WO2022149308A1 - Dispositif de prise de vues et procédé de commande de dispositif de prise de vues - Google Patents

Dispositif de prise de vues et procédé de commande de dispositif de prise de vues Download PDF

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Publication number
WO2022149308A1
WO2022149308A1 PCT/JP2021/033457 JP2021033457W WO2022149308A1 WO 2022149308 A1 WO2022149308 A1 WO 2022149308A1 JP 2021033457 W JP2021033457 W JP 2021033457W WO 2022149308 A1 WO2022149308 A1 WO 2022149308A1
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WO
WIPO (PCT)
Prior art keywords
power supply
temperature sensor
temperature
sensor
camera device
Prior art date
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PCT/JP2021/033457
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English (en)
Japanese (ja)
Inventor
優 中川
広人 名越
Original Assignee
日立Astemo株式会社
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Publication date
Application filed by 日立Astemo株式会社 filed Critical 日立Astemo株式会社
Priority to DE112021005584.4T priority Critical patent/DE112021005584T5/de
Priority to JP2022573910A priority patent/JPWO2022149308A1/ja
Publication of WO2022149308A1 publication Critical patent/WO2022149308A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/65—Control of camera operation in relation to power supply
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/665—Control of cameras or camera modules involving internal camera communication with the image sensor, e.g. synchronising or multiplexing SSIS control signals

