WO2018135250A1

WO2018135250A1 - Camera device

Info

Publication number: WO2018135250A1
Application number: PCT/JP2017/046528
Authority: WO
Inventors: 衛大場
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2017-01-20
Filing date: 2017-12-26
Publication date: 2018-07-26
Also published as: JP6785882B2; JPWO2018135250A1

Abstract

The purpose of the present invention is to provide a camera device capable of ensuring local notification of the presence of the host vehicle in poor visibility conditions. This camera device 11 is a driving support camera device installed in a vehicle A11 having a notification means A2 for issuing a notification to the outside, and is characterized by being provided with: an imaging unit 110 for capturing images around the vehicle A11 and transmitting a function stop signal giving notification that an image distribution function has stopped upon determining that the captured images cannot be used for execution of driving support; an imaging state determination unit 210 for determining whether or not the stoppage of the function is caused by poor visibility on the basis of the function stop signal; and a notification signal output unit 310 for outputting a notification signal to the notification means A2 when the imaging state determination unit 210 determines that poor visibility is the cause of the stoppage of the function .

Description

Camera device

The present invention relates to a camera device.

For example, a driving technique is known in which a camera that captures the surroundings is mounted on an automobile, and an image obtained by the camera is analyzed to instruct various operations related to driving. In such a technique, it is required to realize appropriate driving assistance using an image suitable for providing assistance.

Under such circumstances, for example, when the field of view deteriorates due to bad weather such as heavy rain, heavy fog, snowstorm, etc., in order to prevent erroneous support due to poor visibility, the suitability of the obtained image is judged and the support is stopped as appropriate A technique is disclosed (for example, see Patent Document 1).

Also, a technique for actively notifying the surrounding vehicles of the presence of the own vehicle when a poor visibility occurs is disclosed (for example, see Patent Document 2). This technology recognizes illumination from another vehicle and determines the visibility state from the recognized state.

JP 2007-228448 A JP 2007-245970 A

However, in the conventional technology as described above, when the obtained image is not suitable for driving support, it is impossible to determine the visibility situation unless the support is stopped or there is no other vehicle.

The present invention has been made based on the circumstances as described above, and an object thereof is to provide a camera device capable of reliably informing the surroundings of the existence of the own vehicle when a poor visibility occurs. There is.

The present invention
(1) A camera device for driving assistance mounted on a vehicle having a notification means for performing notification to the outside,
An imaging unit that captures an image of the surroundings of the vehicle and transmits a function stop signal that notifies the function stop of the distribution of the image when it is determined that the captured image cannot be used for driving support;
Based on the function stop signal, an imaging state determination unit that determines whether the cause of the function stop is poor visibility,
A camera device comprising: a notification signal output unit configured to output a notification signal to the notification unit when the imaging state determination unit determines that the cause of the function stop is poor visibility;
(2) A driving assistance camera device mounted on a vehicle having a notification means for performing notification to the outside,
An imaging unit that captures an image of the surroundings of the vehicle and transmits a function stop signal that notifies the function stop of the distribution of the image when it is determined that the captured image cannot be used for driving support;
Based on the function stop signal, an imaging state determination unit that determines whether the cause of the function stop is poor visibility,
Based on the image of the imaging unit, the surrounding vehicle lighting determination unit that determines whether or not the surrounding vehicle is lit,
When the imaging state determination unit determines that the cause of the malfunction is a poor visibility, or the surrounding vehicle lighting determination unit determines that the surrounding vehicle is lit, the notification unit is notified A camera device having a notification signal output unit for outputting a signal, and (3) a driving assistance camera device mounted on a vehicle having a notification means for performing notification to the outside. ,
An imaging unit that captures an image of the surroundings of the vehicle and transmits a function stop signal that notifies the function stop of the distribution of the image when it is determined that the captured image cannot be used for driving support;
Based on the function stop signal, an imaging state determination unit that determines whether the cause of the function stop is poor visibility,
A receiver for receiving radio signals from surrounding vehicles or traffic infrastructure;
A reception determination unit that determines whether or not the wireless signal received by the reception unit is a signal indicating poor visibility;
When the imaging state determination unit determines that the cause of the function stop is a poor visibility, or the reception determination unit determines that a radio signal indicating that the visibility is poor is detected, a notification is given to the notification unit A camera device comprising a notification signal output unit for outputting a signal;
About.

