KR101772929B1 - System for processing integrated images of the navigator and AVM camera on vehicle - Google Patents

System for processing integrated images of the navigator and AVM camera on vehicle Download PDF

Info

Publication number
KR101772929B1
KR101772929B1 KR1020150140963A KR20150140963A KR101772929B1 KR 101772929 B1 KR101772929 B1 KR 101772929B1 KR 1020150140963 A KR1020150140963 A KR 1020150140963A KR 20150140963 A KR20150140963 A KR 20150140963A KR 101772929 B1 KR101772929 B1 KR 101772929B1
Authority
KR
South Korea
Prior art keywords
image
vehicle
data
camera
navigator
Prior art date
Application number
KR1020150140963A
Other languages
Korean (ko)
Other versions
KR20170041486A (en
Inventor
김기혁
Original Assignee
주식회사 성우모바일
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 성우모바일 filed Critical 주식회사 성우모바일
Priority to KR1020150140963A priority Critical patent/KR101772929B1/en
Publication of KR20170041486A publication Critical patent/KR20170041486A/en
Application granted granted Critical
Publication of KR101772929B1 publication Critical patent/KR101772929B1/en

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3647—Guidance involving output of stored or live camera images or video streams
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units

Abstract

The image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention may be applied to a multicore processor that clusters data received from a plurality of sensors installed in a vehicle and generates integrated data Core processor unit and control means for controlling each part of the vehicle on the basis of the integrated data generated by the multi-core processor unit, A communication channel unit (Inter Communication Channel Unit) for transmitting control data generated in the vehicle integrated control unit to the control means through a vehicle integrated control unit (Automotive ECU) in which logic is installed and a communication channel; Wherein the multicore processor unit displays at least one of a first image, which is a route guidance image of the navigator, and a second image, which is a peripheral image of the vehicle obtained from the AVM camera, or executes the navigator or AVM camera Wherein the first image and the second image are clustered according to an operation of a user input through a display unit that receives a user's operation for making a first image and a second image, .

Description

[0001] The present invention relates to an image integration process of a navigator and an AVM camera, and an image integration processing system of an AVM camera,

The present invention relates to an image integration process of a navigator and an AVM camera and an image integration processing system of an AVM camera. More particularly, the present invention relates to a navigation image guiding a vehicle's driving route and a top view mode And an AVM camera image integration processing system for the AVM camera.

Along with the development of electronic information communication technology and sensor technology, various technologies for the convenience and safe operation of the driver are applied to the vehicle.

A navigator for guiding a driving route and traffic information to a driver based on a GPS transceiver mounted on the vehicle is applied and further devices including audio and video functions of the vehicle using a display screen of a navigator . An apparatus in which the audio, video and navigator of a vehicle are integrated is called an AVN system.

Recently, a system has been adopted in which a vehicle peripheral image is photographed with a camera and displayed on a monitor installed in the vehicle, thereby assisting the driver in parking. In addition, a function of assisting the driver in parking the vehicle by displaying a parking space line or a parking guide line in the process of displaying the image of the rear camera installed on the rear side of the vehicle is mounted on the monitor. Furthermore, active research is being conducted on techniques for allowing parking even if the operation is not performed by a driver based on measured values measured by various sensors mounted on the vehicle.

On the other hand, an AVM (Around View Monitoring) camera is being applied as a means for photographing a video around the vehicle more effectively. The AVM camera can reduce the blind spot by installing a large number of cameras around the vehicle and showing the whole circumference image of the vehicle to the driver.

As described above, in recent years, various devices considering the convenience of the driver have been applied, and attempts to integrate various functions have been continuously performed.

Patent Registration No. 10-1327736 (Nov. 11, 2013) Korea Patent Office Registration No. 10-1224111 (2013.01.18) Korea Patent Office Registration No. 10-1241865 (March 3, 2013)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the conventional art, and it is an object of the present invention to provide a navigation system capable of integrating an image of a navigation system guiding a vehicle's driving route and an image of an AVM camera mounted on a vehicle, An image integration process of the navigator and the AVM camera, and an image integration processing system of the AVM camera.

