KR102235031B1 - Real-time processable camera based driving environment detection vehicle system - Google Patents

Abstract

According to an embodiment of the present invention, a first video camera is disposed inside a vehicle system to face a first direction and detects a first type of image information, and a first video camera is disposed inside a vehicle to face the first direction, and the first A second image camera that detects image information of a second type different from the type, a controller that processes information using image information detected by the first image camera and the second image camera, and one or more pieces of information processed by the controller Disclosed is a vehicle system for detecting a driving environment based on a camera capable of real-time processing, including a display unit for expressing a user.

Description

Real-time processable camera based driving environment detection vehicle system}

The present invention relates to a camera-based driving environment detection vehicle system capable of real-time processing.

With the development of technology, research on new uses and improvements of various means of transportation continues.

For example, research on various convenience and driving control of a vehicle by people is being actively conducted.

In particular, research on smart driving that reduces user intervention with respect to vehicles and improves user's driving convenience and stability is increasing, for example, Smart Cruise Control (SCC).

Such smart driving can proceed by securing various information in front of the vehicle, for example, it is possible to secure information on the vehicle or a person in front.

However, due to the overall structure and driving characteristics of the vehicle system, there is a limitation in securing information on a driving environment while driving a vehicle or improving the accuracy of the acquired information.

The present invention can provide a camera-based driving environment detection vehicle system capable of real-time processing capable of improving stable driving performance of a vehicle and improving driving convenience of a user.

According to an embodiment of the present invention, a first video camera is disposed inside a vehicle system to face a first direction and detects a first type of image information, and a first video camera is disposed inside a vehicle to face the first direction, and the first A second image camera that detects image information of a second type different from the type, a controller that processes information using image information detected by the first image camera and the second image camera, and one or more pieces of information processed by the controller Disclosed is a vehicle system for detecting a driving environment based on a camera capable of real-time processing, including a display unit for expressing a user.

In this embodiment, the first image camera may use visible light.

In this embodiment, the second image camera may use infrared rays, near infrared rays, or far infrared rays.

In the present embodiment, the vehicle system may have a room mirror unit disposed inside, and the first image camera or the second image camera may be disposed at the room mirror unit.

In the present embodiment, a front window facing the front of the vehicle system may be included, and the first image camera or the second image camera may be disposed to face the front window.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

On the other hand, the present invention was carried out with the support of the automobile industry core technology development project by the Korea Institute of Industrial Technology Evaluation and Management under the Ministry of Commerce, Industry and Energy managed by the Electronic Components Research Institute.

The real-time processing capable camera-based driving environment detection vehicle system according to the present invention can improve the stable driving performance of the vehicle and improve the driving convenience of the user.

1 is a schematic diagram showing a vehicle system for detecting a driving environment based on a camera capable of real-time processing according to an embodiment of the present invention.
FIG. 2 is a plan view illustrating an example of the vehicle system for detecting a driving environment based on a camera capable of real-time processing of FIG. 1.
3 is a perspective view illustrating an example of the vehicle system for detecting a driving environment based on a camera capable of real-time processing of FIG. 1.
4 is a schematic enlarged view of K of FIG. 2.
5 is a schematic left side view of a camera-based driving environment detection vehicle system capable of real-time processing viewed from one side of FIG. 2 or 3.
6 is a schematic front view as seen from the direction K of FIG. 5.
7 is a schematic cross-sectional view taken along the line VII-VII of FIG. 6.
8 is a modified example of FIG. 7.
9 is another modified example of FIG. 7.

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

Since the present invention can apply various transformations and have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. Effects and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the drawings, the same or corresponding components are assigned the same reference numerals, and redundant descriptions thereof will be omitted. .

In the following embodiments, terms such as first and second are used for the purpose of distinguishing one constituent element from other constituent elements rather than a limiting meaning.

In the following examples, expressions in the singular include plural expressions unless the context clearly indicates otherwise.

In the following embodiments, terms such as include or have means that the features or elements described in the specification are present, and do not preclude the possibility of adding one or more other features or components in advance.

In the drawings, components may be exaggerated or reduced in size for convenience of description. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, and thus the present invention is not necessarily limited to what is shown.

In the following embodiments, the x-axis, y-axis, and z-axis are not limited to three axes on a Cartesian coordinate system, and may be interpreted in a broad sense including them. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but may refer to different directions that are not orthogonal to each other.

