JP2016132384A - On-vehicle camera device - Google Patents

On-vehicle camera device Download PDF

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JP2016132384A
JP2016132384A JP2015008908A JP2015008908A JP2016132384A JP 2016132384 A JP2016132384 A JP 2016132384A JP 2015008908 A JP2015008908 A JP 2015008908A JP 2015008908 A JP2015008908 A JP 2015008908A JP 2016132384 A JP2016132384 A JP 2016132384A
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temperature
image
detection frame
detection
vehicle
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恭祐 小岩
Kyosuke Koiwa
恭祐 小岩
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Fujitsu General Ltd
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Abstract

PROBLEM TO BE SOLVED: To solve the problem that a position and size of a mobile object of a pickup image change and accuracy of detection of the object is deteriorated since a lens to be used for a camera which picks up a subject image to detect the mobile object has temperature characteristics in which a shape of the lens changes depending on temperature.SOLUTION: An on-vehicle camera device is provided with: a lens part 2 which forms a subject image around a vehicle; an image pickup device 3 which picks up the subject image formed by the lens part to be output as a pickup image; a temperature sensor 4 which detects temperature; a storage part 5 which preliminarily stores a position and size of a detection frame corresponding to the temperature; a detection frame setting part 6 which sets the detection frame extracted according to the temperature in the pickup image output by the image pickup device; and a detection determination part 7 which detects an object entering within the detection frame set in the pickup image as a mobile object.SELECTED DRAWING: Figure 1

Description

本発明は、カメラの撮像画像を用いて移動物体を検知する技術に係わり、特に温度変化に起因して移動物体検知の精度低下を防止する車載カメラ装置に関する。 The present invention relates to a technique for detecting a moving object using a captured image of a camera, and more particularly to an in-vehicle camera device that prevents a decrease in accuracy of moving object detection due to a temperature change.

図３は、温度変化によるレンズの形状とレンズによって形成されるイメージサークルの変化を説明する説明図である。このうち図３−（１）は、レンズ部２の形状とそのレンズ部２に入射し射出される光線を示す断面図であり、図３−（２）は、撮像素子３の撮像面を上面視した図である。 FIG. 3 is an explanatory diagram for explaining the shape of the lens and the change of the image circle formed by the lens due to a temperature change. Among these, FIG. 3-(1) is a cross-sectional view showing the shape of the lens unit 2 and the light rays incident on and emitted from the lens unit 2, and FIG. FIG.

図３−（１）に実線で示すレンズ部２は例えばレンズ部２の温度が２０℃の時の形状を示し、周囲温度が上昇するなどして例えばレンズ部２の温度が６０℃となった場合には、
レンズ部２は温度上昇に伴い点線で示すレンズ部２Ａの形状のように膨張し厚みが増す。 The lens unit 2 shown by a solid line in FIG. 3 (1) shows a shape when the temperature of the lens unit 2 is 20 ° C., for example, and the temperature of the lens unit 2 becomes 60 ° C., for example, due to an increase in ambient temperature. in case of,
As the temperature rises, the lens part 2 expands and increases in thickness like the shape of the lens part 2A indicated by the dotted line.

温度が２０℃の時のレンズ部２に入射する光線「Ｘ」は、レンズ部２の被写体側の面２１上の「ａ」に示す位置を通過する時に屈折してレンズ部２の内部を通過し、レンズ部２の撮像素子側の面２２上の「ｂ」に示す位置を通過する時に再び屈折して撮像素子３の撮像面上の「Ｙ」に示す位置へと射出され、撮像面上に図３−（２）に示すイメージサークルの外周「Ｚ」を形成する。   The light beam “X” incident on the lens unit 2 when the temperature is 20 ° C. is refracted when passing through the position indicated by “a” on the subject-side surface 21 of the lens unit 2 and passes through the inside of the lens unit 2. Then, when passing through the position indicated by “b” on the surface 22 on the image pickup element side of the lens unit 2, the light is refracted again and emitted to the position indicated by “Y” on the image pickup surface of the image pickup element 3. The outer periphery “Z” of the image circle shown in FIG.

