JP5201354B2 - Vehicle width line adjusting method, in-vehicle camera device, and program - Google Patents

Description

  The present invention relates to a technique for adjusting two vehicle width lines, which is an indication of a vehicle width to be displayed superimposed on a captured image in an in-vehicle camera device used by being installed in a car.

  2. Description of the Related Art Conventionally, an in-vehicle camera device is known that is installed in a rear portion of a vehicle to capture a rear periphery of the vehicle and displays the image on a display device installed in the vehicle in order to support a vehicle backward movement operation or the like during parking. Yes. Furthermore, it is also known to display two vehicle width lines that serve as an indication of the vehicle width in a superimposed manner on the captured image (for example, Patent Document 1).

  Adjustment of the vehicle width line displayed superimposed on the captured image on the display device generally repeats pressing of the buttons of the operation unit, etc., so as to fit the parking frame on the road displayed on the display device, etc. This is done by sequentially changing the angle and width (interval) of the two vehicle width lines. In the conventional in-vehicle camera device, such an operation of changing the angle and width of the vehicle width line is performed separately in another mode, and time wasted in addition to the complexity of adjustment.

  SUMMARY OF THE INVENTION An object of the present invention is to realize intricate adjustment of two vehicle width lines displayed on a captured image and avoiding waste of time in an in-vehicle camera device.

In the present invention, in the in-vehicle camera device in which two vehicle width lines indicating the vehicle width are superimposed on the image picked up by the image pickup device and displayed on the display device, the two vehicle widths are displayed for each operation of the operation unit. The main feature is that the angle and width of the line are adjusted in conjunction.

According to the present invention, since the angle and the width of the vehicle width line are adjusted in association with each operation of the operation unit, it is possible to avoid complicated adjustment and waste of time.

1 is an overall configuration diagram of an embodiment of an in-vehicle camera device of the present invention. It is a figure which shows the structural example of the sensor unit in FIG. It is a figure which shows the structural example of the image processing unit in FIG. It is a figure which shows an example of a Bayer arrangement | sequence color filter. It is a figure which shows the structural example of the MTF correction | amendment part in FIG. It is a figure which shows the vehicle width line adjustment operation procedure of the past and this invention. It is a figure explaining the angle adjustment of the conventional vehicle width line. It is a figure explaining the width adjustment of the conventional vehicle width line. It is explanatory drawing which adjusts the angle and the width | variety of the vehicle width line of this invention interlockingly. It is a figure which shows an example of the vehicle width line adjustment parameter table hold | maintained at PROM. It is a figure which shows the example of a processing flow related to the vehicle width line adjustment at the time of power activation of the vehicle-mounted camera apparatus of this invention. It is a figure which shows the example of a processing flow at the time of the vehicle width line adjustment mode of the vehicle-mounted camera apparatus of this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, the vehicle-mounted camera apparatus of this invention is not limited to the structure of the following illustration.

  FIG. 1 is an overall configuration diagram of an embodiment of an in-vehicle camera device according to the present invention. The sensor unit 10 captures an image of the back of the vehicle and the like to acquire an analog image signal, converts it to analog / digital, and outputs it as RGB data. The image processing unit 20 inputs RGB data of the captured image output from the sensor unit 10 and performs predetermined image processing, and superimposes two vehicle width lines indicating a vehicle width guideline on the captured image, thereby obtaining YCbCr data. Output as. In addition, the image processing unit 20 receives a clock signal serving as a basis for operating each part of the apparatus from the clock generator 50, and sends a clock and other control signals to the sensor unit 10 and the NSC encoder 30. A crystal oscillator or the like is used for the clock generator 50.

  The image processing unit 20 performs predetermined image processing, and the YCbCr data of the captured image on which the two vehicle width lines are superimposed is sent to the NTSC encoder 30 and converted into an NTSC signal by performing digital / analog conversion processing. And output to the display device 40. The display device 40 may also serve as a display unit of the navigation device.

