WO2002104032A1 - Processeur d'images peripheriques pour vehicule et support d'enregistrement - Google Patents
Processeur d'images peripheriques pour vehicule et support d'enregistrement Download PDFInfo
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- WO2002104032A1 WO2002104032A1 PCT/JP2002/002525 JP0202525W WO02104032A1 WO 2002104032 A1 WO2002104032 A1 WO 2002104032A1 JP 0202525 W JP0202525 W JP 0202525W WO 02104032 A1 WO02104032 A1 WO 02104032A1
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- image
- bird
- eye view
- vehicle
- view image
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- 230000002093 peripheral effect Effects 0.000 title claims abstract description 32
- 238000012545 processing Methods 0.000 claims abstract description 92
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 191
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 184
- 239000002131 composite material Substances 0.000 claims description 30
- 230000009466 transformation Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 35
- 238000006243 chemical reaction Methods 0.000 abstract description 15
- 230000000007 visual effect Effects 0.000 abstract 3
- 230000008569 process Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 16
- 230000000694 effects Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 241000791900 Selene vomer Species 0.000 description 1
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- 239000003550 marker Substances 0.000 description 1
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- 230000002194 synthesizing effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
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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
- B60R1/27—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 providing all-round vision, e.g. using omnidirectional cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid systems
Definitions
- the present invention relates to a vehicle peripheral image processing device and a recording medium that can photograph, for example, the rear of a vehicle and display the captured image on a monitor.
- Japanese Patent Application Laid-Open No. H10-102-14949 discloses that an image taken by a rear view camera (rear camera image) is converted into a bird's-eye view, and the vehicle is displayed in the view.
- rear camera image rear view camera
- the vehicle is shown in the bird's-eye view, so the positional relationship between the object displayed in the image and the vehicle is easier to understand than displaying the captured image as it is on the monitor.
- the present invention has been made in order to solve the above-described problems, and provides, for example, a vehicle peripheral image processing apparatus and a recording medium that can estimate and draw a part that is out of the field of view of a force camera. This is the first purpose. Furthermore, the present invention provides a method of estimating and drawing a part that is out of the field of view of a camera. It is a second object of the present invention to provide a vehicle peripheral image processing device and a recording medium capable of reducing the load of the arithmetic processing while reducing the load on the vehicle. Disclosure of the invention
- the first invention is directed to a vehicle having a photographing means (for example, a camera) for photographing an image around the vehicle and a display means (for example, a monitor) for displaying an image.
- a vehicle periphery image processing apparatus for processing an image taken by the photographing means and displaying the image on the display means, wherein the image photographed by the photographing means is projected on the ground plane coordinate system using the photographing means as a viewpoint.
- the image becomes a bird's-eye view image that is easy to see as viewed from above the ground, instead of a distorted image that has been taken with a camera, for example.
- the first bird's-eye view image generated in this way is compared with the second bird's-eye view image generated thereafter, and a coincidence area and a non-coincidence area are determined. Then, a combined image is created by adding the unmatched area obtained by this determination to the second bird's-eye view image, the combined image is processed so that it can be displayed on the display means, and displayed on the display means.
- the first bird's-eye view image and the second bird's-eye view image differ in the mismatched area (the first bird's-eye view). This appears in the image, but disappears in the second bird's-eye view image).
- the present invention by detecting a shift between the image of the first bird's-eye view image and the image of the second bird's-eye view image, by adding an image of the shifted portion (the part displayed in the past) to the second bird's-eye view image,
- the situation around the vehicle can be grasped more clearly.
- an area out of the current field of view of the camera can be displayed, so that, for example, in the case of parking in the back, the operation is extremely easy.
- the image photographed by the photographing means may be, for example, an image behind the vehicle photographed by a camera arranged behind the vehicle. Therefore, for example For example, when the vehicle is put in the parking frame at the back, the positional relationship between the parking frame and the vehicle can be easily understood, so that there is an effect that parking can be easily performed.
- the side of the vehicle can be photographed by the photographing means
- the situation of the side can be easily understood when the side is moved by the back, so that the side can be easily moved.
- examples of the image photographed by the photographing means include not only the rear of the vehicle but also the front of the vehicle. In this case, if the side of the vehicle can also be photographed, the situation of the side can be easily understood when the vehicle is moved forward, so that the vehicle can be easily moved.
