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WO2024161516A1 - Procédé d'imagerie pour véhicule et système d'imagerie pour véhicule - Google Patents

Procédé d'imagerie pour véhicule et système d'imagerie pour véhicule Download PDF

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Publication number
WO2024161516A1
WO2024161516A1 PCT/JP2023/003093 JP2023003093W WO2024161516A1 WO 2024161516 A1 WO2024161516 A1 WO 2024161516A1 JP 2023003093 W JP2023003093 W JP 2023003093W WO 2024161516 A1 WO2024161516 A1 WO 2024161516A1
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WIPO (PCT)
Prior art keywords
vehicle
infrared
projector
control device
determined
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PCT/JP2023/003093
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English (en)
Japanese (ja)
Inventor
武史 渡邉
康啓 鈴木
真都 松本
Original Assignee
日産自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 日産自動車株式会社 filed Critical 日産自動車株式会社
Priority to PCT/JP2023/003093 priority Critical patent/WO2024161516A1/fr
Publication of WO2024161516A1 publication Critical patent/WO2024161516A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means

Definitions

  • the present invention relates to an imaging method and an imaging system for vehicles.
  • a vehicle surroundings monitoring device uses a near-infrared projector to irradiate the area around the vehicle with near-infrared light, collects the near-infrared light including the reflected light with a near-infrared camera, outputs an image of the area around the vehicle on a display panel, and, if the vehicle speed is below a predetermined value, turns off the near-infrared projector and changes the maximum allowable brightness of the image (Patent Document 1).
  • the user must operate the night view switch in order to project near-infrared rays from the near-infrared projector, and there is a problem in that the near-infrared rays cannot be projected automatically according to the environment around the vehicle.
  • the problem that this invention aims to solve is to provide a vehicle imaging method and vehicle imaging system that can automatically project infrared light according to the environment around the vehicle.
  • the present invention solves the above problem by executing infrared projection from the infrared projector when it is determined that the projection conditions for the infrared projector to project infrared rays are met based on vehicle travel speed information, travel mode information related to the vehicle's travel mode, and brightness information related to the brightness around the vehicle, and by not executing infrared projection from the infrared projector when it is determined that the projection conditions are not met.
  • the present invention allows infrared light to be projected automatically according to the vehicle's surrounding environment.
  • FIG. 1 is a block diagram showing an example of an embodiment of an imaging system according to the present invention.
  • FIG. 2 is a perspective view showing an example of a side mirror equipped with the camera and the infrared projector shown in FIG. 1 .
  • FIG. 2B is a front view of the side mirror of FIG. 2A.
  • 2C is a perspective view of the side mirror of FIG. 2B as viewed in the direction of arrow X.
  • FIG. FIG. 2C is a plan view showing an example of the projection range of an infrared projector in the arrangement of FIG. 2B.
  • FIG. 2 is a plan view showing an example of the arrangement of cameras in FIG. 1 .
  • 2 is a flowchart showing an example of a processing procedure in the imaging system of FIG. 1 .
  • 10 is a flowchart showing another example of the processing procedure in the imaging system of FIG. 1 .
  • FIG. 1 is a block diagram showing an example of an embodiment of an imaging system 10 according to the present invention.
  • the imaging system 10 is an in-vehicle system, and can be used, for example, when parking a vehicle by autonomous driving control or manual driving by a driver.
  • the imaging system 10 of this embodiment is used for parking control that stores the parking position when the vehicle was parked in the past and parks the vehicle at the stored parking position by autonomous driving control.
  • an image of the surroundings of the parking position is acquired using a camera equipped with a lens having a wide angle of view (e.g., 150° to 180°), such as a fisheye lens, and the parking position is stored in association with the image data.
  • a travel route to the parking position is set, and each device of the vehicle is controlled to travel along the travel route.
  • Autonomous driving control refers to autonomously controlling the driving operations of a vehicle using a control device, which will be described later, and includes all driving operations such as accelerating, decelerating, starting, stopping, steering to the right or left, changing lanes, and pulling over. Additionally, autonomously controlling driving operations means that the control device controls the driving operations using the vehicle's devices. The control device controls these driving operations within a predetermined range, and driving operations that are not controlled by the control device are manually operated by the driver.
  • the imaging system 10 of this embodiment is configured to be able to properly recognize objects and execute parking control even in an environment where it is dark around the vehicle and objects around the vehicle are difficult to recognize.
