JP6058307B2 - Wiper control device - Google Patents

Description

  The present invention relates to a wiper control device.

  A wiper control device that executes a wiper operation of a vehicle in an automatic control mode based on rainfall, illuminance, vehicle speed, and the like is known (for example, see Patent Document 1). This wiper control device reads the personal identification information with the IC card to identify the driver, and further reads the learning program stored in the RAM of the card. The learning program stores a standard program that is set so that the wiper operates under a predetermined vehicle driving environment. However, when the owner of the IC card manually operates the wiper switch, It is formed by correcting the operation interval. Further, the learning program is corrected in accordance with the wiper operation timing, rainfall data, illuminance data, and vehicle speed data, which are manually operated, and input to the IC card for storage.

  According to this wiper control device, since the lighting timing according to different sensations for each driver is learned and stored in the information holding means, automatic wiper operation can be performed according to each driver's sense, It is said that an automatic wiper operation corresponding to a person's sense can be performed.

JP-A-6-171469

  However, according to the conventional wiper control device, only the rainfall data, the illuminance data, and the vehicle speed data that are conventionally used in the automatic control mode are learned at the timing of manual operation. There is a problem that the driver's intention and the timing of automatic wiping of the wiper operation may not coincide with each other instead of learning based on visual information.

  Accordingly, an object of the present invention is to provide a wiper control device having an automatic control mode in which the driver's intention and the timing of automatic wiping of the wiper operation coincide.

[1] In order to achieve the above object, according to the present invention, a wiper control unit that performs a wiper control of a vehicle by an automatic control mode and a manual operation, a forward monitoring camera arranged with a field of view directed forward, and the automatic control when the manual operation is performed during mode, black and white the front monitoring camera is facilities image processing for binarizing monochrome image obtained by imaging the windscreen in front view, obtained by the image processing A storage unit that calculates the area ratio of the black portion of the binary image and stores the calculated area ratio of the black portion as learning data in association with the contents of the manual operation performed, and the wiper control Department reads the operation content corresponding to the area ratio of the black portion of the front monitoring camera under the automatic control mode is determined from the obtained image from the training data, and the read content What provides the drive on the wiper off and the wiper driving speed, the wiper control apparatus characterized by performing the automatic control mode for controlling the driving distance and the like.

[2] In the wiper control device according to [1], the learning data is based on the amount of raindrops on the windshield, the size of raindrops, the flow trajectory of raindrops, the flow amount of waterdrops, and mud splashes.

  ADVANTAGE OF THE INVENTION According to this invention, the wiper control apparatus provided with the automatic control mode in which a driver | operator's thought and the timing of the automatic wiping of a wiper operation correspond can be provided.

FIG. 1 is an overall perspective view of the interior of a vehicle for explaining a wiper control device according to an embodiment of the present invention. FIG. 2 is a configuration block diagram of the wiper control device according to the embodiment of the present invention. FIG. 3A shows an example of a raindrop on a windshield as an example of a raindrop distribution image on a windshield by a front monitoring camera, FIG. 3B is a trimmed image showing a region on which image processing is performed, and FIG. It is the binarized processed image after image processing. 4A is a flow image of water droplets on a windshield by a front monitoring camera as an example based on obstacles to the front field of view on the windshield, FIG. 4B is a trimmed image showing a region to be subjected to image processing, and FIG. ) Is a binarized processed image after image processing. FIG. 5 is a flowchart showing the operation in the learning auto control mode of the wiper control device according to the embodiment of the present invention.

(Configuration of wiper control device)
The wiper control device 10 according to the embodiment of the present invention includes a wiper control unit 100 that controls the wiper 5 of the vehicle 1 by an automatic control mode and manual operation, and a front monitoring camera 50 that images the windshield 3 of the vehicle 1. A storage unit 160 that performs image processing on an image of the windshield 3 captured by the front monitoring camera 50 when a manual operation is performed during the auto control mode, and stores learning data obtained by the image processing; The wiper control unit 100 is configured to execute the auto control mode with reference to the learning data stored in the storage unit 160 in the auto control mode.

  The wiper control unit 100 performs image processing on the image of the windshield 3 by the image processing unit 120 according to a predetermined flowchart by the microcomputer 110 and accumulates it as learning data in the storage unit 160. In addition, when executing the auto control mode, the wiper control unit 100 refers to the learning data stored in the storage unit 160 and executes the auto control mode according to a predetermined flowchart by the microcomputer 110.

  The wiper control device 10 according to the embodiment of the present invention is configured to set the automatic control mode based on the visual information of the front that the driver sees through the windshield, that is, the raindrop on the windshield or the obstacle of the front view on the windshield. It learns the manual operation history at the time, and realizes an auto control mode in which the driver's feelings and the wiper operation auto wipe timing coincide.

