JP2008148064A - VEHICLE CONTROL VALUE DETERMINING DEVICE, IMAGING DEVICE, IMAGING REPRODUCTION SYSTEM, VEHICLE CONTROL VALUE DETERMINING METHOD, AND IMAGING METHOD - Google Patents

Abstract

An object of the present invention is to provide a vehicle control value determination device and the like capable of preventing the occurrence of a wagon wheel phenomenon.
A vehicle control value determining device 100 includes pattern number data 122 indicating the number of patterns arranged at equal intervals in a rotation direction on a vehicle wheel, and an imaging cycle of an imaging device 200 that images the vehicle. A storage unit 120 that stores frequency data 124 indicating the vehicle speed pulse number and a vehicle speed pulse number data 126 that indicates the number of vehicle speed pulses of the vehicle; and for arranging the pattern at the normal rotation position when the imaging device 200 captures the next frame or the next field. And a control value determining unit 130 for determining the control value of the vehicle.
[Selection] Figure 3

Description

  The present invention relates to a vehicle control value determination device, an imaging device, an imaging reproduction system, a vehicle control value determination method, and an imaging method for preventing the occurrence of a wagon wheel phenomenon.

  When a pattern such as spokes or holes is regularly provided on the vehicle wheel or tire (for example, when the vehicle or the vehicle is traveling at an equal interval in the rotation direction), When the captured image is reproduced, there may occur a phenomenon that the wheel appears to rotate in the direction opposite to the traveling direction or a phenomenon that the wheel appears to stop. Such a phenomenon is called a wagon wheel phenomenon.

As described in Japanese Patent Application Laid-Open No. 9-290665, etc., the vehicle speed is generally automatically controlled, but the vehicle speed is automatically controlled to prevent the occurrence of the wagon wheel phenomenon. This is not done, and the calculation method for obtaining such speed is not known.
Japanese Patent Laid-Open No. 9-290665

  For this reason, for example, a wagon wheel phenomenon may occur in CM shooting or movie shooting, and an unnatural image may be reproduced. In addition, when the wagon wheel phenomenon occurs, it is necessary to adjust the vehicle speed by trial and error in order to prevent the occurrence of the wagon wheel phenomenon, which takes a lot of trouble.

  An object of the present invention is to provide a vehicle control value determination device, an imaging device, an imaging reproduction system, a vehicle control value determination method, and an imaging method that can prevent the occurrence of a wagon wheel phenomenon.

  In order to solve the above-described problem, a vehicle control value determination device according to the present invention includes pattern number data indicating the number of patterns arranged at equal intervals in a rotation direction on a vehicle wheel, and an imaging device that images the vehicle. A storage unit for storing frequency data indicating an imaging period of the vehicle and a driving state data indicating a driving state of the vehicle; and for arranging the pattern at a normal rotation position when imaging the next frame or the next field in the imaging device. A control value determining unit that determines a control value of the vehicle, wherein the control value determining unit sets the pattern to a normal rotation position based on the pattern number data, the frequency data, and the running state data. The control value that can be arranged is determined.

  The vehicle control value determination method according to the present invention is a vehicle control value determination method in a vehicle having an input unit and a calculation unit, wherein the input units are arranged at equal intervals with respect to the rotation direction on the wheels of the vehicle. Pattern number data indicating the number of patterns, frequency data indicating an imaging cycle of an imaging device that images the vehicle, and running state data indicating the number of pulses generated by a vehicle speed sensor per one rotation of the wheel, The calculation unit determines the control value that allows the pattern to be arranged at the normal rotation position based on the pattern number data, the frequency data, and the running state data.

  The imaging reproduction system according to the present invention includes the vehicle control value determination device, the imaging device, and a reproduction device that reproduces a captured image of the vehicle by the imaging device.

  According to the present invention, since the vehicle control value determination device and the like can run the vehicle at a speed at which the pattern is arranged at the normal rotation position during imaging, it is possible to prevent the occurrence of the wagon wheel phenomenon.

