JP5328391B2 - In-vehicle camera calibration system, in-vehicle camera control device, equipment control device, in-vehicle camera calibration method - Google Patents

Description

  The present invention relates to a vehicle-mounted camera calibration system, a vehicle-mounted camera control device, a facility control device, and a vehicle-mounted camera calibration method that are used for calibration of a vehicle-mounted camera suitable for use in vehicles such as passenger cars, trucks, and buses.

  In recent vehicles, IPA (Intelligent Parking Assist) for assisting operations related to the parking of the driver, and LKA (steering assistance so as to drive while maintaining the center of the lane on a highway or an automobile-only road) Lane Keep Assist) and other systems for assisting the driver may be mounted on the vehicle, and in such a system, images are taken by an on-board camera typified by a CCD camera or a CMOS camera mounted on the vehicle. Then, using the image data around the vehicle, processing such as detection of white lines located on both sides of the lane on the road surface by binarization processing or the like is performed.

When such an in-vehicle camera is attached to a vehicle at the vehicle manufacturing stage, it is necessary to perform calibration in image processing so that the in-vehicle camera can capture a desired direction and range. For such calibration, for example, a technique as described in Patent Document 1 is used, and a calibration index is set in the imaging range of an in-vehicle camera outside the vehicle, and on the display screen based on the image data. An image is displayed and an adjustment frame is displayed, and the adjustment frame displayed so that the calibration index fits within the adjustment frame is moved or rotated up, down, left and right to perform calibration in image processing. Yes.
JP 2001-245326 A

  However, in the calibration method described in Patent Document 1, it is assumed that the calibration index installed outside the vehicle is not moved or changed, and there is no error in installation, and the relative distance to the vehicle is included. Assuming that the position information always matches the design value, the adjustment frame described above is displayed along with the image on the display screen based on this design value, and the calibration work is performed so that the calibration index fits in this adjustment frame. Therefore, for example, if this calibration index is moved or moved by an operator, the relative distance between the calibration index and the vehicle will be different, and the position information will not match the design value. As a result, there arises a problem that a highly accurate calibration operation cannot be executed.

  In view of the above problems, an object of the present invention is to provide an in-vehicle camera calibration system, an in-vehicle camera control device, an equipment control device, and an in-vehicle camera calibration method that can perform calibration with higher accuracy.

In order to solve the above-described problem, the in-vehicle camera calibration system according to the present invention includes a storage unit that stores position information of a calibration index installed on the facility side, and calibration of the in-vehicle camera mounted on the vehicle. Calibration means for performing calibration based on the calibration index located in the captured image and the position information, calibration index measurement means for measuring current position information of the calibration index, and correcting the position information based on the current position information comprising a correction means for the positional information and the current position information, the relative distance to the vehicle of the calibration target, viewed contains at least one of the relative angle, the calibration indicator measuring means is installed in said equipment-side, A vehicle-mounted camera control device that controls the vehicle-mounted camera; and a facility control device that controls the facility. The vehicle-mounted camera control device includes the storage unit and the calibrator. And wherein said modifying means, said facility side control apparatus and controls the calibration indicator measuring means.

  According to the in-vehicle camera calibration system according to the present invention, when the calibration index is moved or changed by an operator with or without factory line modification or change, the calibration index measurement unit moves or changes the calibration index. The current position information that is the position information after being measured can be measured, and the correction means can correct the position information based on the current position information and update it to the latest position information as appropriate. The means can calibrate the in-vehicle camera based on the accurate position information after being corrected and updated, and can perform calibration with higher accuracy.

In this case the vehicle camera calibration system, the position information and the current position information, the relative distance to the vehicle of the calibration target, it and comprising at least one of the relative angle, more specifically, for example, longitudinal direction of the vehicle, lateral direction, vertical and relative distance, the front-rear direction around about the left-right direction, is to include a relative angle around the vertical direction.

Furthermore, the in-vehicle camera calibration system is directed to said calibration indicator measuring means is installed in the facility side.

  According to this, by installing the calibration index measuring means on the equipment side, requirements for weight, external dimensions, installation location, etc. associated with installation on the vehicle side compared to installation on the vehicle side Since it is possible to avoid the necessity of satisfying the above, it is possible to introduce the calibration index measuring means with higher performance.

