JP2002074339A - In-vehicle imaging device - Google Patents

Abstract

(57) [Problem] To provide an in-vehicle imaging device capable of automatically coping with a case where an imaging optical axis, an angle of view, and the like deviate from design values. SOLUTION: A camera 1 capable of capturing an image of an area larger than a necessary area is used, and an image by two left and right marks 3 installed so as to be included in the field of view is used to determine the optical axis of the camera 1 or the like. By detecting the shift of the angle of view, the rotation of the field of view, and the like, and adjusting the imaging area by the camera 1 according to the detection result, the shift of the optical axis and the angle of view of the camera 1 without moving the camera 1 Automatically compensates for rotation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image pickup apparatus for recognizing a traveling environment of a vehicle, and more particularly to an in-vehicle image pickup apparatus suitable for supporting safe driving of an automobile.

[0002]

2. Description of the Related Art In recent years, a device which recognizes a running environment of a vehicle such as an automobile by image data and supports safe running of the vehicle has attracted attention. And in one example of such a device,
There is an environment recognition device disclosed in JP-A-3-203000.

In such a driving environment recognizing apparatus, image data is taken from a video camera using an image pickup device such as a CCD (charge coupled device). If the mounting position, mounting angle, angle of view (imaging range), etc. of the video camera (imaging means) used for the image change, the image data also changes.

Therefore, in such an apparatus, position adjustment and angle-of-view adjustment of a camera (video camera) are important factors, and these must always be adjusted to a correct mounting state, and that state must be maintained. However, at this time, in the prior art, a method of manually adjusting a camera mounting mechanism such as a camera platform is mainly adopted.

[0005] Therefore, in the case of the prior art, a complicated operation is required for adjusting the mounting of the camera, which requires a lot of work time. Since there is a possibility that the adjustment of may be lost, there is no guarantee that the accuracy is always maintained.

In order to shorten the working time, for example, in Japanese Patent Application Laid-Open No. H11-259632, a stereo camera is used. JP-A-8-16999 discloses a method of determining a point, adjusting the optical axis of the camera by detecting this characteristic point, and confirming the displacement of the mounting position of a monocular camera, It discloses a method of using one mark for adjusting the mounting position.

[0007]

The prior art described above does not consider all of the requirements necessary for camera adjustment, and has a problem in improving performance and maintaining high performance. Was.

For example, in the prior art in which two feature points in a general scenery are extracted, a large number of processing steps are required for extracting feature points and the like, a great deal of processing time is required, and a minute optical axis has to be extracted. When the optical axis shifts greatly, it is impossible to search for the corresponding points of the left and right cameras, and since it is specialized for stereo cameras, it is easy to use a device using a monocular camera. There was a problem that it could not be diverted to.

In addition, the prior art in which one feature point is extracted has a problem that it cannot cope with only a slight optical axis shift and cannot detect a rotational shift. The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an in-vehicle imaging device that can automatically cope with a case where an imaging optical axis, an angle of view, and the like deviate from design values. To provide.

[0010]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an in-vehicle image pickup apparatus for recognizing a traveling environment of a vehicle based on image data taken from an image pickup means, which is wider than a field of view required for taking the image data. Using an imaging unit having an imaging field of view, two objects included in the field of view of the imaging unit and present in the left and right sides in the horizontal direction within the field of view and providing characteristic images are provided in a part of the vehicle. Detecting changes in the optical axis, the angle of view, and the rotation of the image of the imaging unit from the images of the two subjects, and adjusting any of the optical axis, the angle of view, and the rotation of the image of the imaging unit; To be achieved.

Another object of the present invention is to provide an in-vehicle image pickup apparatus for recognizing a traveling environment of a vehicle based on image data taken from an image pickup means, wherein the image pickup field has a wider field of view than the field of view required for taking the image data. Using means,
In order to provide a characteristic image to the left and right in the horizontal direction within the field of view of the image pickup means, two objects attached to a part of the vehicle, and an image of these two objects, the image pickup means Means for detecting any change in the optical axis, angle of view, and rotation of the image, means for calculating a correction amount in accordance with the detection result of the change, and image data conversion by the imaging means in accordance with the correction amount. Means for changing an area used for capturing image data in the obtainable area is provided, and any one of the optical axis, the angle of view, and the rotation of the image of the imaging means is adjusted. .