  Here, the image processing unit 20 includes a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a digital signal processor (DSP), and the like. The operation unit 60 is a user interface that allows the user to instruct the image processing unit 20 to perform various processes, and includes a button, a joystick, and the like. As will be described later, when the user operates the operation unit 60, the image processing unit 20 adjusts the angles and widths of the two vehicle width lines superimposed on the captured image data. The PROM 70 is a rewritable nonvolatile memory, and stores programs necessary for processing of the image processing unit 20, various parameters, and other information. As will be described later, in the PROM 70, the initial values and the initial coordinates of the vehicle width line, the update conditions, the step amount, etc. are stored in a table in advance corresponding to the mounting angle and mounting height of the in-vehicle camera device. ing.

  The sensor unit 10, the image processing unit 20, the NTSC encoder 30, the clock generator 50, the PROM 70, and the like in FIG. 1 are configured in one housing and installed at the rear of the vehicle. On the other hand, the display device 40 is installed on the front surface of the vehicle or the like, and is connected to the NTSC encoder 30 by a cable. The operation unit 60 and the image processing apparatus unit 20 are connected by a cable or wirelessly. The remote controller of the navigation device may also serve as the operation unit 60.

  Next, specific configurations and operations of the sensor unit 10 and the image processing unit 20 will be described.

  FIG. 2 shows a configuration example of the sensor unit 10. The sensor unit 10 includes a lens optical system 110, an image sensor 120, an auto gain control circuit (AGC) 130, an auto white balance circuit (AWB) 140, an analog-digital converter (ADC) 150, and the like.

  Light is efficiently condensed on the image sensor 120 by the optical system 110. Here, it is assumed that a lens having a wide angle and large chromatic aberration of magnification and distortion is used for the optical system 110.

  The image sensor 120 is composed of a CCD, a CMOS, or the like, and converts an optical image collected by the optical system 110 into an electric signal (analog signal) having strength according to the light intensity. Although omitted in FIG. 2, the image sensor 120 is provided with a color filter that transmits one of the RGB wavelength bands corresponding to each pixel. The color filter may have any arrangement, but here, a Bayer arrangement type color filter is used.

  An analog signal of a captured image acquired by the image sensor 120 is converted into digital data by an analog-digital converter (ADC) 150 via an auto gain control circuit (AGC) 130 and an auto white balance circuit (AWB) 140. . The AGC 130 is a circuit for outputting a signal of a level necessary for the input of the subsequent stage NTSC encoder 30. That is, when the subject is bright, the gain of the amplifier is lowered, and when the subject is dark, the gain of the amplifier is increased so as to reach a predetermined level. Note that when the gain is increased, the noise also increases, so the S / N ratio of the signal is decreased. The AWB 140 adjusts the gain of each RGB-compatible channel so that the RGB signal intensities are all equal when a white subject is imaged. The ADC 150 converts each RGB signal of the analog signal into digital data (RGB data). The digital data is composed of, for example, 8 bits for each of RGB.

  FIG. 3 shows a configuration example of the image processing unit 20. The image processing unit 20 includes an image processing unit 210, a control unit (microprocessor) 220 that controls operations of the image processing unit 210 and other units, a RAM 230 as a working memory, and an interface circuit (I / F) between the RAM 230 and the PROM 70. ) 240 or the like. Here, the image processing unit 210 includes a Bayer complementing unit 211, a chromatic aberration correcting unit 212, a color space converting unit 213, an MTF correcting unit 214, a distortion correcting unit 215, a vehicle width line superimposing unit 216, a gamma correcting unit 217, a progressive An interlace conversion unit (PI conversion unit) 218 is configured. Among these, the vehicle width superimposing portion 216 is related to the present invention. Moreover, the control part 220 functions as a vehicle width line adjustment means. This will be described later.

  The image processing unit 20 inputs a clock signal from the clock generator 50 shown in FIG. 1 and supplies necessary clocks, control signals, and the like to each unit of the sensor unit 10, the NTSC encoder 30, and the image processing unit 210. Although means are also provided, they are omitted in FIG.

  The RGB data of the captured image output from the sensor unit 10 is input to the image processing unit 210 of the image processing unit 20, and the Bayer interpolation unit 211, the chromatic aberration correction unit 212 for magnification, the color space conversion unit 213, the MTF correction unit 214, and the distortion. Predetermined processing is performed via the aberration correction unit 215, the vehicle width line superimposing unit 216, the gamma correction unit 217, and the PI conversion unit 218.

