CN107914639B - 使用外反射镜的车道显示装置及车道显示方法 - Google Patents
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Abstract
本发明公开了一种使用外反射镜的车道显示装置。车道显示装置包括:车道检测单元,其从车辆的侧视图像中检测车道;控制单元,其确定在外反射镜上对应于由车道检测单元检测到的车道位置的车道位置,并控制外反射镜在确定的位置中显示车道;以及外反射镜,其包括显示单元和半反射镜并显示所述车道。
Description
相关申请的交叉引用
本申请基于并要求于2016年10月6日向韩国知识产权局提交的申请号为10-2016-0129278的韩国专利申请的优先权的权益,其全文通过引用并入本文。
技术领域
本发明涉及一种使用外反射镜(mirror)的车道显示装置及车道显示方法。
背景技术
通常,车辆具有安装在其前板的两侧上的外反射镜,用于在行驶时帮助驾驶员看到车辆的后方和左/右侧的区域的目的。
这种外反射镜可以朝向车辆的后方设置,使得反射镜反射车辆的后方。
近年来,已经开发了在与侧面障碍警告系统(SOWS)、盲点检测(BSD)系统等互锁的同时能够显示通知在车辆周围存在障碍物的信息的外反射镜。这种外反射镜可以设置有用于显示信息的LED。
LED类型的外反射镜通过LED开/关的简单操作仅通知障碍物的存在或不存在,但是在雨天或夜间行驶时不显示辅助驾驶员保持车道的信息。
本部分公开的内容旨在提供本发明的背景。申请人注意到,本部分可能包含本申请之前的可用信息。但是,通过提供本部分,申请人不承认包含在本部分中的任何信息构成现有技术。
发明内容
本公开已经致力于解决上述问题。
本公开的一个方面提供一种使用半反射镜类型的外反射镜的车道显示装置及车道显示方法,其特征在于,从车辆的侧视图像中检测车道,并在外反射镜上对应于检测到的车道位置的位置显示车道,从而允许驾驶员在雨天或在夜间驾驶时保持当前车道。
本公开的特征并不限于前述,并且从以下描述中将清楚地理解在此未提及的任何其它特征和优点。从本公开的实施例将更清楚地理解本发明概念。另外,将显而易见的是,本公开的优点可以通过权利要求中要求保护的元件和特征及其组合来实现。
根据本公开的一个方面,使用外反射镜的车道显示装置包括:车道检测单元,其从车辆的侧视图像中检测车道;控制单元,其确定在外反射镜上对应于由车道检测单元检测到的车道位置的车道位置,并控制外反射镜以在确定的位置上显示车道;以及外反射镜,其包括显示单元和半反射镜,并显示车道。
根据本公开的另一个方面,一种使用外反射镜的车道显示方法包括:通过车道检测单元从车辆的侧视图像中检测车道;通过控制单元确定在外发射镜上对应于检测到的车道位置的车道位置;以及通过包括显示单元和半反射镜的外反射镜在由控制单元确定的位置中显示车道。
附图说明
结合附图的以下详细描述将使本公开的上述和其他特征以及优点更加明显:
图1示出根据本公开的实施例使用外反射镜的车道显示装置的配置的框图;
图2示出根据本公开的实施例在车辆的外反射镜上显示车辆的侧视图像中的车道的结果;
图3示出根据本公开的实施例的车道检测过程;
图4示出根据本公开的实施例在夜间行驶时显示在外反射镜上的车道;
图5示出根据本公开的实施例在雨天行驶时显示在外反射镜上的车道;以及
图6示出根据本公开的实施例使用外反射镜的车道显示方法的流程图。
附图中的每个元件的标记
10 车道检测单元
20 控制单元
30 外反射镜
31 车道显示单元
32 半反射镜
601 从车辆的侧视图像中检测车道
602 确定在外反射镜上对应于检测到的车道位置的车道位置
603 在确定的位置中显示车道
具体实施方式
结合附图的以下详细描述将更清楚地理解本公开的上述和其它特征以及优点,使得本公开所属领域的技术人员可以容易地执行在此描述的技术理念。另外,排除了与本公开相关的已知技术的详细描述,以免使本公开的要点不必要地模糊。在下文中,将参照附图详细描述本公开的实施例。
