JP3730487B2 - Vehicle control device using camera - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle control device using a camera that controls a vehicle based on an image from a camera mounted on the vehicle.
[0002]
[Prior art]
Conventionally, when a vehicle is inspected or diagnosed, a tool dedicated to inspection or diagnosis is used. Therefore, in the vehicle production line, the tool is connected to the vehicle to perform inspection or diagnosis. Or the diagnostic tool was removed from the vehicle.
[0003]
In addition, when changing the control content (program) of the vehicle control device mounted on the vehicle according to the environment (export destination, etc.) in which the vehicle is used, storage means for storing the control content before the change, There has been a need to manually change the setting of the installed storage means or the operation of replacing the storage means storing the program.
[0004]
[Problems to be solved by the invention]
However, in the inspection and diagnosis of the vehicle, the operation of attaching / detaching the dedicated tool to / from the vehicle is complicated and requires a certain amount of time, which has been a cause of hindering improvement in work efficiency.
[0005]
In addition, when changing the control content of the vehicle control device, as described above, replacement work and resetting work of the storage means are necessary. This work is also complicated, takes time, and improves work efficiency. It was an impediment.
[0006]
An object of the present invention is to control a vehicle using a camera that can easily execute a change from a normal mode to a diagnostic mode, an adjustment mode, a change mode of control contents, etc. of various control devices connected to a multiplex communication network. Is to realize the device.
[0007]
[Means for Solving the Problems]
Recently, there are vehicles in which an imaging device is mounted, and there are those in which vehicle traveling control and other controls are performed based on image information obtained by the imaging device. As an example of this, there is Japanese Patent Application Laid-Open No. 11-112968, which determines whether the driver is a registrant or determines that no occupant has appeared in the passenger seat by using a vehicle inside / outside environment monitoring device. Thus, the operation processing control of the airbag is performed.
[0008]
Even in the technique described in this publication, when inspecting or diagnosing a vehicle, a tool dedicated to inspection or diagnosis must be used, and this tool needs to be attached and detached.
[0009]
Also, according to the technique described in this publication, when changing the control content of the vehicle control device, the work of exchanging the storage means for storing the control content before the change and the storage means for storing the program after the change is performed. Or it was necessary to reset manually.
[0010]
The present invention has been made paying attention to the camera (imaging device) mounted on the vehicle, and by using this camera, the switching between the normal mode and the vehicle inspection / diagnosis / control content change mode is determined. The above-described tool attaching / detaching work and storage means replacement are simplified to improve work efficiency.
[0011]
  In order to achieve the above object, the present invention is configured as follows.
  (1)A plurality of vehicle operation control means for controlling electrical components mounted on the vehicle; and a camera that recognizes an image captured by the imaging means and issues an operation command to the vehicle operation control means based on the recognized image.In a vehicle control device using a camera,The above camera determines whether the recognized image is a special mode pattern, and this special mode pattern is an operation test pattern for vehicle electrical components. Switch from the vehicle travel control mode to the vehicle electrical component operation test mode, and command the vehicle operation control means to execute the electrical component operation test indicated by the recognized operation test pattern..
[0012]
  (2)A plurality of vehicle operation control means for controlling electrical components mounted on the vehicle; and a camera that recognizes an image captured by the imaging means and issues an operation command to the vehicle operation control means based on the recognized image.In a vehicle control device using a camera,The camera determines whether or not the recognized image is a special mode pattern, and this special mode pattern is a program change pattern of the vehicle operation control means. , Switch from the vehicle travel control mode to the program change mode of the vehicle operation control means, and command the vehicle operation control means to change the program indicated by the recognized program change pattern.
[0013]
  (3)A plurality of vehicle operation control means for controlling electrical components mounted on the vehicle; and a camera that recognizes an image captured by the imaging means and issues an operation command to the vehicle operation control means based on the recognized image.In a vehicle control device using a camera,The camera determines whether the recognized image is a special mode pattern, and whether the special mode pattern is a function adjustment pattern for vehicle electrical components. The control mode is switched from the vehicle travel control mode to the vehicle electrical component function adjustment mode, and the vehicle operation control means is commanded to adjust the function of the electrical component indicated by the recognized function adjustment pattern..
[0014]
  (4) Preferably, in the above (1), (2), (3),The special mode pattern is a barcode.
  (5) Preferably, in the above (1), (2), and (3), the special mode pattern is a pictogram.
