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Image processing system for mounting to a vehicle

An image processing device and image processing technology, applied in the field of vehicle systems, can solve problems such as increased power consumption, difficulty in real-time processing, time-consuming processing of action or measurement data, etc., and achieve high responsiveness and energy-saving effects

Inactive Publication Date: 2006-05-31
OMRON CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] Therefore, in the device of Patent Document 2, in order to determine the area where an object exists in the up, down and left and right directions using the laser radar, it is necessary to make the radar perform two-dimensional scanning, and to make the light emission frequency of the laser radar (the resolution of the radar) in the vertical and horizontal directions. Both directions are quite high, which has the following problems: the operation of the radar or the processing of the measurement data takes time, and it is difficult to realize real-time processing, and the power consumption also increases

Method used

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  • Image processing system for mounting to a vehicle
  • Image processing system for mounting to a vehicle
  • Image processing system for mounting to a vehicle

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no. 2 Embodiment

[0084] Next, a mode (second embodiment) in which the image processing area is further limited on the lower limit side in the vertical direction where radar scanning is not performed will be described. Note that descriptions of the same structures as those of the first embodiment will be omitted below.

[0085] In this example, between step S10 and step S11 in the aforementioned series of processing of FIG. 7 , the image processing apparatus 3 executes the following processing.

[0086] First, assume a plane 11 parallel to the road surface on which the own vehicle is running (for example, the tire contact plane itself on which the own vehicle is running, or a plane obtained by shifting the plane vertically and parallelly by a predetermined amount). For example, when the camera 1 is parallel to the vehicle body (tire ground plane), in the camera coordinate system (Xc, Yc, Zc), the data of the coordinate Xc in the height direction (for example, the distance from the tire ground p...

no. 3 Embodiment

[0090] Next, as shown in FIG. 12 , a method of reducing the size of the image processing area (expansion of the beam cross section) as the distance to the object measured by the radar 2 increases (third embodiment) will be described.

[0091] In this example, in step S3 of the aforementioned series of processes in FIG. 7 , the image processing device 3 executes, for example, any one of the following processes (1) to (3).

[0092] (1) According to the relational expression represented by the formula 4, the beam path length is changed according to the data of the distance ZL obtained in step S2 as the measurement result of the radar. In Equation 4, a represents the beam radius before the change, a' represents the beam radius after the change, d represents the distance data as a reference, and d' represents the distance data as a measurement result (see Fig. 12(A), (B) ). In addition, K represents a constant for adjustment.

[0093] [Equation 4]

[0094] a ...

no. 4 Embodiment

[0104] Next, a method of correcting the position of the image processing region based on the angle formed by the central axis of the radar 2 and the camera 1 (fourth embodiment) will be described.

[0105]In this example, the image processing apparatus 3 executes correction processing described below, for example, between steps S2 and S3 in the series of processing of FIG. 7 described above.

[0106] That is, when the angle formed by the vertical direction of the central axis of the radar 2 and the camera 1 is the offset angle dθ (refer to FIG. "H" is changed to "H+ZL×tan(dθ)".

[0107] As shown in FIG. 13(A), when setting the coordinate transformation formula in the state where the central axes of the radar 2 and the camera 1 are parallel, as long as the central axes of the radar 2 and the camera 1 are kept parallel, the position of the beam area ( That is, the position of the image processing area) can maintain the appropriate state as shown in FIG. 13(B). However, as show...

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Abstract

The present invention provides a vehicle-mounted image processing device. In a vehicle-mounted system having a radar (2) and a camera (1) as an exterior monitoring unit, the camera (1) can be appropriately set according to the measurement result of the radar (2). ) in the image obtained by the image processing area (image processing area), and does not require a high-resolution radar. An image processing device (3) is provided, which determines the center position of the image processing area based on the measurement position of the object detected by the radar (2), and determines the center position of the image processing area based on the beam distribution of electromagnetic waves output from the radar (2). The size of the image processing area.

Description

technical field [0001] The invention relates to a vehicle-mounted system having a radar and a camera unit as monitoring units outside the vehicle. Background technique [0002] In order to realize the automatic driving function of the vehicle's front vehicle tracking, etc., it is necessary to recognize objects such as the vehicle ahead and obstacles to obtain their position information, etc. As the external monitoring unit for this purpose, radar (lidar, millimeter-wave radar, etc.) and camera are used. unit (CCD camera and CMOS camera, etc.). Among them, the radar measures the distance and azimuth from the object, which is fast and accurate, but has the disadvantage of not being able to accurately determine what the object is (whether it is a vehicle in front or an obstacle, etc.). On the other hand, the imaging unit can estimate what an object exists in a captured image through known image processing, but image processing takes time and it is difficult to obtain sufficien...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/86G01S17/86G01S17/88H04N7/18
CPCG01S13/867G06T7/70G06T7/73G01S17/86
Inventor 堀部刚治
Owner OMRON CORP
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