WO2020121758A1

WO2020121758A1 - Imaging unit control device

Info

Publication number: WO2020121758A1
Application number: PCT/JP2019/045356
Authority: WO
Inventors: 一貴湯浅; 門司　竜彦; 野中　進一
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2018-12-12
Filing date: 2019-11-20
Publication date: 2020-06-18
Also published as: CN113170057A; JPWO2020121758A1; JP7122394B2; CN113170057B

Abstract

An imaging unit control device is provided which can more suitably adjust the exposure of an imaging unit. This imaging unit control device 100 controls an imaging unit 11 mounted on a moving body 10. The imaging unit control device 100 is provided with a movement direction calculation unit 110 which calculates the direction of movement of the moving body 10, an image region setting unit 120 which, depending on the direction of movement of the moving body 10, sets an image region, which acts as a reference for exposure correction, in an image captured by the imaging unit 11, and an exposure correction unit 130 which corrects exposure of the imaging unit 11 on the basis of image information about the image region.

Description

Imaging unit control device

The present disclosure relates to an imaging unit control device.

An invention relating to a photographing device using an image sensor has been known in the past (see Patent Document 1 below). The moving body imaging device described in Patent Document 1 includes a plurality of imaging units, a system control unit, and a display/recording unit, and is mounted on a moving body. The image pickup unit includes at least an image pickup device, a signal processing unit that generates a video signal from an output signal of the image pickup device, and an image pickup control unit that controls the image pickup device and the signal processing unit.

The system control unit controls the plurality of imaging units. The display/recording unit displays or records the video signals output from the plurality of imaging units. In this conventional moving body imaging device, the system control unit causes the plurality of imaging units to have a time difference from each other based on position information of the moving body and map information including a range in which the moving body is moving. It is characterized in that the control is performed by (see the same document, claim 1, etc.).

According to this conventional invention, with respect to the current surrounding situation of the moving body, in response to the influence of a change in the surrounding situation expected to occur next on the plurality of imaging units in time series, Since the imaging unit can be appropriately controlled, the visibility of the image by the operator of the moving body is improved (see the same document, paragraph 0020, etc.).

JP, 2007-081695, A

In the conventional image pickup apparatus, an extremely dark area or an extremely bright area exists in a part of an image in front of the moving body taken by the image pickup section, and the exposure of the image pickup section is corrected based on the area. May occur. In this case, if the moving body changes its direction and moves in a direction different from the image area used for the exposure compensation, the image captured by the image capturing unit may have overexposure due to overexposure or underexposure due to underexposure. It may occur.

The present disclosure provides an image capturing unit control device that can more appropriately adjust the exposure of the image capturing unit than in the past.

One aspect of the present disclosure is an imaging unit control device that controls an imaging unit mounted on a moving body, the moving direction calculating unit calculating a moving direction of the moving body, and the imaging unit according to the moving direction. An image pickup unit including an image region setting unit that sets an image region serving as a reference for exposure correction in an image captured by the image pickup unit, and an exposure correction unit that performs exposure correction of the image pickup unit based on image information of the image region. It is a control device.

According to the above aspect of the present disclosure, by setting an image region serving as a reference for exposure correction according to a moving direction of a moving body, an image capturing unit control device capable of appropriately adjusting the exposure of the image capturing unit as compared with the related art. Can be provided.

FIG. 3 is a block diagram of an imaging unit controller according to an embodiment of the present disclosure. FIG. 3 is a flowchart showing an example of a method of controlling the image pickup unit by the image pickup unit control device of FIG. 1. FIG. 3 is a diagram showing an example of an image area set by an image area setting unit in FIG. 1. 3 is a graph illustrating exposure compensation by the exposure compensation unit in FIG. 1. 3 is a graph illustrating exposure compensation by the exposure compensation unit in FIG. 1. 3 is a graph illustrating exposure compensation by the exposure compensation unit in FIG. 1. The figure which shows the modification of the image area|region set by the image area|region setting part of FIG. FIG. 9 is a flowchart showing a modified example of a method of controlling the image pickup unit by the image pickup unit control device of FIG. 1. The figure which shows the modification of the image area|region set by the image area|region setting part of FIG. FIG. 6 is a diagram showing an example of an image region serving as a reference for exposure correction in an image pickup apparatus of a comparative form. The figure which shows an example of the whiteout which occurred in the imaging device of a comparative form.

