In-vehicle system and in-vehicle device

Abstract

In-vehicle system that includes: a illuminating unit (105) that illuminates an area different from a set light shielding area with light; an image-generating unit (101) that images an area containing an illumination area of ​​the light emitted by the illumination unit (105) in order to capture a recorded image; an object detection unit (254) that detects from the recorded image a non-target object that should not be illuminated with the light; a direct illumination prevention unit (255) which calculates the light shielding area based on the position of the non-target object in the captured image and correction information and sets the light shielding area in the illumination unit (105); a correction timing light shielding area setting unit (256) that sets the specified light shielding area in the illumination unit (105); and a correction calculation unit (257) that calculates the correction information based on the captured image when the correction timing light shielding area setting unit (256) sets the light shielding area in the illumination unit (105), wherein the correction calculation unit (257) outputs the calculated correction information to the image generation unit (101), and the image generation unit (101) determines an output area based on the correction information as the captured image, wherein the correction information is a deviation between a center position of the beam area of ​​the beam unit (105) and a center position of an image generation area of ​​the image generation unit (101).

Description

Technical field

[0001] The present invention relates to a vehicle-internal system and a vehicle-internal device. State of the art

[0002] When a vehicle is driving at night, it is desirable to emit headlight beams far in front of the vehicle to check the safety of the surroundings. However, the vehicle's ability to perceive its surroundings is impaired if another vehicle is illuminated by the headlights, and it is therefore desirable that other vehicles not be illuminated by the headlight light. PTL 1 discloses a vehicle headlight system comprising a lighting control device and a vehicle headlight whose illumination is controlled by the lighting control device. The lighting control device includes a light-shielding area adjustment unit, which sets a light-shielding area in accordance with the position of a target vehicle in front of a carrier vehicle based on an image obtained by a camera in the area in front of the carrier vehicle, and a motion direction detection unit.The system comprises a unit that detects the direction of movement of the target vehicle in a horizontal direction based on the image; a light shielding area correction unit that applies a correction amount to the light shielding area to widen one side of the direction of movement; and a correction amount to the light shielding area to narrow one side opposite the direction of movement, based on the direction of movement detected by the direction of movement detection unit; and a headlight control unit that controls a headlight based on the light shielding area corrected by the light shielding area correction unit. Each of the vehicle headlights can be switched on and off individually and contains a light source unit with at least several light-emitting elements arranged in a horizontal direction and with a lens.the light emitted by the light source unit is projected into the area in front of the vehicle. Furthermore, PTL 2 discloses a headlight control device for vehicles with adaptive high beams, consisting of several lamps, each illuminating individual, adjacent areas. That is, the teaching of PTL 2 addresses the problem of inaccuracies in light distribution that can arise from deviations between the actual illumination area and a reference illumination area of ​​the lamps. For this purpose, a vehicle recognition unit (camera) is used to also detect the actual illumination area of ​​each lamp and to calculate its deviation from the reference area. PTL 3, List of oppositions patent literature PTL 1: JP 2016-27977 A PTL 2: JP 2019 - 064 348 A PTL 3: DE 10 2016 200 189 A1 Summary of the invention: Technical problem

[0003] In the invention described in PTL 1, a deviation of a relative position between the headlight and the vehicle's internal camera is not taken into account. Solution to the problem

[0004] The invention relates to a vehicle-internal system comprising the features of claim 1, and correction devices comprising the features of claims 6 and 7. Advantageous embodiments of the invention are the subject of the dependent claims. Advantageous effects of the invention

[0005] According to the present invention, it is possible to overcome the deviation of the relative position between the headlight and the vehicle's internal camera. Brief description of the drawings Fig. Figure 1 is a block diagram of an in-vehicle system. Fig. Figure 2 is a block diagram representing a hardware configuration of an image processing unit. Fig. Figure 3 is a block diagram that represents a functional configuration of the image processing unit. Fig. Figure 4 is a schematic representation of an example of an arrangement of light-receiving elements contained in an image-generating unit. Fig. Figure 5 is a schematic representation of another example of the arrangement of the light-receiving elements contained in the image-generating unit. Fig. Figure 6 is a schematic representation of an example of a captured image. Fig. Figure 7 is a schematic representation of a case where a direct radiation prevention function works ideally. Fig. Figure 8 is a schematic representation of a case where a direct radiation prevention function is not working normally. Fig. Figure 9 is a schematic representation of a state when a correction process is being performed. Fig. Figure 10 is a view of a captured image at the time of horizontal correction, assuming there is no deviation in a horizontal direction. Fig. Figure 11 is a schematic representation of a captured image at the time of horizontal correction, if there is a deviation in the horizontal direction. Fig. Figure 12 is a view of a captured image at the time of vertical correction, assuming there is no deviation in any vertical direction. Fig. Figure 13 is a schematic representation of a captured image at the time of vertical correction, if there is a deviation in the vertical direction. Fig. 14 is a flowchart that illustrates the correction process. Fig. 15 is a flowchart that represents a direct radiation prevention process. Fig. Figure 16 is a view that represents a light shielding area at the time of correction according to a second modification. Fig. Figure 17 is a view that represents a light shielding area at the time of correction according to a fourth modification. Fig. Figure 18 is a block diagram representing a functional configuration of an image processing unit according to a seventh modification. Description of embodiments / design forms

