JP2008001179A - In-vehicle driving assistance camera device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To mount an in-vehicle camera on a vehicle according to each application, the number of cameras mounted is increased, and it becomes difficult to attach to a vehicle body and to control the camera.
When a camera 1L, 1R capable of moving the shooting direction of the camera approximately 90 degrees is mounted in the vicinity of both front and rear ends of the vehicle, and the camera 1L, 1R captures the traveling direction of the vehicle, the switch 7 switches the camera. When one of the images 1L and 1R is selected and the side direction is photographed, the left and right screen synthesized image obtained by synthesizing the images of the cameras 1L and 1R by the left and right image synthesizing unit 6 is selected by the changeover switch 7 and displayed. Display on the device 20.
[Selection] Figure 1

Description

  The present invention relates to an in-vehicle driving assistance camera device, a stereo camera device for recognizing a traveling situation ahead of the vehicle, and a field of view in the left-right direction (front side) of the front portion of the vehicle at an intersection with poor visibility. It is related with the vehicle-mounted driving assistance camera apparatus used for both the blind corner monitor camera apparatus for projecting to a vehicle interior monitor.

  A conventional stereo camera device fixes two cameras facing the front of the vehicle, recognizes the driving situation ahead of the vehicle using the principle of triangulation, alerts the driver as necessary, and shifts down Vehicle control such as deceleration by was performed. (Patent Document 1)

  In addition, the blind corner monitor camera device attaches a camera that captures the left and right of the vehicle to the front of the vehicle, captures the left and right images of the intersection at an unsightly intersection, and displays it on the monitor in the vehicle. This is to check the situation of the intersection. (Patent Document 2)

JP 2004-32793 A (paragraph 0002, paragraph 0033, paragraph 0034, paragraph 0040, FIG. 17, FIG. 18) JP-A-9-58342 (paragraph 0012, paragraph 0021, FIG. 1, FIG. 7)

  By the way, the stereo camera device is for recognizing a danger in advance by recognizing a distance from a vehicle in front of the vehicle, and is used while the vehicle is traveling. The blind corner monitor camera device is used to check the left and right situation with poor visibility, and is used when the vehicle is temporarily stopped at an intersection or the like. For this reason, both camera devices are rarely used at the same time, and when using a stereo camera device, do not use a blind corner monitor camera device, but use a blind corner monitor camera device. In most cases, stereo camera devices are not used.

  Conventionally, multiple cameras have been mounted on the vehicle for each application, such as vehicle driving control and blind spot monitoring assistance. However, if a camera is installed for each application, the number of cameras mounted on the vehicle increases and wiring is performed. Complexity, increased costs, and design constraints. The present invention reduces the number of cameras mounted on a vehicle by sharing the camera for a plurality of uses.

An in-vehicle driving assistance camera device according to the present invention drives at least two cameras respectively attached to the left and right of a front part or a rear part of a vehicle, a camera control mechanism that changes a shooting direction of the camera, and the camera control mechanism. Accordingly, the left and right display screen for displaying the left and right images on one screen from the left and right captured image signals by the camera and the camera control means for changing the photographing direction of the camera to the substantially traveling direction and the substantially lateral direction of the vehicle. Left and right screen combining means for combining with a signal; and image selecting means for selecting any of the left and right display screen signals and the left and right captured image signals,
The image selection means displays the left and right display screen signal when the camera is capturing a substantially lateral direction, and displays either the left or right captured image signal when the camera is capturing a substantially traveling direction. Is output as