[0015]
  (6) In a vehicle control system using a camera, a plurality of electrical components mounted on the vehicle, a plurality of vehicle operation control units for controlling the electrical components, and an image captured by the imaging unit are recognized and recognized. Is a special mode pattern, and it is determined whether this special mode pattern is an operation test pattern for vehicle electrical components. If the special mode pattern is an operation test pattern, the vehicle operation control mode is changed from the vehicle travel control mode to the vehicle electrical A camera having a communication unit for switching to an operation test mode of the product and instructing the vehicle operation control means to execute an operation test of the electrical component indicated by the recognized operation test pattern. It is connected to a multiple communication network.
  (7) In a vehicle control system using a camera, a plurality of electrical components mounted on the vehicle, a plurality of vehicle operation control units for controlling the electrical components, and an image captured by the imaging unit are recognized and recognized images Is a special mode pattern, and it is determined whether or not the special mode pattern is a program change pattern of the vehicle operation control means. If the special mode pattern is the program change pattern, the vehicle operation control mode is changed from the vehicle travel control mode to the vehicle. A camera having a communication unit that switches to the program change mode of the operation control means and instructs the vehicle operation control means to change the program indicated by the recognized program change pattern, and the plurality of vehicle operation control means and the camera are in multiplex communication. Connected to the network.
  (8) In a vehicle control system using a camera, a plurality of electrical components mounted on the vehicle, a plurality of vehicle operation control units that control the electrical components, and an image captured by the imaging unit are recognized and recognized. Is a special mode pattern, and it is determined whether or not this special mode pattern is a function adjustment pattern for vehicle electrical components. If the special mode pattern is a function adjustment pattern for vehicle electrical components, the vehicle operation control mode is set to vehicle travel control. A camera having a communication unit that switches from the mode to the function adjustment mode of the vehicle electrical component and commands the vehicle operation control unit to adjust the function of the electrical component indicated by the recognized function adjustment pattern, and the plurality of vehicle operation control units, The camera is connected to a multiplex communication network.
  (9) Preferably, in the above (6) to (8), the special mode pattern is a bar code or a pictogram.
[0016]
When a general user (vehicle purchaser) uses a vehicle, the camera functions as a system that recognizes a white line and warns or prevents a lane departure. Switch the control mode from the system mode (normal mode) that warns or prevents lane departure by recognizing the white line, and shift to the diagnostic mode to shorten the inspection time, change the function, and shorten the adjustment time of the vehicle. The processing procedure is also executed with the contents shown in the inspection pattern image.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a schematic configuration diagram of an entire vehicle system to which a vehicle control apparatus using a camera according to an embodiment of the present invention is applied.
[0018]
In FIG. 1, an ECU 1 is an electric load control device disposed in front of a vehicle. In one embodiment of the present invention, the ECU 1 controls turning on / off of a headlight, switching between an upward beam and a downward beam, and the like.
[0019]
The ECU 2 is an electric load control device disposed in the vicinity of the windshield in the engine room, and performs control of the wiper, operation control of the hot wire of the window, and the like.
[0020]
The imaging device (camera) 3 is installed in the vicinity of the windshield in the passenger compartment and performs image processing in front of the vehicle. The ECU 4 is mainly for controlling the air conditioner and taking in the states of various operation switches installed near the driver's seat.
[0021]
The ECUs 5 and 6 are electric load driving devices installed on the passenger side door and the driver side door, respectively, and control the operation of the power window and the door lock actuator.
[0022]
The ECU 7 is an electric load driving device installed in the trunk room and controls the operation of stop lamps, turn lamps and the like.
[0023]
Each ECU1-7 is mutually connected by the multiplex communication line 8, and what is called in-vehicle LAN is constructed | assembled, The operation control and state of each electrical component can be judged now freely.
[0024]
FIG. 2 is an internal configuration diagram of the ECU 1.
In one embodiment of the present invention, the ECU 1 is provided as a device that controls a motor that performs on / off control of the headlight and adjusts the optical axis of the headlight. The power supply line 40 wired from the battery is a power supply element that operates the power supply circuit 10 that generates internal power by the power supply line 11 and the motor 23 that adjusts the headlamp 22 and the light optical axis. And FET19.
[0025]
Internal power generated by the power supply circuit 10 is supplied to the communication IC 13 and the microcomputer 12 through the power supply line 14. The communication IC 13 is for performing transmission / reception of information to / from another ECU (control device) through the multiplex communication line 8, and the microcomputer 12 controls all of the IC 13 through the data bus 15. .
