JP4234240B2 - On-vehicle camera mounting method and image processing apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an on-vehicle camera mounting method and an image processing apparatus for mounting a camera on a vehicle.
[0002]
[Prior art]
Conventionally, a camera is mounted on a vehicle, and an image of a blind spot from the driver such as the rear of the vehicle is taken to assist driving. For example, it is described in JP-A-9-126756 and JP-A-9-126759. As shown, distance measurement by binocular stereopsis is performed with a pair of cameras.
[0003]
When the camera mounted on the vehicle is attached to the vehicle body, it is necessary to adjust the central axis of the camera to be in a predetermined direction. In such adjustment, conventionally, adjustment is performed while viewing an image based on the positional relationship between the center of the image and a predetermined direction, for example, using a video output signal for the image captured by the camera.
[0004]
FIG. 12 shows an electrical configuration for conventional in-vehicle image processing. The camera 1 includes an image pickup element such as a CCD and optical system parts such as a lens, and picks up an image within a predetermined field of view. A video output signal representing an image captured by the camera 1 is input to the image processing unit 3 of the image processing apparatus 2 including the camera 1. The image processing unit 3 performs arithmetic processing based on an image captured by the camera 1, for example, arithmetic processing for distance measurement by binocular stereopsis.
[0005]
The video output signal from the image processing unit 3 is amplified by the video output circuit unit 4 and displayed as an image on the display monitor 5. When the camera 1 is mounted at a predetermined position on the vehicle body, it is displayed as an image that is picked up according to the current mounting state to an operator who adjusts the mounting state of the camera 1.
[0006]
[Problems to be solved by the invention]
Adjustment at the time of mounting a conventional vehicle-mounted camera is performed while an operator looks at the monitor screen of the display monitor 5. For this reason, the video output circuit unit 4 for supplying the video output signal to the display monitor 5 is also required. The original purpose of mounting the camera 1 is to perform image processing by the image processing unit 3 and to support driving of the vehicle as a result. Therefore, the camera 1 and the image processing unit 3 are portions 6 necessary for image processing. However, since it is necessary to add the video output circuit 4 that is used only for adjustment, the cost is increased. In addition, since it is necessary for the operator to perform the attachment work while looking at the screen of the display monitor 5, it is not possible to perform sufficient observation on the imaging direction of the camera 1 and the vicinity of the attachment position.
[0007]
An object of the present invention is to provide an in-vehicle camera mounting method and an in-vehicle camera image processing apparatus capable of accurately adjusting with attachment to a vehicle body with a simple configuration.
[0008]
[Means for Solving the Problems]
  The present invention calculates a position of a reference point on an image by processing an image captured while the camera is mounted on a vehicle while capturing the image by the camera.
  Based on the calculated position of the reference point, determine whether the camera mounting state is within an allowable range,
  Notification of judgment resultsAnd
  The reference point is an infinite point calculated from the white line detection position when a white line drawn on the road surface is detected in the image.This is a mounting method for a vehicle-mounted camera.
[0009]
According to the present invention, when the camera is attached to the vehicle, the camera captures an image, the captured image is processed, and the position of the reference point on the image is calculated. Based on the calculated position of the reference point, it is determined whether or not the mounting state of the camera is within an allowable range, and the determination result is notified, so the image captured by the camera is not directly viewed on a display monitor or the like. However, according to the notification of the determination result, adjustment can be performed so that the mounting state of the camera is accurately directed in a predetermined imaging direction.
[0011]
  AlsoSince the infinity point where the white line drawn on the road surface in the image converges is selected as the reference point, if the white line is detected in the image, the infinity point can be easily detected to adjust the camera mounting state. Can be used as a reference position.
[0012]
In the present invention, the reference point includes a closest point which is a point closest to the white line in the image.
[0013]
According to the present invention, the reference point for adjusting the camera mounting state includes the closest point that is the point closest to the white line in the image, so that the mounting state of the camera is within the appropriate range. Can be adjusted.
[0014]
In the present invention, the reference point is set on an image of an object placed in the field of view of the camera.