(Overall configuration of wiper control device)
FIG. 1 is an overall perspective view of the interior of a vehicle for explaining a wiper control device according to an embodiment of the present invention. A front monitoring camera 50 is installed inside (inside the vehicle) the vehicle roof 2 of the vehicle 1.

  The front monitoring camera 50 can use an imaging device such as a CCD or MOS, and outputs the captured moving image and still image as data to the wiper control unit 100. The front monitoring camera 50 can also be used as an in-vehicle camera used for other purposes, for example, measurement of the distance between the vehicles ahead and the detection of approach. The front monitoring camera 50 can image the windshield 3. What is necessary is just to be able to image the entire windshield 3 or a part thereof.

  A wiper operation switch 70 is installed near the steering 60 of the driver's seat 4. Usually, in the case of a right-hand drive vehicle, a lever-type wiper operation switch 70 is installed on the left side of the steering wheel 60. The wiper operation switch 70 can execute an auto control mode, wiper operation on / off by manual operation, strength operation, intermittent operation, and the like by tilting a lever or rotating a rotary knob switch. In the wiper control device 10 according to the present embodiment, the wiper 5 can be operated by manual operation, such as on / off of a wiper operation, strong / weak operation, intermittent operation, etc., when the automatic control mode is set.

  FIG. 2 is a configuration block diagram of the wiper control device according to the embodiment of the present invention. The wiper control unit 100 is connected to the front monitoring camera 50, the wiper operation switch 70, the wiper driving unit 150, the storage unit 160, and the external sensor 200.

  The wiper control unit 100 performs various determinations, processing, control, and the like by a microcomputer 110 according to a predetermined program, and has an image processing unit 120 for image processing of image data from the front monitoring camera 50. It functions as a control ECU (Electronic Control Unit).

  The storage unit 160 stores numerical data and image data used in image processing by the wiper control unit 100, and accumulates learning data at the time of manual operation described later as needed. These data are referred to as a library from the wiper control unit 100 as necessary. Note that the storage unit 160 may be provided in the wiper control unit 100.

  The wiper operation switch 70 is usually mounted on the side of the steering wheel 60 and operates to drive the wiper 5 by lever operation and rotary knob operation. The wiper operation switch 70 is set to an automatic control mode (AUTO), so that the wiper 5 is automatically driven during rain and the AUTO wiping of the windshield 3 is executed. In the automatic control mode, the wiper operation switch 70 can execute manual operations such as wiper operation on / off, strength operation, and intermittent operation by tilting the lever or rotating the rotary knob switch.

  The wiper drive unit 150 drives the wiper 5 in a predetermined control mode under the control of the wiper control unit 100.

  The output of the external sensor 200 is an automatic control factor when the wiper 5 is driven in the automatic control mode (AUTO). For example, a raindrop sensor, a vehicle speed sensor, an outside air temperature sensor, and the like. The sensor outputs of these external sensors 200 are input to the wiper control unit 100 and are used as parameters for determining what kind of auto control is executed when the auto control mode (AUTO) is set.

(Normal auto control mode)
In the normal auto control, the wiper control unit 100 drives the wiper 5 on / off or wipes based on a predetermined algorithm based on an auto control factor that is an output of an external sensor 200 such as a raindrop sensor, a vehicle speed sensor, or an outside air temperature sensor. The automatic control is executed by determining the driving speed, the driving interval, and the like.

(Learning auto control mode)
In the learning auto control mode, the auto control mode is executed with reference to the learning data stored in the storage unit 160. In other words, factors based on raindrops on the windshield as learning data accumulated in the storage unit 160, factors based on obstacles to the front vision on the windshield, and the like are added as determination parameters to the auto control factors in the normal auto control mode. The automatic control is executed using these factors as determination parameters.

(Accumulation of learning data in the storage unit 160)
When a manual operation is executed during the auto control mode, the image of the windshield 3 picked up by the front monitoring camera 50 is subjected to image processing, and learning data obtained by this image processing is stored in the storage unit as learning data. accumulate.

(Factor based on raindrops on windshield as learning data)
Factors based on raindrops on the windshield as learning data include, for example, the amount of raindrops on the windshield, the size of raindrops, and the dropping position.

  FIG. 3A shows an example of a raindrop on a windshield as an example of a raindrop distribution image on a windshield by a front monitoring camera, FIG. 3B is a trimmed image showing a region on which image processing is performed, and FIG. It is the binarized processed image after image processing.

