JP2020053950A - Vehicle stereo camera device - Google Patents

Abstract

To make it possible to reduce a load required for image processing when obtaining distance information to an object on the basis of each stereo image captured by a short/middle distance stereo camera and a long distance stereo camera.SOLUTION: If a defect is detected in one of stereo images captured by a short/medium distance stereo camera 22a and a long distance stereo camera 22b (S24), only a normal stereo image is transmitted (S28, S29). If no defect is detected in both stereo images (S23), after splitting both stereo images with an overlapping common imaging area, in-focus stereo images are integrated to generate one image (S26) and transmitted (S27).SELECTED DRAWING: Figure 6

Description

  The present invention relates to a vehicular stereo camera device that selects a stereo image captured by a near-medium distance stereo camera and a stereo image captured by a long distance stereo camera based on travel information.

  A stereo camera with a pair of left and right stereo cameras mounted on the vehicle, which recognizes the preceding vehicle and various obstacles and measures the distance between the vehicle and the target object by capturing the running environment ahead of the vehicle. Camera devices are known.

  Patent Document 1 (Japanese Patent Application Laid-Open No. 11-39596) discloses that a vehicle is equipped with a short-distance stereo camera and a long-distance stereo camera having a base line length longer than the base line length of the stereo camera. There is disclosed a technology that always recognizes an object in a wide range from a short distance to a long distance based on traveling environment information acquired by a stereo camera, and obtains a distance from a host vehicle.

JP-A-11-39596 JP 2018-86913 A

  In the technology disclosed in the above-mentioned document, recognition of an object and distance information to the object are obtained based on stereo images captured by a long-distance stereo camera and a short-distance stereo camera. .

  Therefore, when recognizing the forward running environment, a process of organizing and integrating data of overlapping objects is required, and there is a disadvantage that a heavy load is imposed on image processing.

  Further, in the technology disclosed in the document, since the long distance stereo camera is disposed in the upper part of the vehicle interior, it is difficult to secure a long base line length, and the distance from the own vehicle to a distant target object is difficult. There is a limit in obtaining more accurately using parallax.

  For example, Patent Literature 2 (Japanese Unexamined Patent Application Publication No. 2018-86913) discloses a technique in which a pair of cameras constituting a stereo camera are arranged on respective headlamps. According to the technology disclosed in this document, the base line length can be secured at almost the maximum width of the vehicle, and the stereo camera can be arranged at the front of the vehicle body. Can be supplemented.

  However, even when the stereo camera disclosed in Patent Literature 2 is applied as the long-distance stereo camera disclosed in Patent Literature 1, the burden of image processing cannot be reduced. .

  The present invention has been made in view of the above circumstances, and reduces a load required for image processing when obtaining distance information to an object based on each stereo image captured by a near-medium distance stereo camera and a long distance stereo camera. It is an object of the present invention to provide a stereo camera device for a vehicle that can be used.

  The present invention provides a near-medium distance stereo camera having a pair of cameras disposed at the left and right sides in the vehicle width direction with a predetermined base line length in a vehicle interior of the vehicle, and a vehicle width direction of the front portion of the vehicle. A long-distance stereo camera having cameras respectively disposed on a pair of head lamps provided on the left and right, and travel information acquisition means for detecting travel information of the own vehicle, and imaged by each of the stereo cameras In the vehicle stereo camera device for generating the distance image in front of the host vehicle based on the stereo image, the stereo image captured by the short-to-medium distance stereo camera based on the travel information detected by the travel information acquisition means and the long distance Stereo image selecting means for determining whether to integrate and transmit a stereo image captured by a stereo camera for use or to select and transmit any one of the stereo images

  According to the present invention, a stereo image captured by a near-medium distance stereo camera and a stereo image captured by a long distance stereo camera are integrated and transmitted according to the traveling information, or one of the stereo images Is selected and transmitted, reducing the load required for image processing when obtaining distance information to the object based on each stereo image captured by the near-medium distance stereo camera and the long distance stereo camera. Can be done.

