WO2014010179A1 - Dispositif d'assistance de champ de vision destiné à un véhicule - Google Patents

Dispositif d'assistance de champ de vision destiné à un véhicule Download PDF

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Publication number
WO2014010179A1
WO2014010179A1 PCT/JP2013/003851 JP2013003851W WO2014010179A1 WO 2014010179 A1 WO2014010179 A1 WO 2014010179A1 JP 2013003851 W JP2013003851 W JP 2013003851W WO 2014010179 A1 WO2014010179 A1 WO 2014010179A1
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WIPO (PCT)
Prior art keywords
mask
vehicle
transmittance
image
end line
Prior art date
Application number
PCT/JP2013/003851
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English (en)
Japanese (ja)
Inventor
宗昭 松本
真和 竹市
田中　仁
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株式会社デンソー
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Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2014010179A1 publication Critical patent/WO2014010179A1/fr

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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
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source

Definitions

  • the present disclosure relates to a vehicular visibility support device.
  • Patent Document 1 discloses a technique for acquiring a captured image from an in-vehicle camera that captures the periphery of a vehicle and displaying a mask transparently on the acquired captured image.
  • the risk prediction region is emphasized by transparently superimposing a mask outside the risk prediction region, and the transmittance is changed according to the risk level of the risk prediction region, the vehicle speed of the host vehicle, and the like. I am letting.
  • the present disclosure relates to a technique for acquiring a captured image from an in-vehicle camera that captures the surroundings of a vehicle, and transparently displaying a mask on the acquired captured image of a light emitter around a road (for example, a lighting device attached to a building).
  • the purpose is to reduce the possibility that the driver of the vehicle will be dazzled by light.
  • an acquisition section that acquires a captured image from an in-vehicle camera that captures the surroundings of the vehicle, and a representative value of luminance in a predetermined detection region in the captured image is small.
  • a transmittance setting section for setting the transmittance as small as possible, a superposition section for superimposing the mask of transmittance on the mask area in the display image based on the acquired captured image, and the mask transparently superimposed on the mask
  • a display control section for displaying a display image on a display unit.
  • the vehicle vision support system is mounted on a vehicle and, as shown in FIG. 1, an in-vehicle camera 1, an ECU 2 (corresponding to an example of an Electronic Control Unit, a vehicle vision support device), and a display unit 3 It has.
  • the in-vehicle camera 1 is fixedly mounted in the vicinity of the rear end of the vehicle.
  • the vehicle-mounted camera 1 has a predetermined range behind the vehicle (for example, a range in which the driver can see with a normal room mirror). Images are taken repeatedly (for example, at a cycle of 1/30 seconds), and video signals of the captured images in the predetermined range obtained as a result of the shooting are sequentially output to the ECU 2.
  • the ECU 2 is configured to repeatedly input the above-described captured image from the in-vehicle camera 1 and repeatedly input vehicle speed information and shift range information from the vehicle. Then, the ECU 2 superimposes a gradation mask on the captured image input from the in-vehicle camera 1 and inputs the video signal of the captured image after superimposition to the display unit 3.
  • ECU2 may be a microcomputer provided with CPU, RAM, ROM, and I / O, for example.
  • the display unit 3 is a device that displays a photographed image represented by a video signal input from the ECU 2, and a position at which a driver in the vehicle can see the displayed photographed image (for example, a position of a room mirror, a dashboard) At the center of the door, the position of the door mirror, etc.).
  • each section is expressed as S100, for example.
  • each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section.
  • each section configured in this manner can be referred to as a device, module, or means.
  • ECU 2 (in other words, CPU) first activates the in-vehicle camera 1 in S110. Accordingly, the in-vehicle camera 1 repeatedly captures a predetermined range behind the vehicle, and sequentially outputs a video signal of a captured image in the predetermined range obtained as a result of the imaging to the ECU 2.
  • the ECU 2 starts to repeatedly execute the processes of S120 to S160.
  • vehicle speed information and shift position information are acquired from the vehicle as vehicle information.
  • the video signal of the latest photographed image is acquired from the in-vehicle camera 1.
  • Various corrections are performed on the captured image represented by the video signal, and the corrected captured image is used as a display image.
  • the correction includes trimming that cuts out and discards the top, bottom, left, and right edges of the photographed image, and distortion correction that corrects distortion.
  • the corrected display image corresponds to an example of a display image based on the captured image.
  • a specification of a mask image (hereinafter referred to as a gradation mask) is generated.
  • a gradation mask according to the generated specification is created, and the created gradation mask is applied to a mask target range in the display image. Is transparently superimposed on.
  • the gradation mask GM will be described with reference to FIG. 3, in S150, the ECU 2 uses the entire range from the predetermined mask lower end line ML to the mask upper end line MU in the display image 10 as a mask region, and the gradation mask GM having the same shape as the mask region. And the created gradation mask GM is transparently superimposed on the entire mask area.
