WO2015170439A1 - Vehicle-mounted calibration device - Google Patents

Abstract

A vehicle-mounted calibration device provided with a calibration processing unit (111), a parameter storage unit (12), and a parameter transmission unit (112) is provided. The calibration processing unit, using a parameter representing a reference for the installed position of an imaging device (2) for capturing an image around a vehicle (1) as a reference parameter, and a parameter representing the actual installed position of the imaging device as an actual parameter, computes an error amount (e) with respect to the reference parameter, and performs a calibration process for computing the actual parameter on the basis of the error amount. The parameter storage unit stores at least one of the error amount and the actual parameter as a calibration parameter. The parameter transmission unit transmits the calibration parameter stored in the parameter storage unit (12) to an external device.

Description

In-vehicle calibration device Cross-reference of related applications

This application is based on Japanese Patent Application No. 2014-97931 filed on May 9, 2014, the disclosure of which is incorporated herein by reference.

This disclosure relates to an in-vehicle calibration apparatus.

Conventionally, after mounting an imaging device on a vehicle, a calibration process for calibrating a parameter representing the mounting position of the imaging device is performed. As an example of the calibration process, the result of photographing an index existing around the vehicle by an upper camera installed above the vehicle is compared with the result of photographing the index by an imaging device mounted on the vehicle, and the parameter Some are automatically calibrated. Then, the calibrated parameters are stored in the control device of the imaging device mounted on the vehicle.

JP 2007-261463 A

However, if the control device breaks down due to a short circuit or the like and the control device is replaced, the calibrated parameters will be lost. Therefore, in this case, the inventor of the present application has newly found that it is necessary to perform the calibration process again in spite of the fact that the parameter has not changed, which is very time-consuming.

The present disclosure has been made in view of the above, and an object of the present disclosure is to provide an in-vehicle calibration device that does not need to perform calibration processing again even when the control device is replaced when there is no change in the parameters. is there.

An in-vehicle calibration apparatus according to an example of the present disclosure uses a parameter that represents a reference of the mounting position of an imaging device that captures the periphery of the host vehicle as a reference parameter, and a parameter that represents an actual mounting position of the imaging device as an actual parameter. , An in-vehicle calibration apparatus including a calibration processing unit that performs a calibration process for calculating a deviation amount with respect to a reference parameter and calculating an actual parameter based on the deviation amount, wherein at least one of the deviation amount and the actual parameter is a calibration parameter And a parameter transmission unit that transmits the calibration parameters stored in the parameter storage unit to the external device.

According to such a configuration, the external device can receive and store the calibration parameter transmitted from the in-vehicle calibration device. Therefore, even if the in-vehicle calibration device fails and the in-vehicle calibration device is replaced, the new in-vehicle calibration device can acquire calibration parameters from an external device. Therefore, the new in-vehicle calibration device does not need to perform the calibration process again.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. In the attached drawings
FIG. 1 is a diagram illustrating a relationship between the host vehicle and the imaging device in the first embodiment. FIG. 2 is a diagram for explaining attachment parameters of the imaging device in the first embodiment. FIG. 3 is a diagram illustrating a relationship between the in-vehicle calibration device and the external device in the first embodiment. FIG. 4 is a diagram illustrating how the calibration process is performed in the first embodiment. FIG. 5 is a diagram for explaining an example of a specific state of the calibration process in the first embodiment. FIG. 6 is a diagram for explaining the flow of processing performed by the in-vehicle calibration device according to the first embodiment. FIG. 7 is a diagram for explaining a flow of processing performed by the in-vehicle calibration device according to the second embodiment.

Hereinafter, a plurality of embodiments will be described with reference to the drawings. In each embodiment, portions corresponding to the matters described in the preceding embodiment may be denoted by the same reference numerals and redundant description may be omitted. In each embodiment, when only a part of the configuration is described, the other configurations described above can be applied to other portions of the configuration.

(First embodiment)
FIG. 1 shows a state in which an imaging device in which calibration processing is performed by an in-vehicle calibration device according to the present embodiment is mounted on a vehicle. In the present embodiment, a CCD camera is used as the imaging device.