Definitions

  • the present invention relates to a camera device that stops power supply to an image pickup board at a high temperature, and a camera control method.
  • a general in-vehicle camera includes an image sensor that captures the outside world, an image processing circuit that processes image data captured by the image sensor to obtain outside world information, and a control circuit that transmits the outside world information to a vehicle control device.
  • noise of the image data captured by the image sensor increases at high temperatures, and normal external information cannot be output from the image processing circuit.
  • the vehicle control device that has received the abnormal outside world information may make an error in vehicle control, and may perform steering, acceleration, braking, or the like that does not correspond to the actual outside world.
  • Patent Document 1 a temperature sensor is arranged in the vicinity of the main component, and when the measured temperature of the temperature sensor exceeds the threshold value, the power supply is partially stopped and the function of the in-vehicle camera is stopped. It prevented the controller from performing anomalous control.
  • Patent Document 1 it is necessary to supply power to the temperature sensor in the vicinity of the image sensor even when the power supply to the image sensor is temporarily stopped at a high temperature.
  • FPC Flexible Printed Circuits
  • the present invention has a simplified configuration that does not require power supply to the image pickup substrate when the power supply is temporarily suppressed at a high temperature, but the power is supplied at an appropriate timing when the temperature of the image sensor is sufficiently lowered after the power supply is suppressed. It is an object of the present invention to provide a camera device capable of resuming supply and a camera control method.
  • the camera device of the present invention has a first substrate on which a first temperature sensor is mounted, a second substrate on which an image pickup element and a second temperature sensor are mounted, and the first substrate and the second substrate.
  • a camera device including an FPC, a first temperature sensor, an image pickup element, and a power supply control unit for supplying power to the second temperature sensor, wherein the power supply control unit is the first.
  • the temperature of the image sensor is sufficiently high after the power supply is suppressed, although the configuration is simplified so that the power supply to the image pickup substrate is not required.
  • the power supply can be resumed at the appropriate timing of the descent.
  • the stereo camera 1 which is the camera device according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 6.
  • a stereo camera 1 installed facing forward on the inner surface of the front window of an automobile will be described as an example, but the stereo camera 1 may be mounted on, for example, an autonomous mobile robot or an industrial robot. good.
  • the camera device of the present invention may be a monaural camera.
  • a left image pickup board 2L, a right image pickup board 2R, and an image processing board 2M are provided inside the stereo camera 1 of this embodiment.
  • the left image pickup board 2L and the image processing board 2M are connected by the left FPC3L
  • the right image pickup board 2R and the image processing board 2M are connected by the right FPC3R.
  • the left image pickup board 2L is provided with a left image pickup element 4L and a left temperature sensor 5L
  • the right image pickup board 2R is provided with a right image pickup element 4R and a right temperature sensor 5R
  • the image processing board 2M is provided with an image processing circuit. It includes 4M, a main temperature sensor 5M, a control microcomputer 6, a recognition unit power supply circuit 7, a control unit power supply circuit 8, and a storage unit 9.
  • the left FPC 3L is an FPC that transmits / receives a signal between the left image pickup board 2L and the image processing board 2M and supplies power from the image processing board 2M to the left image pickup board 2L.
  • the right FPC3R is an FPC that transmits / receives a signal between the right image pickup board 2R and the image processing board 2M and supplies power from the image processing board 2M to the right image pickup board 2R.
  • the left image sensor 4L and the right image sensor 4R are CMOS image sensors and the like that capture the outside world and output image data D.
  • the image processing circuit 4M is a circuit that processes the image data D from the image pickup element and acquires the outside world information Io in front of the own vehicle (for example, the preceding vehicle, the pedestrian, the white line, the traffic signal, etc. in front of the own vehicle). be.
  • the left temperature sensor 5L is installed in the vicinity of the left image sensor 4L and measures the ambient temperature TL .
  • the right temperature sensor 5R is installed in the vicinity of the right image sensor 4R and measures the ambient temperature TR.
  • the main temperature sensor 5M is installed in the vicinity of the image processing circuit 4M and measures the ambient temperature TM.
  • the control microcomputer 6 generates control information Ic necessary for vehicle control based on the outside world information Io processed by the image processing circuit 4M, transmits it to the vehicle control device 10, or measures the ambient temperature by each temperature sensor.
  • the power supply from the recognition unit power supply circuit 7 is stopped based on the T L , T R , and T M. The details of the processing here will be described later.
  • the recognition unit power supply circuit 7 supplies electric powers P1 to P5 to the left image sensor 4L, the right image sensor 4R, the image processing circuit 4M, the left temperature sensor 5L, and the right temperature sensor 5R in response to a command from the control microcomputer 6 . Supply or suspend their power supply.
  • the control unit power supply circuit 8 supplies electric power P0 to the control microcomputer 6 and the main temperature sensor 5M.
  • the electric power P0 is always supplied while the stereo camera 1 is activated.
  • the storage unit 9 is an EEPROM or the like that stores the state of the stereo camera 1 in the past determined by the control microcomputer 6 and the measured temperature of each temperature sensor.
  • the power supply suppression start threshold values Th L , Th R , Th M , and the power supply suppression release threshold values Th LC , Th RC , and Th MC which will be described later, are registered in advance, and the control microcomputer 6 can appropriately refer to these threshold values. ..
  • the vehicle control device 10 is a control device that realizes driving support and automatic driving by controlling the steering system, drive system, and braking system of the vehicle based on the control information Ic transmitted from the stereo camera 1, and is generally used. It is called an ECU (Electronic Control Unit).
  • ECU Electronic Control Unit
