KR101949961B1 - Apparatus and method for supporting driving of vehicle - Google Patents

Abstract

The present invention relates to a driving assistance device. The apparatus for assisting the driving of a vehicle includes a first camera image photographed through a first camera and a second camera image photographed through a second camera, A storage unit for storing a camera image; And a second bird's-eye view image area including a first bird's-eye view image area including a first synthesized bird's-eye view image generated based on the first camera image and a second synthesized bird's-eye view image generated based on the second camera image, And a splitter adjusting unit for setting a splitter for separating the first bird's-eye view image region and the second bird's-foot view image region from the output screen.

Description

[0001] APPARATUS AND METHOD FOR SUPPORTING DRIVING OF VEHICLE [0002]

More particularly, the present invention relates to a driver assistance apparatus, and more particularly, to provide a driver with two bird's-eye images captured and processed through two cameras to provide a driver with a sense of heterogeneity And more particularly, to a driving assist device and method capable of eliminating a driving force.

2. Description of the Related Art Generally, a vehicle is a device that drives a motor vehicle such as an engine installed in a vehicle body to drive a road or the like and carries a person or a freight or perform various operations. A driver of the vehicle safely drives the vehicle while observing the driving direction .

However, when the vehicle is parked, the driver of the vehicle is hard to watch the running direction, which is the rear of the vehicle. In addition, even when the driver is driving in the forward direction, if there are many obstacles in the vicinity, there is a high possibility that an accident may occur because it is difficult to intuitively determine the distance between the obstacle and the vehicle. Accordingly, there is known a display device for displaying the periphery of a vehicle, which outputs an image from a camera installed behind or in front of the vehicle to the monitor as it is, or converts the image to output a bird's-eye image for the surroundings of the vehicle.

Here, as a technology for outputting a bird's-eye view image, there is a technique of generating a bird's-eye view image around a vehicle by installing one camera on a vehicle and synthesizing images taken by a single camera. Further, by applying such a bird's-eye view generation technique, two cameras are mounted on a vehicle (for example, front and rear of a vehicle), and a single bird's-eye image is generated by synthesizing two images taken by each single camera Was studied.

Specifically, such a bird's-eye view image generating technique generates two synthesized bird's-eye view images (s_bi ₁ , s_bi ₂ ) based on camera images photographed by two cameras, and generates two synthesized bird's-eye views (s_bi ₁ , s_bi ₂ ) as a bird's eye view image. However, in the case of this technique, the bird's-eye image displayed to the driver is generated in a region where the _two combined bird's-eye view images (s_bi ₁ , s_bi ₂ ) overlap, that is, the overlap region (o_bi ₁ ). Here, in the overlap area (o_bi ₁ ), there exist errors and color differences due to mismatching of the two images of the bird's-eye view images, and there is a problem that there is a sense of heterogeneity to the driver. Accordingly, it is required to process a point at which a composite bird's-eye view image generated by two different cameras is superposed.

Korean Registered Patent No. 2015-0116116 (Name: Apparatus and method for generating a peripheral image of a vehicle)

An object of the present invention is to provide a driver assistance apparatus and method that can reduce the sense of heterogeneity caused in the overlap area when providing two synthesized bird's-eye view images generated through two cameras and generated to the driver.

According to an aspect of the present invention, there is provided an apparatus for assisting driving of a vehicle, including a first camera image captured through a first camera and a second camera image captured by a second camera, A storage unit for storing a second camera image photographed through the first camera; And a second bird's-eye view image area including a first bird's-eye view image area including a first synthesized bird's-eye view image generated based on the first camera image and a second synthesized bird's-eye view image generated based on the second camera image, And a splitter adjusting unit for setting a splitter for separating the first bird's-eye view image region and the second bird's-foot view image region from the output screen.

Further, the splitter adjusting section may add a splitter to a portion where the first synthesized bird's-eye view image and the second synthesized bird's-eye view image are overlapped.

Further, the splitter has a shape of a thick line, and both sides of the splitter can be connected to two opposite sides of the sides constituting the bird's-eye view image region.

Also, the size of the first bird's-eye view image area and the size of the second bird's-eye view image area may vary depending on the position of the splitter in the bird's-eye view image area.

Further, the driving assistance device according to an embodiment of the present invention may further include an operation information collecting unit for acquiring position information of the shift lever.

Further, the driving assistance device according to an embodiment of the present invention further includes a movement distance calculating unit for calculating a movement distance of the vehicle, and the splitter adjusting unit adjusts the position of the splitter in real time according to the position information and the moving distance of the shift lever of the vehicle Can be adjusted.

Further, the splitter adjusting section can determine the position of the splitter in accordance with the positional information of the shift lever.

Further, when the shift lever is located in the reverse gear, the splitter adjusting section can place the splitter in the upper part in the bird's-eye view image area.

Further, when the shift lever is located in the traveling gear, the screen generator can place the splitter in the lower portion of the bird's-eye view image area.

Further, the splitter adjusting section can position the splitter at the center of the bird's-eye view image area.

In addition, the driving support apparatus according to an embodiment of the invention is a bird's eye view image generation unit for generating a first bird's-eye view image of a point in time t _n, by transforming a first image of camera time point t _n; And synthesis of acquiring movement information of the vehicle, generating a first synthesized bird's-eye view image of a t _n time point by synthesizing the first synthesis the first bird's-eye view image of a t _n time of the bird's eye view image generated in the past time according to the movement information of the vehicle And a bird's-eye view image generating unit.

In addition, the bird's eye view image generating unit t _n second camera images further generating a second bird's-eye view image of a t _n time by converting time and the resulting composite bird's eye view image portion in accordance with the movement information of the vehicle generated in the past time the second synthesis of time by synthesizing the bird's eye image of the second point in time t _n in a bird's eye view image t _n it may further produce a second synthesized bird's-eye view image at the time.

Also, the synthesized bird's-eye-view image generating unit generates a first synthesized bird's-eye view image at time t _n when the vehicle is in a reverse state, and the screen generating unit generates a first synthesized bird's-eye view image at time t _n in the first bird's- The second bird's-eye view image region may include the second synthesized bird's-eye view image generated at the past time point.

Also, the synthesized bird's-eye-view image generating unit generates a second synthesized bird's-eye view image at time t _n when the vehicle is in a forward state, and the screen generating unit generates a second synthesized bird's-eye view image at the time t _n The first bird's-eye view image region may include the first synthesized bird's-eye view image generated at the past time point.

In addition, the first synthesized bird's-eye view generating an image, generating a second synthesized bird's-eye view image of a bird's eye view image generating unit t _n time, the screen generation unit vehicle is retracted in the synthesis bird's eye view image generating unit t _n the time when the vehicle is retracted , It is possible to include the first synthesized bird's-eye view image at the time point t _n in the first bird's-eye view image region and the second bird's-eye view image at the time point t _n in the second bird's-eye view image region.

In addition, the vehicle and generating a second synthesized first synthesized bird's-eye view image for generating a bird's eye view image, the bird's eye view image generating unit t _n the time of synthesizing bird's eye view image generating unit t _n the time when the forward state, the screen generation unit vehicle is advancing state , A second synthesized bird's-eye view image at the time point t _n is included in the second bird's-eye view image area, and the first bird's-eye view image at the time t _n can be included in the first bird's-eye view image area.

According to an aspect of the present invention, there is provided a method of assisting a vehicle with a first camera and a second camera, including the steps of: generating a first camera image based on a first camera image, Generating an output screen including a bird's-eye view image area including a first bird's-eye view image area including a first bird's-eye view image and a second bird's-eye view image area including a second synthesized bird's-eye view image generated based on a second camera image And setting a splitter for separating the first bird's-figure view image area and the second bird's-eye view image area from the output screen by the splitter adjusting part.

Further, the step of setting the splitter may be performed at a portion where the first synthesized bird's-eye view image and the second synthesized bird's-eye view image overlap each other.

Further, the step of setting the splitter may be performed at the center of the bird's-eye view image region.

Also, the size of the first bird's-eye view image area and the size of the second bird's-eye view image area may vary depending on the position of the splitter in the bird's-eye view image area.

Further, the driving assistance method according to an embodiment of the present invention may further include acquiring position information of the shift lever by the operation information collecting unit.

