KR100682067B1 - 차량 전조등들이나 또는 타의 차량 장비를 제어하기 위한 영상 처리 시스템 - Google Patents
차량 전조등들이나 또는 타의 차량 장비를 제어하기 위한 영상 처리 시스템 Download PDFInfo
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Abstract
Description
A | B | C |
D | E | F |
G | H | I |
합계GV | 열에 있어서의 모든 화소들의 총그레이스키일 값 |
사이즈 | 물체에 있어서의 화소들의 총수 |
합계X | 물체에 있어서의 모든 화소들의 x좌표들의 총계 |
합계Y | 물체에 있어서의 모든 화소들의 y좌표들의 총계 |
최대 | 물체에 있어서의 어느 화소들의 최대의 그레이스케일 값 |
합병 | 이 물체가 그자신에 점들과 처음으로 합병되게 되는 물체의 지표 |
R | C | R | C |
C | R | C | R |
R | C | R | C |
C | R | C | R |
G | R | G | R |
B | G | B | G |
G | R | G | R |
B | G | B | G |
Claims (56)
- 복수의 화소들(a plurality of pixels)을 포함하여, 상기 각 화소가 화소상에서 수신된 광량(amount of light)을 나타내는 신호를 발생하도록 동작할 수 있는(operable) 영상배열센서(image array sensor)와,상기 화소들(pixels)로부터의 상기 신호들을 디지털 값(digital value)으로 양자화(quantizing)하기 위한 아날로그-디지털 변환기(analog to digital converter)와,상기 아날로그-디지털 변환기로부터의 상기 디지털 값을 기억하기 위한 복수의 배분된 기억위치들(a plurality of allocated storage locations)을 포함한 메모리(memory)를 구성하여,상기 메모리에서의 배분된 기억위치들의 수가 상기 영상배열센서에서의 화소들의 수보다 적은, 차량장비를 제어하기 위한 이미징 시스템(imaging system).
- 제 1 항에 있어서,상기 영상 배열 센서에 의해 비추어진 장면에 검출된 물체들의 휘도에 대응하여 차량 전조등들의 휘도를 제어하기 위해 상기 영상 배열 센서에 결합된 제어 회로를 더 포함하는 이미징 시스템.
- 제 1 항에 있어서,상기 영상 배열 센서에 의해 비추어질 때 차량 윈드실드 상의 습기의 검출에 대응하여 차량 윈드실드 와이퍼들을 제어하기 위해 상기 영상 배열 센서에 결합된 제어 회로를 더 포함하는 이미징 시스템.
- 제 1 항에 있어서,상기 영상 배열 센서로부터 획득된 장면의 영상을 충돌 기피 경고를 발생하도록 처리하기 위해 상기 영상 배열 센서에 결합된 제어 회로를 더 포함하는 이미징 시스템.
- 제 1 항에 있어서,상기 영상 배열 센서로부터 획득된 장면의 영상을 차선 이탈 지적 신호를 발생하도록 처리하기 위해 상기 영상 배열 센서에 결합된 제어 회로를 더 포함하는 이미징 시스템.
- 제 1 항에 있어서,상기 영상 배열 센서로부터 획득된 장면의 영상을 차량의 속도를 제어하도록 처리하기 위해 상기 영상 배열 센서에 결합된 제어 회로를 더 포함하는 이미징 시스템.
- 복수의 화소들(a plurality pixels)을 포함하여,상기 각 화소가 화소상에 수신된 광량(amount of light)을 나타내는 신호를 발생하도록 동작할 수 있는(operable) 영상배열센서(image array sensor)와,제어된 차량전방의 장면(scene)을 상기 영상배열센서상에 비추도록(imaging) 구성된 광학장치(optical system)와,상기 화소들로부터의 상기 신호들을 디지털 값(digital value)으로 양자화(quantizing)하기 위한 아날로그-디지털 변환기(analog to digital convertor)와,상기 영상배열센서로부터 얻은 장면의 영상을 처리하고, 또 처리된 장면에서 검출된(detected) 물체에 대응하여 전조등들(headlamps)을 제어하며, 상기 아날로그-디지털 변환기로부터의 상기 디지털 값을 기억하기 위한 복수의 배분된 기억위치들을 포함한 메모리를 포함하는 제어회로를 구성하여,상기 메모리에서의 배분된 기억위치들의 수가 상기 영상배열센서에서의 화소들의 수보다 적은, 차량의 전조등들(headlamps)을 제어하기 위한 제어장치(control system).