Hereinafter, an embodiment of an imaging unit control device according to the present disclosure will be described with reference to the drawings.

FIG. 1 is a block diagram of an image capturing unit controller 100 according to an embodiment of the present disclosure. Although details will be described later, the imaging unit control device 100 of the present embodiment is mainly characterized by the following configuration.

The image capturing unit control device 100 is a device that controls the image capturing unit 11 mounted on the moving body 10. The image capturing unit control apparatus 100 includes a moving direction calculation unit 110 that calculates a moving direction of the moving body 10 and an image area that is a reference for exposure correction in an image captured by the image capturing unit 11 according to the moving direction of the moving body 10. An image region setting unit 120 to be set and an exposure correction unit 130 that performs exposure correction of the image pickup unit 11 based on image information of the image region are provided.

Hereinafter, the configuration of each part of the moving body 10 in which the imaging unit control device 100 is mounted and the configuration of each part of the imaging unit control device 100 will be described in detail.

The moving body 10 is, for example, a vehicle such as an automobile, and includes an imaging unit 11, a yaw rate sensor 12, a steering angle sensor 13, a wheel speed sensor 14, and a direction indicator 15. Although not shown, the moving body 10 is equipped with, for example, a power generation device, a transmission device, an electronic control unit (ECU), a traveling device, instruments, a headlight, a horn, and the like. The power generation device includes, for example, at least one of an engine and an electric motor. The traveling device includes, for example, a frame, a suspension, a steering system, a braking system, wheels, tires, and the like.

The image pickup unit 11 is, for example, a stereo camera device including a right camera and a left camera or a monocular camera device including a monocular camera. The image pickup unit 11 includes, for example, a lens barrel, a lens, an iris, a shutter, an image pickup device such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device Image Sensor), and an image processing device that processes image data. .. When the imaging unit 11 is a right camera, a left camera, or a monocular camera, the imaging unit control device 100 may be a stereo camera device or a monocular camera device including the imaging unit 11.

A stereo camera device is equipped with, for example, a right camera and a left camera that have optical axes parallel to each other and have a distance (baseline length) between them. There is a difference called parallax between the coordinates of the object captured in the image captured by the right camera and the coordinates of the same object captured in the image captured by the left camera. The stereo camera device can apply the template matching to the images of the right camera and the left camera to obtain the parallax, and use the triangulation method from the obtained parallax to obtain the position of the object in the three-dimensional space. The imaging unit 11 outputs the captured image and the parallax information to the imaging unit control device 100.

The yaw rate sensor 12 is, for example, a gyro sensor for an automobile, and measures the yaw rate of the moving body 10 and outputs it to the image pickup unit control device 100. The steering angle sensor 13 is attached to, for example, the steering shaft of the moving body 10 that is an automobile, measures the steering angle of the front wheels of the moving body 10, and outputs it to the imaging unit control device 100.

The wheel speed sensor 14 is attached to, for example, a hub or a knuckle of the moving body 10 which is an automobile, and outputs a signal corresponding to the rotation speed of each wheel of the moving body 10 to the imaging unit control device 100. The direction indicator 15 is operated, for example, by an occupant driving the moving body 10 in accordance with the planned moving direction of the moving body 10, and outputs the right or left planned moving direction to the imaging unit control device 100.

Each unit of the imaging unit control device 100 is configured by, for example, a central processing unit (CPU), an integrated circuit (LSI), a storage device, a microcomputer including a program, and the like. As described above, when the imaging unit 11 is a stereo camera device or a monocular camera device, the imaging unit control device 100 may be a part of the ECU mounted on the moving body 10.

The moving direction calculation unit 110 calculates the moving direction of the moving body 10. Here, the moving direction is, for example, three directions of a straight traveling direction, a rightward direction, and a leftward direction. The moving direction calculation unit 110, for example, of the moving body 10 based on the position information of the moving body 10 input from the position information acquisition unit 140 and the moving route of the moving body 10 input from the moving route calculation unit 150. It is configured to perform a calculation for predicting a moving direction. Further, the moving direction calculation unit 110 is configured to calculate the actual moving direction of the mobile body 10 based on the behavior information of the mobile body 10 acquired by the behavior information acquisition unit 160.