  The in-vehicle driving assistance camera device according to the present invention is equipped with at least two cameras whose imaging direction can be changed within a range of approximately 90 degrees at the front of the vehicle, and functions as a stereo camera device when the vehicle is traveling normally. Since the vehicle functions as a blind corner monitor camera device when the vehicle approaches an intersection or the like and stops or travels at a slow speed, the number of cameras mounted on the vehicle can be reduced.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of an in-vehicle driving assistance camera device 10 according to Embodiment 1 of the present invention. In FIG. 1, camera units 1 </ b> L and 1 </ b> R attached to the front left and right of a vehicle (not shown) send forward or front left and right image signals to the image processing unit 4 under the control of the camera control unit 2. Based on the left and right image signals, the left and right image combining unit 6 combines the left and right image signals, and the obstacle recognizing unit 5 recognizes the obstacle. The left and right image signals output from the left and right image combining unit 6 and the front image signal output from the obstacle recognition unit 5 are selected by the changeover switch 7 and output to the display device 20.
The microcomputer 3 supports on-board driving of the camera control unit 2, the image processing unit 4, and the like based on control signals output from the operation switch 8, the vehicle speed sensor 21, the steering snake angle sensor 22, and the car navigation device 23. Controls the components of the camera device 10.

  2 is a diagram showing a configuration example of the camera unit 1 of the in-vehicle driving assistance camera device 10, FIG. 3 is a diagram for explaining the operation of the blind corner monitoring camera of the in-vehicle driving assistance camera device 10, and FIG. 4 is the blind corner monitoring camera. FIG. 5 is a diagram illustrating an example of an image during operation, FIG. 5 is a diagram illustrating a stereo camera operation of the in-vehicle driving assistance camera device 10, and FIG. 6 is a diagram illustrating an example of an image during the stereo camera operation.

  A driving control method for the camera unit 1L and the camera unit 1R will be described with reference to FIG. In FIG. 1, the camera operation and the shooting direction of the camera unit 1L and the camera unit 1R are controlled by the camera control unit 2, respectively. The camera control unit 2 is connected to the microcomputer 3 and drives and controls the camera units 1L and 1R based on a control signal sent from the microcomputer 3. Image signals photographed by the camera units 1L and 1R are sent to the left and right image synthesis unit 6 and the obstacle recognition unit 5 of the image processing unit 4.

  The operation of the camera unit 1 (1L or 1R) will be described with reference to FIG. In the figure, a camera 1a is attached to a camera mount 1d fixed to a drive shaft 1c of a motor 1b that rotates within a range of a predetermined angle (for example, approximately 90 degrees) with a vertical direction as an axis. The motor 1b is a stepping motor, for example, and can turn the camera 1a in a predetermined direction with high accuracy by rotating a predetermined number of pulses. In addition to the stepping motor, a DC motor provided with an encoder is also possible. Moreover, the reference position of the angle in the rotation direction of the motor 1b can be recognized by a sensor or the like (not shown).

  Next, the operation of the blind corner monitor camera function will be described. For example, as shown in FIG. 3, camera units 1 </ b> L and 1 </ b> R are mounted on both left and right ends of the front portion of the vehicle 30. The camera unit 1L faces the left side with respect to the traveling direction of the vehicle 30, and captures a direction approximately 90 degrees to the left with respect to the traveling direction of the vehicle. The camera unit 1R faces the right side with respect to the traveling direction of the vehicle 30, and captures a direction approximately 90 degrees to the right with respect to the traveling direction of the vehicle. The horizontal angles of view taken by the camera units 1L and 1R are Lh for the camera unit 1L and Rh for the camera unit 1R.

  For example, as shown in FIG. 4, the left and right image synthesis unit 6 receives the image signal L (S) of the camera unit 1L on the left half and the camera unit 1R on the right half. The left and right screen display image signals for displaying the images R (S) side by side are combined. The left and right screen display image signals are selected by the changeover switch 7 and displayed on the display device 20. Accordingly, the driver can check the left and right situation of the intersection on the display device 20 without causing the vehicle 30 to greatly enter the intersection.

  Next, the stereo camera function operation will be described. For example, FIG. 5 is a diagram when the vehicle 30 is traveling, and the camera unit 1 </ b> L and the camera unit 1 </ b> R each face forward in the traveling direction of the vehicle 30. Since the camera unit 1L and the camera unit 1R are respectively attached to the left and right ends of the vehicle, the photographed images are images that are shifted in position by the difference between the attachment positions. FIG. 6 is a diagram showing images taken by the camera unit 1L and the camera unit 1R. An image captured by the camera unit 1L is an image L (F), and an image captured by the camera unit 1R is an image R (F). Each photographed image has a parallax due to a difference in mounting position between the camera unit 1L and the camera unit 1R.