  • the position of the mask upper end line MU coincides with the upper end of the display image.
  • the position of the mask bottom line ML is one of the specifications of the gradation mask, and is generated in S140.
  • “transparently superimpose” means that a portion of the image for display that is covered by the gradation mask GM (an image other than the gradation mask GM) is also superimposed so that the gradation mask GM can be seen through. That means.
  • the transmittance of the gradation mask GM is 100% (that is, total transmission) at the position of the mask lower end line ML, and monotonously decreases from the mask lower end line ML to the mask upper end line MU (for example, the primary distance from the mask upper end line). And the minimum transmittance becomes the position at the position of the mask upper end line MU.
  • the minimum transmittance is one of the specifications of the gradation mask, and is generated in S140.
  • the transmittance is 100% (total transmission) at the position of the mask lower end line ML is to smoothly change the display color from the end of the mask region to the portion adjacent to the mask region. If, for example, the transmittance is 80% at the position of the mask lower end line ML, a line appears between the mask region and the portion adjacent to the mask region.
  • the gradation mask GM itself is a black or gray single color image without a pattern.
  • the color is black or gray (so-called achromatic color).
  • a chromatic color such as red or blue
  • the color of a signboard or the like that is transmitted and displayed in the mask area is greatly different from the original color. This is because the driver may feel uncomfortable.
  • the video signal of the display image on which the gradation mask is transparently superimposed is input to the display unit 3.
  • the display unit 3 displays the display image on the driver.
  • the ECU 2 sets the position of the mask lower end line ML based on the vehicle speed acquired in the immediately preceding S120.
  • the default position of the mask lower end line ML is determined in advance and recorded in the ROM of the ECU 2 or the like.
  • This default position may be set, for example, to be parallel to the horizontal line shown in the display image and at the same height as the horizontal line when the host vehicle is on a horizontal road surface.
  • the position of the horizontal line in the display image is corrected when creating the display image from the specifications of the in-vehicle camera 1, the mounting position of the in-vehicle camera 1 on the vehicle, the mounting angle of the in-vehicle camera 1 on the vehicle, and the captured image. Can be specified in advance when the ECU 2 is attached to the vehicle.
  • this default position may be set to be parallel to the horizontal line shown in the display image and higher than the horizontal line when the host vehicle is on a horizontal road surface, for example.
  • the position in the display image that corresponds to the target position of 6 meters above the ground (the height of a general traffic light) at a point 100 meters away from the vehicle-mounted camera 1 in front of the vehicle is determined by the vehicle-mounted camera 1. If the specifications, the mounting position of the vehicle-mounted camera 1 on the vehicle, the mounting angle of the vehicle-mounted camera 1 on the vehicle, and the content of correction when creating the display image from the captured image are determined, the ECU 2 is mounted on the vehicle. Sometimes it can be specified in advance. Therefore, the position in the display image where the target position is reflected may be set in advance as the default position of the mask lower end line ML.
  • the position of the mask bottom line ML is set to a position offset upward from the default position in the display image, and the offset amount is increased as the vehicle speed decreases. That is, as the vehicle speed decreases, the position of the mask lower end line ML is increased.
  • the offset amount is set to zero.
  • the offset amount is increased as the vehicle speed decreases with a linear function of the vehicle speed, and when the vehicle speed is 0 km / h, The offset amount may be such that the mask lower end line ML coincides with the mask upper end line MU.
  • the reason why the mask area is narrowed as the vehicle speed is low is that the lower the vehicle speed, the higher the necessity of looking at the back. Also, the lower the vehicle speed, the smaller the inter-vehicle distance, and the lower the inter-vehicle distance, the higher the upper end position of the other vehicle (following vehicle) in the display image.
  • the detection area is a partial area in the mask area.
  • the representative value B of the luminance is a representative value based on the luminance distribution of all the pixels in the detection region, and may adopt an average value, a mode value, or a median value. May be.
  • the minimum transmittance (transmittance in the mask upper end line MU) is set based on the luminance representative value B calculated in the immediately preceding S143.
  • the minimum transmittance may be set as a linear function of the luminance representative value B.
  • the reason why the gradation mask GM is superimposed is to prevent the driver of the vehicle from being dazzled by a light emitter around the road (for example, a lighting device attached to a building).
  • the driver feels dazzling around the road around the road when the surroundings are dark, for example, at night. Under the bright daytime sky, even if the illuminants around the road shine brightly, it is unlikely that the driver will be dazzled by it.
  • the minimum transmittance set for the mask upper end line MU is reduced as the luminance representative value B is smaller (luminance is smaller as a whole) (transmission). Hard to do).