  In addition, the control value determination unit has a rotational angular velocity per one frame or one field of the wheel larger than 2πn / N and π (2n + 1) / N when the number of patterns is N and n is a positive integer. The control value may be determined to be smaller.

  According to this, the vehicle control value determination device or the like can appropriately determine the control value based on the number of patterns and the rotational angular velocity.

  The traveling state data may include wheel outer periphery data indicating a length of the outer periphery of the wheel.

  According to this, the vehicle control value determination device or the like can appropriately determine the control value according to the difference in the outer circumference length of the wheel.

  In addition, the vehicle control value determination device may include a control unit that controls the vehicle to travel with the control value.

  According to this, the vehicle control value determination device or the like can prevent the occurrence of the wagon wheel phenomenon by automatically controlling the vehicle.

  The traveling state data includes vehicle speed pulse number data indicating the number of vehicle speed pulses generated for each rotation of the wheel, and the control value determining unit includes the number of patterns, the imaging cycle, and the vehicle speed pulse. The number of pulses per unit time during traveling may be determined as the control value based on the number, and the control unit may control the vehicle so as to travel with the number of pulses.

  According to this, the vehicle control value determination device or the like can prevent the occurrence of the wagon wheel phenomenon by automatically controlling the vehicle based on the number of pulses per unit time when the vehicle is traveling.

  The vehicle control value determination device may include a presentation unit that presents the control value to a user using at least one of an image and a sound.

  According to this, the vehicle control value determination device or the like can prevent the occurrence of the wagon wheel phenomenon by manually controlling the speed of the vehicle.

  The vehicle control value determination device may include an input unit that inputs the pattern number data, the frequency data, and the running state data.

  According to this, the vehicle control value determination device or the like can appropriately prevent the occurrence of the wagon wheel phenomenon by inputting the latest data.

  Further, the imaging device according to the present invention includes pattern number data indicating the number of patterns arranged at equal intervals with respect to the rotation direction on a vehicle wheel, speed data indicating the traveling speed of the vehicle, and traveling of the vehicle. A storage unit that stores driving state data indicating a state, an imaging cycle determination unit that determines an imaging cycle for arranging the pattern at a normal rotation position during imaging of the next frame or the next field, and the vehicle in the imaging cycle An imaging control unit that controls the imaging unit so as to image the image, and the imaging cycle determination unit determines that the pattern is in a normal rotation position based on the pattern number data, the frequency data, and the running state data. The imaging cycle that can be arranged in a position is determined.

  An imaging method according to the present invention is an imaging method in an imaging device having an input unit, a calculation unit, an imaging unit, and a control unit, and the input unit is configured to rotate in a vehicle wheel with respect to a rotation direction. Pattern number data indicating the number of patterns arranged at equal intervals, speed data indicating the traveling speed of the vehicle, and traveling state data indicating the traveling state of the vehicle are input, and the arithmetic unit is configured to capture the imaging cycle. The calculation unit determines an imaging cycle for arranging the pattern at a normal rotation position when imaging the next frame or the next field based on the pattern number data, the frequency data, and the running state data, The control unit controls the imaging unit so that the vehicle is imaged at the imaging cycle.

  According to the present invention, the imaging device can prevent the occurrence of the wagon wheel phenomenon by imaging in the imaging cycle in which the pattern is arranged at the normal rotation position during imaging.

  Hereinafter, a case where the present invention is applied to a vehicle having a vehicle control value determination device and a case where the present invention is applied to an imaging device will be described as an example with reference to the drawings. In addition, the Example shown below does not limit the content of the invention described in the claim at all. In addition, all the configurations shown in the following embodiments are not necessarily essential as means for solving the invention described in the claims.

(First embodiment)
First, the case where this invention is applied to the vehicle which has a vehicle control value determination apparatus is demonstrated. For example, when imaging a traveling vehicle (for example, an automobile, a motorcycle, a train, etc.) using an imaging device (for example, a digital video camera, a digital camera, etc.), the rotational speed of the wheel and the imaging cycle of the imaging device (for example, The wagon wheel phenomenon occurs when the captured image is reproduced due to visual mutual interference between the field frequency and the frame frequency.