In addition, in this specification, “bad visibility” means a situation where visibility is poor due to bad weather such as heavy rain, heavy fog, and snow. Further, the “notification signal” means a signal that serves as a signal for operating notification means such as a headlamp, a fog lamp, and an emergency flashing indicator lamp. “Transport infrastructure” means a infrastructure provided outside the vehicle and capable of communicating traffic-related information with the vehicle. The traffic-related information includes, for example, notification information of each vehicle, information such as position and speed.

The present invention can provide a camera device that can reliably notify the surroundings of the presence of the vehicle when a poor visibility occurs.

It is a schematic block diagram which shows the camera apparatus which concerns on the 1st Embodiment of this invention. It is the schematic which shows the motor vehicle with which the camera apparatus of FIG. 1 was attached. It is a schematic flowchart which shows the processing flow of the camera apparatus of FIG. It is the schematic which shows the list | wrist of the judgment result in the imaging state judgment part of FIG. It is the schematic of the own vehicle front panel which notifies the function stop of the delivery of the camera apparatus of FIG. It is the schematic for demonstrating an example which makes the own vehicle presence known using the camera apparatus of FIG. 1 known. It is the schematic which shows an example of operation | movement of the alerting | reporting means when the speed of the own vehicle is low-speed or stopped from the state of FIG. It is the schematic which shows an example of operation | movement of the alerting | reporting means after a visual field defect is eliminated from the state of FIG. It is a schematic block diagram which shows the modification of FIG. It is a schematic block diagram which shows the camera apparatus which concerns on the 2nd Embodiment of this invention. It is the schematic which shows the motor vehicle with which the camera apparatus of FIG. 10 was attached.

The camera device of the present invention is used for driving support mounted on a vehicle having a notification means for performing notification to the outside. In the present specification, “notification means” means means for notifying the surrounding vehicles, pedestrians, and the like of the presence of the vehicle. Examples of the notification means include a headlamp / fog lamp A21, a rear fog lamp A22, an emergency point reduction indicator lamp A23, a tail lamp A24, and a transmitter A25 as shown in FIG.

Among the notification means described above, the headlight / fog lamp informs the oncoming vehicle, and the rear foglight and taillight inform the rear vehicle of the presence of the vehicle by light. The taillight emits light having a luminance higher than the normal luminance and up to a specified limit, and makes the presence of the vehicle more conspicuous than the normal night driving. The emergency point reduction indicator light informs the presence of the vehicle by light reduction when the vehicle stops or becomes extremely slow.
The transmission unit communicates wirelessly with other vehicles and / or traffic infrastructure by vehicle-to-vehicle communication and / or road-to-vehicle communication to notify the presence of the own vehicle.

Hereinafter, the first and second embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the embodiments described in the drawings.

First Embodiment FIG. 1 is a schematic block diagram showing a camera device according to a first embodiment of the present invention. As shown in FIG. 1, the camera device 11 is roughly configured by an imaging unit 110, an imaging state determination unit 210, and a notification signal output unit 310.

The imaging unit 110 captures an image of the surroundings of the vehicle A11 and transmits a function stop signal for notifying the stop of image distribution when it is determined that the captured image cannot be used for driving support. That is, when the imaging unit 110 can no longer deliver a normal image such as poor visibility due to weather, poor installation such as optical axis misalignment, various adjustment values over, malfunction due to the apparatus body, A function stop signal (for example, a HALT signal, a FAIL signal, etc.) for notifying that imaging and / or distribution of the captured image cannot be performed is transmitted. The imaging unit 110 includes, for example, a camera body (not shown) having an image sensor and a control unit (not shown) that controls the imaging of the camera body and transmits the function stop signal.

