JP3019654B2 - Automatic adjustment device - Google Patents

Automatic adjustment device

Info

Publication number
JP3019654B2
JP3019654B2 JP5052103A JP5210393A JP3019654B2 JP 3019654 B2 JP3019654 B2 JP 3019654B2 JP 5052103 A JP5052103 A JP 5052103A JP 5210393 A JP5210393 A JP 5210393A JP 3019654 B2 JP3019654 B2 JP 3019654B2
Authority
JP
Japan
Prior art keywords
pupil
mirror
driver
camera
adjusting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP5052103A
Other languages
Japanese (ja)
Other versions
JPH06262982A (en
Inventor
雅男 坂田
浩 斎藤
篤彦 木村
Original Assignee
日産自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日産自動車株式会社 filed Critical 日産自動車株式会社
Priority to JP5052103A priority Critical patent/JP3019654B2/en
Publication of JPH06262982A publication Critical patent/JPH06262982A/en
Application granted granted Critical
Publication of JP3019654B2 publication Critical patent/JP3019654B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic adjusting device for automatically adjusting a portion such as a door mirror which can be adjusted according to the position of a driver's eyes.

[0002]

2. Description of the Related Art In recent years, the operability and comfort of vehicles have been required to be improved from the viewpoint of ensuring safe driving of automobiles and the like. For example, it is desired to automatically adjust the angle of a door mirror, the direction of an air conditioner outlet, the height of a tilt handle, or the height of a headrest according to the posture of each driver. Have been.

For this purpose, it is necessary to know the position of the driver. For example, a vehicle driver position recognizing device shown in FIG. 4 (JP-A-60-168004) is conventionally known. In this device, the upper body of the driver 402 is imaged by a camera 401 installed in the driver's compartment in the lateral direction of the driver, and then the position of the nose of the driver 402 is detected from the captured image to detect the position of the nose. The position and angle of each part such as the steering wheel 403 are adjusted by estimating the position of the eyes of the driver 402 from.

[0004]

However, since there is an individual difference in the relationship between the position of the driver's nose and the position of the eyes, it has been difficult to accurately specify the position of the eyes for all the drivers. . In addition, since the driver is imaged by the camera installed in the lateral direction, it is difficult to detect the lateral movement of the driver, so that the position of the detected eye becomes inaccurate. However, there is a problem that it is not possible to correctly adjust the position and angle of the object.

The present invention has been made in view of such a conventional problem. By detecting an accurate eye position regardless of a driver's posture and individual differences, a door mirror or the like can be accurately determined. It is an object of the present invention to provide an automatic adjustment device capable of automatically adjusting the part.

[0006]

In order to achieve the above object, the present invention provides an automatic adjustment apparatus which includes a camera which is incorporated in a predetermined portion and which images a human eyeball, and which is arranged coaxially with the camera and which is provided with a human eye. A light source for illuminating the eyeball unit, a switch for outputting an automatic adjustment start signal, and pupil position coordinates for detecting a driver pupil position coordinate from an image taken by the camera when the automatic adjustment start signal is output from the switch. detection means, calculates a difference between the position coordinates of the detected pupil and preset optimum pupil position coordinates by pupil hole position coordinate detection means, the predetermined site or as the difference becomes zero
The gist of the invention is to provide a position adjusting means for adjusting a position of a part of the part .