本发明的一个方面提供一种用于在车辆的侧反射镜上显示道路上的车道标记的系统。在实施例中,侧反射镜包括半反射镜(非电子显示器)和设置在半反射镜后方的显示器。显示器被配置为在半反射镜上并通过半反射镜显示车道标记(车道线)。显示器的显示表面面向半反射镜的后表面,使得由显示器显示的图像可以在半反射镜上并通过半反射镜使车辆的驾驶员看到。
在实施例中,安装在车辆上的摄像机捕获包括靠近车辆的道路上的车道标记的图像(视频图像)。计算机化的控制器处理捕获的图像并使用显示器显示表示车道标记的图像,使得在驾驶员的侧反射镜的视野中,图像可以与在半反射镜上反射的车道标记同步对准。表示车道标记的图像的位置可以通过计算机化的控制器基于摄像机的位置和取向、半反射镜(侧反射镜)的位置和取向、驾驶员座椅的相对位置和车辆的移动来确定。
图1示出根据本公开的实施例使用外反射镜的车道显示装置的配置的框图。
如图1所示,根据本公开的实施例使用外反射镜的车道显示装置包括车道检测单元10、控制器单元20和外反射镜30。
关于前述的每个元件,首先,车道检测单元10可以从安装在车辆侧面的摄像机获得的图像中检测车道。这里,车道检测单元10可以包括:右车道检测器,其从安装在车辆右侧的右摄像机获得的图像中检测车道;左车道检测器,其从安装在车辆左侧的左摄像机获得的图像中检测车道。检测到的右车道可以显示在右外反射镜上,并且检测到的左车道可以显示在左外反射镜上。
然后,控制单元20通常控制上述各个元件以正常地执行其功能。
特别地,控制单元20可以存储用于将由车道检测单元10检测到的车道位置与在外反射镜上反射的车道位置进行匹配的算法。图2示出了基于匹配算法的在外反射镜30上显示图像210中的车道的结果220。由于匹配算法接收驾驶员的位置(例如,座椅的位置)作为参数,因此其可以提供最优的匹配性能而不考虑驾驶员的位置。
另外,控制单元20可以基于匹配算法确定在外反射镜30上对应于由车道检测单元10检测到的车道位置的车道位置,并且控制外反射镜30在确定的位置中显示车道。
这里,外反射镜30包括车道显示单元31和半反射镜32,并且可以具有其中使用半反射镜32覆盖车道显示单元31的结构。作为参照,半反射镜32是反射部分光并透射部分光的反射镜,其反射率和透射率通常一半一半。另外,车道显示单元31可以是LED/LCD类型的显示单元。
换言之,控制单元20可以基于匹配算法确定在车道显示单元31上对应于由车道检测单元10检测到的车道位置的车道位置,并控制车道显示单元31以在确定的位置中显示车道。通过在车道显示单元31上显示车道,驾驶员可以通过外反射镜30更清楚地识别车道。
同时,控制单元20可以执行车道检测单元10的功能。
图3示出根据本公开的实施例的车道检测单元10的车道检测过程。车道检测单元10包括独立的控制器以执行以下过程。
首先,可以从安装在车辆侧面的摄像机输入包括车道的图像310。
然后,为了去除输入图像310的透视效果,可以执行逆透视映射(IPM)。
通常的道路图像可以通过二维(2D)中的实线或虚线表示,但是包括车道的实际道路是三维的(3D),并且因此,需要去除车道检测或车道识别的透视效果。换言之,由于透视效果,可能难以精确地确定车道和道路参数,并且因此,可以执行使用例如摄像机位置、坐标和光学的特定获取条件来将3D表面映射到2D表面的IPM以去除透视效果。
此后,可以在平坦2D图像320中设置感兴趣区域(ROI)331。已经设置有ROI的平坦2D图像标示为“330”。
然后,可以对平坦2D图像的ROI进行滤波以去除噪声。基于通过对于滤波的ROI的直方图分析的阈值,小于或等于阈值的所有值可以设置为0(零)。例如,为了找到对应于滤波的ROI中的车道的部分,可以将除被估计为车道部分的像素以外的像素的值设置为“0x00”。在此,需要参考值以区分车道与背景,并且这样的参考值被称为阈值。
此后,可以从ROI中检测车道。已经检测的车道的图像标示为“340”。
然后,可以在检测到的车道上绘制标示为“350”的虚拟线,从而确定车道。
确定的车道351可以由控制单元20显示在外反射镜30上。显示的车道示出在图4和图5中。
图4示出在夜间行驶时的车道显示,图5示出在雨天行驶时的车道显示。