  Along with this, components such as a CCD camera, a CMOS camera, a laser radar, a millimeter wave radar, an infrared camera, etc. that constitute the calibration index measuring means that are not necessary except for calibration work are always provided on the vehicle side, and a plurality of components are provided. By avoiding redundant provision to the vehicle, it is possible to prevent an increase in cost and weight due to an increase in parts.

The in-vehicle camera calibration system includes, as a more realistic configuration, an in-vehicle camera control device that controls the in-vehicle camera and an equipment control device that controls the equipment, and the in-vehicle camera control device includes the storage unit and the storage device. wherein said correction means and the calibration means, the facility side control apparatus is decided to control the calibration indicator measuring means.

  According to this, in the in-vehicle camera calibration system, the in-vehicle camera is more efficiently provided by installing the calibration index measuring means which is not necessary except for the calibration work on the facility side to be the facility control device. The components of the calibration system can be distributed and arranged on the vehicle side and the facility side.

  The in-vehicle camera control device can be configured by, for example, an in-vehicle camera ECU (Electronic Control Unit), and the equipment control device can be configured by MI (Multiple Inspection). The in-vehicle camera control device and the equipment control device are They are connected using appropriate external wiring according to a communication standard such as CAN (Controller Area Network).

Furthermore, in the in-vehicle camera calibration system,
The facility control device will comprise a transmission means for transmitting the current position information to the in-vehicle camera control device,
In this case,
The facility control device includes a determination unit that determines whether the position information and the current position information match,
When the determination means determines negative, the transmission means transmits the current position information to the in-vehicle camera control device,
When the position information and the current position information match, the calibration index is not moved or moved, and it is not necessary to transmit the current position information to the in-vehicle camera control device. From this, it is determined whether or not a match is established by the determination means, and if it is established, the transmission is stopped to reduce the communication load, and the correction in the in-vehicle camera control device is also omitted. Processing load can be reduced.

Furthermore, in the on-vehicle camera calibration system,
Preferably, the facility includes a fixing device that fixes a front wheel of the vehicle, and the calibration index measuring means is installed in the fixing device. The fixing device may have a function of fixing the front wheels of the vehicle and a function of adjusting the toe direction of the wheels of the vehicle.

  According to this, it is possible to install the calibration index measuring means using the fixing device, which is essential equipment in a normal factory, and to match the installation position of the calibration index measuring means with the front wheel position of the vehicle. Since the relative position relationship between the calibration index measurement unit and the calibration index is directly measured by the calibration index measurement unit, the current position information that is the relative position relationship between the in-vehicle camera and the calibration index Can be obtained by a simpler expression.

In order to solve the above problem, the equipment control device according to the present invention is:
Calibration index measuring means for measuring the current position information of the calibration index installed on the facility side;
It is set to be a transmission means for transmitting the current position information to the vehicle-mounted camera control unit.

  According to this, the current position information of the calibration index measured by the calibration index measuring unit can be appropriately transmitted to the in-vehicle camera.

Also here, as in the on-vehicle camera calibration system described above, it is provided with equipment side storage means for storing the position information of the calibration index installed on the equipment side, and it is determined whether or not the position information and the current position information match. provided with a determination means for, when said determination means determines that no, the transmitting means is a transmitting the current position information to the vehicle-mounted camera control unit.

  According to this, since the calibration index is moved and moved, and the current position information can be transmitted and the correction can be executed only when the correction is necessary, the communication load and the processing load can be reduced. Both can be reduced.

In order to solve the above problem, the on-vehicle camera control device according to the present invention includes on-vehicle side storage means for storing position information of a calibration index installed on the facility side, and calibrates the on-vehicle camera mounted on the vehicle. Correction means for performing calibration based on the calibration index located in the image captured by the in-vehicle camera and the position information , and correction for correcting the position information based on the current position information of the calibration index transmitted from the equipment control device Means are provided.

  According to this, the position information can be appropriately corrected based on the current position information in the calibration index transmitted from the equipment control device.

