction on the camera image from the rear camera 20. The display control unit 115 performs drive control of the display unit 13 based on the camera image after image processing, and causes the display unit 13 to display the camera image.

  The storage unit 12 is an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage unit 12 may be a semiconductor storage device such as an EEPROM (Electrically Erasable Programmable Read Only Memory), an optical disk such as a CD (Compact Disc) or a DVD (Digital Versatile Disc), or an MO (Magneto-Optical disk). It may be a disk drive that drives a magneto-optical disk to read and write information. Further, for example, the storage unit 12 may be a memory card such as a USB memory or an SD card.

  The storage unit 12 stores reference data 121 to be compared when detecting an attachment error of the rear camera 20. The reference data 121 includes, for example, reference pattern data for mounting error detection and reference posture data of the mobile terminal 3. There are preferably a plurality of reference data 121. By detecting the mounting error of the rear camera 20 using the plurality of reference data 121, the mounting error detection accuracy is increased.

  The reference pattern is an image pickup pattern that is picked up when the adjustment pattern displayed on the mobile terminal 2 in the reference posture is picked up by the rear camera 20 in the reference state. Although the reference posture of the mobile terminal 3 is not particularly limited, for example, the posture facing the rear camera 20 in the reference state, that is, the display surface of the mobile terminal 3 is parallel to the imaging surface of the rear camera 20 ( It is preferable that the posture is orthogonal to the optical axis and not rotated. In this case, the reference pattern is the same as the adjustment pattern.

  The reference pattern data may be obtained by calculation based on the adjustment pattern, the reference posture of the mobile terminal 3, and the reference state of the rear camera 20. In this case, the adjustment pattern data may not be stored in the storage unit 12 in advance, and may be provided from the portable terminal 3 when an attachment error is detected.

  The terminal communication unit 15 is a communication interface such as a NIC (Network Interface Card), MODEM (MOD-DE Modulator), Bluetooth (registered trademark), or WiFi. The processing unit 11 transmits and receives various types of information (for example, terminal attitude information of the mobile terminal 3) to and from the mobile terminal 3 connected to the wireless network via the terminal communication unit 15.

  The vehicle communication unit 16 is a communication interface for connecting to an in-vehicle network such as a CAN (Controller Area Network). The processing unit 11 transmits and receives information to and from the vehicle ECU connected to the in-vehicle network, and acquires vehicle posture information from a posture sensor such as a gyro sensor equipped on the vehicle. The in-vehicle display device 1 may include an attitude sensor that detects the attitude of the vehicle.

  In the in-vehicle display device 1, the mounting error of the rear camera 20 is detected using the mobile terminal 3. The mobile terminal 3 is, for example, a smartphone or a tablet PC.

  The portable terminal 3 includes a processing unit 31, a storage unit 32, a display unit 33, an operation unit 34, a communication unit 35, a posture sensor 36, and the like. Since the specific hardware configurations of the processing unit 31, the storage unit 32, the display unit 33, the operation unit 34, and the communication unit 35 are the same as those of the in-vehicle display device 1, description thereof will be omitted.

  The attitude sensor 36 is composed of, for example, a gyro sensor and an acceleration sensor. The posture sensor 36 detects the posture of the mobile terminal 3 in the three-dimensional space and outputs the detection result to the processing unit 31.

  The processing unit 31 includes a CPU, a ROM, a RAM, and the like (all not shown). The ROM stores an application program 315 (hereinafter referred to as “attachment error detection application 315”) that is executed when an attachment error of the rear camera 20 is detected.

  The storage unit 32 stores adjustment pattern data 321 (hereinafter referred to as “adjustment pattern data 321”) displayed on the display unit 33 when an attachment error of the rear camera 20 is detected.