In order to achieve the above object, according to an embodiment of the present invention, there is provided a navigation system including a navigator mounted for guiding a vehicle's driving route, and an AVM camera for photographing an image around the vehicle and displaying the image in a top view mode A video processing system of the present invention includes a multicore processor unit (not shown) for receiving data from a plurality of sensors installed in a vehicle, including the navigator and the AVM camera, and clustering the received data to generate integrated data for each clustering ) unit; A processor for generating control data for controlling at least one of control units for controlling each part of the vehicle on the basis of the integrated data generated by the multicore processor unit and controlling the generated control data to be transmitted to the control unit A vehicle integrated control unit (Automotive ECU) in which the above application logic is installed; A communication channel unit for transmitting data between the multicore processor unit and the vehicle integrated control unit via a communication channel and transmitting the control data generated by the integrated vehicle control unit to the control unit; The multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are formed as separate chip sets on a single board so as to be installed in a specific area of the vehicle. Wherein the multicore processor unit displays at least one of a first image which is a route guidance image of the navigator and a second image which is a peripheral image of the vehicle obtained from the AVM camera, Wherein the first image and the second image are clustered according to an operation of a user input through a display unit that receives an operation of the first image and the second image so that the first image and the second image are converted into a video output format of the display unit by the image conversion unit Configuration can be made.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the display unit displays a main path including a starting point and a destination point through a navigator, A setting for a sub path including a recording start point and a recording end point may be input, and at least one sub path may exist on the main path.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, when the vehicle reaches the starting point of the sub path during traveling along the main path, To acquire the second image, and when the end point of the sub path is reached, the driving of the AVM camera is stopped.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the multi-core processor unit integrates the first image and the second image and displays them through the display unit, 2 images can be displayed in a divided manner.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the multicore processor unit may perform load balancing for the first image and the second image, (load balancing) may be performed.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the multicore processor unit constructs the second image by combining the images of the vehicles obtained from the AVM camera, The second image may be stored in a file format of the second image.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, when the second image is stored, the multicore processor unit selects one of the frames constituting the second image as a still- To the storage device.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the multicore processor unit may display the still image of the second image stored in the storage device, And a second image file of the still-cut image selected by the user is reproduced through the display unit.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the multicore processor unit may be configured to synchronize the respective data received from the plurality of sensors.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the plurality of sensors may include a radar, a lidar, an ultrasonic sensor, a navigation sensor, an accelerator level sensor, a steering sensor, and a gyroscope sensor, wherein the plurality of sensors include a plurality of sensors, The data received from the sensor may include distance data using at least one of the radar, the radar and the ultrasonic sensor, image data using the at least one camera and the navigator, velocity data of the vehicle using the wheel speed sensor, Acceleration data of the vehicle using the steering sensor, rotational speed of the steering wheel using the steering sensor, Rotation angle data, three-axis direction data of the vehicle using the gyroscope sensor, and GPS position data of the navigator.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the multi-core processor unit is configured to determine the driving speed of the vehicle, the mode of the vehicle (Rear, Drive) An arrangement may be made to cluster the data based on one or more of the inputs.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the multicore processor unit monitors connection / non-connection with the plurality of sensors, the vehicle integration control unit, And may be configured to perform at least one of monitoring connection, debuggling and real-time upload of the algorithm for clustering, and debugging and logging data received from the plurality of sensors.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the vehicle integration control unit may synchronize the control data generated for each control means, Respectively.

In the image integration process of the navigator and the AVM camera and the image integration process system of the AVM camera according to an embodiment of the present invention, the vehicle integrated control unit may be configured to monitor whether or not the vehicle is connected to the control unit.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the control means includes power train domain control means including the power engine of the vehicle and the power transmission device, Chassis domain control means including brakes and steering devices, body domain control means including comfort and safety devices of the vehicle, and multimedia domain control means including telematics, route guidance, music and video Can be achieved.

In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the communication channel unit is configured to perform at least one of real time debugging, logging and timing sink of the communication channel .

According to an embodiment of the present invention, a navigation system, which is a system for guiding a route of a vehicle, and processing of an AVM camera image for photographing the surroundings of the vehicle are integrally processed, thereby minimizing the operation of the driver, As the navigator image and the AVM camera image are integrated management, processing, and storage, the memory usage efficiency can be improved.

In addition, a recording interval is set through navigation when recording a peripheral image of a vehicle using an AVM camera, and unnecessary image recording is minimized by recording a surrounding image only in a corresponding recording interval, and the efficiency of a storage space for storing images is increased .

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a block diagram illustrating a configuration of an integrated data processing control system for an automobile according to an embodiment of the present invention.
2 is a view for explaining an image integration processing system according to an embodiment of the present invention;
3 is a flowchart illustrating a process of controlling an image integration processing system according to an embodiment of the present invention.
4 is a view illustrating a screen displayed through an in-vehicle display unit when controlling an image integration processing system according to an embodiment of the present invention;
5 is a view illustrating a screen displayed through an in-vehicle display unit when controlling an image integration processing system according to another embodiment of the present invention.
FIG. 6A is a view schematically showing a configuration of a multicore processor unit according to another embodiment of the present invention; FIG.
6B is a hierarchical diagram for implementing a configuration of a multicore processor unit according to another embodiment of the present invention;
7A is a diagram showing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.
7B is a hierarchical diagram for implementing a configuration of a vehicle integrated control unit according to an embodiment of the present invention;
8A is a block diagram showing the configuration of a communication channel unit according to an embodiment of the present invention;
FIG. 8B is a layer diagram for implementing a configuration of a communication channel unit according to an embodiment of the present invention; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. 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 a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "indirectly connected" .