  The obstacle recognition unit 5 calculates a distance to an obstacle such as a vehicle ahead based on this parallax, and sends the result to the microcomputer 3. When the stereo camera function is operating, the vehicle is in a normal running state, so either image of the camera unit 1L or the camera unit 1R is sent from the obstacle recognition unit 6 as a forward image signal, selected by the changeover switch 7, and displayed. Displayed on the device 20. By outputting as a forward image signal what has been subjected to image processing for alerting, such as emphasizing, coloring or marking the contour of an image recognized as an obstacle by the obstacle recognition unit 5 A front image with good visibility can be obtained.

  Further, an operation signal from the operation switch 8, vehicle speed information from the vehicle speed sensor 21, snake angle information from the steering snake angle sensor 22, position information from the car navigation device 23, map information, and the like are sent to the microcomputer 3. . Based on this information, the microcomputer 3 selects the left and right screen display image signal from the left and right image synthesis unit 6 or the forward image signal sent from the obstacle recognition unit 5 by the changeover switch 7 and displays it on the display device 20. Can be output as an image signal.

  For example, when the vehicle speed information output from the vehicle speed sensor 21 is equal to or less than a predetermined speed indicating slow running or stop, the changeover switch 7 selects the output of the left and right image combining unit 6, that is, the left and right screen display image signal. And can be operated as a blind corner monitor camera.

  Moreover, since it is not necessary to operate as a blind corner monitor at slow speed in a traffic jam, the operation as a stereo camera can be continued based on the position information and map information of the car navigation device 23.

  In addition, when the stereo camera function is operated, the camera control unit 2 can be instructed in the shooting direction of the camera units 1L and 1R based on the snake angle information sent from the steering snake angle sensor 22. The driver can also change the shooting direction of the camera units 1L and 1R by using the operation switch 8 and manually by the driver.

  Further, the display device 20 can be shared with the display device of the car navigation device 23. In this case, the camera image and the image of the car navigation device 23 are switched by a changeover switch (not shown), or simultaneously on one screen. Can be displayed.

  In order to basically satisfy the function as the blind corner monitor camera device shown in FIG. 3 and the function as the stereo camera device shown in FIG. 5, the driving of the camera unit 1L and the camera unit 1R is performed by the vehicle 30. On the other hand, it is sufficient to change the shooting direction of the camera unit 1L and the camera unit 1R by about 90 degrees in the horizontal direction (pan direction). Further, the camera unit 1L and the camera unit 1R can satisfy their functions by operating symmetrically with respect to the traveling direction of the vehicle 30.

  By attaching the camera units 1L and 1R to the left and right positions in front of the vehicle in this way, the two cameras can be used as a stereo camera device when the vehicle is traveling, or when the vehicle is temporarily stopped at an intersection where visibility is poor. Will function as a blind corner monitor camera device, allowing the driver to assist in driving the vehicle and confirming left and right conditions such as intersections. As a result, there is no need to mount dedicated cameras for the stereo camera device and the blind corner monitor camera device, the number of cameras mounted on the vehicle can be reduced, and the mounting of the vehicle 30 on the vehicle body and the control of each camera can be performed. It becomes easy. In view of the above application, it is most suitable that the camera unit 1L and the camera unit 1R are mounted near both ends of the front portion of the vehicle 30.

Embodiment 2. FIG.
FIG. 7 is a diagram for explaining the operation of the blind corner monitor camera of the in-vehicle driving assistance camera device 10 according to the second embodiment of the present invention, and shows a state where the vehicle 30 that has entered the T-junction that is not going straight has stopped. FIG. 8 is a diagram for explaining the stereo camera operation of the in-vehicle driving assistance camera device 10 when the road is curved. In the second embodiment, the shooting direction of the camera unit is directed to the direction in which the approaching road can be monitored without being approximately 90 degrees in the traveling direction of the vehicle 30 as in the first embodiment. . In addition, the same code | symbol is attached | subjected to the part which is common in the vehicle-mounted driving assistance camera apparatus of Embodiment 1. FIG.