The imaging state determination unit 210 determines whether the cause of the function stop is poor visibility based on the function stop signal. When the imaging state determination unit 210 determines that the cause is poor visibility, the imaging state determination unit 210 instructs the notification signal output unit 310 (to be described later) to transmit a notification signal.

Specifically, the imaging state determination unit 210 includes the presence / absence of an obstacle obtained when driving assistance, the distance and relative speed with the preceding moving body, the position of the white line, the meaning of various signs, the signal state, etc. This information is used to determine whether or not the recognition result of the image captured by the imaging unit 110 is irrational. If an irrational occurs, the cause is identified.

For example, a method for detecting distortion of an image in which a three-dimensional object is captured may be used as a determination as to whether or not there is the above-mentioned irrationality. In such images, the outline of a three-dimensional object image is generally formed by a straight line or a curve, but when the absurdity occurs, the straight line or the curve is distorted. It is possible to determine the occurrence of irrational.

Also, the cause can be identified by analyzing the characteristics of the distortion. Examples of the unreasonable cause include a shift in the mounting position of the camera body, the influence of temperature, poor visibility, and the like, but the cause of unreasonableness is identified by analyzing the distortion characteristics.

Note that the imaging state determination unit 210 always determines the rationality of all three-dimensional objects such as vehicles, signboards, bushes, and the like shown in the image, without using the occurrence of a specific event as a condition for starting the determination.

The notification signal output unit 310 outputs a notification signal to the notification unit A2 when the imaging state determination unit 210 determines that the cause of the function stop is poor visibility. However, when the notification means A2 of the output destination is the emergency point reduction indicator lamp A23, when the speed information of the own vehicle is acquired from the speedometer 410 and the speed of the own vehicle is equal to or less than a predetermined value (including the stop state) As long as the notification signal is output.

Next, the vehicle A11 to which the camera device 11 configured as described above is attached will be described with reference to FIG. As shown in FIG. 2, the camera device 11 is attached in the vicinity of the windshield in the vehicle interior of the vehicle A <b> 11 so that the front of the vehicle A <b> 11 can be imaged through the windshield.

Further, the notification means A2 has a headlight / fog lamp A21 at the front part of the vehicle A11, a rear fog lamp A22 and a tail lamp A24 at the rear part of the vehicle A11, and the lights from the front, rear and sides of the vehicle. An emergency point reduction indicator lamp A23 is attached to each visible position. In addition, in the aspect of FIG. 2, the transmission unit A25 is mounted in the vehicle interior, but is not particularly limited as long as wireless communication with the outside can be performed.

Next, an operation method of the camera device 11 will be described. When the driver starts the engine of the vehicle A11, the imaging unit 110 of the camera device 11 starts to operate, and the following processing as shown in FIG. 3 is executed.

First, the imaging state determination unit 210 waits for input of a signal from the imaging unit 110 (step S301), and determines whether or not the input signal is a function stop signal (step S302). At this time, if the imaging state determination unit 210 cannot confirm the function stop signal (determination of “No” in step S302), the notification signal output unit 310 is set to a state in which the notification signal is not output (steps S306 and S307), and the imaging is continued. Wait for a signal from the unit 110. On the other hand, when the imaging unit 110 stops its function for some reason and the imaging state determination unit 210 confirms the function stop signal transmitted from the imaging unit 110 (determination of “Yes” in step S302), the imaging state determination unit 210. Performs a function stop information analysis process (step S303).

In the process of step S303, the cause of the function stop is analyzed using the information obtained from the image as described above. As shown in Fig. 4, for example, the windshield window is cloudy, the windshield is dirty or backlit, the snow rolls on the preceding vehicle, heavy rain, heavy fog, snow, and the reflection of objects placed on the dashboard. Various adjustment values such that the adjustment value for the ambient illuminance exceeds the adjustment range, the optical axis shift of the camera body, the temperature environment due to the camera body ambient temperature being too low or too high, and the like. In this process, a code corresponding to each cause described above is output.