The image area setting unit 120 sets an image area IR, which is a reference for exposure correction, in a part of the image IM captured by the image capturing unit 11 according to the moving direction of the moving body 10 calculated by the moving direction calculating unit 110. Set (see Figure 3). More specifically, the image region setting unit 120, for example, the central region CR including the vanishing point of the image IM and the central region according to the moving direction of the straight direction S, the right direction R, or the left direction L. The image region IR is set in either the right region RR on the right side of the CR or the left region LR on the left side of the central region CR. The image area setting unit 120 may set the image area IR based on the external world information recognized by the external world information recognition unit 170, as described later.

The exposure correction unit 130 performs the exposure correction of the image pickup unit 11 based on the image information of the image area IR set by the image area setting unit 120. More specifically, the exposure correction unit 130 determines, for example, red, green, and blue (RGB) color information and brightness of each pixel as the image information of the image region IR. Further, the exposure correction unit 130 controls the iris, the gain, and the shutter speed of the image pickup unit 11 to perform the exposure correction of the image pickup unit 11, for example. In addition, the exposure correction unit 130 may perform the exposure correction of the imaging unit 11 by electronically correcting the image captured by the imaging unit 11, for example.

The position information acquisition unit 140 acquires the position information of the mobile unit 10. More specifically, the position information acquisition unit 140 acquires the position information of the moving body 10 using, for example, the Global Positioning System (GPS) or the Global Navigation Satellite System (GNSS). Further, the position information acquisition unit 140 calculates the moving direction and the movement amount of the moving body 10 based on, for example, the yaw rate of the moving body 10, the steering angle, the rotation speed of each wheel, and the like acquired by the behavior information acquiring unit 160. By doing so, the position information of the moving body 10 may be acquired.

The moving route calculation unit 150 calculates the moving route of the moving body 10 from the position information of the moving body 10 acquired by the position information acquiring unit 140. More specifically, the movement route calculation unit 150 is provided, for example, so that the road map information can be accessed, and the road map information, the position information of the moving body 10, and the destination input by the occupant of the moving body 10 are displayed. Based on the position information, the moving route from the current position of the moving body 10 to the destination is calculated.

The behavior information acquisition unit 160 acquires the yaw rate of the moving body 10 as the behavior information of the moving body 10 from the yaw rate sensor 12 mounted on the moving body 10, and outputs the acquired yaw rate to the moving direction calculation unit 110, for example. .. Further, the behavior information acquisition unit 160 acquires the steering angle of the moving body 10 as the behavior information of the moving body 10 from the steering angle sensor 13, and outputs the acquired steering angle to the moving direction calculation unit 110, for example.

Further, the behavior information acquisition unit 160 acquires, for example, the rotation speed of each wheel from the wheel speed sensor 14 as the behavior information of the moving body 10, and outputs the acquired rotation speed of each wheel to the movement direction calculation unit 110. .. Further, the behavior information acquisition unit 160 acquires, for example, the planned movement direction of the mobile body 10 as the behavior information of the mobile body 10 from the direction indicator 15, and the acquired planned movement direction of the mobile body 10 is calculated as the movement direction calculation unit. Output to 110.

The outside world information recognition unit 170 recognizes outside world information including obstacle information around the moving body 10 and road information from the image captured by the image capturing unit 11. More specifically, the outside world information recognition unit 170 performs an object detection process using the image data captured by the imaging unit 11 and recognizes outside world information including obstacle information and road information. The obstacle information includes, for example, the position, size, and shape of vehicles, pedestrians, buildings, guardrails, median strips, curbs, and utility poles. The road information includes, for example, road shapes, white lines, road markings, and road signs.

Hereinafter, problems of the imaging device of the comparative mode different from the imaging device control device according to the present disclosure will be described, and the operation of the imaging device control device 100 of the present embodiment will be described in comparison with the imaging device of the comparative mode. The imaging device of the comparative form is different from the imaging unit control device 100 of the present embodiment in that, for example, the imaging device control device 100 of the present embodiment does not include the image region setting unit 120 that sets the image region IR according to the moving direction of the moving body 10. In the following, configurations common to the image capturing apparatus of the comparative embodiment and the image capturing unit control apparatus 100 of the present embodiment will be denoted by the same reference numerals and description thereof will be omitted.

