JP7258847B2 - Video system for vehicle - Google Patents

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JP7258847B2
JP7258847B2 JP2020506613A JP2020506613A JP7258847B2 JP 7258847 B2 JP7258847 B2 JP 7258847B2 JP 2020506613 A JP2020506613 A JP 2020506613A JP 2020506613 A JP2020506613 A JP 2020506613A JP 7258847 B2 JP7258847 B2 JP 7258847B2
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vehicle body
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JPWO2019177036A1 (en
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篤 杉本
光治 眞野
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Koito Manufacturing Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)

Description

本発明は、カメラで車体周辺を撮影し、運転席のモニタに表示する車両用映像システムに関する。 The present invention relates to a video system for a vehicle that captures images of the surroundings of a vehicle with a camera and displays the images on a monitor in the driver's seat.

近年、バックミラーやサイドミラーに代えて、車体の後側方をカメラで撮影し、撮影した映像を運転席のモニタに表示して、車体周辺の視界を確保する電子ミラーの技術が知られている。例えば、特許文献１には、電子ミラーを採用し、サイドミラーを撤去することで、走行時の空気抵抗を低減した車両の後方認識装置が提案されている。また、特許文献２には、電子ミラーを設け、バックミラーやサイドミラーには映らなかった死角も確認できる車両用映像システムが提案されている。 In recent years, in place of the rear-view and side mirrors, electronic mirror technology has become known, in which the rear and sides of the vehicle are captured by a camera, and the captured image is displayed on a monitor in the driver's seat to ensure visibility around the vehicle. there is For example, Patent Literature 1 proposes a rear recognition device for a vehicle that employs an electronic mirror and removes side mirrors to reduce air resistance during travel. Further, Japanese Patent Laid-Open No. 2002-200000 proposes a video system for a vehicle, which is provided with an electronic mirror and can check blind spots that are not reflected in the rearview mirror or the side mirror.

特開２００３－３１２３５９号公報JP-A-2003-312359 特開２０１６－０４８８３９号公報JP 2016-048839 A

しかし、特許文献１，２の装置やシステムでは、カメラが従来のサイドミラーよりもフェンダーといった車体の低位置に取り付けられるため、より広範囲に車体が映りこみ、運転者が実際の風景と車体に映り込んだ風景とを混同し、自身が運転している車両の位置を誤認するおそれがあった。 However, in the devices and systems of Patent Documents 1 and 2, the camera is attached to a lower position of the vehicle body such as the fender than the conventional side mirror, so the vehicle body is reflected in a wider range, and the driver is reflected in the actual scenery and the vehicle body. There was a risk of confusion with the crowded scenery and misidentification of the position of the vehicle that the driver was driving.

この解決策として、例えば、映像の撮影範囲から車体を除外し、車体を表示させない方法も考えられる。しかし、運転者は通常、自身が運転している車両を基準とし、周囲の障害物や他車両との位置関係を相対的に把握している。そのため、単純に運転者の車体を映像から消してしまうと、自身の置かれている状況を把握できなくなり、運転ミスを生じさせるという問題もあった。 As a solution to this problem, for example, a method of not displaying the vehicle body by excluding the vehicle body from the shooting range of the image is conceivable. However, the driver usually uses the vehicle he or she is driving as a reference, and relatively grasps the positional relationship with surrounding obstacles and other vehicles. Therefore, if the vehicle body of the driver is simply erased from the image, the driver will not be able to grasp the situation in which he or she is placed, and this will cause driving errors.

そこで、本発明の目的は、運転者が実際の風景と車体に映り込んだ風景とを容易に判別できる映像を表示させる車両用映像システムを提供することにある。 SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a video system for a vehicle that displays a video that allows the driver to easily distinguish between the actual scenery and the scenery reflected in the vehicle.

上記課題を解決するために、本発明の車両用映像システムは、車体周辺域を撮影するカメラと、カメラの映像をモニタに表示する制御部と、を備え、制御部が、カメラの映像に基づいて、カメラの映像を、車体を含む第１領域とそれ以外の第２領域とに分割する映像分割手段と、第１領域に所定の加工を施す映像加工手段と、を含むことを特徴とする。 In order to solve the above-described problems, the vehicle image system of the present invention includes a camera that captures an area around a vehicle body, and a control unit that displays the image of the camera on a monitor. and image dividing means for dividing an image of the camera into a first area including the vehicle body and a second area other than the vehicle body, and image processing means for performing predetermined processing on the first area. .