- the bird's eye view image generating means may generate a bird's eye view image by extracting an image indicating a lane (for example, a parking frame).
- a lane for example, a parking frame
- the entire captured image may be converted to a bird's-eye view image, but only lanes (indicated by white lines, for example) are extracted and displayed by, for example, binarization processing. You may.
- lanes indicated by white lines, for example
- the first bird's-eye view image and the second bird's-eye view image can be temporally continuous bird's-eye view images.
- the image shift between the first bird's-eye view image and the second bird's-eye view image is slight, it is easy to detect the coincident region and the non-coincident region.
- a non-coincidence area is added to the second bird's-eye view image, it is preferable because the connection between the images has no unnatural feeling.
- the display processing means performs coordinate conversion for displaying the image data of the composite image on the display means. That is, in order to display a bird's-eye view image on a monitor, for example, it is necessary to adjust the size of the image.
- a second invention is directed to a vehicle including a photographing unit (for example, a camera) for photographing an image around the vehicle and a display unit (for example, a monitor) for displaying an image.
- a photographing unit for example, a camera
- a display unit for example, a monitor
- the image captured by the image capturing means is, for example, data on a ground surface coordinate system projected from the image capturing means as a viewpoint.
- image data such as a first bird's-eye view image and a second bird's-eye view image that is a later image are created.
- the image is not a distorted image taken with a camera, for example, but an easy-to-view bird's-eye view image as viewed from above the ground.
- the amount of movement (movement) of the vehicle is detected based on a vehicle signal (for example, a vehicle speed signal and a speed signal) obtained from the vehicle. Since the detected movement amount of the vehicle corresponds to the movement amount of the first bird's-eye view image, the first bird's-eye view image is moved according to the movement amount of the vehicle to create image data of the moved bird's-eye view image.
- a vehicle signal for example, a vehicle speed signal and a speed signal
- the image data of the new second bird's-eye view image (from the first bird's-eye view image) and the image data of the moved bird's-eye view image are combined to create image data of the combined bird's-eye view image to be displayed on the display means.
- the field of view of the camera changes. Therefore, it is natural that the first bird's-eye view image and the second bird's-eye view image, which have different shooting times, have different images (differences in the shot part). Occurs.
- the second bird's-eye view image is appropriately added with the bird's-eye view image after the movement of the part (that is, the part that was in the field of view in the past but has disappeared from the current field of view), so that it can be used for a monitor or the like.
- the part that disappeared from the camera's field of view can be displayed, so that the situation around the vehicle can be grasped more clearly.
- the present invention for example, Since it is possible to display an area that is out of the current field of view, there is an effect that, for example, when parking in the back, the operation becomes extremely easy.
- a post-movement bird's-eye view image is created by using a vehicle signal instead of calculating the movement of the vehicle from a temporal change of the image to create a post-movement bird's-eye view image.
- the synthesized bird's-eye view image can be an image to which the moved bird's-eye view image is added in addition to the display area for displaying the second bird's-eye view image.
- This is an example of a method of forming a composite bird's-eye view image, and this enables continuous display of images around the vehicle. That is, as described above, for example, the image currently captured by the camera can be displayed on the monitor as the second bird's-eye view image. (2) By adding it to the area other than the bird's-eye view image display area, past surrounding conditions that have disappeared from the camera's field of view can also be displayed on the monitor.
- the latest bird's-eye view image can be used as the second bird's-eye view image used for the composite bird's-eye view image. If the latest bird's-eye view image newly captured by a camera or the like is used as the second bird's-eye view image, the situation around the vehicle can be grasped more accurately.
- the memory A may store the bird's-eye view image created by the bird's-eye view image creating unit
- the memory B may store the combined bird's-eye view image created by the combined bird's-eye view image creating unit.
- This is an example of a memory for storing each bird's-eye view image.
- the composite bird's-eye view image can be displayed on a monitor or the like.
- an image indicating the own vehicle may be added and displayed.
- the positional relationship between the own vehicle and, for example, the parking frame becomes clear, so that the operation of the vehicle is facilitated.