[0026]
The FET 16 is a switching element that supplies power to the headlamp 22 so as to light the headlamp 22 via the connection line 18. The microcomputer 12 controls the ON / OFF of the headlamp 22 via the signal line 17. It is possible.
[0027]
Similarly, in the operation of the motor 23 for moving the light optical axis, the microcomputer 19 drives the FET 19 via the signal line 20, and the optical axis of the headlamp 22 is operated by the forward / reverse rotation signal of the signal line 21.
[0028]
FIG. 3 is an internal configuration diagram of the ECU 2.
The difference between the ECU 2 and the ECU 1 is that the electric loads connected to the FET 31 and the FET 35 are different.
[0029]
In FIG. 3, the FET 31 operates the wiper motor 33 via the connection line 32. Similarly, the FET 35 operates the heating wire 37 via the connection line 36. The heating wire 37 is for melting snow and ice attached to the windshield of the vehicle.
[0030]
FIG. 4 is an internal configuration diagram of the ECU 4.
The configuration of the ECU 4 shown in FIG. 4 is also almost the same as that of the ECU 1 shown in FIG. 2. The difference is that the ECU 4 performs A / D conversion on the signal from the switch group 56 by the input circuit 55, The line group 54 is input to the microcomputer 12.
[0031]
In the embodiment of the present invention, the switch group 56 is assigned from the left to an outside air temperature sensor, a wiper switch, a headlight switch, and a headlight upward switch.
[0032]
Further, the FET 51 receives a command from the microcomputer 12 through the signal line 50 and operates other motors 53 through the connection line 52.
[0033]
Although not shown in the figure, the ECU 4 controls the air conditioner, and the temperature adjustment, air volume adjustment, and wind direction adjustment can be freely performed by the operator. I will omit it because it is not directly related to the invention.
[0034]
The ECUs 5, 6, and 7 have the same internal structure and basic structure as the ECUs 1, 2, and 4 shown in FIGS. 2, 3, and 4, and only the target electric load is different. Will be omitted.
[0035]
FIG. 5 is an internal configuration diagram of the camera 3.
The internal configuration of the camera 3 includes a portion similar to the internal configuration of the ECU 1 shown in FIG. 2, but the description of the portion is omitted.
[0036]
In FIG. 5, the microcomputer 12 controls the image processing IC 65 via the control signal line group 60. Further, the microcomputer 12 organizes the results and information calculated by the image processing IC 65 and transmits / receives them to / from another ECU (control device) via the multiplex communication line 8 using the communication IC 13.
[0037]
In the embodiment of the present invention, hereinafter, the operation of the embodiment of the present invention will be described on the assumption that the camera 3 is used for recognition of the traveling lane of the vehicle. Accordingly, the processing contents relating to the traveling lane (white line recognition), the control device for executing the control, the data flow, etc. are not directly related to the present invention, so the explanation is omitted, but the white line recognition is not performed. The camera 3 in one embodiment of the present invention is also used for a system that warns or prevents lane departure.
[0038]
The image processing IC 65 is connected to the image sensor 63 by a signal line 62, and the image sensor 63 is an element that converts light entering from the lens 64 into an image. In general, as the image pickup element 63, a CCD element widely used in video cameras or the like is usually used.
[0039]
FIG. 6 is a diagram for explaining the operation of a vehicle equipped with a vehicle control apparatus according to an embodiment of the present invention in a vehicle production factory or service factory.
In FIG. 6, the above-described camera 3 is attached to a vehicle 60 and is normally used as a system that recognizes a white line and warns or prevents a lane departure.
[0040]
The display 61 is installed for the purpose of copying a special image (a pictosign or a barcode) recognized by the camera 3. For example, as shown in (A) to (D) of FIG. It is an image. What these images mean is stored in advance in a storage unit arranged inside the camera 3.
[0041]
Note that the image used here is merely one embodiment of the present invention, and an arbitrary image is used as necessary.
[0042]
A feature of the present invention is that when a general user (purchaser of a vehicle) uses a vehicle, the camera 3 functions as a system for recognizing or preventing a lane departure by recognizing the white line described above. The special image displayed on the screen 61 switches the control mode from the system mode (normal mode) that recognizes the normal white line and warns or prevents lane departure, thereby reducing vehicle inspection time, function change, and adjustment time. Shifting to the diagnostic mode, and processing procedures after shifting to the diagnostic mode are also executed with the image displayed on the display 61.