FIG. 8A is a diagram showing an example of an image region IR serving as a reference for exposure correction of the image capturing unit 11 in the image capturing apparatus of the comparative mode. FIG. 8B is a diagram showing an example of whiteout WO generated in the image IM of the image pickup unit 11 in the image pickup apparatus of the comparative form. The imaging device of the comparative form does not have the image region setting unit 120 that sets the image region IR according to the moving direction of the moving body 10. Therefore, in the image pickup apparatus of the comparative form, the image region IR that is the reference for the exposure correction of the image pickup unit 11 is, for example, an image regardless of the moving direction of the moving body 10, such as the straight traveling direction S, the right direction R, and the left direction L. It is fixed at the center including the vanishing point of IM.

Here, as shown in FIG. 8A, in the straight traveling direction S of the moving body 10, the image IM of the imaging unit 11 includes an extremely dark region DR such as a recessed portion of the building B where sunlight is hard to reach. There is a case. In addition, the extremely dark region DR may be included in the image region IR that serves as a reference for the exposure correction of the imaging unit 11. Then, in the image pickup apparatus of the comparative form, the exposure of the image pickup unit 11 is corrected with reference to the image region IR including the extremely dark region DR, so that the exposure of the image pickup unit 11 increases.

This will make it easier to recognize the recessed part of building B, as shown in FIG. 8B. However, in the image IM of the image pickup apparatus of the comparative form, for example, in the regions on the left and right of the image region IR shown in FIG. 8A, which is the reference for the exposure correction of the image pickup unit 11, as shown in FIG. Such problems may occur.

Contrary to the example shown in FIG. 8A, in the straight traveling direction S of the moving body 10, the image area IR at the center of the image IM may include an extremely bright area. Then, in the image pickup apparatus of the comparative mode, the exposure of the image pickup unit 11 is corrected with the image region IR including an extremely bright region as a reference, so that the exposure of the image pickup unit 11 is reduced.

As a result, similarly to the example shown in FIG. 8B, the extremely bright region in the center of the image IM can be easily recognized. However, in the image IM of the image pickup apparatus of the comparative form, for example, in the regions on the left and right of the image region IR shown in FIG. 8A, which is the reference for the exposure correction of the image pickup unit 11, due to underexposure, contrary to the example shown in FIG. Problems such as blackouts may occur.

For example, in the advanced driving support system (ADAS) and automatic driving, a technique of recognizing information on obstacles and roads from the image IM of the imaging unit 11 is used. However, when a defect such as overexposure or blackout occurs in the image IM of the imaging unit 11, at the intersection in front of the moving body 10 when the moving body 10 moves in the right direction R or the left direction L when making a right turn or a left turn, There is a risk that it may interfere with the recognition of obstacles such as vehicles and pedestrians inside the intersection. Therefore, it is required to suppress the above-mentioned problems that occur in the image IM of the imaging unit 11.

FIG. 2 is a flowchart showing an example of a control method of the image pickup unit 11 by the image pickup unit control apparatus 100 of the present embodiment. FIG. 3 is a diagram showing an example of the image region IR set in the image IM of the image pickup unit 11 by the image region setting unit 120 of the image pickup unit control apparatus 100 of the present embodiment.

First, in step S11, the imaging unit control device 100 calculates the movement route of the moving body 10. More specifically, in the imaging unit control device 100, the position information acquisition unit 140 acquires the position information of the moving body 10, and the moving route calculation unit 150 calculates the moving route of the moving body 10 from the position information.

Next, in step S12, the imaging unit control device 100 calculates the moving direction of the moving body 10. More specifically, the image capturing unit control apparatus 100 calculates the moving direction of the moving body 10 based on the position information and the moving route of the moving body 10 obtained in step S11. Thereby, as shown in FIG. 3, for example, the imaging unit control device 100 determines that the moving direction of the moving body 10 at the intersection in front of the moving body 10 is left among the straight traveling direction S, the rightward direction R, and the leftward direction L. Predict the direction L.

Next, in step S13, the imaging unit control apparatus 100 acquires the behavior information of the moving body 10. More specifically, in the imaging unit control device 100, the behavior information acquisition unit 160 acquires the yaw rate of the moving body 10 from the yaw rate sensor 12 mounted on the moving body 10 as the behavior information. In addition, the image capturing unit control apparatus 100 acquires the steering angle of the moving body 10 as the behavior information from the steering angle sensor 13 mounted on the moving body 10 by the behavior information acquiring unit 160. In addition, the imaging unit control device 100 causes the behavior information acquisition unit 160 to acquire the rotation speeds of the plurality of wheels of the moving body 10 as the behavior information from the wheel speed sensor 14 mounted on the moving body 10. Further, the imaging unit control device 100 causes the behavior information acquisition unit 160 to acquire the planned movement direction of the mobile body 10 as the behavior information from the direction indicator 15 mounted on the mobile body 10.