  An example of the adjustment pattern P is shown in FIG. The adjustment pattern P is displayed on the display unit 33 of the mobile terminal 3. The adjustment pattern P shown in FIG. 2 includes a rectangular frame P1, two axes P2 and P3 passing through the center point of the rectangular frame P1, and an “X” graphic P4 arranged at both ends of the axes P2 and P3. The adjustment pattern P is not limited to the pattern shown in FIG. 2, and may be any pattern that can detect the deviation of the optical axis and the rotational position of the rear camera 20.

  FIG. 3 is a flowchart illustrating an example of an attachment error detection process executed by the processing unit 11 of the in-vehicle display device 1. This process is realized as follows, for example.

  That is, when detecting a mounting error of the rear camera 20, the user first activates the mounting error detection application 315 in the mobile terminal 3. When the attachment error detection application 315 is activated on the portable terminal 3, a control signal instructing execution of the attachment error detection process is transmitted from the portable terminal 3 to the in-vehicle display device 1. The CPU of the processing unit 11 calls and executes an attachment error detection program stored in the ROM as it receives the control signal. Thereby, the attachment error detection process shown in the flowchart of FIG. 3 is realized.

  Since the user can cause the in-vehicle display device 1 to execute the attachment error detection process in the vicinity of the rear camera 20, that is, outside the vehicle, it is excellent in convenience.

  When the attachment error detection application 315 is activated, the adjustment pattern P is displayed on the display unit 33 of the portable terminal 3 (see FIG. 2). The user adjusts the position and orientation of the mobile terminal 3 so that the adjustment pattern P is captured by the rear camera 20.

  The rear camera 20 captures the adjustment pattern P and outputs the captured camera image to the processing unit 11 in units of one frame. At this time, time information that can identify the imaging time of the camera image is associated with the camera image. On the other hand, the mobile terminal 3 transmits information indicating the terminal posture of the mobile terminal 3 (hereinafter referred to as “terminal posture information”) to the in-vehicle display device 1. The terminal attitude information is associated with time information capable of identifying the terminal attitude detection time.

  Here, a case will be described in which the posture in which the mobile terminal 3 is directly facing the rear camera 20 in the reference state is set as the reference posture. In this case, the reference pattern RP (see FIGS. 4 and 5) to be compared with the imaging pattern IP1 (see FIGS. 4 and 5) is the same as the adjustment pattern P (see FIG. 2).

  In step S101 of FIG. 3, the processing unit 11 acquires a camera image from the rear camera 20 (processing as the camera image acquisition unit 111).

  In step S <b> 102, the processing unit 11 acquires terminal posture information from the mobile terminal 3 (processing as the terminal posture acquisition unit 112). In order to use the terminal posture information when the camera image used to detect the attachment error is captured, in step S102, a plurality of terminal posture information that is continuous in time series is acquired and stored in the RAM of the processing unit 11, for example. Is done.

  In step S103, the processing unit 11 extracts the imaging pattern IP1 (see FIGS. 4 and 5) from the camera image (processing as the error calculation unit 113). An example of the imaging pattern IP1 is shown in FIGS. 4A and 5A. 4A, the mobile terminal 3 is tilted backward with respect to the optical axis of the rear camera 20, that is, the display surface of the mobile terminal 3 is not parallel to the imaging surface of the rear camera 20. It is an imaging pattern. An imaging pattern IP1 illustrated in FIG. 5A is an imaging pattern when the mobile terminal 3 rotates around the optical axis of the rear camera 20. Note that it is impossible to determine whether the terminal posture of the mobile terminal 3 is deviated from the reference posture or whether the mounting state of the rear camera 20 is deviated from the reference state only from the imaging pattern IP1.

  In step S <b> 104, the processing unit 11 uses the terminal attitude information associated with the same time information as the time information associated with the camera image from which the imaging pattern IP <b> 1 is extracted, and the imaging pattern IP <b> 1 based on the terminal attitude of the mobile terminal 3. Is corrected (processing as the error calculation unit 113). The corrected imaging pattern IP2 can be regarded as an imaging pattern obtained when the mobile terminal 3 is in the reference posture.