[0006] The following will be based on Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14 to Fig. 15 describes an embodiment of a vehicle-internal system according to the present invention. (Configuration)

[0007] Fig. Figure 1 is a block diagram of an in-vehicle system S according to the embodiment. The in-vehicle system S is mounted in a vehicle 100. The in-vehicle system S comprises an image generation unit 101, an image processing unit 102, a storage unit 103, a light distribution unit 104, a spotlight unit 105, a vehicle control unit 106, a vehicle information acquisition unit 107, an alarm notification unit 108, and a driving system control unit 109. Each of the devices that configure the in-vehicle system S exchanges information via digital or analog communication. Digital communication is, for example, communication that conforms to a communication standard of a Controller Area Network or to IEEE 802.3. Analog communication is communication for transmitting information by the magnitude of current or voltage.

[0008] A positional relationship between the image generation unit 101 and the light distribution unit 104 is predetermined by design. The image generation unit 101 and the light distribution unit 104 are mounted on the vehicle 100 according to a predetermined setting. Since it is considerably difficult to mount the image generation unit and the light distribution unit without any error, the assembly in this embodiment is carried out while allowing a certain degree of error, and, as will be described later, any deviation in the positional relationship between the image generation unit 101 and the light distribution unit 104 is corrected by software. This correction will be described in detail later.

[0009] The image generation unit 101 is a monocular camera, a stereo camera, or the like. The image generation unit 101 images the exterior, including at least the area in front of the vehicle 100, and transmits the image obtained through image generation to the image processing unit 102. The image processing unit 102 is, for example, an electronic control unit (ECU). The image processing unit 102 outputs setting information to the image generation unit 101, such as an image generation time and duration. A detailed configuration of the image processing unit 102 is described later. The storage unit 103 is a non-volatile storage device, such as flash memory. The storage unit 103 stores a cut position or the like that is necessary for image processing among the images captured by the image generation unit 101.

[0010] The light distribution unit 104 is, for example, an ECU. The light distribution unit 104 determines that the LED in the illumination unit 105 is switched on in such a way that the illumination unit 105 emits a sample of light to an area other than the area in which the image processing unit 102 has detected the vehicle or the like. The illumination unit 105 is a headlight that illuminates the area in front of the vehicle 100. The illumination unit 105 contains several LEDs, i.e., light-emitting diodes, and can control the area to be illuminated by selecting one LED to emit light. The illumination unit 105 emits illumination light by switching on the LED determined by the light distribution unit 104. Hereinafter, the illumination of the area around the vehicle 100 is referred to as a "low beam," and the illumination of a distant part of the vehicle 100 is referred to as a "high beam."

[0011] The vehicle control unit 106, the vehicle information acquisition unit 107, the alarm notification unit 108, and the driving system control unit 109 are examples of ECUs. The vehicle control unit 106 acquires the vehicle's status and information from the image processing unit 102, the vehicle information acquisition unit 107, the alarm notification unit 108, and the driving system control unit 109 and provides suitable operating information to each unit. For example, based on a captured image and information relating to vehicle driving, the vehicle control unit 106 transmits warning information to the alarm notification unit 108 and transmits information such as steering angle, deceleration amount, and the like relating to braking to the driving system control unit 109.

[0012] The vehicle information acquisition unit 107 acquires information such as speed and steering angle related to the driving condition of the vehicle 100 and transmits this information to the vehicle control unit 106. The alarm notification unit 108 receives a warning from the vehicle control unit 106 regarding the driving condition of the vehicle 100 and alerts the driver of the vehicle 100 by displaying an image on a liquid crystal display or the like, or by transmitting a voice / warning sound through a speaker or the like. Based on information such as steering angle and deceleration rate related to the driving condition of the vehicle 100 from the vehicle control unit 106, the driving system control unit 109 executes steering, braking, and the like.

[0013] It is noted that the in Fig. The configuration shown is an example, and any configuration can be used as long as the same function can be implemented. For example, multiple configurations can be integrated into one, or a configuration can be divided into multiple configurations. For example, storage unit 103 can be contained within image processing unit 102, or image processing unit 102 can be separated into multiple configurations. (Image processing unit)

[0014] Fig. Figure 2 is a block diagram representing a hardware configuration of the image processing unit 102. The image processing unit 102 contains a CPU 201, which is a central processing unit, a ROM 202, which is a read-only memory device, a RAM 203, which is a read / write memory device, an image generation I / F 205, a memory I / F 206, a light distribution I / F 207, and a vehicle I / F 208. The CPU 201 develops a program stored in the ROM 202 or in the RAM 203 and executes the program, thereby implementing functions described later. The image generation I / F 205 and the storage I / F 206 and the light distribution I / F 207 and the vehicle I / F 208 are a communication interface with the image generation unit 101, with the storage unit 103, with the light distribution unit 104 and with the vehicle control unit 106.