In the present embodiment, the imaging devices are attached to a plurality of locations of the vehicle. Specifically, the front camera 21 is provided in the front part of the own vehicle 1 which is the traveling direction side of the own vehicle 1. And the light camera 22 is provided in the right part of the own vehicle 1 which is the right side with respect to the advancing direction of the own vehicle 1. FIG. Also, a left camera 23 is provided on the left side of the host vehicle 1 that is on the left side with respect to the traveling direction of the host vehicle 1. And a rear camera is provided in the rear part of the own vehicle 1 which is the opposite side to the advancing direction of the own vehicle 1, respectively.

The front camera 21 photographs the front of the vehicle 1. The light camera 22 photographs the right side of the host vehicle 1. The left camera 23 photographs the left side of the host vehicle 1. The rear camera 24 photographs the back of the host vehicle 1. In the present embodiment, the front camera 21, the right camera 22, the left camera 23, and the rear camera 24 are collectively referred to as the imaging device 2.

Each camera of the imaging device 2 is installed with respect to the own vehicle 1 with an actual parameter which is a parameter of an actual mounting position. As shown in FIG. 2, the actual parameters will be described by taking the relationship between the host vehicle 1 and the rear camera 24 as an example.

The camera coordinate system (x, y, z) is set with the reference position of the rear camera 24 as the origin R. For the camera coordinate system (x, y, z), the rotation angle around the x axis is the pitch angle, the rotation angle around the y axis is the roll angle, and the yaw angle around the z axis. At this time, when the rear camera 24 is attached without deviation with respect to the origin R, the reference parameter, which is the attachment position reference parameter, is (x, y, z) = (0, 0, 0). Similarly, the reference parameters are (pitch angle, roll angle, yaw angle) = (0, 0, 0). However, in reality, it is difficult to accurately attach the camera to the origin R, and the camera is attached in a state where a deviation amount occurs with respect to the origin R. When an image is acquired from a camera in which a shift amount has occurred, a defect such as tilting of the image occurs. Therefore, a calibration process for adjusting the amount of deviation is performed. When the calibration process is performed and the actual parameters are obtained, it is possible to eliminate deficiencies in the image.

FIG. 3 is a block diagram showing the relationship between the in-vehicle calibration device and the external device in the present embodiment.

In the present embodiment, the in-vehicle calibration device is the ECU 10, and the external device is the SD card 32. The ECU 10 is supplied with power from the battery 33. The ECU 10 is connected to the imaging device 2 and the display device 30 by a controller area network (hereinafter, CAN (registered trademark)) 40. Further, the ECU 10 is provided with an SD card insertion slot. The ECU 10 and the SD card 32 are connected.

Therefore, the ECU 10 acquires an image from the imaging device 2. In addition, the ECU 10 outputs an image signal to the display device 30. In addition, the ECU 10 transmits an image to the SD card 32.

The display device 30 has a display such as a liquid crystal display and a control unit. Therefore, the control unit receives an image signal from the ECU 10 and displays an image corresponding to the received image signal on the display.

The image displayed by the display device 30 in the present embodiment is a bird's-eye image that is an image of a specific direction of the host vehicle 1 or an image of the surroundings of the host vehicle 1 viewed from an upper viewpoint. The bird's-eye view image is generated by the ECU 10. Specifically, the ECU 10 combines the images acquired from the cameras of the imaging device 2. At this time, the ECU 10 appropriately performs image processing such as eliminating distortion in the synthesized bird's-eye view image.

The SD card 32 is detachable from the ECU 10 and can be used to display an image written by the ECU 10 on another device such as a computer. Further, an insertion port provided in the ECU 10 for mounting the SD card 32 is exposed on the instrument panel side of the host vehicle. Therefore, the occupant of the host vehicle 1 can easily remove the SD card 32.

Next, the ECU 10 will be described. The ECU 10 includes a CPU 11, an internal memory 12, and a printed wiring board 13.