  As shown in FIG. 3A, raindrops adhere to the windshield 3 when it rains. FIG. 3A shows an image obtained by capturing the windshield 3 with the front monitoring camera 50 when the manual operation is executed during the auto control mode. The front monitoring camera 50 captures the entire area of the windshield 3, but an image that is subjected to image processing to be learning data can be a trimming area 31 in the entire area. The trimming region 31 can be substantially the entire area of the windshield 3, the front portion of the driver seat (D seat) 4, the center portion of the windshield, the front portion of the passenger seat (P seat), and the like. In the following description, it is assumed that the trimming region 31 in the front part of the driver's seat (D seat) 4 is image-processed as shown in FIG.

  FIG. 3B is an image of the trimming area 31 and is an original image captured in gray scale. In the raindrop 300, a transparent portion and an opaque portion are distributed by transmission and reflection of light.

  FIG. 3C shows an original image in the trimming area 31 that is binarized at a certain threshold by the image processing unit 120 of the wiper control unit 100 into a black and white image 32. As a result, the image of the gray scale raindrop 300 is processed into a black and white binary raindrop 310. With this black and white image 32, the area ratio of the black portion in the region can be calculated as a numerical value and stored as learning data in the storage unit 160. As a result, it is possible to learn that the driver has performed the wiping operation of the wiper 5 by manual operation when the amount of raindrops, the magnitude of raindrops, or the amount of rain has been reached. This learning data can be referred to as a library from the microcomputer 110 of the wiper control unit 100 to the storage unit 160 in the next auto control mode.

  Further, this monochrome binary image can be stored as learning data in the storage unit as a pattern matching template image. Thereby, the raindrop distribution can be stored as learning data in the storage unit 160, and it can be learned that the driver has performed the wiping operation of the wiper 5 by manual operation when the raindrop distribution pattern is reached. This learning data can be referred to as a library from the microcomputer 110 of the wiper control unit 100 to the storage unit 160 in the next auto control mode.

(Factors based on obstacles to the front view on the windshield as learning data)
Factors based on the obstruction of the front visibility on the windshield as learning data are, for example, the amount of night streetlight reflection glare due to oil film adhesion, the glare part, the amount of water droplet flow due to water repellent processing, its position, the mud of the oncoming vehicle Ne, adhesion other than raindrops.

  4A is a flow image of water droplets on a windshield by a front monitoring camera as an example based on obstacles to the front field of view on the windshield, FIG. 4B is a trimmed image showing a region to be subjected to image processing, and FIG. ) Is a binarized processed image after image processing.

  As shown in FIG. 4A, a raindrop flow adheres to the windshield 3 as a raindrop flow locus 330 during rain. FIG. 4A shows an image obtained by capturing the windshield 3 with the front monitoring camera 50 when a manual operation is executed during the auto control mode. The front monitoring camera 50 captures the entire area of the windshield 3, but an image that is subjected to image processing to be learning data can be a trimming area 33 in the entire area. The trimming region 33 can be almost the entire area of the windshield 3, the front portion of the driver's seat (D seat) 4, the center portion of the windshield, the front portion of the passenger seat (P seat), and the like. In the following description, it is assumed that the trimming region 33 in the front portion of the driver's seat (D seat) 4 is subjected to image processing as shown in FIG.

  FIG. 4B is an image of the trimming region 33, which is an original image captured in gray scale. The raindrop flow locus 330 has a transparent portion and an opaque portion distributed by light transmission and reflection.

  FIG. 4C shows a black and white image 34 obtained by binarizing the original image of the trimming area 33 with a certain threshold by the image processing unit 120 of the wiper control unit 100. Thus, the image of the gray scale raindrop flow locus 330 is processed into a monochrome binary raindrop flow locus 340. With this black and white image 34, the area ratio of the black portion in the region can be calculated and stored as learning data in the storage unit 160. As a result, it can be learned that the driver has performed the wiping operation of the wiper 5 by manual operation when the amount of raindrop flow has been reached, that is, when the front view on the predetermined windshield has failed. This learning data can be referred to as a library from the microcomputer 110 of the wiper control unit 100 to the storage unit 160 in the next auto control mode.

  Further, this monochrome binary image can be stored as learning data in the storage unit as a pattern matching template image. Thus, the raindrop flow trajectory pattern can be stored as learning data in the storage unit 160, and when the predetermined raindrop flow trajectory pattern is reached, the driver manually wipes the wiper 5. Can learn. This learning data can be referred to as a library from the microcomputer 110 of the wiper control unit 100 to the storage unit 160 in the next auto control mode.

  In addition to the raindrop flow described above, obstacles in the front view on the windshield include, for example, the amount of glare reflected at nighttime streetlights due to oil film adhesion, the glare location, the amount of waterdrop flow due to water repellent processing, its position, There is mud splash, adhesion other than raindrops. These front vision obstacles can also be stored as learning data in the storage unit as numerical values or pattern matching template images in the same manner as described above. As a result, it is possible to learn that the driver has performed the wiping operation of the wiper 5 by manual operation when the obstacle of the front view on various windshields is reached. This learning data can be referred to as a library from the microcomputer 110 of the wiper control unit 100 to the storage unit 160 in the next auto control mode.