  The Bayer complementing unit 211 inputs RGB data in a Bayer array, and complements the missing color data in each pixel. For complementation, for example, the following linear complementation method is used.

FIG. 4 shows an example of a Bayer array color filter. Here, G ₀ is obtained by the following equation.
G ₀ = (G ₂ + G ₄ + G ₆ + G ₈ ) / 4 (1)
R ₂ , R ₄ , R ₆ , R ₈ and R ₀ are obtained by the following equations.
R ₂ = (R ₁ + R ₃ ) / 2 (2)
R ₄ = (R ₃ + R ₅ ) / 2 (3)
R ₆ = (R ₅ + R ₇ ) / 2 (4)
R ₈ = (R ₁ + R ₇ ) / 2 (5)
R ₀ = (R ₁ + R ₃ + R ₅ + R ₇ ) / 4 (6)
Since B ₂ , B ₄ , B ₆ , B ₈ , and B ₀ are the same as those for R ₂ , R ₄ , R ₆ , R ₈ , and R ₀ , they are omitted.

  Here, a Bayer color filter is described, but the same applies to other color filter arrays. Of course, the complement method is not limited to linear complement.

  The lateral chromatic aberration correction unit 212 inputs RGB data that has been Bayer-complemented, performs coordinate conversion for each RGB using a predetermined coordinate conversion formula, and outputs RGB data that has been corrected for lateral chromatic aberration.

  The lateral chromatic aberration is a phenomenon in which the condensing point is different at each wavelength due to the difference in the refractive index of the lens when viewed from each wavelength (color). As described above, since the light collecting positions are different at the respective wavelengths (colors), it is necessary to perform coordinate conversion.

In general, in the coordinate conversion formula for correcting the chromatic aberration of magnification, the center of the screen is the origin, X and Y are the coordinates after conversion, x and y are the coordinates before conversion, a (1) to a (4), b (1) to With b (4) as a coordinate conversion coefficient, for example,
X = x + [a (1) + a (2) × abs (x) + a (3) × abs (y) + a (4) × y ² ] × x (7)
Y = y + [b (1) + b (2) × abs (y) + b (3) × abs (x) + b (4) × x ² ] × y (8)
Is used. Here, abs () is an absolute value.

However, when there are restrictions on the number of multipliers used in the coordinate transformation calculation and the circuit scale, the equations (7) and (8) are simplified,
X = x + [a (1)] × x (9)
Y = y + [b (1)] × y (10)
A coordinate conversion expression such as

The color space conversion unit 213 applies the high-frequency emphasis filter only to the luminance signal (Y) in the MTF correction unit 214 in the subsequent stage, and further inputs the RGB data to the YCbCr data so as to be input to the NTSC encoder 30 in the YCC format. Convert to As the RGB / YCC conversion formula, for example, the following formula is used.
Y = 0.299R + 0.587G + 0.114B (11)
Cb = −0.169R−0.332G + 0.500B (12)
Cr = 0.500R-0.419G-0.081B (13)

  The MTF correction unit 214 receives YCbCr data and applies a high frequency enhancement filter (HPF) to the luminance signal Y. The color signal CbCr is left as it is. By performing MTF correction, the resolution of the image can be improved.

  FIG. 5A shows a case where MTF correction is performed using an edge enhancement FIR filter such as 3 × 3 or 5 × 5 as the HPF.

  On the other hand, when an edge-enhanced FIR filter is used, it is conceivable that noise increases and the S / N ratio of the image decreases. In that case, as shown in FIG. 5B, the luminance signal Y is passed through the low-pass filter (LPF) and is also passed through the edge extraction filter, coring, and gain circuit, and both are added. Thus, the noise can be reduced while maintaining the MTF correction, and the S / N ratio of the image can be improved. Further, in order to reduce the circuit scale, as shown in FIG. 5C, the processing may be performed without passing through the LPF.

  The distortion aberration correction unit 215 receives the YCbCr data subjected to MTF correction, and performs distortion using a predetermined coordinate conversion formula. The same equations (7) and (8) as the previous chromatic aberration of magnification can be used as the coordinate conversion equation for distortion aberration correction.