The internal memory 12 is composed of a nonvolatile memory. In the present embodiment, the parameter storage unit corresponds to the internal memory 12. Further, the internal memory 12 holds a reference image obtained by photographing a predetermined index with the imaging device 2 attached to the host vehicle 1 with reference parameters.

The CPU 11 performs various processes in accordance with a program stored in a memory (not shown) in the ECU 10. The CPU 11 plays a role of a calibration processing unit 111, a parameter transmission unit 112, an image acquisition unit 113, an image transmission unit 114, an identification information acquisition unit 115, and a parameter acquisition unit 116.

The calibration processing unit 111 performs a calibration process that is a process of calculating an actual parameter that is an actual mounting position parameter of the imaging apparatus 2. Specifically, the calibration processing unit 111 compares an image obtained by photographing a predetermined index with the reference image stored in the internal memory 12 by the imaging device 2 attached to the host vehicle 1 with actual parameters. . Then, the calibration processing unit 111 compares the coordinates of arbitrary points in each image and calculates a deviation amount. And the calibration process part 111 performs the calibration process which calculates the actual parameter of each camera based on this deviation | shift amount. Details of the calibration processing performed by the calibration processing unit 111 will be described later. In addition, the CPU 11 writes calibration parameters that are actual parameters in the internal memory 12.

The parameter transmission unit 112 transmits calibration parameters, which are actual parameters after calibration, to the SD card 32. For this reason, calibration parameters, which are actual parameters, are stored in a plurality of locations in the internal memory 12 and the SD card 32. Therefore, even if the ECU 10 breaks down due to a short circuit or the like and the ECU 10 is replaced, the new ECU 10 can acquire the calibration parameters from the SD card 32. That is, the ECU 10 does not need to perform the calibration process again.

The image acquisition unit 113 acquires an image from each camera of the imaging device 2. Then, the image transmission unit 114 transmits the image acquired by the image acquisition unit 113 to the SD card 32. In this way, the image and the calibration parameters are transmitted to the SD card 32 and stored. That is, the calibration parameters are stored in the SD card 32 which is a storage area used for storing images.

The identification information acquisition unit 115 acquires identification information that is information for identifying the host vehicle 1 and other vehicles. The identification information is a unique ID of the vehicle, a license plate, a vehicle inspection number, or the like. Moreover, the identification information acquisition part 115 acquires vehicle information with identification information. The type of vehicle information includes the color of the vehicle, the shape of the vehicle, and the like. Then, the parameter transmission unit 112 associates the calibration parameter with the identification information and transmits it to the SD card 32. The parameter transmission unit 112 also transmits vehicle information. Therefore, it is specified which vehicle the calibration parameter stored in the SD card 32 is. In addition, vehicle information is used when producing | generating the pseudo | simulation image of the own vehicle 1 displayed on a bird's-eye view image. For this reason, since the vehicle displayed on the bird's-eye view image is similar to the characteristics of the host vehicle 1, there is no sense of discomfort for the user.

The parameter acquisition unit 116 acquires calibration parameters and identification information from the internal memory 12 and the SD card 32. And CPU11 can take the consistency of calibration parameters by comparing each calibration parameter.

The printed wiring board 13 is made of resin or the like. A CPU 11 and an internal memory 12 are provided on the printed wiring board 13. That is, the parameter transmission unit 112 transmits the calibration parameters to the SD card 32 that is different from the printed wiring board 13. That is, the received calibration parameter is stored in the SD card 32.

Next, the manner in which the in-vehicle calibration apparatus according to this embodiment performs a calibration process will be described with reference to FIGS. FIG. 4 shows a state in which each camera is taking an image for the ECU 10 to perform a calibration process. A painted indicator 35 is provided on the ground around the host vehicle 1.

First, the person in charge 37 in charge of the calibration process connects the diagnosis tool 36 to the ECU 10. Then, ECU10 starts the preparation for performing a calibration process. Next, each camera takes a picture of the painted index 35. Then, a total of four images are taken.