  By using terminal posture information associated with the same time information as the time information associated with the camera image from which the imaging pattern IP1 has been extracted, the posture of the mobile terminal 3 is unstable due to camera shake or the like, and the influence of transmission delay Even when receiving, the shift of the imaging pattern IP1 due to the attitude of the mobile terminal 3 can be accurately corrected.

  Here, when the vehicle is in a horizontal place, the shift of the imaging pattern IP1 can be accurately corrected using the terminal attitude information. However, when the vehicle is not in a horizontal place, the vehicle communication unit 16 is set. It is preferable to correct the deviation of the imaging pattern IP1 using the terminal posture information after correcting the reference posture of the mobile terminal 3 using the vehicle posture information acquired via the terminal. Thereby, even if the vehicle is not in a horizontal place, the shift of the imaging pattern IP1 can be accurately corrected.

  An example of the corrected imaging pattern IP2 is shown in FIGS. 4B and 5B. An imaging pattern IP2 shown in FIG. 4B is an imaging pattern after correction of the imaging pattern IP1 shown in FIG. 4A. An imaging pattern IP2 shown in FIG. 5B is an imaging pattern after correction of the imaging pattern IP1 shown in FIG. 5A. When the terminal posture of the mobile terminal 3 is deviated from the reference posture, the corrected imaging pattern IP2 (see FIGS. 4B and 5B) is the reference pattern RP more than the uncorrected imaging pattern IP1 (see FIGS. 4A and 5A). Close to.

  In step S <b> 105, the processing unit 11 compares the corrected imaging pattern IP <b> 2 with the reference pattern RP, and calculates a deviation amount (processing as the error calculation unit 113). A deviation amount between the corrected imaging pattern IP2 and the reference pattern RP is stored in the RAM of the processing unit 11, for example.

  The comparison results between the corrected imaging pattern IP2 and the reference pattern RP are shown in FIGS. 4C and 5C. FIG. 4C shows the shift amount of the image pickup pattern IP2 after correction shown in FIG. 4B. FIG. 5C shows the shift amount of the image pickup pattern IP2 after correction shown in FIG. 5B. In the example shown in FIG. 4C, it is detected that the optical axis of the rear camera 20 is shifted by a shift amount ΔZ. In the example shown in FIG. 5C, it is detected that the rotational position of the rear camera 20 is shifted by a shift amount Δθ.

  In step S106, the processing unit 11 determines whether or not the attachment error has been calculated for all the reference data (adjustment patterns). When the attachment error is calculated for all the reference data (“YES” in step S106), the process proceeds to step S107. When the calculation of the attachment error is not performed for all the reference data (“NO” in step S106), the process proceeds to step S101, and the attachment error is calculated using the next reference data.

  In step S <b> 107, the processing unit 11 stores the average deviation amount as a detection error detection result of the rear camera 20. The detected mounting error is stored, for example, in the EEPROM of the storage unit 12. The detected mounting error is used, for example, when adjusting the mounting state of the rear camera 20. Further, for example, the detected attachment error can also be used for correcting a cutout region when a display image (image displayed on the display unit 13) is cut out from the camera image. When the rotational position of the rear camera 20 is shifted, the camera image of the expected imaging field of view can be displayed by rotating the cutout position by the amount of the attachment error. Further, when the optical axis of the rear camera 20 is deviated, the camera image of the expected imaging field of view can be displayed by moving the cutout position up, down, left, and right by the amount of the mounting error.

  As described above, the in-vehicle display device 1 (attachment error detection device) detects the attachment error of the rear camera 20 (in-vehicle camera) attached to the vehicle by using the mobile terminal 3 displaying the predetermined adjustment pattern P. To do. The in-vehicle display device 1 includes a camera image acquisition unit 111 that acquires a camera image of the adjustment pattern P captured by the rear camera 20, and a terminal posture acquisition that acquires a terminal posture of the mobile terminal 3 when the camera image is captured. An error calculation unit that calculates an attachment error of the rear camera 20 using the unit 112 and the imaging pattern IP1 in the camera image corresponding to the adjustment pattern P, the terminal posture, the adjustment pattern P, and the reference posture of the mobile terminal 3 113.

