WO2012131947A1 - Dispositif de traitement d'image et dispositif d'affichage d'image - Google Patents

Dispositif de traitement d'image et dispositif d'affichage d'image Download PDF

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Publication number
WO2012131947A1
WO2012131947A1 PCT/JP2011/058073 JP2011058073W WO2012131947A1 WO 2012131947 A1 WO2012131947 A1 WO 2012131947A1 JP 2011058073 W JP2011058073 W JP 2011058073W WO 2012131947 A1 WO2012131947 A1 WO 2012131947A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
lane
point
image
front image
Prior art date
Application number
PCT/JP2011/058073
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English (en)
Japanese (ja)
Inventor
理 山崎
継介 伊藤
一茂 今井
Original Assignee
パイオニア株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to PCT/JP2011/058073 priority Critical patent/WO2012131947A1/fr
Priority to JP2013506951A priority patent/JP5636493B2/ja
Publication of WO2012131947A1 publication Critical patent/WO2012131947A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

Definitions

  • the present invention relates to an image processing apparatus that processes a front image in the traveling direction of a vehicle by analysis and processing, and an image display apparatus that displays a front image processed by the image processing apparatus.
  • Patent Document 1 For example, as described in Patent Document 1, a front image in the traveling direction of the vehicle is captured, white lines on both sides of the traveling lane displayed in the front image are recognized, and the shape of the white lines is approximated. The curvature of the traveling lane curve is calculated from the equation. And in this prior art, driving
  • the imaging direction of the camera is likely to deviate from the specified direction.
  • the shape of the white line in the front image differs due to an error in the imaging direction of the camera even for the same driving lane curve. Therefore, the above-described conventional technique can accurately calculate the curvature of the driving lane curve. It becomes difficult. For this reason, there has been a demand for a technique capable of displaying support that correctly corresponds to the curvature of the curve of the traveling lane only by analyzing the front image, even if there is a camera mounting error.
  • the problems to be solved by the present invention include the above-mentioned problems as an example.
  • the invention according to claim 1 is based on the analysis and processing of the image content in the front image with respect to the front image obtained by imaging the front in the traveling direction of the vehicle by the imaging means mounted on the vehicle.
  • An image processing apparatus that performs processing, wherein a traveling direction point detecting unit that detects a traveling direction point corresponding to a traveling direction along a traveling lane of the vehicle in the front image, and a point in time in the front image
  • Vehicle axis direction point detection means for detecting a vehicle axis direction point corresponding to the vehicle axis direction of the vehicle, and position deviation detection means for detecting a relative position deviation of the traveling direction point with respect to the vehicle axis direction point;
  • Forward image processing means for processing the front image in a display mode corresponding to the positional deviation.
  • the invention according to claim 9 is a display device that displays the front image processed by the image processing device according to claim 8, wherein the position deviation detected by the position deviation detecting means is displayed. And a superimposing display means for superimposing and displaying the stamp image of the display mode reflecting the above and the front image.
  • FIG. 1 is a perspective view illustrating a configuration example of a vehicle equipped with a driving support system according to an embodiment including an image processing device and an image display device of the present invention. It is a block diagram which shows the system configuration
  • FIG. 4 is a diagram illustrating a display example when a front image captured by the front camera in the posture state illustrated in FIG. 3 is displayed on a display.
  • FIG. 1 is a perspective view showing a configuration example of a vehicle equipped with the driving support system of the present embodiment including the image processing device and the image display device of the present invention.
  • the driving support system S is provided with a front camera 1 on the rear surface of the room mirror 101 on the ceiling inside the vehicle V.
  • the room mirror 101 is movable in the same mounting posture as a general one, and the front camera 1 can capture the front of the traveling direction of the vehicle V within the movable range of the posture. Fits in range.
  • the direction Dv of the vehicle axis passing through the center longitudinal direction of the vehicle is not excluded from the imaging range.
  • FIG. 2 is a block diagram illustrating a hardware configuration example of the driving support system S.