Also, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

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

1 is a block diagram showing a configuration of an integrated data processing control system for a vehicle according to an embodiment of the present invention.

The integrated data processing control system 10 for a vehicle according to the embodiment of the present invention includes a multicore processor unit for clustering data received from a plurality of sensors 50 to generate integrated data A vehicle integrated control unit (Automotive ECU) 30 in which application logic for controlling each control means 60 of the vehicle is installed based on the generated integrated data, And a communication channel unit (40) for allowing data to be transmitted between the units (30).

Particularly, in the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention, the multicore processor unit 20, the vehicle integrated control unit 30 and the communication channel unit 40 are mounted on one board And a chip set that can be divided into a plurality of chips.

The sensor 50 capable of receiving data in the multicore processor unit 20 of the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention may be a radar, a lidar, an ultrasonic an accelerometer level sensor, a steering sensor and a gyroscope sensor among a plurality of ultrasonic sensors, one or more cameras (camera, stereo camera, AVM camera), a navigator, a wheel speed sensor, And may include one or more.

For reference, the sensor 50 of the present invention is not limited to the sensors, but may include all sensors applicable to a vehicle.

Meanwhile, the multicore processor unit 20 is configured to receive data from the sensor 50 via the network. In this case, CAN, LIN, FlexRay, and the like can be applied to the types of networks that can be implemented.

Here, the data (hereinafter, referred to as 'sensor data') received from the sensor 50 may include distance data using at least one of a radar, a rod and an ultrasonic sensor, at least one camera, Image data using a camera such as a stereo camera, an Around View Monitoring camera and a navigator, speed data of a vehicle using a wheel speed detecting sensor, acceleration data of a vehicle using an accelerator level detecting sensor, The rotational speed of the handle, the rotational direction, the rotational angle data, the three-axis direction data of the vehicle using the gyroscope sensor, and the GPS position data of the navigator.

In the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention, the multicore processor unit 20 is configured to clustering data received from the sensors 50 to generate integrated data per clustering .

At this time, the multicore processor unit 20 is configured to cluster the sensor data based on at least one of the traveling speed of the vehicle, the transmission mode (Parking, Rear, Drive) and the driver's input.

In one embodiment, when the vehicle speed is less than a certain speed (e.g., 5 km / h) and the transmission mode repeats R (reverse) and D (travel) Mode, and sensor data for parking among the data received from the sensors 50 can be clustered.

For reference, when the automatic parking mode is supported, if the driver's automatic parking mode button is selected, the multicore processor unit 20 may be configured to cluster the sensor data for automatic parking.

Here, the sensor data clustered for parking may include distance data and image data.

In addition, it may further include a rotation speed of the handle, a rotation direction, rotation angle data, and the like.

For example, the rotation speed, the rotation direction, the rotation angle data, and the like of the steering wheel can be utilized to display a proper traveling path of the vehicle at the time of parking on a monitor of an AVN (Audio, Visual and Navigation) system.

The multi-core processor unit 20 may generate integrated data incorporating the clustered sensor data, and may synchronize sensor data received at a predetermined time difference.

In addition, the multicore processor unit 20 may monitor whether or not the plurality of sensors 50 are connected to each other, and may monitor whether the vehicle integrated control unit 30 and the communication channel unit 40 are connected to each other.

In addition, the multicore processor unit 20 can perform one or more of debugging and logging of algorithms for clustering sensor data and real-time uploading, debugging and logging of data received from the plurality of sensors 50 have.

The multicore processor unit 20 may include a program capable of performing at least one of debugging of the algorithm and real-time uploading, debugging and logging of data, and the program is stored in a memory in the multicore processor unit 20 Lt; / RTI >

On the other hand, in the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention, the vehicle integrated control unit 30 calculates the respective parts of the vehicle based on the clustering-specific integrated data generated in the multicore processor unit 20 And application logic for controlling at least one of the control means for controlling the control means.

In one embodiment, when the clustering integrated data-distance data, image data, etc., for automatic parking from the multicore processor unit 20 is received, the vehicle integrated control unit 30 generates, based on the clustering integrated data for automatic parking Application logic is provided to enable the determination of the parkable position of the vehicle.

