KR100757596B1 - Device and method for sensing object of front and side using camera - Google Patents

Abstract

A device and a method for sensing front and side distance by using image processing technology are provided to display front and side blind spot images by installing a camera angle control switch to a side mirror operating switch, and to measure the distance between the object and the vehicle without an additional sensor. A method for sensing front and side distance using image processing technology comprises the steps of turning on a camera on/off switch(18) and turning on a display unit(26) mounted in the indoor; driving a driving motor(12) by operating a camera track control switch(22) to control the camera to the measured view angle; extracting a shading rate and color information from an image processing part(14) for the obstacle photographed by the camera; receiving the shading rate and the color information from a control part(16) to operate the distance calculation algorism; and receiving the distance calculation algorism operation result in a BCM(Body Control Module)(24) and generating a warning sound if the distance between the vehicle and the object is judged to be near. A triangle intersection between the vehicle body and the obstacle is calculated on the X/Y plane coordinate on the basis of the extracted liner and surface components to calculate the shortest distance between the vehicle body and the obstacle.

Description

Device and method for sensing frontal distance using image processing technology {Device and method for sensing object of front and side using camera}

1A and 1B are schematic diagrams illustrating a mounting state and a sensing angle range of a camera and a driving means in an apparatus and method for detecting front side distance using an image processing technology according to the present invention;

2 is a block diagram of an apparatus for detecting front side distance using an image processing technology according to the present invention;

3 is an operation flowchart of an apparatus for detecting front side distance using an image processing technique according to the present invention;

4A and 4B are schematic views illustrating a switch operation step for operating the front side distance sensing device using the image processing technology according to the present invention;

5A to 5D are schematic diagrams illustrating a distance calculation algorithm of a control unit in a front side distance sensing apparatus using an image processing technique according to the present invention;

6A to 6D are flowcharts illustrating an operation of a front side distance sensing device using an image processing technique according to the present invention;

Figure 7 is a photograph showing a state of a conventional camera fixedly mounted to the side mirror.

<Explanation of symbols for main parts of the drawings>

10: camera 12: driving motor

14 image processing unit 16 control unit

18: camera on / off switch 20: left and right camera selection switch

22: camera trajectory control switch 24: BCM

26: display device

The present invention relates to an apparatus and method for detecting the front side distance using an image processing technology, and more particularly, by installing a camera that rotates each of the motors at the lower end of the side mirror by a motor drive, and detecting front and side blind spots through a switch operation. The present invention relates to an apparatus and method for detecting anterior-side distance using an image processing technology capable of measuring a distance to an obstacle and generating a warning sound without using an additional sensor by using an image processing technology based on shadow ratio and color information with an obstacle.

In general, the vehicle is equipped with a side mirror and a room mirror, and through this mirror, the situation such as right and left, right and rear of the vehicle can be seen, but the field of view is narrow, and the rear field of view in blind spots and in reverse There is a disadvantage that can not be secured.

In view of this, in recent years, in accordance with the trend of advanced vehicles, distance sensing devices using ultrasonic sensors are installed on the front and rear bumpers. The detection camera is installed at the front or rear for viewing.

The camera for image detection is very helpful for safe driving because it shows the driving situation in the front and rear through the display means placed near the driver's seat, and it is important for analyzing the causes of traffic accidents through the recording function connected to the video recording device. There is an advantage that can also be used as a clue.

However, the conventional vehicle video camera visually shows the driving situation as shown in the drawing, but has a disadvantage in that the shooting range is narrow because it is installed in a fixed state, and in particular, an alarm function is performed by detecting a distance from an obstacle around the vehicle. Since there is a disadvantage that the front and rear bumpers of the vehicle, a sensor for distance detection such as an ultrasonic sensor or a laser sensor is separately installed.

As such, by separately installing an image camera for visually photographing the driving situation and a sensor having an expensive distance sensing function, the manufacturing cost increases and the number of working hours increases.

The present invention is the result of the study in view of the above problems, by installing a camera that rotates each of the motor drive in the lower side of the side mirror, and the camera angle adjustment switch is installed on the side mirror operation switch, the front and side rectangular detection image Not only can be displayed through the display means in the room, but also by the camera image processing technology based on the shadow ratio and color information of the obstacle, it is possible to measure the distance to the obstacle and generate a warning sound without a sensor for detecting the distance. It is an object of the present invention to provide an apparatus and method for detecting front side distance using an image processing technology.