Next, in step S14, the imaging unit control device 100 determines whether the left direction L, which is the moving direction of the moving body 10 calculated in step S12, and the behavior information of the moving body 10 acquired in step S13 match. To determine. More specifically, the imaging unit control device 100 causes the movement direction calculation unit 110 to perform at least one behavior of the yaw rate of the moving body 10, the steering angle, the difference between the rotation speeds of the left and right wheels, and the planned movement direction. Based on the information, the actual moving direction of the moving body 10 at the intersection shown in the image IM of the imaging unit 11 is calculated. Then, the moving direction calculation unit 110 determines that the left direction L, which is the moving direction of the moving body 10 predicted in step S12, and the actual moving direction of the moving body 10 calculated based on the behavior information of the moving body 10 are equal to each other. Determine whether you are doing.

In step S14, when the moving direction of the moving body 10 and the behavior information match (YES), the process proceeds to step S15, and the moving direction calculation unit 110 is the moving direction of the moving body 10 calculated in step S12. The direction L is output to the image area setting unit 120.

Next, in step S16, the image capturing unit control apparatus 100 sets an image region IR as a reference for exposure correction in the image IM captured by the image capturing unit 11 according to the moving direction of the moving body 10. More specifically, the image capturing unit control apparatus 100 uses, for example, the image region setting unit 120 to move in the left direction, which is the moving direction of the moving body 10 among the central region CR, the right region RR, and the left region LR of the image IM. The image region IR is set in the left region LR corresponding to L.

Next, in step S17, the imaging unit control device 100 performs exposure correction of the imaging unit 11 based on the image information of the image area IR set according to the moving direction of the moving body 10. More specifically, the image capturing unit control device 100, based on the image information of the image region IR set in the left region LR of the image IM according to the left direction L which is the moving direction of the moving body 10, the exposure correction unit. The exposure correction of the imaging unit 11 is performed by 130. When the image capturing unit 11 includes two cameras, exposure correction is performed on these two cameras at the same time.

4A to 4C are graphs for explaining exposure correction by the exposure correction unit 130 of the image pickup unit control device 100. The exposure correction unit 130 performs the exposure correction of the imaging unit 11 based on the image information of the image area IR. More specifically, the exposure correction unit 130 uses the brightness information as the image information of the image region IR, for example, and determines the exposure correction value of the imaging unit 11 according to the histogram created based on the brightness information.

For example, in the image region IR, if the number of pixels with high brightness is extremely large as shown in FIG. 4A, it is expected that overexposure is occurring. In this case, the exposure correction unit 130 determines a negative exposure correction value so as to reduce the exposure. Further, in the image region IR, when the number of pixels is relatively evenly distributed from low luminance to high luminance as shown in FIG. 4B, there is an appropriate contrast and it is expected that the exposure is appropriate. To be done. In this case, the exposure correction unit 130 sets the exposure correction value to zero so as to maintain the exposure. Further, as shown in FIG. 4C, when the number of pixels with low brightness is extremely large, it is expected that the exposure is underexposed. In this case, the exposure correction unit 130 determines a positive exposure correction value so as to increase the exposure.

On the other hand, in step S14, when the moving direction of the moving body 10 and the behavior information do not match (NO), the process proceeds to step S18, and the moving direction calculation unit 110 uses the behavior information of the moving body 10 acquired in step S13. The straight traveling direction S or the right direction R, which is the traveling direction based on the traveling direction, is output to the image area setting unit 120. This is the case, for example, when the occupant driving the moving body 10 selects a route different from the moving route of the moving body 10 calculated by the moving route calculation unit 150.

In this case, in step S16, the imaging unit control device 100 causes, for example, the image region setting unit 120 to move straight in the moving direction of the moving body 10 among the central region CR, the right region RR, and the left region LR of the image IM. The image region IR is set in the central region CR or the right region RR corresponding to the direction S or the right direction R. In this way, by comparing the moving direction of the moving body 10 and the behavior information in step S14, it becomes possible for the occupant driving the moving body 10 to respond to a case where the moving route is changed.

