KR101762726B1 - Around view monitor system for generating top view image and method thereof - Google Patents

Around view monitor system for generating top view image and method thereof Download PDF

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KR101762726B1
KR101762726B1 KR1020150160535A KR20150160535A KR101762726B1 KR 101762726 B1 KR101762726 B1 KR 101762726B1 KR 1020150160535 A KR1020150160535 A KR 1020150160535A KR 20150160535 A KR20150160535 A KR 20150160535A KR 101762726 B1 KR101762726 B1 KR 101762726B1
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image
top view
state
side mirror
view image
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KR1020150160535A
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Korean (ko)
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KR20170057508A (en
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한정수
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(주)캠시스
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    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/08—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors
    • B60R1/081—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors avoiding blind spots, e.g. by using a side-by-side association of mirrors
    • 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
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
    • B60W2420/42—

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)

Abstract

A top view image generation method and AVM system in an AVM (Around View Monitoring) system are disclosed. According to an aspect of the present invention, an AVM system includes: an image input unit that stores, in a storage unit, video signals input in real time from a plurality of cameras provided in a vehicle; A mirror state recognition unit for identifying a state of the side mirror on which the side camera is mounted; And an image generator for generating a top view image by using the image data and correcting the image by the side camera so as to correspond to the state of the side mirror.

Description

[0001] The present invention relates to a method for generating a top view image in an AVM system, and an AVM system for generating the top view image,

The present invention relates to a method of generating a top view image in an AVM (around view monitor) system and an AVM system thereof.

Generally, the driver's watch on the inside of the vehicle is mainly directed to the front, and the left and right side watches and the rear side watches of the driver are largely covered by the vehicle body.

In order to solve such a problem, a clock assist means such as a side mirror for supplementing a limited range of the driver's clock is generally used. Recently, techniques including camera means for photographing an external image of a vehicle and providing the image to a driver This trend is being applied to vehicles.

For example, there is around view monitoring (AVM) system (hereinafter referred to as AVM) system in which a plurality of cameras are installed around a vehicle to display 360 ° omni-directional images of the surroundings of the vehicle. The AVM system combines not only each individual view captured through a plurality of cameras that photograph the surroundings of the vehicle but also images of the surroundings of the vehicle to provide a top view image in which the driver looks at the vehicle in the sky , Displays obstacles around the vehicle and eliminates blind spots.

1 is a view schematically showing the concept of an AVM system.

Referring to FIG. 1, cameras 110a, 110b, 110c, and 110d (hereinafter, collectively referred to as 110) are installed on front and rear sides, right and left sides of the vehicle 100, respectively. Each of the cameras 110 photographs the images A, B, C, and D on the front and rear sides and the left and right sides of the vehicle 100 and displays the captured image on the image 100 (Refer to FIG. 1 (b)) and outputs it to various display devices mounted on the vehicle 100.

The reconstructed AVM image is generated by converting an image photographed horizontally on the ground by a camera 110 installed on front and rear sides, left and right sides of the vehicle into an image of a shape perpendicular to the ground, Since there is a distance from the event, a detailed explanation thereof is omitted.

Such top view images can be useful when parking, driving in obstacles or in narrow alleys. The user can perform parking or running by confirming an obstacle or the like in the screen. In the case of a narrow alley or a space that can not be reached at a time of parking or parking, it is troublesome to turn several times or to alternate between front and back. In such a case, the vehicle often gets scratched or a contact accident occurs Occurs. Compared with the case where the driver visually confirms the use of the AVM system, the accident rate may be lowered.

However, the conventional AVM system generally generates and provides a top view image only when the side mirror of the vehicle is opened. In other words, when the side mirror is folded, the top view image is not provided. This makes it difficult to prevent accidents caused by motorcycles, pedestrians, nearby dangerous objects, or the like because the top view image is not provided when the side mirror is folded for a while when passing through a narrow area or when the side mirror is to be folded and parked in a parked state. there is a problem.

If a top view image is generated while the side mirror is folded using the existing AVM system, a complete top view image is not generated. In general, a camera for photographing a side is attached to a side mirror, whereby an image to be photographed in a state in which the side mirror is expanded and an image to be photographed in a state in which the side mirror is folded are different from each other. Therefore, since the tolerance correction is performed to generate the topview using the side image photographed in the state in which the side mirror is being expanded, there is a problem that the topview image that is incompletely provided when the side image photographed in the folded state of the side mirror is used .

Korean Patent Laid-Open No. 10-2013-0073256 (Published date July 03, 2013) AVM Top view based parking support system

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide an AVM system and a method of generating a top view image of the AVM system that enable monitoring of the surroundings of a vehicle even when the side mirrors are folded.

