WO2014068856A1 - 画像生成装置、および画像生成プログラム製品 - Google Patents

画像生成装置、および画像生成プログラム製品 Download PDF

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Publication number
WO2014068856A1
WO2014068856A1 PCT/JP2013/005993 JP2013005993W WO2014068856A1 WO 2014068856 A1 WO2014068856 A1 WO 2014068856A1 JP 2013005993 W JP2013005993 W JP 2013005993W WO 2014068856 A1 WO2014068856 A1 WO 2014068856A1
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WO
WIPO (PCT)
Prior art keywords
image
image generation
recorded
display
images
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2013/005993
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English (en)
French (fr)
Japanese (ja)
Inventor
博彦 柳川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Priority to CN201380056682.1A priority Critical patent/CN104756171A/zh
Priority to US14/426,471 priority patent/US20150217692A1/en
Publication of WO2014068856A1 publication Critical patent/WO2014068856A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B60R1/28—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 an adjustable field of view
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers
    • G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
    • 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
    • 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
    • B60R1/30—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 providing vision in the non-visible spectrum, e.g. night or infrared vision
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • H04N5/765—Interface circuits between an apparatus for recording and another apparatus
    • H04N5/77—Interface circuits between an apparatus for recording and another apparatus between a recording apparatus and a television camera
    • 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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • 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
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/106—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using night vision cameras
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • 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
    • 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
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • 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
    • B60R2300/8086—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 vehicle path indication
    • 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
    • B60R2300/8093—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 obstacle warning
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • the present disclosure relates to an image generation apparatus that generates an image based on information obtained from a plurality of imaging units, and an image generation program product.
  • An object of the present disclosure is to make it possible to use an image generation apparatus that generates an image based on information obtained from a plurality of imaging units and an image generation program product for both parking assistance and a drive recorder. It is.
  • an image generation device to include a display image generation section and a recorded image generation section as follows.
  • the display image generation section generates a display image to be displayed on the display unit from at least a part of the plurality of images.
  • the recording image generation section generates a recording image for recording that is different from the display image from at least a part of the plurality of images.
  • the image generation apparatus can be used for both parking assistance and the drive recorder function.
  • the display image and the recording image are temporarily the same, it is only necessary that the display image and the recording image have different periods. Further, at least one of the display image and the recorded image may be a composite of images obtained from a plurality of imaging units.
  • the computer may be an image generation program product stored in a computer-readable non-transition storage medium including instructions for causing a computer to function as each section constituting the image generation apparatus.
  • the descriptions in the claims can be arbitrarily combined as much as possible. At this time, a part of the configuration may be excluded as long as the disclosed object can be achieved.
  • FIG. 1 is a block diagram illustrating a schematic configuration of an image display system to which the present disclosure is applied. It is a flowchart which shows the image generation process which CPU of an image process part performs. It is a flowchart which shows the image selection process among image generation processes. It is explanatory drawing which shows an example of the combination of a display image and a recording image.
  • the image display system 1 to which the present disclosure is applied is mounted on a vehicle such as a passenger car, for example, and the mounted vehicle is referred to as a host vehicle or a target vehicle.
  • the system 1 has a function of generating a display image used for display and a recorded image used for recording based on a plurality of captured images.
  • the image display system 1 includes a plurality of cameras 31 to 35, an image processing unit 10, a display unit 41, and a recording unit 42.
  • a rear camera 31 having an imaging range behind the host vehicle
  • a left camera 32 and a right camera 33 having an imaging range on the left side and the right side of the host vehicle, respectively, and an imaging range on the front side of the host vehicle.
  • a front camera 34 and a night view camera 35 are provided.
  • the night view camera 35 has a substantially similar imaging range as the front camera 34, but has a function as a night vision camera unlike the front camera 34.
  • the imaging ranges of the rear camera 31, the left camera 32, the right camera 33, and the front camera 34 are partially overlapped, and a setting is made so that an image of the entire vehicle can be obtained by combining images from these cameras. Has been.