Next, how the camera is calibrated using the captured image will be described with reference to FIG. FIG. 5 shows an image of the index 35 taken by the front camera 21 attached to the host vehicle 1 with actual parameters. An index 35 is displayed in the image. FIG. 5 shows an image in which the front camera 21 captures the index 35 when the front camera 21 is attached to the host vehicle 1 with reference parameters.

As described above, when the camera is actually attached, the actual parameter has a deviation amount compared to the reference parameter. And this deviation | shift amount affects the image which a camera image | photographs. For example, as shown in FIG. 5, a deviation amount e is generated between the actual image 35a captured by the front camera 21 attached with actual parameters and the reference image 35b captured by the front camera 21 attached with reference parameters. The calibration processing unit 111 can calculate the actual parameter based on the deviation amount between the images and the reference parameter. Such processing is repeated, and calibration processing is performed on each camera of the imaging apparatus 2.

As explained above, the calibration process requires a specific index or device, and is a very time-consuming operation. In this embodiment, the ECU 10 includes a parameter transmission unit 112 that transmits calibration parameters to an SD card 32 that is a device different from the ECU 10. That is, the calibration parameter is stored in addition to the ECU 10. Therefore, the new ECU 10 can acquire the calibration parameters from the SD card 32 even if the ECU 10 is replaced due to a failure or the like. Therefore, the calibration processing unit 111 in the new ECU 10 does not need to perform a calibration process that is very time-consuming.

Next, the flow of processing performed by the in-vehicle calibration apparatus according to this embodiment will be described with reference to FIG. When the power source of the ECU 10 is turned on, the process is started.

In step S110, the CPU 11 detects whether the SD card 32 is connected. If the SD card 32 is connected, the process proceeds to step S111, and if not, the process ends. Thus, when the SD card 32 is not connected, the ECU 10 cannot transmit the calibration parameter to the external device. Therefore, no processing is performed.

In step S111, the identification information acquisition unit 115 acquires the identification information of the host vehicle 1. Thereafter, the process proceeds to step S112. As described above, the identification information is a vehicle identification ID, a license plate, a vehicle inspection number, or the like. The identification information acquisition unit 115 also acquires vehicle information.

In step S112, the CPU 11 detects whether the SD card 32 already has identification information. If there is already identification information, the process proceeds to step S113; otherwise, the process proceeds to step S114.

In step S113, the CPU 11 compares the identification information acquired from the host vehicle 1 with the identification information acquired from the SD card 32. If the identification information matches, the process proceeds to step S114, and if not, the process ends. In this way, the CPU 11 detects whether the identification information matches. Therefore, the CPU 11 prevents the calibration parameter for the camera mounted on another vehicle from being changed by mistake.

In step S114, the parameter acquisition unit 116 tries to acquire the calibration parameter from the internal memory 12. If calibration parameters can be acquired from the internal memory 12, the process proceeds to step S118, and if not, the process proceeds to step S115.

In step S115, the parameter acquisition unit 116 attempts to acquire calibration parameters from the SD card 32. If calibration parameters can be acquired from the SD card 32, the process proceeds to step S116, and if not, the process proceeds to step S117.

In step S116, the CPU 11 writes the calibration parameter acquired from the SD card 32 into the internal memory 12. Thereafter, the process ends. The process of step S116 is performed when the calibration parameters are not stored in the internal memory 12 as when the ECU 10 is replaced. In such a case, the ECU 10 can acquire calibration parameters from the SD card 32. Therefore, even if the ECU 10 is replaced, the new ECU 10 does not need to perform the calibration process again.

In step S117, the CPU 11 notifies an error. Thereafter, the process ends.

In step S118, the CPU 11 detects whether the calibration parameter acquired from the internal memory 12 matches the calibration parameter acquired from the SD card 32. If they match, the process ends. Otherwise, the process proceeds to step S119. Further, when the calibration parameter is acquired from the internal memory 12 and the parameter acquisition unit 116 cannot acquire the calibration parameter from the SD card 32, the process proceeds to step S119.