In addition, when there are restrictions on the number of multipliers and circuit scale used for coordinate transformation calculations,
Y = y (14)
X = x + [a (1) + a (4) × y ² ] × x (15)
A simple coordinate conversion formula such as

  The vehicle width line superimposing unit 216 receives YCbCr data of a captured image that has been subjected to a predetermined process, and superimposes and outputs line segments representing two vehicle width lines indicating the vehicle width. As will be described later, the control unit 220 adjusts the angle and width (interval) of the line segments representing the two vehicle width lines in conjunction with each other.

  The gamma correction unit 217 performs gamma correction on the YCbCr data of the captured image on which the line segments representing the two vehicle width lines are superimposed. Gamma correction refers to a correction operation for obtaining a more natural display by adjusting the relative relationship between color data such as an image and a signal when it is actually output. The γ (gamma) value is the ratio of the change in the voltage conversion value to the change in the brightness of the image, and ideally it approaches 1, but it varies depending on the device depending on the characteristics of the element. For this reason, when reproducing a display faithful to the original data, it is necessary to correct these errors. The gamma correction unit 217 performs gamma correction using a gamma correction lookup or the like.

  The PI conversion unit 218 inputs gamma-corrected YCbCr data and converts the progressive scan (sequential scan) to the interlace scan (interlaced scan). This is to increase the resolution and smooth the movement with as little information as possible. In the case of the NTSC system, one frame every 1/30 seconds is divided into two, and only the odd-numbered scanning lines are displayed for the first 1/60 seconds, and only the even-numbered scanning lines are displayed for the subsequent 1/60 seconds. . Each is called an odd field and an even field. If the image is moving during this time, the two fields will shift when they are superimposed as a still image, but the movement is smooth when viewed as a video. In progressive scanning, in which all scanning lines are sent every 1/60 seconds, both still images and images are smooth, but twice as much memory is required compared to interlace. The signal to be input to the DAC (NTSC encoder) 30 following the PI conversion unit 218 is, for example, the unsigned 8-bit data 0 to 255 of the luminance signal (Y) according to the BT656 standard to 16 to 235, and the color difference signal (Cb, This is a signal obtained by converting the signed 8-bit data 127 to 127 of (Cr) into 16 to 240.

  The NTSC encoder 30 inputs YCbCr data, which is data obtained by superimposing the captured image output from the image processing unit 210 and the line segments representing the two vehicle width lines indicating the standard of the vehicle width. The video signal is converted into a video signal of the format and output to the display device 40. In this way, on the display device 40, two vehicle width lines indicating a guide for the vehicle width are superimposed and displayed on the image captured by the image sensor. According to the present invention, under the control of the control unit 220, the angle and width of the vehicle width line are adjusted in the same mode in conjunction with each other.

  Below, the vehicle width line adjusting method according to the present invention will be described in detail, but before that, a conventional vehicle width line adjusting method will be described.

The adjustment of the two vehicle width lines displayed superimposed on the captured image on the display device 40 is displayed on the display device 40, for example , by the user repeatedly pressing a button or the like of the operation unit 60. This is done by sequentially changing the angle and width (interval) so as to fit the parking frame on the road.

  FIG. 6A shows a conventional procedure for adjusting the vehicle width line. Here, each adjustment mode corresponds to a single press of a button or the like. As shown in FIG. 6 (a), conventionally, the angle adjustment and width adjustment of the vehicle width line are performed in different modes, and one press of a button or the like performs either angle adjustment or width adjustment. there were. As shown in FIG. 7, the angle adjustment is performed, for example, by updating the X coordinate of one of the start point and the end point of two line segments representing the vehicle width line. FIG. 7 shows a case where the X coordinate of the starting point is updated as an example. On the other hand, as shown in FIG. 8, for example, the width adjustment is performed by updating the X coordinates of the start point and the end point of two line segments by the same pixel. FIG. 8 shows that the width (interval) is adjusted by translating two line segments in the horizontal direction by updating the X coordinates of the start point and end point of the two line segments pixel by pixel a.

  In this way, with the conventional method in which angle adjustment and width adjustment of the vehicle width line are separately performed in different modes, the button is pressed repeatedly until the desired angle and width are reached, and the angle is adjusted by trial and error. In addition to the complexity of adjustment, wasted time was inevitable.

