KR101809916B1 - Vehicle, controlling method thereof and gesture recognition apparatus therein - Google Patents

Abstract

The vehicle includes a storage unit for storing a hand-held vein pattern look-up table including a plurality of hand-held reference vein pattern images according to a rotation angle of a driver's hand; An image acquisition unit for acquiring a driver image including an image of the driver's hand; A vein pattern image of the driver's hand is extracted from the driver's image, and the driver's authentication is performed by comparing the hand-vein vein pattern image with the hand-vein vein pattern look-up table, And a control unit for determining an operation of the driver including at least one of a position of the hand, a direction indicated by the driver's hand, and a rotation angle of the driver's hand, It is possible to search the hand trunk reference vein pattern matched with the hand trunk vein pattern image and determine the rotational angle of the driver's hand based on the hand trunk reference vein pattern matched with the hand trunk vein pattern image.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle,

The present invention relates to a vehicle, a control method of the vehicle, and an operation recognition apparatus included in the vehicle, and more particularly, to a vehicle, a vehicle control method, and an operation recognition apparatus included in the vehicle, .

Generally, a vehicle refers to a transportation device that travels on a road or a line using fossil fuel, electricity, or the like as a power source.

In recent years, it has become common to include an audio device and a video device so that a driver can listen to music while driving and watch video images in addition to simply transporting materials and manpower. A navigation device (navigation device) ) Devices are also widely installed. Further, in recent years, an AVN (Audio / Video / Navigation) device in which an audio device, a video device, and a navigation device are integrated is installed in a vehicle.

When the driver wishes to operate the AVN device while driving, the driver's eyes must be dispersed as well as the driver's hand must be moved from the steering wheel to the AVN device, thereby increasing the risk of accidents.

Accordingly, one aspect of the disclosed invention is to provide a vehicle, a vehicle control method, and an operation recognition apparatus included in the vehicle, which sense a driver's operation and recognize a control command corresponding to the detected operation.

According to another aspect of the present invention, there is provided a method of detecting a vein pattern formed on a hand of a driver to more accurately recognize a motion recognition of a driver and detecting a motion of the driver based on the detected vein pattern, And to provide an included motion recognition device.

According to an aspect of the present invention, a vehicle includes a storage unit for storing a vein pattern look-up table including a plurality of reference vein pattern images according to a rotation angle of a driver's hand, A vein pattern image of the driver's hand is extracted from the driver image, the vein pattern image is compared with the vein pattern look-up table to authenticate the driver, and based on the vein pattern image, And a controller for determining an operation of the driver including at least one of a direction indicated by a hand and a rotation angle of the driver's hand.

And a display unit for displaying a plurality of reference motion images corresponding to the rotation angle of the driver's hand according to the embodiment.

The controller may acquire a reference driver image corresponding to one of the plurality of reference operation images while the reference operation image is displayed among the plurality of reference operation images according to the embodiment.

According to an embodiment, the control unit may binarize the reference driver image and extract a reference vein pattern image from the binarized reference driver image.

The controller may generate the look-up table based on the reference vein pattern image.

The controller may binarize the driver image, extract a vein pattern image from the binarized driver image, and determine the position of the driver's hand based on the position of the vein pattern image.

According to the embodiment, the controller rotates the vein pattern image based on the plurality of reference vein pattern images, and determines the direction indicated by the driver's hand based on the rotation angle of the vein pattern.

The controller may convert the size of the vein pattern image based on the plurality of reference vein pattern images and determine the height of the driver's hand based on the size conversion ratio of the vein pattern image.

According to an embodiment of the present invention, the controller searches a reference vein pattern matching the vein pattern image among the plurality of reference vein pattern images, and determines a rotation angle of the driver's hand based on a reference vein pattern matched with the vein pattern image can do.

According to an embodiment of the present invention, the controller may process a plurality of driver images continuously acquired by the image acquiring unit to determine a continuous driver operation, and determine a motion of the driver based on the continuous driver operation.

According to the embodiment, the controller can determine the control command of the driver based on the motion of the driver.

According to an embodiment of the present invention, when a plurality of vein pattern images are extracted from the driver image, the controller compares each of the plurality of vein pattern images with the vein pattern lookup table to identify a plurality of drivers, Each identified driver can be authenticated.

According to an aspect of the present invention, a method of controlling a vehicle includes storing a vein pattern lookup table including a plurality of reference vein pattern images according to a rotation angle of a driver's hand, acquiring a driver image including an image of the driver's hand, Wherein the control unit extracts the vein pattern image of the driver's hand from the driver image, authenticates the driver by comparing the vein pattern image with the vein pattern lookup table, and displays the position of the driver's hand, And determining the operation of the driver including at least one of a direction indicating the driver's hand and a rotation angle of the driver's hand.

Storing the vein pattern look-up table according to the embodiment may include displaying the reference operation image according to the rotation angle of the driver's hand, acquiring the reference driver image corresponding to the reference operation image, Extracting the reference vein pattern image, and generating the look-up table based on the reference vein pattern image.

According to an embodiment of the present invention, the operation of the driver based on the vein pattern image is performed by rotationally transforming the vein pattern image based on the plurality of reference vein pattern images, and based on the rotation angle of the vein pattern, And determining the direction to which the instruction is directed.

According to an embodiment of the present invention, the operation of the driver based on the vein pattern image is performed by converting the size of the vein pattern image based on the plurality of reference vein pattern images and based on the size conversion ratio of the vein pattern image And determining the height of the driver's hand.

According to an embodiment of the present invention, the operation of the driver based on the vein pattern image is performed by searching a reference vein pattern matching the vein pattern image among the plurality of reference vein pattern images, And determining the rotational angle of the driver's hand based on the pattern.

According to an embodiment of the present invention, the image acquiring unit processes a plurality of driver images continuously acquired to determine a continuous driver operation, determines a motion of the driver based on the continuous driver operation, And determining the control command of the driver.

According to an embodiment of the present invention, the driver is authenticated when a plurality of vein pattern images are extracted from the driver image, each of the plurality of vein pattern images is compared with the vein pattern lookup table to identify a plurality of drivers, And authenticating each of the identified drivers as a basis.

According to an aspect of the present invention, there is provided a motion recognition apparatus including a memory for storing a vein pattern look-up table including a plurality of reference vein pattern images according to a rotation angle of an operator's hand, a camera for acquiring a driver's image A graphic processor for extracting a vein pattern image of the driver's hand from the driver image and comparing the vein pattern image with the vein pattern lookup table based on the vein pattern image, And a main processor for determining an operation of the driver including at least one of a driving direction, a driving direction, and a rotation angle of the driver's hand.

According to an embodiment of the present invention, the graphics processor binarizes the driver image, extracts a vein pattern image from the binarized driver image, and the main processor determines the position of the driver's hand based on the position of the vein pattern image have.

According to an embodiment of the present invention, the graphic processor rotates the vein pattern image based on the plurality of reference vein pattern images, and the main processor determines a direction indicated by the driver's hand based on the rotation angle of the vein pattern .

According to an embodiment, the graphic processor converts the size of the vein pattern image based on the plurality of reference vein pattern images, and the main processor determines the height of the driver's hand based on the size conversion ratio of the vein pattern image can do.