[0043]
Note that the transition from the normal mode to the diagnostic mode does not need to be executed only by the display 61, and for example, a command used in the keyless entry system or a switch attached to the vehicle may be used.
[0044]
That is, when the switch or the like (control switching means) is switched from the normal operation mode to the vehicle inspection mode, the camera 3 recognizes the picto sign of each diagnostic mode, and the electrical components mounted on the vehicle according to the recognized diagnostic mode. It is also possible to configure to perform the operation test.
[0045]
Hereinafter, the transition from the normal mode to the diagnostic mode and the operation after the transition to the diagnostic mode will be described with reference to flowcharts.
[0046]
FIG. 8 is an operation flowchart of the image recognition process 100 executed inside the camera 3.
In step 101 of FIG. 8, the camera 3 performs a detection process on an image (pictograph) projected from the display 61. Then, in step 102, it is determined whether or not the image detected by the camera 3 is a special mode request for shifting to the diagnostic mode.
[0047]
If it is not a request for the diagnostic mode in step 102, the process proceeds to step 104, and the normal control mode (in one embodiment of the present invention, a mode of a system that recognizes a white line and warns or prevents lane departure) is executed. To do. Normally, this control mode is selected.
[0048]
On the other hand, if it is determined in step 102 that the request is for the transition to the special mode, the process proceeds to step 200 where the diagnosis mode is selected and the normal control mode is not executed.
[0049]
FIG. 9 assumes a case in which a switch or the like is used to change from the normal control mode to the diagnostic mode instead of the picto sign for shifting to the special mode recognized in step 101 of FIG. It is an operation | movement flowchart.
[0050]
In step 111 in FIG. 9, it is directly determined whether or not the mode is changed. If not, the normal control mode in step 112 is executed, and if not, the diagnosis mode in step 200 is executed.
[0051]
In addition, when changing from normal control mode to diagnostic mode using the switch etc. which were mentioned above, the change signal from a switch etc. is input into the microcomputer 12 of the camera 3, and this microcomputer 12 performs the judgment. Alternatively, it may be determined and controlled by another ECU.
[0052]
Next, the detailed operation of the diagnosis mode in step 200 shown in FIGS. 8 and 9 will be described.
[0053]
FIG. 10 is an internal flowchart of the diagnosis mode 200.
In step 201 in FIG. 10, it is checked whether or not there is a request for canceling the diagnostic mode. If there is a request for canceling the diagnostic mode, the process proceeds to step 205. In step 205, the diagnosis mode is canceled and preparation for shifting to the normal control mode is completed.
[0054]
If there is no release request in step 201, the process proceeds to step 202. Then, in this step 202, it is determined whether or not the pictosign is related to the operation test of the electrical equipment. In step 202, if the pictosign is not an operation test system, the process proceeds to step 203, where it is determined whether the pictosign is related to a program change such as a specification change of the destination (shipping destination).
[0055]
If the pictosign is not related to the program change in step 203, it is determined in step 204 whether the pictosign is related to the function adjustment of the electrical component. If the function is not related to function adjustment in step 204, the diagnosis mode is canceled in step 205, and the control returns to the normal control mode.
[0056]
That is, here, in the transition to the diagnosis mode, the operation test system, the program change system, and the function adjustment system are broadly divided, and from there, the control mode is further shifted.
[0057]
In step 200, the mode is shifted to the diagnostic mode. If the mode does not correspond to these three diagnostic modes, the diagnostic mode is canceled and the normal control mode is restored.
[0058]
Details of the operation test mode in step 300, the program change mode in step 400, and the adjustment mode in step 500 will be described below.
[0059]
FIG. 11 is a detailed operation flowchart of the operation test mode.
There are a wide variety of electrical components mounted on a vehicle, but the operation flowchart shown in FIG. 11 will be described by taking a power window operation test as an example.
[0060]
Since other electrical components can be handled by the same processing, the detailed description is omitted by referring to “next operation request confirmation” shown in step 304.
[0061]
Further, a broken line portion 309 in FIG. 11 shows a flow that returns from the above-described “next operation request confirmation” process.
[0062]
In step 301 in FIG. 11, a pictosign detection process is executed. The pictosign detected here is as shown in FIG. Here, when the pictogram shown in FIG. 7C is detected, it is recognized from the left image of FIG. 7C that it is a power window operation request in step 302 of FIG.