- the position of the own vehicle on the monitor screen is always constant, for example. Therefore, the host vehicle can be displayed at a fixed position on the monitor screen, and the vehicle may be described in advance by printing on the monitor screen.
- the viewing angle of the camera is usually constant, not only the own vehicle but also the screen angle of the camera (the left and right range) may be displayed on the screen of the moeta.
- the means for executing the processing by the vehicle peripheral image processing device described above can be stored as a program on a recording medium.
- the recording medium include various recording media such as an electronic control unit configured as a microcomputer, a microchip, a floppy disk, a hard disk, and an optical disk.
- FIG. 1 is an explanatory diagram illustrating a main configuration of the vehicle periphery image processing device according to the first embodiment.
- FIG. 2 is an explanatory diagram illustrating an electrical configuration of the vehicle peripheral image processing device according to the first embodiment.
- FIG. 3 is an explanatory diagram illustrating a procedure of a process performed by the vehicle peripheral image processing device according to the first embodiment.
- FIG. 4 is an explanatory diagram illustrating a positional relationship at the time of coordinate conversion by the vehicle periphery image processing device of the first embodiment.
- FIG. 5 is an explanatory diagram illustrating a procedure of a process performed by the vehicle peripheral image processing device according to the first embodiment.
- FIG. 6 is an explanatory diagram showing a procedure for obtaining the moving amount of the image of the vehicle periphery image processing device of the first embodiment.
- FIG. 7 is a flowchart illustrating a process performed by the vehicle peripheral image processing device according to the first embodiment.
- FIG. 8 is a flowchart illustrating the processing of the vehicle periphery image processing device according to the second embodiment.
- Fig. 9 shows the image around the vehicle in Example 3.
- FIG. 3 is an explanatory diagram illustrating a main configuration of a processing device.
- FIG. 10 is an explanatory diagram illustrating an electrical configuration of the vehicle periphery image processing apparatus according to the third embodiment.
- FIG. 11A and 11B show images used by the vehicle peripheral image processing device of the third embodiment, (a) is an explanatory diagram of an image taken by a camera, and (b) is an explanatory diagram showing a bird's-eye view image.
- FIG. 12 is an explanatory diagram showing a positional relationship at the time of coordinate conversion by the vehicle periphery image processing device of the third embodiment.
- FIG. 13 is a flowchart showing the processing of the vehicle periphery image processing apparatus according to the third embodiment.
- FIG. 14 is an explanatory diagram illustrating a procedure for creating an image by the vehicle periphery image processing apparatus according to the third embodiment.
- FIG. 15 is an explanatory diagram illustrating a monitor image displayed by the vehicle periphery image processing device according to the third embodiment.
- the vehicle peripheral image processing apparatus of the present embodiment includes a camera (for example, a CCD camera) 1 disposed at the rear of an automobile and an on-vehicle monitor (for example, a liquid crystal display) 3 disposed on a dashboard.
- An image processing unit 5 for performing image processing is provided.
- the image processing unit 5 is an electronic device that performs processing of image data mainly including a microcomputer, and functionally performs coordinate conversion of image data captured by the camera 1.
- a coordinate transformation unit 11 that generates a bird's-eye view image, a matching unit 13 that takes in two temporally continuous bird's-eye view images, and compares them, and a part that does not match the two bird's-eye view images deviates from the field of view of camera 1.
- An area estimating unit 15 for estimating a region that has been drawn and a drawing unit 17 for drawing an image to be displayed on the monitor 3 are provided.
- the image processing unit 5 may be integrated with the camera 1.
- Fig. 3 (a) the image (output image) output from camera 1 is shown in Fig. 3 (a), left figure.
- This image is a picture of the parking frame drawn on the ground and its surroundings, taken by the camera 1 placed at the top of the rear part of the vehicle.
- the originally rectangular parking frame is distorted according to the distance from the parking space.
- the bird's-eye view image is generated by performing coordinate transformation on the image shown on the left, and the position of the vehicle and the viewing angle of camera 1 are added to the bird's-eye view image.
- the image is added and synthesized, and the synthesized image is displayed on the screen of Moyuta 5, as shown in the right figure of Fig. 3 (a).
- the output image of camera 1 is subjected to coordinate conversion (well-known bird's-eye view conversion) by coordinate conversion unit 11, and FIG.