Furthermore, in order to solve the above-described problem, the on-vehicle camera calibration method according to the present invention includes:
A storage step for storing position information of a calibration index installed on the equipment side;
A calibration step for performing calibration of an in-vehicle camera mounted on a vehicle based on the calibration index located in an image captured by the in-vehicle camera and the position information;
A calibration index measurement step for measuring current position information of the calibration index;
It is as providing the modification step of modifying on the basis of the position information on the current position information.

  According to the in-vehicle camera calibration method of the present invention, the calibration index measurement step moves or changes the current position information of the calibration index, that is, the calibration index is moved or changed by a worker with or without a factory line modification or change. The position information after the relocation or change is measured, and the correction step allows the position information to be corrected based on the current position information and appropriately updated to the latest position information. In the calibration step, the in-vehicle camera can be calibrated based on the accurate position information after being corrected and updated, and more accurate calibration can be performed.

Furthermore, in the on-vehicle camera calibration method,
It said modifying step is performed in the vehicle-mounted camera control unit, the calibration indicator measuring steps while being executed in the facility side control apparatus, and a further comprising a transmission step of transmitting the current position information to the vehicle-mounted camera control unit.

In addition, in the in-vehicle camera calibration method,
It is preferable to include a determination step for determining whether or not the position information matches the current position information, and to execute the transmission step when it is determined negative in the determination step.

  According to this, in the in-vehicle camera calibration method, the communication load and the processing load can be reduced.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle-mounted camera calibration system, vehicle-mounted camera control apparatus, equipment control apparatus, and vehicle-mounted camera calibration method which can perform calibration with higher precision can be provided.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram showing an embodiment of an in-vehicle camera calibration system according to the present invention, and FIG. 2 mainly shows a connection mode between an in-vehicle side and an equipment side in an embodiment of the in-vehicle camera calibration system according to the present invention. It is a schematic diagram shown. FIGS. 3-4 is a schematic diagram which mainly shows the positional relationship of one Embodiment of the vehicle-mounted camera calibration system concerning this invention. FIG. 5 is a schematic diagram showing a correction mode in one embodiment of the in-vehicle camera calibration system according to the present invention.

  As shown in FIG. 1, the in-vehicle camera calibration system 1 of the present embodiment is provided in a rear camera 2 mounted on a vehicle, an in-vehicle camera ECU 3 (Electronic Control Unit), a display 4, and a facility-side factory. It comprises MI5 (Multiple Inspection), a toe adjustment device 6 provided in the factory, a calibration index measurement device 7, and a rear camera calibration marker 8.

  As shown in FIG. 1, the MI5 and toe adjustment device 6 and the calibration index measurement device 7 are connected via a network such as a LAN (Local Area Network), and the in-vehicle camera ECU 3 and MI5 are shown in FIG. As shown in the figure, they are connected by an external wiring 9 and are communicable with a communication standard such as CAN (Controller Area Network).

  The rear camera 2 is a CCD camera or a CMOS camera, for example, and is installed at the rear end of the vehicle so as to face the rear of the vehicle as shown in FIG. 8, and the captured image data is output to the in-vehicle camera ECU 3, and constitutes the in-vehicle camera.

  The rear camera calibration marker 8 constitutes a calibration index. As shown in FIG. 3, the rear camera calibration marker 8 is provided on the front surface of a flat board 8a placed at a relative distance A1 rearward from the rear end of the vehicle V. A target bar extending in the direction is formed by printing or painting. As shown in FIG. 4, the lower end of the board 8a is supported by the actuator (not shown) so as to be rotatable about the center in the left-right direction, as shown in FIG.

  Further, as shown in FIG. 4, the front wheels of the vehicle V are fixed by a toe adjusting device 6, and the toe adjusting device 6 constitutes a fixing device. A calibration index measuring device 7 is placed on the toe adjusting device 6. The calibration index measuring device 7 includes, for example, a CCD camera or a CMOS camera and a computer, and constitutes a calibration index measuring means. As shown in FIG. 4, the calibration index measuring device 7 captures the scenery behind the vehicle including the rear camera calibration marker 8, and the calibration index measuring device 7 in the front-rear direction shown in FIG. 4 from the captured image data. The relative distance A2 between the rear calibration marker 8 and the board 8a and the relative angle θ are measured, and the longitudinal direction between the rear camera 2 and the rear camera calibration marker 8 is determined from the geometrical relational expression obtained from FIGS. The current relative distance A1 (n) is measured and obtained as current position information.