[0015]
According to the present invention, since the reference point is set on the image of the object installed in the field of view of the camera, for example, a standard adjustment place is provided for adjustment or on a road where an inter-vehicle distance display is provided. Adjustment can be performed by capturing the vehicle in front of the vehicle and the camera can be adjusted to an appropriate mounting state.
[0016]
Further, in the present invention, the camera is provided with a mechanism for changing the mounting state by driving with a motor whose operation is controlled by manual operation of the operation unit,
According to the notification of the determination result, the motor drive state is controlled by manual operation of the operation unit so that the camera mounting state is within an allowable range.
[0017]
According to the present invention, the adjustment of the camera mounting state is performed by a mechanism that changes the mounting state by driving a motor whose operation is controlled by manual operation of the operation unit. Adjustments can be made easily.
[0018]
In the present invention, the camera is provided with a mechanism for changing the mounting state by driving with a motor.
According to the notification of the determination result, the motor driving state is automatically controlled so that the camera mounting state is within an allowable range.
[0019]
According to the present invention, the adjustment of the mounting state of the camera is performed by automatically controlling the driving state of the motor, so that the camera can be reliably adjusted to be in an optimal state.
[0020]
In the present invention, the determination result is notified by sound output.
[0021]
According to the present invention, since the determination result is notified by sound output, it is not necessary to look at the display monitor screen when adjusting the camera mounting state, and it is possible to adjust the mounting state only in the direction of the periphery of the camera and the field of view. it can.
[0022]
In the present invention, the notification is performed by a change in volume of the sound output corresponding to a deviation amount from the reference point position.
[0023]
According to the present invention, when the mounting state is adjusted, the amount of deviation from the reference position is notified as a change in sound output volume. Can be adjusted in the direction of decreasing.
[0024]
In the present invention, the notification is performed by a timbre change of the sound output corresponding to a deviation amount from the reference point.
[0025]
According to the present invention, the notification is performed by the timbre change of the sound output corresponding to the shift amount, so that the shift amount can be easily adjusted by associating the timbre with the shift amount.
[0026]
In the present invention, the notification is performed by a change in sound interval of the sound output corresponding to the amount of deviation from the reference point.
[0027]
According to the present invention, since the notification corresponding to the deviation amount from the reference point is performed by the change in the sound output sound interval, even if the tone color or volume of the sound output changes due to other factors, the deviation amount is surely detected. It can be notified whether or not it is within the allowable range.
[0028]
In the present invention, the determination result is notified by visual display.
[0029]
According to the present invention, since the determination result is notified by visual display, the determination result can be displayed as easily understandable information.
[0030]
In the present invention, the notification is performed by changing a visual display position in accordance with an amount of deviation from the reference position.
[0031]
According to the present invention, since the visual display position changes in accordance with the amount of deviation from the reference position, the amount of deviation is judged based on the visual display position, and the camera mounting state is adjusted so that the amount of deviation is small. can do.
[0032]
In the present invention, the notification is performed by blinking a visual display at a speed corresponding to the amount of deviation from the reference position.
[0033]
According to the present invention, since the visual display blinks at a speed corresponding to the amount of deviation from the reference position, the camera mounting state can be adjusted so that the amount of deviation decreases according to the blinking speed.
[0034]
In the present invention, the notification is performed by changing the area of the visual display in accordance with the amount of deviation from the reference position.
[0035]
According to the present invention, since the display area of the visual display changes according to the amount of deviation, the amount of deviation can be easily adjusted.
[0036]
In the present invention, the notification is performed by changing the visual display so that the brightness from the reference position changes.
[0037]
According to the present invention, since the brightness of the visual display changes in accordance with the amount of deviation from the reference point, the camera mounting state can be adjusted so that the amount of deviation is reduced based on the change in brightness. .
[0038]
  Furthermore, the present invention provides a recognition means for recognizing a predetermined object from among images captured by a camera,
  Calculation means for calculating a reference point position based on the image of the object recognized by the recognition means;
  Calculate the amount of deviation between the position of the reference point calculated by the calculation means and the position of the reference point in the image to be captured with the camera mounted on the vehicle, and whether the amount of deviation is within a predetermined tolerance A determination means for determining whether or not,
  Notification means for notifying the judgment result of the judgment means.See
  The reference point is an infinite point calculated from the white line detection position when a white line drawn on the road surface is detected in the image.This is an image processing apparatus for a vehicle-mounted camera.