Functional block diagram showing the configuration of a driving support system including a vehicle stereo camera device Front view of a vehicle equipped with two sets of stereo camera devices (A) is an overhead view showing a state in which a preceding vehicle is supplemented by a near-medium distance stereo camera, and (b) is an overhead view showing a state in which a preceding vehicle is supplemented by a long distance stereo camera. Flowchart showing camera abnormality detection processing routine (part 1) Flowchart showing camera abnormality detection processing routine (part 2) Flow chart showing a stereo image selection processing routine A diagram illustrating a mode in which the driving environment is recognized only by the near-medium distance stereo image and a mode in which the driving environment is recognized by integrating the near-middle distance stereo image and the long distance stereo image. Explanatory drawing of an image of a nearby preceding car captured by a near-medium distance stereo camera (A) is an explanatory diagram of an image of a distant preceding vehicle captured by a near-medium distance stereo camera, and (b) is an explanatory diagram of an image of a distant preceding vehicle captured by a long distance stereo camera. Explanatory diagram showing a state in which a near-medium distance stereo image and a long distance stereo image are integrated on one image.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The driving support system shown in FIG. 1 is mounted on a host vehicle M (see FIG. 2). The driving support system 1 includes a locator unit 11 for detecting the position of the host vehicle, and a stereo camera device 21 for recognizing a running environment ahead of the host vehicle M. When one of the locator unit 11 and the stereo camera device 21 becomes out of order, a redundant system is constructed in which the other unit temporarily continues driving assistance. In addition, the driving support system 1 constantly monitors whether the locator unit 11 and the stereo camera device 21 have the same road shape on which the vehicle is currently traveling, and continues driving support if the road shapes are the same.

  The locator unit 11 estimates the position of the own vehicle M on the road map (own vehicle position) and acquires road map data ahead of the own vehicle position. On the other hand, the stereo camera device 21 calculates the road curvature at the center of the lane marking the left and right of the lane in which the host vehicle M is traveling (own lane), and uses the center of the host vehicle based on the center of the left and right lane markings. The lateral position deviation of M in the vehicle width direction is detected. Further, the stereo camera device 21 is configured to partition the preceding vehicles P1 and P2 in front of the vehicle M, a three-dimensional object including a moving object such as a pedestrian or a motorcycle (a bicycle or a motorcycle), and the left and right of the vehicle traveling lane. Recognize lines, road signs, signal indications (lighting colors), and the like.

  The locator unit 11 has a map locator calculation unit 12 and a high-precision road map database 16 as storage means. The map locator operation unit 12, a forward traveling environment recognition unit 26, and an automatic operation control unit 27, which will be described later, are configured by a well-known microcomputer including a CPU, a RAM, a ROM, a nonvolatile storage unit, and peripheral devices thereof. The ROM stores in advance programs executed by the CPU, fixed data such as data tables, and the like.

  On the input side of the map locator calculation unit 12, a GNSS (Global Navigation Satellite System) receiver 13 and an autonomous traveling sensor 14 as traveling state detecting means included in traveling information acquiring means are connected. . The GNSS receiver 13 receives positioning signals transmitted from a plurality of positioning satellites. The autonomous traveling sensor 14 enables autonomous traveling in an environment such as traveling in a tunnel where reception sensitivity from the GNSS sanitation is low and a positioning signal cannot be received effectively. The vehicle speed sensor, the yaw rate sensor, and the front and rear It is composed of an acceleration sensor and the like. That is, the map locator calculation unit 12 performs localization from the moving distance and the azimuth based on the vehicle speed detected by the vehicle speed sensor, the yaw rate (yaw angular speed) detected by the yaw rate sensor, the longitudinal acceleration detected by the longitudinal acceleration sensor, and the like.

  The map locator calculating unit 12 has a function of estimating the position of the own vehicle, the own vehicle position estimating calculating unit 12a, performing map matching of the estimated own vehicle position on a road map, specifying the current position of the own vehicle M, The vehicle includes a map information acquisition unit 12b that acquires road map information including environmental information, and a target travel path setting calculation unit 12c that sets a target travel path (target travel path) of the vehicle M.

  The high-precision road map database 16 is a large-capacity storage medium such as an HDD, and stores high-precision well-known road map information (local dynamic map). This high-precision road map information has a hierarchical structure in which additional map information necessary to support automatic driving is superimposed on the lowest static information layer as a base.