- coordinate conversion well-known bird's-eye view conversion
- the process of converting the image photographed by the camera 1 into a bird's-eye view image and displaying the image on the monitor 5 uses a conventional technique (for example, Japanese Patent Application Laid-Open No. H10-218149) as described below. it can.
- the position of the image (for example, a parking frame) on the ground plane is obtained as a bird's-eye view by performing the reverse process of the normal perspective transformation. Specifically, as shown in FIG. 4, a perspective transformation is performed when projecting the position data of the ground image onto a screen plane T located at a focal distance f from the camera position R.
- the camera 1 is located at a point R (0, 0, H) on the Z axis and monitors an image on the ground surface (XY coordinate plane) at a look-down angle ⁇ . Therefore, here, the two-dimensional coordinates ( ⁇ , 6) on the screen plane T can be converted into coordinates on the ground surface (bird's eye view coordinates) (reverse perspective transformation) as shown in the following equation (1).
- -x- "H ⁇ / (one jS cos ⁇ + fsi ⁇ ⁇ )-,
- the projected image data is displayed on the monitor 5 screen (showing a bird's-eye view image). It can be converted to the corresponding image data and displayed on a monitor.
- the matching unit 13 captures two temporally continuous bird's-eye view images and compares them.
- Fig. 5 (a) and Fig. 5 (b) show successive bird's-eye view images (changed from image A to image B).
- image A and B As described later, It is possible to extract a completely matching area (matching area) between the two images.
- the region estimating unit 15 regards the V-shaped region on the camera 1 side as the region (moving region) where the image has moved due to the movement of the vehicle among the regions where the images do not match (mismatching region).
- a composite image that also displays the vehicle frame (compositing area) outside the field of view of the camera 1 is created as shown in Fig. 5 (c).
- a method of matching image A and image B will be described, but various conventional methods in image processing can be adopted.
- a predetermined (matching) area of images A and B is divided into a plurality of fine areas (pixels) as shown in Fig. 6, and the degree of coincidence of the pixels of images A and B is the highest.
- the positional relationship between image A and image B (that is, how much image A has moved) can be obtained from the positional relationship between the matching pixels.
- FIG. 6 for example, a case where the degree of brightness (or color) of a figure at each pixel is represented by a number is considered.
- the brightness of the lower three rows of pixels in Image A matches the brightness of the upper three rows of pixels in Image B. Therefore, in this case, image A can be regarded as being coincident with image B by moving up and down in the figure by the width of one column of pixels. In this case, the figure in image B appears to have moved upward because the vehicle has moved downward in the figure.
- the two images are divided into small areas, and if many of the divided fine areas match (the degree of matching is high), the match Are considered to be the same image. Therefore, if the matching part is shifted between the image A and the image B, it can be considered that the image is shifted due to the movement, and the movement amount and the movement direction can be obtained. Similarly, the moving amounts in the left-right direction and the diagonal direction can be obtained.
- step 100 it is determined whether or not the shift position is back. If the determination is affirmative, the process proceeds to step 110, and if the determination is negative, the process proceeds to step 170.
- the shift position can be detected by a signal from a shift position detection sensor (not shown) or a signal from another electronic control unit.
- step 170 the image of the area outside the field of view of the camera drawn previously is erased, that is, only the current camera image (bird's-eye view image) is displayed, and the process returns to step 1000.
- step 110 coordinate conversion (bird's-eye view conversion) of the image taken by camera 1 is performed to obtain a bird's-eye view image.
- step 120 a matching area is extracted from two consecutive bird's-eye view images. For example, a matching area is extracted from the image A and the image B in FIG.
- step 130 a moving region outside the current field of view of the camera 1 is extracted.
- step 140 the moving area of the screen A is later drawn out of the camera view of the screen B. Before drawing, only the moving area that has already been drawn on the screen B (screen B The drawing area is secured by shifting the drawing area.
- step 150 for example, as shown in FIG. 5 (c), an image of the moving area is drawn in the drawing area secured in step 130 (a composite image is created).
- step 160 a V-shaped line indicating the own vehicle and the viewing angle is drawn, for example, as shown in the right diagram of FIG. 3 (c), and the process ends.