According to an embodiment of the present invention, the graphic processor searches for a reference vein pattern matching the vein pattern image among the plurality of reference vein pattern images, and the main processor searches for a reference vein pattern matching the vein pattern image, Can be determined.

According to an aspect of the disclosed subject matter, there is provided a vehicle, a vehicle control method, and an operation recognition device included in a vehicle that recognize a driver's operation and recognize a control command corresponding to the detected operation.

According to another aspect of the disclosed subject matter, there is provided a method of detecting a vein pattern formed on a hand of a driver to more accurately recognize a motion recognition of a driver and detecting a motion of the driver based on the detected vein pattern, It is possible to provide a motion recognition apparatus included in the apparatus.

1 shows an appearance of a vehicle according to an embodiment.
Figure 2 shows the interior of the vehicle according to one embodiment.
FIG. 3 shows a configuration of a motion recognition apparatus according to an embodiment.
4 illustrates a light emitting unit and an image obtaining unit included in the motion recognition apparatus according to an exemplary embodiment of the present invention.
5 illustrates electrical connections between various electronic devices included in a vehicle according to one embodiment.
6 shows a configuration of an AVN apparatus included in a vehicle according to an embodiment.
Fig. 7 shows a vein pattern registration operation of a vehicle according to an embodiment.
8 shows an example of a reference motion image for registering a driver's vein pattern according to an embodiment of the present invention.
FIG. 9 shows an example in which a vehicle according to an embodiment acquires a driver image.
FIG. 10 shows an example of a driver image acquired by a vehicle according to an embodiment.
11 shows another example of a reference operation image for registering a driver's vein pattern according to an embodiment of the present invention.
12 shows another example in which a vehicle according to an embodiment acquires a driver image.
13 shows another example of a driver image acquired by a vehicle according to an embodiment.
FIG. 14 shows a lookup table generated by a vehicle according to an embodiment.
Figs. 15A and 15B illustrate driver authentication and operation recognition of a vehicle according to an embodiment.
16 illustrates an example of a driver image acquired by a vehicle for driver authentication and operation recognition according to an embodiment.
17 and 18 show an example in which the vehicle according to the embodiment corrects the vein pattern image of the driver.
FIG. 19 shows an example in which a vehicle according to an embodiment searches for a vein pattern look-up table.
20 shows another example of a driver image acquired by the vehicle for driver authentication and operation recognition according to an embodiment.
FIG. 21 shows another example of a driver image acquired by the vehicle for driver authentication and operation recognition according to an embodiment.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory only and are not restrictive of the invention, as claimed, and it is to be understood that the invention is not limited to the disclosed embodiments.

Also, the terms used herein are used to illustrate the embodiments and are not intended to limit and / or limit the disclosed invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as " comprise ", " comprise ", or "have ", when used in this specification, designate the presence of stated features, integers, Steps, operations, components, parts, or combinations thereof, whether or not explicitly described herein, whether in the art,

It is also to be understood that terms including ordinals such as " first ", "second ", and the like used herein may be used to describe various elements, but the elements are not limited by the terms, It is used only for the purpose of distinguishing one component from another.

The terms "to, "," to block ", "to absent "," to module ", and the like used in the entire specification can mean a unit for processing at least one function or operation have. For example, hardware such as software, FPGA, or ASIC.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 shows an appearance of a vehicle according to an embodiment, and Fig. 2 shows an interior of a vehicle according to an embodiment.

1 and 2, a vehicle 1 according to an embodiment includes a body 11 to 16 forming an outer appearance of the vehicle 1, a chassis 11 for supporting components inside the vehicle 1, (not shown), vehicle bodies 11 to 16, and wheels 21 and 22 for moving the chassis.

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle and the vehicle bodies 11 to 16 and the vehicle It is possible to move forward or backward.

The vehicle bodies 11 to 16 include a hood 11, a front fender 12, a roof panel 13, a door 14, a trunk lid 15, a quarter panel 16, and the like.

A front window 17 provided on the front side of the vehicle bodies 11 to 16, a side window 18 provided on the door 14, And a rear window 19 provided on the rear side of the rear windows 11 to 16.

A seat S1 and a seat S2 on which an occupant sits, a dash board (not shown) provided with various instruments for controlling the operation of the vehicle 1 and displaying the running information of the vehicle 1 30, a steering wheel 40 for operating the traveling direction of the vehicle 1, and an operation recognition device 100 for recognizing the operation of the driver.

The seat S1 and the seat S2 allow the driver to operate the vehicle 1 in a comfortable and stable posture. The seat S1, the passenger seat S2 on which the passenger sits, and the rear seat Time).

The dashboard 30 is provided with an instrument panel 31 such as a speedometer, a fuel meter, an automatic shift selector lever indicator, a tachometer, and an interval meter for indicating information related to traveling, A center console 35 provided with a center fascia 33 provided with a control panel for operating the devices, a gear stick and a runner brake stick, an AVN (Audio / Video / Navigation) device 200 and the like.

The center fascia 33 is provided between the driver's seat S1 and the front passenger's seat S2 and includes an operation unit for adjusting the audio equipment, the air conditioner and the heater, an air conditioner A cigar jack, and the like.

The center console 35 is provided below the center pedestrian 33 between the driver's seat S1 and the front passenger's seat S2 and can be provided with a gear stick for shifting and a parking brake stick for parking.

The AVN apparatus 200 is a device for outputting music or an image according to a control command of a driver. Specifically, the AVN apparatus 200 can reproduce music or moving images according to a control command of the driver or guide the route to a destination.

The steering wheel 40 is rotatably attached to the dashboard 30 around the steering shaft and the driver rotates the steering wheel 40 clockwise or counterclockwise to change the traveling direction of the vehicle 1 .

The motion recognition apparatus 100 may be provided on a ceiling inside the vehicle bodies 11 to 16 as shown in FIG. The motion recognizing apparatus 100 is not limited to the one provided on the ceiling inside the vehicle bodies 11 to 16 and the motion recognizing apparatus 100 may detect the hands of the driver such as the center fascia 33 or the center console 35 It is enough to be able to do it.

The configuration and operation of the motion recognition apparatus 100 will be described in detail below.

(Not shown) is provided with a power generation device for generating power for moving the vehicle 1 by burning fuel, a fuel device for supplying fuel to the power generation device, a cooling device for cooling the heated power generation device, A power transmission device for transmitting the power generated by the power generation device to the wheels 21 and 22, a power transmission device for transmitting the power generated by the power generation device to the traveling direction of the vehicle 1 operated by the steering wheel 40 A braking device for stopping the rotation of the wheels 21 and 22 and a suspension for absorbing vibration of the wheels 21 and 22 by the road.

The external appearance and internal configuration of the vehicle 1 according to the embodiment have been described above.

Hereinafter, the configuration and operation of the motion recognition apparatus 100 according to the embodiment will be described.

FIG. 3 illustrates a configuration of a motion recognition apparatus according to an exemplary embodiment. FIG. 4 illustrates a light emitting unit and an image acquisition unit included in the motion recognition apparatus according to an embodiment of the present invention.