According to another aspect of the present invention, there is provided a driving assistance method including: calculating a moving distance of a vehicle by a moving distance calculating unit; And adjusting the position of the splitter in real time according to the position information and the moving distance of the shift lever of the vehicle by the splitter adjusting unit.

The driving assistance method according to an embodiment of the present invention may further include a step of determining a position of the splitter according to position information of the shift lever by a splitter adjusting unit.

According to the driving assistant apparatus and method of the present invention, when two synthesized bird's-eye view images generated by two cameras are provided to the driver, the two synthesized bird's-eye view images are divided by the splitter, And the difference in color caused by color difference can be reduced.

1 is a conceptual diagram showing an example of an output screen provided to a driver.
2 is a conceptual diagram of a driving assistance device according to an embodiment of the present invention.
3 is a block diagram of a driving assistance device according to an embodiment of the present invention.
4 is a conceptual diagram for explaining a method of generating a bird's-eye image through a driving assistance device according to an embodiment of the present invention.
5A to 5C are conceptual diagrams illustrating a method of generating a composite bird's-eye view image through a driving assistance device according to an embodiment of the present invention.
6 is a conceptual diagram for explaining a method of generating a composite bird's-eye view image through the driving assistance device according to an embodiment of the present invention.
7A and 7B are conceptual diagrams illustrating a first example of a bird's-eye view image region generated through a driving assistance device according to an embodiment of the present invention.
8A and 8B are conceptual diagrams illustrating a second example of a bird's-eye view image region generated through a driving assistance device according to an embodiment of the present invention.
9A and 9B are conceptual diagrams illustrating a third example of a bird's-eye view image region generated through a driving assistance device according to an embodiment of the present invention.
10 to 12 are flowcharts of a driving assistance method according to an embodiment of the present invention.

The present invention will now be described in detail with reference to the accompanying drawings. Hereinafter, a repeated description, a known function that may obscure the gist of the present invention, and a detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. Accordingly, the shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

Hereinafter, a driving assistance apparatus and method according to an embodiment of the present invention will be described.

2 is a conceptual diagram of a driving assistance device 100 according to an embodiment of the present invention. 2, the driving assistance device 100 according to an exemplary embodiment of the present invention is applied to a vehicle mounted on two cameras 11 and 13, and displays an output screen including a bird's- Provide functions to the driver. In addition, when one bird's-eye view image is generated based on two synthesized bird's-eye view images as described above, visual sense of heterogeneity occurs in the overlapping images of the two composite bird's-eye images. Accordingly, the driving assistance device 100 according to an embodiment of the present invention adopts a scheme of setting a splitter (sp) in a region where two composite bird's-eye view images overlap.

Specifically, the driving assistance device 100 according to an embodiment of the present invention generates a first synthesized bird's-eye view image using the first camera image photographed through the first camera 11, A second synthesized bird's-eye view image can be generated using the second camera image photographed through the second synthesized image. Here, the first synthesized bird's-eye view image can be generated by synthesizing the first bird's-eye view image generated by the viewpoint conversion of the first camera image and the first bird's-eye view image generated at the past time point or the first synthesized bird's-eye view image generated at the past time point . That is, the first bird's-eye view image generated for the first camera image of the driving support device 100 according to one embodiment of the present invention is t _n time of the first bird's-eye view image of the t _n time generated by converting the time, the earlier time Or the first synthesized bird's-eye view image, the first synthesized bird's-eye view image at the time point t _n can be generated.

This is a method of generating a single composite bird's-eye view image by combining the bird's-eye view images of current and past viewpoints, so that even if only one camera is mounted on the vehicle, the bird's-eye view image around the vehicle can be provided to the driver. Similarly, the second camera image to the second bird's-eye view image of the t _n time generated by converting the time, the second bird's-eye view image created before the time of the driving support device 100 according to one embodiment of the invention is t _n time Or the second synthesized bird's-eye view image by synthesizing the second synthesized bird's-eye view image.

Due to the method of generating the synthesized bird's-eye view image, when the vehicle is parked or when the shift lever is operated and the vehicle is moved, the overlapping area occurs between the first synthesized bird's-eye view image and the second synthesized bird's-eye view image in the bird's-eye view image. In the case of two synthesized bird's-eye images, due to differences in the generation time of each synthesized bird's-eye view image, camera performance and model, and ambient light depending on the camera's position, This causes a sense of heterogeneity in the driver.

Accordingly, the driving assistance device 100 according to an embodiment of the present invention outputs two composite bird's-eye view images together in the bird's-eye view image area included in the output screen, and the driver can distinguish the two composite bird's- And a splitter (sp) is added thereto. Now, with reference to FIG. 3, a driving assistance device 100 according to an embodiment of the present invention is further described. In the following description, description will be made centering on the bird's-eye view image area included in the output screen. However, the output screen may further include a real-time image area as shown by an area da2 in FIG. 2, and a camera image captured through at least one camera of the first camera and the second camera may be included in the real- .

3 is a block diagram of a driving assistance device 100 according to an embodiment of the present invention. 3, the driving assistance apparatus 100 according to an embodiment of the present invention includes a storage unit 110, an image obtaining unit 120, a bird's-eye view image generating unit 130, a synthesized bird's-eye view image generating unit 140, a screen generating unit 150, an operation information collecting unit 160, a splitter adjusting unit 170, and a moving distance calculating unit 180.

The storage unit 110 may store camera images (i.e., a first camera image and a second camera image) captured through the first camera 11 and the second camera 13 mounted on the vehicle. Here, the first camera 11 is installed at the rear of the vehicle, and the second camera 13 is installed at the front of the vehicle. However, since the number, the installation position and the direction of the cameras can be variously applied, But does not limit it to a specific one. In addition, the storage unit 110 may store the viewpoints of the first and second camera images together.

The image acquiring unit 120 acquires a first camera image taken at a time point t _n stored in the storage unit 110 through the first camera 11 mounted on the vehicle. Likewise, the image acquiring unit 120 may acquire a second camera image taken at a time point t _n stored in the storage unit 110 via the second camera 13 mounted on the vehicle.

The bird's eye view image generation unit 130 using the first camera image of the first camera image that is, t _n time acquired by the image acquisition unit 120, a first first bird's-eye view image of a bird's eye view image that is, t _n time Function. Also, the bird's-eye view image generating unit 130 may further generate a second bird's-eye view image at time t _n using the second camera image at time t _n obtained through the image obtaining unit 120. Here, the bird's-eye view image may be generated using the perspective transformation based on the lookup table stored in the storage unit 110. Specifically, the bird's-eye image generating section 130 can perform the perspective transformation in such a manner that the position data of the image on the ground is projected from the position R of the camera onto the screen plane T having the focal length f.

)로 지면(x-y 좌표 평면)상에 이미지를 모니터링한다고 가정한다. 여기서, 아래의 수학식 1에 나타난 바와 같이, 스크린 평면(T)상에 2-차원 좌표(α, β)가 지면 평면상의 좌표(조감도 좌표)로 변환(역투시 변환)될 수 있다.More specifically, the camera 11 is located at the point R (0, 0, H) on the Z-axis,

) To monitor the image on the ground (xy coordinate plane). Here, the two-dimensional coordinates (?,?) On the screen plane (T) can be transformed into coordinates (bird's-eye degree coordinate) on the ground plane (inverse transformation) as shown in the following equation (1).

That is, by using Equation (1), the bird's-eye image can be generated based on the projected image (showing the bird's-eye view image). However, the method of generating the bird's-eye image may be implemented by various methods other than the above method, and the bird's-eye image generating method through the bird's-eye image generating unit 130 according to the embodiment of the present invention is not limited to the above method . At least one of the bird's-eye images generated through the bird's-eye image generating unit 130, that is, the first bird's-eye view image and the second bird's-eye view image may be transmitted to the storage unit 110 and stored in the storage unit 110 .

An example of a method of generating a bird's-eye image through the driving assistance device 100 according to one embodiment of the present invention is shown in FIG. 4 shows an example of a first bird's-eye image generated in a situation where the vehicle is parked through a reverse.

The driving assistance device 100 according to an embodiment of the present invention may acquire first camera images stored in the storage unit 110 and convert the first camera images into a first bird's-eye view image. The upper part of FIG. 4 shows an example of the first camera image taken at each view point through the camera, and the lower part of FIG. 4 shows an example of the first bird's-eye view image converted at each view point.