Next, in step S17, the imaging unit control device 100 performs the above-described processing based on the image information of the image region IR set in the central region CR or the right region RR of the image IM according to the moving direction of the moving body 10. First, the exposure correction of the image pickup unit 11 is performed by the exposure correction unit 130.

As described above, the imaging unit control device 100 of the present embodiment is a device that controls the imaging unit 11 mounted on the moving body 10. The image capturing unit control apparatus 100 includes a moving direction calculation unit 110 that calculates a moving direction of the moving body 10 and an image region IR that serves as a reference for exposure correction in an image captured by the image capturing unit 11 according to the moving direction of the moving body 10. The image area setting unit 120 that sets the image area and the exposure correction unit 130 that performs the exposure correction of the imaging unit 11 based on the image information of the image area IR.

With this configuration, for example, as shown in FIG. 3, the exposure correction can be performed with reference to the image region IR set in the left region LR of the image IM according to the left direction L which is the traveling direction of the moving body 10. .. Therefore, for example, as shown in FIG. 8A, in a straight traveling direction S different from the left direction L which is the moving direction of the moving body 10, an extremely dark region DR or an extremely bright region is formed in the central portion of the image IM of the imaging unit 11. Even if it exists, the exposure correction can be performed on the basis of the image region IR set in the left region LR that does not include the region.

With this, it is possible to appropriately perform the exposure correction of the image pickup unit 11 as compared with the image pickup apparatus of the above-described comparative embodiment, and to prevent the image IM of the image pickup unit 11 from having defects such as overexposure and underexposure. Therefore, according to the present embodiment, by setting the image region IR that serves as a reference for the exposure correction according to the moving direction of the moving body 10, the exposure of the imaging unit 11 can be adjusted more appropriately than the conventional imaging unit control. A device 100 can be provided.

Further, the imaging unit control device 100 of the present embodiment, the position information acquisition unit 140 that acquires the position information of the moving body 10, and the movement route calculation unit 150 that calculates the moving route of the moving body 10 from the position information of the moving body 10. And a behavior information acquisition unit 160 that acquires behavior information of the moving body 10. With this configuration, the image capturing unit control apparatus 100 can control the image capturing unit 11 using the position information, the moving route, and the behavior information of the moving body 10.

Further, in the imaging unit control device 100 of the present embodiment, the moving direction calculation unit 110 is configured to calculate the moving direction based on the position information of the moving body 10 and the moving route. With this configuration, the imaging unit control device 100 can predict the moving direction of the moving body 10 at an intersection in front of the moving body 10, for example.

Further, in the imaging unit control device 100 of the present embodiment, the behavior information acquisition unit 160 is configured to acquire the yaw rate of the moving body 10 from the yaw rate sensor 12 mounted on the moving body 10 as the behavior information. Further, the moving direction calculation unit 110 is configured to calculate the moving direction of the moving body 10 based on the yaw rate of the moving body 10. With this configuration, the image capturing unit control apparatus 100 can set the image region IR that serves as a reference for the exposure correction according to the actual moving direction of the moving body 10 based on the yaw rate of the moving body 10.

Further, in the imaging unit control device 100 of the present embodiment, the behavior information acquisition unit 160 is configured to acquire the steering angle of the moving body 10 as the behavior information from the steering angle sensor 13 mounted on the moving body 10. .. Further, the moving direction calculation unit 110 is configured to calculate the moving direction of the moving body 10 based on the steering angle of the moving body 10. With this configuration, the imaging unit control device 100 can set the image region IR that is the reference of the exposure correction, according to the actual moving direction of the moving body 10 based on the steering angle of the moving body 10.

Further, in the imaging unit control device 100 of the present embodiment, the behavior information acquisition unit 160 acquires the rotation speeds of the plurality of wheels of the moving body 10 from the wheel speed sensor 14 mounted on the moving body 10 as the behavior information. It is configured. Further, the moving direction calculation unit 110 is configured to calculate the moving direction of the moving body 10 based on the difference in rotation speed of the plurality of wheels of the moving body 10. With this configuration, the image capturing unit control apparatus 100 can set the image region IR that is the reference for the exposure correction, according to the actual moving direction of the moving body 10 based on the difference in the rotation speed of the wheels of the moving body 10. ..

