JP2004173037A - Optical axis deviation detector for in-vehicle camera - Google Patents

Abstract

When a photographing optical axis of an in-vehicle camera is displaced due to vibration during traveling, a change in ambient temperature, or the like, the amount of the deviation is automatically detected, and the driving support system can be operated based on the detection. Provided is a device for detecting an optical axis shift of a camera.
A camera control unit (12) for selecting a mark index provided on a windshield or the like and an image position of the mark index from an image captured by a camera (11) and storing the image position information in a frame memory; Comparing the reference image position information read from the frame memory with the image position information of the newly captured mark index, and if the difference between these image position information is within a predetermined range, the frame memory is replaced with a new one. The system is provided with a vehicle control unit 14 that updates the image position information, activates a warning buzzer or the like when it is out of a predetermined range, and stops the driving support system function.
[Selection diagram] Fig. 1

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an optical axis deviation detecting device for detecting a photographing optical axis deviation of a vehicle-mounted camera to cope with a driving support system.
[0002]
[Prior art]
Driving assistance systems are known that automatically brake when the vehicle is running abnormally or when the distance between the vehicle and the vehicle in front is too close, and warn the driver. I have.
In addition, some of such systems can confirm the rear when the vehicle is backed.
[0003]
Vehicles equipped with the above-mentioned driving support system are equipped with a vehicle-mounted camera such as a stereo camera system to determine abnormal running by checking the lane mark of a white line or the like, or to measure the inter-vehicle distance with a vehicle ahead. Is installed.
[0004]
The in-vehicle camera includes a solid-state imaging device such as a CCD, an information processing circuit, a memory, and the like, processes photographed image information output by the solid-state imaging device to check a traveling state and measure a distance to a vehicle in front, or The system is controlled by checking the rear of the vehicle.
[0005]
[Problems to be solved by the invention]
The on-board camera is installed during the manufacturing process of the vehicle, that is, before the vehicle is shipped from the factory. At that time, the shooting optical axis of the camera is fixedly set. May be shifted.
[0006]
The displacement of the photographing optical axis of the camera causes a change in the photographing range or a change in image position information such as a lane mark, so that the driving support system does not operate normally, and the distance measurement to the vehicle in front is not possible. Because it is accurate, there is a very dangerous situation when running a vehicle.
[0007]
In view of the above-mentioned circumstances, the present invention determines the optical axis deviation even when the photographing optical axis is deviated and operates the driving support system normally, or when there is a risk of running due to the deviation of the photographing optical axis. It is therefore an object of the present invention to propose a device for detecting an optical axis shift of an in-vehicle camera capable of braking a vehicle or notifying a driver.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, according to a first aspect of the present invention, in a device for detecting an optical axis shift of an in-vehicle camera used in a driving assistance system, an area including a marking on a vehicle body part for driving assistance is photographed. Image processing means for detecting the position information of the marking from the image captured by the on-vehicle camera; and photographing light by comparing the initially set marking position information with the newly detected marking position information. An optical axis deviation detecting device for an in-vehicle camera, comprising: a judging means for judging an axis deviation.
[0009]
The optical axis deviation detecting device of the first invention sets initial marking position information when the camera is mounted on a vehicle.
That is, the camera is mounted on the vehicle so as to have a photographing range including the marking on the vehicle body portion, and photographing is performed in the mounted state, whereby the image processing means detects the positional information of the marking from the photographed image. The marking position information is calculated and stored and set as an initial reference position.
[0010]
Thereafter, the vehicle-mounted camera captures an image while the vehicle is running, compares the new marking position information detected from the captured image with the above-described initial marking position information, and performs the initial shooting marking. The position is compared with the marking position for the subsequent photographing to determine whether there is an optical axis shift.
[0011]
That is, the judging means compares the marking position of the initial photographing with the marking position of the subsequent photographing. If there is no deviation in the marking position, it is judged that there is no optical axis deviation, and the marking position is determined. If there is a deviation, it is determined that there is an optical axis deviation, so that the optical axis deviation of the vehicle-mounted camera is detected.
[0012]
According to a second aspect of the present invention, there is provided an optical axis shift detecting device for a vehicle-mounted camera, wherein the image processing unit recognizes a structure provided on a windshield or a hood as the marking.
[0013]
A third invention proposes a device for detecting an optical axis shift of a vehicle-mounted camera, wherein the structure has a specific shape of a part of the hood.
[0014]
The second invention and the third invention are characterized by the form of the marking described above. In the second invention, a structure such as a mark indicator provided on a windshield or a bonnet is marked. In the third invention, a specific shape of a part of the hood is recognized as a marking.
[0015]
According to a fourth aspect of the present invention, there is provided a device for detecting an optical axis shift of an on-vehicle camera, comprising a notifying unit for notifying according to the determination of the optical axis shift by the determining unit.
[0016]
In the fourth aspect, when the determining means determines the optical axis deviation, the notifying means notifies the driver that the vehicle is running abnormally.
For example, a buzzer or the like is activated to warn the driver, or the vehicle is braked by braking.
[0017]
According to a fifth aspect of the present invention, when the optical axis deviation determined by the determination means is within a predetermined range, the new marking position information is replaced with reference position information, and when the optical axis deviation is out of the predetermined range, The present invention proposes a device for detecting an optical axis shift of an in-vehicle camera, which is configured to perform system control.
[0018]
According to the fifth aspect, when the judging means judges the optical axis shift, it detects whether the optical axis shift is within a predetermined range or outside the predetermined range from the initially set marking position information.
When the optical axis deviation is within the predetermined range, the newly set marking position information is set as the reference position information from the state where the optical axis shift operates as the reference position information for the initially set marking position information control. Switch to a working state.
Further, when the optical axis deviation is out of the predetermined range, it is determined that the optical axis deviation is so large that the driving support system function cannot be guaranteed, and, for example, a warning is issued and the system control is performed to stop the driving support system function. .
[0019]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a basic configuration example of a driving support system provided in a vehicle.
[0020]
In this driving support system, image information of a subject output from a camera 11 is processed by a camera control unit 12, and the processing information is sent to a traveling state determination unit 13 and a vehicle control unit 14.
[0021]
The vehicle control unit 14 determines whether or not the vehicle travels normally according to the photographing optical axis information sent from the camera control unit 12 and the vehicle information 15 sent from the travel state determination unit 13. Is output.
[0022]
The above-described camera 11 has a camera configuration including a photographing lens 11a, a solid-state imaging device 11b, an information processing circuit 11c, and the like, and a video camera, an electronic camera, or the like can be used.
[0023]
Before the vehicle is shipped, the camera 11 is attached to a position inside the vehicle above the windshield, and is set so as to photograph the front of the vehicle as shown in FIG.