[0063]
Subsequently, the window UP request is read in step 305 in FIG. 11 from the direction of the arrow in the right image in FIG. In step 306, a command for raising the power window is set for the ECUs 5 and 6. This command is transmitted to the ECU 5 and the ECU 6 via the multiple communication line 8 by the microcomputer 12 of the camera 3.
[0064]
Receiving this command, the ECUs 5 and 6 are decoded by the microcomputer 12 of the ECUs 5 and 6 and control the drive elements to operate the connected power window motors. As a result, the power window is raised.
[0065]
If it is determined in step 305 that it is not a window UP request, it is determined in step 307 whether it is a power window down request. If it is a power window down request, a down command is set in step 308.
[0066]
If there is no pictogram that makes the power window image in step 301, it is determined in step 302 that there is no power window operation request, and the operation command related to the power window is cleared in step 303, and then the next operation is sequentially performed. Check the request image.
[0067]
In this way, the operation command is automatically prepared by showing the pictogram to operate the electrical components of the vehicle, so that the dedicated tool is connected to the vehicle for confirmation and the inspection operator presses the button each time As a result, it is possible to check the function without performing such operations as the above, and therefore it is possible to shorten the inspection work time.
[0068]
FIG. 12 is a detailed operation flowchart of the program change mode 400. In this program change mode 400 as well, as in the operation flowchart shown in FIG.
[0069]
Here, when the pictogram in FIG. 7A is detected, it is determined that this vehicle is a vehicle exported to North America. If it is determined that the vehicle is exported to North America, it is determined in step 402 that it is not a domestic specification, and in step 404 it is determined that the vehicle is a North American specification, and the process proceeds to step 405.
In step 405, a change process to the program set to the specification for North America is executed.
[0070]
Thereafter, in step 407, the process waits until the change process is completed, and ends the process after the change process is completed.
[0071]
If the pictosign detected in step 401 is a domestic specification, the process proceeds from step 402 to step 403. In step 403, the program change process is executed for the domestic specifications. After that, in step 407, the process waits until the change process is completed, and the process ends after the change process is completed.
[0072]
If it is determined in step 402 that it is not a domestic specification, and if it is determined in step 404 that it is not a North American specification, the “next change request confirmation” in step 406 is sequentially repeated to complete the process.
[0073]
In this way, by displaying information such as the destination of the vehicle on the line of the vehicle production factory, it is possible to automatically switch programs, so it is possible to flexibly respond to sudden changes in the destination and changes in control content. can do.
[0074]
Needless to say, the program switching means and the control content switching means are input to a storage device inside the ECU connected to the multiplex communication network 8 in advance.
[0075]
FIG. 13 is a detailed operation flowchart of the adjustment mode 500. The processing in this adjustment mode is similar to the operation flowchart in the program change mode shown in FIG. 12. In the example shown in FIG. 13, the optical axis adjustment of the camera and the optical axis adjustment of the headlight are taken as examples. It is described.
[0076]
Assume that the image shown in FIG. 7D is detected in step 501 of FIG.
[0077]
In this case, it is determined that the mode is for adjusting the optical axis of the camera, and the process proceeds from step 502 to step 503. In step 503, the center detection processing of the image detected and acquired in step 501 is executed. The details of this image center detection process are not directly related to the present invention, and are therefore omitted.
[0078]
Next, in step 504, a process of changing the video cutout area of the camera 3 is executed so that the center of the projected image matches the center of the video captured by the camera 3. By doing so, it is possible to adjust an error when attaching the camera 3 to the vehicle.
[0079]
If it is determined in step 502 that the mode is not the camera optical axis adjustment mode, the process proceeds to step 505. In step 505, it is checked whether the optical axis adjustment mode of the headlight is present. In the headlight optical axis adjustment mode, the light optical axis is adjusted in step 506.
[0080]
In step 508, the process waits until the adjustment is completed, and the process ends after the change process is completed.
[0081]
If it is determined in step 505 that the headlight is not in the optical axis adjustment mode, the adjustment process is completed in step 507 by processing “confirmation of next adjustment request”.
[0082]
In this way, since the picto sign indicating the adjustment process is displayed in front of the camera 3, the process can be automatically advanced, which is effective in reducing the work time.
[0083]
As described above, according to one embodiment of the present invention, the camera 3 mounted on the vehicle is inspected from the normal control mode such as the vehicle running control by indicating the picto sign indicating the predetermined inspection mode. The mode automatically shifts to the mode, and the inspection operation corresponding to the indicated pictosign is automatically executed.