また、温度が６０℃の時のレンズ部２Ａに入射する光線「Ｘ」は、レンズ部２Ａの被写体側の面２１上の「ａ’」に示す位置を通過する時に屈折してレンズ部２Ａの内部を通過し、レンズ部２Ａの撮像素子側の面２２上の「ｂ’」に示す位置を通過する時に再び屈折して撮像素子３の撮像面上の「Ｙ’」に示す位置へと射出され、撮像面上に図３−（２）に示すイメージサークルの外周「ＺＡ」を形成する。 Further, the light beam “X” incident on the lens unit 2A when the temperature is 60 ° C. is refracted when passing through the position indicated by “a ′” on the subject-side surface 21 of the lens unit 2A, and the lens unit 2A It passes through the inside and is refracted again when passing through the position indicated by “b ′” on the surface 22 on the image sensor side of the lens portion 2A, and exits to the position indicated by “Y ′” on the image sensing surface of the image sensor 3. Then, the outer periphery “ZA” of the image circle shown in FIG.

なお、図示はしていないが、レンズ部２の温度が−２０℃の時にはレンズ部２が収縮し、撮像素子３の撮像面上の「Ｙ」に示す位置で形成されるイメージサークルの外周「Ｚ」よりも撮像素子３の中心寄りに図３−（２）に示すイメージサークルの外周「ＺＢ」を形成する。 Although not shown, when the temperature of the lens unit 2 is −20 ° C., the lens unit 2 contracts, and the outer periphery “of the image circle formed at the position indicated by“ Y ”on the imaging surface of the imaging device 3”. The outer circumference “ZB” of the image circle shown in FIG. 3B is formed closer to the center of the image sensor 3 than Z ”.

これらイメージサークルの外周「Ｚ」「ＺＡ」「ＺＢ」が示すように、レンズ部２のイメージサークルの大きさは温度変化によりレンズ部２が膨張あるいは収縮する事に起因して変化する。また、これに伴って撮像画像内の被写体の位置や大きさも変化する。 As indicated by the outer peripheries “Z”, “ZA”, and “ZB” of these image circles, the size of the image circle of the lens unit 2 changes due to expansion or contraction of the lens unit 2 due to a temperature change. Along with this, the position and size of the subject in the captured image also change.

一方、撮像画像の中に特定のエリアを示す検知枠を設定し、検知枠に侵入する移動物体を検知し警報を行う侵入者検知装置の技術が提案されている（例えば、特許文献１参照）。 On the other hand, a technique of an intruder detection device that sets a detection frame indicating a specific area in a captured image, detects a moving object that enters the detection frame, and issues an alarm is proposed (for example, see Patent Document 1). .

特開２００７−２３３９１９号公報（第５〜６頁、図１）JP 2007-233919 A (pages 5 to 6, FIG. 1)

特許文献１の技術によれば、撮像画像の中に設定した検知枠を用いることにより、撮像範囲に侵入する移動物体を検知することができるが、カメラに用いられるレンズは図３で説明したように温度によってレンズの形状が変化する温度特性があり、撮像画像内の物体の位置や大きさが変化するため、温度の変化に対して一定の位置や大きさの検知枠を撮像画像の中に設定すると物体の検知の精度が低下するという問題がある。 According to the technique of Patent Document 1, it is possible to detect a moving object that enters the imaging range by using a detection frame set in the captured image, but the lens used in the camera is as described in FIG. There is a temperature characteristic in which the shape of the lens changes depending on the temperature, and the position and size of the object in the captured image changes.Therefore, a detection frame with a certain position and size is included in the captured image with respect to the temperature change. If set, there is a problem that the accuracy of object detection is lowered.

本発明は以上述べた問題点を解決し、レンズ周辺の温度が変化しても高い精度の物体検知を実現する車載カメラ装置を提供することを目的とする。 An object of the present invention is to solve the above-described problems and to provide an in-vehicle camera device that realizes highly accurate object detection even when the temperature around the lens changes.

本発明は上述の課題を解決するため、本発明の請求項１に記載の発明は、車両に取り付けられ、車両周辺の被写体画像を撮像して移動物体を検知する車載カメラ装置であって、前記車両周辺の被写体画像を結像させるレンズ部と、前記レンズ部が結像させた前記被写体画像を撮像し撮像画像として出力する撮像素子と、温度を検出する温度センサと、移動物体を検知するための検知枠の位置と大きさを温度と対応づけて記憶する記憶部と、前記温度センサが検出した温度に対応する前記検知枠を抽出し前記撮像画像に設定する検知枠設定部と、前記撮像画像に設定された検知枠内に進入する物体を移動物体として検知する検知判定部とを備えることを特徴とする。 In order to solve the above-mentioned problems, the present invention according to claim 1 of the present invention is an in-vehicle camera device that is attached to a vehicle and senses a moving object by capturing a subject image around the vehicle. In order to detect a moving object, a lens unit that forms an image of a subject around the vehicle, an image sensor that captures the subject image formed by the lens unit and outputs the image as a captured image, a temperature sensor that detects temperature A storage unit that stores the position and size of the detection frame in association with the temperature, a detection frame setting unit that extracts the detection frame corresponding to the temperature detected by the temperature sensor and sets the detection frame in the captured image, and the imaging And a detection determination unit that detects an object entering the detection frame set in the image as a moving object.