Further, in the imaging unit control device 100 of the present embodiment, the behavior information acquisition unit 160 is configured to acquire the planned movement direction of the mobile body 10 as the behavior information from the direction indicator 15 mounted on the mobile body 10. There is. Further, the moving direction calculation unit 110 is configured to calculate the moving direction of the moving body 10 based on the planned moving direction of the moving body 10. With this configuration, the imaging unit control device 100 can set the image region IR that is the reference for the exposure correction, according to the predicted moving direction of the moving body 10 based on the operation of the direction indicator 15 of the moving body 10.

As described above, according to the present embodiment, the exposure of the imaging unit 11 can be adjusted more appropriately than before by setting the image area IR that is the reference of the exposure correction according to the moving direction of the moving body 10. It is possible to provide the image capturing unit control device 100.

Note that the imaging unit control device according to the present disclosure is not limited to the configuration of the imaging unit control device 100 according to the above-described embodiment. Hereinafter, some modified examples of the imaging unit control device 100 according to the above-described embodiment will be described with reference to FIGS. 5 to 7.

FIG. 5 is a diagram showing a modified example of the image area IR set by the image area setting unit 120 of the imaging unit control device 100 according to the above-described embodiment.

The image pickup unit control device 100 includes the outside world information recognition unit 170 that recognizes outside world information including obstacle information around the moving body 10 and road information from the image taken by the image pickup unit 11 as described above. Further, in the present modification, the image area setting unit 120 is configured to set the image area IR based on the external world information. With this configuration, it is possible to set an appropriate image region IR in the image IM even when the mounting position of the camera of the imaging unit 11 is displaced or the diameter of the wheel of the moving body 10 is changed.

More specifically, the external world information recognition unit 170 obtains the position of the center of gravity G of the moving body such as the vehicle V or a pedestrian recognized from the image IM based on the coordinates of the image IM of the imaging unit 11, and determines the position of the center of gravity G. Record the trajectory. After recording a predetermined number or more of loci, the external information recognizing unit 170 plots the center of gravity G moving in the lateral direction of the image IM on the image IM. As a result, the outside world information recognition unit 170 can recognize a region in the image IM through which a moving body such as a vehicle or a pedestrian passes.

Further, the image area setting unit 120 sets an image area IR in an area through which a moving body such as a vehicle or a pedestrian recognized by the external information recognition unit 170 passes. More specifically, the image region setting unit 120 sets the image region IR in the region where a moving body such as a vehicle or a pedestrian passes in accordance with the moving direction of the moving body 10. More specifically, the image region setting unit 120 sets the image region IR in the central region CR of the image IM when the moving body 10 goes straight, and sets the image region IR in the right region RR of the image IM when the moving body 10 turns right. When the mobile body 10 is turned left, the image area IR is set in the left area LR of the image IM.

Note that the image region setting unit 120, for example, when the moving body 10 is determined to be traveling straight on a straight road and the curvature of the white line displayed on the road is equal to or less than a threshold value, The image region IR may be set in an arbitrary central region CR centered on the vanishing points of the white lines on both sides. The vanishing point of the white line can be recognized by the external world information recognition unit 170, for example. Further, whether or not the moving body 10 is traveling straight on a straight road can be determined using, for example, the behavior information acquired by the behavior information acquisition unit 160. For example, if both the steering angle and the yaw rate of the moving body 10 are equal to or less than the threshold value, it can be determined that the moving body 10 is moving straight ahead.

FIG. 6 is a flowchart showing a modified example of the control method of the image pickup unit 11 by the image pickup unit control apparatus 100 according to the above-described embodiment. FIG. 7 is a diagram showing the image region IR set by the image region setting unit 120 of the image capturing unit control apparatus 100 according to this modification.

In this modification, the imaging unit control device 100 does not have to include the position information acquisition unit 140, the movement route calculation unit 150, and the external world information recognition unit 170.

First, in step S21, the imaging unit control apparatus 100 according to the present modification acquires the behavior information of the moving body 10 by the behavior information acquisition unit 160, as in step S13 described above shown in FIG. Next, in step S22, the imaging unit control device 100 according to the present modification causes the moving direction calculation unit 110 to calculate the moving direction of the moving body 10 based on the behavior information of the moving body 10.