3 and 4, the motion recognition apparatus 100 includes an input unit 120 that receives a control command from a driver, a light emitting unit 130 that emits light toward a driver's body, A communication unit 150 for communicating with other electronic devices included in the vehicle 1, and a control unit 110 for controlling the operation of the motion recognition apparatus 100 as a whole.

The input unit 120 may include an input button 121 for receiving various control commands for controlling the operation of the motion recognition device 100 from the driver. For example, the input button 121 may receive an operation recognition activation command for activating the operation recognition apparatus 100 from the driver or an operation recognition inactivation command for deactivating the operation recognition.

The input button 121 may be a push switch, a toggle switch, a sliding switch, a membrane switch, a touch switch, or a dial. can do.

The light emitting unit 130 may include a first light source 131 and a second light source 132 that emit infrared rays.

The first light source 131 and the second light source 132 are installed in the ceiling of the vehicle body 11 to 16 as shown in FIG. 4, and can emit infrared light downward.

However, the positions of the first light source 131 and the second light source 132 are not limited to the ceiling inside the vehicle bodies 11 to 16. For example, the first light source 131 and the second light source 132 may be provided on the center fascia 33 provided in front of the driver or on the center console 35 provided on the side of the driver. In addition, the first light source 131 may be provided on the ceiling inside the vehicle bodies 11 to 16, and the second light source 132 may be provided on the center fascia 33. The first light source 131 may be provided in the center console 35 and the second light source 132 may be provided in the center fascia 33. [

The positions of the first light source 131 and the second light source 132 are not limited to specific positions, and any position may be used as long as it can transmit infrared light toward a part of the user's body.

The first light source 131 and the second light source 132 may include a light emitting diode (LED) that emits infrared light, a light amplification by stimulated emission (LASER), an infrared lamp, Etc. may be employed.

The image acquiring unit 140 may include a camera module 141 that receives infrared rays reflected by a part of the driver's body.

The camera module 141 is provided on the ceiling of the vehicle bodies 11 to 16 as shown in FIG. 4, and can obtain an infrared image downward from the ceiling inside the vehicle bodies 11 to 16.

However, the position of the camera module 141 is not limited to the ceiling inside the vehicle bodies 11 to 16. For example, the camera module 141 may be provided on the center fascia 33 provided in front of the driver or on the center console 35 provided on the side of the driver. When the camera module 141 is installed in the center fascia 33, the camera module 141 can acquire an infrared image rearward from the center fascia 33. When the camera module 141 is installed in the center console 35, the camera module 141 can acquire an infrared image from the center console 35.

As described above, the position of the camera module 141 is not limited to a specific position, and may be any position as long as it can acquire an image of a part of the user's body adjacent to the user.

The camera module 141 may include a lens (not shown) for concentrating light and an image sensor (not shown) for converting light into an ultraviolet signal.

Here, the image sensor may employ an infrared image sensor that receives light having a wavelength corresponding to infrared rays, or a general-purpose image sensor that receives light including infrared rays and visible light. In particular, when the general-purpose image sensor is employed, the camera module 141 may further include an infrared ray filter (not shown) that blocks visible light and transmits only infrared rays.

Such an image sensor may employ a CMOS (Complementary Metal Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor.

The communication unit 150 may include a CAN communication module 151 that communicates with various electronic devices included in the vehicle 1 using a CAN (Control Area Network) communication protocol.

The operation of the motion recognition device 100 using the can communication module 151 and communication with other electronic devices included in the vehicle 1 will be described in detail below.

The control unit 110 includes an input / output interface 117, a memory 115 for storing programs and data, an image input / output interface 117 for input / output of data between various constituent devices included in the motion recognition apparatus 100 and the control unit 110, And a main processor 111 for performing an arithmetic operation according to the program and data stored in the memory 113. [ The control unit 110 includes a system bus 119 serving as a path for transmitting and receiving data between the main processor 111, the input / output interface 117, the memory 115, the graphics processor 113 and the main processor 111 can do.

The input / output interface 117 receives control command data from the user interface 120, image data from the image acquisition unit 140 or communication data from the communication unit 150, To the graphics processor 113, or to the memory 115. FIG.

The input / output interface 117 may transmit various control signals and data output from the main processor 111 to the communication unit 150.

The memory 115 stores a control program and control data for controlling the operation of the motion recognition apparatus 100, a control signal output from the main processor 111, image data output from the graphic processor 113, and the like .

The memory 115 may include a static random access memory (S-RAM), a dynamic random access memory (D-RAM), a volatile memory (not shown) such as a D-RAM, Volatile memory (not shown) such as an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or the like.

The non-volatile memory may operate as an auxiliary storage device of the volatile memory and may store control programs and control data for controlling the operation of the multimedia device 100. [ In addition, the nonvolatile memory can hold stored data even when the power of the motion recognition apparatus 100 is turned off, and can store a vein pattern lookup table (LUT) for driver authentication.

The volatile memory may load control programs and control data from the nonvolatile memory, or may store control signals output by the main processor 111, image data output by the graphics processor 113, and the like. Unlike the nonvolatile memory, the volatile memory can lose stored data when the multimedia device 100 is powered off.

The graphic processor 113 processes the image data received from the image acquisition unit 140 or the image data stored in the memory 115. [ For example, the graphic processor 113 may binarize the image data received from the camera module 141 of the image obtaining unit 141, rotate the image data, or change the size of the image data. In addition, the graphic processor 113 can compare the two images to determine whether the two images match each other.

The main processor 111 performs an arithmetic operation for controlling the input unit 120, the light emitting unit 130, the image obtaining unit 140, and the communication unit 150 according to control programs and control data stored in the memory 115 .

For example, the main processor 111 may process the control command of the driver received from the input button 121 of the input unit 120 and output a control signal corresponding to the input control command.

In addition, the main processor 111 recognizes the control command of the driver based on the image processing result of the graphic processor 113 and outputs a control signal corresponding to the recognized control command. Specifically, the main processor 111 determines the operation of the driver based on the image processing result of the graphic processor 113, and can determine the control command of the driver based on the operation of the continuous driver. The main processor 111 can also transmit the determined driver's control command to the various electronic devices (for example, AVN devices) included in the vehicle 1 via the communication unit 150. [

Although the main processor 111 and the graphics processor 113 have been described above, the main processor 111 and the graphics processor 113 may be provided as a single processor.

In this way, the control unit 110 can recognize the control command of the driver based on the operation of the driver, and can control the operation of various components included in the motion recognition device 100 according to the control command of the recognized driver.

Therefore, the operation of the motion recognition apparatus 100 to be described below can be interpreted as a control operation of the control unit 110. [

The configuration of the motion recognition apparatus 100 has been described above. However, the electronic device included in the vehicle 1 is not limited to the motion recognition device 100, and various electronic devices communicate with each other.

FIG. 5 shows an electrical connection between various electronic apparatuses included in a vehicle according to an embodiment, and FIG. 6 shows a configuration of an AVN apparatus included in a vehicle according to an embodiment.

As shown in FIG. 5, the vehicle 1 may include various electronic devices 100, 200, 310, 320, and 330 together with the motion recognition device 100.