When a certain embodiment can be implemented differently, a specific process order may be performed differently from the described order. For example, two processes described in succession may be performed substantially simultaneously, or may be performed in an order opposite to the described order.

1 is a schematic diagram showing a vehicle system for detecting a driving environment based on a camera capable of real-time processing according to an embodiment of the present invention.

Referring to FIG. 1, a camera-based driving environment detection vehicle system 100 capable of real-time processing according to the present embodiment includes a first image camera 110, a second image camera 120, a control unit 130, and a display unit 150. can do.

The first image camera 110 may be disposed inside the vehicle to face a first direction. For example, the first image camera 110 may be disposed to face forward when the vehicle proceeds, and as a specific example, it may be disposed inside the vehicle's front window. Through this, it is possible to detect information on people, obstacles, and road conditions in front of the vehicle.

The first image camera 110 may be formed to detect and photograph the first type of image information. For example, the first image camera 110 may be a visible light-applied camera, and an image sensor, as a specific example, is a CCD It may include a (charge coupled device).

The second image camera 120 may be disposed inside the vehicle to face the first direction. For example, the second image camera 120 may be disposed to face forward when the vehicle proceeds, and as a specific example, it may be disposed inside the vehicle's front window. Through this, it is possible to detect information on people, obstacles, and road conditions in front of the vehicle.

The second image camera 120 may be formed to detect and photograph image information of a second type different from the first type. For example, the second image camera 120 may be one of infrared, far-infrared, and near-infrared cameras, and may include a plurality of cameras of the same type or a plurality of cameras of different types, if necessary.

The controller 130 may receive and process information about images captured by the first and second image cameras 110 and 120. For example, the controller 130 may generate image information that can be recognized by a user by using information received from the first image camera 110 and the second image camera 120. As a specific example, It is possible to improve the accuracy of the target information provided to the user by generating final image information by synthesizing the information captured by the first image camera 110 and the information captured by the second image camera 120 for one target. have.

As an optional embodiment, the controller 130 distinguishes vehicle, person, and artificial road information using information received from the first image camera 110 and the second image camera 120, and converts the information in such a distinct manner into image information. Can be created with

As an optional embodiment, the controller 130 may store processed information or information as it is by using information received from the first and second image cameras 110 and 120, and includes a separate storage unit for this purpose. A storage unit may be included in the control unit 130.

The control unit 130 may generate information in such a distinct manner as image information by distinguishing vehicle, person, and artificial road information using information received from the first image camera 110 and the second image camera 120. In addition, such differentiated information may be stored in the storage unit. Using the stored information, the control unit 130 can learn in various ways, and through this, the accuracy of object identification of the control unit 130 can be improved.

As an optional embodiment, the control unit 130 may be connected to the driving control unit or the steering control unit of the vehicle system, and transmits information of the control unit 130 to the driving control unit or the steering control unit to prevent dangerous obstacles that the user does not recognize when driving the vehicle. In this case, part of the vehicle's driving may be controlled, and if necessary, the user may control autonomous driving of the vehicle according to the selection.

The display unit 150 may be formed to display information processed by the control unit 130 to a user. For example, the display unit 150 may be arranged in various ways that can be recognized by a user, such as one surface of a dashboard, an instrument panel, or a rear view mirror arranged inside a vehicle.

As an optional embodiment, the display unit 150 may include a liquid crystal display panel, an organic light emitting diode panel, a quantum dot display panel, or other various types of display devices.

As an optional embodiment, this embodiment may further include a voice expression output unit that provides voice information to a user.

FIG. 2 is a plan view illustrating an example of the real-time processing camera-based driving environment detection vehicle system of FIG. 1, and FIG. 3 is a perspective view illustrating an example of the real-time processing camera-based driving environment detection vehicle system of FIG. 1.

FIG. 4 is a schematic enlarged view of K of FIG. 2, and FIG. 5 is a schematic left side view of a camera-based driving environment detection vehicle system capable of real-time processing viewed from one side of FIG. 2 or 3.

FIG. 6 is a schematic front view as seen in the direction K of FIG. 5, and FIG. 7 is a schematic cross-sectional view taken along the line VII-VII in FIG. 6.

Referring to FIG. 2, a top plan view of a camera-based driving environment detection vehicle system 100 capable of real-time processing according to the present embodiment (referred to as a “vehicle system” for convenience of description below) as a forward direction (F) and a reverse direction (R). Is pointing.

