JP4321218B2 - Optical axis adjustment method and apparatus for in-vehicle camera - Google Patents

Description

  The present invention relates to an optical axis adjustment method and apparatus for adjusting the optical axis of a photographing machine mounted on a vehicle.

  A driver who drives a vehicle collects a great deal of information from the outside world, and performs various operations by performing advanced information processing based on the information. In recent years, driving assistance systems have been mounted on vehicles in order to reduce the driving burden on such drivers and to compensate for driving errors.

  As such a driving support system, for example, a lane departure prevention device that prevents a vehicle traveling on a road from deviating from the lane of the road, or a distance between the vehicle and a vehicle traveling ahead is a predetermined distance or more. There is an inter-vehicle distance holding device or the like. In such an apparatus, radio waves, images, and the like are used as means for recognizing a lane or recognizing a distance from a vehicle traveling in front of the host vehicle. In the technique using an image, the actual position (direction) of the own vehicle and the position (direction) of the own vehicle obtained from the image are exactly matched.

  Conventionally, the operation of adjusting the aim of the optical axis of a camera mounted on a vehicle has been performed in the following procedure. First, a predetermined distance is provided from the wall provided in the vertical direction, and the vehicle is placed with the front of the vehicle facing the wall. Subsequently, the tire position marks are respectively attached to the positions of the left and right tires of the vehicle that extend in parallel with the vehicle length direction and abut against the wall. The center between these tire position marks is regarded as the center of the vehicle. Subsequently, an optical axis aiming position mark indicating the aiming position of the optical axis of the camera mounted on the vehicle is attached on a line extending vertically upward from the center. Note that the location where the optical axis aiming position mark is attached is calculated from the distance between the wall and the camera and the angle at which the camera is mounted on the vehicle, that is, the deviation angle from the horizontal direction to the shooting direction of the camera. Subsequently, the camera takes a picture of the wall. Subsequently, the aim of the optical axis of the camera was set (adjusted) by matching the center of the image captured by the camera with the camera optical axis position mark.

Further, as an apparatus for adjusting the optical axis of laser light of a laser radar mounted on a vehicle, there is a laser radar optical axis adjusting apparatus described in Patent Document 1 below. This apparatus includes a laser emitter that is attached to a vehicle and emits laser light, and a dedicated plate that is disposed in front of the vehicle and receives laser light. Laser light is emitted from a laser emitter toward a dedicated plate, and the position where the laser light strikes is within a predetermined range, thereby adjusting the optical axis of the laser radar mounted on the vehicle.
In such an apparatus, since the optical axis of the laser radar is adjusted using a laser emitter attached to the vehicle, the adjustment accuracy of the optical axis depends on the attachment of the laser emitter to the vehicle. Therefore, in order to adjust the optical axis of the laser radar, it is necessary to attach a laser light emitter to the vehicle. In addition, since it is necessary to perform this attachment accurately, there is a problem that it takes a lot of work.

Japanese Utility Model Publication No.59-89273

  An object of the present invention is to provide an optical axis adjustment method and apparatus capable of easily adjusting the aim of the optical axis of a camera mounted on a vehicle.

  An optical axis adjustment method for an in-vehicle photographic device according to a first invention that solves the above-mentioned problem is an optical axis adjustment method for a photographic device that is mounted on a vehicle and photographs a front field of view of the vehicle. An image of an image of the own vehicle reflected in a mirror arranged facing the vehicle at a predetermined distance in front of the vehicle, and the horizontal direction of the captured image taken by the camera is divided into two equal parts A center line is detected, a position of the photographing machine in the photographed image is detected, and a position of the photographing machine in the photographed image is made coincident with a predetermined position on the image center line, so that the light of the photographing machine is detected. The shaft is adjusted.

An optical axis adjustment method for an in-vehicle photographing machine according to a second invention that solves the above-described problem is an optical axis adjustment method for a photographing machine that is mounted on a vehicle and photographs a front field of view of the vehicle. Each of the headlamps is turned on, and an image of the vehicle reflected in a mirror arranged facing the vehicle at a predetermined distance in front of the vehicle is photographed by the photographing machine, and is photographed by the photographing machine. Detecting a center line that bisects the horizontal direction of the captured image, detecting a plurality of light positions in the captured image, detecting a central position from the plurality of lights, and detecting the center position The optical axis of the photographing machine is adjusted by making the center position in the image coincide with a predetermined position on the image center line.