  Specifically, the error calculation unit 113 corrects the imaging pattern IP1 based on the terminal attitude and the reference attitude of the mobile terminal 3, and compares the corrected imaging pattern IP2 with the reference pattern RP (adjustment pattern). Then, the mounting error of the rear camera 20 is calculated.

  The attachment error detection method according to the present embodiment is a method of detecting the attachment error of the rear camera 20 (vehicle camera) attached to the vehicle using the portable terminal 3 on which a predetermined adjustment pattern P is displayed. Then, a step of acquiring the camera image of the adjustment pattern P imaged by the rear camera 20 (step S101 in FIG. 3) and a step of acquiring the terminal posture of the mobile terminal 3 when the camera image is captured (step S102). ) And the imaging pattern IP1 in the camera image corresponding to the adjustment pattern P, the terminal posture, the adjustment pattern P, and the reference posture of the mobile terminal 3 are used to calculate the attachment error of the rear camera 20 (step S103). To S105).

  The attachment error detection program according to the present embodiment is an attachment error detection program for detecting the attachment error of the rear camera 20 attached to the vehicle using the mobile terminal 3 displaying the predetermined adjustment pattern P. The processing unit 11 (computer) of the in-vehicle display device 1 acquires the camera image of the adjustment pattern P captured by the rear camera 20 (in-vehicle camera) (step S101 in FIG. 3), and the camera image is captured. Processing for acquiring the terminal posture of the portable terminal 3 (step S102), the imaging pattern IP1, the terminal posture, the adjustment pattern P in the camera image corresponding to the adjustment pattern P, and the reference posture of the portable terminal 3 And processing for calculating the mounting error of the in-vehicle camera (steps S103 to S105).

  According to the in-vehicle display device 1 (attachment error detection device), the attachment error of the rear camera 20 can be easily detected by using the mobile terminal 3. Therefore, it is possible to correct the mounting of the rear camera 20 between vehicle inspections and the like without moving the vehicle to a specific place, so that the manufacturing cost of the vehicle can be reduced.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the above embodiment, and can be changed without departing from the gist thereof.

  For example, in the embodiment, the case where the function as the attachment error detection device of the present invention is mounted on the in-vehicle display device 1 has been described, but it can also be mounted on the mobile terminal 3A as shown in FIG. That is, the processing unit 31 of the mobile terminal 3 </ b> A may function as the camera image acquisition unit 311, the terminal posture acquisition unit 312, and the error calculation unit 313. In this case, the data of the camera image captured by the rear camera 20 and the reference data 121 are transmitted from the in-vehicle display device 1A to the mobile terminal 3A. By calculating the mounting error of the rear camera 20 by the portable terminal 3A, the inexpensive processing unit 11 can be employed in the in-vehicle display device 1A.

  In addition, for example, when detecting an attachment error of the rear camera 20, a voice or display is performed so as to adjust the position and orientation of the mobile terminal 3 so that the adjustment pattern enters the imaging field of view of the rear camera 20 in a predetermined state. You may be guided by. Specifically, the in-vehicle display device 1 is provided with a terminal guiding unit. The terminal guidance unit analyzes the camera image from the rear camera 20 to generate guidance information, and transmits the guidance information to the terminal device 3. By outputting the guidance information from the terminal device 3, the user can adjust the position and orientation of the mobile terminal 3 to a state suitable for detecting an attachment error of the rear camera 20.

  This adjustment is intended to enable the rear camera 20 to capture the adjustment pattern P displayed on the mobile terminal 3, and is intended to match the attitude of the mobile terminal 3 with the reference attitude. is not.