  FIG. 6B shows a procedure for adjusting the vehicle width line in the case of the present invention. As in FIG. 6A, each adjustment mode corresponds to a single press of a button or the like. As shown in FIG. 6 (b), in the present invention, the angle adjustment and the width adjustment of the vehicle width line are performed in the same mode by one press of a button or the like.

  FIG. 9 is a diagram for explaining a vehicle width line adjusting method according to the present invention. Here, as an example, a case where the display angle and the display position of two line segments representing the vehicle width line on the display device are adjusted so as to fit the parking frame on the road displayed on the display device is shown. It is a thing. As shown in FIG. 9, in the present invention, for example, the X coordinate of the start point of two line segments representing the vehicle width line is updated pixel by pixel a, and at the same time, the X coordinate of the end point is updated by pixel b (a ≠ b). The update is performed every time the button of the operation unit 60 is pressed once.

  According to the vehicle width line adjusting method of the present invention, it becomes possible to adjust the angle and width (interval) of two line segments representing the vehicle width line displayed on the display device in the same mode. The vehicle width line having a desired angle and width can be reached with a smaller number of operations than the above method.

  Here, the display angle and the display position of the parking frame displayed on the display device 40 are, for example, when the line in front of the parking frame written on the road is matched with the rear end of the vehicle body, Once the angle (angle when viewed from a direction horizontal to the ground) and the mounting height (height from the ground) are determined, it is uniquely determined to some extent. Therefore, when the button of the operation unit 60 is pressed once, a step amount (a, b) indicating how many pixels each the X coordinate of the start point and the end point of the line segment representing the vehicle width line should be moved. Can be determined in advance.

  In the embodiment, for each mounting angle and mounting height of the in-vehicle camera, together with the coordinates of the start point and end point of the line segment, the step amount for moving the start point and end point X coordinate of the line segment when the button is pressed once ( The parameter values of a and b) are tabulated and stored in the PROM 70 in advance. This is referred to as a vehicle width line adjustment parameter table. Further, the step amount (a, b) may be changed according to the value of the X coordinate. In this case, the X coordinate condition is added to the contents to be tabulated as an update condition.

  FIG. 10 shows a specific example of the vehicle width line adjustment parameter table. This can be obtained, for example, by changing the mounting angle or mounting height of the in-vehicle camera and repeating the test with reference to an image obtained by capturing the parking frame. In FIG. 10, Examples 1 to 3 show the case where the mounting height of the in-vehicle camera is 50 cm and the mounting angles are 30 degrees, 45 degrees, and 60 degrees, respectively. In the case of 100 cm, the attachment angles are similarly set to 30 degrees, 45 degrees, and 60 degrees.

  In FIG. 10, only the data for the line segment on the left side of the screen among the two line segments representing the vehicle width line displayed on the display device is shown, but the line segment on the right side of the screen represents the line segment on the left side of the screen. It can be obtained by making the screen center symmetrical.

  Here, in Example 1 of FIG. 10, when the mounting angle and mounting height of the in-vehicle camera are respectively set to 30 degrees and 50 cm, the initial coordinate values of the start point and end point of the vehicle width line on the left side of the screen are (200, 196), respectively. ), (12, 284), and when the start point X coordinate of the vehicle width line on the left side of the screen is X> 240, step amounts (a, b) for moving the X coordinate of the start point and end point of the vehicle width line, respectively ) Is (4, 8), and when the X coordinate of the start point of the vehicle width line on the left side of the screen is X ≦ 240, the step amount (a, b) is expressed as (4, 12). Yes. The same applies to Example 2 and Example 3.

  In Example 4 of FIG. 10, when the mounting angle and mounting height of the in-vehicle camera are set at 30 degrees and 100 cm, the initial coordinate values of the start point and end point of the vehicle width line on the left side of the screen are (208, 216), ( 80, 316), and the step amount (a, b) for moving the start point and end point X coordinate of the vehicle width line is (4, 8) regardless of the X coordinate of the start point of the vehicle width line. It represents that. The same applies to Example 5 and Example 6.