An optical axis adjustment device for an in-vehicle photographing machine according to a third invention for solving the above-described problem is
An optical axis adjustment device for a photographic machine that is mounted on a vehicle and photographs a front view of the vehicle,
A horizontally placed horizontal platform;
A mirror in which the vehicle is disposed on the horizontal base and disposed to face the vehicle at a predetermined distance in front of the vehicle, and a mirror surface is vertically disposed on the horizontal base;
A centerline detecting means detecting an image center line bisecting the horizontal direction of the captured image in which the image of the vehicle reflected in the mirror and captured by the imaging unit,
Photographing device position detecting means for detecting the position of the photographing device in the photographed image;
An optical axis for adjusting the optical axis of the photographing machine by matching the position of the photographing machine detected by the photographing machine position detecting unit with a predetermined position on the image center line detected by the central line detecting unit. And adjusting means.

An optical axis adjustment device for an in-vehicle photographic device according to a fourth invention that solves the above-described problem,
An optical axis adjustment device for a photographic machine that is mounted on a vehicle and photographs a front view of the vehicle,
A horizontally placed horizontal platform;
A mirror in which the vehicle is arranged on the horizontal table and arranged to face the vehicle at a predetermined distance in front of the vehicle, and a mirror surface is arranged in a vertical direction on the horizontal table;
A centerline detecting means detecting an image center line bisecting the horizontal direction of the captured image in which the image of the vehicle reflected in the mirror and captured by the imaging unit,
Optical position detection means for detecting the position of light in the captured image;
A light center position detection means for detecting a center position which is a center from a plurality of lights detected by the light position detection means;
Optical axis adjusting means for adjusting the optical axis of the photographing machine by matching the center position detected by the optical center position detecting means with a predetermined position on the image center line detected by the center line detecting means. It is characterized by comprising.

  According to the optical axis adjustment method for an in-vehicle camera according to the first aspect of the present invention, there is provided an optical axis adjustment method for a camera that is mounted on a vehicle and images a front field of view of the vehicle. Takes an image of the vehicle reflected in a mirror arranged facing the vehicle at a predetermined distance in front, and detects an image center line that bisects the horizontal direction of the photographed image taken by the photographing machine At the same time, the position of the photographing machine in the photographed image is detected, the position of the photographing machine in the photographed image is made to coincide with a predetermined position on the image center line, and the optical axis of the photographing machine is adjusted. By doing so, it becomes possible to easily adjust the aim of the optical axis of the photographing machine using a photographed image obtained by photographing the image of the own vehicle reflected in the mirror with the photographing machine. Work efficiency is improved, so work efficiency is improved. Together, working cost can be reduced.

  According to the optical axis adjustment method for an in-vehicle camera according to the second aspect of the present invention, there is provided an optical axis adjustment method for a camera that is mounted on a vehicle and images a front field of view of the vehicle. Are each turned on, and the image of the subject vehicle reflected in a mirror arranged facing the vehicle at a predetermined distance in front of the vehicle is captured by the camera, and the captured image captured by the camera is captured. An image center line that bisects the horizontal direction is detected, a plurality of light positions in the photographed image are detected, a center position that is a center from the plurality of lights is detected, and a center in the photographed image is detected. By aligning the position with a predetermined position on the image center line and adjusting the optical axis of the photographing device, the aim of the photographing device can be easily adjusted using the position of the light in the photographed image. The first to be able to Like the bright, since man-hours of the adjustment work is reduced, thereby improving the work efficiency, labor costs are reduced.

