JP4311151B2 - Image displacement amount calculation device - Google Patents

Description

  The present invention calculates a relative image displacement amount between a captured image and a virtual image for an apparatus that displays a captured image captured by a camera attached to a vehicle and a virtual image (for example, a virtual line) superimposed on each other. The present invention relates to an image position deviation amount calculation device.

  There is known a driving support device that supports a driving operation during width adjustment or when entering a garage by superimposing a virtual image and a captured image taken by a width adjustment camera or a rear camera. The relative positional deviation between the captured image and the virtual image in this driving support device is usually detected and corrected immediately after the vehicle is completed.

  Patent Document 1 describes a method of correcting a relative positional deviation between a captured image and a virtual image on the basis of a test chart member attached to a vehicle or a part of a vehicle body.

  However, with this method, even if the vehicle attitude changes, the reference position on the display image of the monitor does not change. Therefore, it is not possible to correct the positional deviation due to the vehicle attitude change.

  Further, there is described a method of correcting a positional deviation using a reference point of a test chart member placed at a predetermined distance from the vehicle body.

However, in this method, when the positional deviation is corrected immediately after the completion of the vehicle, the positional deviation occurs due to a change in the vehicle posture immediately after the completion of the vehicle until the end of the suspension break-in.
JP 2001-187552 A

  The present invention has been made in view of the above circumstances, and an object of the present invention is to predict an image position deviation amount between a captured image and a virtual image immediately after completion of suspension immediately after completion of the vehicle. It is to provide a deviation amount calculation device.

  In order to solve the above-described problems and achieve the object, an image positional deviation amount calculation device according to the present invention is an image capturing device for displaying a captured image and a virtual image superimposed on a camera attached to a vehicle. An image position displacement amount calculation device for calculating a relative image position displacement amount between an image and a virtual image, wherein the first image position displacement amount calculation means is configured to determine whether the camera mounting position is from a design position immediately after completion of the vehicle. The amount of image position deviation caused by the deviation is calculated, the vehicle posture detection means detects the posture of the vehicle immediately after completion of the vehicle, and the vehicle posture change amount prediction means uses the detection result of the vehicle posture detection means and the vehicle design information. And a change amount of the vehicle posture from immediately after completion of the vehicle to the end of suspension break-in is predicted, and the second image position deviation amount calculation means predicts the vehicle posture change amount prediction means. Based on the result, the image displacement amount generated by the change in the vehicle posture is calculated, and the third image displacement amount calculation means is based on the calculation results of the first and second image displacement amount calculation means. Then, the image displacement amount after the suspension break-in is calculated.

  According to the image position deviation amount calculation device of the present invention, the image position deviation amount caused by the deviation of the mounting position of the camera is calculated, and the suspension from immediately after the completion of the vehicle using the vehicle posture and the vehicle design information immediately after the completion of the vehicle. The amount of image displacement that occurs due to the change in vehicle attitude until the end of break-in is calculated, and the amount of image displacement after suspension break-in is calculated based on these calculation results. Can be predicted.

  Exemplary embodiments of an image displacement amount calculation apparatus according to the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing the overall configuration of a system including an image displacement amount calculation apparatus according to the present invention. In FIG. 1, a vehicle inspection facility 1 is a facility for inspecting a vehicle 2 immediately after completion of the vehicle.

  First, the vehicle 2 will be described. The vehicle 2 is provided with a width adjusting camera 21 and a rear camera 22. Here, the width alignment camera 21 is a camera that is attached to the side surface of the vehicle 2 and shoots an image of the side of the vehicle 2 and is mainly used at the time of width alignment. On the other hand, the rear camera 22 is a camera that is attached to the rear portion of the vehicle 2 and captures an image behind the vehicle 2, and is mainly used when entering the garage.

  The captured images captured by the width alignment camera 21 and the rear camera 22 are superimposed on the virtual image created by the center unit 23 and displayed on the display 24. In the present embodiment, the virtual image is a virtual line for assisting the driver in steering at the time of garage entry or width adjustment, and is accepted by the rudder angle detected by the rudder angle sensor 23a or the concentration switch 23b. It is created based on the driver's instructions. However, the virtual image is not limited to this.