  FIG. 1 is a diagram illustrating the relationship among the field number of the imaging apparatus, the position of the wheel pattern, and the rotation angle of the wheel when the rotation angle for each field is 30 °. FIG. 2 is a diagram illustrating the relationship among the field number of the imaging device, the position of the wheel pattern, and the rotation angle of the wheel when the rotation angle for each field is 60 °. In this embodiment, it is assumed that the imaging apparatus captures an image for each field.

  For example, as shown in FIG. 1, when the rotation angle of the vehicle wheel for each field of the imaging device is 30 °, the position P0 corresponding to the wheel pattern (eg, spoke, hole, decoration, etc.) When the image picked up in such a state is changed by 30 ° in the forward rotation direction with P1, P2, P3, P4, P5, P6 every time and the image picked up in such a state is reproduced, the rotation direction of the wheel in the picked-up image is the actual rotation direction. Looks consistent with.

  On the other hand, as shown in FIG. 2, when the rotation angle of the vehicle wheel for each field of the imaging device is 60 °, the position P0 corresponding to the wheel pattern is P1, P2, P3, P4, P5, and P6 change in the forward direction by 60 °. However, when the image captured in such a state is reproduced, the rotation direction of the wheel in the captured image is arranged such that the pattern adjacent to the target pattern in the direction opposite to the rotation direction is close to the original position. Therefore, the direction of rotation appears to be reversed due to the optical illusion, and a so-called wagon wheel phenomenon occurs. In this embodiment, the wagon wheel phenomenon is prevented from occurring by controlling the speed of the vehicle.

  Next, the vehicle control value determination device 100 having a function for preventing the occurrence of the wagon wheel phenomenon will be described. FIG. 3 is a functional block diagram of the vehicle control value determining apparatus 100 in the first embodiment. The vehicle control value determination device 100, the imaging device 200 that images the vehicle, and the reproduction device 400 that reproduces (displays) an image captured by the imaging device 200 function as an imaging reproduction system.

  The vehicle control value determining device 100 and the speed measuring device 300 are provided in the vehicle. The vehicle control value determination device 100 includes an input unit 110 that inputs various information from the imaging device 200, the speed measurement device 300, and the like, a storage unit 120 that stores various data, a control value determination unit 130, and a control value. It includes a presentation unit 140 that presents using at least one of an image and a sound, and a control unit 150 that controls the vehicle to travel according to the control value determined by the control value determination unit 130.

In addition, the storage unit 120 includes pattern number data 122 indicating the number of patterns arranged at equal intervals on the wheel, frequency data 124 indicating the field frequency (imaging cycle) of the imaging device 200, and an object generated for each rotation of the wheel. Vehicle speed pulse number data 126 indicating the number of vehicle speed pulses of the automobile is stored. Note that the vehicle speed pulse number data 126 is a kind of traveling state data indicating the traveling state. Note that, for example, the following may be employed as hardware for implementing the functions of these units. For example, the input unit 110 is a liquid crystal display, a button, a wireless communication circuit, the storage unit 120 is a RAM, the control value determination unit 130 is a CPU, the presentation unit 140 is an image processing circuit, a liquid crystal display, and a voice processing circuit. As the control unit 150 such as a speaker, an automatic speed control circuit (cruise control device) or the like may be employed.

  Next, the flow of vehicle control using these units will be described. FIG. 4 is a flowchart showing the flow of vehicle control in the first embodiment. In the following embodiments, it is assumed that an automobile is employed as the vehicle and a spoke format is employed as the pattern.

  First, the input unit 110 inputs a vehicle speed pulse number P of a target automobile that is generated every rotation of the wheel from the speed measuring device 300, and stores the input data in the storage unit 120 as vehicle speed pulse number data 126 (step S120). S1). The vehicle speed pulse number data 126 may be input by the user.

  Further, the input unit 110 causes the user to input the number N of wheel spokes in the wheel, and stores the input data as the pattern number data 122 in the storage unit 120 (step S2).