It is still another object of the present invention to provide an in-vehicle image pickup apparatus for recognizing a running environment of a vehicle based on image data taken from an image pickup means. The present invention is also achieved by changing a region used for capturing image data in a region where image data can be acquired by the image capturing device by using the device, so that the imaging viewing angle of the image capturing device can be changed.

At this time, by thinning out the pixels of the image data in accordance with the change in the imaging viewing angle of the imaging means, the change in the information amount of the image data due to the change in the imaging viewing angle of the imaging means can be suppressed. You may do so.

Although the present invention has been described with reference to an example of an apparatus for recognizing a running environment of a vehicle, the present invention can be applied to a general environment recognizing apparatus using image pickup means such as a camera. Absent.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle-mounted image pickup device according to the present invention will be described in detail with reference to the illustrated embodiments. First, a basic concept for detecting and adjusting any of the optical axis, the angle of view, and the rotation of an image of the camera according to the present invention will be described. First, in the present invention, instead of using all of the photoelectric conversion surfaces of the camera to capture image data, as shown in FIG. 1, an imaging lens 10 and an imaging device 1 are used.
Assuming that the required image data is an area indicated by an arrow A (hereinafter referred to as a used image area A1) in the camera having The focal length of the lens 10 and the size of the photoelectric conversion surface of the imaging device 11 are selected in advance so that an imaging area wider than the area A1 (hereinafter referred to as an obtainable image area A0) is obtained. The region for taking image data is moved on the photoelectric conversion surface.

Here, the retrievable image area A0 is the entire area of the photoelectric conversion surface from which image data can be obtained from the camera used at this time, and this is the lens provided in this camera. Is determined by the angle of view and the width of the photoelectric conversion surface, and the use image area A1 is the obtainable image area A0.
Are the areas that are actually used to capture image data, and therefore, these are referred to as “A0> A1”.
As a result, a wide-angle lens is used as the lens 10, and a CCD sensor having a large photoelectric conversion surface is used as the CCD sensor constituting the imaging device 11.

At this time, in the embodiment of the present invention, the CCD
Utilizing the fact that the photoelectric conversion surface of a general imaging device such as such is configured with a plurality of photoelectric conversion elements called pixels, and partially selecting pixels to capture image data among these pixels, Without actually moving the photoelectric conversion surface of the imaging device 11, the area for capturing the image data, that is, the used image area A1 can be changed arbitrarily. The angle of view can be changed, and the image can be rotated.

FIG. 2 shows a first embodiment of the present invention, wherein an in-vehicle imaging device according to the present invention is used as a traveling environment recognition device,
In the embodiment in which the present invention is applied to ACC (auto cruising control) control of a car, in this figure, M is a car, and a camera 1 is mounted on a ceiling of a room of the car M.
It is installed facing forward.

AE represents the visual field (area) of the image picked up by the camera 1, and the image picked up by this is the above-mentioned used image area A
At this time, at this time, marks 3 are provided at two places on the left and right sides of the hood MB of the automobile M so as to enter the imaging field of view AE.

In the automobile M, an ACC control unit 4, a display device 5, a brake driving device 6, a steering driving device 7, and a throttle driving device 8 are provided.

The camera 1 is connected to the ACC controller 4 by a camera signal line 40.
Is connected to the display device 5 by the display signal line 50.
In addition, the brake driving device 6
The throttle drive signal line 70 is connected to the steering drive device 7 and the throttle drive signal line 80 is connected to the throttle drive device 8.

FIG. 3 shows the details of the camera 1 as shown in FIG.
It is roughly divided into an image input unit 1A and an image calculation unit 1B.
First, the image input unit 1A includes a lens 10, an imaging device 11, and a CCD output signal conversion processing unit 12, and functions to capture an image mainly in front of the traveling direction of the automobile M and digitally output the captured image. I do.