  The width adjusting camera 21 and the rear camera 22 are controlled by the camera control unit 25. The camera control unit 25 is connected to an auxiliary illumination 25a, a width-shifting camera switch 25b, a parallel / parallel parking switch 25c, a reverse switch 25d, and the like. Further, the width adjusting camera 21 includes an infrared lamp 21a for night vision.

  Further, the vehicle 2 is provided with a control unit (hereinafter referred to as PCU) 26. The PCU 26 communicates with a vehicle inspection device 15 to be described later, operates each part of the vehicle 2 in accordance with instructions from the vehicle inspection device 15, and transmits information taken from each part of the vehicle 2 to the vehicle inspection device 15. Here, the captured image captured by the width alignment camera 21 and the rear camera 22 and the virtual image created by the center unit 23 are distributed to the display 24 and the PCU 26 by the distributor 27. Communication between the vehicle-side PCU 26 and the facility-side vehicle inspection device 15 is made possible by connecting the vehicle-side diagnosis connector C2 and the facility-side diagnosis connector C1.

  Next, the vehicle inspection facility 1 will be described. The vehicle inspection facility 1 includes a vehicle centering device 11, a facility-side camera 12, weight sensors 13FR, 13FL, 13RR, 13RL, a vehicle information providing device 14, and a vehicle inspection device 15. FIG. 2 is a side view showing the positional relationship between the vehicle inspection facility 1 and the vehicle 2, and FIG. 3 is a plan view showing the positional relationship between the vehicle inspection facility 1 and the vehicle 2.

  The vehicle centering device 11 adjusts the yaw angle of the vehicle 2 to be inspected. The equipment-side camera 12 is a camera for photographing the front portion of the vehicle 2 from above, and includes an infrared deflection filter operating actuator 12a and an infrared deflection filter 12b. The weight sensors 13FR, 13FL, 13RR, and 13RL measure the four wheel loads of the vehicle 2. The vehicle information providing device 14 stores various vehicle information related to the vehicle 2 including design information of the vehicle 2, and provides the vehicle information to the vehicle inspection device 15.

  The vehicle inspection device 15 includes an image captured by the facility-side camera 12, a superimposed image of the captured image of the width-alignment camera 21 and the virtual image of the center unit 23, and vehicle information provided from the vehicle information providing device 14. Based on this, a relative image position deviation amount between the captured image of the width alignment camera 21 and the virtual image is calculated. That is, the vehicle inspection device 15 functions as an image displacement amount calculation device. Accordingly, the vehicle inspection device 15 functions as first to third image positional deviation amount calculation means, vehicle posture detection means, vehicle posture change amount prediction means, and correction means. Further, the vehicle inspection device 15 inspects the wheel weight of the vehicle 2 using the wheel weight measured by the weight sensor 13. Furthermore, the lighting test of the infrared lamp 21a provided in the width adjustment camera 21 is also performed using an image photographed by the equipment side camera 12.

  Hereinafter, the inspection procedure for the vehicle 2 will be described. 4 to 6 are flowcharts showing the inspection procedure for the vehicle 2.

  First, the vehicle inspection device 15 obtains vehicle information from the vehicle information providing device 14 (S1). Here, the vehicle information includes FR right reference wheel weight WFRb, FR left reference wheel weight WFLb, RR right reference wheel weight WRRb, RR left reference wheel weight WRLb, wheel weight variation upper limit Mb, roll angle reference angles θ1b, θ2b, Pitch angle reference angle φ1b, φ2b, bumper position horizontal line reference position Zb, outside mirror X position vertical line reference position Xb, roll angle angle correction coefficient θa, pitch angle angle correction coefficient φa, roll angle position correction coefficient Kx, and pitch angle position The correction coefficient Kz and the suspension elastic force correction coefficient Ka are included.