  Furthermore, the input unit 110 inputs the field frequency f of the imaging device 200 from the imaging device 200 through wireless communication, and stores the frequency data 124 in the storage unit 120 (step S3).

Here, the principle for preventing the occurrence of the wagon wheel phenomenon will be described. The wheel rotation angle ω per second when the field frequency of the imaging device 200 is fHz and the rotation angular velocity of the wheel per field (also referred to as angular velocity) is θ is:
ω = fθ (1)
It becomes. Further, when the number of spokes of the wheel is N, the appearance of the wheel when the captured image is reproduced in the range of 0 <θ <360 / N is as follows.

Forward rotation (forward rotation) and reverse rotation (reverse rotation) are determined when the rotation angular velocity is 1/2 of the spoke interval, that is, 360 ° / 2N, and forward rotation when the rotation angular velocity satisfies the following formula (2) , (3) is a stationary state where the number of spokes is doubled, when (4) is satisfied, a reverse phenomenon occurs, and (5) is a stationary state. That is,
When 0 <θ <180 ° / N (2)
When θ = 180 ° / N (3)
When 180 ° / N <θ <360 ° / N (4)
When θ = 360 ° / N (5)
It becomes.

Such a phenomenon occurs not only when the rotational angular velocity is as described above, but also when the rotational velocity is increased, it occurs every n times (n: a natural number) of the spoke interval.
When 360 ° n / N <θ <180 ° (2n + 1) / N (6)
When θ = 180 ° (2n + 1) / N (7)
When 180 ° (2n + 1) / N <θ <360 ° (n + 1) / N (8)
When θ = 360 ° (n + 1) / N (9)
It becomes.

Furthermore, if the expression is changed to radians, the equations (6) to (9) are
When 2πn / N <θ <π (2n + 1) / N (10)
When θ = π (2n + 1) / N (11)
When π (2n + 1) / N <θ <2π (n + 1) / N (12)
When θ = 2π (n + 1) / N (13)
It becomes.

Next, if the number of vehicle speed pulses generated for each rotation of the wheel is P (specified in any of 4, 8, 16, 20, 25 in JIS), the rotation angle per pulse is 360 ° / P, and assuming that the actual number of pulses generated as the vehicle travels is p per second, the rotation angle ω of the wheel per second is
ω = 360 ° p / P or ω = 2πp / P (14)
It becomes.

Therefore, from equations (1) and (14)
θ = 2πp / fP (15)
It becomes.

From the above conditions, in order to take an image so that the wheel is always rotating forward, from the equations (1), (10) and (15), nf / N <p / P <(2n + 1) f / 2N (16)
That is, the number of pulses p per second during traveling is expressed by the following equation: nfP / N <p <(2n + 1) fP / 2N (17)
The vehicle may be controlled to satisfy the above.

  Therefore, the control value determination unit 130 calculates the number of patterns N represented by the pattern number data 122, the field frequency f represented by the frequency data 124, and the vehicle speed pulse number P represented by the vehicle speed pulse number data 126 by (17). The range (control value) of the desirable number of pulses p during traveling is determined by substituting into the formula () and calculating (step S4). Then, the control unit 150 controls the traveling of the automobile so that the number of pulses per second during actual traveling is within the range of the number of pulses p determined by the control value determining unit 130 (step S5).

  For example, when the field frequency f of the imaging apparatus 200 is 60 Hz, the number of spokes N of the wheel is 5, the number of vehicle speed pulses P is 4, and n is 1, Equation (17) becomes 48 <p <72, and the control unit 150 The driving of the automobile may be controlled so that the number of pulses per second during actual driving is within this range.

  As described above, according to the present embodiment, the vehicle control value determination device 100 can drive the automobile at a speed at which the pattern is arranged at the normal rotation position during imaging, and thus prevents the occurrence of the wagon wheel phenomenon. Can do.

  Further, according to the present embodiment, the vehicle control value determination device 100 can appropriately determine the control value of the automobile based on the number of wheel patterns and the rotational angular velocity per field. Further, according to the present embodiment, the vehicle control value determination device 100 can appropriately determine the control value of the automobile according to the difference in the number of vehicle speed pulses.