Thereafter, the multi-core processor unit 20 generates control data for controlling each control means-handle, brake, accelerator level, etc. of the vehicle in order to automatically park the vehicle in the parking-enabled position, To be transmitted to the control means.

At this time, the vehicle integrated control unit 30 synchronizes the control data generated for each control means, or controls the control means so that each control command is transmitted to the control means in accordance with a preset control order, can do.

In addition, the vehicle integrated control unit 30 is configured to monitor whether or not the multicore processor unit 20, the communication channel unit 40, and the respective control means are connected to each other.

On the other hand, the communication channel unit 40 can transfer data between the multicore processor unit 20 and the vehicle integrated control unit 30 via the internal communication channel, and can transmit control data of the vehicle integrated control unit 30 To the respective control means (60).

In addition, the communication channel unit 40 can support the communication of the vehicle-to-vehicle.

The communication channel unit 40 may also include a program for performing at least one of real-time debugging, logging and timing sinking of a communication channel, and the program may be stored in a memory in the communication channel unit 40. [

On the other hand, the various control means 60 of the vehicle which can be controlled through the application logic installed in the above-described vehicle integrated control unit 30 is included in each part of the vehicle such as a power train domain, a chassis domain, a body domain and a multimedia domain, And an ECU for controlling the part.

The ECU, which is the control means of each of the above-described parts, can drive the corresponding part in accordance with the control command of the vehicle integrated control unit 30. [

For reference, a powertrain domain may include a powerplant and a powertrain of a vehicle, the chassis domain may include a brake and a steering device of the vehicle, and the body domain may include a comfort and safety device of the vehicle have.

And, the multimedia domain may include a device for providing telematics, navigation (navigation), music and video.

2 is a diagram for explaining a heterogeneous image integration processing system according to an embodiment of the present invention.

The image integration process of the navigator and the AVM camera according to the embodiment of the present invention and the image integration process system of the AVM camera (which may be abbreviated as 'image integration processing system' for convenience of explanation) Core processor unit 20 and may include a display unit 110, an image conversion unit 120, and an integrated control unit 130. The display unit 110, the image conversion unit 120,

In accordance with the control of the integrated control unit 130, the display unit 110 displays a route guidance image of the navigator that guides the route of the vehicle to the driver, One or more images can be displayed.

Also, the display unit 110 can receive a user's operation for operating the navigator or the AVM camera, and a user interface (UI) for the operation can be displayed.

Wherein the user interface may be an integrated user interface including a user interface associated with the operation of the navigator and a user interface associated with the operation of the AVM camera on one screen.

For reference, the navigator can provide a route to a departure place and a destination set by the user (hereinafter referred to as a main route), display the position of the vehicle on the main route based on the position information of the vehicle, have.

The AVM camera may include a plurality of cameras installed at predetermined positions of the vehicle (for example, front bumper, rear bumper, left side, right side, etc.) It is possible to construct a vehicle periphery image such as looking down the vehicle from above.

The user can set the main path of the navigator through the display unit 110 and use the AVM camera in the main path to start and stop the recording of the surrounding image of the vehicle (Hereinafter, referred to as a sub path).

On the other hand, the image converting unit 120 can match different types of image data. That is, the path guide image of the navigator and the vehicle periphery image of the AVM camera can be converted into the image output format of the display unit 110.

Meanwhile, the integrated control unit 130 can integrally control at least one of the navigator and the AVM camera image according to the user's operation inputted through the display unit 110. [

For example, it is possible to control only the route guidance image of the navigator to be displayed through the display unit 110, or to control only the vehicle periphery image of the AVM camera to be displayed through the display unit 110, The guide image and the vehicle periphery image of the AVM camera may be integrated and displayed.

At this time, the integrated controller 130 divides the area where the two images are displayed, and displays the divided area through the display unit 110. [

In addition, when the integrated control unit 130 reaches the start point of the sub-path during which the vehicle is traveling along the main path, the AVM camera can be driven to acquire a peripheral image of the vehicle under driving, The driving of the AVM camera is stopped to minimize the unnecessary recording of the surroundings of the vehicle, and the efficiency of the storage space in which the image is stored can be increased.

At this time, the integrated control unit 130 can overlap and display the sub-paths on the main path displayed on the navigator. When the vehicle reaches the start point and the end point of the sub-path, .

For reference, one or more sub paths may be included in the main path, and the integrated control unit 130 may store an image acquired by the AVM camera in a predetermined storage device (in-vehicle storage device, cloud, or the like).

At this time, the integrated controller 130 may store the vehicle periphery image as if it is looking down on the vehicle, as an image file, and may store the still image of the image file together.

In addition, the integrated control unit 130 may provide an image obtained by the AVM camera stored in the predetermined storage device according to a user's request.