  When the vehicle 2 to be inspected enters (S2), the vehicle centering device 11 adjusts the yaw angle of the vehicle 2 to a preset reference value (S3). After the yaw angle adjustment, the vehicle inspection apparatus 15 uses the weight sensors 13FR, 13FL, 13RR, and 13RL to determine the FR right actual wheel weight WFRa, the FR left actual wheel weight WFLa, the RR right actual wheel weight WRRa, and the RR left actual wheel weight WRLa. Measure (S4). Then, the difference between the actual wheel weight and the reference wheel weight, Wfr (= WFRa-WFRb), Wfl (= WFLa-WFLb), Wrr (= WRRa-WRRb), Wrl (= WRLa-WRLb) is calculated (S5). . The vehicle inspection device 15 determines whether or not the difference Wfr, Wfl, Wrr, Wrl between the actual wheel weight and the reference wheel weight is less than the wheel load variation upper limit Mb (S6).

  If it is determined that the wheel load variation upper limit Mb is exceeded (S6: NO), the vehicle inspection device 15 displays that the wheel load is abnormal (S7). In response to this, the cause is analyzed by the operator and repaired (S8), and then the process returns to step S1.

  On the other hand, when it is less than the wheel load variation upper limit Mb (S6: YES), the vehicle inspection device 15 detects the vehicle posture (S9). Specifically, the appearance image of the vehicle 2 is captured from the equipment-side camera 12, and the actual roll angle angles θ1a and θ2a and the actual pitch angle angles φ1a and φ2a are detected based on the appearance image. FIG. 7 is a diagram illustrating an example of an appearance image captured from the facility-side camera 12. As shown in FIG. 7, the roll angle actual angle θ1a is an angle formed by the horizontal line and the hood front end line in the image, and the roll angle actual angle θ2a is an angle formed by the horizontal line and the bumper lower end line. The pitch angle actual angle φ1a is an angle formed by the horizontal line and the front door upper end line, and the pitch angle actual angle φ2a is an angle formed by the horizontal line and the front door lower end line.

  The vehicle inspection device 15 calculates the difference between the actual angle and the reference angle, θ1r (= θ1a−θ1b), θ2r (= θ2a−θ2b), φ1r (= φ1a−φ1b), φ2r (= φ2a−φ2b) ( S10). FIG. 8 shows the roll angle reference angles θ1b and θ2b and the pitch angle reference angles φ1b and φ2b.

  Next, when the facility-side diagnosis connector C1 and the vehicle-side diagnosis connector C2 are connected by the operator (S11), the vehicle inspection device 15 performs communication establishment control on the PCU 26 of the vehicle 2 (S12), and communication is performed. Wait until it is established (S13: NO). When communication is established (S13: YES), the vehicle inspection device 15 instructs the PCU 26 to drive the infrared lamp 21a (S14). In response to this instruction, the PCU 26 turns on a lamp lighting relay circuit (not shown) and then transmits a drive start signal to the vehicle inspection device 15.

  The vehicle inspection device 15 continues to transmit a drive instruction until a drive start signal is received from the PCU 26 (S15: NO, S14). When the drive start signal is received (S15: YES), the infrared deflection filter operation actuator 12a provided at the tip of the equipment-side camera 12 is operated, and the infrared deflection filter 12b is applied to the lens of the equipment-side camera 12 (S16). Next, the vehicle inspection device 15 captures an image from the equipment-side camera 12 and detects the illuminance of the captured image by image processing (S17). Then, based on the detected illuminance, it is determined whether or not the infrared lamp 21a is lit (S18).

  If the result of determination is that the lamp is not lit (S18: NO), the vehicle inspection device 15 displays that the infrared lamp 21a is lit poorly (S19). Accordingly, the cause is analyzed by the operator and repaired (S20), and the process returns to step S1.

  On the other hand, when it is lit (S18: YES), the vehicle inspection apparatus 15 operates the infrared deflection filter operation actuator 12a and removes the infrared deflection filter 12b of the equipment side camera 12 (S21). Then, the PCU 26 is instructed to turn off the infrared lamp 21a (S22), and instructed to drive the width alignment camera 21 (S23). In response to this instruction, the PCU 26 starts driving the width adjusting camera 21 and then transmits a drive start signal to the vehicle inspection device 15.

  The vehicle inspection device 15 continues to transmit a drive instruction until a drive start signal is received from the PCU 26 (S24: NO, S23). When the drive start signal is received (S24: YES), a superimposed image in which the captured image captured by the width alignment camera 21 and the virtual image created by the center unit 23 are superimposed is captured via the PCU 26 (S25). FIG. 9 shows an example of the captured superimposed image.