[0007]

According to the present invention, by taking such measures,
When the driver presses the switch for automatic adjustment start, a camera built in a predetermined part images the driver's face area illuminated by the light source, based on the pupil position coordinates detected by the pupil position coordinate detection means. position adjusting means Te that can be automatically adjusted to a portion of said predetermined part or the site into place.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of an embodiment in which the automatic adjustment device of the present invention is applied to the angle adjustment of a door mirror for an automobile. In the figure, 1-1 and 1-2 are cameras having a CCD sensor for inputting an image of a driver's face area, and 2- and 1-2.
Numerals 1 and 2 denote near-infrared LEs installed at the lens centers of the cameras 1-1 and 1-2 so as to form a coaxial system with the cameras.
A light source that emits invisible light such as D, 3-1 and 3-2 are door mirrors incorporating cameras 1-1 and 1-2 and light sources 2-1 and 2-2, respectively, and 4-1 and 4-2 are near red. This is a mirror body that transmits external light and reflects visible light. 5 is camera 1
A / D converter for converting analog image information output from -1 and 1-2 into digital information, 6 is an image memory for holding digital information obtained by analog / digital conversion, and 7 is a pupil based on the input image information. It is a pupil position coordinate detection unit that detects an area. Reference numeral 8 denotes a position adjustment unit, which includes a mirror rotation angle calculation unit 81 that calculates the rotation direction and angle of the door mirror 3 based on the detected pupil position coordinates, and a mirror angle control unit 82 that controls the rotation angle of the door mirror 3. It is configured. Reference numerals 9-1 and 9-2 denote actuators for driving the mirror main bodies 4-1 and 4-2, 10 denotes a start switch for instructing the start of control, 11 denotes an overall control unit for controlling the entire automatic adjustment device, and 12 denotes a light source. 2-1 or 2
A light source light emission control unit 13 for outputting a signal for causing the light source to emit light-2, a mirror left / right selection switch 13 for selecting whether the driver adjusts the angle of the door mirror to the right door mirror 3-1 or the left door mirror 3-2; 14 is a mirror left / right switching unit that switches between the right door mirror 3-1 and the left door mirror 3-2 based on the switch operation, and 15 is an end that notifies the driver that the automatic adjustment of the door mirror 3-1 or 3-2 has been completed. The confirmation sound output unit 16 is a driver of the vehicle.

Next, the operation of the apparatus configured as described above will be described. Now, when the driver selects the right door mirror by the mirror left / right selection switch 13 to adjust the right door mirror, the right / left mirror switching unit 14 outputs a right selection signal. Next, when the driver presses the start switch 10 while gazing at the right mirror main body 4-1, a measurement start signal is output from the overall control unit 11. The light source emission control unit 12 sends a light source emission signal to the light source 2-1 in the right door mirror 3-1 via the mirror left / right switching unit 14. The light source 2-1 emits near-infrared invisible light to illuminate the driver's face, and at the same time, the camera 1-1 in the same right door mirror 3-1 captures an image of the driver's face area and
Output to the / D converter 5. The A / D converter 5 converts the input analog image information into digital information, stores the digital information in the image memory 6, and terminates the light emission of the light source 2-1 according to an instruction from the overall control unit 11. The two-dimensional digital image information stored in the image memory 6 is converted into a pixel I (x, y) (1 ≦ x ≦) using the coordinates x and y of two axes orthogonal to each other.
X, 1 ≦ y ≦ Y). However, X, Y
Is the maximum value of the two-axis coordinates preset as the imaging range.

Next, a method of extracting a pupil region in the pupil position coordinate detecting section 7 will be described. As shown in FIG. 1, by using the illumination method of the light sources 2-1 and 2-2 which form coaxial systems with the cameras 1-1 and 1-2, the pupil region is observed brightly as a retinal reflection image. The size of the bright portion is the size of the pupil because the incident light reflected by the retina is due to the light returning to the outside through the pupil. As described above, the pupil region becomes a bright circular region as a retinal reflection image, so that the image information I (x, y)
The eye position can be accurately measured by specifying a circular area from among the circles. Hereinafter, the procedure for extracting the pupil region will be described with reference to the flowchart of FIG.
When image information I (x, y) is input to the image memory 6 (step 200), a pixel I (x, y) (1 ≦ x ≦ X,
A pixel I (x m , y) having a brightness between two threshold values Th 1 and Th 2 set to an arbitrary value for 1 ≦ y ≦ Y.
n) (Th 1 ≦ I ( x m, y n) ≦ Th 2) extracting (step 201), and sequences corresponding to pixels representing the pupil candidate region J (x m, and y n) = 1 (step 20
2) Other than this, J ( xp , yq ) = 0 (step 203).