[0084]
Therefore, a vehicle control device using a camera that can easily change various control devices connected to a multiplex communication network from a normal mode to a diagnostic mode, an adjustment mode, a control content change mode, and the like is realized. be able to.
[0085]
Note that the image to be recognized by the camera is not limited to an image that can be imaged by a human but may be an image such as a barcode as shown in FIG. It is also possible to recognize by changing the blinking period of the light and the size of the image.
[0086]
Further, for example, in the operation test mode shown in FIG. 10, when the microcomputer 12 determines that the operation test did not operate normally, an alarm such as turning on the blinker or sounding the horn is given. It can also be configured as follows.
[0087]
Further, when the microcomputer 12 determines that the operation is normal as a result of the operation test, the display (an announcement, the length of the horn, etc.) can be displayed.
[0088]
Further, the present invention can be used for vehicle inspection in a general household as well as inspection at the time of vehicle shipment and vehicle inspection at a service factory.
[0089]
Further, the picto sign indicating the inspection mode shown in FIG. 7 is stored in the storage means built in the camera 3, but is configured not to be stored in the camera 3 but in the storage means in another ECU. You can also.
[0090]
Further, the above-described switching from the normal mode to the inspection mode of the vehicle and the inspection operation are stored in the storage means in the control device as the processing program of the control means, but the contents of the stored processing program can be changed. Can be configured.
[0091]
As another embodiment of the present invention, there is a recording medium for storing the processing program.
[0092]
That is, when a predetermined vehicle operation inspection pattern that can be recognized by the camera 3 is stored in a storage unit built in any of a plurality of ECUs and the camera 3 recognizes the predetermined vehicle operation inspection pattern, The plurality of ECUs is a recording medium in which a control program is switched from a vehicle travel control mode to a vehicle operation inspection mode, and a processing program for causing the ECU to perform an inspection according to the inspection mode is a recording medium other than the present invention It can be considered as an embodiment.
[0093]
【The invention's effect】
According to the present invention, vehicle control using a camera that can easily change from a normal mode to a diagnostic mode, an adjustment mode, a change mode of control contents, etc. of various control devices connected to a multiplex communication network. An apparatus can be realized.
[0094]
That is, it is possible to improve the use function of the camera mounted on the vehicle as follows.
[0095]
(1) Since the operation command is automatically prepared by showing the picto sign to operate the electrical equipment of the vehicle, it can be confirmed by connecting the dedicated tool and checking without pressing the button etc. Since confirmation is possible, the inspection work time can be shortened.
[0096]
(2) By displaying information such as the destination of the vehicle on the line of the vehicle production factory, etc., it is possible to automatically switch the program of the control device in the vehicle. It is possible to respond flexibly to changes.
[0097]
(3) By showing the adjustment process in front of the camera, the process can be automatically advanced, so that the work time can be shortened.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of an entire vehicle system to which a vehicle control apparatus using a camera according to an embodiment of the present invention is applied.
FIG. 2 is an internal configuration diagram of an ECU 1 used in an embodiment of the present invention.
FIG. 3 is an internal configuration diagram of an ECU 2 used in an embodiment of the present invention.
FIG. 4 is an internal configuration diagram of an ECU 4 used in an embodiment of the present invention.
FIG. 5 is an internal configuration diagram of a camera 3 used in an embodiment of the present invention.
FIG. 6 is a diagram for explaining the operation of a vehicle equipped with a vehicle control apparatus according to an embodiment of the present invention in a vehicle production factory or a service factory.
FIG. 7 is a diagram illustrating an example of an image image captured by a camera used in an embodiment of the present invention.
FIG. 8 is an operation flowchart of image recognition processing executed inside the camera.
FIG. 9 is an operation flowchart assuming a case where a switch from a normal control mode to a diagnosis mode is performed using a switch or the like.
FIG. 10 is an internal flowchart of a diagnosis mode.
FIG. 11 is a detailed operation flowchart of an operation test mode.
FIG. 12 is a detailed operation flowchart of a program change mode.
13 is a detailed operation flowchart of the adjustment mode 500. FIG.