  3, WB is the wheel base, L is the full length of the vehicle V, W is the full width of the vehicle V, R is the distance in the front-rear direction from the rear end of the vehicle V to the center of the rear wheel, X is the distance in the front-rear direction of the rear camera 2 and the vehicle V, Y is the distance between the rear camera 2 and the center of the vehicle V in the left-right direction, and Z is the distance in the vertical direction between the rear camera 2 and the road surface directly below the vehicle V. For example, since A2 shown in FIG. 4 is A1 + R + WB as shown in FIG. 3, a relational expression of A1 = A2−R−WB is obtained, and this relational expression is provided in advance by the computer so that the calibration index measuring device 7. The relative distance A1 can be obtained. When the relative distance A1 (n) is determined more precisely, the correction is appropriately performed using the full width W, the vertical direction distance Z, and the left-right direction distance Y.

  The in-vehicle camera ECU 3 includes, for example, a CPU, a ROM, a RAM, an EEPROM, a data bus that connects them, and an input / output interface, and a storage unit 3a that performs each control described below in accordance with a program stored in the ROM. It functions as the calibration means 3b and the correction means 3c, and constitutes an in-vehicle camera control device. The storage means 3a stores a default value, that is, a relative distance A1 (n-1), which is a design value, as position information used when the calibration means 3b displays the adjustment frame C as shown in FIG. .

  The MI 5 includes, for example, a CPU, a ROM, a RAM, an EEPROM, a data bus that interconnects them, an input / output interface, and a screen display device, and according to a program stored in the ROM, a transmission means 5a that performs each control described below. And the determination means 5b, which constitutes an equipment control device for controlling all equipment in the factory.

  MI5 is connected to CAN mounted on vehicle V by external wiring 9, and also functions as a diagnostic tool for carrying out self-diagnosis of various onboard ECUs. And adjusting the angle of the rear camera calibration marker 8 with respect to the center in the left-right direction by controlling the actuator including the rear camera calibration marker 8, and the toe adjusting device 6 controls the front wheels of the vehicle V. It also controls and controls the lock and release and toe adjustment work.

  The determination means 5b of MI5 obtains the data frame including the current relative distance A1 (n) and the relative angle θ measured by the calibration index measuring means 7 through the LAN, and calculates the relative distance A1 (n-1) from the in-vehicle camera ECU 3. It is acquired from the storage means 3a by CAN, and it is determined whether or not the relative distance A1 (n-1) and the relative distance A1 (n) match. If the result is negative, the transmission means 5a determines the relative distance A1. A data frame including (n) is transmitted to the in-vehicle camera ECU 3 by CAN.

  Further, the determination means 5b determines whether or not the relative angle θ is larger than the threshold value θth, and when the determination is affirmative, the relative angle θ is out of the tolerance range based on the display on the display 4, and the rear camera calibration marker 8 Notify the worker that it is necessary to adjust the angle of the board 8a, or calibrate the rear camera so that the angle of the rear camera calibration marker 8 around the center of the board 8a in the left-right direction is perpendicular to the front-rear direction. An actuator (not shown) included in the marker 8 is controlled.

When the correction means 3c of the in-vehicle camera ECU 3 receives the current relative distance A1 (n) from the MI 5, as shown in FIG. 5, the relative distance A1 (which is a design value stored in the storage means 3a). n-1) is rewritten and corrected by rewriting this relative distance A1 (n), and the storage means 3a stores the relative distance A (n). If the correction unit 3c does not receive the current relative distance A1 (n) from the MI 5, the correction unit 3c does not correct the relative distance A1 (n-1) stored in the storage unit 3a, and the storage unit 3a The relative distance A (n−1) is continuously stored as it is. The display 4 displays an image based on the image data under the control of the calibration means 3b of the in-vehicle camera ECU 3. Hereinafter, the display content of the display 4 and the calibration procedure will be described with reference to the drawings. FIG. 6 is a schematic diagram showing display contents and a calibration procedure of the in-vehicle camera calibration system 1 according to the present invention.