Here, a CCD sensor having one million pixels is used for the imaging device 11, but a CMOS sensor may be used. At this time, as described in FIG.
The focal length of the lens 10 and the size of the imaging device 11 are selected so that an imaging field of view AE corresponding to the obtainable image area A0 wider than the used imaging area A1 is obtained.

Next, the image calculation section 1B captures and stores image data in pixel units, an image data correction section 14 for converting image data, and recognizes the relative position of the vehicle with respect to the external environment. An image processing unit 15 for calculating; a camera position change determining unit 16 for detecting and determining a positional deviation of the image input unit 1A from an initial setting position; a danger avoidance determining unit 17 for determining an alarm issuance and driving of the brake, steering, and throttle; The data input / output unit 18 outputs a judgment result and inputs data such as a vehicle speed.

First, the image processing unit 15 includes a preceding vehicle recognizing unit 151, an inter-vehicle distance calculating unit 152, an own vehicle lane calculating unit 153, and a positional relationship calculating unit 154 with the own vehicle lane.
Next, the camera position change determination unit 16
Are the initial mark position storage unit 161 and the mark extraction unit 16
2. It comprises a mark position detecting section 163 and a comparing section 164. The danger avoidance determination unit 17 includes a danger degree determination unit 171, an alarm issuance determination unit 172, and an actuator drive determination unit 173.

Next, the operation of this embodiment will be described. First, the operation of the driving environment recognition device in the ACC control of the automobile will be described. For example, the front of the own vehicle imaged by using the imaging device 11 configured to obtain an obtainable image area A0 using a 1 million pixel CCD. Are converted into digital data by the CCD output signal conversion processing unit 12 and stored in the image memory 13.

Then, the data stored in the image memory 13 is input to the image processing unit 15, and based on the data, the preceding vehicle recognition unit 151 first recognizes the preceding vehicle.
Next, the inter-vehicle distance calculation unit 152 calculates the inter-vehicle distance. In parallel with this, the own vehicle lane recognition unit 153 and the own vehicle and lane positional relationship calculation unit 154 calculate the own vehicle lane recognition and the own vehicle and lane positional relationship. Then, the results of these calculations by the image processing unit 15 are input to the danger avoidance determination unit 17.

The danger avoidance determining unit 17 inputs data such as the vehicle speed and the steering angle of the automobile M from the ACC control unit 4 via the data input / output unit 18 in addition to the above-described calculation results. By
Based on these calculation results and data, the approach state to the preceding vehicle and the position states of the own vehicle and the lane are determined.

Then, the own vehicle abnormally approaches the preceding vehicle,
When the vehicle is about to deviate from the vehicle lane, the warning issuance determination unit 172 determines that the vehicle is in a danger state, sends predetermined display data to the display device 5 via the data input / output unit 18, and notifies the driver of the danger state. Display the content that tells you that there is something.

On the other hand, when the inter-vehicle distance to the preceding vehicle changes, the throttle drive or brake control amount for maintaining the inter-vehicle distance to the preceding vehicle is calculated by the actuator drive determination unit 173, and the control data is input. The signal is transmitted from the output unit 18 to the ACC control unit 4.

Further, when the own vehicle is running off the vicinity of the center of the own vehicle lane, the actuator drive determining unit 17
In 3, a steering control amount required to travel around the center of the vehicle lane is calculated, and control data is transmitted to the ACC control unit 4 via the data input / output unit 18.

The above is the general operation of the ACC according to this embodiment. Next, the operation of the camera position change judging unit 16 which is a feature of this embodiment will be described with reference to FIGS. I do. In FIG. 4, when the process according to this flowchart is started, first, in step S1, initial setting is performed on the position of the camera 1.

In this initial setting, an operation of adjusting the mounting state of the camera 1 and fixing the camera 1 so that the imaging visual field AE is correctly obtained is performed. FIG. 5A shows the result of the initial setting at this time. As shown in FIG.
The imaging field of view AE of the camera 1 is set so that the use image area A1 is located at the center of 0.