[0011] Next, the extracted pixel I (x m, y n) Since the there is a possibility that other than the pupil noise is mixed,
Sequences to identify the pupil J (x m, y n) performs labeling processing in (step 204). Labeling is a process of dividing an area into a plurality of connected areas by giving the same label to adjacent elements, as is generally performed. Next, the area S i of each labeled region
The calculated, using the two thresholds are set for the pupil area S expected S 1, S 2 (S 1 ≦ S ≦ S 2) S 1
By selecting only a region having an area satisfying ≦ S i ≦ S 2 (step 205), a region much smaller than and larger than a common sense pupil area is excluded.

Next, the circularity of each area defined by the equation (1) is calculated for the area extracted by the processing of step 205 (step 206).

[0013]

## EQU1 ## Circularity (P) = perimeter of area 2 / area of area (1) Since the degree of circularity is closer to 4π, the closer the shape of the area is to a perfect circle, the threshold is set. Value P c (4π
<Identify areas with small circularity P (P <P c) than P c) (step 207). If there are a plurality of regions that satisfy this condition, the region where the value of P is closest to 4π is set as the pupil region.

Next, it is determined whether or not the pupil region has been determined by the processing from step 201 to step 207 (step 208). If a pupil region satisfying the above conditions is not found, the camera 1-1
It is assumed that the mirror main body 4-1 was oriented in such a direction that the pupil was not included in the image taken in step (1), and the angle of the mirror main body 4-1 was adjusted according to a preset reference angle (step 209). Returning to step 200 again, the above processing is performed. This reference angle indicates that the pupil is camera 1 when a Japanese man of average body takes a standard driving posture.
What is necessary is just to set the angle to be taken at the center of -1. If two pupil regions, that is, the pupils of the left and right eyes are observed (step 210), one of them is selected (step 21).
1). For example, the reference may be set such that the right eye is selected on the right door mirror side of the right-hand drive vehicle and the left eye is selected on the left door mirror side. To select one of the left and right eyes, the center of gravity (x g , y g ) of the pupil region is calculated and then selected (step 212). As shown in FIG. 3, when the X-axis is taken in the horizontal right direction and the Y-axis is taken vertically downward as shown in FIG. 3, the area with the smaller x-coordinate value must be selected to specify the right eye. I just need. The center-of-gravity coordinate values (x g , y g ) of the pupil position calculated in this manner are held, and the position adjustment unit 8
Output to

The position adjustment unit 8 includes a mirror rotation angle calculation unit 8
In FIG. 1, preset optimal pupil position coordinates (x o , y o ) that should be located on the image when the mirror body 4-1 is at the optimal angle, and the barycentric coordinate value of the detected pupil position (X g , y g ) and x
Axis, the deviation in the y-axis direction x g -x o = x d, y g -y o = y
Calculate d . Next, this deviation vector (x d , y d )
Is calculated in the horizontal and vertical directions (D x , D y ). This is a CCD
It can be obtained by storing how many times the upper one pixel corresponds to the horizontal and vertical rotation angles of the mirror body 4. The mirror angle control unit 82 drives the actuator 9-1 via the mirror left / right switching unit 14 based on the rotation angle vector (D x , D y ) calculated as described above, so that the mirror main body 4-1.
Is rotated by a predetermined angle. As a result, the center-of-gravity coordinate values (x g , y g ) of the pupil position are converted to the optimal pupil position coordinates (x o , y
o ), the mirror body 4-1 can be adjusted to the optimum angle. The mirror body 4-
The adjustment range of 1 and 4-2 is desirably limited to a range in which the driver can secure a rear view even in the case of a malfunction due to a failure of the device or the like. When the mirror body 4-1 or 4-2 is adjusted to a predetermined position, a confirmation sound is output from the completion confirmation sound output unit 15 to notify the driver that the automatic adjustment of the door mirror has been completed.