Next, based on the code, the imaging state determination unit 210 determines whether or not the cause of the function stop is poor visibility (step S304). At this time, when it is determined that the field of view is not poor (“No” determination in step S304), the notification signal output unit 310 is set to a state in which the notification signal is not output (steps S308 and S309), and the imaging state determination unit 210 Subsequently, it waits for a signal from the imaging unit 110. On the other hand, when it is determined that the visibility is poor (“Yes” determination in step S304), the notification signal output unit 310 outputs a notification signal (step S305), activates the notification unit A2, and further includes an imaging unit. Wait for a signal from 110.
At this time, as shown in FIG. 5, for example, a display such as an icon A31 for notifying the function stop may be provided on the vehicle front panel A3, and the cause of the function stop may be displayed as necessary. Good.

Note that the notification signal is stopped in the above-described step S309 because the function of the camera device 11 is restored by removing the cause even if the function is stopped due to poor visibility once. is there. For example, even if the fog lamp A22 is turned on due to the stop of the function of the camera device 11 due to fog, the function of the camera device 11 is restored when it is detected that the fog is clear for a certain time thereafter. The fog lamp A22 is turned off, and dazzling to surrounding vehicles can be prevented.

Next, an example of making the surrounding vehicle known to the surrounding vehicle using the camera device 11 will be described with reference to FIGS. In this example, the following vehicle B2 and the oncoming vehicle B3 exist on the road around the host vehicle B1, and the road facility C1 exists on the road shoulder. In addition, due to heavy rain, heavy fog, snow, etc., a poor visibility occurs around the host vehicle B1, and due to the stoppage of the function of the camera device 11, the notification means A2 is differentially performed through steps S301 to S305.

At this time, as shown in FIG. 6, in the succeeding vehicle B2, the tail lamp A24 of the host vehicle B1 is turned on or the brightness is increased, and the rear fog lamp A22 is automatically turned on to make the rear area B12 of the host vehicle B1 stand out. Therefore, the driver of the succeeding vehicle B2 can recognize the host vehicle B1 and avoid a collision (for example, braking). Further, when the following vehicle B2 supports inter-vehicle communication, the same response can be made by receiving information such as GPS position and speed transmitted by the own vehicle B1 using the radio signal W11. Note that the radio signal used in the transmission unit A25 is not particularly limited as long as the contents of the signal can be read, and electromagnetic waves such as radio waves and infrared rays, and sound waves such as ultrasonic waves can be used.

On the other hand, in the oncoming vehicle B3, the headlamp / fog lamp A21 of the own vehicle B1 is automatically turned on so that the front area B11 of the own vehicle B1 is conspicuous. These can be recognized to avoid collisions (for example, braking). Further, when the oncoming vehicle B3 supports inter-vehicle communication, the same response can be made by receiving information such as the GPS position and speed transmitted by the host vehicle B1 using the radio signal W12.

In addition, information on the GPS position, speed, etc. of the host vehicle B1 is transmitted to the road equipment C1 installed on the road using the wireless signal W13, and the traffic infrastructure (not shown) acquired through the road equipment C1 The situation may be comprehensively analyzed, and the analysis result may be reflected in the traffic around the host vehicle B1.

Next, in the situation shown in FIG. 6, an example in which the driver of the own vehicle B1 who feels uneasy due to poor visibility makes the presence of the own vehicle known when the host vehicle B1 is decelerated or stopped is shown in FIG. Will be described with reference to FIG. When the host vehicle B1 is decelerated or stopped, the possibility of a rear-end collision from the subsequent vehicle B2 becomes higher. Therefore, when the speed of the host vehicle B1 is equal to or lower than a predetermined speed (including a stop state), the notification signal output unit 310 operates the emergency point reduction indicator lamp A23 as the notification means A2. By operating the emergency point reduction indicator lamp A23, the driver of the following vehicle B2 can recognize the host vehicle B1 more reliably.