  • the driving support system S includes a front camera 1, an imaging unit 2, and a display 3.
  • the front camera 1 corresponds to an image pickup unit, and uses, for example, a CCD image pickup device or the like to pick up a front image in the traveling direction of the vehicle and outputs a corresponding signal to a CPU (described later) of the imaging unit 2.
  • the front camera 1 continuously captures the front image at short time intervals, thereby capturing the front image in the form of a moving image.
  • the display 3 corresponds to an image display device and a forward image display means, and is composed of, for example, an LCD panel and has a function of displaying a forward image based on an image signal input from a graphic controller (described later) of the imaging unit 2. .
  • the imaging unit 2 corresponds to an image processing apparatus, and includes a CPU 11, a storage device 12, a navigation device 13, a vehicle speed sensor 14, and a graphic controller 15.
  • the CPU 11 has a function of controlling the entire driving support system by performing various calculations according to the operation of a predetermined program, and exchanging information with other units and outputting various control instructions.
  • the storage device 12 includes a ROM 12a, a RAM 12b, and a storage medium 12c.
  • the ROM 12a is an information storage medium in which various processing programs and other necessary information are written in advance.
  • the RAM 12b is an information storage medium on which information necessary for executing the various programs is written and read.
  • the storage medium 12c is a non-volatile information storage medium such as a flash memory or a hard disk.
  • the navigation device 13 corresponds to navigation means, uses a GPS sensor (not shown in particular) to measure the current location of the vehicle, obtains current location information, and obtains a predetermined route based on map information stored in advance. It has a function for searching and route guidance.
  • the vehicle speed sensor 14 has a function of detecting the traveling speed of the own vehicle (in other words, a function of detecting traveling). Based on the detection signal of the vehicle speed sensor 14, the CPU 11 can identify whether the vehicle is in a running state or in a stopped state.
  • the graphic controller 15 has a function of acquiring image data from a video RAM (not shown) and the navigation device 13 under the control of the CPU 11 and displaying an image signal based on the image data on the display 2.
  • FIG. 3 is a diagram showing an example of a vehicle window scenery viewed from the cab and a display on the display 3 corresponding thereto.
  • the display 3 is arranged at the center position of the instrument panel 102, the right side in the figure corresponds to the driver's seat, and the steering wheel 103 is arranged in front thereof. .
  • the vehicle V is traveling in a substantially straight traveling lane, and the vehicle V is following the front vehicle Vf that is in front of the traveling direction.
  • the room mirror 101 is slightly inclined toward the driver.
  • the front camera 1 provided on the back side (traveling direction side) of the room mirror 101 captures a forward image including the straight traveling lane and the forward vehicle Vf.
  • the imaging range of the front camera 1 includes the vehicle axis direction Dv of the vehicle V without removing it.
  • the display 3 displays a front image captured by the front camera 1.
  • the traveling lane is curved.
  • a method and a display example of such support display will be sequentially described.
  • FIG. 4 shows a display example when the front image taken by the front camera 1 in the posture state shown in FIG. 3 is displayed on the display 3.
  • the center position of the display area of the display 3 that is, the intersection position of the center lines Lv and Ll in the vertical direction and the horizontal direction in the figure is separated from the vehicle axis direction Dv.
  • the front image loses left-right symmetry with respect to the center line L1, and even if the actual driving lane changes to a right curve and a left curve with the same curvature, the front image is reflected with different curvatures (illustrated). (Omitted).
  • the front vehicle Vf is positioned substantially on the extension in the vehicle axial direction Dv.
  • a lane vanishing point P1 corresponding to an infinitely far point of the traveling lane is also located on the extension of the vehicle axial direction Dv when the traveling lane is linear.
  • the point in the position corresponding to the extension of the vehicle axial direction Dv in the front image is hereinafter referred to as a vehicle axial direction point.