At this time, the integrated control unit 130 can display the still-cut image of the image file stored in the predetermined storage device through the display unit 110. When a plurality of still-cut images are displayed, the specific still- Can be reproduced through the display unit.

In addition, the integrated controller 130 can perform load balancing according to the importance of the image, thereby minimizing power consumption in the vehicle.

For example, when recording of the surroundings of the vehicle using the AVM camera is started, the integrated control unit 130 temporarily stores the low-priority functions such as changing the video of the navigator (for example, changing the map accumulation according to the vehicle speed) , And when the recording of the surroundings of the vehicle using the AVM camera is finished, the related functions can be restarted again.

For this, the integrated control unit 130 may display a user interface through which the priority according to the importance of the image is input from the user through the display unit 110, and input the importance of the image for load balancing through the corresponding user interface Can receive.

3 is a flowchart illustrating a process of controlling an image integration processing system according to an embodiment of the present invention.

The flowchart shown in FIG. 3 is a case of setting the main path and the sub path, and may be performed by the image integration processing system 100 shown in FIG.

First, the image integration processing system 100 receives settings for the main path through the navigator (S301).

After step S301, the image integration processing system 100 receives the mode switching selection for sub path input and receives settings for the sub path through the navigator (S302).

After S302, the image integration processing system 100 determines whether the current position of the vehicle under running reaches the start point of the sub path (S303).

As a result of the determination, when the start point of the sub path has been reached, the image integration processing system 100 drives the AVM camera to acquire and store a peripheral image of the vehicle, And displays them on the screen (S304).

At this time, the image integration processing system 100 can divide the image of the navigator and the image of the AVM camera and display them on the screen. The AVM camera is driven to output a message informing that the peripheral image of the vehicle is being recorded, can do.

In addition, it is possible to store a vehicle periphery image such as a vehicle periphery view from above, as a single image file, and to store still image of the image file together.

After S304, the image integration processing system 100 determines whether the current position of the vehicle that is traveling reaches the end point of the sub path (S305).

As a result of the determination, if the end point of the sub path has been reached, the image integration processing system 100 stops driving the AVM camera, and converts the two images, which were integrally displayed in S304, to a route guidance image of the navigator (S306).

At this time, the image integration processing system 100 can output a message indicating that the AVM camera has been terminated, by voice or text.

4 is a view illustrating a screen displayed through an in-vehicle display unit when controlling an image integration processing system according to an embodiment of the present invention.

4 (a) is a screen for setting the main path using the navigator, and it is possible to set a starting point and a destination point.

4B is a screen for setting a sub-path, which is a section for photographing the periphery of the vehicle under running using the AVM camera, and can set a recording start point and an end point of the vehicle surroundings image.

Here, the subpath may be a section where accidents occur frequently or may be a road congestion section.

4 (a) is selected, the screen can be switched to the screen of FIG. 4 (b). When the sub-path setting is completed, the mode switching button 420 for returning to the main path shown in FIG.

5 is a view illustrating a screen displayed through an in-vehicle display unit when controlling an image integration processing system according to another embodiment of the present invention.

5 (a) is a screen when the vehicle in running reaches the start point of the sub-path. It can be seen that the surrounding image of the vehicle obtained from the AVM camera and the route guidance image of the navigator are integrated and displayed on the screen have.

At this time, the image integration processing system 100 may restrict some functions of the navigator according to the load balancing priority set by the user.

In addition, the image integration processing system 100 can output a message informing that the peripheral image of the vehicle is recorded or terminated, when the vehicle under travel reaches the start point and the end point of the sub path, by voice or text.

FIG. 5B is a screen when the vehicle in running reaches the end point of the sub-path. In FIG. 5A, only the main path of the navigator is displayed on the screen.

FIG. 6A is a view illustrating a configuration of a multicore processor unit according to another embodiment of the present invention.

The multicore processor unit 20 according to an embodiment of the present invention may include a sensor interface 21, a control unit 22, a memory 23 and a communication unit 24.

The sensor interface 21 may provide a wired or wireless interface as an interface connected to the plurality of sensors 50.

Meanwhile, the control unit 22 can synchronize the sensor data received at a predetermined time difference, cluster the sensor data, and generate integrated data for each clustering.

Here, the clustering of the sensor data may be performed based on at least one of the running speed of the vehicle, the transmission mode, and the driver's input.

For reference, the control unit 22 can process voice and image data, such as voice data and encoding of image data, among sensor data.

The control unit 22 can monitor whether the multicore processor unit 20 is connected to the plurality of sensors 50 or whether the vehicle integrated control unit 30 is connected to the communication channel unit 40 .