[0039]
  According to the present invention, the predetermined object in the image captured by the camera is recognized by the recognition means. The calculating means calculates the position of the reference point based on the recognized image of the object, and based on the position of the reference point, a deviation from the position of the reference point in the image captured in a state where the camera is mounted on the vehicle. The amount is calculated and determined by the determining means whether it is within an acceptable range. Since the determination result is notified by the notification means, when trying to adjust the mounting state of the in-vehicle camera, an appropriate imaging state can be obtained by adjusting the amount of deviation to the reference position according to the notification. it can. Since it is not necessary to make an adjustment while displaying the captured image, it is not necessary to provide an output circuit for amplifying a video output signal representing the image, and the manufacturing cost of the image processing apparatus can be reduced.In addition, since the infinity point where the white line drawn on the road surface in the image converges is selected as the reference point, if the white line is detected in the image, the infinity point can be easily detected to adjust the camera mounting state. Can be used as a reference position for.
[0040]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows the basic concept of an embodiment of the present invention. FIG. 1A shows the basic contents of an image 10 to be captured, and FIG. 1B shows a configuration for capturing the image 10. The image 10 is picked up by a camera 11 having an image pickup device such as a CCD. A video signal is output from the camera 11 that has captured the image 10, and is processed by the image processing unit 13 in the image processing apparatus 12 including the camera 11. In the present embodiment, the image processing apparatus 12 performs image processing for the purpose of attaching the camera 11 and also determines whether or not the attachment state is appropriate at the time of adjustment when attaching the camera 11 to the vehicle. The determination result of the image processing device 12 is output to a result output unit 14 such as a buzzer, a light emitting diode (hereinafter abbreviated as “LED”), a liquid crystal display element (LCD), etc. The judgment result is notified. The image processing apparatus 12 basically includes only a portion 15 necessary for image processing of the camera 11 and the image processing unit 13.
[0041]
In the image 10 captured by the camera 11, for example, a road surface 16 ahead in the traveling direction of the vehicle is captured. A white line 17 indicating a lane boundary is drawn on the road surface 16. On a flat and straight road surface 16, adjacent white lines 17 are parallel. Since the camera 11 captures the image 10 in accordance with the perspective projection method, the tips of the parallel white lines 17 converge so that they coincide at the infinity point 18. In addition, the closest point 19 can be easily identified as the point closest to the white line 17 in the field of view of the camera 11.
[0042]
FIG. 2 shows a procedure for attaching the camera 11 to the vehicle with the configuration of FIG. FIG. 2 (a) shows the overall attachment procedure. In step a1, the camera mounting direction is recognized. If the white line 17 is drawn on the road surface 16 as in the image 10 of FIG. 1A, the white line 17 is recognized, and the infinity point 18 on the extension and the closest point 19 are also recognized. In step a2, the attachment angle is adjusted so that the infinity point 18 and the nearest point 19 recognized in step a1 are in appropriate positions in the vertical direction of the image 10. In step a3, based on the notification of the camera mounting method, adjustment is performed so that the infinity point 18 and the nearest point 19 are in appropriate positions in the left-right direction of the image 10.
[0043]
FIG. 2B shows a notification procedure as to whether or not the camera is within an allowable range when adjusting the displacement of the camera at step a2 or step a3 in FIG. The procedure starts from step b1, and in step b2, the positions of reference points such as the infinite point 18 and the nearest point 19 are calculated. In step b3, a deviation amount between the original reference point position and the calculated reference point position is calculated. In step b4, it is determined whether or not the deviation amount is within an allowable range. When it is determined that the value is within the allowable range, a buzzer as the result output unit 14 is sounded in step b5. When it is determined that the deviation amount is outside the allowable range, the buzzer does not sound. After notifying with a buzzer whether or not the deviation is within the allowable range, the procedure is terminated at step b6.