  • the imaging system 10 includes an on-board sensor 11, a camera 12, an infrared floodlight 13, and a control device 20.
  • Each device that constitutes the imaging system 10 is connected by a CAN (Controller Area Network) or other on-board LAN, and can send and receive information to and from each other.
  • CAN Controller Area Network
  • the on-board sensors 11 are various sensors that detect the vehicle's driving conditions, and include a speed sensor, an acceleration sensor, a yaw rate sensor (e.g., a gyro sensor), a steering angle sensor, an inertial measurement unit, a temperature sensor, and the like. There are no particular limitations on these sensors, and any known sensor can be used. The arrangement and number of each sensor can be set appropriately within a range that allows the vehicle's driving conditions to be appropriately detected. The detection results of each sensor are obtained by the control device 20 at specified time intervals as necessary.
  • the camera 12 is a camera that captures an image capture range that includes at least a part of the range where infrared light is projected.
  • the range where infrared light is projected is the range where infrared light is projected by the infrared projector 13 described later, and corresponds to the projection range of the infrared projector 13.
  • the image capture range is the range where the camera 12 can capture an object, and the size of the range (i.e., the angle of view) depends on the lens of the camera 12, etc.
  • the object is an object that is captured by the camera 12, and is, for example, an object that can be used to recognize the parking position of the vehicle.
  • examples of the object include boundary lines, center lines, road markings, guard rails, curbs, road side walls, road signs, traffic lights, and crosswalks.
  • the object also includes obstacles such as the vehicle itself, other vehicles other than the vehicle itself, motorcycles, bicycles, and pedestrians.
  • the object also includes buildings around the vehicle and road installations (for example, mailboxes, vending machines, etc.). The camera 12 is positioned so that it can capture these objects.
  • a known quantum or uncooled infrared camera can be used.
  • a camera capable of capturing both visible light and infrared light by adjusting the filter may be used.
  • a camera capable of capturing visible light and near-infrared light of a predetermined wavelength is used.
  • the predetermined wavelength is a wavelength that includes the peak wavelength of the spectrum of the near-infrared light output from the infrared projector 13, for example, 930 to 950 nm.
  • near-infrared light is defined as electromagnetic waves having a wavelength in the range of 700 to 2500 nm.
  • the infrared floodlight 13 is a floodlight that projects infrared rays around the vehicle, and is equipped with, for example, a light source that emits infrared rays and an output port from which the infrared rays are output.
  • a light source that emits infrared rays and an output port from which the infrared rays are output.
  • Examples of light sources include an LED light source and a laser light source, and the wavelength of the output infrared rays is, for example, 700 to 1000 nm.
  • the projection range into which the infrared floodlight 13 projects infrared rays depends on the type of light source and the shape and direction of the output port.
  • the infrared floodlight 13 is positioned, for example, on the right and left sides of the vehicle so that it can project infrared rays within a predetermined range of the ground on which the vehicle is in contact (for example, within at least a range of 4 m from the vehicle).
  • FIG. 2A is a diagram showing an example of the arrangement of the camera 12 and infrared projector 13 shown in FIG. 1.
  • FIG. 2A is a perspective view of the vehicle 30 as seen from the left front, and in the vehicle 30 shown in FIG. 2A, a side mirror 32 is attached to the left front door 31.
  • a side mirror is a rear-view mirror installed outside the passenger compartment of the vehicle 30, and may be attached to the fender of the vehicle 30 instead of the front door 31.
  • the camera 12 and infrared projector 13 are housed in the side mirror 32.
  • FIG. 2B is a front view of the side mirror 32 shown in FIG. 2A.
  • the side mirror 32 includes housings 32a and 32b.
  • Housing 32a is a housing that supports a mirror surface to ensure rear visibility for the driver while driving, and is attached to housing 32b.
  • Housing 32b supports housing 32a and is attached to the front door 31 via an arm (not shown).
  • the housings 32a and 32b are made of, for example, synthetic resin and can be shaped as appropriate within the range that allows the driver to properly recognize the traffic conditions behind the vehicle 30.
  • the housings 32a and 32b are configured to be rotatable about any rotation axis manually or by a motor so that the driver can ensure a clear view of the rear according to his/her line of sight.
  • FIG. 2B the camera 12 and the infrared projector 13 are housed in the housing 32b.