In addition, the control unit 22 can perform debugging and real-time uploading of algorithms for clustering sensor data, and debugging and logging of data received from the plurality of sensors 50.

Meanwhile, the memory 23 may store a program capable of performing at least one of debugging of an algorithm, real-time uploading, data debugging and logging, and the control unit 22 controls the debugging Uploading, logging and so on.

The communication unit 24 may be connected to the communication channel unit 40 and may transmit data to the vehicle integration control unit 30 through the communication channel unit 400. [

6B is a layer diagram for implementing the configuration of a multicore processor unit according to another embodiment of the present invention.

The multi-core processor unit 20 of the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention includes a MPU hardware (Multicore Process Unit Hardware) for performing the overall functions as shown in FIG. 6B, Based IDE debugger, IDE logger, IDE loader / flashing, Automotive algorithm, video algorithm, file system, network connectivity, vision capture, real-time (RTE), a TCP / IP stack, a hypervisor, InterProcessor Communication (IPC), and a Communication Sync Library.

7A is a diagram showing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.

The vehicle integrated control unit 30 according to an embodiment of the present invention may include an internal interface 31, a control unit 32, a memory 33, and a communication unit 34. [

First, the internal interface 31 may include an interface connected to the multicore processor unit 20 and the communication channel unit 40, respectively.

The vehicle integrated control unit 30, the multicore processor unit 20, and the communication channel unit 40 may be formed in the form of respective chipsets on one board, and the vehicle integrated control unit 30 and the multi- The unit 20 and the communication channel unit 40 may be connected to each other by wire bonding on one board.

On the other hand, the control unit 32 can generate control data for actively controlling each part of the vehicle based on the integrated control data received from the multicore processor unit 20. [

Here, 'actively controlling' means that not only the received data is converted into a control command and transmitted, but the current driving state is grasped on the basis of the received data, and the control means of each part is efficiently controlled Lt; RTI ID = 0.0 > control data. ≪ / RTI >

Also, the control unit 32 can monitor whether or not the multicore processor unit 20, the communication channel unit 40, and the respective control means 60 are connected to each other.

In addition, the control unit 32 can transmit the control data to each control means 60 of the vehicle through the communication unit 34. At this time, a separate security policy can be applied to prevent data from being tampered with or tampered with .

Meanwhile, the memory 33 may store a program for performing the operation and debugging of the control unit 32 described above.

The communication unit 34 may transmit the control data generated by the control unit 32 to the corresponding control unit 600 and may transmit and receive information about the other vehicle and the vehicle in the vehicle- can do.

7B is a hierarchical diagram for implementing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.

The vehicle integrated control unit 30 of the integrated data processing control system 10 for an automobile according to the embodiment of the present invention includes an IDE logger (not shown) on the basis of Automotive ECU hardware for performing the overall functions as shown in FIG. Intergrate Development Environment Logger, IDE Loader / Flashing, Multiple Application Logic, Real Time Executive (RTE), Memory Management, and Communication Service Stack. And the like.

8A is a block diagram illustrating a configuration of a communication channel unit according to an embodiment of the present invention.

The communication channel unit 40 according to an embodiment of the present invention may include an internal interface 41, a control unit 42, a memory 43, and a communication unit 44.

First, the internal interface 41 may include an interface connected to the multicore processor unit 20 and the vehicle integrated control unit 30, respectively.

The control unit 42 may perform at least one of real-time debugging, logging, and timing synchronization of the communication channel, and transmits the integrated data of the multicore processor unit 20 to the vehicle integrated control unit 30, So that data can be transferred between the processor unit 20 and the vehicle integrated control unit 30.

Further, the control unit 42 can control the control data of the vehicle integrated control unit 30 to be transmitted to each control means 60, and can support the vehicle-to-vehicle communication.

Meanwhile, the memory 43 may store a program for performing at least one of real-time debugging, logging, and timing synchronization of the communication channel under the control of the controller 42.

On the other hand, the communication unit 44 can transmit the control data of the vehicle integrated control unit 30 to each control means 60 under the control of the control unit 42, And data can be transmitted and received.

8B is a layer diagram for implementing the configuration of a communication channel unit according to an embodiment of the present invention.

The communication channel unit 40 of the integrated data processing control system 10 for an automobile according to the embodiment of the present invention may include a real time logger channel (not shown) on an ICC hardware basis for performing an overall function as described above, A Real Time Logger Channel, a Real Time Debugger Channel, an Automotive Network Analyzer, an Automotive Network Timing Sync, a Task Scheduler, an RTOS (Real Time Operating System), and the like.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be.

