KR101010185B1 - Settig apparatus of osd guideline for parking - Google Patents

Settig apparatus of osd guideline for parking Download PDF

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Publication number
KR101010185B1
KR101010185B1 KR1020100053179A KR20100053179A KR101010185B1 KR 101010185 B1 KR101010185 B1 KR 101010185B1 KR 1020100053179 A KR1020100053179 A KR 1020100053179A KR 20100053179 A KR20100053179 A KR 20100053179A KR 101010185 B1 KR101010185 B1 KR 101010185B1
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South Korea
Prior art keywords
camera
calculated
width
screen
point
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KR1020100053179A
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Korean (ko)
Inventor
이덕우
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주식회사 아이티마니아
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

PURPOSE: A suitable OSD(On Screen Display) guide line setting device for backward parking is provided to enable safe backward parking since a guide line for backward parking is accurately set up in an image display. CONSTITUTION: A suitable OSD(On Screen Display) guide line setting device for backward parking comprises a microcomputer(11). The microcomputer comprises perpendicular and transverse position value calculating units(7,9). If a guide-line is set up around a back wheel, the microcomputer calculates values accruing to the following formula: atan{(rl-oh)/ch}, atan{(gl-oh)/ch}, ch*tan(ya)+oh. An a-angle and b-angle are calculated from the perpendicular and transverse position value calculating unit. The 'y' is actual driving distance corresponding to the location of a camera. The desirable position correspondent to the width of a display mapping screen for the width of the real ground is calculated.

Description

Customized apparatus for osd guideline for rear parking {settig apparatus of osd guideline for parking}

The present invention relates to an OS-guideline setting apparatus for rear parking, and more particularly, an image captured by a camera mounted on a rear of a vehicle is shown to a user in an image display unit. The present invention relates to an OS-guideline setting apparatus for rear parking to set a parking guideline suitable for a vehicle.

In general, the rear photographing apparatus is mounted on the license plate area facing the rear of the vehicle, and photographs the rear to allow the user to safely drive the display screen.

The conventional system for displaying a guideline for assisting the rear parking to the driver in the rear view photographing device to the OSD has been developed.

However, such a prior art is difficult to mount when the vehicle is mounted at a predetermined position or the height of the camera is not fixed, and nevertheless, the mounting position of the car and the camera when it is required to be mounted at a position other than the predetermined mounting position. Irrespective of this, there is a problem in that a dangerous accident is caused to pass through the next car parked in the rear parking because the guider line is uniformly set and displayed in the actual rear parking.

The present invention has been made to solve the above problems, and shows an image captured by the camera mounted on the rear of the car to the user in the image display unit, the parking guideline for rear parking in the image display unit Is set up quickly and accurately regardless of the car and its mounting position, so when the car is equipped with a camera and video display unit, it provides an OSD guideline setting device for rear parking to enable safe rear parking. There is a purpose.