ここで、映像分割手段は、カメラ映像のうち、周囲の映像に比べて変化量が小さい領域を前記第１領域として判定する。 Here, the image dividing means determines an area in the camera image that has a smaller amount of change than the surrounding image as the first area.

また、映像分割手段は、第１領域と第２領域を比較し、例えば、映像がより不鮮明な領域を第１領域として判定する。映像がより屈曲している領域を第１領域として判定しても良い。 Also, the image dividing means compares the first area and the second area, and determines, for example, an area where the image is less clear as the first area. A region where the image is more curved may be determined as the first region.

映像加工手段は、判定された第１領域を着色する。第一領域に所定の車体形状を上書きしても良い。 The image processing means colors the determined first area. A predetermined vehicle body shape may be overwritten in the first area.

本発明の車両用表示システムによれば、車体周辺をカメラで撮影し、撮影した映像を、車体を含む第１領域とそれ以外の第２領域とに分割し、さらに第１領域に所定の映像処理を施すため、運転者は実際の風景（第２領域）と車体に映り込んだ風景の反射像（第１領域）とを容易に区別し、運転状況を的確に把握することができるという優れた効果がある。 According to the vehicular display system of the present invention, the periphery of a vehicle body is photographed by a camera, the photographed image is divided into a first area including the vehicle body and a second area other than the vehicle body, and a predetermined image is stored in the first area. Because of the processing, the driver can easily distinguish between the actual scenery (second area) and the reflected image of the scenery reflected on the vehicle body (first area), and can accurately grasp the driving situation. effective.

本発明の一実施形態を示す車両用映像システムの概略図である。1 is a schematic diagram of a vehicle imaging system showing an embodiment of the present invention; FIG. 図１の車両用映像システムを左側方向から見た概略図である。FIG. 2 is a schematic view of the vehicle imaging system of FIG. 1 as seen from the left side; 図１の車両用映像システムのブロック図である。2 is a block diagram of the vehicle video system of FIG. 1; FIG. カメラが撮影した映像の模式図である。FIG. 4 is a schematic diagram of an image captured by a camera; 図４の映像に分割処理を施した様子を示す模式図である。FIG. 5 is a schematic diagram showing how the image in FIG. 4 is divided; 図５の映像に着色等の映像処理を施した様子を示す模式図である。6 is a schematic diagram showing a state in which image processing such as coloring is applied to the image in FIG. 5; FIG.

以下、本発明の一実施形態を図面に基づいて説明する。図１に示す車両用映像システム１は、車体５の周辺域を撮影するカメラ２Ｌ，２Ｒと、撮影された映像６（図４参照）に映像処理を施し、モニタ４Ｌ，４Ｒへ出力する制御部としてのＥＣＵ３と、処理済みのカメラ２Ｒ，２Ｌの映像６（図６参照）をそれぞれ表示するモニタ４Ｌ，４Ｒとを備えている。 An embodiment of the present invention will be described below with reference to the drawings. The vehicle image system 1 shown in FIG. 1 includes cameras 2L and 2R that capture the peripheral area of the vehicle body 5, and a control unit that performs image processing on the captured image 6 (see FIG. 4) and outputs the image to monitors 4L and 4R. and monitors 4L and 4R for displaying processed images 6 (see FIG. 6) of the cameras 2R and 2L, respectively.

図２に示すように、カメラ２は、主に車体側方および後方を撮影できるように車両５のフェンダーに取り付けられている。このとき、カメラ２の撮影領域には、車体５の側面のドアやリアフェンダーも含まれている。 As shown in FIG. 2, the camera 2 is attached to the fender of the vehicle 5 so as to photograph mainly the sides and rear of the vehicle. At this time, the photographing area of the camera 2 also includes the side doors and the rear fender of the vehicle body 5 .