Specifically, the bird's-eye-view image generating unit 130 performs a process of converting the first camera image ci ₁₁ captured at time t ₁ into a first bird's-eye-view image bi ₁₁ , as shown in FIG. In the first bird's-eye view image bi ₁₁ at time t ₁ , the area ca ₁₁ represented by the camera is displayed on the first bird's-eye view image bi ₁₁ according to the wide angle performance of the camera mounted on the vehicle 10. and this does not represent regions (nsa ₁₁₎ are present. This is because the first bird's-eye view image bi ₁₁ is an image generated by the viewpoint conversion of the first camera image ci ₁₁ .

In addition, it can be converted into a bird's-eye view image generation unit 130 includes a first camera, the first bird's-eye view image (bi ₁₂₎ of the image point t ₂ (ci ₁₂₎ up to the time point t _2. In this case, like the bird's-eye view image bi ₁₁ at the time t ₁ , the first bird's-eye view image bi ₁₂ at the time t ₂ can express a portion corresponding to the region ca ₁₂ , Depending on the wide-angle capability of the camera, there is an area (nsa ₁₂ ) which is not represented. In addition, the first bird's-eye view image (bi _12), depending on the performance of the above-described camera 10 and, only some parking lines, but not all, of the total parking line (pl ₁₁₎ due to the position of the vehicle 10 is in progress .

In addition, it can be converted into a bird's-eye view image generation unit 130 includes a first camera image of the first bird's-eye view image (bi ₁₃₎ of the point in time t ₃ (ci ₁₃₎ up to the time point t _3. In this case, like the first bird's-eye view image (bi ₁₁ , bi ₁₂ ) at the time t _{1 and the} time t ₂ , the first bird's-eye view image bi ₁₃ at the time t ₃ is expressed by the portion corresponding to the region ca ₁₃ And depending on the wide angle capability of the camera mounted on the vehicle 10, there is an unexpressed area nsa ₁₃ . In addition, the first bird's-eye view image (bi ₁₃ ) at the time t ₃ is not entirely the entire parking line pl ₁₁ due to the performance of the camera 10 described above and the position of the vehicle 10 in progress Only some parking lines may appear.

The bird's-eye view image generating unit 130 may generate a second bird's-eye view image for each viewpoint by performing viewpoint conversion of the second camera image in the same manner as the above-described method.

Referring back to FIG. 3, the composite bird's-eye-view image generating unit 140 generates a bird's-eye view image by combining the bird's-eye view image generated at the time point t _n generated by the bird's-eye view image generating unit 130 with the bird's- . That is, the driving assistance device 100 according to an embodiment of the present invention synthesizes the bird's-eye image generated at the previous time and the bird's-eye image generated at the current time so that the entire parking line is displayed on the display unit 12 . In other words, the composite bird's-eye-view image generating unit 140 may use a method of generating a composite bird's-eye view image by combining the bird's-eye view image of the past viewpoint with the bird's-eye view image of the future viewpoint.

For example, it is assumed that a first bird's-eye view image at time t _n is generated by performing a viewpoint conversion of a first camera image at a time t _n through a bird's-eye view image generating unit 130. At this time, the synthesized bird's-eye-view image generation unit 140 acquires the movement information of the vehicle through the movement-distance calculation unit 180, and generates the first bird's-eye view image or the first composite bird's- , t _n may generate a first synthesized bird's-eye view image of the time t _n by synthesizing the bird's eye view image of the first point. Similarly, the composite bird's eye view image generation unit 140 is t _n may further produce a second synthesized bird's-eye view image of a point in time t _n using a second bird's-eye view image at the time.

That is, as shown in FIGS. 5A to 5C, the synthesized bird's-eye-view image generating unit 140 according to the embodiment of the present invention synthesizes the bird's-eye view images generated at the past time points, A bird's-eye image can be generated. 5A, 5B and 5C show the first camera image at the time points t ₁ , t ₂ and t ₃ when the vehicle is parked, respectively, and FIGS. 1A, 1B and 1C show the first camera image at the time t ₁ , The figure shows the first synthesized bird's-eye view image generated based on the first camera image taken at time t ₁ , t ₂ and t ₃ .

Referring to FIG. 5A, a first camera image ci ₁₁ photographed at a time t ₁ is displayed on a bird's-eye view image An image (bi ₁₁ ) is converted. 1, according to the wide angle capability of the camera mounted on the vehicle 10, the bird's-eye image bi ₁₁ includes a region ca ₁₁ represented by a camera and a region ca ₁₁ represented by a camera nsa ₁₁ ) is present. This is because the bird's-eye image bi ₁₁ is an image generated by the viewpoint conversion of the first camera image ci ₁₁ .

Thereafter, the driving assistance device 100 according to an embodiment of the present invention performs a process of converting the first camera image ci ₁₂ photographed at the time t ₂ to the bird's-eye view image bi ₁₂ as shown in FIG. 5B . In this case, similarly to the case described with reference to FIG. 5A, the bird's-eye image generated basically may have a portion corresponding to the region ca ₁₂ in the right side of FIG. 5B. This is because, in the case of the first camera image ci ₁₂ of FIG. 5B, only a part of the entire parking line pl ₁₁ is displayed due to the position of the vehicle 10 in progress. Thus, the overall parking line (pl ₁₁₎ going through the process of further synthesized bird's-eye view image (bi ₁₁₎ of the Figure 5a expression and therefore the area that could not be represented only by the original of the first camera image (ci ₁₂₎ (nsa ₁₂ representation of a), that is, it is possible to represent for the entire parking line ₍₁₁ ppl).

Similarly, the driving assistance device 100 according to an embodiment of the present invention converts the first camera image ci ₁₃ captured at time t ₃ into the bird's-eye view image bi ₁₃ as shown in FIG. 5C . In this case, the first bird's-eye image, which is basically generated as described with reference to FIGS. 1A and 1B, may be displayed only in the portion corresponding to the region ca ₁₃ in the right side of FIG. 5C. This is the case of the first camera image ₍₁₃ ci) of Figure 5c, because due to the position of the vehicle (10) parking is complete, appears only a part, but not all, of the parking lines. Therefore, in the case of the present invention, the bird's-eye images bi ₁₁ and bi ₁₂ of FIG. 5B, in which a total parking line pl ₁₁ is expressed and a lot of parking lines are expressed in comparison with FIG. Synthesizing process. Accordingly, the vehicle driving assist system according to the related art can display the areas nsa ₁₁ and nsa ₁₂ that can not be expressed only by the original first camera image ci ₁₃ , that is, the parking lines ppl ₁₁ , ppl ₁₂ ) can be expressed.

In summary, the driving assistance device 100 according to an embodiment of the present invention can generate a first bird's-eye view image at time t _n based on a first camera image at time t _n as shown in FIG. 6, it is possible to generate the first synthesized bird's-eye view image at the time t _n based on the first bird's-eye view image at the time point t _n and the first bird's-eye view image or the first synthesized bird's-eye view image at the past time point.

Of course, the composite bird's-eye-view image generating unit 140 according to an embodiment of the present invention may also generate the second composite camera image by applying the same process to the second camera image.

The screen generating unit 150 generates a second bird's-eye view image including a first bird's-eye view image region including the first synthesized bird's-eye view image generated based on the first camera image and a second synthesized bird's-eye view image generated based on the second camera image, And generates an output screen including a bird's-eye view image area including an image area. As described above, the driving assist system 100 according to an embodiment of the present invention divides a first bird's-eye view image area and a second bird's-eye view image area by setting a splitter on an output screen provided to a driver do. For this, the driving assistant apparatus 100 according to an embodiment of the present invention sets a splitter on the bird's-eye view image region through the splitter adjusting unit 170, and sets the first bird's-eye view image or the first bird's- A first synthesized bird's-eye view image can be included. Of course, the driving assistance device 100 according to an embodiment of the present invention may include a second bird's-eye view image or a second composite bird's-eye view image in the second bird's-eye view image region divided through the splitter.

Here, the splitter may be generated by the splitter adjusting unit 170, and the position of the splitter may be fixed to the center, upper or lower portion of the bird's-eye view image region, or may be fixed in real time, It is also possible to move in the way. That is, the splitter adjusting unit 170 may fix the position of the splitter to a specific position or change to a sliding mode according to the setting. To this end, the splitter adjuster 170 adjusts the position information of the shift lever determined through the operation information collecting unit 160 (that is, the travel direction information) and the travel distance information of the vehicle calculated through the travel distance calculating unit 180 To set the splitter.