Next, in step S2, the position of the mark 3 is stored in the initial mark position storage section 161 and is set as the initial mark position X. This initial mark position X is stored in the camera 1
Is set to an imaging operation state, the image data is taken in and processed, a mark 3 in the used image area A1 shown in FIG. 5A is detected, and this is set as an initial mark 3A, and the position X is stored as an initial mark position. What is necessary is just to store it in the part 161.

Here, the initial mark position X is
It is used repeatedly until it is reset. Therefore, the initial mark position storage unit 161 uses a rewritable ROM or a RAM having a backup power supply so that the memory can be retained even when the power supply to the entire apparatus is stopped.

Here, the processing up to step S2 is the work processing executed when the camera 1 is installed in the car M, but the subsequent processing is performed in parallel with the above-described operation as the normal traveling environment recognition device. Therefore, for example, the processing is executed by a predetermined microcomputer by a predetermined program. Therefore, the processing after step S3 is started when the accessory power of the vehicle M is turned on, and thereafter, the image processing is performed until the power is turned off. It is executed every time one frame of image data is written in the memory 13.

First, in step S3, the mark extracting unit 1
62 and the mark position detector 163, the image memory 13
Detects the position of mark 3 from the image data captured in
This is set as the current mark 3B, and the position is set as the current mark position Y. Next, in step S4, the comparison unit 164 compares the current mark position Y with the data stored in the initial mark position storage unit 161, ie, the initial mark position X.

If the detected position of the mark 3 is equal to the initial mark position, that is, if "X = Y", it is determined in step S5 that there is no change in the position of the camera 1, and the flow advances to step S6. After that, after executing the processing from step S6 to step S8, step S3
Returns to the processing of the next frame. Here, the processes from step S6 to step S8 are processes for the operation as the above-described normal traveling environment recognition device.

On the other hand, if the result in step S5 is No (No)
, That is, when “X ≒ Y”, FIG. 5B,
As shown in (c), the initial mark 3A and the current mark 3B are shifted. Therefore, in this case, step S
Then, in step S9, it is determined whether or not the shift amount between the initial mark 3A and the current mark 3B is within a correctable range. Judgment at this time, that is,
In this embodiment, whether or not the shift amount is within the range that can be corrected is determined based on whether or not the position Y of the current mark 3B is within the obtainable image area A0.

When the result of the determination in step S9 is Yes (affirmative), first in step S10,
A process for calculating a correction amount necessary for correcting the displacement is executed.
At this time, as shown in FIG. 5B, when the state of the displacement is a parallel displacement, the process of calculating the translation correction amount is performed.
As shown in (1), in the case of a rotational displacement, the process is a process of calculating a rotation correction amount.

Next, in step S11, the image data correction unit 14 corrects the image data based on the calculated correction amount. Then, when the processing of step S11 is completed, the processing merges with the processing of step S6 to step S8. At this time, the processing as a normal traveling environment recognition device is executed using the corrected image data. On the other hand, when the determination result of step S9 is No, that is,
If the shift amount is too large and the required correction amount exceeds the obtainable image area A0, the process proceeds to step S12.

As a result, first, at step S12, it is determined that the correction is impossible, and then at step S13, a signal indicating that the correction is impossible is output from the data input / output processing unit 18. Therefore, at this time, a predetermined display signal is supplied from the ACC control unit 4 to the display device 5, and as a result, the driver is notified that the deviation correction cannot be obtained.

Therefore, according to the first embodiment, the position of the mark 3 provided on the bonnet MB of the automobile M is detected from the sequentially captured image data, and this is defined as the initial position. Since the position change of the camera 1 is detected in comparison, the position change of the camera 1 can always be detected without being affected by the change of the traveling environment, and the image data can be accurately corrected. it can.

That is, in the case of this embodiment, a mark provided on the vehicle is searched for instead of searching for a feature point that can be a mark from a general scenery. You can adjust the camera axis.