It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10: Integrated data processing control system for automobile
20: Multicore processor unit 21: Sensor interface
22: control unit 23: memory
24: communication unit 30: vehicle integrated control unit
31: internal interface 32:
33: memory 34:
40: communication channel unit 41: internal interface
42: control unit 43: memory
44: communication unit 50:
60: control means
100: image integration processing system 110: display unit
120: image conversion unit 130:

Claims (16)

A navigator mounted for guiding a vehicle's driving route, an AVM camera for photographing the periphery of the vehicle using a plurality of camera sensors, a first image being a route guidance image of the navigator, and a peripheral image of the vehicle obtained from the AVM camera And a display unit for receiving at least one of the first image, the second image, and the user's operation for executing the navigator or the AVM camera,
A vehicle navigation system comprising: a main path for receiving data from a plurality of sensors installed in a vehicle and clustering the data to generate integrated data for each clustering, the main path including a starting point and a destination point, When a setting for one or more sub paths including a recording start point and an end point for ending the recording is inputted and the vehicle reaches the starting point of the sub path during traveling along the main path A multicore processor unit for clustering and integrating photographed images obtained through a plurality of camera sensors of the AVM camera to generate the second image;
And control means for controlling at least one of the control means for controlling each part of the vehicle based on the integrated data and controlling the generated control data to be transmitted to the control means according to a preset control sequence, When it is determined that the vehicle reaches the starting point of the sub-path along the main path using the position information obtained by the position information providing sensor among the plurality of sensors, the first control data Second control data for causing the display unit to display the generated second image and stopping the operation of the AVM camera when it is determined that the vehicle reaches the end point of the sub path using the position information, 3 control data, and the first control data and the third control data Data is the control means of the AVM in the camera, said second control data, the vehicle integrated control unit for controlling so that the transmission parts of the display that the control means (Automotive ECU); And
Core processor unit and the vehicle integrated control unit so that the integrated data and the control data are transferred between the multi-core processor unit and the vehicle integrated control unit through a communication channel And a communication channel unit (Inter Communication Channel Unit) for transmitting the control data generated by the vehicle integrated control unit to the control means. The image integration processing of the AVM camera and the image integration processing system of the AVM camera . delete delete The method according to claim 1,
Wherein the multi-core processor unit clusters and integrates the first image and the second image together so that the first image and the second image are displayed together on the display unit, and the vehicle integrated control unit displays the integrated first image and the second image on the display unit Wherein the control unit generates a control command for dividing an area in which the first image and the second image are displayed and transmits the generated control command to the display unit to perform an image integration process of the navigator and the AVM camera, system. The method according to claim 1,
Wherein the vehicle integration control unit performs load balancing for the first image and the second image according to a priority set by a user in advance, Image integrated processing system. delete The method according to claim 1,
Wherein the multicore processor unit stores any one of the frames constituting the second image together with the still image when the second image is stored in the storage device, Camera integrated image processing system. 8. The method of claim 7,
Wherein the vehicle integrated control unit generates control data for causing the display unit to display a still-cut image of a second image stored in the storage device in response to a user's request, and the second image file of the still- Wherein the control unit generates control data to be reproduced through the display unit and controls the generated control data to be transmitted to the display unit as the control unit. The image integration process of the navigator and the AVM camera, . The method according to claim 1,
The multi-core processor unit includes:
And synchronizing the data received from the plurality of sensors with each other, wherein the navigator and the AVM camera perform image integration processing and the AVM camera image integration processing system. The method according to claim 1,
Wherein the plurality of sensors comprise:
A radar, a lidar, an ultrasonic sensor, at least one camera, a stereo camera, an AVM camera, a navigator, a wheel speed sensor, an accelerator level sensor, A sensor, a steering sensor, and a gyroscope sensor,
Wherein the data received from the plurality of sensors comprises:
Distance data using at least one of the radar, the radar, and the ultrasonic sensor,
Image data using the at least one camera and the navigator,
Speed data of the vehicle using the wheel speed detecting sensor,
Acceleration data of the vehicle using the accelerator level detection sensor,
The rotational speed, the rotational direction, the rotational angle data of the steering wheel using the steering sensor,
3-axis direction data of the vehicle using the gyroscope sensor and
And the GPS position data of the navigator. The navigation system of claim 1, wherein the navigator includes at least one of GPS position data of the navigator and GPS position data of the navigator. The method according to claim 1,
The multi-core processor unit includes:
Wherein the data is clustered based on at least one of a driving speed of the vehicle, a mode of a vehicle (Parking, Rear, Drive), and an input of a driver. The image integration processing of the navigator and the AVM camera, . The method according to claim 1,
The multi-core processor unit includes:
Monitoring of connection with the plurality of sensors, monitoring of connection with the vehicle integrated control unit and communication channel unit, debugging and real-time uploading of the algorithm for clustering, debugging and logging of data received from the plurality of sensors logging, and an image integration process of an AVM camera and an image integration processing system of an AVM camera. The method according to claim 1,
Wherein the vehicle integrated control unit synchronizes the control data generated for each control means, and the image integration processing of the AVM camera and the image integration processing system of the AVM camera. The method according to claim 1,
The vehicle integrated control unit
Wherein the monitoring unit monitors whether the AVM camera is connected to the AVM camera or not. 15. The method of claim 14,
Wherein,
A power domain control means including a power train of the vehicle and a power transmission device, chassis domain control means including a braking and steering device of the vehicle, body domain control means including a comfort device and a safety device of the vehicle, And multimedia domain control means including route guidance, music, and video. The integrated image processing system of the AVM camera and the image integration processing of the navigator and the AVM camera. The method according to claim 1,
The communication channel unit
Wherein the controller performs at least one of real-time debugging, logging, and timing sink of the communication channel, and the image integration processing of the AVM camera and the image integration processing system of the AVM camera.
KR1020150140963A 2015-10-07 2015-10-07 System for processing integrated images of the navigator and AVM camera on vehicle KR101772929B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150140963A KR101772929B1 (en) 2015-10-07 2015-10-07 System for processing integrated images of the navigator and AVM camera on vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150140963A KR101772929B1 (en) 2015-10-07 2015-10-07 System for processing integrated images of the navigator and AVM camera on vehicle