  The above-described map information acquisition unit 12b acquires the current location and the road map information ahead from the road map information stored in the high-precision road map database 16. This road map information includes surrounding environment information. The surrounding environment information includes not only static type information such as road types (general roads, expressways, etc.), road shapes, left and right lane markings, road signs, stop lines, intersections, traffic signals, but also traffic congestion information and accidents. Alternatively, dynamic position information such as traffic regulation by construction is also included. Therefore, the map information acquiring unit 12b has a function as a traveling environment information acquiring unit included in the traveling information acquiring unit of the present invention.

  Then, for example, based on the destination set by the driver during automatic driving, the route map information from the own vehicle position (current position) estimated by the above-described own vehicle position estimation calculation unit 12a to the destination is obtained from this road map information. Then, the obtained route map information (the lane data on the route map and its surrounding information) is transmitted to the own vehicle position estimation calculation unit 12a.

  The own vehicle position estimation calculation unit 12a acquires the position coordinates of the own vehicle M based on the positioning signal received by the GNSS receiver 13, performs map matching on the position coordinates on the route map information, and obtains the own vehicle on the road map. The position (current location) is estimated, the traveling lane of the own vehicle is specified, the road shape of the traveling lane stored in the route map information is acquired, and is sequentially stored.

  Further, in an environment in which a valid positioning signal from a positioning satellite cannot be received due to a decrease in the sensitivity of the GNSS receiver 13 such as traveling in a tunnel, the own vehicle position estimation calculation unit 12a switches to autonomous navigation and performs autonomous traveling. Localization is performed by the sensor 14.

  First, the target travel path setting calculation unit 12c sets a target travel path for automatically moving the own vehicle M along the lane markings based on the current position subjected to map matching by the map information acquisition unit 12b. When the driver has input a destination, a target traveling route is set along a traveling route connecting the current position and the destination. The target traveling path is set in a range of several hundred meters to several kilometers ahead of the own vehicle M, and is sequentially updated during traveling. The target travel path set by the target travel path setting calculation unit 12c is read by the automatic operation control unit 27.

  On the other hand, the stereo camera device 21 detects an abnormality of the camera unit 22, an image processing unit (IPU) 23, and an abnormality of the camera unit 22, which detects an abnormality of the camera unit 22. The vehicle includes a unit 24, a stereo image selecting unit 25 as a stereo image selecting unit, and a forward running environment recognizing unit 26 as a running environment recognizing unit. The camera section 22 has a near-medium distance stereo camera 22a and a long distance stereo camera 22b.

  The automatic driving control unit 27 is connected to the map locator calculation unit 12 and the front running environment recognition unit 26 of the stereo camera device 21 on the input side. Further, on the output side of the automatic driving control unit 27, a steering control unit 31 for causing the own vehicle M to travel along the target traveling path, a brake control unit 32 for decelerating the own vehicle M by forced braking, and a vehicle speed of the own vehicle M An acceleration / deceleration control unit 33 for controlling and an alarm device 34 are connected.

  The automatic driving control unit 27 controls the steering control unit 31, the brake control unit 32, and the acceleration / deceleration control unit 33 in a predetermined manner, and based on the positioning signal indicating the vehicle position received by the GNSS receiver 13, detects the vehicle M. The vehicle automatically travels along the target travel route on the road map set by the target travel route setting calculation unit 12c. At that time, based on the forward traveling environment recognized by the forward traveling environment recognition unit 26, known following adaptive cruise control (ACC) and lane keeping control (ALK: Active Lane Keep) are performed, and the preceding vehicle is detected. If the preceding vehicle is detected, the vehicle follows the preceding vehicle. If no preceding vehicle is detected, the vehicle is driven within the speed limit. Further, when a three-dimensional object (pedestrian, two-wheeled vehicle, or the like) that is going to cross immediately before the own vehicle M is detected, the brake control unit 32 is operated to stop the own vehicle M.

  As shown in FIG. 2, the near / medium distance stereo camera 22a of the camera section 22 provided in the above-described stereo camera device 21 has a main camera 22aa and a sub camera 22ab. The two cameras 22aa and 22ab are located at an upper portion close to the front windshield at the front of the cabin Mr and at a position symmetrical with respect to the center in the vehicle width direction with respect to the normal base line length Ws (for example, 300 to 400 [mm]). ]). Further, the pair of cameras 22aa and 22ab are set such that a wide-angle lens can be used to acquire a clear stereo image of an imaging area (for example, 5 to 100 [m]) at a near and middle distance with a relatively wide field of view. . Note that the stereo image of the present embodiment refers to an imaging area in which a distance image can be obtained from the left and right images captured by a pair of cameras.