Further, the vehicle 17 is provided with a mark index 18 as a structure for forming a marking on an upper portion of a windshield within a photographing range of the camera 11.
The mark index 18 may be provided on the front portion of the hood of the vehicle 17 as shown in FIG. 2, without being provided on the windshield.
Note that reference numeral 19 shown in the figure indicates the optical axis of the vehicle-mounted camera 11.
[0024]
The camera control unit 12 includes, in addition to circuit means for controlling the operation of the camera 11 and the monitor 20, a circuit for processing image information and storing the data image in a memory, and for reading out the image information. A circuit for selecting the image position of the mark index 18 and obtaining the position information, a circuit for storing the position information data of the mark index 18 in the frame memory, and a reference position information stored in the frame memory. A comparison circuit for comparing the mark index 18 with new image position information is provided.
[0025]
The traveling state determination unit 13 determines the traveling state of the vehicle 17 based on the image information sent from the camera control unit 12, and sends vehicle information 15 of the determination result to the vehicle control unit 14.
[0026]
For example, the traveling state determination unit 13 determines the traveling state when the vehicle 17 is running too close to the vehicle ahead, in addition to the case where the vehicle 17 is running meandering, the vehicle is traveling without the lane mark on the road. Judgment is made and this traveling state information is output as vehicle information 15.
[0027]
When the vehicle information 15 as described above is input, the vehicle control unit 14 outputs a system control signal 16 to automatically control the brake and activate a warning buzzer or the like that alerts the driver. .
[0028]
Further, the vehicle control unit 14 compares the position information of the initially set mark index 18 sent from the camera control unit 12 with the position information of the mark index 18 newly detected from the captured image. A circuit is provided for judging a shift of the photographing optical axis. If the photographing optical axis is deviated, the system control signal 16 is output in the same manner as described above to automatically control the brake, activate a warning buzzer, etc. If the photographing optical axis is deviated enough to cause a problem in driving of the driving support system, a warning is issued and the function of the driving support system is stopped.
[0029]
It should be noted that the monitor 20 does not always display while the driving support system is operating, but is for confirming the photographed image as necessary, and for example, has a configuration using a display of a navigation device. be able to.
[0030]
Next, the operation of the optical axis deviation detecting device configured as described above will be described.
As described above, the vehicle-mounted camera 11 is mounted so as to be in a photographing range including the mark index 18 before shipping the vehicle.
[0031]
When the camera 11 performs a photographing operation, photographed image information as shown in FIG. 3 is output from the solid-state imaging device 11b, and the image information is processed by the camera control unit 12 and stored in the image memory.
Further, the above image information can be read out from the image memory and displayed on the monitor 20.
[0032]
FIG. 4 is a flowchart showing the initial setting of the mark index 18. When the camera control section 12 inputs the photographed image information as described above, the image position information of the mark index 18 is obtained from this image information. Is selected. For example, the optical axis is set as the origin (0, 0) and selected as the position coordinates (Xo, Yo) for specifying the mark index 18. (Steps ST101 and ST102)
Then, the image position information is stored in the frame memory. (Step ST103)
With the above operation, the shooting optical axis of the camera 11 is determined.
This initial setting is performed by supplying power to the driving support system circuit and the camera 11 from the vehicle power supply.
[0033]
FIG. 5 is a flowchart showing the operation of the optical axis deviation detecting device after the vehicle is shipped.
As can be seen from this flowchart, while the vehicle is traveling, the camera control unit 12 reads out the initial setting of the photographing optical axis information from the frame memory and inputs the photographed image information obtained by the camera. I do. (Steps ST201, ST202)
[0034]
Then, the image position of the mark index 18 is recognized from the photographed image information input at this time, and the image position information is compared with the initially set image position information as new image position information of the mark index 18. (Step ST203)
[0035]
Subsequently, the information of the comparison result is sent to the camera control unit 14.
The camera controller 14 determines whether or not there is a deviation amount of the mark index 18. (Step ST204)
[0036]
In this step, if there is no difference between the new image position information and the initially set image position information, the operation is terminated assuming that the driving support system operates normally. (Step ST205)
[0037]
If there is a difference between the new image position information and the initially set image position information, that is, if the mark index 18 is displaced, whether the new image position information can be determined. That is, it is confirmed whether the mark index 18 has been shot as a bright subject. (Step ST206)
[0038]
If it cannot be determined, the current new image position information is not adopted. (Step ST207)
If it can be determined, the process proceeds to the next step, and the difference between the new image position information and the initially set image position information, that is, whether there is no problem in the driving support system even if there is a deviation in the mark index 18 is determined. to decide. (Step ST208)
[0039]
If the deviation of the mark index 18 becomes a problem, a warning is issued and the driving support system function is stopped. (Step ST209)
[0040]
If it can be determined that the displacement of the mark index 18 detected in the current photographing, that is, the displacement of the photographing optical axis does not cause a problem in the driving support system, the new position information based on the new image position information is used. Is set in the frame memory, and the operation is switched from the state of operation based on the initially set image position information to the state of operation based on the newly set position information.
[0041]
In the optical axis deviation detection performed thereafter, the above operation is repeated by comparing the image position information newly set in the frame memory with the newly input image position information, and the optical axis deviation is detected. To detect.
[0042]
If the case where new reference image position information is set in the frame memory is repeated, the image position information set in the frame memory is sequentially updated, and the allowable deviation amount of the mark index 18 is reduced. Since the detection cannot be performed, the number of times of repeated detection in such a case is determined, a warning is issued after that number of times, and the driving support system function is stopped. In this case, the driving support system is modified.
[0043]
In the above, the description has been given of the detection of the shift amount of the mark index 18 provided on the windshield or the upper part of the hood. Can be performed.
[0044]
【The invention's effect】
As described above, according to the optical axis deviation detecting apparatus of the present invention, the positional deviation of the marking, that is, the deviation of the photographing optical axis is automatically detected by the photographing of the vehicle-mounted camera, and there is a problem in the deviation of the photographing optical axis. If not, the driving support system is continuously operated normally, and if a problem occurs due to a shift of the photographing optical axis, measures such as stopping the function of the driving support system can be taken.
[0045]
As a result, if it is attached to an in-vehicle camera of a vehicle provided with a driving support system, an optical axis deviation detecting device which is extremely excellent in traffic safety can be obtained.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a basic configuration example of a driving support system according to an embodiment of the present invention.
FIG. 2 is a simplified view of a vehicle showing a mounting position of a mark index for detecting a photographing optical axis shift of a vehicle-mounted camera.
FIG. 3 is a diagram showing a captured image output by a vehicle-mounted camera.
FIG. 4 is a flowchart showing an initial setting operation of image position information of a mark index.
FIG. 5 is a flowchart showing an operation of detecting an imaging optical axis shift.
[Explanation of symbols]
REFERENCE SIGNS LIST 11 vehicle-mounted camera 12 camera control unit 13 running state determination unit 14 vehicle control unit 15 vehicle information 16 control signal 17 vehicle 18 mark index 20 monitor