The object of the present invention, according to the field of the present invention, the customized OSD guide for rear parking having a camera installed on one side of the rear of the vehicle, and an image display unit for receiving the vision signal of the camera to visually display the image A line setting device; The measured distance (ch) of the camera from the ground, the wheelbase (L) of the vehicle, the wheeling of the vehicle, and the measured distance of 1/3 point A which is mapped rearward on the mapping screen of the image display unit captured by the camera. (rl) and the measured distance (gl) of 2/3 point B, the height of the mapping screen (nh) mapped to the video display unit, the arbitrary height (yh) of the mapping screen, and the width of the mapping screen (nw) And a measurement value input unit for directly inputting actual measurement information, which is actually measured at an arbitrary width (xl) of the mapping screen and a measurement distance (bl) of a quarter point horizontally from the center of the screen. ; Receives the measured information ch, L, rl, gl, nh, yh inputted by the measured value input unit, calculates an angle from the camera height point to rl as atan (rl / ch), and from the camera height point to gl Calculate b angle of as atan (gl / ch), calculate c angle from camera height point to 1/2 point as a + {b- (a / 2)}, and map to camera and video display part Ll, the virtual distance between screens, is calculated as (nh / 6) * tan (ca), and the ya angle from the height of the camera to any height of the mapping screen mapped to the image display unit is calculated using c + atan [{yh- (nh / 2)} / ll] and calculate the desired running distance y on the ground of the camera position as ch * tan (ya) to obtain the desired position corresponding to the vertical position value on the display screen. A calculator; The measured information ch, L, nh, yh, nw, xl, bl inputted by the measured value input unit and a, b, c, angles obtained from the vertical position value calculating unit, and ll, ya angles, and virtual distances, A wa angle from the left and right center of the mapping screen mapped to the image display unit to one limit point is calculated as the width angle / 2 of the mapping screen mapped to the image display unit by receiving y, which is an arbitrary running distance, and the camera. The straight line cy between the point y and the point y is calculated as sqrt {(ch * ch) + (y * y)}, and the width hw from the center line of the mapping screen to one end point is calculated as cy * tan (wa). The desired width x at the center line of the map is calculated as {hw / (nw / 2)} * {xl- (nw / 2)}, which corresponds to the width of the display map for the actual ground width. A horizontal position value calculating unit for obtaining a position; The vertical position value calculating unit and the horizontal position value calculating unit are built-in, and the minimum radius R of the vehicle is calculated as L (base) / sin (k) of the vehicle on the mapping screen of the image display unit mapped by each operation unit. A microcomputer that generates a graphic image page composed of 24 × 12 graphic font data with guide lines corresponding to each of steering angle values (K; 38 ° of left direction (−) to 38 ° of right direction (+)) of the front wheel of the vehicle. and; And a font memory for mapping the graphic image pages generated by the microcomputer to the mapping screens corresponding to a plurality of steering values set at equal angle intervals, storing each of the graphic image pages at a corresponding address, and providing them on demand. This is achieved by a customized OSD guideline setting for rear parking.

Here, the guideline data stored in the font memory is preferably composed of a set of graphic font data corresponding to a font area in which a guideline is displayed among 12 (row) x 24 (column) graphic font data.

In addition, since the minimum radius R of the car calculated by the microcomputer implements a guider line corresponding to the car lubrication at the time of reversing, each of the rear wheels is divided into different minimum radiuses, and the minimum turning radius Ro of the rear wheels is L / tan (K). It is preferable to calculate the rear wheel minimum rotation radius Ri of the cabinet by {L / tan (K)}-rear wheel weaving.

In addition, arbitrary running distances y on the ground of the a, b, and camera positions calculated by the vertical position value calculating unit and the horizontal position value calculating unit of the microcomputer are respectively atan {(rl-oh) / ch on the ground of the rear wheel axis position. }, atan {gl-oh) / ch}, ch * tan (ya) + oh, and the desired position corresponding to the width of the display screen for the actual ground width, and the rear distance of the actual ground. If a desired position corresponding to a vertical position value of a display mapping screen is obtained, and the position of the camera is deviated from either the center of the vehicle to either one of the left and right sides, x is {hw / (nw / 2)}. It is preferable to calculate it as * {xl- (nw / 2)} ± F.

According to the present invention, an image captured by a camera mounted on a rear of a vehicle is shown to a user in an image display unit. The image display unit has a parking guideline for rear parking regardless of a vehicle and a mounting position of the camera. Fast and fast setting makes it possible to ensure safe rear parking in the case of a car equipped with a camera and a video display unit.

1 is a block diagram showing an OS guideline setting apparatus for rear parking according to the present invention,
2 is a geometric explanatory diagram for calculating a vertical position value of a mapping screen mapped to an image display unit according to the present invention;
3A and 3B are geometric explanatory diagrams for calculating a horizontal position value of a mapping screen mapped to an image display unit according to the present invention;
4 is a view showing a font data structure of a mapping screen mapped to an image display unit according to the present invention;
5 is a view showing a font data structure corresponding to a guideline stored in a font memory according to the present invention;
FIG. 6 is a view for explaining a starting point of a guideline when driving a vehicle according to the present invention; FIG.
7 is a view for explaining the deviation of the camera mounted on the vehicle according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the OS guideline setting apparatus for rear parking according to the present invention.

As shown in FIG. 1, the OS guide line setting apparatus according to the present invention includes a camera 1 installed at a rear side of a vehicle and an image display unit for visually processing the image by receiving a vision signal from the camera 1. (3), and includes a vertical position value calculator (7) and a horizontal position value calculator (9) built in the actual value input unit (5), the microcomputer (11), the font memory (13), and the microcomputer (11). Doing.