  On the other hand, the long-distance stereo camera 22b has a main camera 22ba and a sub camera 22bb. As shown in FIG. 2, the cameras 22ba and 22bb are disposed in a pair of headlamps Mh disposed on the left and right sides in the vehicle width direction at the front of the host vehicle M. More specifically, the two cameras 22ba and 22bb are positions that do not interfere with the light distribution of the high beam and the low beam, and are symmetrical with respect to the center of the vehicle width, and a line connecting the centers of the two cameras 22ba and 22bb. It is arranged in a horizontal position.

  Since the two cameras 22ba and 22bb are arranged on the headlamp Mh, the base line length Wl of the long-distance stereo camera 22b is substantially maximum with respect to the vehicle width. Further, a telephoto lens is attached to each of the cameras 22ba and 22bb. Therefore, the long-distance stereo camera 22b acquires a clear stereo image of a relatively distant imaging region L11 to L12 (for example, a near distance L11 = 80 [m] and a far distance L12 = 200 [m]). And a highly accurate distance image can be obtained.

  As shown in FIG. 3, the visual fields of the near-medium distance stereo camera 22a and the long distance stereo camera 22b are not so different from each other. When a defect is detected in the stereo image acquired on one side of the distance stereo camera 22b, the stereo image acquired on the other side can cover the imaging range of the stereo image on the side where the defect is detected to some extent. is there.

  Further, as shown in FIGS. 8 and 9A, the stereo image captured by the near-medium distance stereo camera 22a is sufficiently focused near the own vehicle M, so that a highly accurate distance is obtained. Images can be acquired. However, since a point relatively out of the vehicle M is out of focus and blurred, a highly accurate distance image cannot be obtained.

  On the other hand, as shown in FIG. 9B, the stereo image captured by the long-distance stereo camera 22b is out of focus because the area immediately in front of the own vehicle M is not sufficiently focused, and thus a high-accuracy distance image is obtained. You can't get it. However, in a distant place, the focus is sufficiently focused, so that a high-accuracy distance image can be obtained.

  In the present embodiment, a distant imaging region in which a clear stereo image in focus can be obtained with the near-medium distance stereo camera 22a and a clear stereo image in focus with the long distance stereo camera 22b can be obtained. It overlaps with the imaging area as close as possible. For example, as shown in FIG. 3, Ls (for example, 100 [m]) is a distant distance at which a clear stereo image can be obtained by the near-medium distance stereo camera 22a, and a clear distance is obtained by the long distance stereo camera 22b. When the short distance at which a stereo image can be obtained is L11 (for example, 80 [m]), the short distance L11 and the long distance Ls overlap.

  As shown in FIGS. 8 and 9, when no stereo image is detected by the stereo cameras 22 a and 22 b, the stereo image selecting unit 25 compares the stereo images with a common in-focus image. The image is divided by a corresponding horizontal line Ld on one image set in the imaging region (between L11 and Ls). Then, the in-focus images of the two divided stereo images are integrated. As a result, clear stereo images can be obtained at both near and middle distances and long distances on one screen.

  The above-described stereo image defect is detected by the camera abnormality detection unit 24. More specifically, the camera abnormality detection unit 24 detects a stereo image defect according to the camera abnormality detection processing routine shown in FIGS. The causes of the failure include, besides failures or malfunctions of the cameras 22aa, 22ab, 22ba, 22bb themselves, raindrops, snow, mud splashes, bird droppings, insects on the windshield or the lens cover of the headlamp Mh. Can be considered, or the lens of each camera becomes dirty.

  In this routine, first, in step S1, a stereo image (hereinafter, referred to as a “near-medium distance stereo image”) captured by the near-medium distance stereo camera 22a and subjected to predetermined image processing by the IPU 23 is read. Also, in step S2, a stereo image (hereinafter, referred to as a “long-distance stereo image”) captured by the long-distance stereo camera 22b and subjected to predetermined image processing by the IPU 23 is read. Then, the process proceeds to step S3, where a stereo matching process is performed on each stereo image. Since this stereo matching process is well known, a description thereof will be omitted.