- 복수의 화소들을 포함하여, 상기 각 화소가 화소상에 수신된 광량을 나타낸 신호를 발생하도록 동작할 수 있는 영상배열센서와,제어된 차량 전방의 장면을 상기 영상배열센서상에 비추도록(imaging) 구성된 광학장치(optical system)와,상기 영상배열센서로부터 얻은 장면의 영상을 처리하며, 또 그 처리된 장면에서 검출된 물체들에 대응하여 그 전조등들을 제어하는 제어회로(control circuit)를 구성하여,상기 제어회로가 신호들이 상기 화소들로부터 수신될 때 역치(threshold) 이상의 그레이 스케일(grayscale) 값을 가진 신호를 발생하는 상기 화소들의 인접한 것들의 세그멘트(segment)를 식별하는 세그멘트 리스트(segment list)를 생성하는,차량의 전조등들을 제어하기 위한 제어장치(control system).
- 차량의 앞윈드실드(front wind shield)상에 또는 그 앞윈드실드에 근접해 있는 위치에서 차량 내측에 장착하는데 적합한 거울 마운트(mirror mount)와,상기 거울 마운트에 결합된 미러 하우징(mirror housing)과,상기 미러 하우징내에 장착된 미러(mirror)와,상기 거울 마운트에 장착되고 차량 전방의 장면(scene)을 비추도록(imaging) 구성된 이미징 시스템(imaging system)과,상기 이미징 시스템으로부터 얻은 장면의 영상을 처리하기 위해, 또 처리된 장면에서 검출된 물체들에 대응하여 소정의 기능을 실행하기 위해 상기 이미징 시스템에 전기 결합된 제어회로를 구성하여,상기 제어회로의 최소 일부분이 상기 거울 마운트에 장착되어 있는 차량용 내측 후사경 어셈블리(inside rearview mirror assembly for a vehicle).
- 제 9 항에 있어서,상기 제어 회로의 적어도 한 부분이 상기 거울 하우징내에 장착되어 있는 내측 후사경 어셈블리.
- 제 9 항에 있어서,상기 제어 회로가 상기 이미징 시스템에 의하여 획득된 영상의 물체들을 식별하여 물체들의 리스트와 물체들의 상대 휘도를 발생시키는 예비처리 구성요소와, 또 식별된 물체들과 그들의 휘도의 기능으로서 전조등들의 휘도를 제어하는 제어 구성요소를 포함하는 내측 후사경 어셈블리.
- 제 11 항에 있어서,상기 제어 구성요소가 굴곡 회로에 의해 상기 예비처리 구성요소에 결합되어 있는 내측 후사경 어셈블리.
- 제 11 항에 있어서,상기 예비처리 구성요소가 상기 거울 마운트에 장착되어 있는 내측 후사경 어셈블리.
- 제 11 항에 있어서,상기 제어 구성요소가 상기 거울 하우징내에 장착되어 있는 내측 후사경 어셈블리.
- 영상 배열 센서;제어된 차량의 전방 장면을 상기 영상 배열 센서 상에 비추도록 구성된 광학 장치; 및처리된 장면에서 검출된 물체들에 대응하여 차량 전조등들을 제어하게 상기 영상 배열 센서로부터 획득된 장면의 영상을 처리하기 위하여, 버스를 경유하여 상기 영상 배열 센서와 교통하며, (a) 충돌 기피 경고를 발생시키고; (b) 차량의 속도를 제어하고; (c) 차선 이탈 지적 신호를 발생시키며 또 (d) 비를 감지하는 기능들의 적어도 하나를 실행하게 상기 영상 배열 센서로부터 획득된 장면을 또한 처리하는 제어 회로로 이루어지는 차량용 이미징 시스템.
- 제 15 항에 있어서,상기 제어 회로가 상기 영상 배열 센서로부터 획득된 정보에 대응하여 차량 윈드실드 와이퍼들을 제어하는 기능을 더 실행하는 차량용 이미징 시스템.