- the mismatched area is determined by comparing the combined image with the latest bird's-eye view image, and this mismatched area is added to the stored combined image. It is preferable to generate a new composite image. This makes it possible to continuously combine images by appropriately taking into account the bird's-eye view image after the movement, so that the situation around the vehicle can be grasped more clearly.
- the image captured by the camera is converted into a bird's-eye view image, and the coincident region of the temporally continuous bird's-eye view image is extracted, and the moving region, which is a shift portion between the bird's-eye view images, is extracted.
- the moving area is combined with the bird's-eye view image showing the current image to create a combined image, and when displaying the combined image on the screen of the monitor 5, the image of the own vehicle and the viewing angle are added. . That is, in this embodiment, when the vehicle moves, by estimating the area deviating from the field of view of the camera and by combining the areas, it is possible to display a portion that cannot be displayed normally outside the field of view of the camera.
- the positional relationship between the vehicle and the parking frame can be clearly understood. This has the remarkable effect that the operation of parking at the back is extremely easy.
- step 200 it is determined whether or not the shift position is back. If the determination is affirmative, the process proceeds to step 210, and if the determination is negative, the process proceeds to step 280.
- step 280 the previously drawn image in the area outside the field of view of the camera is deleted.
- step 210 the images of the parking frame and the bollard are extracted from the images captured by the camera by binarization processing.
- the parking frames and bollards are painted in white and can be easily separated from the black asphalt ground.
- the binarized image is converted into a bird's-eye view to generate a bird's-eye view image of a parking frame and a car stop.
- the background is a single color.
- a matching area is extracted from two consecutive bird's-eye view images.
- a moving area outside the current field of view of camera 1 is extracted.
- step 250 the drawing area is secured by shifting the portion already drawn on the screen B by only the moving area (below the screen B) before drawing.
- step 260 an image of the moving area is drawn in the drawing area secured in step 250 (a composite image is created).
- step S270 a V-shaped line indicating the own vehicle and the view angle is drawn, and the process is temporarily terminated.
- the same effects as those of the first embodiment can be obtained.
- the present embodiment instead of converting the entire captured image into a bird's-eye view and displaying the converted image, other than the own vehicle and the viewing angle, for example, the parking frame Required for driving, like a car or a car stop Only those that are not.
- the parking frame Required for driving like a car or a car stop Only those that are not.
- a vehicle peripheral image processing apparatus includes a camera (eg, a CCD camera) 21 arranged at the rear of an automobile and an in-vehicle monitor (eg, a liquid crystal display) 23 arranged on a dashboard.
- the image processing unit 29 is an electronic device that performs processing of image data mainly including a microcomputer, and performs coordinate transformation of image data captured by the camera 21.
- an image memory B for storing the data of the bird's-eye view image.
- the image data of the bird's-eye view image stored in the image memory B is, as described later, a bird's-eye view image (first 1 bird's-eye view image) (moved bird's-eye view image) and a new (for example, at time T + 1) camera 21 and a bird's-eye view image (second image) created based on the image data.
- This is image data of a bird's-eye view image (synthetic bird's-eye view image) obtained by synthesizing a bird's-eye view image.
- the image processing unit 29 may be integrated with the camera 21, and each configuration in the image processing unit 29 may be partially or partially May be integrated and configured as an LSI.
- FIG. 11 an example is given in which the vehicle is moved backward (back) and enters the parking frame.
- the original image (output image) output from the camera 21 is shown in Fig. 11 (a). Since the original image is an image of the parking frame drawn on the ground and its surroundings taken by the camera 21 arranged at the upper part of the rear part of the vehicle, the vehicle (accordingly, the camera 21) and the parking frame The originally rectangular parking frame is distorted according to the distance from the position of each line.
- the image data of the original image is coordinate-transformed to create a bird's-eye view image without distortion as shown in FIG. 11 (b). Is stored in the image memory A.
- the vehicle travel distance L [m] is obtained from the following equation (2) using the vehicle speed S [km / h] obtained from the vehicle speed signal. ] Can be calculated.
- the angle ⁇ 1 at which the vehicle has moved ⁇ 1 is obtained from the following equation (3) using the rate ⁇ ⁇ ° / s] obtained from the rate signal. Can be calculated. ⁇ 1 [degree ⁇ 0 [degree Z s] x 100 [ms] ⁇ 100 0 [ms / s] ⁇ ⁇ (3) Furthermore, here, the center of rotation of the vehicle is on the extension of the rear wheel axle.