Other objects of the present invention will become more apparent through the following preferred embodiments.

According to an aspect of the present invention, there is provided an AVM (Around View Monitoring) system, comprising: a video input unit for storing, in a storage unit, video signals input in real time from a plurality of cameras provided in a vehicle; A mirror state recognition unit for identifying a state of the side mirror on which the side camera is mounted; And an image generating unit using the image data to generate a top view image by correcting the image by the side camera so as to correspond to the state of the side mirror.

The storage unit stores a lookup table according to the tolerance-corrected data and a second lookup table according to the folded state of the side mirror in a state in which the side mirror is extended, and the image generator generates the first lookup table and the second lookup table, Up view can be generated by selecting any one of the two look-up tables according to the state of the side mirrors.

The storage unit stores a look-up table according to tolerance-corrected data in a state in which the side mirror is expanded, and the image generator generates the top-view image using the look-up table, and when the side mirror is in a folded state The side image can be corrected at a predetermined angle.

In addition, the image generating unit may generate a half-top view image excluding the image data by the front camera when the side mirror is folded.

In addition, the mirror state recognition unit can identify the state of the side mirror by analyzing the shape of the side mirror in the side image of the image data.

According to another aspect of the present invention, there is provided a method of generating a top view image performed in an AVM (Around View Monitoring) system, the method comprising: storing video signals input from a plurality of cameras provided in a vehicle, ; Identifying a state of a side mirror on which a side camera of the cameras is mounted using the image data; And generating a top view image by using the image data and correcting the image by the side camera so as to correspond to the state of the side mirror, and a method of generating a top view image, Is provided.

The method may further include storing in advance a first lookup table according to the tolerance corrected data and a second lookup table according to the folded state of the side mirror in a state in which the side mirror is opened, Up view can be generated by selecting any one of the two look-up tables according to the state of the side mirrors.

In addition, when the side mirror is in a folded state, the top view image can be generated by correcting the side image at a predetermined angle using the look-up table in which the side mirror is expanded.

In addition, when the side mirror is in a folded state, a half-top view image excluding the image data by the front camera can be generated.

Also, the state of the side mirror can be identified by analyzing the side mirror shape in the side image of the image data.

According to the present invention, an accident can be anticipated by checking the top view image and monitoring the surroundings even in the state where the driver gets off or the side mirror is folded to pass through a narrow area.

1 schematically illustrates the concept of an AVM system;
2 is a functional block diagram illustrating a configuration of an AVM system according to an embodiment of the present invention;
3 is an exemplary view showing a top view image according to a state of a side mirror;
Figs. 4 and 5 are photographs illustrating images taken by a side camera of the AVM system. Fig.
6 is a flowchart illustrating a process of generating a top view image in an AVM system according to an embodiment of the present invention.
FIG. 7 is an exemplary diagram illustrating a concept of a half-top view image according to an embodiment of the present invention; FIG.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, terms such as a first threshold value, a second threshold value, and the like which will be described later may be previously designated with threshold values that are substantially different from each other or some of which are the same value, Because there is room, the terms such as the first and the second are to be mentioned for convenience of division.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

It is to be understood that the components of the embodiments described with reference to the drawings are not limited to the embodiments and may be embodied in other embodiments without departing from the spirit of the invention. It is to be understood that although the description is omitted, multiple embodiments may be implemented again in one integrated embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

FIG. 2 is a functional block diagram illustrating a configuration of an AVM system according to an exemplary embodiment of the present invention, and FIG. 3 is an exemplary view illustrating a top view image according to a state of a side mirror.

2, the AVM system includes an image input unit 210, an image generating unit 220, a storage unit 230, a mirror state recognizing unit 240, and a display unit 250. Referring to FIG. Although not shown, a controller for controlling the operation of one or more components included in the AVM system may further be included.

The image input unit 210 generates camera image data, which is captured and input from the at least one camera 110 provided in the vehicle 100 or the main body, as camera image data, and stores the generated camera image data in the storage unit 230. Here, the camera 110 may be implemented as a wide-angle camera in order to capture an image of the surroundings of the vehicle with a small quantity.

For example, an AVM system operating program, camera image data generated by the image input unit 210, monitoring image data generated by the image generating unit 220, and the like may be stored in the storage unit 230. The storage unit 230 may be separated into a permanent storage memory for permanently storing data and a temporary storage memory for temporarily storing and operating data necessary for operation, or may be operated as a removable memory.

The image generating unit 220 generates a monitoring image, that is, a top view image, output by the display unit 250, using the camera image data stored in the storage unit 230.