  In the PROM 70, in addition to the vehicle width line adjustment parameter table shown in FIG. 10, information on the mounting angle and mounting height of the in-vehicle camera device is stored in advance. The PROM 70 also stores a program for the control unit 220 to function as vehicle width line adjusting means.

  At the time of starting the device, the control unit 220 responds in the vehicle width line adjustment parameter table also stored in the PROM 70 based on the information on the mounting angle and mounting height of the in-vehicle camera device stored in the PROM 70. Data to be stored (initial coordinates of the start and end points of the line segment, X coordinate conditions, step amounts a and b of the start and end points of the X coordinate) are loaded into the RAM 230. Then, the initial coordinate values of the start point and end point of the line segment are sent to the vehicle width line superimposing unit 216.

  The vehicle width line superimposing unit 216 generates two line segment data representing the vehicle width line based on the initial coordinate values of the start and end points of the line segment sent from the control unit 220 and superimposes them on the captured image data. The YCbCr data is sent to the NTSC encoder 30. Thereby, on the captured image output to the display apparatus 40, the two vehicle width lines which show the standard of a vehicle width are superimposed and displayed.

  On the other hand, when the adjustment mode is instructed, the control unit 220 moves the vehicle based on the condition of the X coordinate and the step amount (a, b) of the start point and the end point of the X coordinate in response to pressing of the button of the operation unit 60. The coordinate values (X coordinate values) of the start point and end point of the line segment transmitted to the width line superimposing unit 216 are updated. The vehicle width line superimposing unit 216 generates line segment data again based on the updated coordinate values of the start point and end point of the line segment. As a result, the angle and width of the two vehicle width lines displayed on the display device 40 change simultaneously.

  Each time the button of the operation unit 60 is pressed once, the control unit 220 updates the X coordinate values of the start point and end point of the immediately preceding line segment by values a and b, respectively. The increase or decrease may be distinguished by, for example, a “+” button, a “−” button, or the like. The vehicle width line superimposing unit 216 regenerates line segment data every time the coordinate value is updated. Therefore, each time the button of the operation unit 60 is pressed once, the start point X coordinate of the two vehicle width lines displayed on the display device 40 moves by the pixel a, and the end point X coordinate moves by the pixel b. Eventually, the angle and width of the vehicle width line are adjusted in conjunction with each other. That is, the vehicle width line adjusting operation shown in FIG. 9 is achieved.

  When the control unit 220 is instructed to end the adjustment mode, the coordinate values of the start point and end point of the corresponding data line in the vehicle width line adjustment parameter table of the PROM 70 are set to the start point and end point of the updated line segment. It may be overwritten with coordinate values. In this case, when the apparatus is started next time, the vehicle width line based on the coordinate values of the start point and end point of the line segment updated immediately before is displayed on the display device 40 first. If the user sees this and needs to make adjustments, the user enters the adjustment mode. However, the user generally needs to press the button fewer times than when starting from the initial coordinates of the start and end points of the line segment. It should be noted that the initial coordinate initial value (at the time of factory shipment or the like) may be stored in another area of the PROM 70 for backup.

  11 and 12 show an example of a processing flow related to the vehicle width line adjusting operation in the in-vehicle camera device of the present invention. Hereinafter, the operations of the control unit 220 and the vehicle width line superimposing unit 216 as vehicle width line adjusting means will be described in detail.

  When the apparatus is turned on, the sensor unit 10, the image processing unit 20, the NTSC encoder 30, the display device 40, etc. are activated (step 1001). As a result, the control unit 220 is also activated (step 1002), and parameters and the like necessary for each unit of the image processing unit 20 are fetched from the PROM 70 to the RAM 230 via the interface circuit 240. As part of this, the parameters are stored in the PROM 70 in advance. From the vehicle width line adjustment parameter table (FIG. 10), data necessary for in-vehicle line adjustment (coordinate initial values of the start point and end point of the line segment, X coordinate condition, X coordinate start point and end step amount a, b, etc.) The data is loaded into the RAM 230 (step 1003). Here, the initial coordinates of the start point and end point of the line segment are the values at the time of factory shipment, etc., when using the in-vehicle camera device for the first time, but they are overwritten at the time of the last vehicle width line adjustment in other cases Value. As described above, the PROM 70 also stores information on the mounting angle and mounting height of the in-vehicle camera device in advance, and the controller 220 stores the vehicle stored in the PROM 70 based on this information. Corresponding data is taken into the RAM 230 from the width line adjustment parameter table. When the on-vehicle camera device is used for the first time, the control unit 220 obtains the initial coordinates of the start and end points of the line segment (values at the time of factory shipment) when fetching necessary data from the PROM 70 into the RAM 230. It is stored in a separate area of the PROM 70 for backup. Next, the control unit 60 transmits the initial coordinate values of the start point and end point of the line segment fetched into the RAM 230 to the vehicle width line superimposing unit 216 (step 1004).