  • the internal temperature of the stereo camera 1 rises. Most of the temperature rise is due to power consumption in the left image sensor 4L, the right image sensor 4R, and the image processing circuit 4M. Therefore, if the power supply to these is stopped, the temperature of the stereo camera 1 can be lowered.
  • the control for temporarily stopping the power supply from the recognition unit power supply circuit 7 to each image sensor or the like when the stereo camera 1 becomes hot is referred to as power supply suppression control.
  • the image data D taken by the left image sensor 4L and the right image sensor 4R at a high temperature contains a lot of noise, an abnormality occurs in the external information Io obtained by processing the image data D by the image processing circuit 4M. I often do it. Then, when the control microcomputer 6 generates the control information Ic based on the abnormal outside world information Io, the vehicle control device 10 that has received the control information Ic cannot output the normal control information Ic, so that safe driving support is provided. And automatic driving cannot be guaranteed. Therefore, when the temperature of the stereo camera 1 becomes high, it is necessary to temporarily stop the function of the stereo camera 1.
  • the situation in which power supply suppression is necessary is, for example, when operating in a high temperature environment or when the stereo camera 1 is started in a state where it is exposed to direct sunlight. Since the arrangement of heat generating parts around each temperature sensor is not uniform, the order of the measured temperatures of each temperature sensor is fixed in the constant state after a certain period of time has passed from the start, unless there is an abnormality or failure. For example, the relationship of T L > T R > T M is always maintained.
  • FIG. 3 shows the state of power supply when the power supply is suppressed.
  • the power supply of the power P 4 to the left temperature sensor 5L and the power P 5 to the right temperature sensor 5R is stopped, and only the power P 0 is supplied from the control unit power supply circuit 8 to the main temperature sensor 5M and the control microcomputer 6. Will be continued.
  • the generation of the image data D and the external world information Io in each image element and the image processing circuit 4M is also interrupted.
  • the control microcomputer 6 transmits the control information Ic indicating that the stereo camera 1 is temporarily stopped to the vehicle control device 10, and the vehicle control device 10 receiving the control signal IC receives the control signal IC. Notifies the driver that the driving support and automatic driving functions are suspended.
  • FIG. 4 is a control flowchart of power supply suppression in this embodiment. As shown here, in step S1, the control microcomputer 6 executes a routine for determining whether or not to start feeding suppression. Next, in step S2, the control microcomputer 6 executes a routine for determining whether or not the power supply suppression is released. The process of FIG. 4 starts at the same time as the start of the stereo camera 1 and ends when the stereo camera 1 is stopped. The details of each routine will be described below.
  • FIG. 5 is a control flowchart showing details of the power supply suppression start determination routine.
  • step S11 the control microcomputer 6 determines whether the ambient temperature TM measured by the main temperature sensor 5M exceeds the power supply suppression start threshold value Th M. Then, if it exceeds, the process proceeds to step S14, and if it does not exceed, the process proceeds to step S12.
  • step S12 the control microcomputer 6 determines whether the ambient temperature TL measured by the left temperature sensor 5L exceeds the power supply suppression start threshold value Th L. Then, if it exceeds, the process proceeds to step S14, and if it does not exceed, the process proceeds to step S13.
  • step S13 the control microcomputer 6 determines whether the ambient temperature TR measured by the right temperature sensor 5R exceeds the power supply suppression start threshold value Th R. Then, if it exceeds, the process proceeds to step S14, and if it does not exceed, the process returns to step S11.
  • step S14 the control microcomputer 6 issues a power supply stop command to the recognition unit power supply circuit 7 and starts power supply suppression. That is, when any one of the ambient temperatures TM, TL, and TR exceeds the respective power supply suppression start thresholds Th M , Th L , and Th R , the recognition unit power supply circuit 7 uses the power P as shown in FIG. The supply of 1 to P5 is stopped, and the control unit power supply circuit 8 continues to supply power to the control microcomputer 6 and the main temperature sensor 5M. As a result, it becomes impossible to temporarily perform driving support and automatic operation, but since heat generation in the left image sensor 4L, the image processing circuit 4M, and the right image sensor 4R is eliminated, the temperature of the stereo camera 1 is increased by heat radiation from the outer shell or the like. Begins to descend.
  • FIG. 6 is a control flowchart showing details of the power supply suppression release determination routine.
  • step S21 in the control microcomputer 6, the ambient temperature TM is the power supply suppression release threshold value Th. Determine if it is below the MC . Then, if the ambient temperature TM is lower than the power supply suppression release threshold Th MC , the process proceeds to step S22, and if it is not lower, the process returns to step S21.
  • step S22 the control microcomputer 6 issues a power supply restart command to the recognition unit power supply circuit 7 , and restarts the supply of powers P1 to P5 from the recognition unit power supply circuit 7.
  • the generation of the image data D and the external world information Io is restarted, and the driving support and the automatic driving using the output of the stereo camera 1 are also restarted.
  • the power supply suppression is released without considering the changes in the ambient temperature TL and the ambient temperature TR .
  • the power supply suppression is performed only when all of the ambient temperatures TM , TL , and TR are below the respective power supply suppression release thresholds Th MC , Th LC , and Th RC .
  • the feeding suppression may be released before the ambient temperatures TL and TR are sufficiently lowered, but in this embodiment, all of the ambient temperatures TM , TL and TR are released. Is sufficiently lowered before the power supply suppression is released.
  • the smaller (lower temperature) the electric suppression release threshold Th MC registered in the storage unit 9 the longer the time from the start to the release of the power supply suppression, the left image sensor 4L, the image processing circuit 4M, and the right image sensor. 4R could be cooled sufficiently.
  • FIG. 7 is a graph illustrating a problem when the electric suppression release threshold Th MC is made excessively small.
  • each ambient temperature maintains the relationship of TL ⁇ TR > TM.
  • TA is the ambient temperature of the stereo camera 1