  • a white line applied to both sides of an actual traveling lane, a boundary line between a road surface and a curb, or an edge part of an asphalt road is displayed as a front image. And is recognized as two lane contour lines Lr forming the contour of the travel lane. Then, the intersection of the two lane outlines Lr on the extension line in the vehicle traveling direction is detected as the lane vanishing point P1 on the front image.
  • the two lane outlines Lr are also recognized in accordance with the direction and curvature of the curve on the front image.
  • the two lane contours Lr are recognized with priority given to the curvature on the near side of the vehicle V.
  • an extension line of the curve is calculated with an approximate expression based on the curvature on the near side, and the position of the intersection is detected as the lane vanishing point P1.
  • the average vanishing point P2 located at the average position of the lane vanishing points P1 is statistically It approaches on the extension of the vehicle axial direction Dv. That is, the average vanishing point P2 can be regarded as equivalent to the vehicle axial direction point described above.
  • a vehicle mark Mv as shown in FIG. 6 is superimposed on the front vehicle Vf closest to the vehicle V in the front image and displayed on the display 3.
  • the vehicle mark Mv is a geometric pattern configured so that its center position can be easily seen.
  • the vehicle mark Mv includes a traveling direction mark Md that can rotate with respect to the center position.
  • This advancing direction mark Md corresponds to a mark image, and in the example shown in the figure, it has a shape in which only the vicinity of each vertex is left out of each side of the equilateral triangle.
  • Such a vehicle mark Mv is superimposed on the forward vehicle Vf in a manner as shown in FIG.
  • the CPU 11 of the imaging unit 2 recognizes the image portion of the forward vehicle Vf in the forward image and is positioned at the center position thereof.
  • a vehicle center point P3 is detected.
  • This forward vehicle center point P3 on the forward image is located on the traveling direction side of the vehicle V along the traveling lane with respect to the vehicle axial direction point (average vanishing point P2 in this example).
  • the point corresponding to the traveling direction along the traveling lane of the vehicle V in the front image is hereinafter referred to as a traveling direction point.
  • the CPU 11 of the imaging unit 2 detects a relative position deviation vector X of the traveling direction point with respect to the vehicle axial direction point. That is, in this example, a relative position deviation vector of the forward vehicle center point P3 with respect to the average vanishing point P2 is detected.
  • the direction and magnitude of the left-right direction component of the position deviation vector X can be considered to substantially correspond to the curve direction and curvature of the travel lane.
  • a vehicle mark Mv including a traveling direction mark Md that is rotated in accordance with the direction and magnitude of the horizontal component of the position deviation vector X is generated, and this vehicle mark Mv is generated at the front vehicle center point P3. Overlay the position.
  • each traveling direction mark Md is superimposed and displayed.
  • the rotation angle of each traveling direction mark Md is proportional to the magnitude of the horizontal component of the position deviation vector X.
  • FIG. 8 shows a display example on the display 3 of the front image in which such a vehicle mark Mv is superimposed on the position of the front vehicle center point P3.
  • the driver can more clearly see the presence of the forward vehicle Vf by the vehicle mark Mv.
  • steering the steering wheel 103 in accordance with the rotation angle of the traveling direction mark Md included in the vehicle mark Mv, steering corresponding to the curve direction and curvature in the actual traveling lane can be performed.
  • FIG. 9 is a flowchart showing the control contents executed by the CPU 11 of the imaging unit 2 in order to realize the operation mode described above. This flow is called and started to be executed at an appropriate time interval, for example, while the front camera 1 is capturing a front image in the form of a moving image while the vehicle is running.
  • step S5 the front camera 1 captures a front image.
  • step S10 the process proceeds to step S10, and the two lane contours Lr in the current traveling lane are recognized in the front image captured in step S5.
  • the procedure of this step S10 corresponds to a vehicle outline recognition means.
  • step S15 the process proceeds to step S15, and the lane vanishing point P1 in the current traveling lane is detected based on the two lane contours Lr recognized in step S10.
  • the procedure of step S15 corresponds to lane vanishing point detection means.
  • step S20 where the lane vanishing point P1 detected in step S15 is additionally recorded so as to be accumulated in the storage medium 12c.