In the above description, the splitter has been described as being set in advance in the bird's-eye view image area, but this is merely an example, and a specific condition (for example, the position of the shift lever of the vehicle is changed and the vehicle is moved, When the overlapping area between the second synthesized bird's-eye view images is generated) is satisfied.

A method of setting a splitter through the driving assistance device 100 according to an embodiment of the present invention will now be described with reference to FIGS. 7A and 7B illustrate a bird's-eye view image area at time t ₁ to t ₈ as an example where a splitter is set at the center of the bird's-eye view image area through the driving assistance device 100 according to an embodiment of the present invention. Further, it is assumed that the vehicle moves backward at the time t ₅ to t ₈ , and the situation where the vehicle is backward at the time t ₁ to t ₃ , the position of the shift lever is changed at the time t ₄ . 7A shows an example in which the first camera and the second camera mounted on the vehicle are selectively operated according to the position of the shift lever of the vehicle, and Fig. 7B shows an example in which both the first camera and the second camera mounted on the vehicle are operated Lt; / RTI >

In the example shown in FIGS. 7A and 7B, the splitter is fixed at the center of the bird's-eye view image region. Accordingly, a first synthesized bird's-eye view image generated using the first camera can be output below the bird's-eye view image area, and a second synthesized bird's-eye view image generated using the second camera is output to the top of the bird's-eye view image area .

First, FIG so for the example shown in 7a in accordance with the position of the shift lever camera is selectively operated, t _1, the time to t ₃ point, while the first camera is operating, t ₄ time to t ₈ point, the second camera Is operated. Accordingly, in the case of t _1, the time portion of the first camera of the first parking line (pl ₁₁₎ taken by the vehicle is being shown in the area (b _12), the rest area _{(a 11, a 12, b} 11) are non- Lt; / RTI >

If the time t ₂ the vehicle is moved by a predetermined distance in the backward direction, the area (b _21, b ₂₂₎ has shown that some of the parking line. To, at the time t _1, the driving support device 100 according to one embodiment of the invention, because use of the first bird's-eye view image or the first synthesized bird's-eye view image created in the previous point, the area (b ₂₁₎ as previously described The generated first synthesized bird's-eye view image, that is, the image corresponding to the area b ₁₂ is included.

If the time t ₃ the vehicle is moved by a predetermined distance in the backward direction, the area (b _31, b ₃₂₎ has shown that some of the parking line. In addition, the region (b ₃₁₎ has a first synthesized bird's-eye view image that is, containing the image for the area (b _22), regions (b ₃₂₎ has a first bird's-eye view image created in the t ₃ time generated in t ₂ time May be included. Here, t Looking at the composite bird's eye view image of the _third point in time, since relative to the splitter (sp ₃₎ the upper part, including, a second synthesized bird's-eye view image generated by using the second camera, in the case of this example the second camera is not operating The regions a ₃₁ and a ₃₂ exist as unexpressed regions.

Now, it is assumed the situation where the shift lever position t ₄ to the time has been changed. At this time, and so the second camera is operating instead of the first camera mounted on a vehicle, whereby the region ₍₄₁ a) is shown a second bird's-eye view image generated by using the second camera. However, the area a ₄₂ can not be photographed through the second camera at present, and is not an area photographed in the past, and thus exists as an unexpressed area. Also, the first synthesized bird's-eye view image generated at the time t _{1 to the} time t ₃ is output to the area (b ₄₁ , b ₄₂ ) representing the first bird's-view image area, and the output state can be maintained. Now, it is assumed that the vehicle advances from time t ₅ to time t ₈ .

At time t ₅ , the vehicle is moved by a certain distance in the forward direction, and the unrepresented area disappears for all the areas a ₅₁ and a ₅₂ representing the second bird's-view image area. In addition, even if the vehicle is moving in the forward direction, to the first composite bird's eye view image generated from the same position in the past time point (i.e., t a first composite bird's eye view image generated in the _second time point) is present, the area (b _51, b ₅₂ , It is possible to express the parking line pl ₁₁ without a separate unexpressed area.

₆ at the time t when the vehicle is moved by a predetermined distance in the forward direction, the area (a ₆₁₎ is a part of the second parking line ₍₁₂ pl) is displayed. Further, the area (a ₆₂₎ is a second composite bird's eye view image that is, the area containing the image that corresponds to (a _51), the area (a _61), the second bird's-eye view image generated for t ₆ time generated in t ₅ the time May be included. However, the first case of a bird's eye image region, a region (b ₆₂₎ include non-expressed region eopgie the recording information for the area in the past, may receive the first bird's-eye view image generated for t ₁ time, but the region (b ₆₁₎ . Accordingly, when the vehicle further advances in the forward direction, as shown by the bird's-eye view image area at the time t ₇ and at the time t ₈ , all the portions for the first bird's-sideview image region exist as unexpressed regions.

Also, in the above description, it has been described that the bird's-eye view image region appears by selectively operating only one of the two cameras. That is, in the above description, it is explained that only one of the two cameras is selectively operated in the bird's-eye view image region, and a first synthesized bird's-eye view image or a second synthesized bird's-eye view image is selectively generated according to the operated camera. However, this is merely an example, and it is possible to display a bird's-eye view image area even in a situation where both cameras are operated as shown in FIG. 7B.

For example, when all two cameras are operated as shown in FIG. 7B, at a time t ₁ , a part of the first parking line pl ₁₁ photographed by the first camera of the vehicle appears in the area b ₁₂ , some of the second camera, a second parking line ₍₁₂ pl) is taken as may appear in the area (a _11). Of course, the areas (a ₁₂ , b ₁₁ ) out of the shooting range of the camera exist in the unexpressed area.

If the time t ₂ the vehicle is moved by a predetermined distance in the backward direction, the area (b _21, b ₂₂₎ has shown that some of the parking line. In addition, since the second camera is activated, the area (a ₂₁₎ may also be represented. To, at the time t _1, the driving support device 100 according to one embodiment of the invention, because use of the first bird's-eye view image or the first synthesized bird's-eye view image created in the previous point, the area (b ₂₁₎ as previously described The generated first synthesized bird's-eye view image, that is, the image corresponding to the area b ₁₂ is included.

If the time t ₃ the vehicle is moved by a predetermined distance in the backward direction, the area (b _31, b ₃₂₎ has shown that some of the parking line. Further, by operation of the second camera, the area (a ₃₁₎ may also be represented. Further, in the t ₃ time as in the example of Figure 7a, the region (b ₃₁₎ will contain images for one of the first synthesized bird's-eye view image that is, the area (b ₂₂₎ create a t ₂ time, the area (b ₃₂₎ The first bird's-eye image generated in the first bird's-eye view can be included.

Now, the shift lever position of the point in time t ₄ has been changed is assumed the situation when the vehicle is moving in the forward direction.

At the time points t ₅ and t ₆ , the vehicle is moved by a certain distance in the forward direction, and the same bird's-eye view image area as the example of FIG. 7A is derived. In the example of FIG. 7A, the regions b ₇₁ and b ₇₂ and the regions b ₈₁ and b ₈₂ are processed as undefined regions due to the first camera not operating in the case of t ₇ and t ₈ Otherwise, in the example of Fig. 7B, since the first camera is operated, the area b ₇₂ and the area b ₈₂ become expressible.

7A and 7B, the driver can view the two combined bird's-eye view images as one bird's-eye view image. In the case of this example, the operator can clearly distinguish between the first synthesized bird's-eye view image and the second synthesized bird's-eye view image by means of the splitter fixed and set in the center of the bird's-eye view image area, It is possible to reduce the sense of heterogeneity occurring in the overlapping region of the first synthesized bird's-eye view image and the second synthesized bird's-eye view image.

In addition, the driving assistance device 100 according to an embodiment of the present invention can set the position of the above-described splitter on the upper or lower portion of the bird's-eye view image area, not the center of the bird's-eye view image area. For example, the driving assistance device 100 according to an embodiment of the present invention can position the position of the splitter below the bird's-eye view image area when the shift lever is positioned in the traveling gear, The position of the splitter can be positioned above the image area of the bird's eye view. Now, an example in which the position of the splitter is changed according to the position of the shift lever will be described with reference to Figs. 8A and 8B. Here, FIG. 8A shows an example in which only one of the two cameras is operated according to the position of the shift lever, and FIG. 8B shows an example in which both of the two cameras are operated.