- the center of rotation is calculated with the camera position as the origin, and if the traveling direction of the vehicle is Y and the direction perpendicular to this is X, the rotation center position XC [m ⁇ in the X direction is given by the following equation ( It can be calculated from 4).
- the bird's-eye view image is moved as follows.
- the image data of the bird's-eye view image stored in the image memory A is also temporarily stored in the image memory B. Therefore, here, the image data of the bird's-eye view image stored in the image memory B is transferred to the internal memory of the CPU 37, and the bird's-eye view image is obtained using the rotation center position (xc, YC) and the rotation angle ec. To rotate.
- the conversion equation for performing this rotational movement is shown in the following equation (5).
- the image From the bird's-eye view image stored in Mori A (the first bird's-eye view image at time T)
- a bird's-eye view image after moving (the moving bird's-eye view image at time T) is created.
- a bird's-eye view image created based on a new image taken by the camera 21, that is, a current bird's-eye view image (second bird's-eye view image at time T + 1) is newly stored in the image memory A from the CPU 37.
- the CPU 37 writes the second bird's-eye view image at a position corresponding to the time T and the positional relationship (a position where the image does not deviate from the moved bird's-eye view image).
- the image data of the synthesized bird's-eye view image that is synthesized with the second bird's-eye view image is created, and the image data is stored in the image memory B.
- images of the position of the vehicle and the viewing angle of the camera 21 are also added and stored in the image memory B, and the composite bird's-eye view image is displayed on the screen of the monitor 23.
- the image of the position of the host vehicle and the viewing angle of the camera 21 may not be stored in the image memory B, and the rendered bird's-eye view image stored in the image memory B may be drawn on the monitor 23.
- the image may be drawn in addition to the image of the position of the own vehicle or the viewing angle of the camera 21.
- step 300 it is determined whether or not the shift position is back. If the determination is affirmative, the process proceeds to step 310, while if the determination is negative, the process proceeds to step 390.
- the shift position can be detected by a signal from a shift position detection sensor (not shown) or a signal from another electronic control unit.
- step 390 the image of the area outside the field of view of the camera 21 previously drawn is deleted, that is, only the current image (bird's-eye view image) of the camera 21 is displayed, and the process returns to step 300.
- step 310 a coordinate transformation (the bird's-eye view transformation) of the image taken by the camera 21 is performed to create a bird's-eye view image.
- step 3 2 c stores the bird's eye view image in the image memory A Note, at this time, stores the same bird's-eye view image in the image memory B.
- the movement amount (movement amount) of the vehicle indicated by the movement distance L and the rotation angle 6C is obtained based on the vehicle speed signal and the sho rate signal.
- the bird's-eye view image (first bird's-eye view image at time T) stored in the image memory B is moved based on the moving amount of the vehicle, and the bird's-eye view image after movement (movement at time T) is moved. (Back view image).
- the second bird's-eye view image (at time T + 1) newly shot and stored in the image memory A is read from the image memory A.
- the combined bird's-eye view image and the second bird's-eye view image are combined to create a combined bird's-eye view image. Specifically, as shown in Fig.
- a composite bird's-eye view image is created by writing a part of the moved bird's-eye view image (specifically, excluding the part that overlaps with the second bird's-eye view image) formed by moving the image corresponding to the moving amount of the vehicle.
- the vehicle is shown in the figure for reference, and a frame indicating the vehicle is actually drawn, for example, when drawing a monitor screen.
- the composite bird's-eye view image is stored in the image memory B.
- the combined bird's-eye view image stored in the image memory B is displayed on the monitor 23 in consideration of the image indicating the vehicle, the image indicating the view angle, and the like, and the process is temporarily terminated.
- the image captured by the camera 21 is converted into a bird's-eye view image
- the moving amount of the vehicle is detected based on the vehicle signal
- the bird's-eye view image is moved according to the moving amount of the vehicle.
- a bird's-eye view image is created after moving.
- a combined bird's-eye view image is created by combining the bird's-eye view image after moving with the newly read bird's-eye view image, and an image of the vehicle and the viewing angle is added to the combined bird's-eye view image, and the image is displayed on the monitor 23 screen. it's shown.