  In addition, according to the present embodiment, the vehicle control value determination device 100 can prevent the occurrence of the wagon wheel phenomenon by automatically controlling the traveling of the automobile using the control unit 150. Furthermore, according to the present embodiment, the vehicle control value determination device 100 can appropriately prevent the occurrence of the wagon wheel phenomenon by inputting the latest data using the input unit 110.

(Second embodiment)
Next, a method for preventing the occurrence of the wagon wheel phenomenon without using the vehicle speed pulse number P will be described. FIG. 5 is a functional block diagram of the vehicle control speed determination device 102 in the second embodiment.

  The storage unit 120 stores wheel outer periphery data 128 indicating the length of the outer periphery of the tire (wheel) instead of the vehicle speed pulse number data 126. The wheel outer periphery data 128 is a kind of traveling state data indicating a traveling state. Further, the control value determining unit 132 determines the control speed range (control value) of the automobile based on the wheel outer periphery data 128 and the like. In addition, the control unit 152 controls the vehicle so as to travel within the control speed range determined by the control value determination unit 132. The functions of the other parts are the same as in the first embodiment, and the hardware configuration of the vehicle control value determination device 102 is also the same as that of the vehicle control value determination device 100, so that the description thereof is omitted.

  Next, the flow of vehicle control using these units will be described. FIG. 6 is a flowchart showing the flow of vehicle control in the second embodiment.

  First, the input unit 110 allows the user to input the outer peripheral length R of the tire, and stores the input data as tire outer peripheral data 128 in the storage unit 120 (step S11).

  Further, the input unit 110 causes the user to input the number N of wheel spokes in the wheel, and stores the input data as the pattern number data 122 in the storage unit 120 (step S12).

  Further, the input unit 110 inputs the field frequency f of the imaging device 200 by wireless communication from the user or the imaging device 200, and stores it as the frequency data 124 in the storage unit 120 (step S13).

  By the way, since the number of pulses per second at the time of traveling has a one-to-one relationship with the speed display of the speedometer, an image of a vehicle traveling at a speed that satisfies the equation (17) can be captured. For example, the wheel always rotates forward even when the playback device 400 plays back the captured image.

  It goes without saying that how many kilometers per hour the vehicle speed satisfying the equation (17) varies depending on the number of spokes N of the wheel and the number P of vehicle speed pulses. Further, even if N and P are equal, the vehicle speed varies depending on the outer peripheral length of the tire, so it is not uniform and varies depending on the vehicle.

That is, assuming that the outer peripheral length of the tire is R (m) and the vehicle speed indicating the travel distance (m / s) of the automobile is L, the vehicle speed pulse number P and the actual pulse number p per second, The relationship with vehicle speed L (m / s) is
L = Rp / P (18)
It becomes.

Furthermore, p = LP / R from equation (18), and substituting this into equation (16) yields:
nfR / N <L <(2n + 1) fR / 2N (19)
It becomes. Thus, by defining the outer peripheral length of the tire, an expression irrelevant to the number of pulses p is derived.

Further, when the travel distance L (m / s) obtained by the equation (19) is converted into a practical travel distance per hour, that is, V (km / h) per hour,
3.6nfR / N <V <3.6 (2n + 1) fR / 2N (20)
It becomes.

  Therefore, the control value determination unit 132 performs a calculation based on the pattern number data 122, the frequency data 124, and the wheel outer periphery data 128, and determines a desirable vehicle speed Vn that satisfies the equation (20) (step S14). Specifically, the control value determination unit 132 performs the following calculation.

For example, when the field frequency f of the imaging device 200 is 60 Hz, the number of spokes N of the wheel is 5, and the outer peripheral length R of the tire is 2.0 m (equivalent to about 195 / 65R15), the equation (20) is
3.6 × 60 × 2.0n / 5 <V <3.6 × 60 × 2.0 (2n + 1) / (2 × 5)
86.4n <V <43.2 (2n + 1) (21)
It becomes.

Here, when n = 0 and 1 are applied and the decimal part is rounded, when n = 0, 0 (km / h) <V0 <43 (km / h)
When n = 1, 85 (km / h) <V1 <129 (km / h)
It becomes.