  Thereafter, the process proceeds to step S4, and in the matching processing of each stereo image, it is checked whether or not there is a mismatch image between the images of the corresponding sections in the left and right images, that is, whether or not there is a failure. If no mismatch image is detected, it is determined that the image is normal (no failure), the process proceeds to step S5, the failure detection flag F is cleared (F ← 0), and the routine exits.

  On the other hand, if a mismatched image is detected in step S4, it is determined that there is a defect, and the process branches to step S6 to check whether both stereo images are defective. If it is determined that both stereo images have failed, the process branches to step S7, transmits an image error signal, and exits the routine.

  If one of the stereo images has failed, the process proceeds to step S8 to check which stereo image has failed. If the long-distance stereo image has failed, the process proceeds to step S9, where the failure detection flag F is set to 1 (F ← 1), and the process exits. If the near-medium distance stereo image has failed, the process branches to step S10, sets the failure detection flag F to 2 (F ← 2), and exits the routine.

  The image error signal and the value of the failure detection flag F are read by the stereo image selection unit 25. The stereo image selection unit 25 selects a stereo image to be used when performing forward recognition according to a stereo image selection processing routine shown in FIG.

  In this routine, first, in step S21, the presence or absence of an image error signal from the camera abnormality detection unit 24 is checked. If an image error signal is received, the process branches to step S22, interrupts image transmission (HALT), and exits the routine. If no image error signal has been received, the process proceeds to step S23 to check the value of the failure detection flag F.

  If the abnormality is F = 1 or F = 2, the process branches to step S24. If it is normal (F = 0), the process proceeds to step S25. In step S24, it is checked which stereo image has failed. If the long-distance stereo image of F = 1 has failed, the process proceeds to step S28. If the near-medium distance stereo image of F = 2 has failed, the process proceeds to step S29.

  When the process proceeds from step S23 to step S25, the traveling environment ahead of the host vehicle M is checked. In the present embodiment, the traveling environment information exemplifies whether a three-dimensional object (preceding vehicle P1, two-wheeled vehicle, pedestrian trying to cross, etc.) exists in the vicinity of the own vehicle M, or not. . It is not necessary to measure the distance from the host vehicle M to the three-dimensional object because the three-dimensional object exists in the vicinity. For example, it is determined based on the image captured by the main camera 22aa of the near-medium distance stereo camera 22a. To find out. If there is no three-dimensional object in the vicinity, the process proceeds to step S26. If a three-dimensional object blocking the front is detected in the vicinity, the process branches to step S28.

  The other travel environment information includes a curve curvature obtained from road map information or the like. If the curvature is large based on the curve curvature, the process may branch to step S28. In step S25, the vehicle speed is detected as the traveling state information of the host vehicle M. If the vehicle speed is low or medium speed (for example, 40 [Km / h]) or less, the process may branch to step S28. .

  In step S26, the near-medium distance stereo image and the long distance stereo image are divided by the horizontal line Ld as shown in FIGS. 8 and 9 (b), and as shown in FIG. Is integrated with the near-medium distance stereo image and the long distance stereo image above the image. Since the stereo cameras 22a and 22b that capture each stereo image are fixed to the vehicle and have a fixed focal length, the horizontal line Ld can be specified on the imaging surfaces of the stereo cameras 22a and 22b. Therefore, if the image is divided at a position corresponding to the horizontal line Ld on the imaging surface, the images can be easily integrated. Thereafter, the process proceeds to step S27, where the integrated stereo image is transmitted, and the process exits the routine.

  If no defect is detected in both the near-medium distance stereo image and the long distance stereo image, the two stereo images are divided by a preset horizontal line Ld, and the divided two stereo images are focused. Since the images on the side where the user is present are integrated, clear stereo images can be obtained on one screen at both near and medium distances and at a long distance. Further, in the near-medium distance stereo image and the long distance stereo image, redundant image processing becomes unnecessary, and the load required for the processing can be reduced accordingly.

  On the other hand, when the process proceeds from step S24 or step S25 to step S28, only the near-medium distance stereo image is transmitted, and the process exits the routine. When a three-dimensional object is detected in the vicinity in step S25, the process proceeds to step S28, in which only the stereo image for the near and middle distance is transmitted, so that not only the load required for image processing is reduced, but also from the side. A three-dimensional object (pedestrian, two-wheeled vehicle, etc.) trying to cross the front of the host vehicle M can be detected early.