The vehicle inspection device 15 determines whether or not a stable image is captured (S26), and repeats capturing of the superimposed image until a stable image is captured (S26: NO, S25). When a stable image is captured (S26: YES), the vehicle inspection device 15 uses the captured superimposed image to perform an image process to perform the X coordinate value Fxi of the FDRx position calculation line and the Z coordinate value of the FDRz position calculation line. Fzi is calculated (S27). In addition, the Z-coordinate value Bz of the bumper position horizontal line and the X-coordinate value Mx of the vertical X position outside the mirror are calculated by image processing using the captured superimposed image (S28). And the vehicle inspection apparatus 15 calculates the relative image position shift amount of the picked-up image and virtual image which arises by the shift | offset | difference of the attachment position of the width alignment camera 21 (S29). Specifically, the image position deviation amount ΔXc in the X direction is set to
ΔXc = Xb−Xi = Xb− (Fxi−Mx)
To calculate the image position shift amount ΔZc in the Z direction.
ΔZc = Zb-Zi = Zb- (Fzi-Bz)
Calculated by

Next, the vehicle inspection device 15 predicts the amount of change in the vehicle posture from immediately after completion of the vehicle to the end of suspension break-in (S30). Specifically, the change amount θT of the roll angle is
θT = θ1r−φa / 2 × (φ1r + φ2r)
To calculate the pitch angle variation φT,
φT = φ1r−θa / 2 × (θ1r + θ2r)
Calculated by

Based on this prediction result, the vehicle inspection device 15 calculates the amount of image position deviation caused by the change in the vehicle posture from immediately after completion of the vehicle to the end of suspension break-in (S31). Specifically, the amount of image displacement ΔXr in the X direction is
ΔXr = θT × Kx
To calculate the image displacement amount ΔZr in the Z direction,
ΔZr = φT × Kz
Calculated by

Then, the vehicle inspection apparatus 15 performs the suspension acclimation based on the image position deviation amounts ΔXc and ΔZc caused by the deviation of the mounting position of the width adjusting camera 21 and the image position deviation amounts ΔXr and ΔZr caused by the change in the vehicle posture. The amount of image misregistration at is calculated (S32). Specifically, the amount XA of image displacement in the X direction is
XA = ΔXc + ΔXr
To calculate the image position shift amount ZA in the Z direction,
ZA = ΔZc + ΔZr
Calculated by

  The vehicle inspection apparatus 15 instructs the PCU 26 to correct the coordinates of the virtual image in the X and Z directions by XA and ZA, respectively (S33). Then, the correction amount is confirmed by image processing (S34), and it is determined whether or not the correction amounts XA and ZA have been corrected (S35).

  As a result of the determination, if the correction is not completed (S35: NO), the process returns to step S27, and if the correction is completed (S35: YES), the fact that the inspection has passed is displayed (S36). In response to this display, the operator disconnects the facility-side diagnosis connector C1 from the vehicle-side diagnosis connector C2 (S37), releases the vehicle centering device 11 (S38), and leaves the vehicle 2 (S39).

  As described above, according to the present embodiment, the image position shift amounts ΔXc and ΔZc caused by the shift of the mounting position of the width adjusting camera 21 are calculated, and the vehicle posture and vehicle design information immediately after the vehicle is completed are used. Since the image position deviation amounts ΔXr and ΔZr caused by the change in the vehicle posture immediately after completion until the suspension break-in are calculated, the image position deviation amounts XA and ZA after the suspension break-in are calculated based on these calculation results. Immediately after completion of the vehicle, it is possible to predict the image displacement amount after the suspension break-in. And since the position of the virtual image is corrected using the image position deviation amounts XA and ZA, the position deviation of the image can be corrected in anticipation of the change in the vehicle posture that occurs until the suspension break-in immediately after completion of the vehicle. Correction with high accuracy can be realized.

  For this reason, in the past, the position of the imaginary line was set far away from the vehicle body so that the vehicle would not collide with an obstacle in anticipation of a positional shift caused by a change in the vehicle posture. The position of the virtual line can be set to a position close to the vehicle body with high accuracy. As a result, when the driver performs width adjustment or garage entry, the vehicle 2 can be brought to the limit of the obstacle, and the ease of driving is improved.