In step S119, the parameter transmission unit 112 transmits the calibration parameter acquired from the internal memory 12 to the SD card 32 in association with the identification information of the host vehicle 1. Thereafter, the process ends.

When the process of step S119 is performed, the calibration parameter stored in the internal memory 12 has changed. That is, the diagnosis tool 36 is connected to the ECU 10 and the calibration processing unit 111 performs the calibration process again. In such a case, the CPU 11 transmits the calibration parameter after recalibration stored in the internal memory 12 to the SD card 32. For this reason, the calibration parameters after recalibration are stored in both the internal memory 12 and the SD card 32. Note that the case where the calibration process is performed again is when the camera once attached to the host vehicle 1 is greatly inclined due to vibration or the like.

Hereinafter, effects of the ECU 10 according to the first embodiment will be described.

The ECU 10 uses the parameters representing the mounting position of the imaging device 2 that captures the periphery of the host vehicle 1 as reference parameters, the parameters representing the actual mounting position of the imaging device 2 as actual parameters, and the ECU 10 The shift amount e is calculated. And ECU10 is provided with the calibration process part 111 which performs the calibration process which calculates an actual parameter based on deviation | shift amount e. The ECU 10 further includes an internal memory 12 that stores at least one of the deviation e and the actual parameter as a calibration parameter, and a parameter transmission unit 112 that transmits the calibration parameter stored in the internal memory 12 to the SD card 32. ing.

In this way, the calibration parameters transmitted from the ECU 10 can be stored in the SD card 32. Therefore, even if the ECU 10 breaks down and the ECU 10 is replaced, the new ECU 10 can acquire calibration parameters from the SD card 32. Therefore, the new ECU 10 does not need to perform the calibration process again.

ECU10 is provided with the image acquisition part 113 which acquires an image from the imaging device 2, and the image transmission part 114 which transmits the image which the image acquisition part 113 acquired to the SD card 32. FIG.

In this way, the calibration parameters are stored in the SD card 32, which is an image storage area. Therefore, the calibration parameters can be stored in a storage area different from the ECU 10 without securing a storage area for the calibration parameters.

Further, the ECU 10 includes an identification information acquisition unit 115 that acquires identification information of the host vehicle 1. Then, the parameter transmitting unit 112 transmits the identification information and the calibration parameter to the SD card 32 in association with each other.

In this way, even if the SD card 32 is mounted on the ECU 10 mounted on another vehicle, it is possible to prevent the calibration parameter of the own vehicle 1 from being overwritten by the calibration parameter of the other vehicle.

Further, the ECU 10 includes a parameter acquisition unit 116 that acquires calibration parameters from the internal memory 12 and the SD card 32. When the calibration parameter acquired by the parameter acquisition unit 116 from the SD card 32 and the calibration parameter acquired by the parameter acquisition unit 116 from the internal memory 12 are different, the following processing is performed. The parameter transmission unit 112 transmits the calibration parameter acquired from the internal memory 12 to the SD card 32.

In this way, even if the calibration process is performed again and the calibration parameters stored in the internal memory 12 are changed, the changed calibration parameters are stored in both the internal memory 12 and the SD card 32. .

If no calibration parameter is stored in the internal memory 12, the calibration parameter acquired from the SD card 32 by the parameter acquisition unit 116 is stored in the internal memory 12.

In this way, even if the ECU 10 is replaced when the ECU 10 fails, the new ECU 10 can hold the calibration parameters in the internal memory 12 without performing the calibration process again.

(Second Embodiment)
In the first embodiment, the CPU 11 determines whether to write the calibration parameter in the internal memory 12 based on a predetermined condition. On the other hand, the CPU 11 in the present embodiment detects whether the person in charge 37 has operated the restoration function of the diagnostic tool 36 connected to the ECU 10. Then, based on whether the person in charge 37 has operated the restoration function, the CPU 11 determines whether or not to write the calibration parameter to the internal memory 12.