  FIG. 5 is a flowchart showing the operation in the learning auto control mode of the wiper control device according to the embodiment of the present invention.

  The wiper control unit 100 determines whether the switch position of the wiper operation switch 70 is in the AUTO mode by the microcomputer 110 (step 1, S1). If the switch position is in the AUTO mode, the process proceeds to step 2. If the switch position is not in the AUTO mode, the switch position (AUTO mode) of the wiper operation switch 70 is repeatedly monitored and determined.

  The wiper operation switch 70 is set to the auto mode position, the learning auto control mode starts, and the wiper auto control is executed (step 2, S2). In the learning auto control mode, the auto control mode is executed with reference to the learning data stored in the storage unit 160. In other words, factors based on raindrops on the windshield as learning data accumulated in the storage unit 160, factors based on obstacles to the front vision on the windshield, and the like are added as determination parameters to the auto control factors in the normal auto control mode. The automatic control is executed using these factors as determination parameters.

The wiper control unit 100 determines whether or not the wiper operation switch 70 is manually operated by the microcomputer 110 (step 3, S3). If it is determined that the wiper operation switch 70 has been manually, the process proceeds to step 4, if it is not determined that the wiper operation switch 70 is manually returns to the wiper of the auto control of the step 2.

  The wiper control unit 100 captures an image of the front monitoring camera 50 by a microcomputer 110 according to a predetermined program (algorithm) (steps 4 and S4), and performs image processing in a mode that can be used as learning data by the image processing unit 120 (step 5, S5), the camera image at the time of manual operation is stored in the storage unit 160 as learning data (steps 6, S6).

  After a series of learning operations by the wiper control unit 100, the process returns to the wiper automatic control in step 2. In the wiper auto control in step 2, the wiper auto control is executed based on data obtained by adding the learning data accumulated in the learning in steps 4 to 6 described above.

  The above-described series of flows is executed until a stop instruction is issued by an interrupt signal.

[Effect of the embodiment]
According to the embodiment of the present invention, the following effects can be obtained.
(1) When the wiper is manually operated during the auto control mode, the image of the windshield 3 by the front monitoring camera 50 has factors based on raindrops on the windshield and factors based on obstacles to the front view on the windshield. Learning as a feature and incorporating it as a condition for the wiper operation in the auto control mode makes it possible to perform auto control close to that of the driver (driver).
(2) Since the learning data is accumulated in the auto control mode, the accuracy of performing the auto control close to the driver's (driver's) will improve.
(3) Factors based on raindrops on the windshield, factors based on obstacles to the front view on the windshield, etc. are stored as images of the windshield 3 by the front monitoring camera 50. For example, numerical comparison, pattern matching, etc. Various determinations in the wiper control unit 100 are possible.

  The wiper control device of the present invention has been described based on the above embodiment, but the present invention is not limited to the above embodiment, and can be implemented in various modes without departing from the gist thereof. It is possible.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Vehicle roof 3 ... Windshield 4 ... Driver's seat 5 ... Wiper 10 ... Wiper control device 31 ... Trimming area 32 ... Black and white image 33 ... Trimming area 34 ... Black and white image 50 ... Front surveillance camera 60 ... Steering 70 ... Wiper Operation switch 100 ... wiper control unit 110 ... microcomputer 120 ... image processing unit 150 ... wiper driving unit 160 ... storage unit 200 ... external sensor 300, 310 ... raindrop 330, 340 ... flow locus

Claims (2)

A wiper control unit for controlling the wiper of the vehicle by an automatic control mode and manual operation;
A front surveillance camera with the field of view facing forward ,
Wherein when the manual operation is performed during the auto-control mode, and facilities the image processing in which the forward surveillance camera binarized monochrome image obtained by imaging the windscreen in front view, obtained by the image processing A storage unit that calculates the area ratio of the black portion of the black and white binary image obtained, and stores the calculated area ratio of the black portion as learning data in association with the contents of the manual operation performed ;
The wiper control unit reads the operation content corresponding to the area ratio of the black portion obtained from the image obtained by the front monitoring camera under the auto control mode from the learning data, and according to the read content, the wiper drive is turned on. A wiper control device that executes the auto control mode for controlling off, wiper drive speed, drive interval, and the like . The learning data, the amount of raindrops on the windscreen, raindrops and small, the flow path of the raindrops, the flow amount of the water droplets, the wiper control apparatus according to claim 1 is based on mud wings.

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