  In addition, since the camera for detecting the vehicle posture and the camera for confirming the lighting of the infrared lamp 21a are performed by the single equipment-side camera 12, the cost can be reduced.

  Furthermore, since the wheel weight is measured and the abnormal vehicle is detected in advance, it is possible to prevent the abnormal vehicle from flowing out to the market.

  As mentioned above, although preferred embodiment of this invention was shown, this invention is not limited to the said embodiment. For example, the amount of image displacement caused by the displacement of the camera mounting position, the amount of change in vehicle posture, and the amount of image displacement caused by change in vehicle posture are calculated based on parameters and expressions different from those in the above embodiments. Can do. Further, the detection of the vehicle posture may be performed by other methods such as three-dimensional measurement.

  The present invention predicts the relative image position deviation amount between the captured image and the virtual image immediately after completion of the suspension immediately after completion of the vehicle.

1 is a block diagram showing an overall configuration of a system including an image displacement amount calculation device according to the present invention. 3 is a side view showing a positional relationship between the vehicle inspection facility 1 and the vehicle 2. FIG. 2 is a plan view showing a positional relationship between the vehicle inspection facility 1 and the vehicle 2. FIG. 3 is a flowchart showing a procedure for an inspection for a vehicle 2; 3 is a flowchart showing a procedure for an inspection for a vehicle 2; 3 is a flowchart showing a procedure for an inspection for a vehicle 2; It is a figure which shows an example of the external appearance image taken in from the equipment side camera. FIG. 6 is a diagram illustrating roll angle reference angles θ1b and θ2b and pitch angle reference angles φ1b and φ2b. It is a figure which shows an example of a superimposed image.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle inspection equipment 11 Vehicle centering apparatus 12 Equipment side camera 12a Infrared deflection filter actuating actuator 12b Infrared deflection filter 13FR, 13FL, 13RR, 13RL Weight sensor 14 Vehicle information providing device 15 Vehicle inspection device C1 Equipment side diagnosis connector 2 Vehicle 21 Alignment Camera 21a Infrared lamp 22 Rear camera 23 Center unit 23a Steering angle sensor 23b Concentration switch 24 Display 25 Camera control unit 25a Auxiliary illumination 25b Alignment camera switch 25c Parallel / tandem parking switch 25d Reverse switch 26 Control unit (PCU)
27 Distributor C2 Vehicle side diagnostic connector

Claims (4)

An image displacement amount calculation device for calculating a relative image displacement amount between a photographed image and a virtual image with respect to an apparatus that superimposes and displays a captured image captured by a camera attached to a vehicle. And
First image position deviation amount calculating means for calculating the image position deviation amount caused by deviation from the design position of the camera mounting position immediately after completion of the vehicle;
Vehicle attitude detection means for detecting the attitude of the vehicle immediately after completion of the vehicle;
Vehicle posture change amount prediction means for predicting a change amount of the vehicle posture from immediately after completion of the vehicle to the end of suspension break-in using the detection result of the vehicle posture detection means and the vehicle design information;
Second image position deviation amount calculating means for calculating the image position deviation amount caused by the change in the vehicle attitude based on the prediction result of the vehicle attitude change amount prediction means;
Third image position deviation amount calculating means for calculating the image position deviation amount after the suspension break-in based on the calculation results of the first and second image position deviation amount calculating means;
An apparatus for calculating an amount of image misregistration, comprising:   Correction for correcting the position of the virtual image when the captured image and the virtual image are superimposed on the basis of the image displacement amount after the suspension break-in calculated by the third image displacement amount calculation unit. The apparatus according to claim 1, further comprising means. The vehicle attitude detection means includes
The posture of the vehicle immediately after completion of the vehicle is detected based on information including a photographed image from a facility-side camera that photographs the front portion of the vehicle and a measurement value of a weight sensor that measures each wheel weight of the vehicle. The image positional deviation amount calculation apparatus according to claim 1.   The image position deviation amount calculation device according to claim 1, wherein the camera attached to the vehicle is a width adjustment camera or a rear camera.

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