As shown in FIG. 2, the measured value input unit 5 includes a height value ch of the camera 1 mounted on a vehicle from the ground, a wheelbase L of the vehicle, a leap of the vehicle, and a camera. The measured distance rl of 1/3 point A and the measured distance gl of 2/3 points B, which are mapped rearward from the mapping screen of the video display unit 3 captured by (1), the video display unit (3) the height (nh) of the mapping screen, the arbitrary height (yh) of the mapping screen, the width (nw) of the mapping screen, the arbitrary width (xl) of the mapping screen, and the thought screen A plurality of buttons (not shown) are configured to directly input actual measurement information measured by a measurement distance bl of a quarter point from the center to the horizontal direction.

The microcomputer 11 includes the vertical position value calculator 7 and the horizontal position value calculator 9.

The vertical position value calculating section 7 receives the measured information ch, L, rl, gl, nh, yh inputted by the measured value input section 5, as shown in FIG. A angle from rl to rl is calculated as atan (rl / ch), b angle from the height of camera 1 to gl is calculated as atan (gl / ch), 1/2 from the height of camera 1 The c angle to the point is calculated as a + {b- (a / 2)}, and ll, which is the virtual distance between the mapping screen mapped to the camera 1 and the image display unit 3, is (nh / 6) * tan ( ca), and c + atan [{yh- (nh / 2)} / ll] for the ya angle from the height point of the camera 1 to any height point of the mapping screen mapped to the video display unit 3. The actual running distance y is calculated by ch * tan (ya) on the ground of the camera 1 position, and the desired position corresponding to the vertical position value of the display mapping screen is obtained.

As illustrated in FIG. 3B, the horizontal position value calculating unit 9 includes the measured information ch, L, nh, yh, nw, xl, bl and the vertical position value calculating unit inputted by the measured value input unit 5. The left and right sides of the mapping screen mapped to the image display unit 3 in the camera 1 by receiving the a, b, c angles obtained in (7) and the virtual distances ll, ya angles and y, which are arbitrary running distances of the ground. The wa angle from the center to one limit point is calculated as the width angle / 2 of the mapping screen mapped to the image display unit 3, and the linear distance cy between the camera and the y point is sqrt {(ch * ch) + (y * y)}, the width hw from the centerline of the mapping screen to one end point is calculated as cy * tan (wa), and an arbitrary width x at the centerline of the mapping screen is {hw / (nw / 2). )} * {xl- (nw / 2)} to obtain the desired position corresponding to the width of the display mapping screen with respect to the width of the actual ground.

Using the information obtained by the vertical and horizontal position value calculating units 7 and 9, the microcomputer 11 has a minimum radius of the vehicle on the mapping screen of the image display unit 3 mapped by the calculating units 7 and 9. R is calculated as L (wheelbase) / sin (k) of a vehicle and guide lines corresponding to each steering value (K; 36 ° of left direction (-) to 36 ° of right direction (+)) of the front wheel of the vehicle are obtained. Create a graphic image page consisting of 24 × 12 graphic font data.

As shown in FIG. 4, the mapping screen is composed of 24 × 12 fonts, and the font is composed of graphic font data having 32 bytes.

For example, when the steering value of the front wheel is 36 ° in the left direction (-) to 36 ° in the right direction (+), and the equiangular interval is 4.5 °, the graphic image data representing the guideline is left 37 degrees corresponding to the wheel steering value of the vehicle for representing 36 ° to 0 ° to 36 ° in the right direction (+) in an equal angle of 4.5 ° to each other.

As illustrated in FIG. 5, a graphic image page including unit graphic font data representing only a font area through which a guideline is passed among all the font areas that can be displayed on the screen is obtained by dividing the steering range at an equiangular interval. It consists of 37 pieces. The 37 graphic image pages are matched to their respective addresses.