For example, when the moving body 10 is traveling straight on a straight road, the steering angle and the yaw rate acquired by the behavior information acquisition unit 160 are below the threshold value. In this case, the moving direction calculation unit 110 calculates the moving direction of the moving body 10 as the straight traveling direction S. Further, when the moving body 10 is traveling on the left curve or turning left at the intersection, the steering angle and the yaw rate are equal to or more than the threshold value. In this case, the moving direction calculation unit 110 calculates the moving direction of the moving body 10 as the left direction L shown in FIG. 7.

Next, in step S23, the imaging unit control apparatus 100 according to the present modification sets the image region IR in the image IM by the image region setting unit 120 according to the moving direction of the moving body 10. For example, when the moving direction of the moving body 10 is the straight traveling direction S, the image region setting unit 120 sets the image region IR in the central region CR shown in FIG. 7. When the moving direction of the moving body 10 is the left direction L, the image area setting unit 120 sets the image area IR in the left area LR shown in FIG. 7. The image area IR may be set by the image area setting unit 120 dynamically, for example, according to the temporal change of the behavior information of the moving body 10.

Next, in step S24, the imaging unit control device 100 according to the present modification, based on the image information of the image region IR set according to the moving direction of the moving body 10, as in step S17 shown in FIG. Exposure compensation of the image pickup unit 11 is performed. According to this modification, as in the above-described embodiment, the exposure of the imaging unit 11 is adjusted more appropriately than before by setting the image region IR that is the reference of the exposure correction according to the moving direction of the moving body 10. It is possible to provide a possible imaging unit control device 100.

Above, the embodiment of the imaging unit control device according to the present disclosure and its modifications have been described in detail with reference to the drawings. However, the specific configuration of the imaging unit control device according to the present disclosure is not limited to the above-described embodiments and modifications thereof, and even if there are design changes and the like within a range not departing from the gist of the present disclosure, Are included in the present disclosure.

10 moving body 11 image pickup unit 12 yaw rate sensor 13 steering angle sensor 14 wheel speed sensor 15 direction indicator 100 image pickup unit control device 110 moving direction calculation unit 120 image area setting unit 130 exposure correction unit 140 position information acquisition unit 150 movement route calculation unit 160 Behavior information acquisition unit 170 External information recognition unit IM image IR image region

Claims

An image pickup unit control device for controlling an image pickup unit mounted on a moving body,
A moving direction calculator for calculating the moving direction of the moving body,
An image region setting unit that sets an image region that serves as a reference for exposure correction in an image captured by the image capturing unit according to the moving direction;
An image pickup unit control device, comprising: an exposure correction unit that performs exposure correction of the image pickup unit based on image information of the image region.
A position information acquisition unit that acquires the position information of the moving body,
A movement route calculation unit that calculates the movement route of the moving body from the position information;
The imaging unit control device according to claim 1, further comprising: a behavior information acquisition unit that acquires behavior information of the moving body.
The image pickup unit control device according to claim 2, wherein the movement direction calculation unit calculates the movement direction based on the position information and the movement route.
The behavior information acquisition unit acquires a yaw rate of the moving body from the yaw rate sensor mounted on the moving body as the behavior information,
The imaging unit control device according to claim 2, wherein the moving direction calculation unit calculates the moving direction of the moving body based on the yaw rate.
The behavior information acquisition unit acquires the steering angle of the moving body from the steering angle sensor mounted on the moving body as the behavior information,
The imaging unit control device according to claim 2, wherein the moving direction calculation unit calculates the moving direction of the moving body based on the steering angle.
The behavior information acquisition unit acquires, as the behavior information, rotation speeds of a plurality of wheels of the moving body from a wheel speed sensor mounted on the moving body,
The imaging unit control device according to claim 2, wherein the moving direction calculation unit calculates the moving direction of the moving body based on a difference in rotation speeds of the plurality of wheels.
The behavior information acquisition unit acquires a planned moving direction of the mobile body as the behavior information from a direction indicator mounted on the mobile body,
The imaging unit control device according to claim 2, wherein the movement direction calculation unit calculates the movement direction of the moving body based on the planned movement direction.
An external world information recognition unit for recognizing external world information including obstacle information and road information around the moving body from an image captured by the imaging unit,
The image capturing unit control device according to claim 1, wherein the image region setting unit sets the image region based on the external world information.