図３に示すように、ＥＣＵ３は、カメラ２Ｌ，２Ｒの映像を解析し、車体を含む第１領域としての領域Ｓ１とそれ以外の領域である第２領域としての領域Ｓ２とに分割する映像分割部３１と、領域Ｓ１に着色等の加工を施す映像加工部３２と、加工済みのカメラ２Ｌ，２Ｒの映像をそれぞれモニタ４Ｌ，４Ｒに出力する映像表示部３３とを備えている。 As shown in FIG. 3, the ECU 3 analyzes the images captured by the cameras 2L and 2R, and divides the image into a first area S1 including the vehicle body and an area S2 other than the vehicle body S2 as a second area. 31, an image processing unit 32 that processes the region S1 such as coloring, and an image display unit 33 that outputs the processed images of the cameras 2L and 2R to the monitors 4L and 4R, respectively.

上記構成の車両用映像システム１においては、カメラ２Ｌ，２Ｒが撮影した映像６は、ＥＣＵ３の映像分割部３１により第１領域Ｓ１と、第２領域Ｓ２に分割され、映像加工部３２により第１領域Ｓ１に加工を施された後、映像表示部３３によりモニタ４Ｌ，４Ｒにそれぞれ出力される。 In the vehicle image system 1 configured as described above, the image 6 captured by the cameras 2L and 2R is divided into the first area S1 and the second area S2 by the image dividing unit 31 of the ECU 3, and the image processing unit 32 divides the image into the first area S1 and the second area S2. After the area S1 is processed, the image display section 33 outputs the image to the monitors 4L and 4R, respectively.

次に、上記構成の車両用映像システム１の映像処理について、図４～図６に従って詳細に説明する。図４に示すように、映像６には、車体５と車体周辺域の風景が撮影されており、道路の白線７１および車体に映り込んだその反射像７１’と、後方を走行する他の車両７２および車体に映り込んだその反射像７２’が含まれている。 Next, image processing of the vehicle image system 1 having the above configuration will be described in detail with reference to FIGS. 4 to 6. FIG. As shown in FIG. 4, the image 6 shows the vehicle body 5 and the surrounding area of the vehicle body. 72 and its reflected image 72' reflected in the vehicle body.

図５に示すように、映像分割部３１は、受信したカメラ２の映像６を解析し、映像中に車体５が占める領域を抽出し、この領域を第１領域である領域Ｓ１とするとともに、その他の領域を第２領域である領域Ｓ２として分割する。 As shown in FIG. 5, the image dividing unit 31 analyzes the received image 6 of the camera 2, extracts the area occupied by the vehicle body 5 in the image, and defines this area as the first area S1. Other regions are divided as regions S2, which are second regions.

解析処理は、映像６から静止度合いの高い、つまり、映像の変化量の小さい領域を抽出して行う。カメラ２は車体５に固定されているため、車体５が撮影された領域は映像の変化量が小さくなるはずであり、当該領域を抽出すれば、車体５を含む領域を抽出することが可能となる。抽出の際には、例えば、事前に検知した静止領域の変化量の上限閾値を基準にしても良い。 The analysis process is performed by extracting a region with a high degree of stillness from the video 6, that is, a region with a small amount of change in the video. Since the camera 2 is fixed to the vehicle body 5, the amount of change in the image should be small in the area where the vehicle body 5 is captured. Become. At the time of extraction, for example, an upper limit threshold value of the amount of change in the static region detected in advance may be used as a reference.

次に、映像分割部３１は、判定した領域Ｓ１と領域Ｓ２について映像を比較し、判定結果を検証する。具体的には、道路の白線７１の映像（領域Ｓ２）とその反射像７１’の映像（領域Ｓ１）の比較や、実際に後方を走行している他の車両７２の映像（領域Ｓ２）とその反射像７２’の映像（領域Ｓ１）の比較をし、その結果、例えば、より不鮮明であると判断された映像を含む領域を領域Ｓ１として判定する。あるいは、より屈曲していると判断された映像を含む領域を領域Ｓ１として判定しても良い。車体５に映り込んだ風景の反射像は、車体表面の塗装の微細な凹凸や汚れ等により直接像である風景に比べて不鮮明に現れたり、あるいは、車体表面の形状に応じて屈曲して現れたりするはずであるから、映像６中から不鮮明な領域または屈曲している領域を判定することにより、領域Ｓ１を判定することが可能となる。 Next, the image dividing unit 31 compares the images of the determined areas S1 and S2, and verifies the determination result. Specifically, the image of the white line 71 on the road (area S2) is compared with the image of its reflected image 71' (area S1), and the image of another vehicle 72 actually traveling behind (area S2) is compared. The image (area S1) of the reflected image 72' is compared, and as a result, for example, the area including the image determined to be more blurred is determined as the area S1. Alternatively, an area including an image determined to be more curved may be determined as the area S1. The reflected image of the landscape reflected on the vehicle body 5 may appear unclear compared to the direct image of the landscape due to minute irregularities or stains on the paint on the vehicle body surface, or may appear curved according to the shape of the vehicle body surface. Therefore, it is possible to determine the area S1 by determining an unclear area or a curved area in the image 6. FIG.