Like the previous example, t ₁ time to t ₃ point, the vehicle takes place in the backward direction, t ₄ to change the time, the position of the shift lever of the vehicle, t ₅ the time t ₈ point, the vehicle is found to proceed in the forward direction I suppose. That is, since the case of the example shown in 8a according to the position of the shift lever camera is selectively operated, t ₁ while the first camera operation time to t ₃ the time is, t _4, the second camera viewpoint to t ₈ point Is operated. In addition, a splitter is set at the top of the bird's-eye view image area at t ₁ to t ₃ , while a splitter is set at the bottom of the bird's-eye view image area at t ₄ to t ₈ .

For t _1, the time portion of the first camera of the first parking line (pl ₁₁₎ taken by the vehicle is being shown in the area (b _13), the rest area _{(a 11, b 11, b} 12) is a non-expressed region exist. As described above, in the present example, since the splitter is located at the upper or lower portion of the bird's-eye view image region, not the center of the bird's-eye view image region, the sizes of the first bird's-eye view image region and the second bird's-eye view image region are also different. In this example, the first bird's-eye view image region is shown as one region and the second bird's-eye view image region is shown as three regions, but this is merely an example, and each bird's-eye view image region may include various sizes and numbers of regions .

If the time t ₂ the vehicle is moved by a predetermined distance in the backward direction, the area (b _22, b ₂₃₎ has shown that some of the parking line. To, in the t ₁ time driving support apparatus 100 according to an embodiment of the present invention is therefore use of the first bird's-eye view image or the first synthesized bird's-eye view image created in the previous point, the area (b ₂₂₎ as previously described The generated first composite bird's-eye view image, that is, the image corresponding to the area b ₁₃ , is included. In addition, the region ₍₂₁ b) is eopgie the shooting information recorded in the past, is present in a non-expressed areas.

If the time t ₃ the vehicle is moved by a predetermined distance in the backward direction, both of the first bird's-eye view image area _{(b 31, b 32, b} 33) has shown that some of the parking line. In addition, the region (b ₃₁₎ will contain images for one of the first synthesized bird's-eye view image that is, the area (b ₂₂₎ create a t ₂ time, the area (b _32), the first synthesis resulting in t ₂ time bird's eye view An image corresponding to the area b ₂₃ may be included and a first bird's-eye image generated at the time t ₃ may be included in the area b ₃₃ .

Now, it is assumed the situation where the shift lever position t ₄ to the time has been changed. At this time, and so the second camera is operating instead of the first camera mounted on a vehicle, whereby the region ₍₄₁ a) is shown a second bird's-eye view image generated by using the second camera. However, the areas a ₄₂ , a ₄₃ can not be photographed through the second camera at present and are not photographed regions in the past, and thus exist as unexpressed regions. In addition, the first synthesized bird's-eye view image generated at time t _{1 to} time t ₃ is output to the area (b ₄₁ ) representing the first bird's-view image area, and the output state can be maintained. Now, it is assumed that the vehicle advances from time t _{5 to} time t ₈ .

At time t ₅ , the vehicle is moved by a certain distance in the forward direction, and the unrepresented area disappears for the areas a ₅₁ and a ₅₂ among the areas representing the second bird's-view image area. Of course, in the case of the area a ₅₃ , since there is no photographing information in the past, it appears as an unexpressed area. Even if the vehicle moves in the forward direction, since there is a first synthesized bird's-eye view image generated at the same position at the past time point, the expression for the parking line pl ₁₁ without an additional _unrefreshed area in the area b ₅₁ It is possible.

₆ at the time t when the vehicle is moved by a predetermined distance in the forward direction, the area (a ₆₁₎ is a part of the second parking line ₍₁₂ pl) is displayed. Further, the area (a ₆₃₎ is t, and includes a second image corresponding to the synthesized bird's-eye view image that is, the area (a ₅₂₎ produced a _5-point, the area (a ₆₂₎ is a second composite produced in t ₅ the time bird's eye view An image corresponding to the area a ₅₁ may be included and a second bird's-eye image generated at the time t ₆ may be included in the area a ₆₁ . Even if the vehicle moves in the forward direction, since there is the first synthesized bird's-eye view image generated at the same position at the past time point, the expression for the parking line pl ₁₁ without an additional _unrefreshed area in the area b ₆₁ It is possible.

the area (a ₇₁ , a ₇₂ , a ₇₃ ) and the area (a ₈₁ , a ₈₂ , a ₈₃ ) representing the second bird's-view image area at the time of t ₇ and t ₈ are obtained through the above- 2 Composite bird's-eye images can be generated. However, in the case of the first bird's-view image region, the region b ₇₁ and the region b ₈₁ exist in the unexpressed region because there is no photographing information for the region in the past.

Also, in this example, as in the case of Figs. 7A and 7B, it is also possible to provide the driver with a bird's-eye view image area using all of the two cameras, instead of selectively operating only one of the two cameras It is possible. An example of a method of setting the position of the splitter at the upper portion or the lower portion of the image area in the situation where both cameras are operated in this manner is shown in Fig. 8B.

When all of the two cameras are operated as shown in FIG. 8B, a part of the first parking line pl ₁₁ photographed by the first camera of the vehicle at time t ₁ appears in the area b ₁₃ , some of the recorded second parking line ₍₁₂ pl) can appear in the area (a _11). Of course, the areas (b ₁₁ , b ₁₂ ) outside the photographing range of the camera exist as unexpressed areas.

If the time t ₂ the vehicle is moved by a predetermined distance in the backward direction, the area (b _22, b ₂₃₎ has shown that some of the parking line. In addition, since the second camera is activated, the area (a ₂₁₎ may also be represented. To, in the t ₁ time driving support apparatus 100 according to an embodiment of the present invention is therefore use of the first bird's-eye view image or the first synthesized bird's-eye view image created in the previous point, the area (b ₂₂₎ as previously described The generated first composite bird's-eye view image, that is, the image corresponding to the area b ₁₃ , is included. Of course, in the case of the region ₍₂₁ b), present in the past eopgie recording information, it represented US region.

If the time t ₃ the vehicle is moved by a predetermined distance in the backward direction, there appears a portion of the parking area line _{(b 31, b 32, b} 33). Further, by operation of the second camera, the area (a ₃₁₎ may also be represented. 8A, the first synthesized bird's-eye view image generated at the time t ₂ , that is, the image corresponding to the region (b ₂₁ , b ₂₂ ) is included in the region (b ₃₁ , b ₃₂ ) ₃₃ ) may include the first bird's-eye image generated at time t ₃ .

Now, the shift lever position of the point in time t ₄ has been changed is assumed the situation when the vehicle is moving in the forward direction. In this case, the areas a ₄₁ and b ₄₁ may include a second bird's-eye view image generated using each camera and a first bird's-eye view image, respectively. However, in the case of the areas a ₄₂ and a ₄₃ , because there is no photographing information in the past, it exists as a non-representation area as shown in FIG. 8B.

At time points t ₅ and t ₆ , the vehicle is moved by a certain distance in the forward direction, and the same bird's-eye view image area as the example of FIG. 8A is derived. In the example of FIG. 8A, the region b ₇₁ and the region b ₈₁ are processed as undefined regions due to the non-operation of the first camera in the case of t ₇ and t ₈ , The region b ₇₁ and the region b ₈₁ can be expressed because the first camera is operated.

In addition, the driving assistance device 100 according to an embodiment of the present invention is not limited to fixing the position of the above-described splitter to a specific position, but may be adjusted in real time and in a sliding manner in consideration of the moving direction and distance of the vehicle It is possible. Specifically, the driving assistance device 100 according to an embodiment of the present invention can determine the moving direction of the splitter according to the moving direction of the vehicle, and can move the splitter according to the moving distance of the vehicle.

Now, an example of adjusting the position of the splitter according to the position of the shift lever (that is, the moving direction of the vehicle) and the moving distance of the vehicle will be described with reference to Figs. 9A and 9B. 9A shows an example in which only one of the two cameras is operated according to the position of the shift lever, and FIG. 9B shows an example in which both of the two cameras are operated.