- 제 15 항에 있어서,상기 제어 회로가 상기 영상 배열 센서로부터 획득된 정보에 대응하여 차량 기후 제어 시스템을 제어하는 기능을 더 실행하는 차량용 이미징 시스템.
- 제 15 항에 있어서,상기 제어 회로가 차량 후사경의 반사성을 제어하는 기능을 더 실행하는 차량용 이미징 시스템.
- 제 15 항에 있어서,상기 제어 회로가 상기 기능들을 실행하기 위한 단일의 프로세서를 포함하는 차량용 이미징 시스템.
- 한 배열 안에 배열된 복수의 화소들을 가지는 영상 센서; 및상기 화소 배열에 걸쳐 배치되어, 상이한 색들의 필터들을 인근의 화소들이나 또는 화소들의 그룹들에 마련하기 위하여 모방되는 다층의 간섭 필터를 함유하는 차량용 이미징 디바이스.
- 제 20 항에 있어서,상기 다층의 간섭 필터가 각 인접 화소에 대하여 상이한 색 필터를 가진 대체 색상의 필터들의 체커보드 문양을 가지고 있는 차량용 이미징 디바이스.
- 제 21 항에 있어서,상기 대체 색들이 적색이며 투명한 차량용 이미징 디바이스.
- 제 20 항에 있어서,상기 다층의 간섭 필터가 각각의 인접 화소에 대하여 상이한 색들을 가진, 적색, 녹색, 및 청색의 모자이크 문양을 가진 차량용 이미징 디바이스.
- 제 20 항에 있어서,상기 다층의 간섭 필터가 각각의 인접 화소에 대하여 상이한 색들을 가진, 아닐린 빨강, 시안 및 황색의 모자이크 문양을 가진 차량용 이미징 디바이스.
- 제 20 항에 있어서,상기 간섭 필터들이 광의 바람직하지 않은 스펙트럼 대역들을 반사하는 차량용 이미징 디바이스.
- 각각의 영상 배열 센서가 복수의 화소들을 함유하고, 각각의 상기 화소는 상기 화소상에서 수신된 광량을 나타낸 신호를 발생하도록 동작할 수 있는 적어도 둘의 영상 센서 배열들과,적어도 하나의 영상을 처리하고, 버스를 경유하여 상기 적어도 둘의 영상 센서 배열들과 교통하는 제어 회로를 함유한 차량용 이미징 시스템.
- 제 26 항에 있어서,상기 버스가 직렬 버스인 차량용 이미징 시스템.
- 제 27 항에 있어서,상기 버스가 프로세서로부터 타이밍 및 제어 회로에 영상 노출 지시들을 전달하며, 상기 적어도 둘의 영상 센서 배열들로부터 상기 프로세서에 영상 데이터를 전달하는 삼선(three wire) 버스인 차량용 이미징 시스템.
- 제 26 항에 있어서,상기 버스가 공통 NTSC 비디오 신호, 무선 회로망, MOST 버스, IEEE-1394 버스, CAN 버스, 및 AMI-C 버스로 이루어지는 군(group)으로부터 선택되는 차량용 이미징 시스템.
- 제 26 항에 있어서,상기 적어도 둘의 영상 센서 배열들이 공통 접속들을 경유하여 상기 프로세서에 접속되고, 상기 적어도 둘의 영상 센서 배열들이 개별적으로 어드레스 가능한 차량용 이미징 시스템.
- 제 26 항에 있어서,상기 제어 회로가 전조등 제어, 비 감지, 윈드실드 와이퍼 제어, 충돌 회피 경고, 적응 순항(adaptive cruise) 제어, 차량 기후 제어, 및 차선 이탈 표시로 이루어지는 군으로부터 선택된 적어도 둘의 기능들을 실행하도록 구성되어 있는 차량용 이미징 시스템.
- 제 26 항에 있어서,제 1의 영상 센서 배열과 제 2의 영상 센서 배열을 함유하여, 상기 제 1의 영상 센서 배열이 전조등 제어를 위해 구성되어 있으며, 상기 제 2의 영상 센서 배열이 비 감지를 위해 구성되어 있는 차량용 이미징 시스템.