  Further, the mounting error detection device according to the present invention can be applied not only to detection of rear camera mounting errors but also to detection of mounting errors of in-vehicle cameras including side cameras and front cameras.

  In the embodiment, the processing unit 11 (computer) functions as the camera image acquisition unit 111, the terminal posture acquisition unit 112, and the error calculation unit 113, thereby realizing the present invention. Alternatively, the whole can be configured by an electronic circuit such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or a PLD (Programmable Logic Device).

  In the embodiment, the image captured by the camera is displayed on the display unit installed on the instrument panel of the vehicle. However, the image may be displayed on the display unit installed on the mirror unit of the vehicle. Further, the display unit may not be provided, and an image captured by the camera may be used for obstacle detection, distance measurement, or the like.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The present invention is suitable for an attachment error detection device, an attachment error detection method, and an attachment error detection program for detecting an attachment error of a vehicle-mounted camera.

1 In-vehicle display device (mounting error detection device)
3 mobile terminal 11 processing unit 111 camera image acquisition unit 112 terminal posture acquisition unit 113 error calculation unit 114 image processing unit 115 display control unit 12 storage unit 121 reference data 13 display unit 14 operation unit 15 communication unit for vehicle 16 communication unit for vehicle 20 Rear camera (vehicle camera)

Claims (8)

An attachment error detection device that detects an attachment error of an in-vehicle camera attached to a vehicle using a mobile terminal that displays a predetermined adjustment pattern,
A camera image acquisition unit that acquires a camera image of the adjustment pattern imaged by the in-vehicle camera;
A terminal attitude acquisition unit that acquires a terminal attitude of the mobile terminal when the camera image is captured;
An error calculating unit that calculates an attachment error of the in-vehicle camera using an imaging pattern in the camera image corresponding to the adjustment pattern, the terminal attitude, the adjustment pattern, and a reference attitude of the mobile terminal; A mounting error detecting device comprising:   The error calculating unit corrects the imaging pattern based on the terminal attitude and the reference attitude, compares the corrected imaging pattern with the adjustment pattern, and calculates the attachment error. The mounting error detection device according to claim 1.   The attachment error detecting device according to claim 1 or 2, wherein a process for detecting an attachment error of the in-vehicle camera is executed based on a control signal from the portable terminal. The camera image is associated with time information capable of identifying the imaging time of the camera image,
The terminal posture is associated with time information capable of identifying the detection time of the terminal posture,
The attachment error detection device according to claim 1, wherein the error calculation unit uses the camera image and the terminal posture with the same time information.   5. The attachment error detection device according to claim 1, wherein the error calculation unit calculates the attachment error in consideration of an inclination of the vehicle.   The attachment error detecting device according to any one of claims 1 to 5, further comprising a terminal guide unit that guides the mobile terminal to move to a position where the adjustment pattern can be recognized by the in-vehicle camera. An attachment error detection method for detecting an attachment error of an in-vehicle camera attached to a vehicle using a mobile terminal displaying a predetermined adjustment pattern,
Obtaining a camera image of the adjustment pattern imaged by the in-vehicle camera;
Obtaining a terminal posture of the mobile terminal when the camera image is captured;
Calculating an attachment error of the in-vehicle camera using an imaging pattern in the camera image corresponding to the adjustment pattern, the terminal attitude, the adjustment pattern, and a reference attitude of the mobile terminal. A mounting error detection method characterized by An installation error detection program for detecting an installation error of an in-vehicle camera attached to a vehicle using a portable terminal displaying a predetermined adjustment pattern,
On the computer,
Processing for obtaining a camera image of the adjustment pattern imaged by the in-vehicle camera;
Processing for obtaining a terminal posture of the mobile terminal when the camera image is captured;
A process of calculating an attachment error of the in-vehicle camera using an imaging pattern in the camera image corresponding to the adjustment pattern, the terminal attitude, the adjustment pattern, and a reference attitude of the mobile terminal. Installation error detection program.

Images