また、本発明の請求項２に記載の発明は、前記検知枠を前記温度が高くなるに従って前記撮像画像の中心側から遠ざかる位置に、同温度が低くなるに従って前記撮像画像の中心側に近づく位置に設定することを特徴とする。 The invention according to claim 2 of the present invention is a position where the detection frame moves away from the center side of the captured image as the temperature increases, and approaches the center side of the captured image as the temperature decreases. It is characterized by setting to.

また、本発明の請求項３に記載の発明は、前記検知枠の大きさを前記温度が高くなるに従って大きく、同温度が低くなるに従って小さく設定することを特徴とする。 The invention according to claim 3 of the present invention is characterized in that the size of the detection frame is set larger as the temperature becomes higher and smaller as the temperature becomes lower.

本発明による車載カメラ装置によれば、レンズ周辺の温度が変化しても撮像範囲に進入する移動物体を正確に検知することができる。 According to the in-vehicle camera device of the present invention, it is possible to accurately detect a moving object that enters the imaging range even if the temperature around the lens changes.

本発明による車載カメラ装置の構成を示すブロック図である。It is a block diagram which shows the structure of the vehicle-mounted camera apparatus by this invention. 本発明による車載カメラ装置の検知枠の設定位置と大きさを説明する説明図である。It is explanatory drawing explaining the setting position and magnitude | size of the detection frame of the vehicle-mounted camera apparatus by this invention. 温度変化によるレンズの形状とイメージサークルの変化を示す説明図である。It is explanatory drawing which shows the change of the shape of a lens and an image circle by a temperature change.

以下、本発明の実施形態を、添付図面に基づいた実施例として詳細に説明する。なお、本発明は以下の実施形態に限定されることなく、本発明の主旨を逸脱しない範囲で種々変形することが可能である。   DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail as examples based on the accompanying drawings. Note that the present invention is not limited to the following embodiments, and various modifications can be made without departing from the spirit of the present invention.

図１は、本発明による車載カメラ装置の構成を示すブロック図である。図１において車載カメラ装置１は、車両周辺の被写体画像を結像させるレンズ部２と、レンズ部２によって結像された被写体画像を撮像する撮像素子３と、レンズ部２周辺の温度を検出する温度センサ４と、移動物体を検知するための検知枠の位置と大きさを温度に対応づけて予め記憶する記憶部５と、温度センサ４が検出した温度に対応した検知枠を記憶部５から抽出し、撮像素子３が撮像した被写体画像に検知枠を設定する検知枠設定部６と、検知枠が設定された撮像画像から検知枠内に進入する物体を移動物体として検知する検知判定部７で構成されている。 FIG. 1 is a block diagram showing a configuration of an in-vehicle camera device according to the present invention. In FIG. 1, the in-vehicle camera device 1 detects a lens unit 2 that forms a subject image around the vehicle, an image sensor 3 that captures a subject image formed by the lens unit 2, and a temperature around the lens unit 2. The temperature sensor 4, a storage unit 5 that stores in advance the position and size of a detection frame for detecting a moving object in association with the temperature, and a detection frame that corresponds to the temperature detected by the temperature sensor 4 are stored in the storage unit 5. A detection frame setting unit 6 that extracts and sets a detection frame on the subject image captured by the image sensor 3 and a detection determination unit 7 that detects an object that enters the detection frame from the captured image in which the detection frame is set as a moving object. It consists of

なお、温度センサ４は車載カメラ装置１の内部にレンズ部２と近接して設けられ、レンズ部２の温度を検出できるようにしてもよいし、車載カメラ装置１の外部に設けられ、車載カメラ装置１の周辺の温度を検出するようにしても良い。 The temperature sensor 4 may be provided inside the in-vehicle camera device 1 in the vicinity of the lens unit 2 so that the temperature of the lens unit 2 can be detected, or provided outside the in-vehicle camera device 1. The temperature around the device 1 may be detected.

