KR101550426B1 - Apparatus and method for displaying driving line - Google Patents

Abstract

An apparatus for displaying a driving lane of a military vehicle and a method therefor are provided. Driving lane information is synthesized to be displayed with respect to an image corresponding to a front side or a rear side where a military vehicle travels. The driving lane information relates to a path where the military vehicle moves and a traveling situation and has at least one distance display line displaying a distance from the military vehicle and has information corresponding to a vehicle width of the military vehicle.

Description

[0001] Apparatus and method for displaying driving lane [0002]

More particularly, the present invention relates to an apparatus and method for displaying a driving lane of a military driving vehicle.

The military operation vehicle is equipped with a video input device (for example, a daytime camera (CMOS), a CCD camera, a thermal image camera, an infrared camera, or the like) on the front or back side of the vehicle for driving assistance of the driver, And outputs the image to an internal video display device (e.g., a monitor) of the group operating vehicle. The driver runs on the screen of the video display device while confirming the running direction or the driving lane.

However, there is a large difference between the image of the image display device and the image displayed through the actual window. In the case of viewing only the image of the image display device, it is not easy to identify the speed of the vehicle and the size of the object displayed on the image , Causing the driver to feel uncomfortable or afraid when driving.

In addition, in the case of a military operation vehicle, it is difficult for the user to visually drive the vehicle, and only the image displayed on the image display device is required to be driven. In such a situation, the image information for confirming the running state more accurately is needed. Therefore, there is a need for a method that can more effectively assist a driver in a military operation vehicle.

Techniques have been developed for guiding the forward travel trajectory of the vehicle or for photographing the backward image of the vehicle for driving assistance in a general vehicle other than a military operation vehicle. However, these technologies provide only information for general commercial vehicles without considering the characteristics of military operation vehicles, so the information displayed on the images is very limited. Therefore, effective information can not be provided for driving a military operation vehicle.

An object of the present invention is to provide an apparatus and method for providing optimal driving lane information for driving a military driving vehicle.

A driving lane display apparatus according to an aspect of the present invention includes: a video input unit receiving an image corresponding to a front or rear of a group driving vehicle; Driving lane information related to a route and a driving situation of the group operating vehicle, the driving lane information including at least one distance indicating line indicating a distance from the group operating vehicle, information corresponding to the vehicle width of the group operating vehicle A driving lane information providing unit for generating driving lane information; An image synthesizer for synthesizing the driving lane information and the image provided from the image input unit; And an image output unit for outputting the synthesized image.

Wherein the information corresponding to the vehicle width of the group operation vehicle includes a vehicle left path line corresponding to the left edge of the group operation vehicle and a vehicle right path line corresponding to the right edge of the group operation vehicle, A left path traveling line indicating a distance away from the path line by a set spacing distance, and a right path traveling line indicating a distance apart from the vehicle right path line by a set spacing distance.

The driving lane information may further include at least one of actual distance information numerically indicating an actual distance indicated by the distance indicating line and a vehicle center path line indicating a center moving path of the group operating vehicle.

The driving lane information may further include at least one of a mounting position indicating a position where the image input device providing the image to the image input unit is mounted on the military operation vehicle, and a position of the driver.

The driving lane information may further include a left rotation point indicating a rotation point when the group operation vehicle rotates in the left direction and a right rotation point indicating a rotation point when the group operation vehicle rotates in the right direction have.

Wherein the driving lane information providing unit calculates coordinates for displaying the driving lane information on the video based on the information of the video input device providing the video to the video input unit and the video synthesizing unit compares the driving lane information and the driving lane information on the basis of the coordinates, Images can be synthesized.

The driving lane information providing unit may calculate the coordinates based on the following expression.

Here, A is the output resolution of the video input device, B is the vertical distance between the display object (the height of the video input device mounted on the vehicle) and the horizontal distance between the display object and the display object D is the focal distance of the optical system included in the image input device, E is the sensor pixel size of the image input device, F is the resolution contrast image of the image input device, C is the distance from the image input device, It can indicate the resolution ratio of the output device.