  • FIG. 2C is a perspective view of the side mirror 32 shown in FIG. 2B as viewed from the direction of the arrow X, and among the components shown in FIG. 2B, components other than the camera 12, the infrared projector 13, and the housing 32b are omitted from the illustration.
  • the infrared projector 13 housed in the housing 32b is directed toward the ground on which the vehicle 30 stands, and projects infrared rays toward the ground.
  • FIG. 2D is a plan view of the vehicle 30 shown in FIG. 2A.
  • the infrared projectors 13 arranged as shown in FIGS. 2B-2C project infrared rays
  • the infrared rays are projected, for example, into the projection range 33 shown in FIG. 2D.
  • the projection range 33 shown in FIG. 2D is an area on the left side of the vehicle that includes an area of the ground on which the vehicle is in contact with the ground within a radius of 4 m or less from the side mirror 32 (or an area at a distance of 4 m or less from the vehicle 30).
  • FIG. 3 is a plan view showing an example of the arrangement of the cameras 12 shown in FIG. 1.
  • the vehicle 30 shown in FIG. 3 is equipped with a camera 12a that captures an image in an imaging range 34 in front of the vehicle 30, a camera 12b that captures an image in an imaging range 35 on the right side of the vehicle 30, a camera 12c that captures an image in an imaging range 36 behind the vehicle 30, and a camera 12d that captures an image in an imaging range 37 on the left side of the vehicle 30.
  • the cameras 12b and 12d may be housed in the side mirrors.
  • the size and shape of the imaging ranges 34 to 37 shown in FIG. 3 are not particularly limited, so long as they are within a certain distance from the vehicle 30 (for example, within a range of 4 to 8 m from the vehicle 30).
  • control device 20 is a device that controls each device that makes up the imaging system 10 to cooperate with each other and detect objects around the vehicle 30.
  • the control device 20 is, for example, a computer, and includes a CPU (Central Processing Unit) which is a processor, a ROM (Read Only Memory) in which programs are stored, and a RAM (Random Access Memory) which functions as an accessible storage device.
  • the CPU is an operating circuit that executes the programs stored in the ROM and realizes the detection function of the control device 20.
  • the detection function of the control device 20 is a function of detecting objects present around the vehicle 30 using the camera 12 and infrared spotlight 13.
  • the ROM of the control device 20 stores a program for implementing the detection function, and the detection function is implemented by the CPU executing the program stored in the ROM.
  • Figure 1 shows, for the sake of convenience, an extracted functional block that implements the detection function.
  • the determination unit 21 has a function of determining whether or not the projection conditions for the infrared floodlight 13 to project infrared rays are met.
  • the control device 20 uses the function of the determination unit 21, determines whether or not the projection conditions are met based on driving speed information related to the driving speed of the vehicle 30, driving mode information related to the driving mode of the vehicle 30, and brightness information related to the brightness around the vehicle 30. Specifically, the control device 20 sets appropriate projection conditions corresponding to the driving speed of the vehicle 30, the driving mode of the vehicle 30, and the brightness around the vehicle 30 acquired using the camera 12, and determines whether or not the set projection conditions are met.
  • the driving mode is set to the high-speed driving mode, and if it is detected that the shift position of the vehicle 30 is in parking (P), the driving mode is set to the parking mode.
  • the average brightness value may be calculated using only a portion of the image acquired by the camera 12.
  • the average brightness value is calculated using only a portion that is offset from the outer edge of the image by a predetermined distance.
  • the predetermined distance can be set to an appropriate value within a range in which it is possible to appropriately determine whether the light projection conditions are met.
  • the average brightness value is calculated using only a portion that corresponds to the range 34a shown by the dashed line, which is offset from the outer edge of the image by a predetermined distance.
  • the brightness around the vehicle 30 may be acquired using an illuminance sensor of the auto light (light that turns on automatically depending on the surrounding brightness) of the vehicle 30.
  • the control unit 22 has a function of executing infrared light projection by the infrared projector 13 when it is determined that the projection conditions are met.
  • the control device 20 determines that the projection conditions are met, it executes infrared light projection by the infrared projector 13, whereas when it determines that the projection conditions are not met, it does not execute infrared light projection by the infrared projector 13.
  • by appropriately setting the projection conditions it is possible to turn off the infrared projector 13 in driving scenes where infrared light projection is not necessary, while reliably operating the infrared projector 13 in driving scenes where infrared light projection is necessary.