  • t 0 is the start-up time of the stereo camera 1
  • t 1 is the ambient temperature T L (or TR ) that rises to the power supply suppression start threshold Th L (or Th R ).
  • t 2 is the time when the ambient temperature TM drops to the power supply suppression release threshold Th MC to release the power suppression.
  • HL is a hysteresis region whose upper and lower limits are the feed suppression start threshold Th L and the feed suppression release threshold Th LC
  • HR is a hysteresis whose upper and lower limits are the feed suppression start threshold Th R and the feed suppression release threshold Th RC .
  • the region, HM is a hysteresis region having an upper limit and a lower limit of the power supply suppression start threshold value Th M and the power supply suppression release threshold value Th MC .
  • the electric suppression release threshold Th MC is made smaller (lower temperature) than necessary, the time from the time t 1 for starting the power supply suppression to the time t 2 for releasing the power supply suppression becomes longer, so that the left image sensor 4L, the right image sensor 4R, and the image processing circuit 4M can be sufficiently cooled.
  • the power supply suppression release threshold Th MC it is desirable to set the power supply suppression release threshold Th MC as high as possible for driving support and early resumption of automatic driving.
  • an excessively high power supply suppression release threshold Th MC is set to reduce the hysteresis region HM , “hunting” may occur in which the power supply suppression start and the power supply suppression release are repeated.
  • the hunting generation environment there is a state in which the image sensor is exposed to direct sunlight and the ambient temperature TL (or TR ) of the image sensor is more likely to rise than the ambient temperature TM of the image processing circuit 4M .
  • the ambient temperature TL rises sharply due to the self-heating of the left image sensor 4L and the influence of direct sunlight, and the power supply suppression starts at the time t 1 when the power supply suppression start threshold Th L is exceeded.
  • the ambient temperature TM of the image processing circuit 4M has not risen so much, so when the feeding suppression is started, the ambient temperature TM quickly drops to the feeding suppression release threshold Th MC , and the time t 2 At this point, the power supply suppression is released, and the power supply to the image sensor and the image processing circuit 4M is resumed.
  • the ambient temperature TL of the left image sensor 4L has not sufficiently dropped, so that when the power supply is restarted, the ambient temperature TL quickly rises again to the power supply suppression start threshold value Th L. Power supply suppression is restarted at time t3. In this way, “hunting" that repeats the start of the power supply suppression and the release of the power supply suppression occurs. Hunting also occurs in the right image sensor 4R for the same reason.
  • step S2a the control microcomputer 6 stores the ambient temperature TM of the main temperature sensor 5M at the time t 1 when the power supply suppression is started. Also, in this step, the ambient temperatures TL and TR at time t 1 are also stored. As is clear from FIG. 5, the time t 1 is the time when the ambient temperature TM exceeds the power supply suppression start threshold value Th M , the time when the ambient temperature TL exceeds the power supply suppression start threshold value Th L , and the ambient temperature. This is the earliest time among the times when TR exceeds the power supply suppression start threshold Th R.
  • step S2b the control microcomputer 6 estimates the ambient temperature TL (or TR ) using the difference information between the ambient temperature TM at time t1 and the current ambient temperature TM .
  • the ambient temperature TR drops at a speed twice the ambient temperature TM and the ambient temperature TL drops at a speed 1.5 times the ambient temperature TM while the power supply is suppressed. If it is experimentally known that the temperature is lowered, the relationship is registered in the storage unit 9.
  • the control microcomputer 6 can estimate the current falling temperature of the ambient temperature TR by doubling the falling temperature of the ambient temperature TM, and by multiplying the falling temperature of the ambient temperature TM by 1.5 times, the peripheral temperature TR can be estimated.
  • the current temperature drop of the temperature TL can be estimated.
  • the control microcomputer 6 can estimate the current ambient temperatures TL and TR by subtracting the estimated falling temperature from the ambient temperatures TL and TR at the time t1 stored in step S2a . ..
  • step S2c the control microcomputer 6 determines whether the ambient temperature TM measured by the main temperature sensor 5M is lower than the power supply suppression release threshold Th MC . Then, if it falls below the level, the process proceeds to step S2d, and if it does not fall below the level, the process returns to step S2b.
  • step S2d the control microcomputer 6 determines whether the ambient temperature TL estimated in step S2b is lower than the power supply suppression release threshold Th LC . Then, if it falls below the level, the process proceeds to step S2e, and if it does not fall below the level, the process returns to step S2b.
  • step S2e the control microcomputer 6 determines whether the ambient temperature TR estimated in step S2b is below the power supply suppression release threshold Th RC . Then, if it falls below the level, the process proceeds to step S2f, and if it does not fall below the level, the process returns to step S2b.
  • step S2f the control microcomputer 6 issues a power supply restart command to the recognition unit power supply circuit 7 , and restarts the supply of powers P1 to P5 from the recognition unit power supply circuit 7.
  • the power supply suppression can be released at the timing when the left image sensor 4L and the right image sensor 4R are sufficiently cooled.
  • FIG. 10 is a graph when the power supply suppression release determination of this embodiment is executed under the same environment as that of FIG. 7.
  • the power supply suppression release thresholds Th MC , Th LC , and Th RC are increased as compared with FIG. 7 according to the first embodiment, and the hysteresis regions HM and H are increased. L and HR are narrowed.
  • FIG. 10 as compared with FIG. 7, the period from the time t 1 to the time t 2 in which the image data D and the external world information Io cannot be generated can be shortened, but the hunting as in FIG. 8 does not occur.
  • the unmeasurable ambient temperature is estimated based on the measurable ambient temperature, and the measured ambient temperature and the estimated ambient temperature are used. , Determine whether to cancel the power supply suppression. Therefore, it is possible to realize the release of the power supply suppression at the same timing as the configuration in which the power supply to all the temperature sensors is continued with a simpler configuration.