The vehicle system 100 may be formed to enable driving in a forward direction F and a reverse direction R according to a user's intention.

A rearview mirror unit RM may be disposed inside the vehicle system 100.

The first image camera 110 may be disposed on the inside of the vehicle to face the first direction. As an optional embodiment, the first image camera 110 may be disposed to face the forward direction F of the vehicle, and as a specific example, the vehicle system 100 It may be disposed on one surface of the room mirror unit RM disposed inside of the.

As an alternative embodiment, referring to FIG. 4, the mirror surface MS is formed on one surface of the rearview mirror unit RM, and the surface MS is not formed, for example, it is provided to be spaced apart from the mirror surface MS. 1 An image camera 110 may be disposed to face the forward direction F.

The second image camera 120 may be disposed inside the vehicle to face the first direction. As an optional embodiment, the second image camera 120 may be disposed to face the forward direction F of the vehicle. As a specific example, the vehicle system 100 It may be disposed on one surface of the room mirror unit RM disposed inside of the.

As an alternative embodiment, referring to FIG. 4, the mirror surface MS is formed on one surface of the rearview mirror unit RM, and the surface MS is not formed, for example, it is provided to be spaced apart from the mirror surface MS. 2 The image camera 120 may be disposed to face the forward direction (F).

As an optional embodiment, the first image camera 110 and the second image camera 120 may be disposed parallel to each other along one direction, or may be spaced apart from each other so as to have an interval.

As shown in FIG. 2, the first image camera 110 and the second image camera 120 of the vehicle system 100 may be arranged to have a photographing area in the same direction or at least overlapping each other. It may be possible to recognize precise environmental information through superimposed photographing of a person, an obstacle, or a road environment.

FIG. 5 may be a side view viewed from one side of FIG. 2 or 3, for example, a left side view, and a part of the vehicle system 100 is simplified and displayed for convenience of description.

Referring to FIG. 5, the front window 160 may be disposed in the forward direction F with respect to the rearview mirror unit RM disposed inside the vehicle system 100.

The front window 160 may be formed of a glass material, and may include plastic or various ceramic materials as an alternative embodiment.

In one area of the room mirror unit RM, for example, the first image camera 110 and the second video camera 110 and the second unit are disposed in one area of the room mirror unit RM so as to face in a direction opposite to the mirror surface MS of FIG. 4 described above. An image camera 120 may be disposed.

Through this, the first image camera 110 and the second image camera 120 can effectively recognize the surrounding environment information including the front of the vehicle easily.

The front window 160 may include a corresponding area 160A corresponding to the first image camera 110 and the second image camera 120.

For example, the first image camera 110 and the second image camera 120 may detect image information through the corresponding region 160A.

The corresponding area 160A is an area corresponding to the first image camera 110 and the second image camera 120 and may have a size corresponding thereto, and as a specific example, a size corresponding to a member receiving an image or larger It can have a size.

Referring to FIG. 6, the front window 160 specifically includes a first correspondence region 160A1 corresponding to the first image camera 110 and a second correspondence region 160A2 corresponding to the second image camera 120. can do.

The first correspondence region 160A1 and the second correspondence region 160A2 may be arranged parallel to each other. However, since this is a position corresponding to the first and second image cameras 110 and 120, it may be different according to the arrangement positions of the first and second image cameras 110 and 120.

As an alternative embodiment, the first correspondence region 160A1 and the second correspondence region 160A2 may be arranged to be spaced apart from each other, and may have a polygonal shape, for example, a quadrangle shape as a specific example.

As another alternative embodiment, the first correspondence region 160A1 or the second correspondence region 160A2 may include a curved edge, for example, a circle.

7 is a schematic cross-sectional view taken along the line VII-VII of FIG. 6.

Referring to FIG. 7, the first correspondence region 160A1 and the second correspondence region 160A2 may be arranged to be parallel to each other and spaced apart from each other.

Referring to FIG. 7, the first corresponding region 160A1 and the second corresponding region 160A2 of the front window 160 may be formed to have different optical characteristics.

For example, the first correspondence region 160A1 is a region with high transmittance of visible light so as to correspond to the first image camera 110, and as a specific example, the surrounding area immediately adjacent to the first correspondence region 160A1 among the regions of the front window 160 It may contain the same material as the area.

The second correspondence region 160A2 may be a region in which infrared, near-infrared, or far-infrared rays transmit high so as to correspond to the first image camera 110, and at least have different optical characteristics from the first correspondence region 160A1, for example. At least the infrared transmittance in the second corresponding region 160A2 may be higher than the infrared transmittance in the first corresponding region 160A1.

