Image processing device
View Patent ↗An imaging unit images a target object and generating an image including the target object. An element acquisition unit acquires a numerical value representing an intensity of an element of an environment around the vehicle. First and second image processors perform arithmetic processing on the image using first and second neural network models, respectively. A process selection unit selects one of the first and second image processors, which performs arithmetic processing on the image, based on a numerical value representing the intensity of the element as acquired.
1 . An image processing device for a vehicle, comprising:
an imaging unit configured to image a target object and generate an image including the target object;
at least one element acquisition unit configured to acquire a numerical value representing an intensity of at least one element of an environment around the vehicle;
a first image processor configured to perform arithmetic processing on the image using a first neural network model;
a second image processor configured to perform arithmetic processing on the image using a second neural network model; and
a process selection unit configured to select one of the first image processor and the second image processor, which performs the arithmetic processing on the image, wherein
in a first range of the intensity of the at least one element, an accuracy of the first image processor is higher than an accuracy of the second image processor,
in a second range of the intensity of the at least one element, which is lower than the first range in the intensity, the accuracy of the second image processor is higher than the accuracy of the first image processor, and
the process selection unit is configured to select one of the first image processor and the second image processor, which performs the arithmetic processing, based on the numerical value representing the intensity of the at least one element acquired by the at least one element acquisition unit.
2 . The image processing device of claim 1 , wherein
in a first range of the intensity of an other element, which is other than the at least one element, the accuracy of the second image processor is higher than the accuracy of the first image processor, and
in a second range of the intensity of the other element, which is lower than the first range in the intensity, the accuracy of the first image processor is higher than the accuracy of the second image processor.
3 . The image processing device of claim 1 , wherein
the at least one element is brightness,
in the first range of the brightness, an accuracy of the arithmetic processing of the first image processor is higher than an accuracy of the arithmetic processing of the second image processor, and
in the second range of the brightness, the accuracy of the arithmetic processing of the second image processor is higher than the accuracy of the arithmetic processing of the first image processor.
4 . The image processing device of claim 1 , further comprising:
a vehicle controller configured to control the vehicle based on data acquired by the arithmetic processing, wherein
the vehicle controller has
a first mode to perform control of the vehicle based on the one of the first image processor and the second image processor selected by the process selection unit, and
a second mode to perform control of the vehicle based on data of the arithmetic processing output by the first image processor, regardless of the one of the first image processor and the second image processor selected by the process selection unit, and
the vehicle controller is configured to perform the control of the vehicle in the second mode in a period, in which the process selection unit does not perform selection of one of the first image processor and the second image processor.
5 . The image processing device of claim 4 , wherein
in a period, in which the vehicle controller performs the control of the vehicle in the second mode, the first image processor is configured to perform the arithmetic processing, and the second image processor is configured to perform the arithmetic processing, and
the vehicle controller is configured to perform, in the first mode, the control of the vehicle based on data of the arithmetic processing output by the one of the first image processor and the second image processor selected by the process selection unit.
6 . The image processing device of claim 1 , wherein
the element acquisition unit is configured to acquire the numerical value representing the intensity of the element of the environment around the vehicle based on the image generated by the imaging unit.
7 . The image processing device of claim 1 , wherein
the at least one element acquisition unit includes an element acquisition unit,
the element acquisition unit includes
a net information unit configured to acquire a first numerical value as a numerical value representing an intensity of rain through a network, and
a detection unit configured to acquire a second numerical value as a numerical value representing the intensity of the rain by directly detecting rain around the vehicle,
the element acquisition unit is configured to output the first numerical value and the second numerical value, and
the process selection unit is configured to select one of the first image processor and the second image processor by using a larger one of the first numerical value and the second numerical value as a numerical value representing the intensity of the rain acquired by the element acquisition unit.
8 . The image processing device of claim 1 , wherein
the at least one element is brightness, and
in a first range of the brightness, the brightness is higher than a numerical value representing the intensity of brightness inside a tunnel.
9 . An image processing device for a vehicle, comprising:
a first image processor configured to perform arithmetic processing on an image using a first neural network model;
a second image processor configured to perform arithmetic processing on the image using a second neural network model; and
at least one of (i) a circuit and (ii) a processor having a memory storing computer program code, wherein the at least one of the circuit and the processor having the memory is configured to cause the image processing device to:
generate an image including a target object;
acquire a numerical value representing an intensity of at least one element of an environment around the vehicle;
select one of the first image processor and the second image processor, which performs the arithmetic processing, based on the numerical value representing the intensity of the at least one element, wherein
in a first range of the intensity of the at least one element, an accuracy of the first image processor is higher than an accuracy of the second image processor, and
in a second range of the intensity of the at least one element, which is lower than the first range in the intensity, the accuracy of the second image processor is higher than the accuracy of the first image processor.