  As shown in FIG. 6, the display 4 stores an elongated rectangular adjustment frame C extending in the left-right direction or slightly inclined with respect to the left-right direction based on the control of the calibration means 3 b of the in-vehicle camera ECU 3. Is displayed based on the relative distance A1 (n) measured this time or the relative distance A1 (n-1) of the design value, and the adjustment frame C and the four symbols D that move the image vertically and horizontally are rotated. Two symbols A and B are displayed.

  Furthermore, the display 4 functions as a touch panel, that is, an input device when an operator's finger touches the symbols A, B, and D as shown in FIG. 6, depending on which symbol the operator touches, The image and the adjustment frame C are moved or rotated vertically and horizontally. By repeating this operation, the operator can calibrate the image of the rear camera 2 so that the rod-shaped rear camera calibration marker 8 displayed in the image is positioned in the adjustment frame C. This calibration operation can also be executed by automatic control of the calibration means 3b of the in-vehicle camera ECU 3 without the operator's contact operation with the symbol.

  The control content of the on-vehicle camera calibration system 1 of the present embodiment described above will be described with reference to a flowchart. FIG. 7 is a flowchart showing the control contents of the in-vehicle camera calibration system 1 according to the present invention including the inspection process of the completed vehicle. FIG. 8 is a flowchart showing the control contents of the MI 5 of the in-vehicle camera calibration system 1 according to the present invention. FIG. 9 is a flowchart showing the control contents of the in-vehicle camera ECU 3 of the in-vehicle camera calibration system 1 according to the present invention.

  As shown in FIG. 7, in step S1, the completed vehicle that has completed the manufacturing process on the production line in the factory is passed through the completed vehicle inspection process. In step S2, the completed vehicle that has entered the inspection process is shown in FIG. Such a toe adjusting device 6 is inserted so as to place the front wheel. Further, in step S3, the front wheels of the completed vehicle are locked and fixed by the toe adjusting device 6, and the adjustment, that is, the adjustment in the toe direction, is performed so that the completed vehicle faces directly, and the parallelism of the completed vehicle is kept within the tolerance.

  Subsequently, in step S4, the calibration index measuring device 7 measures the current relative distance A1 (n) and the relative angle θ between the rear camera calibration marker 8 and the rear camera 2 in the front-rear direction, and subsequently in step S5, MI5 The determination means 5b determines whether or not the relative angle θ is larger than the threshold θth and is outside the tolerance range. If the determination is negative, the process proceeds to step S6. If the determination is affirmative, the process proceeds to step S7. The angle of the board 8a is adjusted by an actuator included in the camera calibration marker 8.

  In step S6, the determination means 5b of MI5 acquires the relative distance A1 (n-1) of the design value from the storage means 3a of the in-vehicle camera ECU 3 via CAN, and this time acquired from the calibration index measuring device 7 via LAN. When the relative distance A1 (n) is obtained and it is determined that the two values are different and the result is affirmative, the process proceeds to step S8, and the transmission means 5a of MI5 determines the relative value of this time measured via CAN. The distance A1 (n) is transmitted to the in-vehicle camera ECU 3.

  If it is determined negative in step 6 or if step 8 is completed, the process proceeds to step S9. In step 9, the rear camera 2 calibration of the completed vehicle is performed manually based on the operation of the symbols on the operator's touch panel 4, or The calibration is automatically performed based on the control of the in-vehicle camera ECU 3. In step S10, the toe adjusting device 6 unlocks the front wheels of the completed vehicle and removes the completed vehicle from the rear camera inspection process.

  Next, the control content of MI5 and the control content of vehicle-mounted camera ECU3 are demonstrated using FIG.8 and FIG.9. As shown in step S11 of FIG. 8, after moving the toe adjusting device 6 so that the front wheels of the completed vehicle are placed, the operator gives a start instruction to the MI5. The front wheels of the completed vehicle are locked by the toe adjusting device 6 based on the command via, and adjustment is executed so that the completed vehicle faces directly.