[0044]
FIG. 3 shows a configuration for adjusting the camera mounting angle as shown in FIG. As shown to Fig.3 (a), the camera 11 is attached to the attaching part of the room mirror 20 in a vehicle interior, for example. Since it is behind the rearview mirror 20 from the driver of the vehicle, it can be attached so as not to obstruct the front view through the windshield 21. The camera 11 images the front of the vehicle through the windshield 21. As shown in an enlarged view from the side in FIG. 3 (b), the camera 11 is fixed to the ceiling portion 22 of the vehicle together with the rearview mirror 20 by a support 23. Since the camera 11 is fixed to the distal end portion of the support 23 with a screw 24, the camera 11 can be displaced around a substantially vertical axis with the screw 24 loosened, and is a reference in the image 10 of FIG. The positions of the point at infinity 18 and the nearest point 19 can be adjusted to the left and right.
[0045]
FIG. 4 shows a basic concept for notifying the mounting position of the camera 11 in the left-right direction in the configuration of FIG. The buzzer is sounded within an allowable range 26 including a slight deviation from the center in the adjustable range 25 by loosening the screw 24. In this way, the camera 11 can be fixed at the position where the buzzer sounds and the adjustment can be completed.
[0046]
In FIG. 4, the notification is made depending on whether the buzzer is sounded in the allowable range 26 or not in the other range, but the buzzer volume is increased in the allowable range 26 and adjustment outside the allowable range 26 is performed. Notification can also be made in two steps such that the volume of the buzzer is reduced in the range 25. In addition, the volume level can be increased and can be changed continuously. In addition, an AC signal can be added to generate a buzzer sound, or a speaker can be used instead of a buzzer to notify the sound output frequency and tone. Two-stage changes can be distinguished between high and low tones, and notification can be made by changing the timbre in multiple stages.
[0047]
In the notification by the sound output within the allowable range as shown in FIG. 4, it is also possible to notify by changing the generation interval of the buzzer or the like. For example, the notification can be changed to “Pip, Pip, Pip” within the permissible range 26 and changed to “Pie, Peep, Peep” when outside the permissible range 26. It can also be changed in multiple stages.
[0048]
FIG. 5 shows reference points in an image according to another embodiment of the present invention. Note that the same reference numerals are given to the portions corresponding to the portions described in advance, and the overlapping description is omitted. In this embodiment, in addition to the infinity point 18 and the nearest point 19 in the image 10 shown in FIG. 1A, a vehicle detection position 29 detected from the preceding vehicle 28 is also used as a reference point. For example, since the inter-vehicle distance of the preceding vehicle 28 can be confirmed when passing through an inter-vehicle distance confirmation section or the like, the vehicle travels with a constant inter-vehicle distance after passing through the inter-vehicle distance confirmation section. A specific position of the image, for example, the center of gravity is adjusted as a vehicle detection position 29 so as to be an appropriate position on the screen.
[0049]
Adjustment of the vehicle detection position 29 using the preceding vehicle 28 as shown in FIG. 5 is performed using a camera 31 as shown in FIG. Similarly to the camera 11 shown in FIG. 3B, the camera 31 is attached to the attachment portion of the rearview mirror 20 with the support 23. A CCD camera 32 is housed in the camera 31, and a motor 33 that displaces the imaging direction of the CCD camera 32 around a substantially vertical axis and a switch 34 that controls the rotational driving state of the motor 33 are provided. The driver of the vehicle can perform adjustment by operating the switch 34 in accordance with a notification from the result output unit 13 such as a buzzer. If it is set so that the number of rotations of the motor 33 increases with respect to a fixed change in the imaging direction of the CCD camera 32, fine adjustment of the imaging direction can be performed by manual operation of the switch 34. Such a camera 31 can also be used in the embodiment of FIG. 1 instead of the camera 11 shown in FIG. The camera 11 also has a built-in CCD camera similar to the CCD camera 32 having a CCD or the like.
[0050]
FIG. 7 shows a schematic configuration of a camera 41 according to still another embodiment of the present invention. Also in this embodiment, the same reference numerals are given to the portions corresponding to the portions described in the preceding embodiments, and the overlapping description is omitted. The camera 41 also includes a CCD camera similar to the CCD camera 32 shown in FIG. In the present embodiment, the motor 33 that displaces the imaging direction of the camera 41 around a substantially vertical axis is automatically controlled by the image processing microcomputer 42 that processes the image captured by the camera 41. As shown in step b3 of FIG. 2, the amount of deviation is calculated and obtained, and the direction in which the motor 33 is driven and the amount of displacement are controlled so as to reduce the amount of deviation.