According to another aspect of the present invention, there is provided a driving lane marking method including: receiving an image corresponding to a front or rear of a group driving vehicle; Driving lane information related to a route and a driving situation of the group operating vehicle, the driving lane information including at least one distance indicating line indicating a distance from the group operating vehicle, information corresponding to the vehicle width of the group operating vehicle Generating a cube; Calculating coordinates for displaying the driving lane information on an image; Synthesizing the driving lane information and the image based on the coordinates; And outputting the synthesized image.

Wherein the information corresponding to the vehicle width of the group operation vehicle includes a vehicle left path line corresponding to the left edge of the group operation vehicle and a vehicle right path line corresponding to the right edge of the group operation vehicle, A left path traveling line indicating a distance away from the path line by a set spacing distance, and a right path traveling line indicating a distance apart from the vehicle right path line by a set spacing distance.

Wherein the driving lane information includes actual distance information that numerically indicates an actual distance indicated by the distance indicating line, a vehicle center path line that indicates a center moving path of the group operating vehicle, a video input device that provides the image, A mounting position indicating a mounted position and a left rotational position indicating a rotational position when the group operating vehicle rotates in the left direction and a rotational position when the group operating vehicle is rotating in the right direction, And a right turning point indicating a right turning point.

"의 수식을 토대로 산출될 수 있다. 여기서, A는 영상 입력 장치의 출력 해상도, B는 수직 좌표일 경우 표시 대상과의 수직 거리(영상 입력 장치가 차량에 장착되는 높이)이고, 수평 좌표일 경우 표시 대상과의 수평 거리(영상 입력 장치에서 표시 대상까지의 거리), C는 표시를 원하는 위치까지의 거리, D는 영상 입력 장치에 포함되는 광학계의 초점 거리, E는 영상 입력 장치의 센서 픽셀 사이즈, F는 영상 입력 장치의 해상도 대비 영상 출력 장치의 해상도 비율을 나타낼 수 있다. The coordinates are "

Where A is the output resolution of the video input device, B is the vertical distance between the display object (the height at which the video input device is mounted on the vehicle) in the case of vertical coordinate, and horizontal coordinate D is the focal length of the optical system included in the image input device, E is the sensor pixel size of the image input device, , And F is the resolution ratio of the image input device to the resolution ratio of the image output device.

The step of outputting the synthesized image may display the at least one driving lane information synthesized in the image differently so as to be distinguished from each other.

According to the embodiment of the present invention, the driving lane information in the group operation vehicle is displayed on the image, so that the driving convenience of the driver of the group operation vehicle can be improved. In addition, the driver of the military operation vehicle can know the driving situation as seen with the actual eyes through the image, and can understand the direction and the distance which the driver intends to go, even when the outside is not visible, do.

1 is a view showing driving lane information according to an embodiment of the present invention.
FIG. 2 and FIG. 3 illustrate information on a video input apparatus according to an embodiment of the present invention.
FIG. 4 is a view illustrating an example of a combined image of driving lane information according to an embodiment of the present invention. Referring to FIG.
5 is a diagram illustrating a structure of a driving lane display apparatus according to an embodiment of the present invention.
6 is a flowchart of a driving lane display method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, a driving lane display apparatus and method of a military driving vehicle according to an embodiment of the present invention will be described with reference to the drawings.

The driving lane display apparatus of the military operation vehicle according to the embodiment of the present invention processes and displays the image provided from the image input apparatus installed in the military operation vehicle, and additionally provides the driving lane information to the displayed image. That is, the driving lane display device generates driving lane information to be displayed on the video provided from the video input device, and displays the resultant driving lane information and the provided video in a composite state.

1 is a view showing driving lane information according to an embodiment of the present invention.

The driving lane information includes various information related to the route along which the military operation vehicle travels and the driving situation. In particular, the driving lane information includes a distance indicating line indicating the distance from the vehicle on the basis of the military operation vehicle, So that it can be confirmed. The information on the vehicle width of the group operating vehicle and the lines running at a predetermined distance from the right and left sides of the vehicle can be checked so as to confirm the running state of the current running vehicle.