  The vehicle width line superimposing unit 216 generates two line segment data representing the vehicle width line based on the initial coordinate values of the start and end points of the line segment sent from the control unit 220 (step 1005). Specifically, the vehicle width line superimposing unit 216 generates line segment data representing the vehicle width line on the left side of the screen, for example, based on the initial coordinates of the start point and end point of the line segment sent from the control unit 220. Then, line segment data representing the vehicle width line on the right side of the screen having a symmetrical positional relationship with respect to the center of the screen is generated from the line segment data. The same applies to the case where line segment data described later is updated. The vehicle width line superimposing unit 216 superimposes the generated two line segment data on the captured image data sent from the previous stage and sends it to the subsequent stage (step 1005). As a result, the display device 40 displays the captured image and the two vehicle width lines indicating the vehicle width (step 1006).

  On the other hand, the control unit 220 determines whether or not the adjustment mode is instructed by the user (step 1007). The adjustment mode is instructed by, for example, pressing and holding the button of the operation unit 60. Here, a state in which the adjustment mode is not instructed is referred to as a normal mode. In the normal mode, the display of the two vehicle width lines indicating the captured image and the standard of the vehicle width on the display device 40 is maintained as it is.

  When the adjustment mode is instructed by the user, the control unit 220 waits for a button on the operation unit 60 to be pressed (step 1008). In this case, the button press is, for example, a short press. In addition, when the “+” button and the “−” button are prepared in the operation unit 60 and the vehicle width line is moved away from the screen center, the “+” button is pressed and moved toward the screen center. Press the “-” button. These are merely examples, and any method may be used as long as a predetermined instruction can be distinguished by pressing a button on the operation unit 60 or the like.

  When the adjustment mode is instructed and the button of the operation unit 60 is pressed, the control unit 220 acquires the coordinate values of the start point and end point of the line segment from the RAM 230 (step 1009), and sets the X coordinate. Based on the condition, the step amount (a, b) of the start point and end point of the X coordinate, the coordinate values of the start point and end point of the line segment are updated (step 1010). For example, in Examples 1 to 3 in FIG. 10, if the X coordinate of the start point of the line segment at that time is X> 240, the X coordinate values of the start point and end point of the line segment are updated by 4 and 8 pixels, respectively. If X ≦ 240, the X coordinate values of the start point and end point of the line segment are updated by 4 and 12 pixels, respectively. The Y coordinate remains the same. As described above, whether the update is “+” or “−” is distinguished by, for example, a “+” button and a “−” button. In the case of Examples 4 to 6 in FIG. 10, the X coordinate values of the start point and end point of the line segment are updated by 4 and 12 pixels, respectively, regardless of the X coordinate value of the start point of the line segment.

  The control unit 220 rewrites the updated coordinate values of the start point and end point of the line segment in the RAM 230 (step 1011), and transmits the updated coordinate values of the start point and end point of the line segment to the vehicle width line superimposing unit 216. (Step 1012).

  The vehicle width line superimposing unit 216 generates two line segment data representing the vehicle width line anew based on the updated coordinate values of the start point and end point sent from the control unit 220 (step 1013). As a result, the two vehicle width lines displayed on the display device 40 in a superimposed manner with the captured image change (step 1014). That is, the angle and width of the two vehicle width lines change in conjunction with each other.

  Next, the control unit 220 determines whether or not the user instructs the end of the adjustment mode (step 1015). The end of the adjustment mode is instructed, for example, by pressing and holding the button of the operation unit 60 again. If the end of the adjustment mode is not instructed, the process returns to step 1008, and if the next button is pressed, the processes of steps 1009 to 1014 are repeated. As a result, each time the button of the operation unit 60 is pressed while the adjustment mode is not instructed, the two vehicle width lines displayed on the display device 40 so as to be superimposed on the captured image, The width is adjusted in conjunction.