For example, to implement one graphic image (parking guidelines) page, a memory size of 24 × 12 is required. If one font size is 32 bytes, one image page size is 9216 bytes. Therefore, the capacity of the font memory 13 should be considerably large. However, in the present invention, the graphic image page can be spherically formed even with a small capacity. To implement an image page, only 32 x 32 bytes = 1024 bytes corresponding to at least 32 font sizes are required. Therefore, one graphic image page is composed of a set of fonts (1024 bytes) in which graphic font data exists and a set of fonts (0 bytes) in which graphic font data does not exist.

The font memory 13 maps the graphic image pages generated by the microcomputer 11 to the mapping screen corresponding to a plurality of steering values set at equal angle intervals, and stores each of the graphic image pages at a corresponding address. In case of requesting graphic image data from one of the external safety devices, it is provided promptly.

On the other hand, as described above, when the vehicle is reversing, other guideline may be set to the steering value centering on the rear part where the camera is mounted, but the guideline according to the steering value is set as the center of the rear wheel as follows.

That is, the arbitrary running distance y in the ground of the a, b, and camera positions calculated by the vertical position value calculating unit 7 and the horizontal position value calculating unit 9 of the microcomputer 11 is respectively determined by the ground of the rear wheel axis position. Atan {(rl-oh) / ch}, atan {gl-oh) / ch}, and ch * tan (ya) + oh to calculate the desired width corresponding to the width of the display screen. And, a desired position corresponding to the vertical position value of the display mapping screen with respect to the actual rear distance of the ground can be obtained, and a guideline can be set using the position.

In addition, since the minimum radius R of the car calculated by the microcomputer 11 implements a guider line corresponding to the car lubrication at the time of reversing, each of the rear wheels is divided into different minimum radiuses, and the minimum turning radius Ro of the rear wheels is L / tan. It is calculated by (K), and the minimum turning radius Ri of the rear wheel of the cabinet is calculated by {L / tan (K)}-rear wheel wheel rolling. You can then use this to set the guidelines by the rear wheels.

And it is fortunate that the rear camera 1 is actually located in the center of the vehicle, but otherwise most of the rear cameras are mounted around the license plate.

That is, there is a slight deviation in the guidelines as described above. After all, when the position of the camera 1 is slightly different from the center of the vehicle to one of the left and right sides (F), the x calculated by the microcomputer 11 is {hw / (nw / 2)} * {xl The overall guidelines can be set by correcting-(nw / 2)} ± F.

One ; Camera 3; Video Display
5; Measured value input part 7; Vertical position calculator
9; Horizontal position value calculating unit 11; Micom
13; Font memory

Claims (4)