分割された映像６は、映像加工部３２へ送信され、領域Ｓ１について加工が施される。例えば、図６（ａ）に示すように、領域Ｓ１を所定の色で着色したり、図６（ｂ）に示すように、あらかじめ用意した車体５の写真・ＣＧ画像を領域Ｓ１に上書きしたりすることができる。 The divided image 6 is transmitted to the image processing unit 32, and the area S1 is processed. For example, as shown in FIG. 6A, the region S1 is colored with a predetermined color, or as shown in FIG. can do.

以上の構成の車両用映像システムによれば、モニタ４に表示される映像６には、車体映像（領域Ｓ１）に着色等の処理が施されているため、運転者が実際の風景と車体に映り込んだ風景とを容易に判別でき、運転状況を的確に把握できるという優れた効果がある。 According to the vehicle image system configured as described above, in the image 6 displayed on the monitor 4, the vehicle image (area S1) is subjected to processing such as coloring, so that the driver can see the actual scenery and the vehicle. There is an excellent effect that the reflected scenery can be easily distinguished and the driving situation can be accurately grasped.

本発明の変形例としては、例えば、車体５への映り込み強度や明度を測定し、その度合いに応じて着色の透明度や写真・ＣＧ画像の透過率を調整しても良い。この場合には、運転者の違和感を軽減できるという効果がある。また、夜間の走行時には、後続車両のヘッドランプや街灯が車体５に乱反射する現象（サチレーション）も生じうるので、ＥＣＵ３にて検知し、サチレーションが生じている領域やその周辺領域の明るさを低減しても良い。この場合には、視界の眩しさを軽減させ、運転者はより正確に車両周辺の状況を把握することができる。 As a modification of the present invention, for example, the intensity and brightness of reflection on the vehicle body 5 may be measured, and the transparency of the coloring and the transmittance of the photograph/CG image may be adjusted according to the degree. In this case, there is an effect that the driver's sense of discomfort can be reduced. In addition, when driving at night, a phenomenon (saturation) in which the headlights and streetlights of following vehicles are diffusely reflected on the vehicle body 5 can occur. You can In this case, glare in the field of vision is reduced, and the driver can more accurately grasp the situation around the vehicle.

別の変形例としては、図６（ｃ）に示すように、領域Ｓ２との境界部のみに着色を施したり、車体の写真・ＣＧ画像を表示するフレームレートを下げたりして処理を行なっても良い。この場合には、映像処理負担を低減できるという効果がある。また、図６（ａ）～（ｃ）で示した表示は、適宜組み合わせて用いることもできる。 As another modification, as shown in FIG. 6(c), only the boundary with the area S2 is colored, or the frame rate for displaying the photograph/CG image of the vehicle body is lowered. Also good. In this case, there is an effect that the image processing load can be reduced. Also, the displays shown in FIGS. 6A to 6C can be used in combination as appropriate.