また、記憶部６に記憶される検知枠の位置と大きさは、温度変化により撮像素子３が撮像した被写体の位置や大きさが変化しても、温度変化がない場合と同じ精度で検知枠内に進入する物体を検知するために、予め実験等で温度による被写体の位置と大きさの変化に対応した検知枠の位置と大きさを決定し、温度と関連付けてテーブル化されている。 In addition, the position and size of the detection frame stored in the storage unit 6 can be detected with the same accuracy as when there is no temperature change even if the position and size of the subject imaged by the image sensor 3 change due to temperature change. In order to detect an object entering the inside, the position and size of the detection frame corresponding to the change in the position and size of the subject due to the temperature are determined in advance through experiments or the like, and are tabulated in association with the temperature.

図２は、本発明による車載カメラ装置の検知枠の設定位置と大きさを説明する説明図である。図２−（１）〜（３）はレンズ部２が低温時（例えば−２０℃）、常温時（例えば２０℃）、高温時（例えば６０℃）にそれぞれ撮像素子３から出力される撮像画像１〜３を実線の枠で示しており、撮像画像１〜３の中に示す円形の図形はレンズ部２によって撮像素子３に結像した車両周辺の同一位置にある移動体を示している。 FIG. 2 is an explanatory diagram for explaining the setting position and size of the detection frame of the in-vehicle camera device according to the present invention. 2- (1) to (3) are captured images output from the image sensor 3 when the lens unit 2 is at a low temperature (for example, −20 ° C.), a normal temperature (for example, 20 ° C.), and a high temperature (for example, 60 ° C.). 1 to 3 are indicated by solid line frames, and a circular figure shown in the captured images 1 to 3 indicates a moving body at the same position around the vehicle imaged on the image sensor 3 by the lens unit 2.

撮像素子３は、レンズ部２が結像させた被写体画像を撮像し出力するため、図２−（１）の低温時は図２−（２）の常温時よりもレンズ部２が収縮し、イメージサークルの大きさが小さくなるため、その結果として出力される撮像画像１内の移動体は、常温時よりも撮像画像の中心側に近づいた位置でかつ小さく撮像される。また、図２−（３）の高温時は図２−（２）の常温時よりもレンズ部２が膨張し、イメージサークルの大きさが大きくなるため、その結果として出力される撮像画像３内の移動体は、常温時よりも撮像画像の中心側から遠ざかる位置でかつ大きく撮像される。 Since the imaging device 3 captures and outputs the subject image formed by the lens unit 2, the lens unit 2 contracts at a low temperature in FIG. 2- (1) than at a normal temperature in FIG. 2- (2). Since the size of the image circle is reduced, the moving object in the captured image 1 output as a result is captured at a position closer to the center side of the captured image than at normal temperature. Further, since the lens unit 2 expands and the size of the image circle becomes larger at a high temperature in FIG. 2- (3) than at a normal temperature in FIG. 2- (2), the captured image 3 is output as a result. The moving body is picked up at a position farther from the center side of the picked-up image than at normal temperature.

なお、図２−（１）と図２−（３）には、図２−（２）の常温時と同じ位置と大きさの
点線の長方形で示す検知枠Ａが設定された状態を表しており、レンズ部２の温度変化により撮像素子３から出力される撮像画像１〜３の移動体の位置や大きさが変化すると、図２−（２）の常温時には検知枠Ａ内に移動体の侵入が検知される場合であっても、図２−（１）の低温時や図２−（３）の高温時では検知枠Ａ内に移動体の侵入が検知されない場合がある状態を表している。 FIGS. 2- (1) and 2- (3) show a state in which a detection frame A indicated by a dotted rectangle with the same position and size as in FIG. 2- (2) at the normal temperature is set. When the position and size of the moving body of the captured images 1 to 3 output from the image sensor 3 change due to the temperature change of the lens unit 2, the moving body is placed in the detection frame A at room temperature in FIG. Even if an intrusion is detected, it represents a state where the intrusion of the moving object may not be detected in the detection frame A at the low temperature in FIG. 2- (1) or at the high temperature in FIG. 2- (3). Yes.