For example, in addition to the operation recognition apparatus 100, the vehicle 1 may include the AVN apparatus 200 described above, an engine control unit (not shown) for controlling the fuel supplied to the engine of the vehicle 1, (ECU) 310, an electronic braking device 320 for controlling the braking of the vehicle 1, a front collision avoiding function, a lane departure warning function, a dead zone monitoring function, And an Advanced Driver Assistance System 330 that assists the driver in driving the vehicle.

The various electronic devices 100, 200, 310, 320, and 330 included in the vehicle 1 can exchange data with each other through the can communication line 300 as shown in FIG. In other words, the motion recognition device 100 transmits data to the other electronic device 200, 310, 320, 330 through the can communication line 300 and transmits data from the other electronic device 200, 310, 320, Lt; / RTI >

For example, the motion recognition apparatus 100 receives a control command for the AVN apparatus 200 through the operation of the driver, and transmits the received control command to the AVN apparatus 200 via the can communication.

In addition, at the time of registering the vein pattern, the motion recognition apparatus 100 guides the reference operation to the driver through the AVN apparatus 200, and generates a vein pattern lookup table for driver authentication in accordance with the reference operation guided by the AVN apparatus 200 Can be generated.

The AVN device 200 among the various electronic devices 100, 200, 310, 320, and 330 shown in FIG. 5 will be briefly described.

As described above, the AVN apparatus 200 can reproduce music or moving images according to a control command of a driver or guide a route to a destination.

The AVN apparatus 200 includes a user interface 220 for interacting with a driver and displaying an image, an acoustical input unit 230 for receiving acoustics, an acoustical output unit 240 for outputting acoustics, A communication unit 250 for communicating with the electronic devices 100, 310, 320, and 330, and a control unit 210 for controlling the AVN device 200 as a whole.

Here, the user interface 220 may include a touch screen 221 that receives a control command from a driver and displays various image information according to a control command of the driver. The touch screen 221 receives a control command of the driver and visually displays various information corresponding to a control command input by the driver. The touch screen 221 includes a touch panel (not shown) for detecting whether the driver touches the touch panel or the touch coordinates of the driver, A display (not shown) for displaying image information, and a touch screen controller (not shown) for controlling the operation of the touch screen 221.

The communication unit 250 may include a can communication module 251 that communicates with other electronic devices 100, 310, 320, and 330 included in the vehicle 1 using the can communication protocol.

The control unit 210 collectively controls the operation of various configurations included in the AVN apparatus 200. [

For example, when receiving a video display request from the motion recognition apparatus 100 through the communication unit 250, the control unit 210 controls the touch screen 221 of the user interface 220 and the sound output unit 240 can be controlled.

In the above description, the motion recognition apparatus 100 and the AVN apparatus 200 are separately provided and communicated with each other. However, the present invention is not limited thereto. For example, the motion recognition apparatus 100 and the AVN apparatus 200 are integrally provided, and the AVN apparatus 200 can receive the control command of the driver through the motion recognition apparatus 100. [

Hereinafter, it is assumed that the motion recognition apparatus 100 and the AVN apparatus 200 are separately provided for the sake of understanding.

The configurations of the vehicle 1 and the motion recognition apparatus 100 have been described above.

Hereinafter, the operation of the vehicle 1 and the motion recognition apparatus 100 will be described. First, the vehicle 1 and the motion recognition apparatus 100 register the vein pattern of the driver will be described.

Fig. 7 shows a vein pattern registration operation of a vehicle according to an embodiment. 8 shows an example of a reference operation image for registering a driver's vein pattern according to an embodiment of the present invention, and FIG. 9 shows an example in which a vehicle according to an embodiment acquires a driver image , And FIG. 10 shows an example of a driver image acquired by a vehicle according to an embodiment. 11 shows another example of a reference operation image for registering a vein pattern of a driver according to an embodiment, and Fig. 12 shows another example in which a vehicle according to an embodiment acquires a driver's image And FIG. 13 shows another example of a driver image acquired by a vehicle according to an embodiment. 14 shows a lookup table generated by a vehicle according to an embodiment.

7 to 14, a vein pattern registration method 1000 of the vehicle 1 will be described.

First, the vehicle 1 determines whether to register the driver U (1010). Specifically, the vehicle 1 can determine whether a vein pattern registration command is input from the driver U.

The driver U can input the vein pattern registration command to the vehicle 1 in various ways.

For example, the driver U may input a vein pattern registration command through the input button 121 of the motion recognition apparatus 100. [ When the vein pattern registration command of the driver U is input, the motion recognition apparatus 100 can perform a preparation operation for registering the vein pattern. The motion recognition apparatus 100 can transmit infrared rays through the light emitting unit 130 and acquire an infrared ray image through the image acquisition unit 140.

As another example, the driver U may input a vein pattern registration command through the touch screen 221 of the AVN apparatus 200. [ When the driver U inputs a vein pattern registration command through the AVN apparatus 200, the AVN apparatus 200 transmits a vein pattern registration command to the motion recognition apparatus 100 through the communication unit 250. [ In addition, when the vein pattern registration command is received through the communication unit 150, the motion recognition apparatus 100 can perform a preparatory operation for registering the vein pattern.

If it is determined that the driver U is registered (YES in 1010), the vehicle 1 guides 1020 the reference operation for registering the vein pattern. Specifically, at the request of the motion recognition apparatus 100, the AVN apparatus 200 can display a reference motion image for vein pattern registration.

The motion recognition apparatus 100 may request the AVN apparatus 200 to display the reference motion image for registering the vein pattern of the driver U. [ The AVN apparatus 200 displays the reference operation image stored in advance on the touch screen 221 or the reference operation image received from the operation recognition apparatus 100 An operation image can be displayed on the touch screen 221.

For example, the AVN apparatus 200 may display the first reference motion image 401 on the screen 400 of the touch screen 221 as shown in FIG. The first reference motion may be a gesture such that the finger is spread and the back of the hand is directed upward as indicated by the first reference motion image 401.

Also, the AVN apparatus 200 can guide the driver U through the sound output unit 240 to take the same action as the image displayed on the touch screen 221.

Then, the vehicle 1 acquires the driver image (1030). Specifically, the motion recognition apparatus 100 acquires the driver image through the image acquisition unit 140 and analyzes the obtained driver image.

The driver U can take the same operation as the reference operation image displayed on the touch screen 221 of the AVN apparatus 200. [

For example, when the first reference motion image 401 is displayed on the AVN apparatus 200, the driver U places the hand on the center console 35, .

When the driver U takes the first reference operation indicated by the first reference motion image 401, the infrared rays emitted from the light emitting unit 130 of the motion recognition apparatus 100 are transmitted to the driver U ) Is reflected from the back of the hand.

The image acquisition unit 140 of the motion recognition apparatus 100 may acquire the first driver image 501 through the infrared rays reflected from the hands of the driver U as shown in FIG.

At this time, not only the infrared rays are reflected from the skin surface of the driver's hand but also reflected from the vein formed in the driver's hand through the skin of the driver (U). As a result, the image acquired by the image acquisition unit 140 may include an image of the vein formed in the hand of the driver U as well as the shape of the hand of the driver U.