Specifically, as shown in Fig. 1, the driving lane information includes a distance display line L1 displayed in a plurality of directions in which the group driving vehicle travels, actual distance information L2 numerically indicating an actual distance indicated by the distance display line, A vehicle center line L3 indicating a center travel path of the vehicle, a vehicle left route line L4 indicating a travel route of the left width corresponding to the vehicle width of the group operation vehicle, A left route travel line L6 indicating a travel route that is a certain distance away from the vehicle left route line, a right route travel route L7 indicating a travel route a certain distance away from the vehicle right route line, A mounting position L8 indicating a mounting position of the input device, a driver position L9, and a rotation point when the group operation vehicle rotates leftward Comprises representing the left turning point (L10), the right turning point (L11) that represents the rotation point of the vehicle turning operation When the group to the right.

The driving lane display device generates the driving lane information as shown in Fig. 1 based on the information on the video input device and the information on the group operation vehicle.

Information on the military operation vehicle includes the area of the military operation vehicle and the position of the driver's seat. The center of the group operation vehicle can be calculated based on the area of the group operation vehicle, and the center line L3 of the vehicle can be generated based on the calculated center.

On the basis of the width and center of the group operation vehicle, a left path L4 of the vehicle corresponding to the left edge of the group operation vehicle and a right path L5 of the vehicle corresponding to the right edge of the group operation vehicle are generated . Based on the vehicle left-side route line L4 and the vehicle right-side route line L5, the driver can know the position of the left and right sides of the current vehicle on the traveling road.

It is possible to calculate the left path travel line L6 that is separated from the vehicle left path line L4 by the set spacing distance and calculate the right path travel line L7 that is separated from the vehicle right path line L5 by the set spacing distance . The set separation distance for calculating the left path travel line L6 and the right path travel line L7 may be set based on an interval that should be secured for safe running with reference to the right and left sides of the vehicle.

Further, it is possible to calculate the left rotation point L10, which represents the rotation point when the group operation vehicle rotates in the left direction, based on the area and the center of the group operation vehicle, and the rotation when the group operation vehicle rotates in the right direction It is possible to calculate the right rotation point L11 representing the point.

In addition, a plurality of distance indicating lines L1 are generated and displayed at predetermined distances from the vehicle in the direction of traveling based on the current position of the group operation vehicle. It is possible to easily check the distance to the objects in the direction in which the driver is currently traveling by displaying the actual distance information L2 together with the distance indicating line L1 together with the actual distance information indicating the actual distance from the vehicle. In particular, a plurality of such distance display lines L1 are displayed instead of one, so that the distance sense of the driver in the running direction and the distance between the objects in the running direction can be more accurately known. Each of the distance display lines L1 can be generated by a preset distance. For example, a distance display line can be generated for each set distance of 10m, 15m, 20m, and 25m.

The driving lane display apparatus according to the embodiment of the present invention calculates the coordinates for displaying the driving lane information as described above on the image.

The coordinates for displaying the driving lane information on the screen of the video output device (e.g., a monitor or the like) to which the video is output are calculated. The display coordinates can be calculated based on the following equation.

Here, A represents the output resolution of the video input device. B represents the vertical distance (the height at which the image input apparatus is mounted on the vehicle) with respect to the display target in the case of the vertical coordinate, and the horizontal distance (distance from the image input apparatus to the display target) with the display target in the horizontal coordinate. C represents the display distance which is the distance to the desired position. D represents the focal length of the optical system included in the image input apparatus, and E represents the sensor pixel size of the image input apparatus. And F represents the resolution ratio of the image input apparatus to the resolution image output apparatus. The information on the image input device includes A, B, C, D, E, F as described above.

FIG. 2 and FIG. 3 are views illustrating information (B, C, D, E) for a video input device according to an embodiment of the present invention.