  • the transmittance of the region from the mask upper end line MU to the mask lower end line ML also changes (except for the mask lower end line ML itself). That is, if the minimum transmittance decreases, the transmittance of almost the entire mask region decreases. If the minimum transmittance increases, the transmittance of the entire mask region increases.
  • the minimum transmittance set in the mask upper end line MU when the surroundings of daytime are bright, not only at night, but in this case, the upper part of the display image is darkened by the gradation mask GM.
  • the driver who sees it may get the wrong impression, such as whether the sky is cloudy or raining, and the driver may feel uncomfortable without making a mistake is there.
  • the whole is bright during the daytime when the brightness is high as a whole, the effect of anti-glare can be achieved to some extent only by making the gradation mask GM dark.
  • the brightness is low as a whole, even if the brightness is greatly reduced by the gradation mask GM, there is not much discomfort.
  • the reason why the detection area is within the mask area is that it is desirable to set the transmittance of the gradation mask GM according to the luminance of the place where the gradation mask GM is superimposed. If the detection area is set outside the mask area, for example, on the road surface, the brightness of the road is likely to fluctuate due to headlights, etc., and the transmittance of the gradation mask GM changes rapidly, resulting in driver discomfort. May be given.
  • the transmittance of the gradation mask GM is determined based on the shift position acquired in the immediately preceding S120. At this time, the method for determining the transmittance differs depending on whether or not the shift position is reverse.
  • the minimum transmittance set in the immediately preceding S145 is set as the transmittance of the mask upper end line MU, the transmittance of the mask lower end line ML is set to 100%, and the transmittance of the mask area therebetween is set as the mask lower end. It is determined to monotonously decrease from the line ML to the mask upper end line MU (for example, linearly decrease with respect to the distance from the mask lower end line ML).
  • the transmittance of the entire gradation mask GM is set to 100% regardless of the setting content of S145. That is, the transmittance is set so as to produce the same effect as when the gradation mask GM is not superimposed. The reason for this is to make it easier to see the camera image by showing the entire display image showing the rear without superimposing the gradation mask GM when the vehicle moves backward.
  • a gradation mask GM is created according to the specifications (transmittance and shape) of the gradation mask GM determined as described above, and the created gradation mask GM is used as a mask area of the display image. Superimpose.
  • the transmittance at the mask upper end line MU in the mask area becomes the above minimum transmittance (for example, 70%), and the transmittance from the mask upper end line to the mask lower end line. Is increased, and superposition is performed by a known alpha blend process so that the transmittance becomes 100% at the mask lower end line ML.
  • the display image after the superimposition is displayed on the display unit 3.
  • FIG. 6 compares the display image 10 (left image) before the gradation mask GM is superimposed with the display image 10 (right image) after the gradation mask GM is superimposed.
  • the brightness of the light 20 at the upper right is weakened, so that the possibility that the driver is dazzled by the light 20 is reduced.
  • the ECU 2 sets a smaller transmittance as the representative value of the luminance in the predetermined detection area in the captured image is smaller.
  • the ECU 2 functions as an example of the acquisition section by executing S130, functions as an example of the lower end setting section by executing S141, and sets the transmittance by executing S145 and 147. It functions as an example of a section, functions as an example of a superposition section by executing S150, and functions as an example of a display control section by executing S160.
  • the gradation mask GM has a transmittance of 100% (total transmission) in the mask lower end line ML.
  • the transmittance of the gradation mask GM is other than 100% (for example, 80%) at the position of the mask lower end line ML. It may be.
  • the detection area is the luminance detection lines L1 to L3 in the mask area.
  • the detection area may be a pixel group selected at random in the mask area. The entire mask area may be used.
  • the detection region may be a region including a part inside the mask region and a part outside the mask region, or a part outside the mask region. It may be a region including only.
  • the color of the gradation mask GM is a black or gray achromatic color.
  • the color of the gradation mask GM may be a chromatic color.
  • the image obtained as a result of correcting the captured image acquired from the in-vehicle camera 1 is used as the display image, but the captured image acquired from the in-vehicle camera 1 is used as the display image as it is. Also good.
  • the gradation mask GM with non-uniform transmittance is illustrated as a mask to be superimposed on the mask area of the display image.
  • a mask with uniform transmittance is superimposed. It may be.
  • the uniform transmittance is reduced as the luminance representative values in the detection regions L1 to L3 are smaller, the driver of the host vehicle is caused by the light from the light emitter around the road.
  • the objective of the present disclosure is achieved to reduce the possibility of being dazzled.
  • photographs the predetermined range of the back of a vehicle
  • photography range of the vehicle-mounted camera 1 is not restricted to the back of a vehicle, Even in the front of a vehicle. It may be on the side.