  In a normal case, when using the in-vehicle driving support camera device as a stereo camera device, the shooting direction of the camera units 1L and 1R may be directed to the traveling direction of the vehicle 30, and when used as a blind corner monitor camera device. The direction may be approximately 90 degrees with respect to the traveling direction of the vehicle 30.

  However, as shown in FIG. 7, in a T-shaped road that is not orthogonal, the shooting direction of the camera unit is not approximately 90 degrees in the traveling direction of the vehicle 30, and the amount of vehicle 30 entering the road is Since the left and right of 30 are different, the shooting directions of the camera units 1L and 1R are not necessarily parallel to the road. In this example, the camera unit 1L is oriented at approximately 45 degrees with respect to the traveling direction, and the camera unit 1R is oriented at approximately 120 degrees, whereby an image useful for the driver can be obtained.

  Further, as shown in FIG. 8, when the road is curved, the camera unit 1L and the camera unit 1R are slightly curved with respect to the traveling direction of the vehicle 30 in accordance with the road curve. Those who faced can better grasp the situation of the preceding vehicle or the like. In this case, for example, by determining the shooting direction of the camera units 1L and 1R in the direction of the preceding vehicle recognized by the obstacle recognition unit 5, the situation of the preceding vehicle can be grasped. It is also possible to determine the shooting direction of the camera units 1L and 1R by detecting the traveling direction of the vehicle based on the wheel direction information from the steering snake angle sensor 22. Alternatively, it is also possible to determine the shooting direction of the camera units 1L and 1R by grasping the road conditions from the map data of the car navigation device 23 and the current position of the vehicle 30.

  As described above, by grasping the situation where the vehicle 30 is placed and determining the optimum shooting direction of the camera units 1L and 1R, a more appropriate image can be taken as a stereo camera device or a blind corner monitor camera device. can do.

Embodiment 3 FIG.
FIG. 9 is a diagram for explaining the stereo camera operation of the in-vehicle driving assistance camera device 10 according to the third embodiment of the present invention, and shows a case where the vehicle 30 has come uphill. FIG. 10 is a diagram illustrating a configuration example of the camera unit of the in-vehicle driving assistance camera device 10. In the third embodiment, the shooting direction of the camera units 1L and 1R can be controlled not only in the horizontal direction (pan direction) but also in the elevation direction (tilt direction) with respect to the vehicle 30. In addition, the same code | symbol is attached | subjected to the part which is common in the vehicle-mounted driving assistance camera apparatus of Embodiment 1. FIG.

  In general, when driving on the flat ground, when using the in-vehicle driving assistance camera device 10 as a stereo camera device, the shooting direction of the camera units 1L and 1R may be oriented in the horizontal direction of the vehicle 30. However, as shown in FIG. 9, when the front is a steep uphill and the road has a gradient, it is better to shoot the camera units 1L and 1R with the camera 30 facing the horizontal direction of the vehicle 30 upward. Useful images may be obtained as driving assistance. In this case, the camera units 1 </ b> L and 1 </ b> R need to be configured to be able to be driven in the elevation direction with respect to the horizontal direction of the vehicle 30.

FIG. 10 is a view in which a motor 1 e for rotating the camera 1 a with respect to the elevation angle direction of the vehicle 30 is attached to the camera unit 1. When the camera 1a is directed upward or downward of the vehicle 30, the driving of the camera 1a is not only the one-axis driving shown in FIG. 1, but the two-axis driving as shown in FIG.
A mounting base 1g shown in FIG. 10 is attached to a rotating shaft 1c of a motor 1b having a rotating shaft 1c in the vertical direction of the vehicle 30. A motor 1e having a rotating shaft 1f in the horizontal direction of the vehicle 30 is fixed to the mounting base 1g. A camera mount 1d is attached to the rotation shaft 1f of the motor 1e, and the camera 1a is fixed to the camera mount 1d. Thus, when the motor 1 b is rotated, the camera 1 a can change the shooting direction in the horizontal direction of the vehicle 30, and when the motor 1 e is rotated, the camera 1 a can change the shooting direction in the elevation angle direction of the vehicle 30.