  When the flow branches from step S24 to step S29, only the long-distance stereo image is transmitted, and the routine exits.

  The stereo image selected by the stereo image selection unit 25 is read by the forward traveling environment recognition unit 26. The forward running environment recognition unit 26 generates a distance image from the read stereo image based on the parallax, recognizes the same target object in both images based on the distance image, and stores the distance data (from the own vehicle M). The distance to the object is calculated using the principle of triangulation, and these are recognized as forward traveling environment information (three-dimensional object, left / right lane marking, signal display, etc.).

  In this case, both the stereo image of the near-medium distance stereo camera 22a and the stereo image of the long distance stereo camera 22b are both normal, and a three-dimensional object that blocks the front in the near direction (preceding vehicle P1, pedestrian, motorcycle, etc.) ) And the like are not detected, as shown in FIG. 10, distance information to the object is determined based on a stereo image in which the near-middle distance stereo image and the long distance stereo image are integrated on one image. You will get.

  As a result, as shown in FIG. 7, even when a three-dimensional object is detected in a distant place while the host vehicle M is running, a clear stereo image suitable for distance measurement from the vicinity of the vehicle to the distant place is obtained. It is possible to generate an image with a distant three-dimensional object (preceding vehicle, pedestrian, motorcycle, etc.) with high accuracy. Further, the distance data of the lane markings that separate the left and right of the traveling lane can be accurately calculated from near to far. In addition, the distance data of a road sign or signal indication (lighting color) can be accurately calculated regardless of whether the distance is near or far.

  Further, when a three-dimensional object that blocks the vicinity of the vehicle M is detected, a distance image is generated based on the near-medium distance stereo image. Since the near-medium distance stereo camera 22a is set to have a relatively wide field of view using a wide-angle lens, for example, a mobile object such as a pedestrian or a two-wheeled vehicle that crosses in front of the vehicle M in low-medium-speed traveling, and It can be detected accurately.

  Further, when a defect is detected in one of the stereo images of the two stereo cameras 22a and 22b, a distance image is generated only with the other normal stereo image. As described above, the imaging areas of the two stereo cameras 22a and 22b partially overlap each other. Therefore, when a failure occurs in one stereo image, the other normal stereo image should be substituted to some extent. Can be. Therefore, the automatic operation is not suddenly canceled in the automatic operation control unit 27 described later, and when the failure continues, the driver can safely take over the operation.

  The automatic driving control unit 27 transmits a control signal to the steering control unit 31 based on the forward traveling environment information recognized by the forward traveling environment recognizing unit 26 to cause the own vehicle M to travel along the center of the left and right lane markings. When the preceding vehicle P1 traveling immediately before is recognized, a control signal is transmitted to the brake control unit 32 and the acceleration / deceleration control unit 33 so as to allow the preceding vehicle P1 to travel with a predetermined inter-vehicle distance. Further, when an image error signal is output from the stereo camera device 21, the driver is notified from the alarm device 34 that automatic driving is to be canceled, and after the driver takes over the driving, the automatic driving is canceled. . Also, when a failure of one stereo image is detected, the driver is notified from the alarm device 34 to that effect, and when it becomes difficult to continue driving support, the driver can take over the driving. Prepare to be able to.

  As described above, in the present embodiment, when obtaining the distance information to the object based on the stereo images captured by the near and middle distance stereo camera 22a and the long distance stereo camera 22b, the focus of both stereo images is adjusted. Is divided by a preset horizontal line Ld and then integrated on one image, so that it is not necessary to perform image processing on the overlapped portion, thereby reducing the processing load. it can.

  In addition, when a failure is detected in a stereo image captured by one of the near-medium distance stereo camera 22a and the long distance stereo camera 22b, the other normal stereo image recognizes the front running environment. In addition, the automatic driving is not suddenly canceled, and the running state at that time is not significantly impaired. As a result, the driving support control and the driving support can be favorably continued. Furthermore, even when it is determined that driving assistance is difficult, it is possible for the driver to smoothly take over the driving, and it is possible to reduce the uncomfortable feeling given to the driver.