In the first embodiment, the CPU 11 determines whether to transmit the calibration parameter to the SD card 32 based on a predetermined condition. In contrast, in the present embodiment, the CPU 11 detects whether the person in charge 37 has operated the storage function of the diagnostic tool 36. Then, based on whether the person in charge 37 has operated the storage function, the CPU 11 determines whether to transmit the calibration parameter to the SD card 32.

In the first embodiment, the process in which the CPU 11 writes the calibration parameters to the internal memory 12 and the process in which the CPU 11 transmits the calibration parameters to the SD card 32 are performed when the ECU 10 is turned on. On the other hand, in the present embodiment, when the storage function or the restoration function is operated, the CPU 11 performs a process of writing to the internal memory 12 or a process of transmitting to the SD card 32. The configuration of the in-vehicle calibration apparatus and the calibration processing method in the present embodiment are the same as those in the first embodiment described with reference to FIGS.

FIG. 7 is a flowchart for explaining the flow of processing performed by the in-vehicle calibration device according to the second embodiment. Currently, a diagnostic tool 36 is connected to the ECU 10.

In step S210, the CPU 11 detects whether the person in charge 37 has operated the storage function of the diagnostic tool 36. If the save function is operated, the process proceeds to step S211; otherwise, the process proceeds to step S212.

In step S211, the parameter transmission unit 112 associates the calibration parameter acquired from the internal memory 12 with the identification information of the host vehicle 1 acquired by the identification information acquisition unit 115, and transmits it to the SD card 32. Thereafter, the process ends. As described above, when the saving function of the diagnostic tool 36 is operated, the CPU 11 transmits the calibration parameters stored in the internal memory 12 to the SD card 32. That is, the SD card 32 stores calibration parameters.

In step S212, the CPU 11 detects whether the restoration function of the diagnosis tool 36 has been operated. If the restoration function is operated, the process proceeds to step S213, and if not, the process ends.

In step S213, the parameter acquisition unit 116 acquires calibration parameters from the SD card 32. Then, the CPU 11 writes the acquired calibration parameter in the internal memory 12. As described above, when the restoration function of the diagnosis tool 36 is operated, the CPU 11 writes the calibration parameters stored in the SD card 32 into the internal memory 12.

As described above, according to the present embodiment, the calibration parameters are stored in both the internal memory 12 and the SD card 32. Therefore, the same effect as the first embodiment can be obtained.

(Other embodiments)
As mentioned above, although illustrated about embodiment, embodiment is not restrict | limited to each embodiment mentioned above at all, Embodiment also variously deformed so that it may illustrate below is included. In addition, not only combinations of parts that clearly show that combinations are possible in each embodiment, but also combinations of embodiments even if they are not clearly indicated unless there is a problem with the combination. It is also possible.

The ECU 10 in the above embodiment does not transmit the calibration parameter of the host vehicle 1 to the SD card 32 when the identification information and calibration parameters of another vehicle are already stored in the SD card 32. In another embodiment, for example, assuming that the free capacity size of the SD card 32 is large, the ECU 10 may be configured as follows. Regardless of whether other in-vehicle calibration parameters are stored in the SD card 32, the ECU 10 transmits the identification information of the host vehicle 1 and the calibration parameters in association with each other. If it does in this way, the calibration parameter of a plurality of vehicles will be memorized by SD card 32. Further, since the identification information of each vehicle and the calibration parameter are stored in the SD card 32 in association with each other, the ECU 10 can easily specify the calibration parameter for the host vehicle 1. Moreover, in the said embodiment, although the calibration process part 111 and the parameter transmission part 112 are processed by the same CPU11, you may make it provide with several CPU in ECU10 and perform by separate CPU.

In the above embodiment, the actual parameter is the calibration parameter, but the deviation e may be the calibration parameter. In such a case, the reference parameter and the shift amount e are stored in the internal memory 12 or the SD card 32. In the case of such a configuration, when the CPU 11 acquires an image from the imaging device 2, the CPU 11 needs to temporarily calculate an actual parameter based on the deviation amount e and the reference parameter.