Claims (5)

In the optical axis deviation detection device of the vehicle-mounted camera used in the driving support system,
Image processing means for detecting position information of the marking from a captured image of a vehicle-mounted camera which captures a range including a marking on a vehicle body part for driving assistance;
An optical axis of the on-vehicle camera, comprising: determining means for determining an imaging optical axis shift by comparing the initially set marking position information with the newly detected marking position information. Deviation detection device. The optical axis deviation detecting device for a vehicle-mounted camera according to claim 1,
The optical axis deviation detecting device for a vehicle-mounted camera, wherein the image processing means recognizes a structure provided on a windshield or a hood as the marking. An optical axis deviation detecting device for a vehicle-mounted camera according to claim 2,
The said structure is a specific shape of a part of the said bonnet, The optical-axis deviation detection apparatus of the vehicle-mounted camera characterized by the above-mentioned. The optical axis deviation detecting device for a vehicle-mounted camera according to claim 1,
An in-vehicle camera optical axis deviation detecting device, comprising: a notifying unit that performs notification in accordance with the determination of the optical axis deviation by the determining unit. The optical axis deviation detecting device for a vehicle-mounted camera according to claim 1,
When the optical axis deviation determined by the determination means is within a predetermined range, the new marking position information is replaced with reference position information, and when the optical axis deviation is out of the predetermined range, system control is performed. An optical axis deviation detecting device for a vehicle-mounted camera.

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