According to the optical axis adjusting device of a vehicle-mounted imaging apparatus according to the third invention, is mounted on a vehicle, an optical axis adjusting device of the imaging unit for photographing the forward view of the vehicle, a horizontal table disposed horizontally The mirror is disposed on the horizontal table and is arranged to face the vehicle at a predetermined distance in front of the vehicle, and a mirror surface is vertically disposed on the horizontal table; a centerline detecting means detecting an image center line bisecting the horizontal direction of the captured image in which the image of the vehicle reflected in the mirror and captured by the imaging unit, detect a position of the imaging unit during the captured image The photographing machine position detecting means, and the position of the photographing machine detected by the photographing machine position detecting means is made to coincide with a predetermined position on the image center line detected by the center line detecting means. Optical axis adjusting means for adjusting the optical axis Provided with a center line detecting means for detecting an image center line that bisects the horizontal direction of the photographed image and a photographing machine position detector for detecting the position of the photographing machine in the photographed image. As with the first aspect of the invention, since the number of man-hours for the adjustment work is reduced, the work efficiency is improved and the work cost is reduced.

According to the optical axis adjusting device of a vehicle-mounted imaging apparatus according to the fourth invention, is mounted on a vehicle, an optical axis adjusting device of the imaging unit for photographing the forward view of the vehicle, a horizontal table disposed horizontally The mirror is disposed on the horizontal table and is arranged to face the vehicle at a predetermined distance in front of the vehicle, and a mirror surface is vertically disposed on the horizontal table; a centerline detecting means detecting an image center line bisecting the horizontal direction of the captured image in which the image of the vehicle reflected in the mirror and captured by the imaging device, the light for detecting the position of light in the captured image A position detection means; a light center position detection means for detecting a center position from the plurality of lights detected by the light position detection means; and the center position detected by the light center position detection means as the center. Detected by line detection means A center for detecting an image center line that bisects the horizontal direction of the photographed image by providing an optical axis adjustment means for adjusting the optical axis of the photographing machine so as to coincide with a predetermined position on the image center line Utilizing a line detection means, an optical position detection means for detecting the position of light in the photographed image, and an optical center position detection means for detecting a central position from the plurality of lights detected by the optical position detection means, Since the optical axis of the photographing machine can be easily adjusted and the number of adjustment work steps is reduced as in the first aspect of the invention, the work efficiency is improved and the work cost is reduced.

  Hereinafter, the best mode for carrying out the optical axis adjusting apparatus for an in-vehicle photographing machine according to the present invention will be specifically described based on examples.

  FIG. 1 is an explanatory view of a state in which a vehicle is disposed in an optical axis adjusting device of an in-vehicle photographing machine according to an embodiment of the present invention, viewed from the side, and FIG. 2 is an explanatory view of the vehicle viewed from above. It is. FIG. 3 is a block diagram showing the configuration of the optical axis adjusting device of the in-vehicle photographing machine according to one embodiment of the present invention. FIG. 4 is a diagram illustrating a photographed image photographed by the in-vehicle photographing machine.

As shown in FIGS. 1 and 2, the optical axis adjustment device for adjusting the optical axis A of the photographing device 2 mounted on the vehicle 1 includes a horizontal base 3 arranged horizontally and a mirror surface 4 a on the horizontal base 3. Has a mirror 4 arranged in the vertical direction.
The horizontal table 3 is marked with a positioning mark for disposing the vehicle 1 at a predetermined distance from the mirror 4 so that the mirror surface 4a of the mirror 4 and the front portion of the vehicle 1 face each other. The horizontal base 3 has such a strength that the level can be maintained even when the vehicle 1 and the mirror 4 are arranged on the horizontal base 3. The mirror 4 is large enough to reflect the entire front of the vehicle 1. The mirror 4 is fixed to a plate having a strength that the mirror itself does not bend or a strength that does not bend.

  The vehicle 1 includes a camera 2 that captures the front field of view of the vehicle 1, such as a CCD video camera, and the camera 2, in order to identify the vehicle traveling in front of the vehicle and the white line of the traveling lane in which the vehicle travels. And an electronic control device (hereinafter abbreviated as ECU) (not shown) that adjusts the optical axis of the motor. However, the photographing by the photographing machine 2 is a direction parallel to the vehicle length direction of the vehicle 1. The photographing device 2 is attached to a room mirror (not shown) located in the center of the front side of the vehicle 1. The attachment position of the photographing device 2 may be anywhere as long as the front of the vehicle 1 can be seen. Examples of the attachment position other than the room mirror include a front bumper portion and the vicinity of the front grill.