240(A), 영상 출력 장치 해상도 640

480, 광학계의 초점거리 8.5mm(D), 영상 입력 장치의 센서 픽셀 사이즈 0.025mm(E) 인 경우, 다음과 같이 수직 좌표와 수평 좌표가 계산된다.For example, if you want to find the vertical and horizontal coordinates for a 10 m point (for example, L5), you can use the distance indicator line 10 m (C), the mounting height 2 m (B), the distance 1 m Input device resolution 320

240 (A), video output resolution 640

480, the focal length of the optical system is 8.5 mm (D), and the sensor pixel size of the image input device is 0.025 mm (E), the vertical and horizontal coordinates are calculated as follows.

Coordinates for displaying the respective information (L1 to L11) of the driving lane information on the screen can be calculated according to Equation (1) above, and the value of "C" differs for each information. C denotes a distance to a desired position for displaying each information. For example, a value "C" is determined according to a set distance of a distance indicating line L1 to be displayed on the basis of a position where the vehicle is displayed on the screen . The vehicle center line L3, the vehicle left route line L4, the vehicle right route line L5, the left route travel line L6, The right path travel line L7, the mounting position L8, the driver position L9, the left rotation point L10 and the right rotation point L11 are set to be different from each other, The coordinates can be calculated.

The driving lane display device calculates the coordinates for displaying the driving lane information as described above on the image, and synthesizes the driving lane information with the image based on the calculated coordinates. The combined image of the driving lane information is displayed through the video display device.

FIG. 4 is a view illustrating an example of a combined image of driving lane information according to an embodiment of the present invention. Referring to FIG. A plurality of distance indicating lines L1 are displayed in the direction in which the vehicle travels and the actual distance information L2 of the distance indicating line L1 is displayed together as shown in Fig. It is possible to more accurately determine the distance between objects located in the running direction.

On the basis of the vehicle left-side route line L4 and the vehicle right-side route line L5 displayed on the screen, the driver can know the position of the left and right sides of the current vehicle on the traveling road. Particularly, in addition to the vehicle left-side route line L4 indicating the actual left edge of the vehicle, a vehicle left-side travel line L6 indicating the degree of separation to be secured on the left side of the vehicle for safe running is displayed, The right side travel line L7 indicating the degree of separation to be secured on the right side of the vehicle is displayed in addition to the right route line L5 so that the driver can easily confirm the left and right travel states of the current vehicle, It is possible to confirm whether or not the vehicle is traveling in a state of being separated from the vehicle. This information enables the user to know effectively what the actual vehicle is traveling on the driving road even when the outside of the vehicle can not be seen due to the nature of the military operation vehicle.

Further, based on the left rotation point L10 and the right rotation point L11 displayed on the screen, the driver can predict the point where the vehicle is positioned when the vehicle is rotated left or right in the current state.

In addition, the position where the corresponding image is photographed can be known based on the mounting position L8 displayed on the screen. Based on the driver's position L9, the driver can know the position of the driver on the current driving route .

The driver can visually recognize the driving situation of the vehicle, the direction in which the driver wants to go, and the distance, as well as visually travel through the driving lane information displayed as shown in Fig.

On the other hand, the elements L1 to L11 of the driving lane information can be displayed in different forms for easier identification of the driver. For example, the color of each element or the thickness of the displayed line may be displayed differently. In addition, information that is more helpful to driving safety can be displayed differently from other information. For example, the distance indicating line L1, the vehicle left path line L4, and the vehicle right path line L5 may be given higher priority than other information, and may have a larger thickness than the other information, Can be displayed.

1 and 4, the driving lane information is displayed in the forward direction in which the group driving vehicle travels. However, the driving lane information as described above can be displayed corresponding to the backward direction of the group driving vehicle . Those skilled in the art will be able to generate driving lane information corresponding to the rear direction of the military operation vehicle based on the above description, so that detailed description thereof will be omitted.

5 is a diagram illustrating a structure of a driving lane display apparatus according to an embodiment of the present invention.