Like the previous example, t ₁ time to t ₃ point, the vehicle takes place in the backward direction, t ₄ to change the time, the position of the shift lever of the vehicle, t ₅ the time t ₈ point, the vehicle is found to proceed in the forward direction I suppose. That is, since the case of the example shown in 9a in accordance with the position of the shift lever camera is selectively operated, t ₁ while the first camera operation time to t ₃ the time is, t _4, the second camera viewpoint to t ₈ point Is operated. Since the vehicle moves in the backward direction from the time t _{1 to the} time t _3, the splitter moves upward in the bird's-eye view image area, while in the case of the time t ₄ to t ₈ , the vehicle moves in the forward direction, And moves in the downward direction of the image area.

First, at the time t ₁ , a part of the first parking line pl ₁₁ photographed by the first camera of the vehicle is displayed in the area b ₁₄ , and the remaining areas b ₁₁ , b ₁₂ and b ₁₃ are not represented Lt; / RTI >

the vehicle is moved backward by a certain distance in the case of the time t ₂ and a part of the parking lines appears in the area b ₂₃ and b ₂₄ and the vehicle is moved by a certain distance in the backward direction at the time t ₃ , b ₃₂ , b ₃₃ , b ₃₄ ).

Now, it is assumed the situation where the shift lever position at the time t ₄ has been changed. In the case of Figs. 7A, 7B, 8A and 8B, it has been described that the splitter is fixedly set at a specific position in advance, or fixed at one of two positions depending on the position of the shift lever. Accordingly, the examples of Figs. 7A, 7B, 8A, and 8B have been described that the splitter is set at t ₁ to t ₃ when only one bird's-eye image exists. On the other hand, in the present embodiment, when the position of the shift lever is changed, a splitter is set in a portion where the first bird's-eye view image region and the second bird's-eye view image region overlap. If the first bird's-tooth view image area and the second bird's-foot view image area do not overlap when the position of the shift lever is changed, the setting time of the splitter is not directly applied, It is also possible that the bird's-eye view image area is set when overlapping.

Of course, the shift lever, as described in FIG. 8a and FIG. 8b a try, thinking a method of locating the position of the splitter, like a bird's eye view image region of t ₁ to t ₃ the point in the upper portion of the bird's eye view image region when positioned in the reverse gear . However, when the splitter is set in advance, when the vehicle continuously moves in the same direction, there is an unexpressed region in the uppermost or lowermost region. On the other hand, when the position of the shift lever is changed or when the first bird's-tooth view image region and the second bird's-foot view image region are overlapped with each other, the split bird's eye view image generated based on one camera To the driver. In addition, the setting time of such a splitter can be similarly applied to the foregoing examples.

In the case of this example for the first bird's-eye view image area and a second overlap region in a bird's eye view image to the change point of the transmission lever exists, a bird's eye view image region of the time t _4, it can be set the splitter (sp _4). Further, in the case of t ₅ and t ₆ , since the vehicle moves in the forward direction, the position of the splitter can be gradually moved downward. In the case of the time point t ₇ and the time point t ₈ In this example, the first due to a point there is no history recording information on a bird's eye view image area, it can be seen that the non-expressed region (b _71, b ₈₁₎ occurs. When the unexpressed area is generated and the splitter is removed, the unexpressed area can be removed together with the composite image generated at the previous time. Of course, as shown in 9b, if using all of the two cameras, US expression region since the time point t ₄ in this example can not occur.

Also, in the above description, the splitter has been described to exist only in the transverse direction. However, it is also possible to set the splitter in the oblique direction according to the steering angle of the steering wheel, as the above examples assume that the vehicle moves in the forward and backward directions. That is, when the steering wheel is moved in the left direction according to the driver's operation, one side of the splitter is moved downward with respect to the center of the bird's-eye view image region, while the other side of the splitter is moved upward . Similarly, when the steering wheel is moved in the right direction according to the operation of the driver, one side of the splitter is moved upward in relation to the center of the bird's-eye view image area, while the other side of the splitter is moved downward .

In other words, the splitter according to the embodiment of the present invention can be changed into various forms if one side is located at one side of the bird's-eye view image area and the other side is located at the other side of the bird's-eye view image area. As described above, results for various bird's-eye image areas can be derived according to the setting of the operation camera, whether or not the splitter is maintained, and the setting or removal time. Also, the sense of heterogeneity due to the overlapping region between the first synthesized bird's-eye view image and the second synthesized bird's-eye view image due to the presence of the splitter can be reduced.

Also, although not mentioned above, the driving assistance device according to an embodiment of the present invention may provide a driver with a bird's-eye view image area by blending an area where the first synthesized bird's-eye view image and the second synthesized bird's-eye view image overlap with each other around the splitter Do. This is to further reduce the sense of heterogeneity due to the overlapping area between the first synthesized bird's-eye view image and the second synthesized bird's-eye view image described above. Of course, in addition to such a blending process, the driving assistance device according to an embodiment of the present invention may include a color tone (for example, red, blue, and blue) preset in an area overlapping the first synthesized bird's- Or green), it is possible to consider a method of reducing the sense of heterogeneity due to the overlapping region between the first synthesized bird's-eye view image and the second synthesized bird's-eye view image.

It has been described above that the vehicle is operated in the order of reverse, gear change, and forward. However, the driving assistance device according to an embodiment of the present invention can apply the same technical idea even if the vehicle is operated in a different order. Accordingly, further explanation on the case of moving to another operation scenario of the vehicle is omitted.

10 to 12 are flowcharts of a driving assistance method according to an embodiment of the present invention. Fig. 10 shows a flow chart when the splitter is set in the lateral direction at the center of the bird's-eye view image, Fig. 11 shows a flow chart when the splitter is set at the upper portion or the lower portion according to the position of the shift lever, In which the splitter is moved in a sliding manner in accordance with the moving direction and the moving distance of the splitter. Also, as described above, the driving assist method according to one embodiment of the present invention may selectively operate only one camera according to the position of the shift lever among two cameras mounted on the vehicle according to the setting, It is also possible to operate all of them. First, an example in which only one of the two cameras is selectively operated according to the position of the shift lever will be described below. In the following description, it is assumed that the vehicle is moving in the rearward direction of the vehicle, and the position of the shift lever is changed to move in the forward direction.

Step S110 is a step of acquiring a first camera image photographed by the first camera by the image obtaining unit.

S120 is a step for generating a first bird's-eye view image of a point in time t _n, by transforming a first image of the camera, the time t _n by the bird's eye view image generating unit time.

Step S130 is a step of calculating the moving distance of the vehicle by the moving distance calculating unit. The calculated moving distance through step S130 may be used to generate the composite bird's-eye image described in the following description.

S140 is a step for generating a first synthesized bird's-eye view image of a, t _n time by the composite bird's eye view image generating unit. More specifically, step S140 may be synthesized by a first bird's-eye view image and the bird's eye view image of the first synthesized bird's-eye view or the first image of a past point in time t _n, generating a first synthesized bird's-eye view image of a point in time t _n. Here, in the case of the time t ₁ , the first synthesized bird's-eye view image generated through step S140 may be the same as the first bird's-eye view image generated through step S120 since it represents the situation before the vehicle moves.

In operation S150, the screen generating unit generates an output screen and displays the generated output screen. Here, the output screen may include a bird's-eye view image area. Further, as described above, the splitter generated by the splitter adjusting unit can be formed at the center of the bird's-eye view image area on the output screen. Accordingly, the first synthesized bird's-eye view image generated through step S140 may be included in the first bird's-eye view image area separated by the splitter.

Step S160 is a step of collecting position information of the shift lever by the operation information collecting unit. As described above, when the splitter is fixed to the center of the bird's-eye view image area and only one of the two cameras is used, the first synthesized bird's-eye view image and the second synthesized bird's-eye view image Only the composite bird's-eye view image is generated. For example, as in the example of Figure 7a t ₁ to t ₃ time until within the shift lever of the vehicle in reverse gear, assuming that the position of the shift lever changes to t ₄ the time, t ₁ to t to ₃ point S110 The first synthesized bird's-eye view image will be output through the first bird's-eye view image region through the repetition of the steps S 130 to S 130. If it is confirmed in step S160 that the position of the shift lever has been changed, it is determined in step S110 through step S150 that the position of the shift lever is changed or the second It is possible to generate the second bird's-eye view image and the second synthesized bird's-eye view image at the time point t _n based on the camera image, and output the second synthesized bird's-eye view image at the generated t _n time point through the second bird's-eye view image area. Of course, when the position of the shift lever is again located in the reverse gear, a process of generating the first synthesized bird's-eye view image using the first camera image can be performed.