[0015] Fig. Figure 3 is a block diagram representing a functional configuration of the image processing unit 102. The image processing unit 102 includes, as a function, a detection unit 251, a correction unit 252, an object detection unit 254, and a direct illumination prevention unit 255. The detection unit 251 acquires an image from the image generation unit 101. The correction unit 252 includes a correction duration / light shielding area setting unit 256 and a correction calculation unit 257. The correction duration / light shielding area setting unit 256 sets a predefined light shielding area in the illumination unit 105. When the correction time duration light shielding area setting unit 256 in the illumination unit 105 sets a light shielding area, the correction calculation unit 257 calculates correction information based on the image captured by the detection unit 251.

[0016] The object detection unit 254 detects a non-target object in the captured image that should not be illuminated. Based on the position of the non-target object in the captured image and the correction information, the direct illumination prevention unit 255 calculates the light shielding area and sets this area in the illumination unit 105. Incidentally, the function implemented by the direct illumination prevention unit 255 will be referred to as the "direct illumination prevention function," and the function implemented by the correction calculation unit 257 will be referred to as the "correction function." (Image generation unit)

[0017] Fig. Figure 4 is a schematic representation of an example of an arrangement of light-receiving elements contained in the image-generating unit 101. Fig. 4 denotes “R” as a light-receiving element that detects a red wavelength band, “G” as a light-receiving element that detects a green wavelength band, and “B” as a light-receiving element that detects a blue wavelength band. Each light-receiving element is equipped with a filter, and the filter allows only one specific wavelength band to be detected. The in Fig. The arrangement shown in Figure 4 is suitable for capturing a color image. The one shown in Fig. The arrangement of image-generating elements shown in Figure 4 is treated as a set containing two elements in both the vertical and horizontal directions, for a total of four elements. To reconfigure each RGB component projected onto each element area of ​​this set, the image-generating unit 101 performs a complementation process. In the simplest complementation process, an average value is assumed for the components of the wavelength bands that are closest to each other. For example, the G component of the R element in Fig. 4 is an average value of four G-elements that are obliquely close to each other. Similarly, the B-component is an average value of the two upper and two lower B-elements.

[0018] Fig. Figure 5 is a schematic representation of another example of the arrangement of the light-receiving elements contained in the image-generating unit 101. The one in Fig. The example shown in Figure 5 illustrates a case where it is not necessary to strictly separate color components. “C” in Fig. 5 denotes a clear pixel to which no filter is applied. Since the clear pixel has no color limitation, it is possible to receive all frequency components, and the complementation process or similar for the light-receiving element of the color pixel can be minimized, thus improving the dynamic range. It is noted that the red pixel is necessary for the detection of a taillight or similar, and it is desirable that it be provided separately. (Direct radiation prevention function)

[0019] In this embodiment, the image processing unit 102 has a direct illuminance prevention function described below. The direct illuminance prevention function is designed to prevent the illumination of surrounding vehicles with high beams. The direct illuminance prevention function comprises the following three processes. First, in a first process, a vehicle is detected from an image acquired by the image generation unit 101. In a second process, a light-shielding area that is not illuminated by high beams is determined. Finally, in a third process, an area distinct from the light-shielding area is illuminated. The direct illuminance prevention function and the need for correction are explained by… Fig. 6, Fig. 7 to Fig. 8 described.

[0020] Fig. Figure 6 is a schematic representation of an example of the captured image. Fig. Figure 7 is a schematic representation of a case where the direct radiation prevention function works ideally, and Fig. Figure 8 is a schematic representation of a case where the direct radiation prevention function is not working normally. Fig. Figure 6 shows an oncoming vehicle 903 in the area in front of vehicle 100. A large rectangle designated by reference sign 701 indicates the captured image. It is noted that a dashed line dividing the rectangle designated by reference sign 701 into four is described, for convenience, as an auxiliary line. Reference sign 802 is described later. The oncoming vehicle 903 is shown in a position slightly to the right of the area in front of vehicle 100.

[0021] In Fig. Reference numeral 7 denotes a high beam headlight (reference 901) and a low beam headlight (reference 902). Fig. 7. The high beam is not emitted in an area of ​​the oncoming vehicle 903, and the direct illumination prevention function works ideally. This is because the position of the oncoming vehicle 903 is detected from the image captured by the image generation unit 101, and the illumination unit 105 emits the high beam with the area around the detected oncoming vehicle 903 as the light shielding area. If, however, the mounting positions of the image generation unit 101 and the illumination unit 105 differ from the design, a problem described below will occur unless corrective action is taken.