At this time, since the person has a unique vein pattern, the vehicle 1 can identify the driver U using the vein pattern formed in the hand of the driver U and authenticate the driver U. In addition, the vehicle 1 may recognize the operation of the driver U by using the shape of the vein pattern.

At this time, the motion recognition apparatus 100 may remove an image other than the image of the driver's hand from the first driver image 501 to obtain a more accurate vein pattern image.

Specifically, the motion recognition apparatus 100 performs image smoothing on the first driver image 501. The vein pattern is deleted in the first driver image 501 in which the image smoothing is performed, and only the shape of the driver's hand remains. The motion recognition apparatus 100 can determine the image of the driver's hand from the first driver image 501 on which the image smoothing has been performed. Then, the motion recognition apparatus 100 can delete all images other than the driver's hand from the first driver's image 501. [

As such, the first driver image 501 in which the image other than the driver's hands is removed can be reduced in size, and the time for image processing can be shortened.

Then, the vehicle 1 binarizes the driver image (1040). Specifically, the motion recognition device 100 included in the vehicle 1 binarizes the driver image.

The driver image can show various brightness depending on the intensity of the infrared rays reflected from the hands of the driver (U). For example, the area where the driver's hand is displayed is highlighted, and the area where the driver's hand is not displayed is darkened. Further, the portion where the vein formed in the driver's hand is displayed may be darker than the other portion of the driver's hand.

The motion recognition apparatus 100 can simplify the driver image and binarize the driver image so that the vein pattern included in the driver image becomes clear. In other words, the motion recognition apparatus 100 can convert the driver image into a mono image including black and white.

For example, the motion recognition apparatus 100 may convert a brightness value of a pixel included in the driver image into "0" representing black and "1 " representing white based on a predetermined reference brightness value.

Specifically, the motion recognition apparatus 100 stores "1" representing white when the brightness value of the pixel included in the driver image is equal to or greater than the reference brightness value, and when the brightness value of the pixel is smaller than the reference brightness value, "0"

Thus, the binarized driver image includes only " 1 "representing white and" 1 "representing black, and is simplified in comparison with the driver image acquired by the image acquiring unit 140.

As another example, the motion recognition apparatus 100 may calculate a reference brightness value by analyzing a histogram of a driver image, and may binarize the driver image according to the calculated reference brightness value. Here, the histogram of the image means the frequency distribution of pixels according to the brightness value.

Specifically, the motion recognition apparatus 100 can generate a histogram of the driver image from the driver image. Thereafter, the motion recognition apparatus 100 may perform histogram equalization on the driver image. By histogram equalization, the driver image can be made clearer. Then, the motion recognition apparatus 100 may calculate the reference brightness value from the histogram of the driver image on which the histogram equalization is performed. For example, the motion recognition apparatus 100 may calculate a reference brightness value by averaging brightness values of all pixels included in the driver image in which the histogram equalization is performed.

The shape of the hand and the vein pattern of the binarized driver image are displayed more clearly than the driver image obtained by the image obtaining unit 140. [

Then, the motion recognition apparatus 100 generates a vein pattern image from the binarized driver image (1050). Specifically, the motion recognition apparatus 100 extracts a ROI from the binarized driver image, and generates a vein pattern image from the image in the ROI.

The driver image acquired by the image acquisition unit 140 includes not only the vein pattern of the driver's hand but also the shape of the driver's hand. The motion recognition apparatus 100 can set the region of interest including only the vein pattern of the driver U from the vein pattern image to extract the vein pattern of the driver U. [

For example, the motion recognition apparatus 100 can set the ROI based on the shape of the hand shown in the first driver image 501 as shown in FIG. Specifically, the motion recognition apparatus 100 recognizes that the first driver's image 501 has a boundary at which the small finger and the hand trunk are in contact with each other, a boundary at which the index finger and the hand trunk come into contact with each other, The ROI can be set. That is, the motion recognition apparatus 100 may set a portion corresponding to the hand trunk (palm or hand) among the first driver images 501 as a region of interest.

In addition, the motion recognition apparatus 100 may store an image in the region of interest (ROI) as the first vein pattern image 502. [ The first vein pattern image 502 may include only a pattern of a vein formed on the hand trunk of the driver U with the shape of the driver's hand removed from the driver's image as shown in FIG.

Then, the vehicle 1 determines whether the vein pattern registration is completed (1060). Specifically, the motion recognition apparatus 100 can determine whether a vein pattern image corresponding to a plurality of reference operations has been generated.

The driver (U) can position his / her hand in various positions, direct the hand in various directions, and rotate the hand at various angles. Here, the position of the hand indicates the position where the hand of the driver U is positioned within the vehicle, the direction of the hand indicates the direction pointed by the finger from the hand torso, and the rotational angle of the hand indicates the angle .

In particular, when the driver U rotates his or her hand, the vein pattern acquired by the image acquisition unit 140 is converted into a completely different form according to the rotation angle of the hand. Specifically, even if the position of the hand or the direction of the hand changes, the vein pattern itself does not change. However, when the driver U rotates his hand, the shape of the vein pattern changes. It is difficult to authenticate or recognize the operation of the driver U.

For this reason, the motion recognition apparatus 100 acquires the vein pattern image of the driver U with respect to various reference operations at the time of registering the vein pattern, and various reference operations are operations that change the rotation angle of the driver's hand.

In other words, the motion recognition apparatus 100 can acquire the vein pattern image of the driver U from the rotation angle of various hands while rotating the hand of the driver U. For example, the motion recognition apparatus 100 may obtain a vein pattern image from the back of the hand to the palm of the hand while rotating the hand of the driver U by approximately 180 degrees.

In order to acquire a vein pattern image at various rotational angles of hands, the motion recognition apparatus 100 displays a reference motion image for rotating the hand of the driver U through the AVN apparatus 200, The vein pattern image can be obtained.

If it is determined that the vein pattern registration is not completed (NO in 1060), the vehicle 1 guides the reference operation again (1020), acquires the driver image (1030), binarizes the driver image (1040) A pattern image is generated (1050).

After generating the vein pattern corresponding to the first reference operation, the vehicle 1 may generate the vein pattern image corresponding to the second reference operation.

For example, the AVN apparatus 100 may display the second reference image 402 on the screen 400 of the touch screen 221 as shown in FIG. Here, the second reference motion may be a gesture of rotating the hand approximately 30 degrees from the first reference motion, as indicated by the second reference motion image 402.

The driver U can perform the same operation as the reference operation image displayed on the touch screen 221 according to the guidance of the AVN apparatus 200. [ In other words, in accordance with the second reference motion image 402, the driver U can take a second reference motion.

When the driver U takes the second reference operation, the motion recognition apparatus 100 can acquire the second driver image 511 corresponding to the second reference operation as shown in Figs. 12 and 13. Fig. The motion recognition apparatus 100 acquiring the second driver image 511 may binarize the second driver image 511 and generate the second vein pattern image 512 from the binarized second driver image 511 have.