As described above, the driving assistance method according to an embodiment of the present invention can simultaneously generate the bird's-eye view image region by simultaneously considering the first camera image and the second camera image captured by two cameras. In this case, step S110 is carried out the step of obtaining a first camera image and second camera image of a t _n time, and step S120 is performed for generating a first bird's-eye view image and the second bird's-eye view image of a t _n time, and , Step S140 may be performed to generate the first synthesized bird's-eye view image and the second synthesized bird's-eye view image in consideration of the moving distance of the vehicle. Through the execution of these steps, the driver assistance method according to an embodiment of the present invention can provide the driver with the bird's-eye view image region using all of the two cameras as shown in FIG. 7B.

A method of changing the position of the splitter according to the position of the shift lever will now be described with reference to FIG. 11 through a driving assistance method according to an embodiment of the present invention. As described with reference to FIG. 10, the driving assistance method according to an embodiment of the present invention selectively operates only one camera according to the position of the shift lever among two cameras mounted on the vehicle according to the setting, It is also possible to operate all of the cameras. First, an example in which only one of the two cameras is selectively operated according to the position of the shift lever will be described below. In the following description, it is assumed that the vehicle is moving in the rearward direction of the vehicle, and the position of the shift lever is changed to move in the forward direction.

Here, steps S210 to S240 are substantially the same as steps S110 to S140 shown in FIG. 10, so that a description thereof will be omitted.

In operation S250, an output screen is generated and displayed on a display unit mounted on the vehicle. As mentioned earlier, to be a first synthesized bird's-eye view image of a time point t _n generated by the step S240, the first synthesized bird's-eye view image of the resulting _n the time t is included in the bird's-eye view image area can be provided to the driver. Here, the bird's eye view image region may be a first bird's-eye view image region and the second bird's-eye view image region separated by the splitter, produced by the splitter adjuster, as previously described, the first synthesis of the resultant t _n time through the S240 step The bird's-eye image is included in the first bird's-illustration image area, and an output screen can be provided to the driver. The position of the splitter is located above the bird's-eye view image area when the shift lever of the vehicle is located in the reverse gear. On the other hand, when the shift lever of the vehicle is located on the drive gear, the position of the splitter is located at the bottom of the bird's- . Each of the bird's-eye view image areas, that is, the first bird's-eye view image area and the second bird's-foot view image area have different sizes according to the position of the splitter. That is, the bird's-eye view image area in which the synthesized bird's-eye view image generated through the operated camera is output may be larger than other bird's-eye view image areas.

Thereafter, it is determined whether or not the position of the shift lever is changed through steps S260 to S280. As a result of the determination in step S280, if there is no separate termination request and the position of the shift lever is not changed, a first synthesized bird's-eye view image is generated at each time point through steps S210 to S250, The synthesized bird's-eye view image can be provided to the driver through the first bird's-eye view image area (see the point of time t ₁ to t _{3 in} FIG. 8A). As a result of the determination in step S280, if there is no separate termination request and the position of the shift lever is changed, control is transferred to step S290.

Step S290 is a step of changing the position of the splitter by the splitter adjusting unit. That is, if the position of the splitter is in the upper part of the bird's-eye view image area, the position of the splitter is changed to the lower part of the bird's-eye view image area through step S290 (see time point t _{4 in} FIG.

In this case, control is transferred again to step S210, and a second synthesized bird's-eye view image is generated based on the second camera image through steps S210 and S250, and the generated synthesized bird's-eye view image is transmitted to the driver through the second bird's- (See the time point t ₄ to t _{8 in} FIG. 8A).

In addition, the driving assistance method according to an embodiment of the present invention can simultaneously generate the bird's-eye view image region by simultaneously considering the first camera image and the second camera image captured by two cameras. In this case, step S210 is carried out the step of obtaining a first camera image and second camera image of a t _n time, and step S220 is performed for generating a first bird's-eye view image and the second bird's-eye view image of a t _n time, and , Step S240 may be performed to generate the first synthesized bird's-eye view image and the second synthesized bird's-eye view image in consideration of the moving distance of the vehicle. Through the execution of these steps, it is possible to provide the driver with the bird's-eye view image region using all of the two cameras as shown in FIG. 8B, according to an embodiment of the present invention. Further, as in the case where only one camera is operated, the position of the splitter can be determined according to the position of the shift lever.

Now, with reference to FIG. 12, a method of adjusting the position of the shift lever according to the position of the shift lever, that is, the moving direction and the moving distance of the vehicle, through the driving assistance method according to an embodiment of the present invention will be described. 10 and 11, according to the driving assistance method of the present invention, only one camera is selectively operated according to the position of the shift lever among the two cameras mounted on the vehicle according to the setting Or it is also possible to operate both cameras. First, an example in which only one of the two cameras is selectively operated according to the position of the shift lever will be described below. In the following the vehicle is moved to the rear direction of the vehicle (t ₁ to t ₃ time), the shift lever is positioned is changed (t ₄ time), after which the situation (t ₅ to move in the forward direction of time to t ₈ time point).

Step S310 is a step of acquiring the position information of the shift lever by the operation information collecting unit and acquiring the camera image by the image obtaining unit. In the case of this example, it is assumed that the vehicle is moving backward, so that the first camera image at time point t _n photographed through the first camera is obtained through step S310.

In step S320, the bird's-eye view image generating unit generates a bird's-eye view image by performing a viewpoint conversion of the camera image. For this example, the first camera image of a point in time t _n may obtain a first bird's-eye view image of the time t _n by translating the point.

Step S330 is a step of calculating the moving distance of the vehicle by the moving distance calculating unit. The calculated moving distance through step S330 may be used to generate the composite bird's-eye image described in the following description.

Step S340 is a step of generating a composite bird's eye view image of a, t _n time by the composite bird's eye view image generating unit. More specifically, step S340 is a bird's eye view image and the bird's eye view by synthesizing the first image or the synthesized bird's-eye view image of a past point in time t _n, it is possible to produce a composite bird's eye view image of a point in time t _n. So assuming a situation in which the case of this example, the vehicle backward, S340 step by synthesizing the first bird's-eye view image of a t _n time of the first bird's-eye view image or the first synthesized bird's-eye view image of a past time, the first synthesis of the t _n time A bird's-eye image can be generated.

Step S350 is a step of setting a splitter in the output screen described below based on the moving distance of the vehicle calculated in step S330 and the moving direction information of the vehicle obtained in step S310. Similar to that described with reference to Fig. 11, the position of the splitter can be set at the top of the bird's-eye view image area in a situation where the vehicle is moving backward. Conversely, in a situation where the vehicle advances, the position of the splitter can be set below the bird's-eye view image area. In this example, since the vehicle is assumed to be backward, the splitter can be set on top of the bird's-eye view image area.

Step S360 is a step of generating an output screen by the output screen generating unit and outputting the output screen through the display unit. Steps S310 to S360 may be repeatedly performed until a termination request is received from the user to provide the bird's-eye view image region to the driver.

Now, it is assumed that the driver changes the position of the shift lever to a driving gear condition (the time t _4). In this case, in step S310 confirms that the position changes of the shift lever, the first image instead of the camera, and acquiring a second image of camera time t _n. Similarly, step S320 generates a bird's eye view image of the second point in time t _n, step S340 generates a second synthesized bird's-eye view image of a point in time t _n.

In step S350, the position of the splitter is adjusted based on the moving distance and the moving direction of the vehicle. Here, in the case of the time t ₄ , the moving direction of the vehicle is changed, but the position of the splitter is maintained at the same time as the time t ₃ since the vehicle is not yet moved. In the case of the t4 time, a new second synthesized bird's-eye view image is generated, the first composite bird's eye view image is t _1, the time to t so ₃ that the image generated at the time of presence, a bird's eye view image region that is provided to the driver through the S360 step, The first synthesized bird's-eye view image and the second synthesized bird's-eye view image can be provided together to the driver.