Also, for example, when the number of spokes N is doubled under the above conditions, Equation (21) is
43.2n <V <21.6 (2n + 1)
Therefore, if n = 0, 1, 2 is applied and the decimal part is rounded, when n = 0, 0 (km / h) <V0 <21 (km / h)
When n = 1, 44 (km / h) <V1 <64 (km / h)
When n = 2, 87 (km / h) <V2 <108 (km / h)
Thus, in order to capture an image without causing the wagon wheel phenomenon during reproduction, the conditions are more severe than when the number of spokes N is 5.

  In this way, the control value determining unit 132 can determine an appropriate vehicle speed Vn (for example, V0, V1, etc.).

  And the control part 152 controls driving | running | working of a motor vehicle so that the vehicle speed at the time of an actual driving | running | working may be in the range of the vehicle speed Vn determined by the control value determination part 132 (step S15). The control value determining unit 132 transmits the determined speed to the presenting unit 140, and the presenting unit 140 displays an appropriate speed (speed range, one speed, etc.) or outputs it by voice. The vehicle speed may be adjusted so that the vehicle travels at that speed.

  As described above, according to the present embodiment, the vehicle control value determination device 102 can drive the automobile at a speed at which the pattern is arranged at the normal rotation position during imaging, thereby preventing the occurrence of the wagon wheel phenomenon. Can do.

  Further, according to the present embodiment, the vehicle control value determination device 102 can appropriately determine the control value of the automobile based on the number of wheel patterns and the rotational angular velocity per field. Further, according to the present embodiment, the vehicle control value determination device 102 can appropriately determine the control value of the automobile according to the difference in the number of vehicle speed pulses and the outer peripheral length of the tire.

  Further, according to the present embodiment, the vehicle control value determination device 102 can prevent the occurrence of the wagon wheel phenomenon by automatically controlling the speed of the automobile using the control unit 152. Furthermore, according to the present embodiment, the vehicle control value is determined even when the number of wheel patterns is changed or when the field frequency of the imaging apparatus 200 is changed (for example, when NTSC is changed to PAL). The device 102 can appropriately prevent the occurrence of the wagon wheel phenomenon by inputting the latest data using the input unit 110.

(Third embodiment)
Next, a case where the present invention is applied to an imaging apparatus will be described. FIG. 7 is a functional block diagram of the imaging apparatus 202 in the third embodiment.

  The imaging device 202 includes an input unit 210 that inputs various information from the speed measurement device 300 and the like, a storage unit 220 that stores various data, an imaging cycle determination unit 230 that determines an imaging cycle, an imaging unit 250, The image capturing control unit 240 controls the image capturing unit 250 so as to capture an image with the determined image capturing period, and the output unit 260 outputs image data 228 and the like to a display device or the like.

  In addition, the storage unit 220 includes pattern number data 222 indicating the number of patterns arranged at equal intervals on the wheel, speed data 224 indicating the actual traveling speed of the vehicle, traveling state (for example, the number of vehicle speed pulses, the tire outer circumference length). Travel state data 226 indicating image quality), image data 228 output from the image capturing unit 250, and the like are stored.

  Note that, for example, the following may be employed as hardware for implementing the functions of these units. For example, the input unit 210 is a liquid crystal display, a button, a wireless communication circuit, a CPU, the storage unit 220 is a RAM, the imaging cycle determination unit 230, the imaging control unit 240 is a CPU, the imaging unit 250 is a CCD camera, etc. As the output unit 260, a wireless communication circuit or the like may be employed. Further, specifically, the imaging device 202 corresponds to, for example, a digital video camera, a digital camera, or the like.

  Next, the flow of imaging control using these units will be described. FIG. 8 is a flowchart showing the flow of imaging control in the third embodiment.

  First, the input unit 210 inputs the vehicle speed pulse number P from the speed measuring device 300, causes the user to input the outer peripheral length R of the tire, and stores the input data in the storage unit 220 as the running state data 226 (step S21). ).