なお、本発明は、上記実施形態に限定されるものではなく、以下に例示するように、発明の趣旨を逸脱しない範囲で、各部の構成を適宜に変更して実施することも可能である。
（１）カメラ２を、走行時の空気抵抗を受けにくい場所・位置、例えば、ドアノブ５１（図２参照）や、サイドターンシグナルランプ等の車両用灯具内に設置する。
（２）モニタ４Ｌ，４Ｒを、カメラ２Ｌ，２Ｒの映像をそれぞれ確認し易い位置、例えば、ドアミラー付近、ダッシュボードに取り付ける。
（３）モニタ４Ｌ，４Ｒの映像を合体させ、一つのモニタ上に表示させる。
（４）ＥＣＵ３を左右別個に設け、カメラ２Ｌ，２Ｒまたはモニタ４Ｌ，２Ｒにそれぞれ搭載する。It should be noted that the present invention is not limited to the above-described embodiments, and as illustrated below, it is also possible to change the configuration of each part as appropriate without departing from the scope of the invention.
(1) Install the camera 2 in a place/position where air resistance is less likely to be received during driving, such as a doorknob 51 (see FIG. 2) or a vehicle lighting device such as a side turn signal lamp.
(2) The monitors 4L and 4R are installed in positions where the images of the cameras 2L and 2R can be easily checked, for example, near the door mirrors and on the dashboard.
(3) Combine the images on the monitors 4L and 4R and display them on one monitor.
(4) The left and right ECUs 3 are provided separately and mounted on the cameras 2L and 2R or the monitors 4L and 2R, respectively.

１ 車両用映像システム
２ カメラ
３ ＥＣＵ
３１ 映像分割部
３２ 映像加工部
３３ 映像表示部
４ モニタ
５ 車体
５１ ドアノブ
５２ タイヤ
６ 映像
７１ 白線
７２ 後続車両



1 video system for vehicle 2 camera 3 ECU
31 image dividing unit 32 image processing unit 33 image display unit 4 monitor 5 vehicle body 51 door knob 52 tire 6 image 71 white line 72 following vehicle

Claims (6)

車体周辺域を撮影するカメラと、
前記カメラの映像をモニタに表示する制御部と、を備え、
前記制御部が、前記カメラの映像に基づき、前記カメラの映像を、車体を含む第１領域とそれ以外の第２領域とに分割する映像分割手段と、前記第１領域に所定の加工を施す映像加工手段と、を含み、
前記映像分割手段は、前記第１領域と前記第２領域を比較し、映像がより不鮮明な領域を前記第１領域として判定することを特徴とする車両用映像システム。 a camera that captures the surrounding area of the vehicle;
A control unit that displays the image of the camera on a monitor,
The control unit, based on the image of the camera, divides the image of the camera into a first area including a vehicle body and a second area other than the vehicle body, and performs a predetermined processing on the first area. including video processing means,
The vehicle image system, wherein the image dividing means compares the first area and the second area, and determines an area where the image is less clear as the first area. 前記映像加工手段は、前記第１領域に着色処理を施す請求項１に記載の車両用映像システム。 2. The vehicle image system according to claim 1, wherein said image processing means applies coloring processing to said first area. 前記映像加工手段は、前記第１領域に所定の車体形状を上書きする請求項１に記載の車両用映像システム。 2. The vehicle image system according to claim 1 , wherein the image processing means overwrites the first area with a predetermined vehicle body shape. 車体周辺域を撮影するカメラと、
前記カメラの映像をモニタに表示する制御部と、を備え、
前記制御部が、前記カメラの映像に基づき、前記カメラの映像を、車体を含む第１領域とそれ以外の第２領域とに分割する映像分割手段と、前記第１領域に所定の加工を施す映像加工手段と、を含み、
前記映像分割手段は、前記第１領域と前記第２領域を比較し、映像がより屈曲している領域を前記第１領域として判定することを特徴とする車両用映像システム。 a camera that captures the surrounding area of the vehicle;
A control unit that displays the image of the camera on a monitor,
The control unit, based on the image of the camera, divides the image of the camera into a first area including a vehicle body and a second area other than the vehicle body, and performs a predetermined processing on the first area. including video processing means,
The vehicle image system, wherein the image dividing means compares the first area and the second area, and determines an area where the image is more curved as the first area. 前記映像加工手段は、前記第１領域に着色処理を施す請求項４に記載の車両用映像システム。 5. The vehicle image system according to claim 4, wherein said image processing means applies coloring processing to said first area. 前記映像加工手段は、前記第１領域に所定の車体形状を上書きする請求項４に車両用映像システム。 5. The vehicle image system according to claim 4 , wherein the image processing means overwrites the first area with a predetermined vehicle body shape.
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