  • specific examples of projection conditions are shown, and the functions of the determination unit 21 and the control unit 22 in determining whether the projection conditions are met are explained.
  • the traveling speed of the vehicle 30 is not equal to or higher than a predetermined speed. (That is, the traveling speed of the vehicle 30 is less than the predetermined speed.)
  • the driving mode of the vehicle 30 is not a lane keeping mode.
  • the average luminance value of the image captured by the camera 12 is less than a predetermined luminance value.
  • the condition (2) may be replaced with "the driving mode of the vehicle 30 is a manual driving mode” or "the driving mode of the vehicle 30 is not an autonomous control mode.”
  • the condition (3) may be replaced with "the illuminance detected by the illuminance sensor is less than a value at which the camera 12 can detect a difference in edge luminance values.”
  • the control device 20 uses the function of the determination unit 21 to determine whether the traveling speed of the vehicle 30 is equal to or greater than a predetermined speed from the traveling speed information. Specifically, the control device 20 obtains the traveling speed of the vehicle 30 from the vehicle speed sensor (on-board sensor 11) and determines whether the obtained traveling speed is equal to or greater than a predetermined speed.
  • the predetermined speed can be set to an appropriate value within the range of speeds at which the vehicle 30 is estimated to be parked, for example, 15 to 45 km/h.
  • the control device 20 uses the function of the determination unit 21, determines from the driving mode information whether the driving mode of the vehicle 30 is a lane keeping mode in which the vehicle 30 drives by lane keeping control. Specifically, it determines whether lane keeping control is being executed by the function of the driving unit 23. Lane keeping control refers to controlling the driving speed and steering operation of the vehicle 30 by autonomous driving control, and driving the vehicle 30 along the lane.
  • preceding vehicle following control in which, when a preceding vehicle is detected, the vehicle follows the preceding vehicle while performing vehicle distance control to maintain a vehicle distance according to the driving speed, with the driving speed set by the driver as the upper limit
  • constant speed driving control in which, when a preceding vehicle is not detected, the vehicle drives with the driving speed set by the driver as the upper limit.
  • the vehicle 30 does not park while driving by lane keeping control.
  • the control device 20 acquires image data from the camera 12 using the function of the judgment unit 21, and calculates the average luminance value of the image acquired by the camera 12 from the luminance information of the image. Then, it is determined whether the calculated average luminance value is equal to or greater than a predetermined luminance value.
  • the predetermined luminance value can be set to an appropriate value within a range in which an object can be detected from the image data, for example, 40 to 60. In other words, if the average luminance value of the image is equal to or greater than the predetermined luminance value, the object can be detected without projecting infrared rays.
  • the control device 20 determines, through the function of the control unit 22, that all of the conditions (1) to (3) are satisfied, it causes the infrared projector 13 to project infrared rays.
  • the control device 20 determines that (1) the traveling speed of the vehicle 30 is less than a predetermined speed, (2) the traveling mode of the vehicle 30 is not a lane keeping mode, and (3) the average brightness value of the image is less than a predetermined brightness value, it causes the infrared projector 13 to project infrared rays.
  • the infrared projector 13 does not project infrared rays. That is, if the control device 20 determines that the traveling speed of the vehicle 30 is equal to or greater than a predetermined speed, the control device 20 does not project infrared rays from the infrared projector 13. Alternatively or in addition, if the control device 20 determines that the traveling mode of the vehicle 30 is the lane keeping mode, the control device 20 does not project infrared rays from the infrared projector 13.
  • control device 20 determines that the average luminance value of the image acquired by the camera 12 is equal to or greater than a predetermined luminance value, the control device 20 does not project infrared rays from the infrared projector 13.
  • not projecting infrared rays by the infrared projector 13 includes preventing infrared rays from being projected by the infrared projector 13 when the infrared projector 13 is not projecting infrared rays, and stopping infrared rays from being projected by the infrared projector 13 when the infrared projector 13 is projecting infrared rays.
  • a determination as to whether or not the projection conditions e.g., conditions (1) to (3)
  • the projection conditions e.g., conditions (1) to (3)
  • the infrared projection by the infrared projector 13 continues, and if it is determined that the projection conditions are not met (e.g., at least one of conditions (1) to (3) is not met), the projection of infrared rays by the infrared projector 13 is stopped.
  • condition (4) may be set as a light projection condition.