Next, an example in which the poor visibility is improved after the situation shown in FIG. 6 or 7 will be described with reference to FIG. The function stop signal is canceled when the field of view is recovered after the function stop signal due to only the field of view failure is issued from the camera device 11. At this time, the stop of the notification signal (step S307) may be executed only when the determination of the visibility recovery continues for a certain time or longer (for example, stop of the radio signals W14 to W16).

In this embodiment, step S302 shown in FIG. 3 is “No” and step S306 is “Yes”, and the notification signal is stopped in step S307 only when this state continues for a certain time or longer, and the operation of the notification unit A2 is performed. Is released. Thereby, frequent switching of the notification signal output in a case where the visual field is recovered for a moment can be prevented, and confusion given to the driver of the succeeding vehicle B2 and the oncoming vehicle B3 can be suppressed.

The camera device 11 includes an automatic notification switch (not shown) that can select whether or not to execute the above-described processing of steps S301 to S309 (hereinafter also referred to as “automatic notification processing at the time of poor visibility”). May be. Thus, for example, in the case of heavy fog, depending on the light condition, when the headlamp is turned off and only the fog lamp is turned on, the visibility is better for the vehicle, so the driver can You can prioritize your will. Further, the automatic notification switch may be interlocked with the automatic lighting mode switch of the headlamp, or may be independent.

In the processing flow when the automatic notification switch as shown in FIG. 9 is provided, after the camera device 11 is turned on, the state of the automatic notification switch is determined (step S310). Do not execute the process. Even if the automatic notification process at the time of poor visibility is already being executed, if the automatic notification switch is turned off, the notification signal is stopped (step S311).

As described above, since the camera device 11 includes the imaging unit 110, the imaging state determination unit 210, and the notification signal output unit 310 described above, the presence of the host vehicle B1 with respect to the surroundings when a poor visibility occurs. Can be surely informed. In particular, a driver who has discontinued driving support due to a function stop is likely to be temporarily in a confused state, such as turning on a fog lamp at the driver's will for a function stop caused by fog, etc. It is often difficult to apply self-defense measures. In such a situation, the camera device 11 can automatically turn on the fog lights A21 and A22, and can reduce the possibility of a collision with the succeeding vehicle B2, the oncoming vehicle B3, and the like.

In addition, since the camera device 11 has the above-described configuration, it is not necessary to provide a dedicated sensor (such as a camera other than for driving support) for detecting a visual field defect, and the camera device can be simplified. Even if there is no other vehicle around the own vehicle B1, it is possible to detect poor visibility by the own vehicle B1 alone.

Second Embodiment FIG. 10 is a schematic block diagram showing a camera device according to a second embodiment of the present invention. As shown in FIG. 10, the camera device 12 schematically includes an imaging unit 110, an imaging state determination unit 210, a surrounding vehicle lighting determination unit 221, a reception unit 222, a reception determination unit 223, and a notification signal. And an output unit 320. The second embodiment is different from the first embodiment in that a surrounding vehicle lighting determination unit 221, a reception unit 222, a reception determination unit 223, and a notification signal output unit 320 are provided. Since the imaging unit 110 and the imaging state determination unit 210 are the same as those in the first embodiment described above, the same parts are denoted by the same reference numerals and detailed description thereof is omitted.

The surrounding vehicle lighting determination unit 221 determines whether or not surrounding vehicles are lit based on the image of the imaging unit 110. Specifically, the surrounding vehicle lighting determination unit 221 includes a headlamp / fog lamp A21, a rear foglight A22, an emergency point reduction indicator lamp A23, a tail lamp A24, and the like of the surrounding vehicle in the image acquired from the imaging unit 110. The notification means A2 has a function of determining whether or not the notification means A2 is lit. When at least one of the notification means A2 is lit, a notification signal is output to the notification signal output section 320 described later. Send instructions to do. For example, a known image processing technique can be used to determine whether the notification unit A2 is turned on.