- FIGS. 15 (a), (b), and (c) when the vehicle moves linearly to the rear of the parking frame after making a turn, it is processed by the method of this embodiment.
- the display screens of MOYUTA 23 are shown in order.
- the vehicle speed sensor 25 Since a bird's-eye view image after movement is created using the obtained vehicle signal, there is an advantage that the arithmetic processing is easy. In other words, image processing such as image matching that requires a large amount of arithmetic processing can be omitted, so that the burden of the arithmetic processing is reduced and the required image can be displayed on the monitor 23 quickly.
- the image of the parking frame or the parking lot is not only a coordinate transformation of an image taken simply and displayed, but also serves as a marker for vehicle operation from an image taken by a camera. It is desirable to extract an image of a parking frame or a car stop and to make the image emphasized by the color or shade of the parking frame or the car stop.
- the shift position is the back position.
- the process is started and the process is started, since the process is performed even when the vehicle advances due to the reverse driving during parking, the start and continuation of the process may be determined based on the vehicle speed signal. For example, processing is started at an hourly speed of 10 kmZh, during which processing is executed to display a bird's-eye view image. This allows the bird's-eye view image to be displayed continuously without being reset even if the shift position changes due to switching.
- a synthetic bird's-eye view image near the vehicle body that is out of the field of view is displayed by a camera that captures an image in front of the vehicle, and information for determining whether a vehicle can pass through on a narrow road or the like is determined. Can also be provided.
- the vehicle peripheral image processing apparatus has been described.
- a recording medium storing means for executing the processing by this apparatus is also within the scope of the present invention.
- examples of the recording medium include various recording media such as an electronic control unit configured as a microcomputer, a microchip, a floppy disk, a hard disk, and an optical disk. That is, there is no particular limitation as long as it stores means such as a program that can execute the processing of the above-described vehicle peripheral image processing device.
- the vehicle peripheral image processing device and the recording medium according to the present invention can estimate a portion outside the field of view of the camera and draw the peripheral image of the vehicle on the monitor. It is preferably used as a device that assists the driving operation.
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Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/333,745 US7317813B2 (en) | 2001-06-13 | 2002-03-15 | Vehicle vicinity image-processing apparatus and recording medium |
DE10292327T DE10292327B4 (de) | 2001-06-13 | 2002-03-15 | Fahrzeugumgebungsbildverarbeitungsvorrichtung und Aufzeichnungsmedium |
KR1020037002069A KR100550299B1 (ko) | 2001-06-13 | 2002-03-15 | 차량 주변 이미지 처리 장치 및 기록 매체 |
Applications Claiming Priority (2)
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JP2001178776A JP4156214B2 (ja) | 2001-06-13 | 2001-06-13 | 車両周辺画像処理装置及び記録媒体 |
JP2001-178776 | 2001-06-13 |
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WO2002104032A1 true WO2002104032A1 (fr) | 2002-12-27 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2002/002525 WO2002104032A1 (fr) | 2001-06-13 | 2002-03-15 | Processeur d'images peripheriques pour vehicule et support d'enregistrement |
Country Status (6)
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US (1) | US7317813B2 (ja) |
JP (1) | JP4156214B2 (ja) |
KR (1) | KR100550299B1 (ja) |
CN (1) | CN1210958C (ja) |
DE (1) | DE10292327B4 (ja) |
WO (1) | WO2002104032A1 (ja) |
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- 2002-03-15 CN CNB028029828A patent/CN1210958C/zh not_active Expired - Fee Related
- 2002-03-15 US US10/333,745 patent/US7317813B2/en not_active Expired - Lifetime
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JP4156214B2 (ja) | 2008-09-24 |
US20030165255A1 (en) | 2003-09-04 |
KR100550299B1 (ko) | 2006-02-08 |
KR20030024857A (ko) | 2003-03-26 |
CN1473433A (zh) | 2004-02-04 |
DE10292327T5 (de) | 2004-09-23 |
DE10292327B4 (de) | 2009-06-04 |
JP2002373327A (ja) | 2002-12-26 |
CN1210958C (zh) | 2005-07-13 |
US7317813B2 (en) | 2008-01-08 |
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