  Further, the input unit 210 causes the user to input the number N of wheel spokes in the wheel, and stores the input data as the pattern number data 222 in the storage unit 120 (step S22).

  By the way, the relationship between the vehicle speed pulse number P, the tire outer peripheral length L, the number of pulses per second p, and the vehicle speed S (km / h) using the mathematical expressions described in the first and second embodiments. Is S = 3.6 Rp / P from the equation (18). Therefore, the input unit 210 inputs the number of pulses p from the speed measuring device 300, calculates the vehicle speed S, and stores it in the storage unit 220 as speed data 224 (step S23). Note that the input unit 210 may directly input the vehicle speed S from the speed measurement device.

  In addition, the imaging cycle determination unit 230 has 2Np / (2n + 1) P <f <Np / nP obtained by modifying the equation (16) with respect to f based on the pattern number data 222, the speed data 224, and the running state data 226, that is, 2NS. A field frequency f that satisfies /3.6R(2n+1)<f<NS/3.6nR and matches the adjustable field frequency range of the imaging unit 250 is determined (step S24).

For example, if the number of spokes N of the wheel is 5, the outer peripheral length R of the tire is 2.0 m, and the vehicle speed S is 60 km / h,
600 / (14.4n + 7.2) <f <300 / 7.2n
It becomes.

  Here, when n = 1 is applied and the second decimal place is rounded, when n = 1, 27.8 Hz <f <41.7 Hz. For example, when N = 10, when n = 1, 55.6 Hz <f <83.3 Hz.

  The imaging control unit 240 controls the imaging unit 250 to perform imaging at the field frequency f determined by the imaging cycle determination unit 230 (step S25).

  The imaging unit 250 images the automobile at the field frequency f and stores the imaging data 228 in the storage unit 220. The output unit 260 outputs the imaging data 228 to a display device or the like. Thereby, the user can see the image in which the wheel of the automobile is rotating forward when the captured image is reproduced.

  As described above, according to the present embodiment, the imaging apparatus 202 can prevent the occurrence of the wagon wheel phenomenon by imaging in the imaging cycle in which the pattern is arranged at the normal rotation position during imaging.

(Other examples)
In addition, application of this invention is not limited to the Example mentioned above, A various deformation | transformation is possible. For example, in the above-described embodiments, the imaging devices 200 and 202 are devices that capture images in units of fields. However, when the imaging device captures images in units of frames, the vehicle control value determination devices 100 and 102 are replaced with field frequencies. By using the frame frequency, the same effects as those of the above-described embodiment can be obtained.

  Further, when the vehicle control value determination devices 100 and 102 are traveling at a speed at which the wagon wheel phenomenon occurs, the vehicle control value determination apparatuses 100 and 102 output the vehicle speed to the user by, for example, outputting a sound with a buzzer or turning on a warning lamp. You may be encouraged to change.

It is a figure which shows the relationship between the field number of an imaging device, the position of a wheel pattern, and the rotation angle of a wheel in case the rotation angle for every field is 30 degrees. It is a figure which shows the relationship between the field number of an imaging device, the position of a wheel pattern, and the rotation angle of a wheel in case the rotation angle for every field is 60 degrees. It is a functional block diagram of the vehicle control value determination apparatus in a 1st Example. It is a flowchart which shows the flow of the vehicle control in a 1st Example. It is a functional block diagram of the imaging device in the 2nd example. It is a flowchart which shows the flow of the imaging control in a 2nd Example. It is a functional block diagram of the imaging device in a 3rd Example. It is a flowchart which shows the flow of the imaging control in a 3rd Example.