According to the first embodiment, the optical axis of the camera 1 and the rotation of the image are automatically and sequentially corrected without moving the camera 1. As a result, When the camera is manufactured or mounted, and when the optical axis, the angle of view, and the like deviate from the design values with the passage of time, the camera can automatically cope with the situation.

As a result, since a mechanism for rotating the camera 1 is not required, weight, cost, and size can be reduced. Further, since two marks are used, it is possible to cope with not only a translational shift (a shift parallel to the vertical and horizontal directions) but also a shift in the rotational direction. Moreover, by using an imaging device and a wide-angle lens that are larger than the range of use,
It is possible to cope with a large deviation amount.

In the first embodiment, the marks provided on the left and right portions of the hood of the automobile are used, but instead, the marks are attached to a mascot attached to the hood or a windshield. Such as seals
Needless to say, the same effect can be obtained as long as the mark is attached to the host vehicle and can be used as two marks.

In the first embodiment, FIG.
In the process in step S5, the position of the mark 3 is calculated by the mark extracting unit 162 from the actually captured image data, and this is set as the initial mark position X as shown by the broken line in FIG. The method of storing in the storage unit 161 has been adopted.

However, instead of this method, an initial mark position X is calculated in advance by using a camera serving as a reference model, and this data is written in a ROM.
May be used as the initial mark position storage unit 161, and this may be used as the second embodiment of the present invention.

In the case of the second embodiment, FIG.
Except that the process of step S2 in is not necessary, the same configuration and process as in the above-described first embodiment may be used, and the effects of the second embodiment are as follows.

In the first embodiment, it is possible to cope only with the case where the camera 1 is mounted on the vehicle and the camera 1 is shifted with time. However, in the second embodiment, the data of the ROM and the mark position on the vehicle are stored. By making the comparison, the deviation of the optical axis generated at the time of manufacturing or mounting can also be adjusted.

Next, a third embodiment of the present invention will be described. First, in the case of the third embodiment, the overall configuration is the same as that of the first embodiment described with reference to FIGS. 1 to 3, and the difference is that the processing is performed as shown in FIG. It is in the point. However, in FIG.
The processing is the same as that of the first embodiment shown in FIG. 4 except that steps 14 and S15 are added.

Therefore, also in the third embodiment, when the position of the image by the mark 3 is shifted from the initial position, the image data is corrected in accordance with the shift amount, which is the same as the first embodiment. is there. However, in the first embodiment, once the optical axis of the camera 1 is displaced, the image correction processing in step S11 is added every time the processing is executed, so that a long processing time is required.

On the other hand, in the third embodiment shown in FIG. 6, the mark position deviates from the initial position in step S5, and the mark can be corrected in step S9. When the image data correction amount is calculated in step S10, the result is As shown in FIG. 7 (a), it is determined in step S14 whether or not there is only a translational deviation, and if the result is Yes, instead of the correction of the image data, in step S15, FIG. The position X of the used image area A1 and the initial mark 3A is changed as shown in FIG.

At this time, the position X of the used image area A1 and the position X of the initial mark 3A are changed, as described above, of the pixels on the photoelectric conversion surface of the imaging device 11 for actually capturing image data. May be executed by partially selecting. As a result, when the next image data is fetched, the position Y of the current mark 3B coincides with the initial mark position X, and the result in step S5 becomes Yes. The processing from step S6 to step S8 is executed while the image remains as it is.

On the other hand, when the shift is not limited to the translational shift, the result of determination in step S14 is No. Therefore, as in the first embodiment of FIG. Will be executed. Therefore, in the case of the third embodiment, in addition to the same effect as in the first embodiment, when only the translation component is shifted, the correction of the image data is not performed and only the used area is changed, so that the calculation amount is small. Can be reduced.

Next, a fourth embodiment of the present invention will be described. For example, at the time of manufacture or mounting, the angle of view of the camera 1 may change.
In response to such a change in the angle of view of the camera, the influence of the change is suppressed.