As described above, the AVM system according to the present embodiment captures the front, back, left, and right sides respectively, and synthesizes the photographed images to generate a top view image. This is to enable the driver to check the surroundings at a glance when driving or parking by checking the top view image. In other words, the image generating unit 220 synthesizes the image data from the plurality of cameras 110 to generate AVM image data, which is a top view image that looks like the vehicle's environment from above the vehicle, as a monitoring image do. The top view image generated as shown in FIG. 1 by the image generating unit 220 will be output through the display unit 250. [0053] FIG.

In general, when installing the AVM system on a vehicle, the tolerance correction is performed in consideration of the angle at which the camera is installed. That is, since the size and height of each vehicle are different from each other, the shooting angles of the installed cameras may be changed, thereby performing tolerance correction to synthesize images by cameras in a form optimized for the vehicle, So that an image can be generated. The information on the performed tolerance correction is stored in the storage unit 230 as a lookup table (LUT), and thus the image generating unit 220 can generate a top view image by referring to the LUT described above. Such a tolerance correction will be apparent to those skilled in the art, so that a detailed description thereof will be omitted.

Particularly, the image generating unit 220 according to the present embodiment changes the image correction by the side camera according to the state of the side mirror (divided into the folded state and the expanded state). The camera for photographing the side surface is usually installed on one side of the side mirror. Therefore, when the side mirror is in the folded state and when the side mirror is in the expanded state, the cameras installed on the side face shoot different images. Referring to FIG. 3, in general, when a side mirror is opened, a normal top view image can be generated as shown in (a). However, if a side mirror image taken in a folded state is used as it is, A top view image is generated.

Therefore, the image generating unit according to the embodiment of the present invention performs the correction of the side image in different ways according to the state of the side mirror.

According to an example, the AVM system stores respective lookup tables according to respective states of the side mirrors, and the image generating unit 220 generates a top view image using a lookup table according to each state. In other words, the first lookup table for the data for correcting the tolerance of the side image photographed in the state in which the side mirror is opened (referred to as the first state) and the first lookup table for the side mirror imaged in the state in which the side mirror is in the folded state The second lookup table for the data for correcting the tolerance of the side image is stored in the storage unit 230 in advance. Accordingly, the image generating unit 220 can generate a normal top view image by correcting the side image using the lookup table according to the state of the side mirror.

According to another example, when only the first lookup table as described above (i.e., the lookup table for tolerance correction according to the first state) is stored in the storage unit 230, the image generating unit 220 generates, A correction is performed to rotate the image at a predetermined angle, and a correction is made according to the first lookup table to generate a top view image. Typically, the side mirrors of the vehicle are always folded at a constant angle (e.g., 50 degrees). Therefore, when the side image in the second state of the side mirror is rotated by the angle of rotation of the side mirror, it becomes similar to the image captured in the first state.

4 and 5 are photographs illustrating images taken by a side camera of the AVM system.

When the photograph of FIG. 4 taken in a state in which the side mirrors are folded is rotated clockwise by about 50 degrees, the side mirror is similar to the photograph of FIG. 5 taken in the unfolded state. Accordingly, the image generating unit 220 performs the tolerance correction using the lookup table after rotating the side image at a predetermined angle in a state where the side mirror is folded, and generates the top view image using the corrected images.

Referring again to FIG. 2, the mirror state recognition unit 240 performs a function of identifying the state of the side mirror with respect to whether the side mirror is in the expanded state or the folded state. According to an example, the mirror state recognition unit 240 can recognize the state of the side mirror by receiving the side mirror state information from the main system of the vehicle by the wired / wireless communication means. According to another example, the mirror state recognition unit 240 may identify the state of the side mirror by analyzing the side image captured by the side cameras 110B and 110C. For example, referring to FIGS. 3 and 4, a part of the side mirror is photographed by the side cameras 110B and 110C. In other words, a portion of the side mirror is visible in the side image, and the mirror state recognition unit 240 can recognize whether the side mirror is folded or unfolded by recognizing the shape of the side mirror in the side image. Of course, it is needless to say that the present invention is not limited thereto, and all image analysis methods for identifying the state of the side mirrors using side images can be used.

Hereinafter, the process of generating a top view image according to the state of the side mirror will be described in detail.

FIG. 6 is a flowchart illustrating a process of generating a top view image in an AVM system according to an exemplary embodiment of the present invention. FIG. 7 is a diagram illustrating a concept of a half-top view image according to an exemplary embodiment of the present invention.

Referring to FIG. 6, the AVM system recognizes the state of the side mirror (S10). Since the method of recognizing the mirror state has been described above, a duplicate description will be omitted.