  • step S25 the process proceeds to step S25, and all lane vanishing points P1 recorded in the storage medium 12c are read out.
  • step S30 the process proceeds to step S30, and the average vanishing point P2 located at the average position of all the lane vanishing points P1 read in step S25 is detected.
  • the procedure of step S30 corresponds to vehicle axial direction point detection means and average vanishing point detection means.
  • step S35 the process proceeds to step S35, and the image portion of the front vehicle Vf closest to the vehicle V on the same traveling lane as the vehicle V is recognized in the front image captured in step S5.
  • the procedure of this step S35 corresponds to a forward vehicle recognition means.
  • step S40 the center point of the image portion of the forward vehicle Vf detected in step S35, that is, the forward vehicle center point P3 is detected.
  • the procedure of step S40 corresponds to the traveling direction point detecting unit.
  • step S45 the process proceeds to step S45, and the relative position deviation vector X of the front vehicle center point P3 detected in step S40 is detected with respect to the average vanishing point P2 detected in step S30.
  • the procedure of step S45 corresponds to a position deviation detecting means.
  • step S50 where the left / right direction component of the position deviation vector X detected in step S45 is detected, and the vehicle mark Mv obtained by rotating the traveling direction mark Md in accordance with the direction and magnitude of the left / right direction component is detected. Generate.
  • step S55 the front image is processed so that the vehicle mark Mv generated in step S50 is superimposed on the position of the front vehicle center point P3 detected in step S40.
  • the procedure of step S50 and the procedure of step S55 correspond to the forward image processing means.
  • the CPU 11 transmits necessary data and commands to the graphic controller 15, and the actual processing is performed by the graphic controller 15.
  • step S60 the process proceeds to step S60, and the front image processed in step S55 is displayed on the display 3.
  • the CPU 11 transmits a command to the graphic controller 15 and causes the graphic controller 15 to output image data of the processed front image to the display 3. Then, this flow ends.
  • steps S35 to S40 may be executed, then steps S10 to S30 may be executed, and the processing after step S45 may be executed.
  • the imaging unit 2 provided in the driving support system S of the above-described embodiment, the front image obtained by capturing the front in the traveling direction of the vehicle V by the front camera 1 (corresponding to the imaging unit) mounted on the vehicle V.
  • an imaging unit 2 (corresponding to an image processing device) that performs processing by analyzing and processing the image content in the front image, in the traveling direction along the traveling lane of the vehicle V in the front image.
  • Traveling direction point detecting means for detecting a corresponding traveling direction point; vehicle axis direction point detecting means for detecting a vehicle axial direction point corresponding to the vehicle axial direction Dv of the vehicle V at that time in the forward image; A position deviation detecting means for detecting a relative position deviation vector X (corresponding to a position deviation) of the traveling direction point with respect to the vehicle axis direction point; In a display mode corresponding to the torque X having a front image processing unit for processing the forward image.
  • the position of the traveling direction point in the front image can be regarded as an approximate index position of the planned direction in which the vehicle V travels, and the position of the vehicle axial direction point in the front image is Can be regarded as an approximate index position in the direction in which is currently facing.
  • the direction and magnitude of the relative position deviation vector X of the traveling direction point with respect to the vehicle axis direction point can be considered to substantially correspond to the curve direction and curvature of the traveling lane in which the vehicle V is traveling. . Therefore, by processing the front image in a display mode corresponding to the position deviation vector X, it is possible to reflect the support display that correctly corresponds to the curvature of the curve of the traveling lane.
  • This image processing can be performed only by analyzing and processing the image content of the front image without being affected by the deviation between the imaging direction Dc of the front camera 1 and the vehicle axial direction Dv. As a result, even if there is a slight camera mounting error, it is possible to display support that correctly corresponds to the curvature of the curve of the traveling lane only by analyzing the front image.
  • the imaging unit 2 included in the driving support system S further includes a forward vehicle recognition unit that recognizes an image portion of the forward vehicle Vf in the travel lane of the vehicle V in the forward image.