The case where the right door mirror of a right-hand drive vehicle is adjusted has been described above. The same applies to the case of a left door mirror or a left-hand drive vehicle.

Therefore, according to the configuration of the above-described embodiment, the pupil is extracted by performing image processing on the retinal reflection image of near-infrared light captured by the camera incorporated in the door mirror, and thus the driver's posture and The correct position of the eyes can be detected regardless of individual differences in physique, and the angle of the door mirror can be accurately and quickly adjusted automatically. In addition, since the camera and the light source are built in a position adjusting portion such as a door mirror, no special installation space is required in the vehicle interior.

In the above embodiment, the rotation angle vectors (D x , D d ) corresponding to the deviation vectors (x d , y d )
The rotation angle is uniquely determined from y ) and controlled, but the barycentric coordinate value (x g , y g ) of the current pupil position and the target optimum pupil position coordinate (x o , y o ) are continuously calculated. A feedback control method for controlling the angles of the mirror bodies 4-1 and 4-2 based on the deviation of the mirror body can also be adopted.

Other examples include adjusting the angle of the rearview mirror, adjusting the direction of the air conditioner outlet, adjusting the handle height of the tilt handle, adjusting the position of the meter panel, and the like. When applying the present invention to these automatic adjustments,
Mirror left / right selection switch 13, mirror left / right switching unit 1
There is no need for left and right selections corresponding to 4. In addition, since the pupil to be extracted does not matter to the left or right for the same reason, steps 210 and 211 in FIG. 2 are not necessary. In adjusting the position of the tilt handle and the meter panel, a camera and a light source may be built in the center of the tilt handle and the meter panel, and a filter that transmits near-infrared light may be disposed in front of the camera and the mirror.

[0020]

As described above, according to the present invention, the components of the vehicle can be automatically adjusted with high accuracy by detecting the exact position of the eyes regardless of the individual differences in the posture and physique of the driver. Therefore, it is possible to contribute to improvement of safe driving.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an operation procedure.

FIG. 3 is an explanatory diagram of image information captured by a camera.

FIG. 4 is a mounting diagram of a known vehicle driver position recognition device.

[Explanation of symbols]

 1-1, 1-2 Camera 2-1, 2-2 Light source 3-1, 3-2 Door mirror 4-1, 4-2 Mirror body 5 A / D converter 6 Image memory 7 Pupil position coordinate detecting unit 8 Position Adjustment unit 9-1, 9-2 Actuator 10 Start switch 11 Overall control unit 12 Light source emission control unit 13 Mirror left / right selection switch 14 Mirror left / right switching unit 15 End confirmation sound output unit 81 Mirror rotation angle calculation unit 82 Mirror angle control unit

Continuation of the front page (56) References JP-A-60-157939 (JP, A) JP-A-60-168004 (JP, A) JP-A-60-1557963 (JP, A) JP-A-60-152966 (JP) , A) Actual opening 63-69655 (JP, U) (58) Field surveyed (Int. Cl. 7 , DB name) B60R 1/06

Claims (1)

(57) [Claims]
1. A camera which is incorporated in a predetermined portion and captures an image of a human eye, a light source which is arranged coaxially with the camera and illuminates the human eye, and a switch which outputs an automatic adjustment start signal, A pupil position coordinate detecting means for detecting a pupil position coordinate of a driver from an image taken by the camera when an automatic adjustment start signal is output from the switch; and a pupil position coordinate detected by the pupil position coordinate detecting means. When calculating the difference between the preset optimum pupil position coordinates, the predetermined site or the moiety as the difference becomes zero
An automatic adjusting device comprising: a position adjusting means for adjusting a part of the position.
JP5052103A 1993-03-12 1993-03-12 Automatic adjustment device Expired - Fee Related JP3019654B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP5052103A JP3019654B2 (en) 1993-03-12 1993-03-12 Automatic adjustment device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5052103A JP3019654B2 (en) 1993-03-12 1993-03-12 Automatic adjustment device