- 복수의 화소들을 포함하여, 각각의 상기 화소가 그 화소상에서 수신된 광량을 나타낸 신호를 발생하도록 동작할 수 있는 영상 배열 센서와,처리된 장면에 검출된 물체들에 대응하여 적어도 하나의 차량 장치를 제어하기 위해 상기 영상 배열 센서로부터 획득된 장면의 적어도 하나의 영상을 처리하 며, 신호들이 상기 화소들로부터 수신될 때 역치이상의 그레이스케일 값을 가지는 신호를 발생하는 상기 화소들의 인접한 것들의 세그먼트들을 식별하는 세그먼트 리스트를 생성하는 제어 회로를 함유하는 차량용 이미징 시스템.
- 제 33 항에 있어서,상기 제어 회로가 상기 세그먼트 리스트의 정보에 의거하여 영상의 장면에 백색 광원들의 리스트을 생성하는 차량용 이미징 시스템.
- 제 33 항에 있어서,상기 제어 회로가 상기 세그먼트 리스트의 정보에 의거하여 영상의 장면에 적색 광원들의 리스트을 생성하는 차량용 이미징 시스템.
- 제 33 항에 있어서,상기 제어 회로가 아날로그-디지털 변환기로부터의 디지털 값들을 기억하는 복수의 배분된 기억 위치들로 이루어지는 메모리를 함유하는 차량용 이미징 시스템.
- 제 36 항에 있어서,상기 메모리의 배분된 기억 위치들의 수가 상기 영상 배열 센서의 화소들의 수 보다 적은 차량용 이미징 시스템.
- 영상 배열 센서;제어된 차량 전방의 장면을 상기 영상 배열 센서 상에 비추도록 구성된 광학 장치; 및처리된 장면에 검출된 물체들에 대응하여 차량 전조등들을 제어하도록 상기 영상 배열 센서로부터 획득된 장면의 영상을 처리하며, 버스를 경유하여 상기 영상 배열 센서와 교통하는 제어 회로를 함유하는 차량용 이미징 시스템.
- 제 7 항에 있어서,상기 제어 회로가 신호들이 상기 화소들로부터 수신될 때 역치 이상의 그레이스케일 값을 가지는 신호를 발생하는 인접 화소들의 세그먼트들을 식별하는 세그먼트 리스트를 생성하는 제어 장치.
- 제 8 항에 있어서,상기 제어 회로가 백색 광원들의 리스트를 영상의 장면에 그리고 적색 광원들의 리스트를 영상의 장면에 상기 세그먼트 리스트의 정보에 의거하여 생성하는 제어 장치.
- 제 7 항에 있어서,상기 제어 회로가 상기 영상 배열 센서로부터 화소들이 수신될 때 역치 이상의 그레이스케일 값을 가지는 신호들을 발생하는 인접 화소들을 연결함으로써 영상의 장면에 물체들의 리스트를 생성하는 제어 장치.
- 제 7 항에 있어서,상기 제어 회로가 상기 영상 센서로부터 수신된 신호들을 처리하기 위한 제 1의 프로세서와, 그리고 추가 처리를 실행하기 위해 또 전조등들의 휘도를 제어하기 위해 상기 제 1의 프로세서에 결합된 제 2의 프로세서를 포함하는 제어 장치.
- 제 42 항에 있어서,상기 제 1의 프로세서가 신호들이 상기 화소들로부터 수신될 때 역치 이상의 그레이스케일 값을 가지는 신호를 발생하는 상기 화소들의 인접한 것들의 세그먼트들을 식별하는 세그먼트 리스트를 생성하는 제어 장치.
- 제 43 항에 있어서,상기 제 2의 프로세서가 상기 제 1의 프로세서로부터 세그먼트 리스트를 수신하여 영상 장면의 물체들을 상기 세그먼트 리스트의 정보에 의거하여 식별하는 제어 장치.
- 제 44 항에 있어서,상기 제 2의 프로세서가 영상 장면에 백색 광원들의 리스트와 영상 장면에 적색 광원들의 리스트를 상기 세그먼트 리스트의 정보에 의거하여 생성하는 제어 장치.