The AVM system checks the state of the side mirrors (S20). If the side mirrors are in the unfolded state, the top view image is generated using the first group table. That is, a tolerance correction for an image photographed in a state in which the side mirrors are opened is performed in advance, and a lookup table according to the tolerance correction is stored in advance and used.

Alternatively, if the side mirror is in the folded state, it is confirmed whether or not the second lookup table exists (S35). If so, the top view image is generated using the second lookup table (S40). As described above, the second tolerance correction for the image photographed in the state in which the side mirror is folded is performed in advance, and the second lookup table according to the tolerance correction is stored in advance and used.

If the second lookup table does not exist, the side view image is rotated by a predetermined angle and the top view image is generated using the first lookup table as it is (S45). As described above, since the side mirrors are always rotated only at a certain angle in the same vehicle in which the side mirrors are automatically rotated, when the side mirrors are rotated in a folded state and the side images are rotated at predetermined angles, So that a similar image is obtained.

Here, according to one example, if the side mirror is in a collapsed state, the AVM system may create a half top view. Referring again to FIGS. 4 and 5, it is possible to secure the image of the rear side of the vehicle even in the folded state, as compared with the state in which the side mirror is opened. When the side mirror is folded, it is more likely that the driver falls down on the vehicle or passes through a narrow space. Therefore, it is desirable to provide the image for the rear rather than the front.

Accordingly, in the folded state of the side mirror, as shown in FIG. 7, a half-top-view image is generated according to the area 700 by the remaining images excluding the forward image. According to this, the driver can concentrate his gaze only in the rear side by checking the half top view image.

The above-described method of creating a top-view image in the AVM system according to the present invention can be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording media storing data that can be decoded by a computer system. For example, it may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like. In addition, the computer-readable recording medium may be distributed and executed in a computer system connected to a computer network, and may be stored and executed as a code readable in a distributed manner.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that various modifications and changes may be made.

100: vehicle 110a, 110b, 110c, 110d:
210: image input unit 220:
230: storage unit 240: mirror state recognition unit
250:

Claims (11)

In an AVM (Around View Monitoring) system,
An image input unit for storing, in respective camera image data, image signals input in real time from cameras provided in the front, rear, and both side mirrors of the vehicle;
A mirror state recognition unit for analyzing a shape of the side mirror in the side image by the side camera of the cameras and identifying the state of the side mirror; And
Wherein when the side mirror is in a folded state, it generates a top view image by using image data by each of the cameras stored in the storage unit, and when the side mirror is identified as a folded state, And an image generating unit for generating a half-top view image by excluding image data by the half-top view image.
The method according to claim 1,
The storage unit stores a first lookup table according to the tolerance corrected data and a second lookup table according to the folded state of the side mirror in a state in which the side mirror is extended,
Wherein the image generating unit generates either the top view image or the half top view image by selecting any one of the first look-up table and the second look-up table according to the state of the side mirror.
The method according to claim 1,
The storage unit stores a look-up table according to tolerance-corrected data in a state in which the side mirrors are extended,
Wherein the image generating unit generates the top view image using the lookup table and corrects the side image at a predetermined angle when the side mirror is in a folded state to generate the half top view image.
delete delete In a top view image generation method performed in an AVM (Around View Monitoring) system,
Storing video signals inputted from cameras provided in front, rear and both side mirrors of the vehicle in real time as respective image data in a storage unit;
Identifying the state of the side mirror by analyzing the shape of the side mirror in the side image by the side camera of the cameras; And
Wherein when the side mirror is in a folded state, it generates a top view image by using image data by each of the cameras stored in the storage unit, and when the side mirror is identified as a folded state, And generating a half-top view image by excluding the image data by the half-top view image.
The method of claim 6,
Further comprising the step of storing in advance a first look-up table according to the tolerance-corrected data and a second look-up table according to the folded state of the side mirror in a state in which the side mirror is opened,
Wherein the top view image or the half top view image is generated by selecting any one of the first lookup table and the second lookup table according to the state of the side mirror.
The method of claim 6,
Wherein when the side mirror is in a folded state, the side image is corrected at a predetermined angle to generate the half-top view image, using the tolerance-corrected look-up table in a state in which the side mirror is expanded.
delete delete 9. A recording medium in which a program for performing the method of any one of claims 6 to 8 is recorded so as to be readable by a computer.
KR1020150160535A 2015-11-16 2015-11-16 Around view monitor system for generating top view image and method thereof KR101762726B1 (en)

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KR20220124323A (en) * 2021-03-02 2022-09-14 주식회사 켐트로닉스 Apparatus and method for generating side mirror virtual image

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