  • the driving mode of the vehicle 30 is not a constant speed driving mode. Note that condition (4) may be replaced with "the driving mode of the vehicle 30 is a manual driving mode" or "the driving mode of the vehicle 30 is not an autonomous control mode.”
  • the control device 20 determines from the driving mode information whether the driving mode of the vehicle 30 is a constant speed driving mode in which the vehicle 30 drives under constant speed driving control. Specifically, it determines whether constant speed driving control is being executed using the function of the driving unit 23.
  • constant speed driving control refers to controlling the driving speed and steering operation of the vehicle 30 using autonomous driving control, and driving the vehicle 30 with the driving speed set by the driver as the upper speed limit, and the vehicle 30 is not parked while driving under constant speed driving control.
  • the control device 20 determines whether or not the vehicle 30 will park, and if it determines that the vehicle 30 will park, the control device 20 may execute parking control of the vehicle 30 using an image acquired by the camera 12. Whether or not the vehicle 30 will park is determined based on, for example, the current position and driving state of the vehicle. As an example, if the current location of the vehicle 30 is a parking lot, it is determined that the vehicle 30 will be parked, and if the current location of the vehicle 30 is not a parking lot, it is determined that the vehicle 30 will not be parked.
  • the following condition (5) may be set as a light projection condition.
  • the driving mode of the vehicle 30 is not a stop mode.
  • the control device 20 uses the function of the determination unit 21, obtains the traveling speed of the vehicle 30 from the vehicle speed sensor (on-board sensor 11) and determines whether the traveling speed of the vehicle 30 is between 0 and 5 km/h. In addition, the control device 20 determines whether the traveling speed is between 0 and 5 km/h and continues for a predetermined time or more (e.g., 5 to 20 seconds). If it is determined that the traveling speed is between 0 and 5 km/h and continues for a predetermined time or more (e.g., 5 to 20 seconds), the control device 20 sets the traveling mode of the vehicle 30 to the stop mode.
  • a predetermined time or more e.g., 5 to 20 seconds
  • the traveling speed is not between 0 and 5 km/h or if it is determined that the traveling speed is not between 0 and 5 km/h and does not continue for a predetermined time or more, it recognizes that the traveling mode of the vehicle 30 is not the stop mode.
  • control device 20 determines that at least one of the set conditions is not met, it will not cause the infrared projector 13 to emit infrared rays. For example, if it determines that the driving mode of the vehicle 30 is a stopped mode, it will not cause the infrared projector 13 to emit infrared rays. In contrast, if it determines that conditions (1) to (3) and (5) are met, if it determines that conditions (1) to (5) are met, or if it determines that conditions (1) and (3) to (5) are met, it will cause the infrared projector 13 to emit infrared rays.
  • condition (6) may be set as a light projection condition.
  • the temperature of the infrared projector 13 is lower than a predetermined temperature. (That is, the temperature of the infrared projector 13 is not equal to or higher than a predetermined temperature.)
  • the control device 20 uses the function of the determination unit 21, obtains the temperature from the thermistor (on-board sensor 11) of the infrared projector 13 and determines whether the temperature of the infrared projector 13 is equal to or higher than a predetermined temperature.
  • the temperatures obtained by the control device 20 include the temperature of the light source, the temperature of the drive circuit board, the temperature of the heat sink, and the temperature of the housing.
  • the predetermined temperature can be set to an appropriate value within the range in which the infrared projector 13 can appropriately output infrared rays, for example, 40 to 60°C.
  • control device 20 determines that at least one of the set conditions is not met, it will not execute infrared ray projection by the infrared projector 13. For example, if it determines that the temperature of the infrared projector 13 is equal to or higher than a predetermined temperature, it will not execute infrared ray projection by the infrared projector 13. In contrast, if it determines that conditions (1) to (3) and (6), conditions (1) to (4) and (6), conditions (1) to (3), (5) and (6), conditions (1) to (6), conditions (1), (3), (4) and (6), or conditions (1) and (3) to (6) are met, it will execute infrared ray projection by the infrared projector 13.
  • the control unit 22 may use its function to set the current value flowing through the infrared projector 13 in accordance with the acquired brightness information.
  • the current value flowing through the infrared projector 13 is made larger than when the surroundings of the vehicle 30 are bright. That is, the brightness of the surroundings of the vehicle 30 is detected from the image acquired by the camera 12, and when the detected brightness is dark, the current value flowing through the infrared projector 13 is made larger so that more light is output from the infrared projector 13 than when the detected brightness is bright.