- 제 40 항에 있어서,상기 제어 회로가 상기 아날로그-디지털 변환기로부터의 상기 디지털 값들을 기억하기 위한 복수의 배분된 기억 위치들을 포함하는 메모리를 포함하여, 상기 메모리의 배분된 기억 위치들의 수가 상기 영상 배열 센서의 화소들의 수보다 적은 제어 장치.
- 제 15 또는 38 항에 있어서,상기 버스가 직렬 인터페이스(a serial interface)인 이미징 시스템.
- 제 47 항에 있어서,상기 직렬 인터페이스가 상기 제어 회로로부터 타이밍과 제어 회로에 영상 노출 지시들을 전달하며, 상기 영상 배열 센서로부터 상기 제어 회로에 영상 데이터를 전달하는 삼선 직렬 인터페이스인 이미징 시스템.
- 제 15 또는 38 항에 있어서,상기 버스가 병렬 버스(a parallel bus)인 이미징 시스템.
- 제 49 항에 있어서,상기 버스가 동일 신호 라인들 상에 영상 제어 패러미터들을 가진 영상 데이터를 전달하도록 구성되어 있는 이미징 시스템.
- 제 49 항에 있어서,상기 버스가 영상 제어 패러미터들로부터의 분리 라인들 상에 영상 데이터를 전달하도록 구성되어 있는 이미징 시스템.
- 제 15 또는 38 항에 있어서,상기 버스가 공통 NTSC 비디오 신호로서 구성된 아날로그 신호들로 이루어지는 이미징 시스템.
- 제 15 또는 38 항에 있어서,상기 버스가 MOST 버스인 이미징 시스템.
- 제 15 또는 38 항에 있어서,상기 버스가 IEEE-1394 버스인 이미징 시스템.
- 제 15 또는 38 항에 있어서,상기 버스가 CAN 버스인 이미징 시스템.
- 제 15 또는 38 항에 있어서,상기 버스가 AMI-C 규격에 일치하는 이미징 시스템.
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US09/799,310 | 2001-03-05 | ||
US09/799,310 US6631316B2 (en) | 2001-03-05 | 2001-03-05 | Image processing system to control vehicle headlamps or other vehicle equipment |
PCT/US2002/004005 WO2002071487A1 (en) | 2001-03-05 | 2002-02-11 | Image processing system to control vehicle headlamps or other vehicles equipment |
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US (5) | US6631316B2 (ko) |
EP (1) | EP1366523B1 (ko) |
JP (1) | JP2004538545A (ko) |
KR (1) | KR100682067B1 (ko) |
AT (1) | ATE553500T1 (ko) |
CA (1) | CA2438558C (ko) |
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2001
- 2001-03-05 US US09/799,310 patent/US6631316B2/en not_active Expired - Lifetime
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2002
- 2002-02-11 KR KR1020037011608A patent/KR100682067B1/ko active IP Right Grant
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- 2002-02-11 JP JP2002570304A patent/JP2004538545A/ja active Pending
- 2002-02-11 WO PCT/US2002/004005 patent/WO2002071487A1/en active Application Filing
- 2002-02-11 AT AT02706229T patent/ATE553500T1/de active
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Also Published As
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US20020156559A1 (en) | 2002-10-24 |
US20050165526A1 (en) | 2005-07-28 |
ATE553500T1 (de) | 2012-04-15 |
MXPA03007934A (es) | 2003-12-04 |
US7149613B2 (en) | 2006-12-12 |
US20040034457A1 (en) | 2004-02-19 |
WO2002071487A1 (en) | 2002-09-12 |
US6868322B2 (en) | 2005-03-15 |
CA2438558C (en) | 2009-06-16 |
EP1366523A4 (en) | 2007-09-05 |
US7630803B2 (en) | 2009-12-08 |
US7302326B2 (en) | 2007-11-27 |
US20080195276A1 (en) | 2008-08-14 |
US20070093949A1 (en) | 2007-04-26 |
KR20030082958A (ko) | 2003-10-23 |
US6631316B2 (en) | 2003-10-07 |
EP1366523A1 (en) | 2003-12-03 |
EP1366523B1 (en) | 2012-04-11 |
JP2004538545A (ja) | 2004-12-24 |
CA2438558A1 (en) | 2002-09-12 |
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