[0051]
FIG. 8 shows a configuration when an LED display 50 including a plurality of LEDs is used as the result output unit 14 of FIG. 1 as still another embodiment of the present invention. The LED display 50 indicates a state in which three or more, for example, three LEDs 51, 52, 53 are arranged one-dimensionally and the mounting positions of the cameras 11, 31, 41 are notified at the lighting LED positions. For example, if the central LED 52 of the three LEDs 51, 52, 53 is lit, it can be seen that the position of the reference point based on the mounting state is within the allowable range, and if either the left LED 51 or the right LED 53 is lit. It can be seen that the amount of deviation to the left or right is large.
[0052]
It is also possible to indicate the outline of the mounting position by the LEDs 51, 52, and 53 that are lit, blink the lighting state, and notify the degree of deviation at the blinking interval. For example, when the deviation amount is large, the flashing can be performed at a late timing, and when the deviation amount is small, the blinking timing can be accelerated so that the notification can be made so as to facilitate the transition to an appropriate adjustment state. Moreover, it can also notify by the brightness of a display instead of blinking. For example, control is performed so that the LEDs 51, 52, and 53 are lit at the maximum power within the allowable range, and the LEDs 51, 52, and 53 are lit at the minimum power outside the allowable range.
[0053]
FIG. 9 shows, as still another embodiment of the present invention, notification of the mounting state of the cameras 11, 31, 41 using an LED display 60 configured by arranging a plurality of LEDs in a two-dimensional matrix. The structure which performs is shown. In the present embodiment, a bar graph-like display is performed by the plurality of LEDs 61, 62,. As shown in FIG. 9 (a), when it is within the allowable range, for example, the left half LED is turned on and the right half LED is turned off. As shown in FIG. 9 (b), if it deviates to the left side from the allowable range, the area of the LED to be lit also moves to the left side. As shown in FIG. 9C, when the LED is shifted to the right side of the allowable range, the area of the LED to be turned off is also shifted to the right side.
[0054]
FIG. 10 shows, as still another embodiment of the present invention, 7-segment LEDs 71 and 72 for distance display when distances are measured with respect to the vehicle detection position 29 shown in FIG. 5 using the cameras 11, 31 and 41. An example of using for adjustment is shown. The 7-segment LEDs 81 and 82 are provided, for example, by using the cameras 11, 31, and 41 in pairs to determine the inter-vehicle distance from the preceding vehicle by a stereo ranging method or the like, and notifying the calculated inter-vehicle distance. As shown in FIG. 10 (a), when it is within the allowable range, the segment closer to the center is turned on for display. As shown in FIG. 10 (b) or (c), when the left or right side deviates from the permissible range, the left or right segment on the outside is turned on for display.
[0055]
FIG. 11 shows an example of notification at the display position of the cross 80 using the LED display 60 similar to FIG. 9 as still another embodiment of the present invention. In the LED display 60, the distance display when performing distance measurement with respect to the vehicle detection position 29 shown in FIG. 5 or the like using the cameras 11, 31, and 41 is usually performed by forming numbers with dots. As shown in FIG. 11A, when the amount of deviation is within the allowable range, a cross 80 is displayed at the center. As shown in FIGS. 11B and 11C, when the position deviates to the left or right from the allowable range, the cross 80 is displayed on the left or right side.
[0056]
In addition, as shown in FIGS. 8-11, the visual display using LED can also be performed using other displays, such as a liquid crystal display element (LCD), a fluorescent display tube, and a cathode ray tube (CRT). In addition, the display is usually used for other purposes and can be used for displaying the amount of deviation during adjustment. Further, the notification by visual display can be used instead of the acoustic notification in the embodiment of FIG. Conversely, acoustic notification can also be used in place of visual notification in the embodiments of FIG.
[0057]
【The invention's effect】
As described above, according to the present invention, it is only necessary to adjust the camera mounting state in accordance with the determination result of whether or not the camera mounting state is within the allowable range, so that the video signal amplification output circuit and the display monitor for display are used. It is not necessary to provide a camera or the like, and the camera mounting state can be adjusted with a simple configuration.