  Thereafter, when the end of the adjustment mode is instructed by the user, the control unit 220 displays the start point and end point coordinate values (the last updated start point and end point coordinate values) stored in the RAM 230 at that time. The data is read and transferred to the PROM 70 via the interface circuit 240 to overwrite the coordinate values of the start point and end point of the line segment in the corresponding data in the vehicle width line adjustment parameter table (step 1016). As a result, at the next start-up, the coordinate values of the start point and end point of the last updated line segment are again fetched from the PROM 70 into the RAM 230 as the coordinate initial values.

  When the adjustment mode ends, the in-vehicle camera device shifts to the normal mode, and the two vehicle width lines adjusted in association with the angle and the width are superimposed on the captured image and displayed on the display device 40 as they are. Keep doing.

  Although one embodiment of the present invention has been described above, it is needless to say that the present invention is not limited to the described embodiment.

DESCRIPTION OF SYMBOLS 10 Sensor unit 20 Image processing unit 30 NTSC encoder 40 Display apparatus 50 Clock generator 60 Operation part 70 PROM
110 Optical system (lens)
DESCRIPTION OF SYMBOLS 120 Image sensor 210 Image processing part 216 Vehicle width line superimposition part 220 Control part 230 RAM

JP 2005-161973 A

Claims (11)

Superimposing the two vehicle width lines indicating the measure of vehicle width to the image captured by the image sensor, a vehicle width line leveling method in the vehicle camera system for displaying on the display device, the each operation of the operation unit 2 A vehicle width line adjusting method, wherein the angle and width of a vehicle width line of a book are adjusted in conjunction with each other. By updating the X coordinates and the amount that different and X-coordinate of the end point of the start point of the vehicle width line, according to claim 1, wherein the adjusting in conjunction with the angle and width of the two vehicle width line Vehicle width line adjustment method. 3. The vehicle width line adjusting method according to claim 2, wherein the X coordinate of the start point and the X coordinate of the end point of the vehicle width line are updated by different predetermined amounts each time a button on the operation unit is pressed. The value of X-coordinate of the vehicle width lines, vehicle width lines adjustment method according to claim 2 or 3, characterized in that to change the amount you the update. Superimposing the two vehicle width lines indicating the measure of vehicle width to the image captured by the image sensor, a vehicle camera system for displaying on the display device, for each operation of the operation unit of the two vehicle width line An in-vehicle camera device comprising vehicle width line adjusting means for adjusting an angle and a width in conjunction with each other. The vehicle width line leveling means, by updating the X-coordinate and the amount that different and X-coordinate of the end point of the start point of the vehicle width lines, be adjusted by interlocking angles and widths of the two vehicle width line The in-vehicle camera device according to claim 5. 7. The vehicle width line adjusting means updates the X coordinate of the start point and the end point of the vehicle width line by different predetermined amounts each time a button on the operation unit is pressed. In-vehicle camera device. The vehicle width line leveling means, the value of X-coordinate of the vehicle width line, the vehicle camera system according to claim 6 or 7, characterized in that to change the amount you the update. In accordance with the mounting angle and mounting height of the in-vehicle camera device, the vehicle has a storage unit that stores the initial coordinate and initial value of the vehicle width line, the update condition, and the amount to be updated .
The vehicle width line adjustment means takes in the vehicle width line start point and end point coordinate initial values according to the mounting angle and mounting height of the in-vehicle camera device from the storage unit, the update condition, the amount to be updated, the update condition, The vehicle-mounted camera device according to any one of claims 6 to 8, wherein the initial coordinate values of the start point and end point of the vehicle width line are updated based on the amount to be updated.   The in-vehicle camera device according to claim 9, wherein the vehicle width line adjusting means overwrites the initial coordinate values of the start point and end point of the vehicle width line in the storage unit with updated values. The program for functioning a computer as a vehicle width line adjustment means of the vehicle-mounted camera apparatus of any one of Claims 5 thru | or 10.

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