In addition,, the moving distance of the vehicle can be calculated as t ₄ the vehicle is moving thereafter. Accordingly, the position of the splitter set through step S350 can be set while moving in the downward direction according to the movement of the vehicle.

In addition, the driving assistance method according to an embodiment of the present invention can simultaneously generate the bird's-eye view image region by simultaneously considering the first camera image and the second camera image captured by two cameras. In this case, step S310 is carried out the step of obtaining a first camera image and second camera image of a t _n time point, S320 step is performed the step of generating a first bird's-eye view image and the second bird's-eye view image of a t _n time, and , Step S340 may be performed to generate the first synthesized bird's-eye view image and the second synthesized bird's-eye view image in consideration of the moving distance of the vehicle. The other parts are the same as those described above, so duplicate explanations are omitted.

In the driving assistance method according to an embodiment of the present invention, a splitter is set in advance in the bird's-eye view image region, and at least one of the first synthesized bird's-eye view image and the second synthesized bird's eye view image is divided into the bird's- . However, in this method, when only one of the two cameras operates selectively, the uppermost or lowermost region of the bird's-eye view image region is output to the unexpressed region. Accordingly, the driving assisting method according to an embodiment of the present invention is a driving assisting method according to the first embodiment of the present invention, in which the moving direction of the vehicle is changed (that is, the position of the shift gear is changed) as described above with reference to FIGS. 9A and 9B, And the second synthesized bird's-eye view image occurs, it is also possible to set the splitter in the overlap area. 9A and 9B, detailed description thereof will be omitted.

In addition, as described above, the driving assistance method according to an embodiment of the present invention may further include blending an area where the first synthesized bird's-eye view image and the second synthesized bird's-eye view image overlap with each other with the splitter as the center. This is to further reduce the sense of heterogeneity due to the overlapping area between the first synthesized bird's-eye view image and the second synthesized bird's-eye view image described above. Of course, in addition to the blending process, the driving assistance method according to an embodiment of the present invention further includes applying a preset color tone to an overlapping area between the first synthesized bird's-eye view image and the second synthesized bird's-eye view image, It is also possible.

As described above, an optimal embodiment has been disclosed in the drawings and specification. Although specific terms have been employed herein, they are used for purposes of illustration only and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: driving assist device 110:
120: image obtaining unit 130: bird's-eye view image generating unit
140: Composite bird's-eye view image generating unit
150: Screen generating unit 160: Operation information collecting unit
170: splitter adjusting unit 180: moving distance calculating unit

Claims (23)

An apparatus for assisting the driving of a vehicle, the apparatus being applied to a vehicle equipped with a first camera and a second camera,
A storage unit for storing a first camera image captured through the first camera and a second camera image captured through the second camera; And
A bird's-eye view image including a first bird's-eye view image area including a first synthesized bird's-eye view image generated based on the first camera image and a second bird's-eye view image area including a second synthesized bird's-eye view image generated based on the second camera image And a screen generation unit for generating an output screen including the area,
Further comprising a splitter adjusting unit for setting a splitter for separating the first bird's-eye view image region and the second bird's-eye view image region from the output screen,
Wherein the splitter adjusting unit adjusts the position of the splitter in real time according to the position information and the moving distance of the shift lever of the vehicle. The method according to claim 1,
Wherein the splitter adjustment unit adds the splitter to a portion where the first composite bird's-eye view image and the second composite bird's-eye view image overlap each other. The method according to claim 1,
Wherein the splitter has a shape of a thick line and both sides of the splitter are connected to two opposite sides of sides of the bird's-eye view image region. The method according to claim 1,
Wherein the size of the first bird's-eye view image region and the size of the second bird's-eye view image region vary depending on the position of the splitter in the bird's-eye view image region. 5. The method of claim 4,
Further comprising an operation information collecting unit for acquiring position information of the shift lever. 6. The method of claim 5,
Further comprising a movement distance calculating section for calculating a movement distance of the vehicle. delete The method according to claim 1,
Wherein the splitter adjustment unit positions the splitter at an upper portion in the bird's-eye view image area when the shift lever is positioned in the reverse gear. 9. The method of claim 8,
Wherein the splitter adjustment unit positions the splitter at a lower portion in the bird's-eye view image area when the shift lever is positioned in the traveling gear. The method according to claim 1,
Wherein the splitter adjustment unit positions the splitter at the center of the bird's-eye view image area. The method according to claim 1,
t _n t _n the first bird's-eye view image generation unit for generating a first bird's-eye view image at the time of conversion by the camera image point in time; And
Synthesis of acquiring movement information of the vehicle, generating a first synthesized bird's-eye view image of a t _n time point according to the movement information of the vehicle by combining the first bird's-eye view image of the t _n time in the first synthesis bird's eye view image generated in the past time point And a bird's eye view image generating unit. 12. The method of claim 11,
The bird's eye view image generating unit further generates a second _n t bird's eye view image of the second point in time t _n by the camera image transformation point in time,
Characterized by further generate a second synthesized bird's-eye view image of a t _n time point by synthesizing the bird's eye image of the second synthesized bird's-eye view the t _n time of the image generated in the past time according to the movement information of the synthesized bird's-eye view image generation unit vehicle . 12. The method of claim 11,
Wherein the synthesized bird's-eye-view image generating unit generates a first synthesized bird's-eye view image at a time t _n when the vehicle is in a reverse state,
Wherein the screen generating unit includes a first synthesized bird's-eye view image at a time point t _n in the first bird's-eye view image area when the vehicle is in a reverse state, and a second synthesized bird's-eye view image generated at a time point in the second bird's- Wherein the driving assist device comprises: 12. The method of claim 11,
Wherein the synthesized bird's-eye-view image generating unit generates a second synthesized bird's-eye view image at a time t _n when the vehicle is in the advanced state,
Wherein the screen generating unit includes a second synthesized bird's-eye view image at a time point t _n in the second bird's-eye view image area when the vehicle is advanced, and the first synthesized bird's-eye view image generated in the past time point is included in the first bird's- Wherein the driving assist device comprises: 12. The method of claim 11,
Wherein the vehicle is generating a first synthesized bird's-eye view image of a point in time t _n the composite bird's eye view image generating unit when the backward state, and generating a second synthesized bird's-eye view image of the bird's eye view image generating unit time point t _n,
Wherein the screen generating unit includes a first synthesized bird's-eye view image at a time point t _n in the first bird's-eye view image area when the vehicle is in a reverse state, and includes a second bird's-eye view image at a time t _n in the second bird's- Features a driving assistance device. 12. The method of claim 11,
Wherein the vehicle is generating a second synthesized bird's-eye view image of the composite bird's eye view image generating unit time t _n when the forward state, generating a first synthesized bird's-eye view image of the bird's eye view image generating unit time point t _n,
Wherein the screen generating unit includes a second synthesized bird's-eye view image at a time point t _n in the second bird's-eye view image area when the vehicle is in a forward state, and includes a first bird's-eye view image at a time t _n in the first bird's- Features a driving assistance device. A method of assisting the driving of a vehicle, the method being applied to a vehicle equipped with a first camera and a second camera,
The second bird's-eye view image including the first bird's-eye view image area including the first synthesized bird's-eye view image generated based on the first camera image and the second synthesized bird's-eye view image generated based on the second camera image, Generating an output screen including a bird's-eye image area including an area,
Setting a splitter for separating the first bird's-eye view image region and the second bird's-eye-view image region from the output screen by a splitter adjusting unit; And
And adjusting the position of the splitter in real time according to the positional information and the moving distance of the shift lever of the vehicle by the splitter adjusting unit. 18. The method of claim 17,
Wherein the step of setting the splitter comprises a step of overlapping the first composite bird's-eye view image and the second composite bird's-eye view image. 18. The method of claim 17,
Wherein the step of setting the splitter is performed at a center of the bird's-eye view image region. 18. The method of claim 17,
Wherein the size of the first bird's-eye view image region and the size of the second bird's-eye view image region vary according to the position of the splitter in the bird's-eye view image region. 21. The method of claim 20,
Further comprising the step of acquiring positional information of the shift lever by the operation information collecting unit. 22. The method of claim 21,
Further comprising a step of calculating a moving distance of the vehicle by the moving distance calculating unit. delete

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