The receiving unit 222 receives radio signals from surrounding vehicles or traffic infrastructure. Here, the surrounding vehicle is, for example, a vehicle including a transmission unit having the same function as the transmission unit A25 described in the first embodiment, and is a vehicle located around the own vehicle. is there. Note that the radio signal used in the receiving unit 222 is not particularly limited as long as the contents of the signal can be read, and electromagnetic waves such as radio waves and infrared rays, and sound waves such as ultrasonic waves can be used.

The reception determination unit 223 determines whether or not the wireless signal W2 received by the reception unit 222 is a signal indicating that the visibility is poor. When the reception determination unit 223 determines that the received wireless signal W2 is a signal indicating poor visibility, the reception determination unit 223 transmits an instruction to output a notification signal to the notification signal output unit 320 described later.

The notification signal output unit 320 acquires signals from the imaging state determination unit 210, the surrounding vehicle lighting determination unit 221, and the reception determination unit 223, and the imaging state determination unit 210 determines that the cause of the function stop is poor visibility. If the surrounding vehicle lighting determination unit 221 determines that the surrounding vehicle is lit, or if the reception determination unit 223 determines that the wireless signal W2 indicating that the visibility is poor is detected, the notification means A2 To output a notification signal.

Next, the automobile A12 to which the camera device 12 is attached will be described with reference to FIG. As shown in FIG. 11, the camera device 12 is attached in the vicinity of the windshield in the vehicle interior of the vehicle A12 so that the front of the vehicle A12 can be imaged through the windshield.

Further, the notification means A2 has a headlight / fog lamp A21 at the front part of the vehicle A12, a rear fog light A22 and a taillight A24 at the rear part of the vehicle A12, and the lights from the front, rear and sides of the vehicle. An emergency point reduction indicator lamp A23 is attached to each visible position.

In addition, the reception unit 222 and the reception determination unit 223 are each installed in the vehicle interior. The reception unit 222 and the reception determination unit 223 may be integrally formed.

Next, an operation method of the camera device 12 will be described. Since the first embodiment is the same except for the operation method described below, the description in the first embodiment is incorporated and omitted.
First, when the driver starts the engine of the vehicle A12, the imaging unit 110 of the camera device 12 starts operating, and the imaging state determination unit 210, the surrounding vehicle lighting determination unit 221, the reception unit 222, and the reception determination unit. 223 is activated.

At this time, as in the first embodiment, the imaging state determination unit 210 waits for input of a signal from the imaging unit 110 (step S301), and determines whether or not the input signal is a function stop signal. (Step S302) A function stop information analysis process is performed (Step S303), it is determined whether or not the cause of the function stop is a poor visibility (Step S304), and a notification signal is output in response to the determination that the visibility is poor. A signal for instructing the output of the notification signal to unit 320 is transmitted.

The surrounding vehicle lighting determination unit 221 acquires an image from the imaging unit 110, determines whether or not the notification unit of the surrounding vehicle is lit, and notifies the notification signal output unit 320 upon receiving the above determination of lighting. A signal that instructs the output of the signal is transmitted.

In addition, the reception determination unit 223 acquires a signal from the reception unit 222, determines whether or not the wireless signal W2 is a signal indicating poor visibility, and the received wireless signal W2 is defective in visibility. In response to the determination, a signal instructing the notification signal output unit 320 to output the notification signal is transmitted.

Next, when the notification signal output unit 320 receives a signal instructing the output of the notification signal from at least one of the imaging state determination unit 210, the surrounding vehicle lighting determination unit 221 and the reception determination unit 223, the notification lamp / fog A notification signal is output to the notification means A2 such as the lamp A21. Note that the notification signal output unit 320 is a signal that instructs the output of the notification signal from any of the imaging state determination unit 210, the surrounding vehicle lighting determination unit 221, and the reception determination unit 223 when the notification unit A2 is already operating. When the state of not receiving is continued, the output of the notification signal may be stopped.