  • the traveling direction point detecting means detects the traveling direction point in the image portion of the preceding vehicle Vf.
  • the front image processing means further superimposes a traveling direction mark Md (corresponding to a seal image) in a display mode reflecting predetermined information. Then, the front image is processed.
  • the driver can also recognize information that is usually difficult to see in the front image.
  • the entire vehicle mark Mv including the traveling direction mark Md is superimposed on the position of the forward vehicle center point P3, that is, on the image portion of the forward vehicle Vf.
  • the presence of the forward vehicle Vf can be clearly seen by the vehicle mark Mv, and the information by the progress mark Md can be recognized together with little movement of the viewpoint.
  • the present invention is not limited to this.
  • the vehicle mark Mv is disassembled into a part Mv1 including the traveling direction mark Md and a part Mv2 not including the traveling direction mark Md. May be displayed.
  • a portion Mv2 that does not include the traveling direction mark Md is superimposed on the image portion of the forward vehicle Vf, and a portion Mv1 that includes the traveling direction mark Md is disposed and superimposed at a fixed position on the upper left of the front image.
  • the presence of the forward vehicle Vf can be clearly seen by the portion Mv2
  • the traveling direction mark Md included in the portion Mv1 can be clearly displayed at a fixed position away from the forward vehicle Vf.
  • the front image processing means reflects the position deviation as the predetermined information in the display mode of the traveling direction mark Md.
  • the display 3 in the driving support system S of the above embodiment includes a front image display means for displaying the front image on which the traveling direction mark Md is superimposed by the front image processing means.
  • the contour of the traveling lane is formed 2 on the left and right sides of the traveling lane of the vehicle V in the front image.
  • Lane outline recognizing means for recognizing the two lane outlines Lr
  • lane vanishing point detecting means for detecting an intersection of the two lane outlines Lr on the extension line in the traveling direction as a lane vanishing point P1
  • Average vanishing point detecting means for detecting an average vanishing point P2 located at an average position of each of the plurality of lane vanishing points P1 detected in the past by the lane vanishing point detecting means, and detecting the vehicle axial direction point
  • the means detects the average vanishing point P2 as the vehicle axial direction point.
  • the lane vanishing point P1 is detected by various traveling lanes, and the average vanishing point P2 at the average position thereof is detected as the vehicle axial direction point, but the present invention is not limited to this.
  • the navigation device 13 of the imaging unit 2 is used to detect that the vehicle V is traveling in a substantially straight traveling lane at that time, the lane disappearance detected in the front image captured by the front camera 1 is detected. You may detect the point P1 as a vehicle axial direction point.
  • the contour of the traveling lane is located on both the left and right sides of the traveling lane of the vehicle V.
  • Lane lane line recognizing means for recognizing the two lane line contours Lr forming the lane line, and a lane disappearance inspection for detecting, as a lane vanishing point P1, an intersection of the two lane line contours Lr on the extension line in the traveling direction.
  • the lane vanishing point detecting means detects the lane vanishing point P1 in a front image captured by the front camera 1 when the vehicle V has traveled in a substantially straight traveling lane in the past. Then, the vehicle axis direction point detection means may detect the lane vanishing point P1 as the vehicle axis direction point.
  • the navigation device capable of acquiring current position information and map information where the vehicle V is located at that time. 13 (corresponding to navigation means), and the lane vanishing point detection means detects that the vehicle V is traveling on the substantially straight traveling lane at that time by the navigation device 13. You may detect the said lane vanishing point P1 in the front image which the front camera 1 imaged.
  • the front vehicle center point P3 is applied to the traveling direction point and the average vanishing point P2 is applied to the vehicle axial direction point to detect the position deviation vector X.
  • the present invention is not limited to this. .
  • the lane vanishing point P1 is applied to the traveling direction point and the average vanishing point P2 is applied to the vehicle axial direction point to detect the position deviation vector X.
  • a support display that correctly corresponds to the curvature of the curve of the traveling lane can be reflected in the front image as in the above embodiment.