First, also in the case of the fourth embodiment, the overall configuration is the same as that of the first embodiment described with reference to FIGS. The setting process, that is, the process from step S1 to step S3, includes step S20 and step S3 as shown in FIG.
21 is added. Therefore, also in the fourth embodiment, when the position of the image due to the mark 3 is shifted from the initial position, the image data is corrected according to the shift amount, which is the same as in the first embodiment.

Next, the operation of the fourth embodiment will be described. In this case, as a result of adding steps S20 and S21 shown in FIG.
First, an angle-of-view detection process is performed in step S20.
As described above, if the angle of view of the camera 1 changes and, for example, the angle of view widens, as shown in FIG. 9A, the interval between the left and right current marks 3B is reduced, and the initial mark 3A It shifts inward.

Accordingly, it can be detected that the angle of view has been widened due to the inward shift, and the magnitude of the shift indicates
The degree of spreading can be calculated. Therefore, the next step S
At 21, the capture range of the image data is adjusted. At this time, as shown in FIG. 9B, the used image area A1 is narrowed.

On the other hand, if the angle of view of the camera 1 is narrowed, the space between the current marks 3B on the left and right is widened, and is shifted outside the initial mark 3A, contrary to FIG. 9A. . Then, at this time, it can be detected that the angle of view has been narrowed due to the shift to the outside, and the degree of narrowing can be calculated based on the size of the shift. Therefore, in step S21, the opposite of FIG. 9B is performed. And the used image area A
Make 1 wider.

At this time, the adjustment processing in step S 21, that is, the processing of expanding and narrowing the use image area A 1, as described above, includes the actual processing among the pixels on the photoelectric conversion surface of the imaging device 11. May be performed by partially selecting pixels for which image data is to be captured.

Then, the process proceeds to step S3, and thereafter, the operation is the same as that of FIG. Therefore, according to the fourth embodiment, in addition to the effects of the first embodiment, it is possible to automatically cope with a change in the angle of view of the camera 1.

Next, a fifth embodiment of the present invention will be described. Here, the fifth embodiment is a device that switches the angle of view of the camera 1, captures two types of image data of a wide field of view and a narrow field of view, and recognizes the traveling environment of the vehicle.
This is an application of the present invention.

Therefore, in the case of the fifth embodiment, FIG.
In the block configuration of, the entire configuration is the same as that of the first embodiment described with reference to FIGS. 1 to 3 except that the image processing unit 15 is replaced with an image processing unit 15A shown in FIG. The image processing unit 15A is different from the image processing unit 15 only in that an adjacent lane recognizing unit 155 and an adjacent vehicle operation calculating unit 156 are added.

Therefore, also in the fifth embodiment, when the position of the image due to the mark 3 deviates from the initial position, the image data is corrected in accordance with the deviation amount, which is the same as in the first embodiment. However, after that, in step S6 in FIG. 4, the processing by the adjacent lane recognizing unit 155 and the processing by the adjacent vehicle operation calculating unit 156 are performed as shown in FIG. become.

The processing shown in FIG. 11 will be described below with reference to FIG. First, in step S61, a wide-angle image acquisition process is executed by the adjacent lane recognition unit 155, and it is checked whether or not an adjacent vehicle is recognized.
Therefore, first, as shown in FIG. 12A, a considerably wide use image area A1 (W) is selected from the obtainable image area A0.

Then, the image data in the wide-angle use image area A1 (W) is fetched from the image data for one frame provided from the image data correction section 14. Then, as is clear from FIG. 12 (a), as a result of a wide-angle image, the adjacent lane is also in the field of view, and information from the adjacent lane can be obtained. It recognizes.

Next, in step S62, image processing is executed by the adjacent vehicle operation calculating section 156. If there is an adjacent vehicle, the movement of the recognized adjacent vehicle is analyzed by image processing, and the adjacent vehicle is moved to the own vehicle lane. It is determined whether or not to interrupt. Next, in step S63, the preceding vehicle recognition unit 151 executes a narrow-angle image acquisition process this time to check whether or not the preceding vehicle is recognized. That is, first, FIG.
As shown in FIG. 2 (b), a relatively small use image area A1 (T) is selected from the obtainable image area A0.