  In addition, since the main camera 22ba and the sub camera 22bb of the long distance stereo camera 22b are arranged on the head lamp Mh, a substantially maximum base line length can be secured with respect to the vehicle width, and the distance image at a long distance can be increased. Can be obtained with precision. Further, since each of the cameras 22ba, 22bb can be fixed to the body frame in the headlamp Mh, it can be fixed with high dimensional accuracy. In addition, since the inside of the head lamp Mh is protected by the lens cover, the exterior structure of each camera 22ba, 22bb can be simplified.

  Note that the present invention is not limited to the above-described embodiment. For example, in step S28, when transmitting a near-medium distance stereo image, an image captured by a normal one of the long distance stereo camera 22b is converted to a monocular image. May be transmitted at the same time. Similarly, in step S29, when transmitting a long-distance stereo image, a single-lens image captured by a normal one of the near-medium distance stereo camera 22a may be transmitted at the same time.

1: driving support system,
11 Locator unit,
12 ... Map locator calculation unit
12a: own-vehicle position estimation calculation unit,
12b: map information acquisition unit,
12c: target traveling route setting calculation unit
13 ... GNSS receiver,
14 ... autonomous traveling sensor,
16 High precision road map database
21… Stereo camera device,
22 ... Camera part,
22a: near and middle distance stereo camera,
22aa, 22ba ... main camera,
22ab, 22bb ... sub camera,
22b ... long distance stereo camera,
24: Camera abnormality detection unit
25 ... Stereo image selection unit
26: Forward driving environment recognition unit
27 ... automatic operation control unit,
31 ... steering control unit,
32 ... Brake control unit,
33 ... Acceleration / deceleration control unit
34 ... alarm device,
F: Failure detection flag
Ld: horizontal line,
L11: short distance,
Ls, L12 ... distant distance,
M: own vehicle,
Mh ... headlamp,
Mr ... inside the car,
P1, P2 ... preceding car,
Wl, Ws: Base line length

Claims (6)

A near-to-medium distance stereo camera having a pair of cameras disposed at the left and right sides in the vehicle width direction with a predetermined base line length in the cabin of the vehicle,
A long-distance stereo camera having cameras respectively disposed on a pair of headlamps provided on the left and right sides in the vehicle width direction of the host vehicle,
In the vehicle stereo camera device having a traveling information acquisition unit that detects the traveling information of the own vehicle, and generating a distance image in front of the own vehicle based on a stereo image captured by each of the stereo cameras,
Based on the travel information detected by the travel information acquisition means, a stereo image captured by the near-medium distance stereo camera and a stereo image captured by the long distance stereo camera are integrated and transmitted. A stereo camera device for a vehicle, further comprising a stereo image selecting means for determining whether to select and transmit an image. A camera abnormality for individually performing stereo matching processing on a stereo image captured by the near-medium distance stereo camera and a stereo image captured by the long-distance stereo camera, and checking whether or not one stereo image is lost Further comprising detecting means,
The stereo image selecting means, when the camera abnormality detecting means detects a defect in one of a stereo image captured by the near-medium distance stereo camera and a stereo image captured by the long distance stereo camera, the other The vehicle stereo camera device according to claim 1, wherein the stereo image of (1) is selected. The stereo image selecting means, when the camera abnormality detecting means detects a defect in one of a stereo image captured by the near-medium distance stereo camera and a stereo image captured by the long distance stereo camera, the other 3. The stereo camera device for a vehicle according to claim 2, wherein the stereo image of (1) and a normal monocular image of one of the stereo images are selected. The stereo image selecting means, when the camera abnormality detection means determines that both the stereo image captured by the near-medium distance stereo camera and the stereo image captured by the long distance stereo camera are normal, the two stereo 4. The vehicle according to claim 2, wherein after the image is divided by the overlapping common imaging region, the divided stereo images on the side in focus are integrated on one image. 5. Stereo camera device. The stereo image selecting unit may be configured such that the camera abnormality detecting unit determines that both the stereo image captured by the short-to-medium distance stereo camera and the stereo image captured by the long-distance stereo camera are normal. 5. The method according to claim 1, wherein when a three-dimensional object obstructing the front is detected, or when the vehicle speed is a medium to low vehicle speed, only a stereo image captured by the near-medium distance stereo camera is selected. Item 3. The vehicle stereo camera device according to item 1. The vehicle stereo camera according to any one of claims 1 to 5, wherein an imaging area of the near-medium distance stereo camera is set to be wider than an imaging area of the long distance stereo camera. apparatus.

Images