  By attaching the camera unit 1 with the motors 1b and 1e attached to the left and right positions in front of the vehicle in this way, not only on a steep uphill, but also on a road with ups and downs such as a steep downhill, The camera units 1L and 1R function as a vehicle driving assistance for the driver as a stereo camera device. As a result, there is no need to mount dedicated cameras for the stereo camera device and the blind corner monitor camera device, the number of cameras mounted on the vehicle can be reduced, and the mounting of the vehicle 30 on the vehicle body and the control of each camera can be performed. It becomes easy. In view of the above application, it is most suitable that the camera units 1L and 1R are mounted near both ends of the front portion of the vehicle 30.

Embodiment 4 FIG.
FIG. 11 is a block diagram showing a configuration of an in-vehicle driving assistance camera device 11 according to Embodiment 4 of the present invention. In the figure, the camera units 1L and 1R attached to the front left and right of the vehicle (not shown) and the camera units 2L and 2R attached to the rear left and right are controlled by the camera control unit 2 to switch the image signal. Via the image processing unit 4. The changeover switch 25 can select the image signals of the camera units 1L and 1R or the image signals of the camera units 2L and 2R and send them to the left and right image synthesis unit 6 or the obstacle recognition unit 5. Moreover, both the image signals of the camera units 1L and 1R and the image signals of the camera units 2L and 2R can be sent to the left and right image synthesis unit 6 or the obstacle recognition unit 5 as necessary. In this case, for example, when each camera unit is functioning as a stereo camera, an obstacle in front of the vehicle and an obstacle in the rear of the vehicle may be detected at the same time. The left and right image synthesizing unit 6 synthesizes the left and right image signals, and the obstacle recognizing unit 5 recognizes the obstacle. Further, the left and right image signals output from the left and right image combining unit 6 and the image signal indicating the obstacle output from the obstacle recognition unit 5 are selected by the changeover switch 7 and output to the display device 20. Since the camera unit is attached to both the front part and the rear part of the vehicle 30, the image from the obstacle recognition unit 5 can simultaneously display both the front and rear images of the vehicle 30 on the display device 20. .
The microcomputer 3 includes a camera control unit 2, an image processing unit 4, and the like based on control signals output from the operation switch 8, the vehicle speed sensor 21, the steering snake angle sensor 22, the car navigation device 23, and the shift position sensor 24. The components of the in-vehicle driving assistance camera device 10 are controlled.

  FIG. 12 is a diagram showing the vehicle 30 entering the road or the like from a parking lot or the like by starting backward, and FIG. 13 is an image of the rear of the vehicle 30 taken by the camera units 2L and 2R mounted on the rear of the vehicle 30. It is a diagram showing that the camera functions as a stereo camera device. 14, 15, and 16, when the camera units 2 </ b> L and 2 </ b> R mounted on the rear side of the vehicle 30 photograph the rear side of the vehicle 30, the vehicle 30 travels rearward and stops at a parking lot or the like. FIG. 3 is a diagram showing a case where a situation behind a vehicle 30 is confirmed. Portions common to the in-vehicle driving assistance camera device 10 of Embodiment 1 are denoted by the same reference numerals.

  The drive control of the camera unit 2L and the camera unit 2R will be described with reference to FIG. In FIG. 11, the camera operation and the imaging direction are controlled by the camera control unit 2 in the camera units 2L and 2R, respectively, similarly to the camera units 1L and 1R of the first embodiment shown in FIG. Since the shift position information is input to the microcomputer 3 from the shift position sensor 24, the microcomputer 3 outputs images output from the camera units 2L and 2R to the changeover switch 25 when the shift position is in the reverse drive state. A control signal for selecting a signal is output. The selected left and right image signals are processed in the image processing unit 4 in the same manner as in FIG.