  As shown in FIG. 3, the ECU 5 includes a center line detector 6 as center line detecting means for detecting an image center line that bisects the horizontal direction of a captured image captured by the camera 2, The camera position detector 7 as a camera position detecting means for detecting the position of the camera 2 in the camera, and the position of the camera 2 in the captured image are made to coincide with a predetermined position on the image center line. An optical axis adjuster 8 is connected as optical axis adjusting means for adjusting the optical axis.

  Next, an optical axis adjustment procedure for adjusting the aim of the optical axis A of the photographing machine 2 using the optical axis adjustment apparatus shown in FIG. 1 as an embodiment of the present invention will be described.

  First, the vehicle 1 is arranged according to the positioning mark of the horizontal table 3. At this time, an image of the vehicle appears on the mirror surface 4 a of the mirror 4. By arranging the vehicle 1 according to the positioning mark, the mirror surface 4a of the mirror 4 and the surface of the vehicle 1 in the vehicle width direction and the vehicle height direction of the vehicle 1 are parallel to each other. And come to face each other.

Subsequently, an image of the vehicle reflected in the mirror 4 is taken by the photographing device 2.
As shown in FIG. 4, the center line detector 6 detects an image center line B that bisects the horizontal direction of the captured image captured by the imaging device 2. Further, the photographing machine position detector 7 detects the position of the photographing machine image 12 in the photographed image.
Subsequently, the optical axis adjuster 8 adjusts the optical axis A of the photographing machine 2 by matching the position of the photographing machine image 12 in the photographed image with a predetermined position on the image center line B. Since the photographic machine 2 faces a predetermined distance in front of the vehicle 1 and the mirror 4 is provided at a position closer to the vehicle 1 than the predetermined distance, the optical axis A of the photographic machine 2 in the mirror 4 is the center of the image. This is a predetermined position (height) on the line B. The adjusted position of the optical axis A of the photographing device 2 is written on a recording medium such as an EEPROM provided in the ECU 5. Therefore, when the camera 2 captures the front of the vehicle 1, data relating to the optical axis A of the camera 2 is read from the EEPROM, and the optical axis A of the camera 2 is automatically corrected.

  Therefore, according to the optical axis adjustment device of the in-vehicle photographing machine 2 according to the embodiment of the present invention, the optical axis A of the photographing machine 2 mounted on the vehicle 1 can be easily adjusted, and the number of work steps can be reduced. Therefore, work efficiency is improved.

  The ECU 5 is provided with an optical axis adjuster that stores reference data that serves as an optical axis aim of the vehicle-mounted camera 2 and that matches the position of the camera in the reference data with the position of the camera image 12 in the captured image. Then, the optical axis of the photographing device 2 may be adjusted.

  Further, after adjusting the optical axis A of the camera 2 mounted on the vehicle 1, the optical axis of the headlight of the vehicle may be adjusted based on the captured image captured by the camera 2.

  In the optical axis adjustment device of the in-vehicle photographing machine 2 according to the above-described embodiment, the ECU 5 has the functions of the center line detector 6, the photographing machine position detector 7, the optical axis adjuster 8, and the like. These functions may be provided in a computer that is provided separately from the vehicle and that is used for vehicle maintenance or the like. In other words, the captured image captured by the camera 2 is taken into the computer described above, and the computer is used to detect the image center line that bisects the horizontal direction of the captured image and the position of the camera, and the captured image. It is also possible to adjust the optical axis of the photographing machine by matching the position of the photographing machine with a predetermined position on the image center line, and write the adjustment data in the EEPROM of the ECU 5 or the like.

  In the following, an optical axis adjustment device for an in-vehicle photographing machine according to a second embodiment of the present invention will be described. FIG. 5 is an explanatory view of a state in which a vehicle is disposed in an optical axis adjustment device of an in-vehicle photographing machine according to another embodiment of the present invention, viewed from the side, and FIG. 6 is an explanatory view of the vehicle viewed from above. It is. FIG. 7 is a block diagram showing a configuration of an optical axis adjustment device of an in-vehicle photographing machine according to another embodiment of the present invention.