Further, although the external device in the above embodiment is the SD card 32, a server that allows the ECU 10 to transmit and receive using the wireless communication function may be used as the external device.

In the above embodiment, the front camera 21, the right camera 22, the left camera 23, and the rear camera 24 are provided in the vehicle, but the in-vehicle calibration device may be used for a single camera.

In the above-described embodiment, the actual parameters are calculated by performing the calibration process for all parameters (x, y, z) and parameters (pitch angle, roll angle, yaw angle). On the other hand, the calibration process may not be performed on all these parameters, but the calibration process may be performed on at least one parameter. For example, calibration processing is performed on the pitch angle so that the pitch angle deviation amount and actual parameters are stored in the internal memory 12 and the SD card 32.

In the above embodiment, the processing performed when the ECU 10 is powered on may be performed when the ECU 10 is powered off or immediately after the calibration processing is performed.

In the above embodiment, the ECU 10 transmits calibration parameters to the SD card 32. However, the embodiment is not limited to the above embodiment, and the ECU 10 may transmit the calibration parameter to an external device different from the SD card 32.

In the above embodiment, the display device 30 and the SD card 32 are mounted on the host vehicle 1, and the ECU 10 transmits an image to each device. However, the present invention is not limited to the above embodiment, and the ECU 10 can also be applied to the case where either the display device 30 or the SD card 32 is mounted on the host vehicle 1.

Specifically, it is assumed that the SD card 32 is not mounted on the host vehicle 1 but the display device 30 is mounted. In such a case, the ECU 10 only needs to have at least a function of generating an image for periphery monitoring. In this case, the ECU 10 may transmit the calibration parameter stored in the internal memory 12 to the display device 30 or to another external device.

Further, it is assumed that the display device 30 is not mounted on the host vehicle 1 but the SD card 32 is mounted. In such a case, the ECU 10 only needs to have at least a function for generating an image that is intended for use stored in the SD card 32. In such a case, the ECU 10 may transmit the calibration parameter stored in the internal memory 12 to the SD card 32 or to another external device.

Furthermore, the ECU 10 can be applied even when the display device 30 and the SD card 32 are not mounted on the host vehicle 1. In such a case, the ECU 10 may transmit the calibration parameter to another ECU or a memory mounted on the host vehicle 1.

Claims (5)

1. A parameter representing the reference of the mounting position of the imaging device (2) that images the periphery of the host vehicle (1) is a reference parameter, and a parameter representing the actual mounting position of the imaging device is an actual parameter,
   An in-vehicle calibration device (10) including a calibration processing unit (111) that calculates a deviation amount (e) with respect to the reference parameter and performs a calibration process for calculating the actual parameter based on the deviation amount,
   A parameter storage unit (12) that stores at least one of the deviation amount and the actual parameter as a calibration parameter, and a parameter transmission unit (12) that transmits the calibration parameter stored in the parameter storage unit to an external device (32). 112).
2. An image acquisition unit (113) for acquiring an image from the imaging device;
   The in-vehicle calibration device according to claim 1, further comprising an image transmission unit (114) that transmits an image acquired by the image acquisition unit to the external device.
3. An identification information acquisition unit (115) for acquiring identification information of the host vehicle;
   The on-vehicle calibration device according to claim 1, wherein the parameter transmission unit is configured to transmit the identification information and the calibration parameter in association with each other to the external device.
4. A parameter acquisition unit (116) for acquiring the calibration parameters from the parameter storage unit and the external device;
   When the calibration parameter acquired by the parameter acquisition unit from the external device is different from the calibration parameter acquired by the parameter acquisition unit from the parameter storage unit, the parameter transmission unit is acquired from the parameter storage unit. The in-vehicle calibration device according to any one of claims 1 to 3, wherein the calibration parameter is configured to transmit a calibration parameter to the external device.
5. 5. The calibration parameter acquired from the external device by the parameter acquisition unit when the calibration parameter is not stored in the parameter storage unit is configured to be stored in the parameter storage unit. The on-vehicle calibration device described.

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