  In FIG. 12, camera units 2 </ b> L and 2 </ b> R are mounted on the left and right sides behind the vehicle 30, respectively. The camera unit 2L faces the right side with respect to the traveling direction of the vehicle 30 (the vehicle 30 travels backward), and captures a direction of approximately 90 degrees with respect to the traveling direction of the vehicle 30. The camera unit 2 </ b> R faces the left side with respect to the traveling direction of the vehicle 30 (the vehicle 30 travels backward), and captures a direction of approximately 90 degrees with respect to the traveling direction of the vehicle 30. Thus, when the driver advances the vehicle 30 backward and enters the road from a parking lot or the like, the driver can check the left and right conditions of the road with the display device 20 in the vehicle 30 without greatly entering the road. it can.

  FIG. 13 is a diagram when the vehicle 30 is traveling forward, and the camera units 2L and 2R attached to the rear of the vehicle 30 face the rear of the vehicle 30, respectively. Since the camera units 2L and 2R are attached to the left and right ends of the vehicle 30, respectively, the captured images are images that are shifted in position by the difference in the attachment positions. Each photographed image has a parallax due to the difference in the mounting position of the camera units 2L and 2R, and the distance of the vehicle behind and the like can be calculated from the image having the parallax. As a result, when a driver changes lanes, other vehicles approaching from the rear of the vehicle are recognized, and if the vehicle is in a dangerous state, warnings or other warnings or collisions cannot be avoided. In order to avoid accidents, it can work to reduce damage by appropriate control such as anti-lock braking system (ABS) and steering stability control (stability control).

  Next, the case where the vehicle 30 travels backward and stops (reversely stops) in a parking lot or the like will be described. In general, a camera installed with a wide-angle lens is used for parking support purposes, but when used as a stereo camera device for backward confirmation during driving as in this embodiment, A wide-angle lens is not suitable. For this reason, in the example shown in FIG. 13, there may be a case where an image to be confirmed immediately before stopping, in particular, an image close to the rear end of the vehicle cannot be captured due to the angle of view of the camera units 2L and 2R.

  FIG. 14 is a diagram for explaining image capturing in a portion close to the rear end of the vehicle, and the camera units 2L and 2R attached to the rear of the vehicle 30 face inward with respect to the rear of the vehicle 30, respectively. Accordingly, the camera units 2L and 2R can be used as a back view monitor camera that captures an image of a portion close to the rear end of the vehicle 30 behind the vehicle 30 without using a wide-angle lens. Further, since the stereo camera function is advantageous for a short distance where the parallax increases, it can function as a stereo camera even in parking, measure the distance to the stop position, and assist the driver in parking. This function can be used as an effective function when measuring a distance from a preceding vehicle with a short inter-vehicle distance in the case of slow driving in a traffic jam. That is, the camera units 1L and 1R in FIG. 5 are directed inward with respect to the front of the vehicle, and a front vehicle in the vicinity is put in the shooting range of both camera units, and a vehicle image of the front is shot. It becomes possible to recognize the distance from the preceding vehicle.

  FIG. 15 and FIG. 16 are diagrams for explaining the shooting direction control of the camera unit at the time of reverse stop, and are diagrams showing the swing in the horizontal direction and the elevation direction, respectively. When the vehicle 30 travels backward and stops at a parking lot or the like, as shown in FIG. 15, the horizontal angles of view Lh and Rh of the camera units 2L and 2R are small. There is a case where the light pole 31 cannot be photographed. Therefore, the necessary rear range can be photographed and shown to the driver by swinging the camera units 2L and 2R in the horizontal direction and changing the photographing ranges Lh and Rh between L'h and R'h. it can. Further, as shown in FIG. 16, since the vertical angle of view Lv (same for Rv) of the camera units 2L and 2R is small, for example, the guardrail 32 may not be photographed as the vehicle 30 moves backward. Therefore, by swinging the camera units 2L and 2R in the elevation angle direction and changing the shooting range Lv between L'v, the necessary rear range can be shot and shown to the driver. Thus, by swinging the shooting direction of the camera units 2L and 2R, that is, the shooting range in accordance with the movement of the vehicle 30, an optimal image can be shown to the driver during reverse parking.