5, the driving lane display apparatus 1 according to the embodiment of the present invention includes an image input unit 10, a driving lane information providing unit 20, an image synthesizing unit 30, and a video output unit 40).

The image input unit 10 is provided with an image to be photographed from the image input device 2. The video input device 2 may be installed in front of the group operation vehicle, rearward, or both forward and rearward.

The driving lane information providing unit 20 generates driving lane information as described above and provides it to the image synthesizing unit 30. [ The driving lane information can be calculated as described above on the basis of information on the military operation vehicle and information on the image input apparatus. The driving lane information may be generated in advance and stored in the driving lane information providing unit 20 and may be provided to the image synthesizing unit 30. [

On the other hand, the driving lane information providing part 20 can be selectively operated. That is, the driving lane information can be provided to the image synthesis unit 30 only when the driver requests the driving lane information. To this end, the driving lane marking apparatus 1 may further include an information selection unit 50. [ When the information providing mode is set by the information selecting unit 50, the driving lane information providing unit 20 may provide the driving lane information to the image synthesizing unit 30. [ In addition, the information selection unit 50 can select only the elements to be displayed from among the elements (L1 to L11) of the driving lane information. Among the elements of the driving lane information as illustrated in Figs. 1 and 4, the driver can select and receive only arbitrary information.

The image synthesis unit 30 generates an image obtained by synthesizing the driving lane information provided from the driving lane information providing unit 20 to the image provided from the image input unit 10. At this time, the image synthesizing unit 30 can synthesize the driving lane information on the image based on the display coordinates calculated for the driving lane information. The display coordinates for each of the elements (L1 to L11) constituting the driving lane information can be used for image synthesis in a state that is calculated as described above and stored in advance.

The image synthesizing unit 30 provides the combined image of the driving lane information to the video output unit 40. When no information is provided from the driving lane information providing unit 20, only the image provided from the video input unit 10 To the video output unit (40).

The video output unit (40) provides the video provided from the video composition unit (30) to the video display unit (3). The image provided to the image display device 3 may be an image obtained by combining the driving lane information or an image not combined with the driving lane information.

On the other hand, the video display device 3 displays an image transmitted from the driving lane display device 1 having such a structure. The video display device 3 may be a monitor installed inside the military vehicle.

The driving lane display device 1 according to the embodiment of the present invention may be embodied in the image input device 2 or included in the image display device 3.

6 is a flowchart of a driving lane display method according to an embodiment of the present invention.

The driving lane marking apparatus 1 receives an image photographed from the image input apparatus 2 located at the front / rear of the military vehicle (S100).

The driving lane marking display device 1 generates driving lane information to be displayed (S110). Specifically, based on the information (vehicle width, driver's seat position, etc.) of the group operating vehicle, a plurality of distance display lines L1 are displayed in the direction in which the group driving vehicle travels, an actual distance Information L2, a vehicle center line L3 indicating a center movement path of the group operation vehicle, a vehicle left path L4 indicating a movement path of the left edge of the group operation vehicle, A left route travel line L6 indicating a travel route that is a certain distance from the vehicle left route line, a right route travel route L7 indicating a travel route that is a certain distance away from the vehicle right route route, A driver's position L9 indicating a mounting position of the group driving vehicle, And a right turning point L11 indicating a turning point when the group operating vehicle rotates in the right direction.

The driving lane marking display device 1 calculates display coordinates for displaying each element of the driving lane information (S120). The display coordinates can be calculated based on the information about the video input device and the distance to display each element of the driving lane information on the screen.

The driving lane marking display device 1 synthesizes the driving lane information with the image input from the video input device 2 based on the calculated display coordinates (S130). Then, the combined image of the driving lane information is provided to the image display device 3 so as to be displayed (S140).