如图4和图5所示,驾驶员在夜间或雨天驾驶时不容易识别车道。然而,当应用本发明概念时,驾驶员能够清楚地识别车道。
在实施例中,独立地设置车道检测单元10以从图像中检测车道。可选地,车道检测单元10的功能可以由控制单元20执行。
此外,将更详细地描述应用于车辆的车道显示装置的具体配置。使用外反射镜的车道显示装置包括:显示左车道的左外反射镜;显示右车道的右外反射镜;从车辆的右侧视图像中检测车道的右车道检测器;从车辆的左侧视图像中检测车道的左车道检测器;以及控制单元,其确定在右外反射镜上对应于由右车道检测器检测到的右车道位置的车道位置(后文称为“第一位置”),并确定在左外反射镜上对应于由左车道检测器检测到的左车道位置的车道位置(后文称为“第二位置”)。在此,控制单元可以控制右外反射镜以在第一位置显示车道,并控制左外反射镜以在第二位置显示车道。
图6示出根据本公开的实施例使用外反射镜的车道显示方法的流程图。
首先,车道检测单元10可以在601中从车辆的侧视图像中检测车道。在此,车辆的侧视图像包括从安装在车辆的右侧的摄像机获得的右侧视图像和从安装在车辆的左侧的摄像机获得的左侧视图像。
然后,控制单元20可以在602中确定在外反射镜30上对应于由车道检测单元10检测到的车道位置的车道位置。在此,控制单元20可以基于匹配算法执行上述功能。
此后,包括车道显示单元31和半反射镜32的外反射镜30在603中可以在由控制单元20确定的位置中显示车道。
通过允许驾驶员在雨天或夜间驾驶时通过上述过程清楚地识别当前车道,可以允许车辆停留在当前车道内,同时可以防止无意识的车道偏离。
同时,根据本公开的实施例的上述方法可以编写为计算机程序。构成程序的代码和代码段可以由本领域的计算机程序员容易地推测。编写的程序可以存储在计算机可读记录介质(信息存储介质)中并可以由计算机读取并执行,从而实现根据本公开的实施例的方法。记录介质包括所有类型的计算机可读记录介质。
如上所述,本发明概念包括半反射镜类型外反射镜,并且其特征在于,从车辆的侧视图像中检测车道,并在外反射镜上对应于检测到的车道位置的位置显示车道,从而允许驾驶员在雨天或夜间驾驶时保持当前车道。在上文中,尽管本公开已经参照实施例和附图进行描述,但是本公开不限于此,而是可以在不脱离所附权利要求所要求保护的本公开的精神和范围的情况下,由本公开所属领域的技术人员进行各种修改和改变。
Claims (6)
1.一种使用外反射镜的车道显示装置,所述车道显示装置包括:
车道检测单元,其从车辆的侧视图像中检测车道;
控制单元,其确定在所述外反射镜上对应于由所述车道检测单元检测到的车道位置的车道位置,并控制所述外反射镜在确定的位置中显示所述车道;以及
所述外反射镜,其包括显示单元和半反射镜并显示所述车道,
其中所述控制单元存储用于将由所述车道检测单元检测到的车道位置与在所述外反射镜上反射的车道位置进行匹配的算法。
2.根据权利要求1所述的车道显示装置,其中所述车道检测单元执行逆透视映射即IPM,以便从所述图像中去除透视效果。
3.根据权利要求1所述的车道显示装置,其中所述车道检测单元包括:
右车道检测器,其从所述车辆的右侧视图像中检测车道;以及
左车道检测器,其从所述车辆的左侧视图像中检测车道。
4.一种使用外反射镜的车道显示方法,所述车道显示方法包括:
通过车道检测单元从车辆的侧视图像中检测车道;
通过控制单元确定在外反射镜上对应于检测到的车道位置的车道位置;以及
通过包括显示单元和半反射镜的外反射镜在由所述控制单元确定的位置中显示所述车道,
其中所述控制单元存储用于将由所述车道检测单元检测到的车道位置与在所述外反射镜上反射的车道位置进行匹配的算法。
5.根据权利要求4所述的车道显示方法,其中所述检测车道包括执行逆透视映射即IPM,以便从所述图像中去除透视效果。
6.根据权利要求4所述的车道显示方法,其中所述检测车道包括:
从所述车辆的右侧视图像中检测车道;以及
从所述车辆的左侧视图像中检测车道。
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