Publications (2)

Publication Number Publication Date
JPH06262982A JPH06262982A (en) 1994-09-20
JP3019654B2 true JP3019654B2 (en) 2000-03-13

Family

ID=12905521

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5052103A Expired - Fee Related JP3019654B2 (en) 1993-03-12 1993-03-12 Automatic adjustment device

Country Status (1)

Country Link
JP (1) JP3019654B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107031510A (en) * 2016-12-29 2017-08-11 宁波吉利汽车研究开发有限公司 A kind of outside rear-view mirror system for regulating angle
US9873355B2 (en) 2014-04-25 2018-01-23 Mitsubishi Electric Corporation Automatic adjuster, automatic adjusting system and automatic adjusting method

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2303639B1 (en) 2008-06-23 2011-10-19 Nxp B.V. Vehicle mirror adjustment method and system
JP2011080890A (en) * 2009-10-08 2011-04-21 Toshiba Corp Object identification device
KR101596751B1 (en) 2014-09-26 2016-02-23 현대자동차주식회사 Method and apparatus for displaying blind spot customized by driver

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9873355B2 (en) 2014-04-25 2018-01-23 Mitsubishi Electric Corporation Automatic adjuster, automatic adjusting system and automatic adjusting method
CN107031510A (en) * 2016-12-29 2017-08-11 宁波吉利汽车研究开发有限公司 A kind of outside rear-view mirror system for regulating angle

Also Published As

Publication number Publication date
JPH06262982A (en) 1994-09-20

Similar Documents

Publication Publication Date Title
CN106028913B (en) The display control method of display control unit, display control unit
US20150296135A1 (en) Vehicle vision system with driver monitoring
CN103171489B (en) For driving the method for the indicating device of controlling motor vehicle
JP4593070B2 (en) Image processing apparatus for vehicle
JP4412380B2 (en) Driving support device, driving support method, and computer program
EP1878618B1 (en) Driving support method and apparatus
EP1916846B1 (en) Device and method for monitoring vehicle surroundings
KR101544524B1 (en) Display system for augmented reality in vehicle, and method for the same
EP2471691B1 (en) Obstacle detection device, obstacle detection system provided therewith, and obstacle detection method
WO2016024405A2 (en) Vehicle display device, display control method, and rearview monitoring system
EP1974998B1 (en) Driving support method and driving support apparatus
US7607509B2 (en) Safety device for a vehicle
DE4336288C1 (en) Device for monitoring the rear or front space of a parking motor vehicle
US20150092042A1 (en) Vehicle vision system with virtual retinal display
JP5030580B2 (en) Vehicle actuation system, vehicle
US7136091B2 (en) Vehicle imaging apparatus, vehicle monitoring apparatus, and rearview mirror
JP5230748B2 (en) Gaze direction determination device and gaze direction determination method
JP4295560B2 (en) Method for monitoring inside or outside of vehicle, and vehicle with monitoring camera
US6809704B2 (en) Reduction of blind spots by using display screens
EP1783531B1 (en) Projection display
JP5992130B2 (en) Automatic adjustment device, automatic adjustment system, and automatic adjustment method
US9077861B2 (en) Image processing apparatus, electronic apparatus, and image processing method
JP5923180B2 (en) Biological information measuring device and input device using the same
US8345095B2 (en) Blind spot image display apparatus and method thereof for vehicle
EP1658191B1 (en) Method for controlling the display of different information in a vehicle and optoacoustic information unit

Legal Events

Date Code Title Description
FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20090107

Year of fee payment: 9

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20100107

Year of fee payment: 10

LAPS Cancellation because of no payment of annual fees