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Image processor for vehicles

An image processing device, a technology for vehicles, applied in vehicle parts, optical observation devices, transportation and packaging, etc., can solve problems such as inability to capture images, difficulty in detecting white lines and three-dimensional objects, and different shutter speeds.

Inactive Publication Date: 2011-05-18
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, when detecting white lines on the road and when detecting three-dimensional objects, the applicable shutter speeds are different.
Therefore, as described in Patent Document 1, if the shutter speed is controlled according to the luminance distribution of the entire captured image without distinguishing between white line detection and three-dimensional object detection, images suitable for the respective detection of white lines and three-dimensional objects cannot be captured.
In addition, as described in Patent Document 2, even if a pair of stereo cameras are simply shared for white line detection and three-dimensional object detection, it is difficult to detect white lines and three-dimensional objects separately with high accuracy.

Method used

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Embodiment 1

[0038] FIG. 1 is a diagram showing an example of a system configuration of a vehicle image processing device using the present invention. This image processing system includes a camera ECU (Electric Control Unit) 10 and a stereo ECU 20 . Each ECU is composed of a central processing unit (CPU), a ROM for storing programs, a RAM for temporarily storing data, input interfaces, output interfaces, and other circuit elements as a unit. Also called a computer.

[0039] The camera ECU 10 includes, as imaging means, a camera module 17 constituting a stereo camera such as imaging elements 11 and 12 and lenses 15 and 16 ; a camera CPU 13 ; and an image output unit 14 and the like. The imaging elements 11 and 12 are constituted by photoelectric conversion elements such as CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor), for example. The light irradiated into the camera module 17 from the front of the vehicle is photoelectrically converted by the imaging ele...

Embodiment 2

[0075] In this embodiment, a vehicular image processing device that alternately switches the shutter control of one of a pair of stereo cameras to the white line detection and the three-dimensional object detection is described. Accurately detect white lines and three-dimensional objects. In addition, by always displaying the image captured by one of the pair of stereo cameras on the display device, it is possible to assist driving without increasing the number of on-vehicle cameras.

[0076] FIG. 9( a ) is an example of a system configuration diagram of the vehicle image processing device according to this embodiment. In addition, in FIG.9(a), the same code|symbol is attached|subjected to the same structure as FIG.1, and description is abbreviate|omitted.

[0077] The camera module 17 is a stereo camera including a right camera 17R and a left camera 17L, and one camera (the right camera 17R in this embodiment) also serves as a Night View camera. Since the frame used for nig...

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Abstract

The present invention relates to an image processor for vehicles. A camera (17) captures an image while applying a camera control value so calculated as to be suitable for detection of a white line to each frame and a camera control value so calculated as to be suitable for detection of a three-dimensional object. The captured frame is given a frame counter and camera control values applied when the image is captured and transmitted to a stereo ECU (20). The stereo ECU (20) differentiates white line frames and three-dimensional object frames according to the given frame counters, detects a white line and a three-dimensional object on the basis of the differentiated frames, calculates a camera control value for a white line and that for a three-dimensional object, and transmits the calculated camera control values to the camera (17).

Description

technical field [0001] The present invention relates to an image processing device for a vehicle that detects white lines and three-dimensional objects on a road surface from captured images. Background technique [0002] Conventionally, a control device for controlling the shutter speed of a camera using a luminance histogram created from the luminance distribution of an image captured by the camera is known (for example, refer to Patent Document 1). The control device described in Patent Document 1 adjusts the shutter speed so that the cumulative value obtained by sequentially adding the degrees of the brightness distribution histogram from the side with low brightness to the value obtained by adding sequentially from the side with high brightness When the accumulated value exceeds the respective set value, the interval lengths of the low side and the high side are equal to each other. [0003] In a vehicle, a camera whose shutter speed is controlled in this way captures ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04N7/18B60R1/00
Inventor 宇佐美祐之玉置友康
Owner TOYOTA JIDOSHA KK