  As shown in FIG. 7, the optical axis adjustment device for the in-vehicle photographing device according to the second embodiment is the same as the first embodiment except for the optical position detector 27 and the optical center position detector 28. Is provided.

  In addition to the center line detector 26 and the optical axis adjuster 29, the ECU 25 is connected with an optical position detector 27 as an optical position detecting means for detecting the position of light having a predetermined brightness or higher in the photographed image. Further, an optical center position detector 28 is connected as an optical center position detecting means for detecting a central position at the center from a plurality of lights detected by the optical position detector 27.

  Moreover, the place where the vehicle 21 and the mirror 24 are disposed is provided with an illumination adjuster (not shown) for adjusting the brightness of illumination at this place.

Next, an optical axis adjustment procedure for adjusting the aim of the optical axis C of the photographing machine 22 using the optical axis adjustment apparatus shown in FIGS. 5 and 6 as another embodiment of the present invention will be described.
First, the vehicle 21 is arranged according to the positioning mark of the horizontal base 23. At this time, an image of the vehicle appears on the mirror surface 24a of the mirror 24. By arranging the vehicle 21 in accordance with the positioning mark described on the horizontal table 23, the mirror surface 24a of the mirror 24 and the plane formed by the vehicle width direction of the vehicle 21 and the vehicle height direction of the vehicle 21 become parallel, The vehicle and the mirror surface 24a of the 21 mirror 24 face each other.

Subsequently, the location of the vehicle 21 and the mirror 24 is darkened by the illumination adjuster. The headlamp 25 of the vehicle 21 is turned on. Instead of the headlamp 25, illumination such as a fog lamp, which is disposed at a symmetrical position on the front portion of the vehicle 21, may be turned on. At this time, the light of the headlamp 25 of the vehicle 21 is reflected on the mirror 24.
Subsequently, an image of the vehicle reflected in the mirror is taken by the photographing machine 22.
The center line detector 26 detects an image center line that bisects the horizontal direction of the captured image captured by the camera 22. Further, the light position detector 27 detects the position of light having a predetermined brightness or higher in the captured image. In addition, the optical center position detector 28 detects the central position from the plurality of lights detected by the optical position detector 27.

  Subsequently, the optical axis adjuster 29 adjusts the optical axis C of the photographing machine 22 by matching the center position of the photographed image with a predetermined position on the image center line. Since the photographing machine 22 faces a predetermined distance in front of the vehicle 21 and the mirror 24 is provided at a position closer to the vehicle 21 than the predetermined distance, the optical axis C of the photographing machine 22 in the mirror 24 is the center of the image. This is a predetermined position (height) on the line. The adjusted position of the optical axis C of the photographing machine 22 is written on a recording medium such as an EEPROM provided in the ECU 25. Therefore, when the photographing device 22 photographs the front of the vehicle 21, the data related to the optical axis C of the photographing device 22 is read from the EEPROM, and the optical axis C of the photographing device 22 is automatically corrected.

  Therefore, according to the optical axis adjustment device for the in-vehicle photographing machine 22 according to another embodiment of the present invention, the optical axis C of the photographing machine 22 mounted on the vehicle 21 can be easily adjusted, and the number of work steps can be reduced. Thus, the work efficiency is improved and the work cost is reduced.

  Note that in the optical axis adjustment device of the in-vehicle photographing machine 22 according to the other embodiment described above, the functions of the center line detector 26, the optical position detector 27, the optical center position adjuster 28, the optical axis adjuster 29, and the like are provided in the ECU 25. However, the computer 21 may be provided separately from the vehicle 21 and may have these functions in a computer used for vehicle maintenance. That is, the captured image captured by the camera 22 is captured in a computer provided separately from the vehicle 21, and the computer is used to detect an image center line that bisects the horizontal direction of the captured image. , Detecting the position of a plurality of lights in the photographed image, detecting the center position of the center from the plurality of lights in the photographed image, and matching the light center position in the photographed image with a predetermined position on the image center line Then, the optical axis of the photographing machine may be adjusted, and this adjustment data may be written in the EEPROM of the ECU.