  Further, in step S13, after the work content of step S12 is completed, MI5 outputs a measurement command to the calibration index measuring device 7 via the LAN, and the calibration index measuring device 7 determines the current relative distance A1 (n). And the relative angle θ is measured. Subsequently, in step S14, the determining means 5b of MI5 determines whether the relative angle θ is larger than the threshold value θth and is outside the tolerance range. If the result is affirmative, the process proceeds to step S16 and the rear camera calibration marker 8 is set. The readjustment of the angle of the board 8a is output to a display screen provided with the MI 5, and the angle of the board 8a is readjusted manually by an operator or by an actuator (not shown) included in the rear camera calibration marker 8.

  If it is determined to be negative in step S14, the process proceeds to step S15, and the relative distance A1 (n) measured this time between the rear camera calibration marker 8 and the rear camera 2 and the design relative distance A1 (n− It is determined whether or not 1) is different. If the result is affirmative, the process proceeds to step S17, and a data frame including the relative distance A1 (n) measured this time is transmitted to the in-vehicle camera ECU 3 by CAN. When it is determined to be negative in step S15, when the processing content of step 17 is finished, the rear camera calibration adjustment is finished.

  As shown in step S21 of FIG. 9, the correcting means 3c of the in-vehicle camera ECU 3 determines whether or not a data frame including the relative distance A1 (n) measured this time has been received. Proceeding to S22, the storage means 3a rewrites the relative distance A1 (n-1) of the design value stored in the predetermined area in the EEPROM with the relative distance A1 (n) measured this time. When it is determined negative in step S21, rewriting is not performed.

  In the flow chart shown in FIG. 7 described above, the storage step of storing the position information of the calibration index installed on the equipment side of the on-vehicle camera calibration method according to the present invention, and the on-vehicle camera calibration of the on-vehicle camera mounted on the vehicle. A calibration step performed based on the calibration index and the position information in the captured image, a calibration index measurement step for measuring the current position information of the calibration index, and whether the position information and the current position information match. A determination step to perform, a transmission step to transmit the current position information to the vehicle-mounted camera control device, and a correction step to correct the position information based on the current position information when the determination step determines negative.

  According to the vehicle-mounted camera calibration system 1 of the present embodiment realized by these control contents and the vehicle-mounted camera calibration method executed thereby, the following operational effects can be obtained. That is, when the calibration index measuring device 7 moves or changes the current position information of the rear camera calibration marker 8, that is, the rear camera calibration marker 8 is moved or changed by the worker with or without the factory line modification or change, The relative value A1 (n) that is the current position information that is the position information after the relocation or change is measured, and the design value that is the position information stored in the storage means 3a by the correction means 3c of the in-vehicle camera ECU 3 Relative distance A1 (n-1) can be corrected and updated based on the relative distance A1 (n) measured this time, so that the calibration means 3b of the in-vehicle camera ECU 3 is corrected and updated. The adjustment frame C can be displayed on the display 4 based on the distance A1 (n), and the rear camera 2 is calibrated based on the adjustment frame C displayed more accurately. Can be performed, it is possible to perform more accurate calibration.

  In other words, when the rear camera calibration marker 8 has been relocated due to factory renovation or line change, or when an operator has moved in contact with unnecessary, or there is an error in initial installation. Even in the case where daily management is not thorough, in the in-vehicle camera calibration system 1 of the present embodiment, the calibration index measuring device 7 makes the current position information, here the relative distance A1 (n), immediately before calibration. ) Is measured and the design value stored in the storage means 3a of the in-vehicle camera ECU 3 is corrected and updated based on the current position information when the value does not coincide with the design value. Can do. In other words, it is possible to eliminate the work of strictly managing the items described above.

  Further, when the calibration index measuring device 7 is installed on the vehicle side, the calibration index measuring device 7 needs to satisfy various requirements such as weight, external dimensions, power source capacity, installation location, and the like associated with the vehicle. In the in-vehicle camera calibration system 1 of the present embodiment, it is difficult to use the calibration index measuring device 7 that has high performance in terms of resolution and processing speed but does not satisfy the requirements associated with in-vehicle. By installing the device 7 on the equipment side, there is no restriction due to the requirements associated with the above-described vehicle mounting, so that a higher-performance calibration index measuring device 7 can be introduced and used. Thereby, the measurement accuracy of the relative distance A1 (n), which is the current position information after being moved or changed, can be further improved, and more accurate calibration can be realized.