The embodiments of the present invention are not limited to the above-described apparatuses and / or methods, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

Claims (12)

A video input unit for receiving a video corresponding to the front or rear of the group driving vehicle;
Driving lane information related to a route and a driving situation of the group operating vehicle, the driving lane information including at least one distance indicating line indicating a distance from the group operating vehicle, information corresponding to the vehicle width of the group operating vehicle A driving lane information providing unit for generating driving lane information;
An image synthesizer for synthesizing the driving lane information and the image provided from the image input unit; And
And a video output unit
/ RTI >
Wherein the driving lane information further includes a left turning point indicating a turning point when the group driving vehicle rotates in the left direction and a right turning point indicating a turning point when the group driving vehicle rotates in the right direction, Driving lane display. The method of claim 1, wherein
Wherein the information corresponding to the vehicle width of the group operation vehicle includes a vehicle left path line corresponding to the left edge of the group operation vehicle and a vehicle right path line corresponding to the right edge of the group operation vehicle, Further comprising: a left path travel line indicating a distance away from the route line by a set spacing distance; and a right path travel line indicating a distance from the vehicle right route line by a set spacing distance. The method of claim 1, wherein
Wherein the driving lane information further includes at least one of actual distance information numerically representing an actual distance indicated by the distance indicating line and a vehicle center path line indicating a center moving path of the group operating vehicle. The method of claim 1, wherein
Wherein the driving lane information further includes at least one of a mounting position indicating a position where the image input device providing the image to the image input unit is mounted on the military operation vehicle and a position of the driver. delete The method according to any one of claims 1 to 4, wherein
Wherein the driving lane information providing unit calculates coordinates for displaying the driving lane information on the video based on the information of the video input device providing the video to the video input unit and the video combining unit compares the driving lane information and the driving lane information on the basis of the coordinates, A driving lane display device for composing images. The method of claim 6, wherein
Wherein the driving lane information providing unit calculates the coordinates based on the following formula.

Here, A is the output resolution of the video input device, B is the vertical distance between the display object (the height of the video input device mounted on the vehicle) and the horizontal distance between the display object and the display object D is the focal distance of the optical system included in the image input device, E is the sensor pixel size of the image input device, F is the resolution contrast image of the image input device, C is the distance from the image input device, Displays the resolution ratio of the output device. Receiving an image corresponding to the front or rear of the group driving vehicle;
Driving lane information related to a route and a driving situation of the group operating vehicle, the driving lane information including at least one distance indicating line indicating a distance from the group operating vehicle, information corresponding to the vehicle width of the group operating vehicle Generating a cube;
Calculating coordinates for displaying the driving lane information on an image;
Synthesizing the driving lane information and the image based on the coordinates; And
And outputting the synthesized image
/ RTI >
Wherein the driving lane information further includes a left turning point indicating a turning point when the group driving vehicle rotates in the left direction and a right turning point indicating a turning point when the group driving vehicle rotates in the right direction, How to display driving lanes. The method of claim 8, wherein
Wherein the information corresponding to the vehicle width of the group operation vehicle includes a vehicle left path line corresponding to the left edge of the group operation vehicle and a vehicle right path line corresponding to the right edge of the group operation vehicle, Further comprising a left path travel line indicating a distance away from the route line by a set spacing distance and a right path travel line indicating a distance from the vehicle right route line by a set spacing distance. The method of claim 8, wherein
The driving lane information
An actual distance information that numerically indicates an actual distance indicated by the distance indicating line, a vehicle center path line indicating a center moving path of the group operating vehicle, a position where the video input unit providing the image is mounted on the group operating vehicle A mounting position indicating the vehicle, and a position of the driver. The method of claim 8, wherein
Wherein the coordinates are calculated on the basis of the following formula.

Here, A is the output resolution of the video input device, B is the vertical distance between the display object (the height of the video input device mounted on the vehicle) and the horizontal distance between the display object and the display object D is the focal distance of the optical system included in the image input device, E is the sensor pixel size of the image input device, F is the resolution contrast image of the image input device, C is the distance from the image input device, Displays the resolution ratio of the output device. The method of claim 8, wherein
Wherein the step of outputting the synthesized image displays differently such that at least one driving lane information synthesized on the image is distinguished from each other.

Images