[0058]
  AlsoSince the camera mounting state is adjusted with the infinity point as the reference position, the mounting state can be adjusted to an appropriate state with respect to the far field of view.
[0059]
Further, according to the present invention, since the shift amount for adjusting the camera mounting state includes the infinity point and the nearest point, the mounting state is adjusted so that an appropriate image can be obtained over a wide range. be able to.
[0060]
According to the present invention, since the reference point is set on the image of the object installed in the field of view of the camera, an image adjusted to an appropriate state is captured based on the distance to the object. The mounting state of the camera can be adjusted so that it can be performed.
[0061]
Further, according to the present invention, the adjustment of the camera mounting state is performed by controlling the mechanism driven by the motor by manual operation of the operation unit. Can be adjusted to a more appropriate state.
[0062]
Further, according to the present invention, the mounting state of the camera can be automatically adjusted, and the appropriate mounting state can be reliably set.
[0063]
In addition, according to the present invention, the notification of whether or not the deviation from the reference point is within the allowable range is made by sound output, so that the visual attention for adjustment is concentrated near the camera mounting position. Can do.
[0064]
In addition, according to the present invention, since the amount of deviation from the reference position is notified in response to the change in volume, adjustment to an appropriate mounting state can be easily performed.
[0065]
Further, according to the present invention, the notification is performed by the change in the timbre of the sound output corresponding to the amount of deviation, so that the adjustment to an appropriate state can be performed based on the change in the timbre in a certain direction.
[0066]
Further, according to the present invention, the change in the sound interval of the sound output can correspond to the change in the deviation, so that the change in the sound interval is adjusted to be in a certain direction and adjusted to an appropriate mounting state. Can do.
[0067]
In addition, according to the present invention, since the notification whether or not it is within the allowable range from the reference point is made by visual display, information including the direction to be adjusted is effectively displayed to adjust to an appropriate mounting state. It can be carried out.
[0068]
Further, according to the present invention, since the position of the visual display changes corresponding to the shift amount, the visual display position can be adjusted to be a predetermined position and set to an appropriate mounting state.
[0069]
Further, according to the present invention, since the display corresponding to the shift amount is performed by the blinking of the visual display, it is possible to adjust the blinking to change in a certain direction so as to be adjusted to an appropriate mounting state.
[0070]
In addition, according to the present invention, since the display in which the area of the visual display changes corresponding to the amount of deviation from the reference point is performed, the mounting state can be appropriately adjusted according to the display like a bar graph.
[0071]
In addition, according to the present invention, the brightness of the visual display changes according to the shift amount, so that the brightness can be adjusted so as to change in a certain direction and set in an appropriate mounting state.
[0072]
  Furthermore, according to the present invention, the object is recognized from the image captured by the camera, the position of the reference point is calculated, the amount of camera deviation is calculated, and whether or not it is within the allowable range is determined. Since the notification is made, it is not necessary to display a video signal as an image for adjusting the mounting state of the camera, and it is not necessary to provide a video signal output circuit or the like, so that the configuration can be simplified and the cost can be reduced.Further, since the camera mounting state is adjusted with the infinity point as a reference position, the mounting state can be adjusted to an appropriate state with respect to a far field of view.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an image captured by an image processing apparatus 12 according to an embodiment of the present invention, and a block diagram illustrating a schematic electrical configuration of the image processing apparatus 12. FIG.
FIG. 2 is a flowchart showing a procedure for adjusting the mounting state of the camera 11 in the embodiment of FIG. 1 and a display procedure for determining whether or not the amount of deviation is within an allowable range;
FIGS. 3A and 3B are a simplified front view and side view showing a configuration for adjusting the mounting angle of the camera of FIG.
FIG. 4 is a diagram illustrating a basic concept for notifying the mounting position of the camera 11 in the left-right direction in FIG. 3;
FIG. 5 is a diagram showing an image captured in another embodiment of the present invention.
6 is a block diagram showing an electrical configuration of a camera 31 used in the embodiment of FIG.
FIG. 7 is a block diagram showing an electrical configuration of a camera 41 used in still another embodiment of the present invention.