[0022] That is, as in Fig. As shown in Figure 8, the existing position of the oncoming vehicle 903 and the light-blocking area do not match, and a problem can occur where the oncoming vehicle 903 is illuminated by the high beam. In short, this is because there is a discrepancy between the center position of the image-generating area of ​​the image-generating unit 101 and the center position of the illumination area of ​​the illumination unit 105. Therefore, in this embodiment, the discrepancy between the two is pre-calculated as correction information, and this correction information is used in calculating the light-blocking area. It should be noted that the correction information can take several forms; however, in this embodiment, the correction information is treated as a setting of a coordinate system for a detection area in the captured image. (Correction process)

[0023] The correction process is based on Fig. 9, Fig. 10, Fig. 11, Fig. 12 to Fig. 13 described. The correction process is divided into two types: a horizontal correction to correct a horizontal deviation and a vertical correction to correct a vertical deviation. Fig. Figure 9 is a schematic representation of a state in which the correction process is executed. As in Fig. As shown in Figure 9, the correction process is carried out by stopping the vehicle 100 in front of a wall 950. Furthermore, it states Fig. 9 represents a state in which the horizontal correction of the correction process is carried out and an area excluding 20 degrees of the area in front of the vehicle 100 is illuminated with high beam.

[0024] Fig. Figure 10 is a view that represents the captured image at the time of horizontal correction, assuming there is no deviation in the horizontal direction, and Fig. Figure 11 is a view that represents the captured image at the time of horizontal correction, in case there is a deviation in the horizontal direction. In horizontal correction, a predefined angle, e.g., a range of plus or minus 10 degrees around a vertical axis in the area in front of the vehicle 100, is set as a light-blocking area. If the positional relationship between the image-generating unit 101 and the light-distributing unit 104 is the same as a design value in this case, the Fig. The 10 depicted captured images are obtained, and if the positional relationship deviates from the design value in the horizontal direction, the in Fig. The 11 depicted recorded image was obtained. The one in Fig. 10 and Fig. 11 reference symbols shown 701 represent similar Fig. 6 and the like, the recorded image and reference mark 702 represent the recognition area. Similar to reference mark 701, for the convenience of the description, a guideline has been added to divide the recognition area 702 into four sections.

[0025] If, as in Fig. As shown in Figure 10, since there is no horizontal deviation between the image generation unit 101 and the light distribution unit 104, the illumination area of ​​the high beam 901 appears line-symmetrical with respect to the vertical axis of the center of the captured image 701. More precisely, a distance L403 from an edge E401 to a center E402 of the illumination area detected on the left side of the captured image 701 is equal to a distance L405 from an edge E404 to the center E402 of the illumination area detected on the right side of the captured image 701. In this case, the correction unit 252 sets the correction amount in the horizontal direction to zero.

[0026] If, on the other hand, as in Fig. As shown in Figure 11, since there is a horizontal deviation between the image generation unit 101 and the light distribution unit 104, the illumination area of ​​the high beam 901 appears line-symmetrical with respect to a position shifted from the center of the recorded area 701. More precisely, a distance L413 from an edge E411 to a center E412 of the illumination area detected on the left side of the recorded image 701 is not equal to a distance L415 from an edge E414 to the center E412 of the illumination area detected on the right side of the recorded image 701. In this case, the correction unit 252 sets half of the difference between L413 and L415 as the correction amount in the horizontal direction. The vertical correction is described below.

[0027] Fig. Figure 12 is a schematic representation of the captured image at the time of vertical correction, assuming there is no deviation in the vertical direction, and Fig. Figure 13 is a schematic representation of the captured image at the time of vertical correction, in case there is a deviation in the vertical direction. In vertical correction, a predefined angle, e.g., a range of plus or minus 10 degrees around a horizontal axis in the area in front of the vehicle 100, is set as a light-blocking area. If, in this case, the positional relationship between the image generation unit 101 and the light distribution unit 104 is the same as a design value, the Fig. The 12 depicted captured images are obtained, and if the positional relationship deviates from the design value in the vertical direction, the in Fig. 13 recorded images shown.

[0028] If there is no vertical deviation between the image generation unit 101 and the light distribution unit 104, the illumination area of ​​the high beam 901 and the illumination area of ​​the low beam 902 appear as shown in Fig. Figure 12 is shown, symmetrical about the horizontal axis in the center of the captured image 701. More precisely, a distance L423 from an edge E421 to a center E422 of the illumination area detected on the top of the captured image 701 is equal to a distance L425 from an edge E424 to the center E422 of the illumination area detected on the bottom of the captured image 701. In this case, the correction unit 252 sets the correction amount in the vertical direction to zero.

[0029] If, on the other hand, as in Fig. As shown in Figure 13, since there is a vertical deviation between the image generation unit 101 and the light distribution unit 104, the illumination area of ​​the high beam 901 and the illumination area of ​​the low beam 902 appear line-symmetrical with respect to a position shifted from the center of the captured image 701. More precisely, a distance L433 from an edge E431 to a center E432 of the illumination area detected on the top of the captured image 701 is not equal to a distance L435 from an edge E434 to the center E432 of the illumination area detected on the bottom of the captured image 701. In this case, the correction unit 252 sets half of the difference between L433 and L435 as the correction amount in the vertical direction.

[0030] It is noted that the irradiation area and the non-irradiation area in the Fig. 10, Fig. 11, Fig. 12 to Fig. The 13 illustrated examples can be easily distinguished from one another, since the drawings are schematic representations. However, the illuminated and non-illuminated areas are actually differentiated by a relationship between the luminance of each pixel in the captured image and a threshold value. At this point, it is conceivable that the brightness of the captured image changes and that the position in the image exceeds the threshold changes when the ambient brightness changes. However, in this embodiment, even if the position in the image exceeds the threshold changes, the non-illuminated area changes symmetrically, since the non-illuminated area is set symmetrically, thus eliminating the influence. More precisely, the value of (L415 - L413) does not change and is not significantly adversely affected by changes in ambient brightness, since the Fig. The L413 and L415 shown in 11 increase or decrease similarly due to changes in ambient brightness. (Flowchart of the correction process)

[0031] Fig. Figure 14 is a flowchart that illustrates the correction process. The correction process is executed, for example, at the time of factory dispatch of vehicle 100 or at the time of inspection by a dealer. However, the [document / section] in Fig. The flowchart shown in Figure 14 only depicts the correction process in one direction, e.g., in a horizontal direction. In reality, the image processing unit 102 performs the correction in both the horizontal and vertical directions.

[0032] First, the image processing unit 102 defines a light-blocking zone of plus or minus 10 degrees in the area in front of the vehicle 100 and transmits information about this zone to the light distribution unit 104 (S501). Subsequently, the light distribution unit 104 generates a beam pattern in accordance with the 10-degree left and right light-blocking zone and transmits this beam pattern to the beam unit 105 (S502). The beam unit 105 then activates the beam in accordance with the beam pattern generated by the light distribution unit 104 (S503). Fig. Figure 9 represents a situation where S503 has been executed, viewed from above on vehicle 100.

[0033] The image generation unit 101 then captures a recorded image (S504). The image captured at this time is in Fig. 10 and Fig. Figure 11 is shown. The image processing unit 102 calculates from the captured image the edges of the illumination where the illumination changes significantly, e.g. E411 and E414 in Fig. 11 (S505). For calculating the illumination edge, a determination based on a threshold value based on an illumination difference between a bright section and a dark section can be used, or a determination based on a pattern fitting using a luminance gradient of a luminance edge section can be used. Finally, the image processing unit 102 calculates correction information from the calculated luminance edge and stores the correction information in the storage unit 103 (S506). The above is a description of the correction process. (Flowchart of the direct radiation prevention process)

[0034] Fig. Figure 15 is a sequence of events representing a direct glare prevention process. This process is executed, for example, every 100 ms whenever the headlight of vehicle 100 is switched on. First, the image processing unit 102 reads the correction information (S601) stored in the memory unit 103.

[0035] The image processing unit 102 then acquires the captured image (S602) from the image generation unit 101. Subsequently, based on the correction information, the image processing unit 102 extracts a detection area from the captured image (S603). For example, the image processing unit 102 extracts the detection area to a predefined size, with the center shifted from the center of the captured image by the amount specified by the correction information.

[0036] Subsequently, the image processing unit 102 detects a vehicle (S604) by detecting a light spot from the vehicle within the detection area based on a luminance value. Since it is difficult to distinguish a signal, an electrical notice board, or the like from the vehicle with the luminance value alone, the vehicle and the others are also differentiated by the size or direction of the light spot's movement, or similar characteristics. A predefined area around the detected light spot of the vehicle is then considered to be the vehicle's territory.

[0037] Subsequently, the image processing unit 102 outputs the coordinates of the existing area of ​​the vehicle detected in S604 to the light distribution unit 104 (S605). It should be noted that the coordinates are defined by the detection area, with the correction information reflected in the vehicle coordinates output to the light distribution unit 104, since the detection area is defined using the correction information as described above.

[0038] Subsequently, the light distribution unit 104 sets a beam pattern based on the vehicle coordinates output by the image processing unit 102 (S606). The beam unit 105 emits a high beam in accordance with the beam pattern set by the light distribution unit 104 (S607). The above is a description of the direct illumination prevention process.

[0039] According to the embodiment described above, the following operational effects can be obtained.

[0040] (1) The vehicle-internal system S comprises: a lighting unit 105, which illuminates an area different from a set light-shielding area with light; the image-generating unit 101, which images an area containing an illumination area of ​​the light illuminated by the lighting unit 105, in order to capture a recorded image;the object detection unit 254, which detects a non-target object from the captured image that should not be illuminated by the light; the direct illumination prevention unit 255, which calculates the light shielding area based on the position of the non-target object in the captured image and correction information, and sets the light shielding area in the illumination unit 105; the correction timing light shielding area setting unit 256, which sets the specified light shielding area in the illumination unit; and the correction calculation unit 257, which calculates the correction information based on the captured image acquired by the detection unit when the correction timing light shielding area setting unit 256 sets the light shielding area in the illumination unit 105.

[0041] Thus, it is possible to manage a deviation in the relative position of the illumination unit 105, which is a headlight, and the image generation unit 101, which is an in-vehicle camera. More precisely, the correction calculation unit 257 calculates the amount of the deviation as correction information, and the direct illumination prevention unit 255 can adjust an illumination position with respect to the correction information, even if the relative position between the illumination unit 105 and the image generation unit 101 deviates from a design value. In short, the problem of hardware deviation, i.e., the relative position between the illumination unit 105 and the image generation unit 101, can be solved by software processing. It should be noted that in this embodiment, the light distribution unit 104 is located between the correction timing light shielding area adjustment unit 256 and the illumination unit 105.Since the light distribution unit 104 instructs the illuminating unit 105 to illuminate only a section that differs from the light shielding area determined by the light shielding area adjustment unit 256, it can be said that the correction time light shielding area adjustment unit 256 essentially sets the light shielding area in the illuminating unit 105.

[0042] (2) The correction calculation unit 257 outputs the calculated correction information to the direct radiation prevention unit 255 via the storage unit 103. Thus, the direct radiation prevention unit 255 can use the correction information calculated by the correction calculation unit 257.

[0043] (3) The direct irradiation prevention unit 255 cuts out a detection area from the captured image based on the correction information and adjusts the light shielding area based on the position of the non-target object in the detection area.

[0044] (4) The correction time light shielding area setting unit 256 sets an area that is symmetrical with respect to a horizontal direction or an area that is symmetrical with respect to a vertical direction in the area in front of the illumination unit 105 as the light shielding area. Thus, the correction information can be calculated without being adversely affected by a change in ambient brightness.

[0045] (5) The correction device, i.e. the image processing unit 102, is mounted on the vehicle 100, which includes the illumination unit 105, which illuminates an area different from a set light-shielding area with light, and the image generation unit 101, which images an area containing an illumination area of ​​the light emitted by the illumination unit 105 in order to capture a recorded image.The image processing unit 102 contains the acquisition unit 251, which acquires the captured image from the image generation unit 101, the correction timing light shielding area setting unit 256, which sets a predetermined light shielding area in the illumination unit 105, and the correction calculation unit 257, which calculates correction information on the basis of the captured image acquired by the acquisition unit 251 when the correction timing light shielding area setting unit 256 sets the light setting area in the illumination unit 105. (First variation)

[0046] In the embodiment described above, the image processing unit 102 uses the correction information. However, the image generation unit 101 can also use the correction information. For example, the calculated correction information can be stored in the image generation unit 101, and the image generation unit 101 can then image only the detection area 702 based on the correction information and output the captured image to the image processing unit 102. In this case, the image processing unit 102 processes the correction information as zero in both the vertical and horizontal directions.

[0047] According to this modification, the following operational effects can be obtained.

[0048] (6) The correction calculation unit 257 outputs the calculated correction information to the image generation unit 101. Based on the correction information, the image generation unit 101 determines an area to be output as the captured image. Since the image generation area of ​​the image generation unit 101 is restricted, the time required for image generation and transmission of the captured image can thus be reduced. In addition, this modification allows for a reduction in the processing time of the image processing unit 102. (Second variation)

[0049] In the embodiment described above, the correction unit 252 performs the correction separately in the vertical and horizontal directions. However, the correction unit 252 can perform the correction in both directions using a common light-shielding area.

[0050] Fig. Figure 16 is a view that represents a light-shielding area at the time of correction in this modification. The light-shielding area in this modification has a shape similar to a "+", i.e., like a plus sign, such as a shape in which the in Fig. 10 and Fig. The 12 depicted shapes are superimposed.

[0051] According to this modification, the following operational effects can be obtained.

[0052] (7) The correction timing light shielding area setting unit 256 sets the light shielding area in the region in front of the illumination unit 105 to a region that is symmetrical with respect to the horizontal and vertical directions. Thus, using this form, correction can be carried out simultaneously in the vertical and horizontal directions. (Third variation)

[0053] In the embodiment described above, the image processing unit 102, in the direct irradiation prevention process, cuts out the detection area based on the correction information. However, the image processing unit 102 cannot cut out the detection area. In this case, the image processing unit 102 calculates the coordinates of the vehicle using the coordinate system in the captured image, then corrects the coordinates of the vehicle using the correction information, and outputs the corrected coordinates to the light distribution unit 104.

[0054] According to this modification, the following operational effects can be obtained.

[0055] (8) The direct illumination prevention unit 255 adjusts the light shielding area by correcting the coordinates of the non-target object in the captured image based on the correction information. Thus, the image processing unit 102 can omit the processing of the detection area cropping. (Fourth variation)

[0056] The light shielding area set by the correction timing light shielding area setting unit 256 cannot be symmetrical with respect to the horizontal or vertical axis in the area in front of the illumination unit 105. That is, the correction timing light shielding area setting unit 256 can set a left-right asymmetrical or up-down asymmetrical light shielding area and calculate positive information. Even in this case, the correction calculation unit 257 can calculate the correction information based on the captured image if the light shielding area is known.

[0057] Fig. Figure 17 is a view showing the light shielding area at the time of correction in this modification. Fig. Figure 17 represents the light shielding area at the time of the horizontal correction and represents the light shielding area that is not symmetrical with respect to the vertical axis, i.e., the left-right asymmetrical light shielding area. In the Fig. In the example shown in Figure 17, the light shielding area is adjusted such that the ratio between the distance L403a from the edge E401 to the center E402 of the illumination area detected on the left side of the captured image 701 and the distance L405 from the edge E404 to the center E402 of the illumination area detected on the right side of the captured image 701 is 1:2, provided there is no deviation in the horizontal direction. Although the in Fig. In the example shown in Figure 17, the light shielding area at the time of horizontal correction is similarly vertically asymmetrical. It should be noted that the light shielding area at the time of vertical correction may be similarly vertically asymmetrical.

[0058] The correction can be performed on either the left or the right headlight mounted on the vehicle 100, or the correction can be performed on the high beam only when both the low beam and high beam are engaged. In this case, the correction information can be calculated similarly to the embodiment using the known image generation area of ​​the image generation unit 101, i.e., a viewing angle. (Fifth variation)

[0059] The light distribution unit 104 can be configured as a single unit with the spotlight unit 105. (Sixth variation)

[0060] The object detection unit 254 can detect an object other than the vehicle, e.g. a pedestrian or a bicycle, using a known method such as pattern matching.

[0061] It is noted that the present invention is not limited to the embodiments described above and that it includes various modifications. For example, the embodiments described above have been described in detail for ease of understanding of the present invention and are not necessarily limited to those with all the described configurations. (Seventh variation)

[0062] The image processing unit cannot contain the object detection unit 254 and the direct illumination prevention unit 255. In this case, for example, the light distribution unit 104 also contains the detection unit 251, the object detection unit 254, and the direct illumination prevention unit 255. The light distribution unit 104 then carries out the in Fig. 15 processing shown. Fig. Figure 18 is a block diagram representing a functional configuration of an image processing unit 102A in this modification. Fig. 18 are the object detection unit 254 and the direct radiation prevention unit 255 compared to Fig. 3 away.

[0063] According to this modification, the following operational effects will be maintained.

[0064] (9) The image processing unit 102A, which is a correction device, is mounted on the vehicle 100, which contains the illumination unit 105 and the image generation unit 101. The image processing unit 102A contains the detection unit 251, which detects an image captured by the image generation unit 101. The vehicle 100 also contains the light distribution unit 104, which contains the object detection unit 254 and the direct illumination prevention unit 255. Furthermore, the image processing unit 102A, which is the correction device, contains the correction timing light shielding area adjustment unit 256 and the correction calculation unit 257. Thus, by limiting the function of the image processing unit 102A, which is the correction device, it is possible to carry out production at low cost.

[0065] Each of the configurations, functions, processing units, processing means, and the like described above can be implemented in hardware by designing some or all of them, for example, using an integrated circuit. Alternatively, each of the configurations, functions, and the like described above can be implemented in software by a processor that interprets and executes a program to implement each function. Information such as a program, a table, and a file for implementing each function can be stored in a recording device such as memory, a hard disk drive, or a solid-state drive (SSD), or on a recording medium such as an SD card.

[0066] Control lines and information lines are described based on the necessity of the description; it is not necessary to describe all control lines and information lines in the product. It can be assumed that virtually all components are interconnected.

[0067] In the embodiment and variations described above, the function block configuration is merely an example. Some function configurations represented as separate function blocks may be configured as a single unit, or a configuration shown in a function block diagram may be divided into two or more functions. Furthermore, some of the functions of each function block may be contained within another function block.

[0068] In the embodiments and modifications described above, a program is stored in the ROM 203, although a program may also be stored in the memory unit 103. Furthermore, the image processing unit 102 may include an input / output interface (not shown), and a program can be read from another device, if required, via the input / output interface and a medium that can be used by the image processing unit 102. The medium here refers, for example, to a storage medium that is detachable from the input / output interface, or to a communication medium that is a wired, wireless, or optical network, or to a carrier wave or a digital signal that propagates over the network. In addition, some or all of the functions implemented by the program may be implemented by a hardware circuit or an FPGA.