  In the case of the rear left / right image confirmation shown in FIG. 12 and the rear proximity portion image confirmation shown in FIG. 14, the movement of the vehicle 30 is similar, but the photographing directions of the camera units 2L and 2R are completely different. The selection of the photographing direction can be performed by determination from the map information from the car navigation device 23 and the position information of the vehicle 30 or by the operation switch 8 provided in the driver's seat of the driver. The above-mentioned rocking motion can provide a useful image to the driver even when the camera unit is gradually changed in one direction as the vehicle moves. Also, in order to check the entire range behind the vehicle, The method of photographing the entire rear side by repeating the left and right rocking motion can also provide a useful image to the driver.

As described above, the camera units 2L and 2R are attached to the left and right positions behind the vehicle 30 so that their photographing directions can be switched to a substantially right angle direction and can be swung. When driving on a stereo camera for checking backwards, when going backwards on roads with poor visibility, etc., for blind corner monitor cameras for checking left and right behind, and when backing up, Can be used for view monitor cameras. As a result, there is no need to mount dedicated cameras for the stereo camera device, the blind corner monitor camera device, and the back view monitor device, the number of cameras mounted on the vehicle 30 can be reduced, and the vehicle 30 can be attached to the vehicle body. Control of each camera becomes easy.
In view of the above application, it is most suitable that the camera units 1L, 1R or the camera units 2L, 2R are mounted near both ends of the front portion of the vehicle 30.

  As an application example of the present invention, a stereo camera device for recognizing the position of another vehicle in front of or behind the vehicle, and the left and right visual fields at the front or rear of the vehicle at an intersection with poor visibility, etc. The present invention can be applied to a blind corner monitor camera device for projecting, a camera device used for a back view monitor device for projecting a field of view behind the vehicle to an in-vehicle monitor, and the like.

It is a block diagram which shows the structural example of the vehicle-mounted driving assistance camera apparatus of Embodiment 1 of this invention. It is a figure which shows the structural example of the camera unit of the vehicle-mounted driving assistance camera apparatus of Embodiment 1 of this invention. It is a figure explaining the blind corner monitor camera operation | movement of the vehicle-mounted driving assistance camera apparatus of Embodiment 1 of this invention. It is a figure which shows an example of the image at the time of the blind corner monitor camera operation | movement of the vehicle-mounted driving assistance camera apparatus of Embodiment 1 of this invention. It is a figure explaining the stereo camera operation | movement of the vehicle-mounted driving assistance camera apparatus of Embodiment 1 of this invention. It is a figure which shows an example of the image at the time of the stereo camera operation | movement of the vehicle-mounted driving assistance camera apparatus of Embodiment 1 of this invention. It is a figure explaining the blind corner monitor camera operation | movement of the vehicle-mounted driving assistance camera apparatus of Embodiment 2 of this invention. It is a figure explaining the stereo camera operation | movement of the vehicle-mounted driving assistance camera apparatus of Embodiment 2 of this invention. It is a figure explaining the stereo camera operation | movement of the vehicle-mounted driving assistance camera apparatus of Embodiment 3 of this invention. It is a figure which shows the structural example of the camera unit of the vehicle-mounted driving assistance camera apparatus of Embodiment 3 of this invention. It is a block diagram which shows the structural example of the vehicle-mounted driving assistance camera apparatus of Embodiment 4 of this invention. It is a figure explaining the blind corner monitor camera operation | movement behind the vehicle of the vehicle-mounted driving assistance camera apparatus of Embodiment 4 of this invention. It is a figure which shows an example of the image at the time of the stereo camera operation | movement of the vehicle back of the vehicle-mounted driving assistance camera apparatus of Embodiment 4 of this invention. It is a figure explaining the vehicle back confirmation operation | movement by the camera unit mounted in the vehicle back of the vehicle-mounted driving assistance camera apparatus of Embodiment 4 of this invention. It is a figure explaining the vehicle back confirmation operation | movement by the horizontal swing of the camera unit mounted in the vehicle back of the vehicle-mounted driving assistance camera device of Embodiment 4 of this invention. It is a figure explaining the vehicle back confirmation operation | movement by the elevation direction rocking | fluctuation of the camera unit mounted in the vehicle back of the vehicle-mounted driving assistance camera device of Embodiment 4 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1, Camera unit, 1a Camera, 1b Motor, 1c Motor shaft, 1d Camera mounting base, 1g Motor mounting base, 2 Camera control part, 3 Microcomputer, 4 Image processing unit, 5 Obstacle recognition part, 6 Left-right image Synthesizer, 7 changeover switch, 8 operation switch, 10, 11 on-board driving support camera device, 20 display device, 21 vehicle speed sensor, 22 steering snake angle sensor, 23 car navigation device, 24 shift position sensor, 30 vehicle, 3L 3R camera 12e multi-screen display means, horizontal view angle of Lh Rh camera, vertical view angle of Lv Rv camera.