FIG. 8 is a diagram showing a display state of an LED display 50 used in still another embodiment of the present invention.
FIG. 9 is a diagram showing a display state of an LED display 60 used in still another embodiment of the present invention.
FIG. 10 is a diagram showing a display state of 7-segment LEDs 71 and 72 used in still another embodiment of the present invention.
FIG. 11 is a diagram showing a display state of an LED display 60 used in still another embodiment of the present invention.
FIG. 12 is a block diagram showing an electrical configuration of a conventional in-vehicle image processing apparatus 2;
[Explanation of symbols]
10 images
11, 31, 41 Camera
12 Image processing device
13 Image processing unit
14 Result output section
15 Parts required for image processing
17 White line
18 Infinity point
19 Recent Points
20 room mirror
23 Support part
24 screws
26 Tolerance
29 Vehicle detection position
32 CCD camera
33 Motor
34 switch
42 Microcomputer for image processing
50, 60 LED display
71, 72 7 segment LED
80 cross

Claims (15)

When the camera is attached to the vehicle, the captured image is processed while being imaged by the camera, the position of the reference point on the image is calculated,
Based on the calculated position of the reference point, determine whether the camera mounting state is within an allowable range,
Notify the judgment result ,
The reference point is, when the white line drawn on the road surface in the image is detected, the method of mounting the vehicle-mounted type of camera according to claim infinity point der Rukoto calculated from the white line detection position. As the reference point, the method of mounting the vehicle-mounted camera according to claim 1, characterized in that it also comprises closest point is the point that most located on the front side of the white line in the image. The reference point, the method of mounting the vehicle-mounted camera according to claim 1 or 2, wherein the set on an image of the object to be placed within the camera field of view. The camera is provided with a mechanism for changing the mounting state by driving with a motor whose operation is controlled by manual operation of the operation unit so that the camera mounting state is within an allowable range in accordance with the notification of the determination result. , mounting method of the vehicle-mounted type of camera according to any one of claims 1 to 3, characterized in that to control the driving state of the motor by manual operation of the operation unit. The camera is provided with a mechanism for changing the mounting state by driving with a motor,
According to the notification of the determination result, so that the mounting condition of the camera is within the allowable range, the vehicle camera according to any one of claims 1 to 3, characterized in that automatically controlling the driving state of the motor Mounting method. The determination result notification, the method of mounting the vehicle-mounted camera according to any one of claims 1 to 5, characterized in that an acoustic output. The in-vehicle camera mounting method according to claim 6 , wherein the notification is performed by a change in sound volume of the sound output corresponding to a deviation amount from the reference point position. The in-vehicle camera mounting method according to claim 6 , wherein the notification is performed by a timbre change of the sound output corresponding to a deviation amount from the reference point. The in-vehicle camera mounting method according to claim 6 , wherein the notification is performed by a change in a sound interval of the sound output corresponding to an amount of deviation from the reference point. The determination result notification, the method of mounting the vehicle-mounted camera according to any one of claims 1 to 5, characterized in that the visual display. The in-vehicle camera mounting method according to claim 10 , wherein the notification is performed by changing a visual display position in accordance with an amount of deviation from the reference position. The in-vehicle camera mounting method according to claim 10 , wherein the notification is performed by blinking a visual display at a speed corresponding to an amount of deviation from the reference position. The method for mounting a vehicle-mounted camera according to claim 10 , wherein the notification is performed by changing an area of visual display corresponding to an amount of deviation from the reference position. The in-vehicle camera mounting method according to claim 10 , wherein the notification is performed by changing a visual display so that brightness from the reference position changes. Recognizing means for recognizing a predetermined object from an image captured by the camera;
Calculation means for calculating a reference point position based on the image of the object recognized by the recognition means;
Calculate the amount of deviation between the position of the reference point calculated by the calculation means and the position of the reference point in the image to be captured with the camera mounted on the vehicle, and whether the amount of deviation is within a predetermined tolerance A determination means for determining whether or not,
And notification means for notifying the result of the determination of the determination means only including,
The image processing apparatus for an in-vehicle camera, wherein the reference point is an infinite point calculated from a white line detection position when a white line drawn on a road surface is detected in an image.

Images