As such, the motion recognition apparatus 100 of the vehicle 1 repeats the driver image acquisition, the driver image binarization, and the vein pattern image generation until obtaining the driver image corresponding to all the reference operations.

If it is determined that the vein pattern registration is completed (YES in 1060), the vehicle 1 generates a vein pattern look-up table (1070).

The motion recognition apparatus 100 included in the vehicle 1 can generate a vein pattern lookup table by relating the rotation angle of the hand and the vein pattern image corresponding thereto as shown in Fig. Here, the rotation angle of the hand represents the rotation angle of the hand according to each reference movement.

For example, the first reference motion indicated by the first reference motion image 401 (see FIG. 8) may be a reference motion with a rotation angle of "0 ", and the first vein pattern image (See Fig. 10) may be stored in association with the rotation angle "0 ".

Also, the second reference motion displayed on the second reference motion image 402 (see FIG. 11) may be a reference motion having a rotation angle of "30 ", and the second vein pattern image 512 , See Fig. 13) can be stored in association with the rotation angle "30 ".

As described above, the vehicle 1 can guide the driver U to various reference operations and acquire images of vein patterns formed in the hands of the driver U while guiding the reference operation. Further, the vehicle 1 generates a vein pattern look-up table for driver authentication and driver's operation recognition based on the obtained vein pattern image.

Next, the case where the vehicle 1 and the motion recognition apparatus 100 recognize the driver U by using the vein pattern of the driver U and recognizes the operation of the driver U will be described.

Figs. 15A and 15B illustrate driver authentication and operation recognition of a vehicle according to an embodiment. 16 and 17 illustrate an example of a driver image acquired by a vehicle for driver authentication and operation recognition according to an embodiment of the present invention. FIGS. 17 and 18 illustrate an example in which a vein pattern image of a driver is corrected FIG. 19 shows an example in which a vehicle according to an embodiment searches for a vein pattern look-up table. 20 shows another example of the driver image acquired by the vehicle for driver authentication and operation recognition according to an embodiment.

15A to 20, a driver authentication and operation recognition method 1100 of the vehicle 1 will be described. Specifically, a method of determining the stopping operation of the driver U by the vehicle 1 will be described.

First, the vehicle 1 determines whether to activate the operation recognition (1110). Specifically, the vehicle 1 can determine whether the operation recognition activation command is input from the driver U.

The driver U can input an operation recognition activation command to the vehicle 1 in various ways.

For example, the driver U may input an operation recognition activation command through the input button 121 of the motion recognition apparatus 100. [ When the operation recognition activation command of the driver U is input, the motion recognition apparatus 100 can perform a preparatory operation for recognizing the operation. The motion recognition apparatus 100 can transmit infrared rays through the light emitting unit 130 and acquire an infrared ray image through the image acquisition unit 140.

As another example, the driver U may input an operation recognition activation command through the touch screen 221 of the AVN apparatus 200. [ When the driver U inputs an operation recognition activation command through the AVN apparatus 200, the AVN apparatus 200 transmits an operation recognition activation command to the motion recognition apparatus 100 through the communication unit 250. [ In addition, when the operation recognition activation command is received through the communication unit 150, the operation recognition apparatus 100 can perform a preparatory operation for recognizing the operation.

As another example, the driver U may input a motion recognition activation command using a predetermined motion. In this case, the motion recognition apparatus 100 can perform a preparatory operation for recognizing an operation when the driver U boarded the vehicle 1, and when the driver U takes a predetermined motion recognition activation operation, The device 100 may activate the motion recognition function.

When the motion recognition is activated (YES in 1110), the vehicle 1 acquires the driver image (1120). Specifically, the motion recognition apparatus 100 acquires the driver image through the image acquisition unit 140 and analyzes the obtained driver image.

The driver U can take an action corresponding to the control command to be input to the vehicle 1. [ For example, when the driver U is positioned on the center console 35 with his or her right hand (the left hand when the steering wheel is located on the right side of the vehicle) The infrared ray is reflected from the hand of the driver U and the image acquisition unit 140 of the motion recognition apparatus 100 can acquire the driver image 600 as shown in FIG.

As described above, the driver image acquired by the image acquisition unit 140 may include not only the shape of the hand of the driver U but also the pattern of veins formed in the hands of the driver U.

At this time, the motion recognition apparatus 100 may remove an image other than the image of the driver's hand from the driver's image 600 to obtain a more accurate vein pattern image.

Specifically, the motion recognition apparatus 100 performs image smoothing on the driver image 600. In the driver image 600 in which the image smoothing is performed, the vein pattern is deleted and only the shape of the driver's hand remains. The motion recognition apparatus 100 can determine the image of the driver's hand from the driver image 600 on which the image is smoothed. Then, the motion recognition apparatus 100 can delete all images other than the driver's hand from the driver image 600. [

Then, the vehicle 1 binarizes the driver image (1130). Specifically, the motion recognition device 100 included in the vehicle 1 binarizes the driver image.

The motion recognition apparatus 100 can simplify the driver image and binarize the driver image so that the vein pattern included in the driver image becomes clear. In other words, the motion recognition apparatus 100 can convert the driver image into a mono image including black and white.

For example, the motion recognition apparatus 100 may convert a brightness value of a pixel included in the driver image into "0" representing black and "1 " representing white based on a predetermined reference brightness value.

As another example, the motion recognition apparatus 100 may calculate a reference brightness value by analyzing a histogram of a driver image, and may binarize the driver image according to the calculated reference brightness value.

The shape of the hand and the vein pattern of the binarized driver image are displayed more clearly than the driver image obtained by the image obtaining unit 140. [

Then, the motion recognition apparatus 100 generates a vein pattern image from the binarized driver image, and calculates the position of the hand of the driver U (1140).

Specifically, the motion recognition apparatus 100 may extract a ROI from the binarized driver image and generate a vein pattern image from the image within the ROI.

For example, the motion recognition apparatus 100 can set the region of interest based on the shape of the hand shown in the driver image 600, as shown in FIG. Specifically, the motion recognition apparatus 100 recognizes the boundary between the small finger and the hand trunk, the boundary between the index finger and the hand trunk, and the boundary between the hand trunk and the wrist based on the driver image 600, (ROI) can be set. That is, the motion recognition apparatus 100 may set a portion corresponding to the hand trunk (palm or hand) among the first driver images 501 as a region of interest.

In addition, the motion recognition apparatus 100 may store a vein pattern image 602 within the region of interest (ROI). The vein pattern image 602 may include only a pattern of the vein formed on the hand trunk of the driver U, the shape of the driver's hand being removed from the driver's image as shown in FIG.

Also, the motion recognition apparatus 100 can determine the position (x1, y2) of the hand of the driver U based on the position P1 of the ROI.

Then, the vehicle 1 corrects the vein pattern image and calculates the direction of the driver's hand (1160). Specifically, the motion recognition apparatus 100 included in the vehicle 1 can rotationally convert or translate the vein pattern image.

During operation, the driver U can position the hand at an arbitrary position, point to an arbitrary direction, and perform an operation for inputting a control command. In order to extract the vein pattern from the image of the driver's hand located at an arbitrary position and pointing in an arbitrary direction, the motion recognition apparatus 100 may affine transform the vein pattern image.