As described above, the camera device 12 includes the imaging unit 110, the imaging state determination unit 210, the surrounding vehicle lighting determination unit 221, the reception unit 222, the reception determination unit 223, and the notification signal output unit 320 described above. When a poor visibility occurs, the presence of the vehicle can be surely notified to the surroundings. In particular, since the camera device 12 has the above-described configuration, the imaging state determination unit 210 can be adapted to the situation of the vehicle surrounding the host vehicle even under conditions such as a thin mist that does not lead to a poor visibility. Thus, the notification means A2 can be activated, or the notification means A2 of the own vehicle can be activated using the notification information from the other vehicle or the traffic infrastructure using the wireless signal W2, and traffic safety can be further improved.

In addition, this invention is not limited to the structure of embodiment mentioned above, is shown by the claim, and intends that all the changes within the meaning and range equivalent to a claim are included. Is done.

For example, in the first embodiment described above, the camera device 11 includes the imaging state determination unit 210, and in the second embodiment, the imaging state determination unit 210, the surrounding vehicle lighting determination unit 221, and the reception unit 222 and the reception determination unit. The camera device 12 including any of the H.223 has been described, but the camera device 12 including the imaging state determination unit 210 and the surrounding vehicle lighting determination unit 221 that does not include the reception unit and the reception determination unit, and the surrounding vehicle. A camera device that does not include the lighting determination unit and includes the imaging state determination unit 210, the reception unit 222, and the reception determination unit 223 may be used.

A11, A12 vehicle, A2 notification means, 11, 12 camera device, 110 imaging unit, 210 imaging state determination unit, 221 surrounding vehicle lighting determination unit, 222 reception unit, 223 reception determination unit, 310, 320 notification signal output unit

Claims

It is a camera device for driving assistance mounted on a vehicle having a notification means for performing notification to the outside,
An imaging unit that captures an image of the surroundings of the vehicle and transmits a function stop signal that notifies the function stop of the distribution of the image when it is determined that the captured image cannot be used for driving support;
Based on the function stop signal, an imaging state determination unit that determines whether the cause of the function stop is poor visibility,
A camera device comprising: a notification signal output unit that outputs a notification signal to the notification unit when the imaging state determination unit determines that the cause of the function stop is a poor visibility.
It is a camera device for driving assistance mounted on a vehicle having a notification means for performing notification to the outside,
An imaging unit that captures an image of the surroundings of the vehicle and transmits a function stop signal that notifies the function stop of the distribution of the image when it is determined that the captured image cannot be used for driving support;
Based on the function stop signal, an imaging state determination unit that determines whether the cause of the function stop is poor visibility,
Based on the image of the imaging unit, the surrounding vehicle lighting determination unit that determines whether or not the surrounding vehicle is lit,
When the imaging state determination unit determines that the cause of the malfunction is a poor visibility, or the surrounding vehicle lighting determination unit determines that the surrounding vehicle is lit, the notification unit is notified A camera device comprising: a notification signal output unit that outputs a signal.
It is a camera device for driving assistance mounted on a vehicle having a notification means for performing notification to the outside,
An imaging unit that captures an image of the surroundings of the vehicle and transmits a function stop signal that notifies the function stop of the distribution of the image when it is determined that the captured image cannot be used for driving support;
Based on the function stop signal, an imaging state determination unit that determines whether the cause of the function stop is poor visibility,
A receiver for receiving radio signals from surrounding vehicles or traffic infrastructure;
A reception determination unit that determines whether or not the wireless signal received by the reception unit is a signal indicating poor visibility;
When the imaging state determination unit determines that the cause of the function stop is a poor visibility, or the reception determination unit determines that a radio signal indicating that the visibility is poor is detected, a notification is given to the notification unit A camera device comprising: a notification signal output unit that outputs a signal.