Publications (2)

Publication Number Publication Date
KR20170041486A KR20170041486A (en) 2017-04-17
KR101772929B1 true KR101772929B1 (en) 2017-09-12

Family

ID=58703077

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150140963A KR101772929B1 (en) 2015-10-07 2015-10-07 System for processing integrated images of the navigator and AVM camera on vehicle

Country Status (1)

Country Link
KR (1) KR101772929B1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006200936A (en) * 2005-01-18 2006-08-03 Sony Corp Navigation system with camera function
KR101327736B1 (en) * 2011-12-23 2013-11-11 현대자동차주식회사 AVM Top View Based Parking Support System
KR101394736B1 (en) * 2012-09-13 2014-05-16 타이코에이엠피(유) A control system for Wrap-arround view running device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006200936A (en) * 2005-01-18 2006-08-03 Sony Corp Navigation system with camera function
KR101327736B1 (en) * 2011-12-23 2013-11-11 현대자동차주식회사 AVM Top View Based Parking Support System
KR101394736B1 (en) * 2012-09-13 2014-05-16 타이코에이엠피(유) A control system for Wrap-arround view running device

Also Published As

Publication number Publication date
KR20170041486A (en) 2017-04-17

Similar Documents

Publication Publication Date Title
US10509407B2 (en) Apparatus and method for a vehicle platform
US11194326B2 (en) Vehicle control system, vehicle control method, and storage medium storing vehicle control program
US11155267B2 (en) Mobile sensor platform
KR101802858B1 (en) Integrated data processing system and method for vehicle
JP7236310B2 (en) Route setting device, route setting method and program
JP7154177B2 (en) Control device, control method and program
CN107428252B (en) Method for operating a communication device of a motor vehicle during an autonomous driving mode, communication device and motor vehicle
JP5585194B2 (en) Accident situation recording system
US11377101B2 (en) Information processing apparatus, information processing method, and vehicle
JP7191752B2 (en) Vehicle control system and vehicle
JP7256668B2 (en) Control device, control method and program
JPWO2019077999A1 (en) Image pickup device, image processing device, and image processing method
JP2020080542A (en) Image providing system for vehicle, server system, and image providing method for vehicle
US11960280B2 (en) Display control device and display control method
KR20170017647A (en) Driver Assistance Apparatus and Vehicle Having The Same
JP2016091267A (en) Travel video recording system, drive recorder to be used for the same, and upload method for recording travel video
KR101788663B1 (en) System for processing integrated data of the ultra sonic sensors and camera on vehicle
CN113614805B (en) Display control device, display control method, and storage medium
KR101772929B1 (en) System for processing integrated images of the navigator and AVM camera on vehicle
CN115297461B (en) Data interaction method and device, vehicle, readable storage medium and chip
KR102362452B1 (en) Camera control device and control method thereof
JP2020166605A (en) Control device, control method, and program
JP2020060932A (en) On-vehicle device
WO2014118845A1 (en) On-board display system
JP7256867B2 (en) Control device, control method and program

Legal Events

Date Code Title Description
A201 Request for examination
N231 Notification of change of applicant
E902 Notification of reason for refusal
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant