Camera control device

Abstract

This disclosure aims to provide a camera control device that can improve the detection accuracy of objects reflected in a convex mirror. [Solution] The camera control device 11 includes a parameter setting unit 111 for setting control parameters for controlling the camera 12, an image acquisition unit 112, a curve mirror detection unit 113 for detecting the position of the curve mirror from the first image acquired by the image acquisition unit 112, and an object detection unit 114 for detecting an object reflected in the curve mirror from the second image acquired by the image acquisition unit 112. The parameter setting unit 111 sets the first control parameter, which is a control parameter for acquiring the first image, so that the brightness and contrast of the entire shooting area are optimized, and sets the second control parameter, which is a control parameter for acquiring the second image, so that the brightness and contrast of the position of the curve mirror are optimized.

Description

Technical Field

[0001] The present disclosure relates to a camera control device that controls a camera provided in a vehicle.

Background Art

[0002] Patent Document 1 discloses a technique that “an image processing device that performs external recognition for driving support or automatic driving of a vehicle based on a captured image obtained from a photographing device that captures an image that requires distortion correction sets a partial region to be subjected to distortion correction processing to move according to a rule and acquires a partial image with distortion corrected by applying distortion correction processing to the set partial region of the captured image. When a curve mirror is detected around the vehicle, the image processing device changes the above rule so that a partial region corresponding to a predetermined direction of the vehicle is preferentially set as an object of distortion correction processing.”

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Between a curve mirror and an object inside the curve mirror, a difference in the optimal focus position based on the difference between the direct distance and the indirect distance through the mirror, and a difference in at least one of the optimal parameters of exposure and contrast based on differences in external factors such as sunlight and background are assumed. The conventional technology has a problem that when such a difference occurs, it is difficult to clearly observe the image inside the curve mirror, and the detection accuracy of an object reflected in the curve mirror may decrease.

[0005] An object of the present disclosure is to provide a camera control device that can improve the detection accuracy of an object reflected in a curve mirror. [Means for solving the problem]

[0006] To achieve the above objective, a camera control device according to one aspect of the present disclosure includes: a parameter setting unit for setting control parameters for controlling a camera; an image acquisition unit for acquiring an image captured by the camera; a curve mirror detection unit for detecting the position of a curve mirror from a first image, which is the image acquired by the image acquisition unit; an object detection unit for detecting an object reflected in the curve mirror from a second image, which is the image acquired by the image acquisition unit; and a providing unit for providing the position of the object to a passenger in a vehicle equipped with the camera. The parameter setting unit sets a first control parameter, which is the control parameter for acquiring the first image, so that the brightness and contrast of the entire shooting area are optimized, and sets a second control parameter, which is the control parameter for acquiring the second image, so that the brightness and contrast of the position of the curve mirror are optimized. [Effects of the Invention]

[0007] According to one aspect of this disclosure, the detection accuracy of objects reflected in a convex mirror can be improved. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing an example of a schematic configuration of a camera control device according to one embodiment of the present disclosure. [Figure 2] This flowchart shows an example of the operation of a camera control device according to one embodiment of the present disclosure. [Figure 3] This figure schematically shows an image captured by a camera controlled by a camera control device according to one embodiment of the present disclosure, and is a diagram showing an example of a first image captured when a convex mirror is detected. [Figure 4] This figure schematically shows an image captured by a camera controlled by a camera control device according to one embodiment of the present disclosure, and is a diagram showing an example of a second image captured when an object reflected in a convex mirror is detected. [Figure 5]This figure schematically shows an image captured by a camera controlled by a camera control device according to one embodiment of the present disclosure, and is an example of an image in which multiple curved mirrors of different sizes are captured. [Figure 6] This figure schematically shows an image captured by a camera controlled by a camera control device according to one embodiment of the present disclosure, and is a diagram showing an example of an image captured of a curved mirror having a rear-facing orientation. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described below with reference to the drawings. Note that the drawings are schematic and may differ from actual ones. Furthermore, the embodiments of this disclosure shown below are illustrative examples of devices and methods for realizing the technical concept of this disclosure, and the technical concept of this disclosure is not limited to the structure, arrangement, etc., of the components described below. The technical concept of this disclosure can be modified in various ways within the technical scope defined by the claims described in the patent claims.

[0010] 1. Camera control device configuration: A camera control device according to one embodiment of the present disclosure will be described with reference to Figures 1 to 6. First, the configuration of the camera control device according to this embodiment will be described with reference to Figure 1. Figure 1 is a block diagram showing an example of the schematic configuration of the camera control device according to the present disclosure. In a scene in which an object is reflected in a convex mirror, the camera control device according to this embodiment adaptively adjusts the control parameters for controlling the camera based on the detection of the convex mirror and the detection of the object reflected in the convex mirror, thereby capturing images of the area around the vehicle. For this reason, the camera control device according to this embodiment captures images of the area around the vehicle in order to detect the convex mirror, then changes the control parameters, and then captures images of the area again to detect the object reflected in the convex mirror.

[0011] As shown in Figure 1, the camera control device 11 according to this embodiment is installed in a vehicle 1. The vehicle 1 is equipped with a camera 12, which is the target of control by the camera control device 11. Although the vehicle 1 has cameras installed in multiple locations, only the camera 12 used for detecting convex mirrors is shown in Figure 1.

[0012] As shown in Figure 1, the camera control device 11 includes a parameter setting unit 111, an image acquisition unit 112, a curve mirror detection unit 113, an object detection unit 114, and a supply unit 115.

[0013] The parameter setting unit 111 sets control parameters for controlling the camera 12. The parameter setting unit 111 sets the first control parameter CP1, which is a control parameter for acquiring the first image, which is an image acquired by the image acquisition unit 112, so that the brightness and contrast of the entire shooting area are optimized. The parameter setting unit 111 sets the second control parameter CP2, which is a control parameter for acquiring the second image, which is an image acquired by the image acquisition unit 112, so that the brightness and contrast of the position of the curve mirror are optimized. The parameter setting unit 111 can change the control parameters when detecting the curve mirror and when detecting an object within the curve mirror to optimize the exposure (image brightness). As a result, the camera control device 11 can improve the detection accuracy of objects reflected in the curve mirror.

[0014] The control parameters set by the parameter setting unit 111 include the exposure time, gain, and aperture value when the camera 12 takes a picture. Therefore, the first control parameter CP1 has an exposure time, gain, and aperture value set so that the brightness and contrast of the entire shooting area are optimized. On the other hand, the second control parameter CP2 has an exposure time, gain, and aperture value set so that the brightness and contrast of the position of the curve mirror in the image are optimized. As a result, the camera control device 11 can optimize the overall exposure (image brightness) in the first image and optimize the exposure (image brightness) of the part where the curve mirror is visible in the second image.

[0015] The parameter setting unit 111 may set control parameters including the focus setting of the lens 121 provided on the camera 12. This allows the focus position of the lens 121 to be optimized. For example, the parameter setting unit 111 may set the focus position in the second control parameter CP2 to be further away from the focus position in the first control parameter CP1 for the search target. This allows the search area where the focus position of the lens 121 is optimized to be limited to the detected curve mirror position.

[0016] The parameter setting unit 111 sets image processing parameters for image processing at least one of the first image data Di1 and the second image data Di2 acquired by the image acquisition unit 112 (details of which will be described later) from the camera 12. As a result, the camera control device 11 can optimize the image processing parameters for the first image to improve the detection accuracy of the curve mirror, and optimize the image processing parameters for the second image to improve the detection accuracy of objects reflected in the curve mirror.

[0017] The image processing parameters include at least one of a tone curve and color temperature. The parameter setting unit 111 may set one or more first image processing parameters IP1 for the image data Di1 and one or more second image processing parameters IP2 for the image data Di2 of the second image. This allows the camera control device 11 to optimize the image processing parameters for the first image and the image processing parameters for the second image.

[0018] A curve mirror having a relatively large area in the first image is located closer to the vehicle 1 than a curve mirror having a relatively small area in the first image. Therefore, a curve mirror having a relatively large area is more likely to affect the driving of the vehicle 1 than a curve mirror having a relatively small area. Thus, when a curve mirror detection unit 113 (details will be described later) detects the positions of a plurality of curve mirrors from the first image, the parameter setting unit 111 sequentially sets the second control parameter CP2 for the first image, giving priority to the positions of the curve mirrors having larger areas. Thereby, the camera control device 11 can process the curve mirrors that are more likely to affect the driving of the vehicle 1 with priority.

[0019] The parameter setting unit 111 holds the set first control parameter CP1 and the set second control parameter CP2. When the camera control device 11 continuously captures images of the curve mirror over time, by holding the first control parameter CP1 at the time of curve mirror detection and the second control parameter CP2 at the time of object detection respectively, the held control parameters can be used as the initial values for the next time. Thereby, the camera control device 11 can improve the search efficiency when optimizing each of the first control parameter CP1 and the second control parameter CP2. As an example of the case where the camera control device 11 continuously captures images of the curve mirror over time, there is a case where the vehicle 1 is stopped. In this case, since the angle of view of the camera 12 hardly changes, the parameter setting unit 111 can detect an object reflected in the curve mirror even by using the held first control parameter CP1.

[0020] The image acquisition unit 112 acquires the image captured by the camera 12. When the first control parameter CP1 or the second control parameter CP2 is input from the parameter setting unit 111, the image acquisition unit 112 outputs a signal instructing the shooting and the output of the image data of the captured image together with the input first control parameter CP1 or second control parameter CP2 to the camera 12. Thereby, the camera 12 sets the first control parameter CP1 or the second control parameter CP2 input from the image acquisition unit 112 and shoots the surroundings of the vehicle 1. When the first control parameter CP1 is input from the image acquisition unit 112, the camera 12 outputs the image data Di1 of the captured image to the image acquisition unit 112. When the second control parameter CP2 is input from the image acquisition unit 112, the camera 12 outputs the image data Di2 of the captured image to the image acquisition unit 112.

[0021] When the first image processing parameter IP1 is input together with the first control parameter CP1, the image acquisition unit 112 performs image processing on the image data Di1 input from the camera 12 with the first image processing parameter IP1 and outputs the image data Di1 after the image processing to the curve mirror detection unit 113. When a plurality of first image processing parameters IP1 are input, the image acquisition unit 112 outputs a plurality (the same number as the first image processing parameters IP1) of image data Di1 after image processing for each of the plurality of first image processing parameters IP1 to the curve mirror detection unit 113. On the other hand, when the second image processing parameter IP2 is input together with the second control parameter CP2, the image acquisition unit 112 performs image processing on the image data Di2 input from the camera 12 with the second image processing parameter IP2 and outputs the image data Di2 after the image processing to the object detection unit 114. When a plurality of second image processing parameters IP2 are input, the image acquisition unit 112 outputs a plurality (the same number as the second image processing parameters IP2) of image data Di2 after image processing for each of the plurality of second image processing parameters IP2 to the curve mirror detection unit 113.

[0022] The curve mirror detection unit 113 detects the position of the curve mirror from the first image acquired by the image acquisition unit 112. While a detailed explanation is omitted, the curve mirror detection unit 113 analyzes the image data Di1 of the first image input from the image acquisition unit 112 and determines whether or not a curve mirror is visible in the first image. If the curve mirror detection unit 113 determines that a curve mirror is visible in the first image, it outputs the coordinates (position coordinates) PC of the curve mirror's position in the first image to the parameter setting unit 111.

[0023] The curved mirror detection unit 113 has an estimation unit 113a that estimates the mounting orientation of the detected curved mirror. If the estimation unit 113a estimates that the orientation of the curved mirror is the back surface as viewed from the viewpoint of the camera 12, the curved mirror detection unit 113 will not detect the position of the curved mirror having the back surface orientation. The estimation unit 113a performs image analysis on the curved mirror detected by the curved mirror detection unit 113 and estimates whether the curved mirror is in the front surface orientation or the back surface orientation. If the estimation unit 113a estimates that the detected curved mirror is in the back surface orientation, the curved mirror detection unit 113 will not output the position coordinates of the curved mirror to the parameter setting unit 111. In this way, the curved mirror detection unit 113 can not detect curved mirrors that are estimated to be in the back surface orientation.

[0024] The object detection unit 114 detects objects reflected in the convex mirror from the second image acquired by the image acquisition unit 112. While a detailed explanation is omitted, the object detection unit 114 analyzes the image data Di2 of the second image input from the image acquisition unit 112 to determine whether or not an object such as a vehicle or person is reflected in the convex mirror. If the object detection unit 114 determines that an object is reflected in the convex mirror, it outputs the coordinates (position coordinates) PO of the detected object to the output unit 115.

[0025] The providing unit 115 provides the position of an object to a passenger in the vehicle 1 equipped with a camera. The providing unit 115 may provide the position of the object by displaying it, for example, on a part of a display unit on the instrument panel, on a part of a display device for a navigation system, or by voice.

[0026] 2. Operation of the camera control unit: The operation of the camera control device according to this embodiment will be explained with reference to Figure 1 and Figures 2 to 4. Figure 2 is a flowchart showing an example of the operation of the camera control device according to this embodiment. Figure 3 is a schematic diagram showing an image captured by a camera controlled by the camera control device, and is a diagram showing an example of a first image captured when a convex mirror is detected. Figure 4 is a schematic diagram showing an image captured by a camera controlled by the camera control device according to this embodiment, and is a diagram showing an example of a second image captured when an object reflected in the convex mirror is detected.

[0027] As shown in Figure 2, when the camera control device 11 (see Figure 1) according to this embodiment starts the operation related to detecting an object reflected in the convex mirror, in step ST1, the parameter setting unit 111 (see Figure 1) sets the first control parameter CP1 (see Figure 1), outputs the set first control parameter CP1 to the image acquisition unit 112 (see Figure 1), and proceeds to the processing of step ST2. The first control parameter CP1 set in step ST1 may be a pre-set initial parameter, or, if the convex mirror is continuously photographed over time, it may be a parameter that was set and held during the previous detection of the convex mirror. In addition, the parameter setting unit 111 may set the first image processing parameter IP1 (see Figure 1) in step ST1 and output it to the image acquisition unit 112.

[0028] In step ST2, the image acquisition unit 112 adjusts the control parameters for controlling the camera 12 (see Figure 1) to the first control parameter CP1 set by the parameter setting unit 111, and then proceeds to the process in step ST3.

[0029] In step ST3, the image acquisition unit 112 controls the camera 12 to take pictures of the area around the vehicle 1 (see Figure 1), and then proceeds to the process in step ST4.

[0030] In step ST4, the image acquisition unit 112 acquires a first image, which is an image of the area around the vehicle 1 taken by the camera 12, outputs the acquired first image to the curve mirror detection unit 113 (see Figure 1), and proceeds to the processing in step ST5. Specifically, the image acquisition unit 112 outputs the image data Di1 of the first image acquired from the camera 12 to the curve mirror detection unit 113. If the first image processing parameter IP1 was input from the parameter setting unit 111 in step ST1, the image acquisition unit 112 outputs the image data Di1 of the first image processed according to the first image processing parameter IP1 to the curve mirror detection unit 113.

[0031] In step ST5, the curve mirror detection unit 113 analyzes the first image (specifically, image data Di1) input from the image acquisition unit 112, detects the position of the curve mirror shown in the first image, and proceeds to the processing in step ST6. Also in step ST5, the estimation unit 113a (see Figure 1) provided in the curve mirror detection unit 113 estimates the mounting orientation of the detected curve mirror.

[0032] As shown in Figure 3, when two curved mirrors 31 and 32 are visible in the first image 3A, the curved mirror detection unit 113 detects the positions of the curved mirrors 31 and 32 in the first image 3A (hereinafter sometimes referred to as "mirror positions") 31P and 32P. The curved mirror detection unit 113 contacts a portion of the outer circumference of each of the curved mirrors 31 and 32 and detects the rectangular frame-shaped area surrounding the curved mirrors 31 and 32 as the mirror positions 31P and 32P. The estimation unit 113a also estimates that both curved mirrors 31 and 32 are in a surface orientation.

[0033] Returning to Figure 2, in step ST6, if the curve mirror detection unit 113 has detected the positions of the curve mirrors 31 and 32 in step ST5 and estimates that the detected curve mirrors 31 and 32 are in the front orientation (step ST6: YES), it outputs the position coordinates of the detected mirror positions 31P and 32P to the parameter setting unit 111 and proceeds to the processing in step ST7. Specifically, the curve mirror detection unit 113 outputs the coordinates of, for example, the four corners of the mirror positions 31P and 32P as position coordinates to the parameter setting unit 111. On the other hand, if the curve mirror detection unit 113 has not detected any curve mirrors in step ST5, or estimates that all of the detected curve mirrors are in the back orientation (step ST6: NO), the camera control device 11 terminates the operation related to detecting objects reflected in the curve mirrors.

[0034] In step ST7, the parameter setting unit 111 sets the second control parameter CP2 according to the mirror positions 31P and 32P, respectively, and proceeds to the process in step ST8. For example, with respect to the first image 3A, the parameter setting unit 111 prioritizes the position of the curve mirror with a larger area and sets the second control parameter CP2 (see Figure 1). In this example, curve mirror 32 is larger than curve mirror 31. Therefore, the parameter setting unit 111 prioritizes the mirror position 32P and sets the second control parameter CP2, and then sets the second control parameter CP2 for the mirror position 31P. As a result, when the area around the vehicle 1 is photographed with approximately the same field of view as the first image 3A, the brightness and contrast of each of the curve mirrors 31, 31 are optimized.

[0035] Furthermore, if the camera control device 11 continuously photographs the curve mirror over time, the parameter setting unit 111 may set, for example, the parameter set and held during the previous object detection as the second control parameter CP2.

[0036] The parameter setting unit 111 outputs the second control parameter CP2 for each of the set mirror positions 31P and 32P to the image acquisition unit 112. Alternatively, in step ST7, the parameter setting unit 111 may set the second image processing parameter IP2 for each of the mirror positions 31P and 32P and output it to the image acquisition unit 112.

[0037] In step ST8, the image acquisition unit 112 adjusts the control parameters for controlling the camera 12 to the second control parameter CP2 set by the parameter setting unit 111, and then proceeds to the process in step ST9.

[0038] In step ST9, the image acquisition unit 112 controls the camera 12 to take pictures of the area around the vehicle 1, and then proceeds to the processing in step ST10. The image acquisition unit 112 controls the camera 12 so that the field of view is approximately the same as the area around the vehicle 1 that was photographed in step ST3.

[0039] In step ST10, the image acquisition unit 112 acquires a second image, which is an image of the area around the vehicle 1 captured by the camera 12, outputs the acquired second image to the object detection unit 114, and proceeds to the processing in step ST11. Specifically, the image acquisition unit 112 outputs the image data Di2 of the second image to the curve mirror detection unit 113. If the second image processing parameter IP2 is input from the parameter setting unit 111 in step ST7, the image acquisition unit 112 outputs the image data Di2 of the second image processed according to the second image processing parameter IP2 to the curve mirror detection unit 113.

[0040] In step ST11, the object detection unit 114 analyzes the second image (specifically, image data Di2) input from the image acquisition unit 112, detects an object reflected in the convex mirror in the second image, and proceeds to the processing in step ST12.

[0041] In the second image 3B shown in Figure 4, the second control parameter CP2 is set so that the brightness and contrast of the convex mirrors 31 and 32 at mirror positions 31P and 32P are optimized. As a result, as shown in Figure 4, the convex mirrors 31 and 32 appear brighter than the surrounding landscape in the second image 3B. In Figure 4, relatively bright areas (i.e., within the rectangular frames indicating mirror positions 31P and 32P) are shown with solid lines, and relatively dark areas (i.e., outside the rectangular frames indicating mirror positions 31P and 32P) are shown with dashed lines.

[0042] The object detection unit 114 detects whether or not an object is reflected in the convex mirrors 31 and 32. The image at mirror positions 31P and 32P is clearer in the second image 3B than in the first image 3A. Therefore, it is easier to detect whether or not an object is reflected in the convex mirrors 31 and 32. This improves the accuracy of detecting objects reflected in the convex mirrors 31 and 32. In this example, the object detection unit 114 detects a vehicle 41 as an object within the convex mirror 32. The object detection unit 114 contacts a part of the outer circumference of the vehicle 41 and detects a rectangular frame-shaped area surrounding the vehicle 41 as the object position 41P. On the other hand, the object detection unit 114 does not detect an object within the convex mirror 31. As a result, the object detection unit 114 outputs the position coordinates of the convex mirror 32 and mirror position 32P, as well as the position coordinates of the detected vehicle 41 and object position 41P, to the providing unit 115 (see Figure 1). The position coordinates of object position 41P are, for example, the coordinates of the four corners of the rectangular frame surrounding vehicle 41.

[0043] Returning to Figure 2, in step ST12, the providing unit 115 provides the occupant of vehicle 1 with information about the convex mirror 32 and where the vehicle 41 is reflected in the convex mirror 32, based on the information input from the object detection unit 114. As a result, the camera control device 11 completes its operation related to detecting objects reflected in the convex mirror.

[0044] When the camera is focused on a convex mirror, the rear depth of field is approximately 3 meters. In a real road environment, objects as far as 10 meters away should be detectable. Therefore, by using the camera control device according to this disclosure, it is possible to expand the target area by approximately three times.

[0045] Other examples of curve mirror detection: Another example of curve mirror detection in the operation of the camera control device according to this embodiment will be described with reference to Figures 5 and 6. Figure 5 is a schematic diagram showing an image captured by a camera controlled by the camera control device according to this embodiment, and is an example of a first image in which multiple curve mirrors of different sizes are captured. Figure 6 is a schematic diagram showing an image captured by a camera controlled by the camera control device according to this embodiment, and is an example of a first image in which a curve mirror mounted in the back position is captured.

[0046] As shown in Figure 5, when the curve mirror detection unit 113 detects multiple curve mirrors 33 and 34 from the first image 3C, the parameter setting unit 111 sequentially sets the second control parameter CP2, prioritizing the positions of the curve mirrors that have a larger area relative to the first image 3C. In the example shown in Figure 5, curve mirror 33 has a larger area relative to the first image 3C than curve mirror 34. Therefore, the parameter setting unit 111 prioritizes the mirror position 33P of curve mirror 33 over the mirror position 34P of curve mirror 34 when setting the second control parameter CP2.

[0047] The curve mirror detection unit 113 does not detect the position of a curve mirror if the detected area of ​​the curve mirror is less than a predetermined number of pixels. For example, the curve mirror detection unit 113 determines whether the detected area of ​​the curve mirror is less than a predetermined number of pixels based on the position coordinates of the mirror position. The curve mirror detection unit 113 calculates the number of pixels in the area of ​​the curve mirrors 33 and 34 (i.e., the rectangular frame-shaped area surrounding the mirror positions 33P and 34P) based on the position coordinates of the respective mirror positions 33P and 34P, and compares it with the predetermined number of pixels. In the example shown in Figure 5, the number of pixels in the area of ​​curve mirror 33 is greater than the predetermined number of pixels, and the number of pixels in the area of ​​curve mirror 34 is less than the predetermined number of pixels. In this case, the curve mirror detection unit 113 detects curve mirror 33, does not detect curve mirror 34, outputs the position coordinates of mirror position 33P to the parameter setting unit 111, and does not output the position coordinates of mirror position 34P to the parameter setting unit 111. As a result, the parameter setting unit 111 does not need to set the second control parameter CP2 for the curve mirror 34, and the camera control device 11 can reduce unnecessary computation costs.

[0048] If the curve mirror detection unit 113 estimates that the orientation of the curve mirror is the back surface as viewed from the viewpoint of the camera 12, the estimation unit 113a (see Figure 1) does not set the second control parameter CP2 for the position of the curve mirror that has the back surface orientation. In the example shown in Figure 6, the curve mirror 35 that appears in the first image 3D captured by the camera 12 has the front surface orientation. On the other hand, the curve mirror 36 that appears in the first image 3D has the back surface orientation. Therefore, the curve mirror detection unit 113 outputs the position coordinates of the mirror position 35P of the curve mirror 35 to the parameter setting unit 111, but does not output the position coordinates of the mirror position 36P of the curve mirror 36 to the parameter setting unit 111. As a result, the parameter setting unit 111 sets the second control parameter CP2 for the mirror position 35P of the curve mirror 35, but does not set the second control parameter CP2 for the mirror position of the curve mirror 36. Consequently, the parameter setting unit 111 does not need to set the second control parameter CP2 for the curve mirror 36, and the camera control device 11 can reduce unnecessary computation costs.

[0049] 3. Effects of the embodiment: (1) The camera control device 11 includes a parameter setting unit 111 for setting control parameters for controlling the camera 12, an image acquisition unit 112 for acquiring images captured by the camera 12, a curve mirror detection unit 113 for detecting the positions of the curve mirrors 31 and 32 from a first image 3A acquired by the image acquisition unit 112, an object detection unit 114 for detecting objects reflected in the curve mirrors 31 and 32 from a second image 3B acquired by the image acquisition unit 112, and a providing unit 115 for providing the position of objects to passengers riding in the vehicle 1 equipped with the camera 12. The parameter setting unit 111 sets the first control parameter CP1, which is a control parameter for acquiring the first image 3A, so that the brightness and contrast of the entire shooting area are optimized, and sets the second control parameter CP2, which is a control parameter for acquiring the second image 3B, so that the brightness and contrast of the positions of the curve mirrors 31 and 32 are optimized. The parameter setting unit 111 can optimize exposure (image brightness) by changing control parameters when detecting a curve mirror and when detecting an object within the curve mirror. This allows the camera control device 11 to improve the accuracy of detecting objects reflected in the curve mirror.

[0050] (2) The control parameters include the exposure time, gain, and aperture value when taking pictures with the camera 12. This allows the camera control device 11 to optimize the exposure (image brightness).

[0051] (3) The parameter setting unit 111 sets control parameters, including the focus setting of the lens 121 provided on the camera 12. This allows for the optimization of the focus position of lens 121.

[0052] (4) The parameter setting unit 111 sets the focus position in the focus setting of the second control parameter CP2 to be further away from the focus position in the focus setting of the first control parameter CP1 as the target for search. This allows us to limit the search area for optimizing the focus position of lens 121.

[0053] (5) The parameter setting unit 111 sets at least one of the image processing parameters for image processing at least one of the image data of the first image 3A and the image data of the second image 3B acquired by the image acquisition unit 112 from the camera 12. As a result, the camera control device 11 can optimize the first image processing parameter IP1 for the first image 3A and the second image processing parameter IP2 for the second image 3B.

[0054] (6) The image processing parameters include at least one of a tone curve and a color temperature. This allows for the optimization of the first image processing parameter IP1 for the first image 3A and the second image processing parameter IP2 for the second image 3B.

[0055] (7) When the curve mirror detection unit 113 detects the positions of multiple curve mirrors from the first image, the parameter setting unit 111 sets the second control parameter CP2 sequentially, prioritizing the positions of curve mirrors that have a larger area relative to the first image. A convex mirror closer to vehicle 1 is more likely to affect the driving of vehicle 1. Therefore, by having this configuration, the camera control device 11 can perform processing that takes into account the impact on the driving of vehicle 1.

[0056] (8) The curve mirror detection unit 113 has an estimation unit 113a that estimates the mounting orientation of the detected curve mirrors 35 and 36. If the estimation unit 113a estimates that the orientation of the curve mirror 36 is the back surface as viewed from the viewpoint of the camera 12, the position of the curve mirror 36 having the back surface orientation is not detected. This allows the camera control device 11 to reduce unnecessary computation costs.

[0057] (9) The curve mirror detection unit 113 does not detect the position of the curve mirror 34 if the area of ​​the detected curve mirror 34 is less than a predetermined number of pixels. This allows the camera control device 11 to reduce unnecessary computation costs.

[0058] (10) The parameter setting unit 111 holds the set first control parameter CP1 and the set second control parameter CP2. When the camera control device 11 continuously photographs the curve mirror over time, by storing the first control parameter CP1 when the curve mirror is detected and the second control parameter CP2 when an object is detected, the stored control parameters can be used as initial values ​​for the next time step. This allows the camera control device 11 to improve the search efficiency when optimizing the first control parameter CP1 and the second control parameter CP2. [Explanation of Symbols]

[0059] 1,41 vehicles 3A,3C,3D First image 3B Second image 11 Camera control device 12 cameras 31, 32, 33, 34, 35, 36 Curve mirror Mirror positions 31P, 32P, 33P, 34P, 35P, 36P 41P Object position 111 Parameter setting section 112 Image acquisition unit 113 Curve mirror detection unit 113a Estimation part 114 Object detection unit 115 Provision Department 121 Lens CP1 First control parameter CP2 Second control parameter Di1, Di2 image data IP1 First Image Processing Parameter IP2 Second Image Processing Parameter PC,PO coordinates (position coordinates) PO coordinates (position coordinates)

Claims

1. A parameter setting unit for setting control parameters for controlling the camera, An image acquisition unit that acquires images captured by the aforementioned camera, A curve mirror detection unit detects the position of the curve mirror from the first image, which is the image acquired by the image acquisition unit, An object detection unit detects an object reflected in the curve mirror from the second image, which is the image acquired by the image acquisition unit, A providing unit that provides the position of the object to a passenger riding in a vehicle equipped with the aforementioned camera. Equipped with, The parameter setting unit is, The first control parameter, which is the control parameter for acquiring the first image, is set so that the brightness and contrast of the entire shooting area are optimized. The second control parameter, which is the control parameter for acquiring the second image, is set so that the brightness and contrast of the position of the curve mirror are optimized. Camera control device.

2. The control parameters include the exposure time, gain, and aperture value when taking pictures with the camera. The camera control device according to claim 1.

3. The parameter setting unit sets the control parameters, including the focus setting of the lens provided on the camera. The camera control device according to claim 2.

4. The parameter setting unit sets the search target so that the focus position in the focus setting of the second control parameter is further away than the focus position in the focus setting of the first control parameter. The camera control device according to claim 3.

5. The parameter setting unit sets image processing parameters for image processing at least one of the image data of the first image and the image data of the second image acquired by the image acquisition unit from the camera. The camera control device according to claim 1.

6. The aforementioned image processing parameters include at least one of tone curve and color temperature. The camera control device according to claim 5.

7. When the curve mirror detection unit detects the positions of multiple curve mirrors from the first image, the parameter setting unit sequentially sets the second control parameters for the positions of the curve mirrors that have a larger area relative to the first image, prioritizing those positions. The camera control device according to claim 1.

8. The aforementioned curve mirror detection unit is It has an estimation unit that estimates the mounting orientation of the detected curve mirror, If the estimation unit estimates that the orientation of the curved mirror is the back surface as viewed from the camera's viewpoint, the position of the curved mirror having the back surface orientation is not detected. The camera control device according to claim 1.

9. The aforementioned curve mirror detection unit will not detect the position of the curve mirror if the detected area of ​​the curve mirror is less than a predetermined number of pixels. The camera control device according to claim 1.

10. The parameter setting unit holds the set first control parameter and the set second control parameter. The camera control device according to claim 1.

Images