  In addition, the calibration index measuring device 7 that is unnecessary except for the calibration work in the manufacturing process of the vehicle V is always provided on the vehicle V side, so that the situation in which the vehicle V is redundantly included is avoided. It is possible to prevent an increase in cost and weight due to the increase, and it is possible to more efficiently distribute and arrange devices for calibrating the in-vehicle camera calibration system 1 between the vehicle side and the facility side.

  Furthermore, in the in-vehicle camera calibration system 1, the determination means 5b of MI5 determines whether or not the position information, that is, the relative distance A1 (n-1) of the design value, and the current position information, that is, the current relative distance A1 (n) match. When the determination is negative, the transmission means 5a of the MI 5 transmits the data frame including the current position information to the in-vehicle camera ECU 3 by CAN, so that the following effects can be obtained. it can.

  That is, when the relative distance A1 (n−1) and the relative distance A1 (n) are not different and coincide with each other, the rear camera calibration marker 8 has not been moved or moved, and at the installation stage. It can be considered that there is no error, and it is not necessary to transmit a data frame including the relative distance A1 (n) to the in-vehicle camera ECU 3 to be corrected by the correcting means 3c of the in-vehicle camera ECU 3. It is determined whether or not a match is established. If the agreement is established, the transmission is stopped to reduce the communication load on the CAN, and the correction process of the in-vehicle camera ECU 3 is also omitted to reduce the processing load. can do.

  Furthermore, in the in-vehicle camera calibration system 1 of the present embodiment, the calibration index measuring device 7 is installed immediately above the toe adjustment device 6, which is essential in a factory that manufactures the vehicle V and performs the inspection process. The calibration index measuring device 7 can be installed using the toe adjustment device 6 which is equipment, and the installation position of the calibration index measuring device 7 and the position in the front-rear direction of the front wheel of the vehicle V can be matched.

  For this reason, the calibration index measurement device 7 determines the rear camera 2 and the rear camera calibration marker from the relative distance A2 between the calibration index measurement device 7 and the rear camera calibration marker 8 that is directly measured by the calibration index measurement device 7 itself. The relative distance A1 to 8 can be obtained and measured by a simpler formula as described in FIG.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. be able to.

  For example, in the in-vehicle camera calibration system 1 of the above-described embodiment, the relative distance A1 between the rear camera 2 and the rear camera calibration marker 8 in the front-rear direction of the vehicle V is used as the position information and the current position information. The information may include not only the relative distance but also the relative angle, for example, the relative distances of the vehicle V in the front-rear direction, the left-right direction, and the up-down direction, and the relative angles around the front-rear direction, the left-right direction, and the up-down direction. Can also be included.

  Further, as the vehicle-mounted camera, the rear camera 2 is exemplified in the above-described embodiment, but it is of course possible to target a camera that images the front of the vehicle and a camera that images the side of the vehicle.

  Further, the calibration index is not limited to the form of the rear camera calibration marker 8 shown in the above-described embodiment, and may be a target bar placed or applied on a road surface in a factory, for example. In addition, the rear camera calibration marker 8 is provided with an acceleration sensor, for example, to constantly monitor whether or not there is a possibility that the worker has moved, and only when there is a possibility that the movement has been performed. It is also possible to execute the measurement by the calibration index measuring device 7 and the coincidence determination by the determination means 5b.

  Further, the determination whether the relative angle θ is larger than the threshold value θth and outside the tolerance range may be performed by the calibration index measuring device 7.

  According to the in-vehicle camera calibration system, the in-vehicle camera control device, the equipment control device, and the in-vehicle camera calibration method of the present invention, more accurate calibration can be performed. Therefore, the present invention is applied to various vehicles such as passenger cars, trucks, and buses. It is useful to apply to.