  • the average brightness value of the image is divided into a number of categories (e.g., 3 to 5), and the brightness corresponds to the category to which the average brightness value belongs.
  • the calculated average brightness value belongs to the "dark" category, the brightness of the surroundings of the vehicle 30 is detected as dark.
  • the control unit 22 may obtain the temperature of the infrared projector 13, and when the temperature of the infrared projector 13 is low, the current value flowing through the infrared projector 13 may be made larger than when the temperature is high. In other words, when the temperature of the infrared projector 13 drops, the current value flowing through the infrared projector 13 is increased to raise the temperature of the infrared projector 13. This is to prevent the wavelength of the infrared light output from the infrared projector 13 from shifting to the shorter wavelength side due to a drop in the temperature of the infrared projector 13.
  • the camera 12 Since the range of infrared frequencies that the camera 12 can capture is preset, if the wavelength of the infrared light output from the infrared projector 13 shifts to the shorter wavelength side, the camera 12 may not be able to capture the infrared light properly.
  • the control device 20 After the control device 20 executes infrared projection by the infrared spotlight 13, it acquires an image of the surroundings of the vehicle 30 from the camera 12 through the function of the driving unit 23. For example, it projects infrared rays from the infrared spotlight 13 provided on the side mirror 32 into the projection range 33 shown in FIG. 2D, and captures an image of an object in the imaging range 37 using the camera 12d shown in FIG. 3. It then detects the object from the acquired image, and executes autonomous driving control by the driving unit 23 using the position of the detected object, etc. For example, the control device 20 drives the vehicle 30 to a specified destination (for example, a stored parking position) through autonomous driving control.
  • a specified destination for example, a stored parking position
  • FIG. 4 is an example of a flowchart showing information processing executed in the imaging system 10 of this embodiment. The processing described below is executed at predetermined time intervals by the CPU (processor) of the control device 20.
  • step S1 the determination unit 21 uses the camera 12 to obtain brightness information related to the brightness around the vehicle 30.
  • step S2 driving speed information is obtained from the on-board sensor 11.
  • step S3 driving mode information is obtained from the driving unit 23.
  • step S4 it is determined whether the light-projection conditions are met. If it is determined that the light-projection conditions are met, the process proceeds to step S5, where infrared light is projected by the infrared projector 13. On the other hand, if it is determined that the light-projection conditions are not met, the process proceeds to step S6, where infrared light is not projected by the infrared projector 13. Thereafter, execution of the routine ends.
  • FIG. 5 is another example of a flowchart showing information processing executed in the imaging system 10 of this embodiment.
  • the processing described below is executed at predetermined time intervals by the CPU (processor) of the control device 20.
  • step S11 it is determined whether the driving mode of the vehicle 30 is the lane keeping mode or the constant speed driving mode. If it is determined that the driving mode of the vehicle 30 is the lane keeping mode or the constant speed driving mode, the process proceeds to step S18. On the other hand, if it is determined that the driving mode of the vehicle 30 is neither the lane keeping mode nor the constant speed driving mode, the process proceeds to step S12.
  • step S12 the traveling speed of the vehicle 30 is obtained from the vehicle speed sensor, and it is determined whether or not the traveling speed of the vehicle 30 is equal to or greater than a predetermined speed. If it is determined that the traveling speed of the vehicle 30 is equal to or greater than the predetermined speed, the process proceeds to step S18. On the other hand, if it is determined that the traveling speed of the vehicle 30 is not equal to or greater than the predetermined speed, the process proceeds to step S13.
  • step S13 it is determined whether the driving mode of the vehicle 30 is the stop mode. If the driving speed of the vehicle 30 remains at 0 km/h for a predetermined period of time or more, it is determined that the driving mode of the vehicle 30 is the stop mode, and the process proceeds to step S18. On the other hand, if it is determined that the driving mode of the vehicle 30 is not the stop mode, the process proceeds to step S14.
  • step S14 an image is acquired from the camera 12, and the average brightness value of the image is calculated.
  • step S15 it is determined whether the calculated average brightness value is equal to or greater than a predetermined brightness value. If it is determined that the average brightness value is equal to or greater than the predetermined brightness value, the process proceeds to step S18. On the other hand, if it is determined that the average brightness value is not equal to or greater than the predetermined brightness value, the process proceeds to step S16.