  • the contour of the traveling lane is defined on both the left and right sides of the traveling lane of the vehicle V.
  • Lane lane line recognizing means for recognizing the two lane line contours Lr to be formed, and lane vanishing point detection for detecting the intersection point of each of the two lane contour lines Lr on the extension line in the traveling direction as the lane vanishing point P1
  • the traveling direction point detecting unit may detect the lane vanishing point P1 as the traveling direction point.
  • the lane vanishing point P1 is applied to the traveling direction point, and the forward vehicle center point P3 is applied to the vehicle axial direction point. Even when X is detected, a support display that correctly corresponds to the curvature of the curve of the traveling lane can be reflected in the front image as in the above embodiment.
  • the average center point P4 located at the average position of the point P3 is also statistically close to the extension in the vehicle axial direction Dv. That is, the average center point P4 can be regarded as equivalent to the vehicle axial direction point described above.
  • the forward vehicle center point P3 is applied to the traveling direction point, and the average center point P4 is applied to the vehicle axial direction point to thereby obtain the position deviation vector X.
  • the support display that correctly corresponds to the curvature of the curve of the traveling lane can be reflected in the front image as in the above embodiment.
  • the lane vanishing point P1 is applied to the traveling direction point
  • the average center point P4 is applied to the vehicle axial direction point
  • the position deviation vector X Even when detected, the support display that correctly corresponds to the curvature of the curve of the traveling lane can be reflected in the front image as in the above embodiment.

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  • General Physics & Mathematics (AREA)
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  • Computer Vision & Pattern Recognition (AREA)
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  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
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Abstract

L'invention a pour but d'obtenir un affichage d'aide correspondant exactement au tracé de la courbe d'une voie de circulation, uniquement grâce à l'analyse d'une image d'une vue avant, et ce même en cas d'erreur dans la mise en place de la caméra. Dans une image d'une vue avant prise par une caméra avant (1), un point de la direction de progression (P3) correspondant à la direction de la progression d'un véhicule (V) sur la voie de circulation et un point de la direction de l'axe du véhicule (P2) correspondant à la direction de l'axe du véhicule au moment de la détermination du point de la direction de progression sont détectés. La direction et l'importance de la composante de direction gauche-droite du vecteur d'écart de position relative (X) du point de la direction de progression (P3) par rapport au point de la direction de l'axe du véhicule (P2) sont censées correspondre approximativement à la direction et au tracé de la courbe de la voie de circulation empruntée par le véhicule (V). Un repère de direction de progression (Md) est généré au moyen de la direction et de l'angle de rotation correspondant à la direction et à l'importance de la composante de direction gauche-droite du vecteur d'écart de position (X), et, grâce à la superposition de ce repère sur un véhicule avant dans l'image de la vue avant, il est possible d'obtenir un affichage d'aide correspondant exactement au tracé de la courbe de la voie de circulation.
PCT/JP2011/058073 2011-03-30 2011-03-30 Dispositif de traitement d'image et dispositif d'affichage d'image WO2012131947A1 (fr)

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JP2013506951A JP5636493B2 (ja) 2011-03-30 2011-03-30 画像処理装置、及び画像表示装置

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JP2016159780A (ja) * 2015-03-02 2016-09-05 パイオニア株式会社 撮影装置、制御方法、プログラム及び記憶媒体
CN106682563A (zh) * 2015-11-05 2017-05-17 腾讯科技（深圳）有限公司 一种车道线检测自适应调整方法及装置
CN107657607A (zh) * 2017-09-21 2018-02-02 北京牡丹电子集团有限责任公司数字电视技术中心 一种测试追踪位置误差的方法和系统
CN108515927A (zh) * 2017-01-16 2018-09-11 王忠亮 设置具有面部识别功能的移动支付装置的车辆
JP2020053083A (ja) * 2019-12-06 2020-04-02 パイオニア株式会社 撮影装置、制御方法、プログラム及び記憶媒体

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