It is explanatory drawing which looked at the state which has arrange | positioned the vehicle to the optical axis adjustment apparatus of the vehicle-mounted imaging device which concerns on one Embodiment of this invention from the side. It is explanatory drawing which looked at the state which has arrange | positioned the vehicle to the optical axis adjustment apparatus of the vehicle-mounted imaging device which concerns on one Embodiment of this invention from upper direction. It is a block diagram which shows the structure of the optical axis adjustment apparatus of the vehicle-mounted imaging device which concerns on one Embodiment of this invention. It is a figure which shows the picked-up image image | photographed with the vehicle-mounted imaging device. It is explanatory drawing which looked at the state which has arrange | positioned the vehicle to the optical axis adjustment apparatus of the vehicle-mounted imaging device which concerns on other embodiment of this invention from the side. It is explanatory drawing which looked at the state which has arrange | positioned the vehicle to the optical axis adjustment apparatus of the vehicle-mounted imaging device which concerns on other embodiment of this invention from the upper direction. It is a block diagram which shows the structure of the optical axis adjustment apparatus of the vehicle-mounted imaging device which concerns on other embodiment of this invention.

Explanation of symbols

1 Vehicle 2 Camera 3 Horizontal stand 4 Mirror

Claims (4)

A method of adjusting an optical axis of a photographing machine mounted on a vehicle and photographing a front view of the vehicle,
Taking an image of the vehicle reflected in a mirror arranged to face the vehicle at a predetermined distance in front of the vehicle by the camera,
Detecting an image center line that bisects a horizontal direction of a captured image captured by the camera, and detecting a position of the camera in the captured image;
An optical axis adjustment method for an in-vehicle photographing machine, wherein the optical axis of the photographing machine is adjusted by matching the position of the photographing machine in the photographed image with a predetermined position on the image center line. . A method of adjusting an optical axis of a photographing machine mounted on a vehicle and photographing a front view of the vehicle,
Each of the vehicle headlamps is turned on,
Taking an image of the vehicle reflected in a mirror placed facing the vehicle at a predetermined distance in front of the vehicle by the photographing machine,
While detecting an image center line that bisects the horizontal direction of the captured image captured by the camera,
Detecting the position of a plurality of lights in the captured image, detecting a center position that is the center from the plurality of lights,
An optical axis adjustment method for an in-vehicle camera, wherein an optical axis of the camera is adjusted by matching a center position in the captured image with a predetermined position on the image center line. An optical axis adjustment device for a photographic machine that is mounted on a vehicle and photographs a front view of the vehicle,
A horizontally placed horizontal platform;
A mirror in which the vehicle is arranged on the horizontal table and arranged to face the vehicle at a predetermined distance in front of the vehicle, and a mirror surface is arranged in a vertical direction on the horizontal table;
A centerline detecting means detecting an image center line bisecting the horizontal direction of the captured image in which the image of the vehicle reflected in the mirror and captured by the imaging unit,
Photographing device position detecting means for detecting the position of the photographing device in the photographed image;
An optical axis for adjusting the optical axis of the photographing machine by matching the position of the photographing machine detected by the photographing machine position detecting unit with a predetermined position on the image center line detected by the central line detecting unit. An optical axis adjusting device for an in-vehicle photographing machine, characterized by comprising an adjusting means. An optical axis adjustment device for a photographic machine that is mounted on a vehicle and photographs a front view of the vehicle,
A horizontally placed horizontal platform;
A mirror in which the vehicle is arranged on the horizontal table and arranged to face the vehicle at a predetermined distance in front of the vehicle, and a mirror surface is arranged in a vertical direction on the horizontal table;
A centerline detecting means detecting an image center line bisecting the horizontal direction of the captured image in which the image of the vehicle reflected in the mirror and captured by the imaging unit,
Optical position detection means for detecting the position of light in the captured image;
A light center position detection means for detecting a center position which is a center from a plurality of lights detected by the light position detection means;
Optical axis adjusting means for adjusting the optical axis of the photographing machine by matching the center position detected by the optical center position detecting means with a predetermined position on the image center line detected by the center line detecting means. An optical axis adjustment device for an in-vehicle photographing machine, characterized by comprising:

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