  • the display unit 41 is configured as a known display.
  • the display unit 41 displays the display image generated by the image processing unit 10.
  • the recording unit 42 is configured as a known recorder capable of recording an image.
  • the recording unit 42 records the recording image generated by the image processing unit 10.
  • the recording unit 42 can record an image for a predetermined time (for example, about 1 hour), and overwrites the image for the predetermined time in order from the oldest image after recording.
  • the image processing unit 10 is configured as a well-known computer including a CPU 11, a ROM 12, a RAM 13, and the like.
  • the CPU 11 of the image processing unit 10 performs various processes such as an image generation process to be described later based on a program (including an image generation program) recorded in the ROM 12 or the like.
  • the image processing unit 10 has functions as a situation estimation unit 21, an image input / conversion unit 22, a display image synthesis unit 23, and a recorded image synthesis unit 24 as processes executed by the CPU 11.
  • a situation estimation unit 21 information on a shift range (shift position), information on a vehicle speed, information on brightness around the vehicle by an illuminance sensor, information on operation by a user, and the like are obtained from various sensors provided in the host vehicle. Then, the driving state and driving environment of the host vehicle are estimated, and what kind of image is to be generated is selected.
  • an image necessary for generating these images is input based on the selection result of the images to be displayed or recorded, and the image when the host vehicle is viewed from the sky.
  • An image that needs to be processed is generated, such as a top view image or a rear panoramic image.
  • the top view image is an image obtained from a combination of images from a plurality of cameras 31 to 34 whose imaging range is the entire circumference of the host vehicle, and processing for obtaining this image is a well-known technique.
  • the rear panoramic image is an image having an imaging range from the side of the host vehicle to the rear by combining images captured by the rear camera 31, the left camera 32, and the right camera 33. Processing for obtaining this image Is also a well-known technique.
  • one or more images are selected from a plurality of images acquired or generated by the function of the image input / conversion unit 22, and displayed or recorded. Generate an image of The function of the display image synthesizing unit 23 outputs the generated image to the display unit 41, and the function of the recorded image synthesizing unit 24 outputs the generated image to the recording unit 42.
  • the image processing unit 10 (CPU 11) performs the image generation process shown in FIG.
  • the image generation process is a process that starts when the vehicle is turned on, for example.
  • each section is expressed as S110, 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.
  • each of the above sections or a combination thereof includes not only (i) a section of software combined with a hardware unit (eg, a computer), but also (ii) hardware (eg, an integrated circuit, As a section of (wiring logic circuit), it can be realized with or without the function of related devices.
  • the hardware section can be configured inside the microcomputer.
  • the image generation process As shown in FIG. 2, first, images captured by the cameras 31 to 35 are acquired (S110). Then, an image selection process is performed using the function as the situation estimation unit 21 (S130).
  • the image selection process is a process of setting an image mode to be generated according to the traveling state or traveling environment of the host vehicle.
  • the shift position is R (reverse) (S210). If the shift position is R (S210: YES), low speed running (or low speed handling) (reverse) is selected (S220), and the image selection process is terminated.
  • the shift position is not R (S210: NO)
  • “low speed” indicates that the host vehicle is traveling at a reduced speed for passing or parking, for example, indicating a state of less than 30 km / h.
  • S230: YES If the speed of the host vehicle is low (S230: YES), low speed running (or low speed handling) (forward) is selected (S240), and the image selection process is terminated. If the speed of the host vehicle is not low (S230: NO), it is determined whether or not the night view switch for using the headlight and the night view camera 35 is turned on (S250).
  • headlight and the night view camera 35 are turned on (S250: YES), medium / high speed driving (nighttime) is selected (S260), and the image selection process is terminated. If the headlight or night view camera 35 is off (S250: NO), medium / high speed running (daytime) is selected (S270), and the image selection process is terminated.
  • the process returns to FIG. 2 to synthesize the display image using the functions of the image input / conversion unit 22 and the display image synthesis unit 23 (S140), and the display image is displayed on the display unit 41. (S150). Further, the functions of the image input / conversion unit 22 and the recorded image combining unit 24 are used to combine the recorded images (S160) and output the recorded images to the recording unit 42 (S170).
  • the functions of the display image synthesis unit 23 and the recorded image synthesis unit 24 align the top view image and the image of the front camera 34. Generated images. Further, when low-speed running (forward) is selected in the image selection process, the functions of the display image synthesis unit 23 and the recorded image synthesis unit 24 generate an image in which the top view image and the rear camera 31 image are arranged. . When moving at low speed, it is preferable to move the vehicle while checking the direction of travel and the surroundings of the vehicle, so that the top view image and the image of the direction of travel are generated in this way to assist the driver and to record. .
