System, program, and apparatus for image processing

• US 7,903,843 B2
• Filed: 03/27/2007
• Issued: 03/08/2011
• Est. Priority Date: 03/31/2006
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Ueno, Takemi, Sawaki, Masaru, Aboh, Masatoshi, Watanabe, Yoshinori, Kawakami, Hidehiko
• Primary Examiner(s): AZARIAN, SEYED H
• Application Number:
  US11/727,602
• Publication Number:
  US 20070230745A1
• Time in Patent Office: 1,442 Days
• Field of Search: 382/103, 382/104, 382/106, 382/107, 382/154, 382/168, 382/178, 382/203, 382/209, 382/232, 382/256, 382/274, 382/276, 382286-302, 382/305, 340/932.2, 340/435, 348/113, 701/301
• US Class Current: 382/104
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

An image processing apparatus uses a bird'"'"'s eye image for supporting a backing operation of a vehicle for parking. The bird'"'"'s eye image is processed to display an area view that at least includes a parking lot captured in the image. Then, the area view is displayed in a display space in a display unit of the image processing apparatus for representing a parking area and related information. In this manner, the area view excludes unnecessary part from the bird'"'"'s eye image for effectively providing a visual support for the backing operation by a driver of the vehicle.

Claims

1. An image processing apparatus for use in a vehicle comprising:

an image capture unit for capturing an image of vehicle environment;

an image processing unit for generating a bird'"'"'s eye image based on the image captured by the image capture unit;

a driving condition detection unit for detecting a driving condition of the vehicle;

a positioning unit for positioning a parking area in the bird'"'"'s eye image generated by the image processing unit when the driving condition of the vehicle detected by the driving condition detection unit is a backing for parking;

a parking image generation unit for generating a parking image that includes an area view based at least on a portion of the parking area positioned by the positioning unit in the bird'"'"'s eye image and a portion of the vehicle;

a display unit for displaying the parking image on a display screen;

a parking operation detection unit for detecting one of an end and an ending of a parking operation based on the driving condition detected by the driving condition detection unit; and

a center position setting unit for setting a center position of the bird'"'"'s eye image based on a detection result of the parking operation detection unit,

wherein the center position setting unit sets the center position of the bird'"'"'s eye image to a center of the vehicle in the bird'"'"'s eye image when the parking operation detected by the parking operation detection unit is one of the end and the ending of the parking operation,

the center position setting unit sets the center position of the bird'"'"'s eye image to a predetermined distance in a rear of the vehicle in the bird'"'"'s eye image when the parking operation detected by the parking operation detection unit is not one of the end and the ending of the parking operation, and

the parking image generation unit generates the parking image having the parking area included therein based on the bird'"'"'s eye image that is centered at the center position set by the center position setting unit.

2. The image processing apparatus as in claim 1, wherein the parking image has a center position of the bird'"'"'s eye image set to a predetermined distance in a rear of the vehicle in the bird'"'"'s eye image, and

the parking image includes the parking area.

3. The image processing apparatus as in claim 1, wherein the parking image has a center position of the bird'"'"'s eye image set to a center of the vehicle in the bird'"'"'s eye image, and

the parking image includes the parking area.

4. The image processing apparatus as in claim 1, wherein the parking image has a center position of the bird'"'"'s eye image set to a position of the parking area in the bird'"'"'s eye image, and

the parking image includes the image of the vehicle.

5. The image processing apparatus as in claim 1, wherein the display screen has a display area for displaying the parking image, and

the parking image generated by the parking image generation unit takes a same shape as the display area to be fittingly displayed therein when the display area takes a rectangular shape with its longitudinal side longer than its lateral side in a driver'"'"'s view.

6. The image processing apparatus as in claim 1, wherein the parking image generation unit generates the parking image by defining the area view that at least includes door open clearance for the vehicle when the vehicle is in the parking area.

7. The image processing apparatus of claim 1, wherein the parking image generation unit generates the parking image having a rear of the vehicle excluded from the bird'"'"'s eye image when the bird'"'"'s eye image is centered at the center position.

8. An image processing system for use in a vehicle comprising:

an image capture controlling unit for capturing an image of vehicle environment;

an image processing controlling unit for generating a bird'"'"'s eye image based on the image captured by the image capture controlling unit;

a driving condition detection controlling unit for detecting a driving condition of the vehicle;

a positioning controlling unit for positioning a parking area in the bird'"'"'s eye image generated by the image processing controlling unit when the driving condition of the vehicle detected by the driving condition detection controlling unit is a backing for parking;

a parking image generation controlling unit for generating a parking image that includes an area view based on the parking area positioned in the bird'"'"'s eye image by the positioning controlling unit;

a display controlling unit for displaying the parking image on a display screen;

a parking operation detection unit for detecting one of an end and an ending of a parking operation based on the driving condition detected by the driving condition detection unit; and

a center position setting unit for setting a center position of the bird'"'"'s eye image based on a detection result of the parking operation detection unit,

wherein the center position setting unit sets the center position of the bird'"'"'s eye image to a center of the vehicle in the bird'"'"'s eye image when the parking operation detected by the parking operation detection unit is one of the end and the ending of the parking operation,

the center position setting unit sets the center position of the bird'"'"'s eye image to a predetermined distance in a rear of the vehicle in the bird'"'"'s eye image when the parking operation detected by the parking operation detection unit is not one of the end and the ending of the parking operation, and

the parking image generation unit generates the parking image having the parking area included therein based on the bird'"'"'s eye image that is centered at the center position set by the center position setting unit.

9. An image processing program for use in a vehicle, the program retrievably stored in a recoding medium for functionally operating a computer as an image processing apparatus, the program comprising steps of:

providing an image capture function for capturing an image of vehicle environment;

providing an image processing function for generating a bird'"'"'s eye image based on the image captured by the image capture unit;

providing a driving condition detection function for detecting a driving condition of the vehicle;

providing a positioning function for positioning a parking area in the bird'"'"'s eye image generated by the image processing function when the driving condition of the vehicle detected by the driving condition detection function is a backing for parking;

providing a parking image generation function for generating a parking image that includes an area view based on the parking area positioned in the bird'"'"'s eye image by the positioning function;

providing a display function for displaying the parking image on a display screen of the computer;

providing a parking operation detection function for detecting one of an end and an ending of a parking operation based on the driving condition detected by the driving condition detection function; and

providing a center position setting function for setting a center position of the bird'"'"'s eye image based on a detection result of the parking operation detection function,

wherein the center position setting function sets the center position of the bird'"'"'s eye image to a center of the vehicle in the bird'"'"'s eye image when the parking operation detected by the parking operation detection function is one of the end and the ending of the parking operation,

the center position setting function sets the center position of the bird'"'"'s eye image to a predetermined distance in a rear of the vehicle in the bird'"'"'s eye image when the parking operation detected by the parking operation detection function is not one of the end and the ending of the parking operation, and

the parking image generation unit generates the parking image having the parking area included therein based on the bird'"'"'s eye image that is centered at the center position set by the center position setting unit.

10. The image processing program of claim 9, wherein the parking image generation unit generates the parking image having a rear of the vehicle excluded from the bird'"'"'s eye image when the bird'"'"'s eye image is centered at the center position.