The affine transformation includes translation, scaling, rotation, shearing, and the like, and has the basic form as shown in Equation (1).

[Equation 1]

(Where T (x) is an affine transformation, A is an arbitrary matrix, b is an arbitrary vector, and x is a vector to be transformed.)

For example, the motion recognition apparatus 100 may use Equation (2) for rotation conversion as shown in FIG. 17 (a).

&Quot; (2) "

(Where x2 and y2 are coordinates after transformation,? Is rotation angle, and x1 and y1 are coordinates before transformation).

In addition, the motion recognition apparatus 100 may use the equation (3) for shear deformation as shown in FIG. 17 (b).

&Quot; (3) "

(Where x2 and y2 are coordinates after conversion, A is conversion displacement, and x1 and y1 are coordinates before conversion).

In addition, the motion recognition apparatus 100 may use the expression (4) for the shear conversion as shown in Fig. 17C.

(Where x2 and y2 are coordinates after conversion, B is conversion displacement, and x1 and y1 are coordinates before conversion).

By using such an affine transformation, the motion recognition apparatus 100 can correct the vein pattern image for comparison with the vein pattern look-up table.

For example, when the driver U points the hand in an arbitrary direction (?) As shown in Fig. 17, the motion recognition apparatus 100 recognizes a rectangle The vein pattern image 602 of the type can be obtained.

The motion recognition apparatus 100 can obtain the corrected vein pattern image 602 'as shown in Fig. 18 by performing rotation transformation on the oblique rectangular vein pattern image 602. [

The motion recognition apparatus 100 can calculate the direction (angle deviated from the front of the vehicle) indicated by the hand of the driver U based on the inclined angle [theta] of the vein pattern image 602 before conversion.

As another example, when the driver U places his / her hand at an arbitrary height, the motion recognition apparatus 100 performs scale conversion on the vein pattern image 602 to obtain a vein pattern image having the same size as the vein pattern image stored in the vein pattern lookup table Of the vein pattern image 602 '.

Further, the motion recognition apparatus 100 can calculate the height of the hand of the driver U based on the difference in size between the vein pattern image 602 before conversion and the vein pattern image 602 'after conversion.

Then, the vehicle 1 authenticates the driver U and calculates the rotational angle of the driver's hand (1160).

Specifically, the motion recognition device 100 included in the vehicle 1 authenticates the driver by comparing the corrected vein pattern image with the vein pattern look-up table.

For example, the motion recognition apparatus 100 compares the vein pattern image 602 'of the driver U with the vein pattern images 501 and 502 stored in the vein pattern lookup table, as shown in FIG. As a result of the comparison, if the same vein pattern image as the vein pattern image 602 'is retrieved from the vein pattern look-up table, the motion recognition apparatus 100 can determine that the driver U is a registered driver. If the same vein pattern image as the vein pattern image 602 'in the vein pattern look-up table is not retrieved, the motion recognition apparatus 100 may determine that the driver U is an unregistered driver.

The motion recognition apparatus 100 may compare the vein pattern image and the vein pattern look-up table to determine the angle at which the hand of the driver U is rotated with respect to the arm of the driver U.

19, the first vein pattern image 501 among the vein pattern images of the vein pattern look-up table is the same as the vein pattern image 602 'of the driver U, and the motion recognition apparatus 100 ) Can judge that the hand of the driver U rotates by "0" (the hand is facing upward).

Thereafter, the vehicle 1 determines whether the driver U is a registered driver (1170).

Specifically, when the same vein pattern image as the vein pattern image 602 'is retrieved from the vein pattern look-up table, the motion recognition apparatus 100 determines that the driver U is authenticated, and recognizes that the vein pattern image 602 ', the motion recognition apparatus 100 can determine that the driver U is not authenticated.

If it is determined that the driver is the registered driver (YES at 1170), the vehicle 1 judges the stopping operation of the driver U (1180).

Specifically, the motion recognition apparatus 100 of the vehicle 1 stores the position of the driver's hand, the height of the direction driver's hand pointed by the driver's hand, and the rotational angle of the driver's hand, etc., .

If it is determined that the vehicle is not a registered driver (NO at 1170), the vehicle 1 ends the operation recognition.

As described above, the vehicle 1 can determine the stopping operation of the driver U by using the vein pattern of the driver U. Specifically, the vehicle 1 can determine the position of the driver's hand, the height of the direction driver's hand pointed by the driver's hand, and the rotational angle of the driver's hand.

In addition, the vehicle 1 performs the continuous stopping operation of the driver U, that is, the movement of the driver U, by performing the above-described driver's stop motion determination function for the driver images continuously acquired by the motion recognition apparatus 100 It can be judged.

For example, after the vehicle 1 determines the stopping operation of the driver U from the driver image 600 shown in Fig. 16, the vehicle 1 stops the driver U from the driver image 610 shown in Fig. 20 It can be judged.

Thereafter, the position (x1, y1) of the driver's hand determined from the driver image 600 shown in Fig. 16, the height of the direction driver's hand pointed by the driver's hand and the rotational angle of the driver's hand, That is, the movement and rotation of the driver's hand, based on the difference between the position (x2, y2) of the driver's hand determined by the driver's hand, the height of the direction driver's hand pointed by the driver's hand, .

Further, the vehicle 1 can determine a control command that the driver intends to input based on the motion of the driver.

As described above, when the operation of the driver is determined using the vein pattern formed in the driver's hand, the vehicle 1 can identify the driver and the passenger.

FIG. 21 shows another example of a driver image acquired by the vehicle for driver authentication and operation recognition according to an embodiment.

21, when the motion recognition apparatus 100 has photographed both the hand of the driver U1 and the hand of the passenger U2, the motion recognition apparatus 100 reads out the image 620 from the photographed image 620 The image 621 of the driver's hand and the image 623 of the passenger's hand can be separated.

The motion recognition apparatus 100 extracts the vein pattern image 622 of the driver U1 and the vein pattern image 624 of the passenger U2 from the image 621 of the driver's hand and the image 623 of the passenger's hand can do.

Thereafter, the motion recognition apparatus 100 compares the vein pattern image 622 of the driver U1 and the vein pattern image 624 of the passenger U2 with the vein pattern look-up table to generate a vein pattern image of the driver U1 622).

As a result, the motion recognition apparatus 100 can determine the stopping operation of the driver from the image 620 in which the driver U1 and the passenger U2 are photographed together, and determines the motion of the driver from the continuous stopping operation of the driver can do. Further, the motion recognition apparatus 100 can recognize the control command of the driver from the motion of the driver.

The present invention is not limited to the vehicle 1 recognizing only the operation of the driver.

For example, when both the driver U1 and the passenger U2 register the vein pattern, the vehicle 1 can recognize both the operation of the driver U1 and the passenger U2.

21, when the motion recognizing apparatus 100 photographs both hands of the driver U1 and the passenger U2, the motion recognizing apparatus 100 recognizes the image of the driver's hand from the photographed image 620 The vein pattern image 622 of the driver U1 and the vein pattern image 624 of the passenger U2 can be obtained by separating the image 621 of the passenger's hand from the image 623 of the passenger's hand.