  • step S16 the temperature of the infrared projector 13 is obtained from the thermistor of the infrared projector 13, and it is determined whether the temperature of the infrared projector 13 is equal to or higher than a predetermined temperature. If it is determined that the temperature of the infrared projector 13 is not equal to or higher than the predetermined temperature, the process proceeds to step S17, where the infrared projector 13 executes or continues to emit infrared rays. On the other hand, if it is determined that the temperature of the infrared projector 13 is equal to or higher than the predetermined temperature, the process proceeds to step S18, where the infrared projector 13 does not emit infrared rays. Thereafter, execution of the routine ends.
  • the control device 20 acquires brightness information related to the brightness around the vehicle 30 using the camera 12, and determines whether or not the infrared projector 13 satisfies a projection condition for projecting the infrared rays based on the traveling speed information of the vehicle 30, traveling mode information related to the traveling mode of the vehicle 30, and the brightness information, and if it is determined that the projection condition is satisfied, the infrared projector 13 executes projection of the infrared rays, and if it is determined that the projection condition is not satisfied, the infrared projector 13 does not execute projection of the infrared rays.
  • the vehicle 30 is traveling at a relatively low speed in a dark environment, it is possible to suppress a situation in which the infrared projector 13 cannot be used and objects around the vehicle 30 cannot be detected.
  • the control device 20 determines from the driving mode information whether the driving mode is a lane keeping mode in which the vehicle 30 drives using lane keeping control, and if it determines that the driving mode is the lane keeping mode, does not execute the projection of infrared rays by the infrared projector 13. This makes it possible to prevent the infrared projector 13 from being activated in driving scenes in which the vehicle 30 is not parked.
  • control device 20 determines that the driving mode is not the lane keeping mode, it determines whether the vehicle 30 will park, and when it determines that the vehicle 30 will park, it executes parking control of the vehicle 30 using the image acquired by the camera 12. This makes it possible to assist the driver in parking.
  • the control device 20 determines from the driving mode information whether the driving mode is a constant speed driving mode in which the vehicle 30 drives under constant speed driving control, and if it determines that the driving mode is the constant speed driving mode, does not execute the infrared light projection by the infrared projector 13. This makes it possible to prevent the infrared projector 13 from being activated in driving scenes in which the vehicle 30 is not parked.
  • control device 20 determines that the driving mode is not the constant speed driving mode, it determines whether the vehicle 30 will be parked, and when it determines that the vehicle 30 will be parked, it executes parking control of the vehicle 30 using the image acquired by the camera 12. This makes it possible to assist the driver in parking.
  • the control device 20 determines from the driving mode information whether the driving mode is a stop mode in which the vehicle 30 is stopped, and if it determines that the driving mode is the stop mode, it does not execute the infrared projection by the infrared projector 13. This makes it possible to prevent a situation in which the infrared projector 13 is activated when the vehicle 30 is not moving.
  • the control device 20 acquires the light and dark information by calculating an average brightness value of the image acquired by the camera 12, determines whether the average brightness value is equal to or greater than a predetermined brightness value, and does not execute the projection of infrared rays by the infrared projector 13 if it is determined that the average brightness value is equal to or greater than the predetermined brightness value. This makes it possible to prevent a situation in which the infrared projector 13 is operated when an object can be detected without projecting infrared rays.
  • control device 20 executes the projection of the infrared rays by the infrared projector 13, it sets the current value flowing through the infrared projector 13 according to the brightness information, and when the surroundings of the vehicle 30 are dark, it sets the current value to be larger than when the surroundings of the vehicle 30 are bright. This allows infrared rays to be projected appropriately according to the brightness of the surroundings.
  • the control device 20 determines whether the traveling speed of the vehicle 30 is equal to or greater than a predetermined speed from the traveling speed information, and if it determines that the traveling speed is equal to or greater than the predetermined speed, does not execute the infrared projection by the infrared projector 13. This makes it possible to prevent a situation in which the infrared projector 13 cannot be used and objects around the vehicle 30 cannot be detected when traveling at a relatively slow speed in dark surroundings.
  • the control device 20 acquires the temperature of the infrared projector 13, determines whether the temperature is equal to or higher than a predetermined temperature, and if it determines that the temperature is equal to or higher than the predetermined temperature, does not execute projection of the infrared rays by the infrared projector 13. This makes it possible to prevent the light source of the infrared projector 13 from becoming too hot.