Abstract

L'invention concerne une caméra montée sur véhicule (1) qui filme les alentours d'un véhicule. Un dispositif d'assistance de champ de vision (2) dans le véhicule acquiert une image capturée par la caméra montée sur véhicule (S130), règle une transparence proportionnelle à une valeur représentative pour la luminosité à l'intérieur d'une certaine zone de détection dans une image à afficher sur la base de l'image capturée (S145), recouvre un masque ayant la transparence d'une zone de masque dans l'image à afficher (S150), et affiche l'image à afficher sur laquelle le masque a été recouvert de manière transparente sur l'unité d'affichage (3) (S160). Par conséquent, la possibilité que le conducteur du véhicule soit ébloui par la lumière provenant d'un corps lumineux à proximité d'une route est réduite.
PCT/JP2013/003851 2012-07-12 2013-06-20 Dispositif d'assistance de champ de vision destiné à un véhicule WO2014010179A1 (fr)

Applications Claiming Priority (2)

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JP2012-156640 2012-07-12
JP2012156640A JP2014021543A (ja) 2012-07-12 2012-07-12 車両用視界支援装置および車両用視界支援プログラム

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2527091A (en) * 2014-06-11 2015-12-16 Nissan Motor Mfg Uk Ltd Anti-glare mirror

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017028349A (ja) * 2015-07-15 2017-02-02 株式会社デンソー 映像処理装置、運転支援表示システム、及び映像処理方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06105194A (ja) * 1992-09-16 1994-04-15 Murakami Kaimeidou:Kk 車載カメラ用オプトエレクトロニックフィルタ
JPH09214827A (ja) * 1996-02-02 1997-08-15 Mitsubishi Electric Corp 車載カメラ装置
WO2006114962A1 (fr) * 2005-04-20 2006-11-02 Autonetworks Technologies, Ltd. Systeme de camera sur vehicule
JP2010058631A (ja) * 2008-09-03 2010-03-18 Mazda Motor Corp 車両用情報表示装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06105194A (ja) * 1992-09-16 1994-04-15 Murakami Kaimeidou:Kk 車載カメラ用オプトエレクトロニックフィルタ
JPH09214827A (ja) * 1996-02-02 1997-08-15 Mitsubishi Electric Corp 車載カメラ装置
WO2006114962A1 (fr) * 2005-04-20 2006-11-02 Autonetworks Technologies, Ltd. Systeme de camera sur vehicule
JP2010058631A (ja) * 2008-09-03 2010-03-18 Mazda Motor Corp 車両用情報表示装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2527091A (en) * 2014-06-11 2015-12-16 Nissan Motor Mfg Uk Ltd Anti-glare mirror

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