A custom OSD guideline setting apparatus for rear parking having a camera installed on one side of a vehicle and an image display unit for receiving a vision signal of the camera and visually displaying the image;
The measured distance (ch) of the camera from the ground, the wheelbase (L) of the vehicle, the wheeling of the vehicle, and the measured distance of 1/3 point A which is mapped rearward on the mapping screen of the image display unit captured by the camera. (rl) and the measured distance (gl) of 2/3 point B, the height of the mapping screen (nh) mapped to the video display unit, the arbitrary height (yh) of the mapping screen, and the width of the mapping screen (nw) And a measurement value input unit for directly inputting actual measurement information, which is actually measured at an arbitrary width (xl) of the mapping screen and a measurement distance (bl) of a quarter point horizontally from the center of the screen. ;
Receives the measured information ch, L, rl, gl, nh, yh inputted by the measured value input unit, calculates an angle from the camera height point to rl as atan (rl / ch), and from the camera height point to gl Calculate b angle of as atan (gl / ch), calculate c angle from camera height point to 1/2 point as a + {b- (a / 2)}, and map to camera and video display part Ll, the virtual distance between screens, is calculated as (nh / 6) * tan (ca), and the ya angle from the height of the camera to any height of the mapping screen mapped to the image display unit is calculated using c + atan [{yh- (nh / 2)} / ll] and calculate the desired running distance y on the ground of the camera position as ch * tan (ya) to obtain the desired position corresponding to the vertical position value on the display screen. A calculation unit;
The measured information ch, L, nh, yh, nw, xl, bl inputted by the measured value input unit and a, b, c, angles obtained from the vertical position value calculating unit, and ll, ya angles, and virtual distances, A wa angle from the left and right center of the mapping screen mapped to the image display unit to one limit point is calculated as the width angle / 2 of the mapping screen mapped to the image display unit by receiving y, which is an arbitrary running distance, and the camera. The straight line cy between the point y and the point y is calculated as sqrt {(ch * ch) + (y * y)}, and the width hw from the center line of the mapping screen to one end point is calculated as cy * tan (wa). The desired width x at the center line of the map is calculated as {hw / (nw / 2)} * {xl- (nw / 2)}, which corresponds to the width of the display map for the actual ground width. A horizontal position value calculating unit for obtaining a position;
The vertical position value calculating unit and the horizontal position value calculating unit are built-in, and the minimum radius R of the vehicle is calculated as L (base) / sin (k) of the vehicle on the mapping screen of the image display unit mapped by each operation unit. A microcomputer that generates a graphic image page composed of 24 × 12 graphic font data with guide lines corresponding to each of steering angle values (K; 38 ° of left direction (−) to 38 ° of right direction (+)) of the front wheel of the vehicle. and;
And a font memory for mapping the graphic image pages generated by the microcomputer to the mapping screens corresponding to a plurality of steering values set at equal angle intervals, storing each of the graphic image pages at a corresponding address, and providing them on demand. Customized OSD guidelines setting device for rear parking, characterized in that.
The method of claim 1;
The guideline data stored in the font memory includes a set of graphic font data corresponding to the font area where the guideline is displayed among 12 (row) x 24 (column) graphic font data. Custom OSD guidelines setter.
The method of claim 1;
Since the minimum radius R of the car calculated by the microcomputer implements a guider line corresponding to the car leaching at the time of reversing, each rear wheel is divided into different minimum radius, and the minimum turning radius Ro of the rear wheel is calculated as L / tan (K). And, the rear wheel minimum rotation radius Ri of the cabinet is tailored to the OSD (OSD) guideline setting device for rear parking, characterized in that calculated by {L / tan (K)}-rear wheel lubrication.
The method of claim 1;
The arbitrary running distances y in the ground of the micom's vertical position value calculating unit and the horizontal position value calculating unit are respectively atan {(rl-oh) / ch}, Display map for the desired position corresponding to the width of the display screen for the actual width of the ground calculated by atan (gl-oh) / ch}, ch * tan (ya) + oh, and the actual distance behind the ground. If the desired position corresponding to the vertical position value of the screen is obtained, and the position of the camera is deviated from the center of the vehicle to one of the left and right sides, the x is {hw / (nw / 2)} * { xl- (nw / 2)} ± F Customized OSD guidelines setting device for rear parking.
KR1020100053179A 2010-06-07 2010-06-07 Settig apparatus of osd guideline for parking KR101010185B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102529813A (en) * 2012-01-18 2012-07-04 惠州市华阳数码特电子有限公司 Auxiliary parking device and auxiliary parking method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11220726A (en) * 1998-01-30 1999-08-10 Niles Parts Co Ltd Vehicle surrounding monitoring device
KR20030011007A (en) * 2001-07-28 2003-02-06 조시래 Rear vision system for a vehicle, capable of displaying a rear image and a distance from a rear object
KR20040076993A (en) * 2003-02-27 2004-09-04 주식회사 센트럴미디어 Image processing unit and method of vehicle front and/or rear observation system employing cameras
KR20050048398A (en) * 2003-11-19 2005-05-24 현대모비스 주식회사 Digital display apparatus for vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11220726A (en) * 1998-01-30 1999-08-10 Niles Parts Co Ltd Vehicle surrounding monitoring device
KR20030011007A (en) * 2001-07-28 2003-02-06 조시래 Rear vision system for a vehicle, capable of displaying a rear image and a distance from a rear object
KR20040076993A (en) * 2003-02-27 2004-09-04 주식회사 센트럴미디어 Image processing unit and method of vehicle front and/or rear observation system employing cameras
KR20050048398A (en) * 2003-11-19 2005-05-24 현대모비스 주식회사 Digital display apparatus for vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102529813A (en) * 2012-01-18 2012-07-04 惠州市华阳数码特电子有限公司 Auxiliary parking device and auxiliary parking method
CN102529813B (en) * 2012-01-18 2014-04-30 惠州市华阳数码特电子有限公司 Auxiliary parking device

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