It is a mimetic diagram showing one embodiment of an in-vehicle camera calibration system concerning the present invention. It is a schematic diagram which mainly shows the connection aspect of the vehicle-mounted side and installation side of one Embodiment of the vehicle-mounted camera calibration system concerning this invention. It is a schematic diagram which mainly shows the positional relationship of one Embodiment of the vehicle-mounted camera calibration system concerning this invention. It is a schematic diagram which mainly shows the positional relationship of one Embodiment of the vehicle-mounted camera calibration system concerning this invention. It is a schematic diagram which shows the correction aspect in one Embodiment of the vehicle-mounted camera calibration system concerning this invention. It is a schematic diagram which shows the display content and calibration procedure in one Embodiment of the vehicle-mounted camera calibration system concerning this invention. It is a flowchart which shows the control content of the vehicle-mounted camera calibration system concerning this invention including the inspection process of a completed vehicle. It is a flowchart which shows the control content of the vehicle-mounted camera calibration system concerning this invention. It is a flowchart which shows the control content of the vehicle-mounted camera control apparatus of the vehicle-mounted camera calibration system concerning this invention.

1 Car camera calibration system 2 Rear camera (car camera)
3 In-vehicle camera ECU (In-vehicle camera controller)
3a Storage means 3b Calibration means 3c Correction means 4 Display 5 MI (Equipment control device)
5a Transmission means 5b Determination means 6 Toe adjustment device (fixing device)
7 Calibration index measuring device (calibration index measuring means)
8 Rear camera calibration marker (calibration index)
9 External wiring

Claims (8)

Storage means for storing position information of a calibration index installed on the facility side, and calibration of the in-vehicle camera mounted on the vehicle are performed based on the calibration index and the position information positioned in the image captured by the in-vehicle camera and calibration means, the calibration indicator measuring means for measuring a current position information of the calibration target, comprising a correction means for correcting, based the position information on the current position information, the position information and the current position information, the calibration seen including a relative distance with respect to the vehicle indicator, at least one of the relative angle, the calibration indicator measuring means is installed in said equipment-side controls a vehicle camera control unit, the equipment for controlling the in-vehicle camera equipment The vehicle-mounted camera control device includes the storage unit, the calibration unit, and the correction unit, and the facility-side control unit includes the calibration index measurement unit. Vehicle camera calibration system, characterized by control. The in-vehicle camera calibration system according to claim 1 , wherein the facility control device includes a transmission unit that transmits the current position information to the in-vehicle camera control device. The facility control device includes a determination unit that determines whether or not the position information and the current position information match, and when the determination unit determines negative, the transmission unit converts the current position information to the current position information. The in-vehicle camera calibration system according to claim 2 , wherein the in-vehicle camera control system transmits to the in-vehicle camera control device. The in-vehicle camera calibration system according to claim 3 , wherein the facility includes a fixing device that fixes a front wheel of the vehicle, and the calibration index measurement unit is installed in the fixing device. A calibration index measuring means for measuring the current position information of the calibration index installed on the equipment side, and a transmission means for transmitting the current position information to the in-vehicle camera control device, the position information of the calibration index installed on the equipment side is provided . A facility-side storage means for storing, and a determination means for determining whether or not the position information and the current position information match, and when the determination means determines negative, the transmission means is the current position An equipment control device that transmits information to an in-vehicle camera control device. On-vehicle side storage means for storing position information of a calibration index installed on the facility side is provided, and calibration of the on-vehicle camera mounted on the vehicle is based on the calibration index positioned in the image captured by the on-vehicle camera and the position information. A vehicle-mounted camera control device comprising: a calibration unit configured to correct the position information based on the current position information of the calibration index transmitted from the equipment control device. A storage step for storing position information of a calibration index installed on the facility side, and calibration of an in-vehicle camera mounted on the vehicle are performed based on the calibration index and the position information positioned in an image captured by the in-vehicle camera. A calibration step, a calibration index measurement step for measuring current position information of the calibration index, and a correction step for correcting the position information based on the current position information , wherein the correction step is executed in the in-vehicle camera control device, The in-vehicle camera calibration method characterized in that the calibration index measurement step is executed in an equipment-side control device, and further includes a transmission step of transmitting the current position information to the in-vehicle camera control device. 8. The method according to claim 7 , further comprising a determination step of determining whether or not the position information matches the current position information, and executing the transmission step when it is determined negative in the determination step. The on-vehicle camera calibration method described.

Images