One embodiment of the present invention for achieving the above object is: a drive motor mounted in a casing process on the lower end of the side mirror; A camera mounted to the drive motor shaft in a rotatable manner; An image processor detecting shadow ratio and color information of the obstacle photographed by the camera; A camera on / off and trajectory control switch mounted on the side mirror switch operation panel; The control unit transmits a control signal for forward and reverse rotation to the driving motor according to the on / off operation of the camera trajectory control switch, and receives a shadow ratio and color information detection signal of the image processor to perform a distance calculation algorithm with an obstacle. Wow; And a BCM configured to receive the distance information signal determined by the controller, determine that the distance to the obstacle is close, and perform an alarm sound generation.

According to a preferred embodiment, the display apparatus may further include a display device configured to receive the distance information signal determined by the controller and to display the distance value and the shortest distance to the obstacle.

Another embodiment of the present invention for achieving the above object is the step of turning on the camera on / off switch mounted on the side mirror switch operation panel and at the same time the display means mounted in the room; Driving the driving motor by manipulating a camera trajectory adjustment switch to adjust the camera to a desired measurement viewing angle; Extracting a shadow ratio and color information of an obstacle captured by the camera by an image processor; Executing a distance calculation algorithm by receiving the extracted shadow ratio and color information from the image processor; It provides a front-side detection method using the image processing technology, characterized in that it comprises the step of performing the alarm sound generation when the distance from the obstacle is determined to receive the execution result of the distance calculation algorithm of the control unit in the BCM. .

In a preferred embodiment, the method may further include receiving a distance information signal determined by the controller in a display device installed indoors, and displaying a distance value and a shortest distance to an obstacle.

In a preferred embodiment, the distance calculation algorithm of the controller comprises: inputting an outline coordinate value (reference point, reference plane, corner coordinates and front and rear end coordinate values) of the vehicle body as a reference to the controller; Extracting a line component in the vehicle body direction and a line component in the longitudinal direction of the obstacle according to the shadow ratio of the screen shot by the camera; Extracting a surface component of the vehicle body and the obstacle based on the shadow ratio and color information on the screen captured by the camera; Based on the extracted line component and the surface component, the triangular intersection between the vehicle body and the obstacle is found in the X / Y plane coordinates, and the shortest distance from the obstacle is obtained.

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

1A and 1B are schematic views illustrating a mounting state and a sensing angle range of a camera and a driving means in an apparatus and method for detecting front side distance using an image processing technology according to the present invention, and FIG. 2 is an image according to the present invention. It is a block diagram of the front side distance sensing apparatus using processing technology.

The present invention is to detect the distance to the obstacle and to generate an alarm sound according to the obstacle adjacent to the front side of the vehicle without the installation of a separate sensor (for example, ultrasonic sensor or laser sensor) to detect the distance to the obstacle. At one point is the point.

To this end, the driving motor 12 is mounted in a casing state at the lower end of the side mirror, and the camera 10 is mounted on the driving motor 12 shaft so as to be angularly rotated.

Further, a separate camera on / off switch 18 is provided on the side mirror switch panel (switch panel for adjusting the angle and folding of the side mirror), and a selection switch 20 of the left and right cameras (cameras mounted on the left and right side mirrors). A trajectory adjustment switch 22 for adjusting the trajectory (shooting angle) for the selected left and right cameras is installed.

In addition, the camera 10 is connected to the image processing unit 14 for detecting the shadow ratio and color information of the obstacle from the image information of the camera so as to exchange signals, and the output terminal of the image processing unit 14 is the drive motor A control unit 16, i.e., a microprocessor, which transmits a control signal for forward and reverse rotation to the 12 and receives a shadow ratio and color information detection signal of the image processor 14 and performs a distance calculation algorithm with an obstacle. It is connected to the input side of the signal exchangeably.

In addition, the output side of the controller 16 is connected to the BCM 24 that receives the distance information signal calculated by the controller, determines that the distance to the obstacle is close, and at the same time generates the alarm sound through the alarm sound generating means. .

In this case, a display device 26, which is installed indoors, is connected to the output side of the controller 16 to receive the distance information signal calculated by the controller and to display the distance value and the shortest distance to the obstacle.

Here, the front side detection operation of the vehicle made through the above device configuration will be described in order.

FIG. 3 is a flowchart illustrating an operation of an anterior-side distance sensing apparatus using an image processing technique according to the present invention, and FIGS. 6A to 6D are flowcharts illustrating an operation of an anterior-side distance sensing apparatus using an image processing technique according to the present invention. .

The on / off switch 18 mounted on the side mirror switch control panel is turned on and the display device 26 mounted in the room is simultaneously turned on and initialized, and the image captured by the camera 10 is displayed on the display device 26. Is displayed visually).