Thereafter, the motion recognition apparatus 100 compares the vein pattern image 622 of the driver U1 and the vein pattern image 624 of the passenger U2 with the vein pattern look-up table to generate a vein pattern image of the driver U1 622 and the vein pattern image 624 of the passenger U2.

The motion recognition apparatus 100 can determine the stopping operation of the driver U1 and the stopping operation of the passenger U2 and further can determine the motion of the driver U1 and the motion of the passenger U2, respectively.

As a result, the motion recognition apparatus 100 can receive control commands through the motions from the driver U1 and the passenger U2, respectively.

As described above, the vehicle 1 and the motion recognition apparatus 100 can extract the vein pattern of the driver and determine the stopping operation of the driver from the shape of the extracted vein pattern. Further, the vehicle 1 and the motion recognition apparatus 100 can determine the control command of the driver from the continuous stopping operation of the driver.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the embodiments set forth herein; It will be understood that various modifications may be made without departing from the spirit and scope of the invention.

1: vehicle 100: motion recognition device
110: control unit 120: input unit
130: light emitting unit 140:
150: communication unit 200: AVN device

Claims (21)

A storage unit for storing a hand-held vein pattern look-up table including a plurality of hand-held reference vein pattern images according to a rotation angle of a driver's hand;
An image acquisition unit for acquiring a driver image including an image of the driver's hand;
A vein pattern image of the driver's hand is extracted from the driver's image, and the driver's authentication is performed by comparing the hand-vein vein pattern image with the hand-vein vein pattern look-up table, And a control unit for determining an operation of the driver including at least one of a position of a hand, a direction indicated by the driver's hand, and a rotation angle of the driver's hand,
The control unit searches for a hand trunk reference vein pattern matching the hand trunk vein pattern image among the plurality of hand trunk reference vein pattern images and searches the hand trunk reference vein pattern matching the hand trunk reference vein pattern image, A vehicle that determines the angle of rotation of the hand.
The method according to claim 1,
And a display for displaying a plurality of reference motion images corresponding to the rotation angle of the driver's hand. 3. The method of claim 2,
Wherein the control unit obtains a reference driver image corresponding to any one of the plurality of reference operation images while the reference operation image is displayed. The method of claim 3,
Wherein the control unit binarizes the reference driver image and extracts a hand trunk reference vein pattern image from the binarized reference driver image. 5. The method of claim 4,
Wherein the control unit generates the look-up table based on the hand-held reference vein pattern image. The method according to claim 1,
Wherein the control unit binarizes the driver image, extracts a vein pattern image from the binarized driver image, and determines a position of the driver's hand based on the position of the vein pattern image. The method according to claim 1,
Wherein the controller rotates the vein pattern image based on the plurality of hand trunk reference vein pattern images and determines a direction indicated by the driver's hand based on the rotation angle of the vein pattern. The method according to claim 1,
Wherein the controller converts the size of the vein pattern image based on the plurality of the hand-held reference vein pattern images and determines the height of the driver's hand based on the magnitude conversion ratio of the vein pattern image. The method according to claim 1,
Wherein the control unit processes a plurality of driver images continuously acquired by the image acquiring unit to determine a continuous driver operation and determines a motion of the driver based on the continuous driver operation. 10. The method of claim 9,
Wherein the control unit determines the control command of the driver based on the motion of the driver. The method according to claim 1,
Wherein the control unit compares each of the plurality of vein pattern images with the vein pattern look-up table to identify a plurality of drivers, extracts a plurality of vein pattern images from the driver images based on the vein pattern images, . Storing a hand-held vein pattern look-up table including a plurality of hand-held reference vein pattern images according to the rotational angle of the driver's hand;
Acquiring a driver image including an image of the driver's hand;
Extracting a hand trunk vein pattern image of the driver's hand from the driver image;
Authenticating the driver by comparing the hand-held vein pattern image with the hand-held vein pattern look-up table;
Determining an operation of the driver including at least one of a position of the driver's hand, a direction indicated by the driver's hand, and a rotation angle of the driver's hand based on the hand-held vein pattern image,
Determining the operation of the driver based on the hand-held vein pattern image,
Searching for a hand trunk reference vein pattern matching the hand trunk vein pattern image among the plurality of hand trunk reference vein pattern images;
And determining a rotation angle of the driver's hand based on a hand-trunk reference vein pattern matched with the hand-trunk vein pattern image.
13. The method of claim 12,
Storing the vein pattern look-up table
Displaying a reference motion image according to a rotation angle of the driver's hand;
Acquiring a reference driver image corresponding to the reference motion image;
Extracting a hand trunk reference vein pattern image from the reference driver image;
And generating the look-up table based on the hand-held reference vein pattern image. 13. The method of claim 12,
Determining the operation of the driver based on the vein pattern image,
Transforming the vein pattern image based on the plurality of hand trunk reference vein pattern images;
And determining the direction indicated by the driver's hand based on the rotation angle of the vein pattern. 13. The method of claim 12,
Determining the operation of the driver based on the vein pattern image,
Transforming the size of the vein pattern image based on the plurality of hand trunk reference vein pattern images;
And determining a height of the driver's hand based on a magnitude conversion ratio of the vein pattern image. 13. The method of claim 12,
Determining the operation of the driver based on the vein pattern image,
Determining a motion of the driver based on the continuous driver operation,
Further comprising determining a control command of the driver based on the motion of the driver. 13. The method of claim 12,
Authenticating the driver may include:
Extracting a plurality of vein pattern images from the driver image, comparing each of the plurality of vein pattern images with the vein pattern lookup table to identify a plurality of drivers;
And authenticating each of the identified drivers based on the vein pattern image. A memory for storing a vein pattern look-up table including a plurality of hand-held reference vein pattern images according to the rotation angle of the driver's hand;
A camera module for acquiring a driver image including an image of the driver's hand;
A graphic processor for extracting a vein pattern image of the driver's hand from the driver image and comparing the vein pattern image with the vein pattern lookup table;
And a main processor for determining an operation of the driver including at least one of a position of the driver's hand, a direction indicated by the driver's hand, and a rotation angle of the driver's hand based on the vein pattern image,
Wherein the graphic processor searches for a hand trunk reference vein pattern matching the vein pattern image among the plurality of hand trunk reference vein pattern images,
Wherein the main processor determines a rotation angle of the driver's hand based on a palm-shaped reference vein pattern matched with the vein pattern image. 19. The method of claim 18,
The graphic processor binarizes the driver image, extracts a vein pattern image from the binarized driver image,
Wherein the main processor determines the position of the driver's hand based on the position of the vein pattern image. 19. The method of claim 18,
Wherein the graphic processor rotates the vein pattern image based on the plurality of hand-trunk reference vein pattern images,
Wherein the main processor determines a direction indicated by the driver's hand based on a rotation angle of the vein pattern. 19. The method of claim 18,
Wherein the graphic processor converts the size of the vein pattern image based on the plurality of hand-held reference vein pattern images,
Wherein the main processor determines the height of the driver's hand based on a magnification ratio of the vein pattern image.

Images