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Abstract

L'invention concerne un dispositif de prise de vues pouvant, lorsqu'une alimentation électrique est temporairement limitée à une température élevée, malgré une structure simplifiée éliminant la nécessité d'alimenter en énergie un substrat d'imagerie, reprendre l'alimentation électrique au moment approprié lorsque la température de l'élément d'imagerie a chuté en raison de la coupure d'alimentation électrique. Le dispositif de prise de vues comprend : un premier substrat sur lequel est monté un premier capteur de température ; un second substrat sur lequel sont montés un élément d'imagerie et un second capteur de température ; une FPC connectant le premier substrat et le second substrat ; et une unité de commande d'alimentation électrique destinée à alimenter en énergie le premier capteur de température, l'élément d'imagerie et le second capteur de température. Quand la température mesurée par le premier capteur de température ou le second capteur de température dépasse une valeur seuil de début de limitation d'alimentation prédéterminée, l'unité de commande d'alimentation électrique coupe l'alimentation électrique vers l'élément d'imagerie et le second capteur de température, tout en continuant l'alimentation électrique vers le premier capteur de température.
PCT/JP2021/033457 2021-01-08 2021-09-13 Dispositif de prise de vues et procédé de commande de dispositif de prise de vues WO2022149308A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112021005584.4T DE112021005584T5 (de) 2021-01-08 2021-09-13 Kameravorrichtung und kamerasteuerverfahren
JP2022573910A JPWO2022149308A1 (fr) 2021-01-08 2021-09-13

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JP2021-002161 2021-01-08
JP2021002161 2021-01-08

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WO2022149308A1 true WO2022149308A1 (fr) 2022-07-14

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001088609A (ja) * 1999-09-22 2001-04-03 Fuji Heavy Ind Ltd 車載カメラの電源制御方法ならびに装置
JP2011244515A (ja) * 2010-05-14 2011-12-01 Buffalo Inc 無線通信装置
JP2013187782A (ja) * 2012-03-08 2013-09-19 Hitachi Automotive Systems Ltd 車載カメラ装置
JP2017073898A (ja) * 2015-10-07 2017-04-13 株式会社デンソー 電動機制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001088609A (ja) * 1999-09-22 2001-04-03 Fuji Heavy Ind Ltd 車載カメラの電源制御方法ならびに装置
JP2011244515A (ja) * 2010-05-14 2011-12-01 Buffalo Inc 無線通信装置
JP2013187782A (ja) * 2012-03-08 2013-09-19 Hitachi Automotive Systems Ltd 車載カメラ装置
JP2017073898A (ja) * 2015-10-07 2017-04-13 株式会社デンソー 電動機制御装置

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JPWO2022149308A1 (fr) 2022-07-14

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