At the same time, as shown in FIGS. 4A and 4B, when the driver selects the left and right cameras 10 and operates the trajectory adjustment switch 22 of the camera, the drive motor 12 is cased and mounted on the side mirror. Is driven to adjust the camera 10 in the direction of the desired measurement viewing angle.

At this time, the image information photographed by the camera 10 is transmitted to the image processor in real time, and the image processor 14 extracts the shadow ratio and the color information on the obstacles included in the image information.

Subsequently, the controller 16 receives the shadow ratio and color information extracted by the image processor 14 and executes a distance calculation algorithm. The controller includes an outline coordinate value (reference point, reference plane) of the vehicle body as a reference. , Corner coordinates and front and rear end coordinates, etc.) are input in advance.

When the distance calculation algorithm of the controller 16 is described in more detail, the line component in the vehicle body direction and the longitudinal direction of the obstacle according to the shadow ratio on the screen photographed by the camera based on the shadow ratio and the color information extracted by the image processing unit. Extracting a line component for (see Fig. 5a), and extracting the surface component for the vehicle body and obstacles based on the shadow ratio and color information on the screen taken by the camera 10 (see Fig. 5a) And finding a shortest distance from the obstacle by finding a triangular intersection point between the vehicle body and the obstacle in the X / Y plane coordinates based on the extracted line component and plane component.

That is, as shown in the attached FIG. 5C, an intersection between the reference plane of the vehicle body, the front / rear coordinate reference values, the extracted line component of the vehicle body, and the extracted line component and plane component of the surface component obstacle is detected. After checking the intersection (a, b, c) coordinates of each intersection, D1: a to b distance, D2: b to c distance, and D3: c to a distance are calculated.

More specifically, as shown in the accompanying FIG. 5B, the triangle abc is calculated on the XY plane, and the straight lines ab and the straight lines bc are components extracted from the side and front (rear) surfaces of the vehicle, respectively, and are orthogonal to each other. The triangle abc thus represents a right triangle.

Here, the point d indicated in FIG. 5C is the point representing the shortest distance between the vehicle and the obstacle and is orthogonal to the straight line ca.

Therefore, the small triangle bcd in the triangle abc becomes a right triangle similar to the triangle abc, and thus the shortest distance D4 between the vehicle and the obstacle is obtained as follows.

D1 (distance between ab): D4 (distance between bd) = D3 (distance between ab): D2 (distance between bc)

4 D4 = D1 × D2 / D3

Finally, the result of performing the distance calculation algorithm performed by the controller 16 as described above is received by the BCM, and the distance from the obstacle is determined to be close to 5 m or less to generate an alarm sound through the buzzer on / off control.

Meanwhile, the distance information signal determined by the controller 16 is received by the display device installed in the room, that is, the display device 26, and the distance value and the shortest distance to the obstacle are displayed (see FIG. 5D).

As described above, according to the present invention, the distance from the obstacle can be detected and alarmed based on the shadow ratio and the color information of the image of the camera without a separate distance sensor.

As described above, according to the apparatus and method for detecting the front side distance using the image processing technology according to the present invention, an image camera for visually photographing driving conditions without separately installing a sensor having a conventional expensive distance sensing function And based on the shadow ratio and color information on the image of the camera has the advantage that can detect the warning of the distance between the front side of the vehicle body and the adjacent obstacle.

In addition, by not installing an expensive sensor for detecting a separate distance, it is possible to reduce the manufacturing cost and improve the work productivity by reducing the labor cost.

Claims (5)

delete delete delete delete Turning on the camera on / off switch mounted on the side mirror switch operation panel and turning on the display means mounted in the room; Driving the driving motor by manipulating a camera trajectory adjustment switch to adjust the camera to a desired measurement viewing angle; Extracting a shadow ratio and color information of an obstacle captured by the camera by an image processor; Executing a distance calculation algorithm by receiving the extracted shadow ratio and color information from the image processor; In the front-side distance sensing method using an image processing technique comprising the step of receiving the result of the distance calculation algorithm of the control unit in the BCM determines that the distance to the obstacle is close, generating an alarm sound, The distance calculation algorithm of the controller is: Inputting an outline coordinate value (reference point, reference plane, corner coordinates, and front and rear end coordinate values) of the vehicle body as a reference to the controller; Extracting a line component in the vehicle body direction and a line component in the longitudinal direction of the obstacle according to the shadow ratio of the screen shot by the camera; Extracting a surface component of the vehicle body and the obstacle based on the shadow ratio and color information on the screen captured by the camera; Finding the triangular intersection point between the vehicle body and the obstacle in the X / Y plane coordinates based on the extracted line component and the surface component, and obtaining the shortest distance from the obstacle.

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