このため検知枠設定部６は、低温時には図２−（４）に示すように、温度センサ４が検出した温度（例えば−２０℃）に対応する位置と大きさの検知枠（ここでは図２−（５）の常温時よりも撮像画像の中心に近づいた位置であり、同常温時の検知枠よりも小さい大きさ）を記憶部５から抽出し、撮像画像１に検知枠Ｂを設定する。また、高温時には図２−（６）に示すように、温度センサ４が検出した温度（例えば６０℃）に対応する位置と大きさの検知枠（ここでは図２−（５）の常温時よりも撮像画像の中心から遠ざかった位置であり、同常温時の検知枠よりも大きい大きさ）を記憶部５から抽出し、撮像画像３に検知枠Ｃを設定する。 For this reason, the detection frame setting unit 6 has a detection frame (here, FIG. 2) corresponding to the temperature (for example, −20 ° C.) detected by the temperature sensor 4, as shown in FIG. -(5) The position closer to the center of the captured image than at the normal temperature and smaller than the detection frame at the normal temperature) is extracted from the storage unit 5, and the detection frame B is set in the captured image 1. . Also, as shown in FIG. 2- (6) at a high temperature, a detection frame having a position and size corresponding to the temperature detected by the temperature sensor 4 (for example, 60 ° C.) (here, from the normal temperature in FIG. 2- (5)). Is a position far from the center of the captured image and is larger than the detection frame at the same room temperature) from the storage unit 5, and the detection frame C is set in the captured image 3.

そして、検知判定部７は検知枠設定部６によって図２−（４）〜（６）に示す検知枠が設定されると、検知枠（Ａ、Ｂ、Ｃ）を撮像画像の検査範囲として同検知枠内の撮像画像の動きを解析することにより同検知枠内に進入する移動物体を検知する。 When the detection frames shown in FIGS. 2 (4) to (6) are set by the detection frame setting unit 6, the detection determination unit 7 uses the detection frames (A, B, C) as the inspection range of the captured image. A moving object entering the detection frame is detected by analyzing the motion of the captured image in the detection frame.

このように、温度に対応した検知枠の位置と大きさを検知枠設定部６が設定することにより、検知判定部７はレンズ部２周辺の温度が変化してレンズ部２が収縮または膨張したとしても検知枠内に進入する移動物体を正確に検知することができる。 As described above, the detection frame setting unit 6 sets the position and size of the detection frame corresponding to the temperature, so that the detection determination unit 7 changes the temperature around the lens unit 2 and the lens unit 2 contracts or expands. However, it is possible to accurately detect a moving object entering the detection frame.

１ 車載カメラ装置
２ レンズ部
２１ 被写体側の面
２２ 撮像素子側の面
３ 撮像素子
４ 温度センサ
５ 記憶部
６ 検知枠設定部
７ 検知判定部











































DESCRIPTION OF SYMBOLS 1 Car-mounted camera apparatus 2 Lens part 21 Subject side surface 22 Image sensor side surface 3 Image sensor 4 Temperature sensor 5 Storage part 6 Detection frame setting part 7 Detection determination part











































Claims (3)

車両に取り付けられ、車両周辺の被写体画像を撮像して移動物体を検知する車載カメラ装置であって、前記車両周辺の被写体画像を結像させるレンズ部と、前記レンズ部が結像させた前記被写体画像を撮像し撮像画像として出力する撮像素子と、温度を検出する温度センサと、移動物体を検知するための検知枠の位置と大きさを温度と対応づけて記憶する記憶部と、前記温度センサが検出した温度に対応する前記検知枠を抽出し前記撮像画像に設定する検知枠設定部と、前記撮像画像に設定された検知枠内に進入する物体を移動物体として検知する検知判定部とを備えることを特徴とする車載カメラ装置。 An in-vehicle camera device that is attached to a vehicle and detects a moving object by capturing a subject image around the vehicle, the lens unit forming an image of the subject around the vehicle, and the subject imaged by the lens unit An image sensor that captures an image and outputs it as a captured image, a temperature sensor that detects a temperature, a storage unit that stores the position and size of a detection frame for detecting a moving object in association with the temperature, and the temperature sensor A detection frame setting unit that extracts the detection frame corresponding to the detected temperature and sets it in the captured image, and a detection determination unit that detects an object that enters the detection frame set in the captured image as a moving object. An in-vehicle camera device comprising: 前記検知枠は、前記温度が高くなるに従って前記撮像画像の中心側から遠ざかる位置に、同温度が低くなるに従って前記撮像画像の中心側に近づく位置に設定されることを特徴とする請求項１に記載の車載カメラ装置。 The detection frame is set to a position that moves away from the center side of the captured image as the temperature increases, and a position that approaches the center side of the captured image as the temperature decreases. The on-vehicle camera device described. 前記検知枠の大きさは、前記温度が高くなるに従って大きく、同温度が低くなるに従って小さく設定されることを特徴とする請求項１に記載の車載カメラ装置。

































The in-vehicle camera device according to claim 1, wherein the size of the detection frame is set to be larger as the temperature is higher and smaller as the temperature is lower.

































JP2015008908A 2015-01-20 2015-01-20 On-vehicle camera device Pending JP2016132384A (en)

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