Then, the image data in the narrow-angle use image area A1 (T) is fetched from the image data for one frame supplied from the image data correction section 14. Then, as is clear from FIG. 12 (b), this time, as a result of the narrow-angle image, the distant area is enlarged, and detailed information can be easily obtained even from the distant image. The vehicle ahead of the own vehicle, that is, the preceding vehicle is recognized.

Next, in step S64, image processing is executed by the following distance calculation unit 152, and if there is a preceding vehicle,
The distance to the preceding vehicle, that is, the inter-vehicle distance is calculated. The calculation of the inter-vehicle distance here may be performed, for example, by using a method of comparing the size of the preceding vehicle in the image with the size of the actual vehicle assumed in advance. Thus, when the processing from step S61 to step S64 is completed,
Proceeding to step S7, the process ends.

Then, in step S7, the situation of the adjacent vehicle, the preceding vehicle, and the own vehicle is checked by the danger avoidance determination unit 17, and it is determined whether an alarm is issued or the actuator is operated according to the result. Determined, then step S
In step 8, the result of the determination is output from the data input / output processing unit 18.

Therefore, according to the fifth embodiment, it is possible to selectively use two types of image data of a wide field of view and a narrow field of view without using an exchange mechanism for the lens of the camera 1 or using a zoom lens. As a result, the weight and cost of the camera 1 can be sufficiently reduced.

In the fifth embodiment, for example, 1
Since the imaging device 11 having one million pixels is used, even in the case of a narrow-angle image, a standard pixel imaging device (for example, 25
There is almost no loss of information volume compared to a camera that uses 10,000 pixels). By the way, in the above description, the embodiment in the case of using two types of images, that is, a wide-angle image and a narrow-angle image, has been described. However, the present invention is not limited to the two types of images but can be applied to a plurality of images. Needless to say.

By the way, in the fifth embodiment, the number of pixels for taking in image data from the photoelectric conversion surface of the imaging device 11 is the same in the case of a wide-angle image and in the case of a narrow-angle image. This case may be referred to as a sixth embodiment, and the sixth embodiment will be described below.

First, here, it is assumed that the pixels on the photoelectric conversion surface of the imaging device 11 as a whole, that is, in the obtainable image area A0, are schematically shown in FIG. In this case, the wide-angle use image area A1
In the case of (W), when taking in image data, as shown in FIG. 13B, the image data is taken out every other pixel, and in the case of the narrow-angle use image area A1 (T), As shown in (c), image data is taken in from all the pixels in the area A1 (T).

Here, the aim of the sixth embodiment is to make the number of pixels to be processed the same for a wide-angle image and a narrow-angle image as much as possible.
In either case, the amount of information is equal and the processing time is equal.

In the embodiment of the present invention, it is desirable to use an imaging device having a large number of pixels, for example, one million pixels. For this reason, as described above, even if every other pixel is thinned, it is equivalent to a narrow-angle image. Can be obtained, and the processing time required for a wide-angle image can be reduced to the same level as that for a narrow-angle image by thinning out pixels.

Here, in the above case, the wide-angle use image area A
In the case of 1 (W), an image thinned out every other pixel was used,
In the present invention, it is needless to say that the number of thinning-outs may be changed according to the used image size, and the same effect can be obtained even in the intermediate image between the narrow-angle image and the wide-angle image.

[0080]

According to the present invention, by using a wide-angle lens and an imaging device having a large number of pixels for a camera used in an on-vehicle imaging apparatus, a shift in an optical axis and an angle of view caused during manufacturing and mounting, and an image. Of the optical axis and the angle of view that occurred with time after mounting,
Can be corrected automatically.

Further, according to the present invention, since the screen area to be used can be changed, it is possible to acquire from a narrow-angle image to a wide-angle image without changing the information amount, and it is possible to easily perform various image processing.