[Explanation of symbols]
1, 2, 4-7 ECU
3 Camera
8 Multiple communication lines
10 Power supply circuit
11, 14 Power line
12 Microcomputer
13 Communication IC
15 Data bus
16, 19 FET
17, 20, 21 Signal line
18 Connection line
22 Headlamp
23 Optical axis motor
31, 35 FET
33 Wiper motor
37 Heating wire
40 Power supply line
51 FET
53 Motor
54 signal lines
55 Input circuit
56 switches
61 display
63 Image sensor
64 lenses

Claims (10)

A camera having a plurality of vehicle motion control means for controlling electrical components mounted on a vehicle, and a camera for recognizing an image captured by the image capturing means and issuing an operation command to the vehicle motion control means based on the recognized image In the vehicle control device used,
The above camera determines whether the recognized image is a special mode pattern, and this special mode pattern is an operation test pattern for vehicle electrical components. A vehicle control apparatus using a camera, wherein the vehicle running control mode is switched from a vehicle travel control mode to a vehicle electrical component operation test mode, and the vehicle operation control means is instructed to execute an electrical component operation test indicated by the recognized operation test pattern . A camera having a plurality of vehicle motion control means for controlling electrical components mounted on a vehicle, and a camera for recognizing an image captured by the image capturing means and issuing an operation command to the vehicle motion control means based on the recognized image In the vehicle control device used,
The camera determines whether or not the recognized image is a special mode pattern, and this special mode pattern is a program change pattern of the vehicle operation control means. A vehicle control device using a camera , wherein the vehicle travel control mode is switched to a program change mode of the vehicle operation control means, and the vehicle operation control means is instructed to change the program indicated by the recognized program change pattern . A camera having a plurality of vehicle motion control means for controlling electrical components mounted on a vehicle, and a camera for recognizing an image captured by the image capturing means and issuing an operation command to the vehicle motion control means based on the recognized image In the vehicle control device used,
The camera determines whether the recognized image is a special mode pattern, and whether the special mode pattern is a function adjustment pattern for vehicle electrical components. A vehicle using a camera, characterized in that the control mode is switched from a vehicle travel control mode to a function adjustment mode for vehicle electrical components, and the vehicle operation control means is commanded to adjust the function of the electrical components indicated by the recognized function adjustment pattern Control device. The vehicle control apparatus using a camera according to any one of claims 1 to 3, wherein the special mode pattern is a barcode . The vehicle control apparatus using a camera according to any one of claims 1 to 3, wherein the special mode pattern is a pictogram. A plurality of electrical components mounted on the vehicle;
A plurality of vehicle operation control means for controlling the electrical components;
Recognizing the image captured by the imaging means, the recognized image is a special mode pattern, and it is determined whether this special mode pattern is an operation test pattern for vehicle electrical components. A camera having a communication unit that switches the vehicle operation control mode from the vehicle travel control mode to the operation test mode of the vehicle electrical component and commands the vehicle operation control means to execute the operation test of the electrical component indicated by the recognized operation test pattern;
A vehicle control system using a camera, wherein the plurality of vehicle operation control means and the camera are connected to a multiple communication network. A plurality of electrical components mounted on the vehicle;
A plurality of vehicle operation control means for controlling the electrical components;
Recognizing the image captured by the imaging means, the recognized image is a special mode pattern, It is determined whether or not the special mode pattern is a program change pattern of the vehicle operation control means. If the special mode pattern is the program change pattern, the vehicle operation control mode is changed from the vehicle travel control mode to the program change mode of the vehicle operation control means. A camera having a communication unit that commands the vehicle operation control means to change the program indicated by the recognized and changed program change pattern;
A vehicle control system using a camera, wherein the plurality of vehicle operation control means and the camera are connected to a multiple communication network. A plurality of electrical components mounted on the vehicle;
A plurality of vehicle operation control means for controlling the electrical components;
The image picked up by the image pickup means is recognized, and the recognized image is a special mode pattern, and it is determined whether or not this special mode pattern is a function adjustment pattern of a vehicle electrical component. In some cases, the vehicle operation control mode is switched from the vehicle travel control mode to the vehicle electrical component function adjustment mode, and a communication unit is provided for instructing the vehicle operation control means to adjust the function of the electrical component indicated by the recognized function adjustment pattern. A camera,
A vehicle control system using a camera, wherein the plurality of vehicle operation control means and the camera are connected to a multiple communication network. The vehicle control system using a camera according to any one of claims 6 to 8, wherein the special mode pattern is a barcode. The vehicle control system using a camera according to any one of claims 6 to 8, wherein the special mode pattern is a picto sign.

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