[0069] The embodiments and modifications described above can be combined with one another. Although various embodiments and modifications have been described above, the present invention is not limited to these. Other embodiments that are considered to be within the scope of protection of the technical idea of ​​the present invention are also included within the scope of protection of the present invention.

[0006] List of reference symbols 100 vehicles 101 Image generation unit 102 Image processing unit 103 storage units 104 light distribution unit 105 Beam unit 106 Vehicle control unit 107 Vehicle Information Acquisition Unit 108 Alarm notification unit 109 Driving system control unit 251 recording units 252 correction units 254 object detection unit 255 Direct radiation prevention unit 256 Correction timing light shielding area adjustment unit 257 Correction calculation unit

Claims

[1] In-vehicle system that includes: a illuminating unit (105) that illuminates an area different from a set light shielding area with light; an image-generating unit (101) that images an area containing an illumination area of ​​the light emitted by the illumination unit (105) in order to capture a recorded image; an object detection unit (254) that detects from the recorded image a non-target object that should not be illuminated with the light; a direct illumination prevention unit (255) which calculates the light shielding area based on the position of the non-target object in the captured image and correction information, and sets the light shielding area in the illumination unit (105); a correction timing light shielding area setting unit (256) that sets the specified light shielding area in the illumination unit (105); and a correction calculation unit (257) that calculates the correction information based on the captured image when the correction timing light shielding area setting unit (256) sets the light shielding area in the illumination unit (105), wherein the correction calculation unit (257) outputs the calculated correction information to the image generation unit (101), and the image generation unit (101) determines an output area based on the correction information as the captured image, wherein the correction information is a deviation between a center position of the beam area of ​​the beam unit (105) and a center position of an image generation area of ​​the image generation unit (101). [2] Vehicle-internal system according to claim 1, wherein the correction calculation unit (257) outputs the calculated correction information to the direct radiation prevention unit (255). [3] In-vehicle system according to claim 2, wherein the direct irradiation prevention unit (255) cuts out a detection area from the recorded image based on the correction information and sets the light shielding area based on the position of the non-target object in the detection area. [4] In-vehicle system according to claim 2, wherein the direct irradiation prevention unit (255) adjusts the light shielding area by correcting coordinates of the non-target object in the captured image on the basis of the correction information. [5] Vehicle-internal system according to claim 1, wherein the correction time light shielding area setting unit (256) sets the light shielding area in the region in front of the illumination unit (105) to a region that is symmetrical with respect to a horizontal direction and / or vertical direction. [6] Correction device mounted on a vehicle (100) comprising a illuminating unit (105) which illuminates an area different from a set light-shielding area with light, and an image-forming unit (101) which images an area containing an illumination area of ​​the light emitted by the illuminating unit (105) in order to capture a recorded image, wherein the correction device comprises: a capture unit (251) that captures the image taken from the image generation unit (101); an object detection unit (254) that detects from the recorded image a non-target object that should not be illuminated with the light; a direct illumination prevention unit (255) which calculates the light shielding area based on the position of the non-target object in the captured image and correction information, and sets the light shielding area in the illumination unit (105); a correction timing light shielding area setting unit (256) that sets the specified light shielding area in the illumination unit (105); and a correction calculation unit (257) that calculates the correction information on the basis of the captured image acquired by the detection unit (251) when the correction timing light shielding area setting unit (256) sets the light shielding area in the illumination unit (105), wherein the correction calculation unit (257) outputs the calculated correction information to the image generation unit (101), and the image generation unit (101) determines an output area based on the correction information as the captured image, wherein the correction information is a deviation between a center position of the beam area of ​​the beam unit (105) and a center position of an image generation area of ​​the image generation unit (101). [7] Correction device mounted on a vehicle (100) comprising a illuminating unit (105) which illuminates an area different from a set light-shielding area with light, and an image-forming unit (101) which images an area containing an illumination area of ​​the light emitted by the illuminating unit (105) in order to capture a recorded image, wherein the correction device comprises: a capture unit (251) that captures the captured image from the image generation unit (101), wherein The vehicle (100) further comprises an object detection unit (254) which detects a non-target object from the recorded image that is not to be illuminated by the light, and a direct illumination prevention unit (255) which calculates the light shielding area based on a position of the non-target object in the recorded image and correction information and sets the light shielding area in the illumination unit (105), wherein the correction device further comprises: a correction timing light shielding area setting unit (256) that sets the specified light shielding area in the illumination unit (105); and a correction calculation unit (257) that calculates the correction information on the basis of the captured image acquired by the detection unit (251) when the correction timing light shielding area setting unit (256) sets the light shielding area in the illumination unit (105), wherein the correction calculation unit (257) outputs the calculated correction information to the image generation unit (101), and the image generation unit (101) determines an output area based on the correction information as the captured image, wherein the correction information is a deviation between a center position of the beam area of ​​the beam unit (105) and a center position of an image generation area of ​​the image generation unit (101).

Images