[Brief description of the drawings]

FIG. 1 is a schematic diagram for explaining the principle of the present invention.

FIG. 2 is an overall configuration diagram showing an embodiment in which the on-vehicle imaging device according to the present invention is applied to an auto cruising device of an automobile.

FIG. 3 is a block diagram showing an embodiment in which the in-vehicle imaging device according to the present invention is applied to an auto cruising device of an automobile.

FIG. 4 is a flowchart for explaining the operation of the first embodiment of the present invention.

FIG. 5 is an image window diagram for explaining an operation of the first exemplary embodiment of the present invention.

FIG. 6 is a flowchart for explaining the operation of the third embodiment of the present invention.

FIG. 7 is an image window diagram for explaining the operation of the third embodiment of the present invention.

FIG. 8 is a flowchart for explaining the operation of the fourth embodiment of the present invention.

FIG. 9 is an image window diagram for explaining the operation of the fourth embodiment of the present invention.

FIG. 10 is a block diagram showing a part of a configuration according to a fifth embodiment of the present invention.

FIG. 11 is a flowchart for explaining the operation of the fifth embodiment of the present invention.

FIG. 12 is an image window diagram for explaining the operation of the fifth embodiment of the present invention.

FIG. 13 is a schematic diagram illustrating pixels of an imaging device for explaining the operation of the sixth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Camera 3 Mark 3A Current mark (image of current mark) 3B Initial mark (image of initial mark) 10 Lens 11 Imaging device A0 Acquirable image area A1 Used screen area

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Jiro Takezaki 2520 Takaba, Hitachinaka-shi, Ibaraki F-term in the Automotive Equipment Group, Hitachi, Ltd. (Reference) 5B057 AA16 BA02 CA12 CA16 CB12 CB16 CC01 CD03 CH01 5C054 AA02 CA04 CC02 CD03 CE11 CF05 CG02 CH02 EA01 EA05 FC11 FC12 FF02 HA30 5H180 AA01 CC04 CC24 LL01 LL02 LL04 LL08 LL09

Claims (4)

[Claims] 1. An in-vehicle image pickup apparatus for recognizing a traveling environment of a vehicle based on image data taken from an image pickup means, wherein an image pickup means having an image pickup visual field wider than an image pickup visual field necessary for taking the image data is used. A part of the vehicle is provided with two subjects included in the field of view of the imaging means and presenting a characteristic image on the left and right sides in the horizontal direction in the field of view; And detecting any change in the optical axis, the angle of view, and the rotation of the image of the imaging unit, and adjusting any of the rotation of the optical axis, the angle of view, and the image of the imaging unit. Vehicle-mounted imaging device. 2. An in-vehicle image pickup apparatus for recognizing a traveling environment of a vehicle based on image data taken from an image pickup means, wherein an image pickup means having an image pickup field wider than an image pickup field required for taking the image data is used. The image pickup device comprises two objects attached to a part of the vehicle in such a manner that characteristic images are given to the left and right in the horizontal direction within the field of view of the image pickup means. Means for detecting any change in the optical axis, angle of view, and rotation of the image of the means; means for calculating a correction amount in accordance with the detection result of the change; image data by the imaging means in accordance with the correction amount Means for changing an area used for capturing image data in the obtainable area of the image forming apparatus, and any one of the optical axis, the angle of view, and the rotation of the image of the imaging means is adjusted. Features and In-vehicle imaging device. 3. An in-vehicle image pickup apparatus of a type for recognizing a traveling environment of a vehicle based on image data taken from an image pickup means, wherein an image pickup means having an image pickup field wider than an image pickup field necessary for taking the image data is used. In the area where the image data can be obtained by the imaging means,
An in-vehicle image pickup device, wherein an image pickup viewing angle of the image pickup means can be changed by changing an area used for taking image data. 4. The image data according to claim 3, wherein pixels of the image data are decimated in accordance with a change in the imaging viewing angle of the imaging unit, thereby changing the imaging viewing angle of the imaging unit. An on-vehicle image pickup device, which is configured to suppress a change in amount.