Claims (9)

At least two cameras each attached to the left or right of the front or rear of the vehicle;
A camera control mechanism for changing the shooting direction of the camera;
By driving the camera control mechanism, camera control means for changing the shooting direction of the camera to a substantially traveling direction and a substantially side direction of the vehicle, and right and left images from left and right captured image signals from the camera on one screen Left and right screen combining means for combining the left and right display screen signals for display;
Image selection means for selecting one of the left and right display screen signals and the left and right captured image signals;
The image selection means displays the left and right display screen signal when the camera is capturing a substantially lateral direction, and displays either the left or right captured image signal when the camera is capturing a substantially traveling direction. An in-vehicle driving assistance camera device characterized by being output as In addition, an obstacle recognizing means for recognizing an obstacle that obstructs driving of the vehicle based on the left and right photographed image signals and outputting either one of the left and right photographed image signals,
When the image selection means is photographing the substantially side direction, the left and right display screen signal is obtained, and when the image selection means is photographing the substantially advance direction, the traveling direction image signal output from the obstacle recognition means is obtained. The in-vehicle driving support camera device according to claim 1, wherein the on-vehicle driving support camera device is output as a display image signal.   The control means controls the camera so that when the traveling speed information of the vehicle is equal to or higher than a predetermined speed, the camera captures the traveling direction of the vehicle, and when the traveling speed information is equal to or lower than the predetermined speed, the camera side direction The vehicle-mounted driving assistance camera device according to claim 1 or 2, wherein the means is controlled.   The in-vehicle driving assistance camera device according to any one of claims 1 to 3, wherein the camera is mounted near both left and right ends with respect to a traveling direction of the vehicle.   The in-vehicle driving assistance camera device according to any one of claims 1 to 4, wherein the camera control mechanism changes a shooting direction of the camera symmetrically with respect to the vehicle.   The in-vehicle driving assistance camera device according to any one of claims 1 to 5, wherein the camera control mechanism changes a shooting direction of the camera by approximately 90 degrees.   The in-vehicle driving assistance camera device according to any one of claims 1 to 4, wherein the camera control mechanism changes a shooting direction of the camera to be asymmetrical with respect to the vehicle.   The in-vehicle driving assistance camera device according to any one of claims 1 to 4, wherein the camera control mechanism is capable of swinging a photographing direction of the camera in a horizontal direction. The in-vehicle driving assistance camera device according to any one of claims 1 to 4, wherein the camera control mechanism is capable of swinging a shooting direction of the camera in a horizontal direction or an elevation angle direction.

Images