  • the control device 20 acquires the temperature of the infrared projector 13, and when the temperature is low, increases the current value flowing through the infrared projector 13 compared to when the temperature is high. This makes it possible to prevent a situation in which the wavelength of the infrared rays output from the infrared projector 13 is shifted to the short wavelength side, and the camera 12 is unable to properly capture the infrared rays.
  • control device 20 detects objects from images acquired by the camera 12 while the vehicle 30 is traveling. This allows the objects around the vehicle 30 to be properly recognized.
  • a vehicle imaging system 1 which includes an infrared projector 13 that projects infrared rays around the vehicle 30, a camera 12 that captures an imaging range including the range where the infrared rays are projected, a determination unit 21 that acquires brightness information about the brightness around the vehicle 30 using the camera 12, and determines whether the infrared projector 13 satisfies a projection condition for projecting the infrared rays based on the traveling speed information of the vehicle 30, traveling mode information about the traveling mode of the vehicle 30, and the brightness information, and a control unit 22 that executes the projection of the infrared rays by the infrared projector 13 when it is determined that the projection condition is satisfied, and does not execute the projection of the infrared rays by the infrared projector 13 when it is determined that the projection condition is not satisfied.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention propose un procédé d'imagerie pour un véhicule et un système d'imagerie (1) pour un véhicule qui utilisent un projecteur infrarouge (13) qui projette un rayonnement infrarouge autour d'un véhicule (30) et une caméra (12) qui met en image une plage d'imagerie comprenant une plage dans laquelle le rayonnement infrarouge est projeté, la projection du rayonnement infrarouge par le projecteur infrarouge (12) étant exécutée lorsqu'il est déterminé qu'une condition de projection pour le projecteur infrarouge (12) en vue de projeter le rayonnement infrarouge est satisfaite sur la base d'informations de vitesse de déplacement relatives au véhicule (30), d'informations de mode de déplacement relatives au mode de déplacement du véhicule (30), et d'informations de lumière et d'obscurité concernant la luminance autour du véhicule (30), la projection du rayonnement infrarouge par le projecteur infrarouge (13) n'étant pas exécutée lorsqu'il est déterminé que la condition de projection de lumière n'est pas satisfaite.
PCT/JP2023/003093 2023-01-31 2023-01-31 Procédé d'imagerie pour véhicule et système d'imagerie pour véhicule WO2024161516A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/003093 WO2024161516A1 (fr) 2023-01-31 2023-01-31 Procédé d'imagerie pour véhicule et système d'imagerie pour véhicule

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/003093 WO2024161516A1 (fr) 2023-01-31 2023-01-31 Procédé d'imagerie pour véhicule et système d'imagerie pour véhicule

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WO2024161516A1 true WO2024161516A1 (fr) 2024-08-08

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004106648A (ja) * 2002-09-17 2004-04-08 Mitsubishi Electric Corp 車両用補助装置の制御装置
JP2007015660A (ja) * 2005-07-11 2007-01-25 Toyota Motor Corp 赤外画像撮像装置
WO2020121677A1 (fr) * 2018-12-14 2020-06-18 パナソニックＩｐマネジメント株式会社 Système de caméra
JP2020120316A (ja) * 2019-01-25 2020-08-06 トヨタ自動車株式会社 車両周辺モニタ装置
US20200267820A1 (en) * 2019-02-14 2020-08-20 Orlaco Products B.V. Replacement mirror system with ir led overheating management
JP2020131943A (ja) * 2019-02-20 2020-08-31 住友電気工業株式会社 駐車制御システム、車載装置、駐車制御方法、及びコンピュータプログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004106648A (ja) * 2002-09-17 2004-04-08 Mitsubishi Electric Corp 車両用補助装置の制御装置
JP2007015660A (ja) * 2005-07-11 2007-01-25 Toyota Motor Corp 赤外画像撮像装置
WO2020121677A1 (fr) * 2018-12-14 2020-06-18 パナソニックＩｐマネジメント株式会社 Système de caméra
JP2020120316A (ja) * 2019-01-25 2020-08-06 トヨタ自動車株式会社 車両周辺モニタ装置
US20200267820A1 (en) * 2019-02-14 2020-08-20 Orlaco Products B.V. Replacement mirror system with ir led overheating management
JP2020131943A (ja) * 2019-02-20 2020-08-31 住友電気工業株式会社 駐車制御システム、車載装置、駐車制御方法、及びコンピュータプログラム

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