Explanation of symbols

  100 vehicle control value determination device, 110, 210 input unit, 120, 220 storage unit, 122, 222 pattern number data, 124 frequency data, 126 vehicle speed pulse number data, 128 wheel outer circumference data, 130, 132 control value determination unit, 140 Presentation unit, 150, 152 Control unit, 200, 202 Imaging device, 224 Speed data, 226 Running state data, 230 Imaging cycle determination unit, 240 Imaging control unit, 250 Imaging unit, 260 Output unit, 300 Speed measurement device, 400 Playback apparatus

Claims (11)

Pattern number data indicating the number of patterns arranged at equal intervals in the rotation direction on the wheels of the vehicle, frequency data indicating the imaging cycle of the imaging device that images the vehicle, and a traveling state indicating the traveling state of the vehicle A storage unit for storing data;
A control value determining unit that determines a control value at the time of traveling of the vehicle for arranging the pattern at a normal rotation position at the time of imaging the next frame or the next field in the imaging device;
Including
The control value determining unit determines the control value capable of arranging the pattern at a normal rotation position based on the pattern number data, the frequency data, and the running state data. Vehicle control value determination device. In the vehicle control value determination device according to claim 1,
When the number of the patterns is N and n is a positive integer, the control value determination unit has a rotational angular velocity per frame or field of the wheel that is greater than 2πn / N and less than π (2n + 1) / N. The vehicle control value determination device, wherein the control value is determined as follows. In the vehicle control value determination device according to any one of claims 1 and 2,
The vehicle control value determination device, wherein the running state data includes wheel outer periphery data indicating a length of an outer periphery of the wheel. In the vehicle control value determination device according to any one of claims 1 to 3,
A vehicle control value determination device including a control unit that controls the vehicle so as to travel with the control value. In the vehicle control value determination device according to claim 4,
The running state data includes vehicle speed pulse number data indicating the number of vehicle speed pulses generated every rotation of the wheel,
The control value determining unit determines the number of pulses per unit time during traveling as the control value based on the number of patterns, the imaging cycle, and the number of vehicle speed pulses,
The said control part controls the said vehicle so that it drive | works with the said pulse number, The vehicle control value determination apparatus characterized by the above-mentioned. In the vehicle control value determination device according to any one of claims 1 to 3,
The vehicle control value determination apparatus characterized by including the presentation part which presents the said control value to a user using at least one of an image and an audio | voice. In the vehicle control value determination device according to any one of claims 1 to 6,
The vehicle control value determination apparatus characterized by including the input part which inputs the said pattern number data, the said frequency data, and the said driving | running | working state data.   8. An imaging reproduction system comprising: the vehicle control value determination device according to claim 1; the imaging device; and a reproduction device that reproduces a captured image of the vehicle by the imaging device. Pattern number data indicating the number of patterns arranged at equal intervals in the rotation direction on the wheels of the vehicle, speed data indicating the traveling speed of the vehicle, and traveling state data indicating the traveling state of the vehicle are stored. A storage unit;
An imaging period determining unit that determines an imaging period for arranging the pattern at the normal rotation position when imaging the next frame or the next field;
An imaging control unit that controls the imaging unit to image the vehicle at the imaging cycle;
Including
The imaging cycle determination unit determines the imaging cycle in which the pattern can be arranged at a normal rotation position based on the pattern number data, the frequency data, and the running state data. Imaging device. In a vehicle control value determination method in a vehicle having an input unit and a calculation unit,
The input unit includes pattern number data indicating the number of patterns arranged at equal intervals in the rotation direction in a wheel of the vehicle, frequency data indicating an imaging period of an imaging device that images the vehicle, and 1 of the wheels. Input driving state data indicating the number of pulses generated by the vehicle speed sensor per revolution,
The calculation unit determines the control value capable of arranging the pattern at a normal rotation position based on the pattern number data, the frequency data, and the running state data. Value determination method. An imaging method in an imaging apparatus having an input unit, a calculation unit, an imaging unit, and a control unit,
The input unit includes pattern number data indicating the number of patterns arranged at equal intervals in the rotation direction on the wheels of the vehicle, speed data indicating the traveling speed of the vehicle, and a traveling state indicating the traveling state of the vehicle. Enter the data and
The calculation unit is configured to arrange the pattern at the normal rotation position at the time of imaging the next frame or the next field based on the pattern number data, the frequency data, and the running state data. Determine the imaging period of
The said control part controls the said imaging part so that the said vehicle may be imaged with the said imaging period, The imaging method characterized by the above-mentioned.

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