  • the present embodiment when low-speed travel (forward) and low-speed travel (reverse) are selected, in the present embodiment, a description is given so as to generate similar images using the functions of the display image composition unit 23 and the recorded image composition unit 24.
  • an image different from the display image may be generated, for example, the ratio of the area occupied by the top view image included in the recording image is larger than that of the display image.
  • the processing load is reduced by adopting an image common to the image for the display image prepared by using the function of the image input / conversion unit 22 as the recording image.
  • the function of the display image composition unit 23 When medium / high speed driving (daytime) is selected in the image selection process, the function of the display image composition unit 23 generates a rear panorama image, and the function of the recorded image composition unit 24 is more than the rear panorama image.
  • An image in which the top view image with a wide angle of view (range displayed in the image) and the image of the front camera 34 are arranged is generated.
  • the function of the display image composition unit 23 when medium / high speed running (nighttime) is selected in the image selection process, the function of the display image composition unit 23 generates an original image obtained by acquiring the image from the night view camera 35 as it is, and a recorded image composition unit The 24 function generates an image in which the top view image and the image of the front camera 34 are arranged. At this time, the recorded image may be a top view image and an image by the night view camera 35.
  • the image processing unit 10 uses the function of the display image synthesis unit 23 to display a display image to be displayed on the display unit 41 from at least some of the plurality of images. Generate. Further, by using the function of the recording image synthesis unit 24, a recording image for recording different from the display image is generated from at least a part of the plurality of images.
  • the display image and the recorded image are generated separately, the display image can be used to assist parking and the recorded image can be recorded by the function of the drive recorder. . Therefore, the image display system 1 can be used for both parking assistance and the drive recorder function.
  • the image processing unit 10 In the image display system 1, the image processing unit 10 generates a recorded image having a wider area included in the image than the display image.
  • an image with a wider imaging range can be recorded as a captured image. Therefore, when the host vehicle collides with another object, the surrounding situation such as the approach direction of the other object can be recorded well.
  • the image processing unit 10 records an image including an original image (an image in which a part of the captured image is not deleted) obtained by directly capturing the captured image input from a certain camera 31 to 35. Generate as an image.
  • an image including an original image that uses the entire area included in the captured images from the cameras 31 to 35 is generated as a recorded image, so an image in which a wider range is captured is generated. be able to.
  • the image processing unit 10 generates a recorded image including an image in which the traveling direction of the host vehicle is captured.
  • the traveling direction of the host vehicle can be reliably included in the recorded image.
  • the image processing unit 10 changes the image mode to be generated according to the traveling state or traveling environment of the host vehicle.
  • Such an image processing unit 10 can generate an optimal image according to the traveling state or traveling environment of the host vehicle.
  • the image processing unit 10 In the image display system 1, the image processing unit 10 generates a recorded image including a plurality of images, and some of the plurality of images are at least part of the display image.
  • the image processing unit 10 generates a recorded image including a top view image.
  • the approach direction of the other object can be easily identified from the recorded image. can do.
  • Embodiments of the present disclosure are not limited to the above-described embodiments, and may take various forms as long as they belong to the technical scope of the present disclosure.
  • the processing of S140 to S150 and the processing of S160 to S170 are performed in parallel, but these processing may be performed in series.
  • the image to be used for recording may be changed according to the ambient brightness or the recognizability of a normal camera (front camera 34).
  • the image processing unit 10 in this embodiment is also referred to as an image generation device.
  • the cameras 31 to 35 in the present embodiment are also referred to as imaging units.
  • the display image synthesis unit 23 in the present embodiment can also be referred to as a display image generation section, device, or means.
  • the recorded image synthesis unit 24 in the present embodiment can also be referred to as a recorded image generation section, device, or means.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Time Recorders, Dirve Recorders, Access Control (AREA)
  • Image Processing (AREA)
PCT/JP2013/005993 2012-10-29 2013-10-08 画像生成装置、および画像生成プログラム製品 Ceased WO2014068856A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201380056682.1A CN104756171A (zh) 2012-10-29 2013-10-08 图像生成装置及图像生成程序产品
US14/426,471 US20150217692A1 (en) 2012-10-29 2013-10-08 Image generation apparatus and image generation program product

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012237922A JP2014089513A (ja) 2012-10-29 2012-10-29 画像生成装置、および画像生成プログラム
JP2012-237922 2012-10-29

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US (1) US20150217692A1 (enExample)
JP (1) JP2014089513A (enExample)
CN (1) CN104756171A (enExample)
WO (1) WO2014068856A1 (enExample)

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