As an optional embodiment, the visible light transmittance in the second corresponding region 160A2 may be smaller than the visible light transmittance in the first corresponding region 160A1.

The second corresponding region 160A2 may be formed in a form processed after surface treatment of a desired region of the front window 160, an additional layer such as a film layer or a filter layer, or removal of a region.

In addition, as another alternative embodiment, the second corresponding area 160A2 may be integrally formed when the front window 160 is manufactured.

8 is a modified example of FIG. 7.

Referring to FIG. 8, the front window 160 ′ may include a first correspondence region 160A1 ′ and a second correspondence region 160A2 ′.

The first correspondence region 160A1 ′ and the second correspondence region 160A2 ′ may be disposed parallel to each other and spaced apart from each other.

Referring to FIG. 7, a first correspondence region 160A1 ′ and a second correspondence region 160A2 ′ of the front window 160 ′ may be formed to have different optical characteristics.

For example, the first correspondence region 160A1 ′ is a region having a high transmittance of visible light so as to correspond to the first image camera 110 ′, and as a specific example, the same material as the surrounding region immediately adjacent to the first correspondence region 160A1 ′ is used. Can include.

The second correspondence region 160A2 ′ may be a region in which infrared, near-infrared, or far-infrared rays transmit high to correspond to the first image camera 110 ′, and at least the first correspondence region 160A1 ′ has different optical characteristics, For example, the infrared transmittance of at least the second corresponding region 160A2 ′ may be higher than the infrared transmittance of the first corresponding region 160A1 ′.

As an alternative embodiment, the thickness of the second corresponding region 160A2 ′ may be smaller than the thickness of the first corresponding region 160A1 ′.

The second corresponding region 160A2 ′ may be formed by etching or surface treatment of a desired region of the front window 160 ′.

In addition, as another alternative embodiment, the second corresponding area 160A2 ′ may be integrally formed when the front window 160 ′ is manufactured.

As an alternative embodiment, the second correspondence area 160A2 ′ may include the same material as the surrounding area immediately adjacent to the second correspondence area 160A2 ′ among the areas of the front window 160 ′.

In addition, as another example, the second correspondence region 160A2 ′ may include a material different from the surrounding region immediately adjacent to the second correspondence region 160A2 ′ among the regions of the front window 160 ′. The material of the second corresponding area 160A2 as described in FIG. 7 may be included.

9 is another modified example of FIG. 7.

Referring to FIG. 9, the front window 160" may include a first correspondence area 160A1" and a second correspondence area 160A2".

The first correspondence region 160A1" and the second correspondence region 160A2" may be arranged to be parallel to each other and spaced apart from each other.

Referring to FIG. 7, a first corresponding region 160A1 ″ and a second corresponding region 160 A2 ″ of the front window 160 ″ may be formed to have different optical characteristics.

For example, the first correspondence area 160A1" is an area having a high transmittance of visible light to correspond to the first image camera 110", and as a specific example, the same material as the surrounding area immediately adjacent to the first correspondence area 160A1" is used. Can include.

The second correspondence region 160A2" may be a region having high transmission of infrared rays, near infrared rays, or far infrared rays so as to correspond to the first image camera 110", and has an optical characteristic different from at least the first correspondence region 160A1", For example, the infrared transmittance of at least the second corresponding region 160A2" may be higher than the infrared transmittance of the first corresponding region 160A1".

As an optional embodiment, the second corresponding area 160A2" may include an opening. For example, an opening may be formed to correspond to the total thickness of the front window 160", and the shape may be circular or Various shapes such as polygons may have at least a size and shape in which the second image camera recognizes an image.

The second corresponding region 160A2" may be formed by etching or surface treatment of a desired region of the front window 160".

In addition, as another alternative embodiment, the second corresponding area 160A2" may be integrally formed when the front window 160" is manufactured.

The vehicle system for detecting a driving environment based on a camera capable of real-time processing according to the present embodiment may process various types of information through a control unit using information acquired from the first image camera and the information acquired from the second image camera. For example, when the vehicle is driving, information about people, vehicles, or other road driving information, including the front, can be obtained, and through this, the user can easily recognize the driving environment information, and this can be known through the display unit. can do.

In addition, as an optional embodiment, the control unit connects to the driving control unit or the steering control unit of the vehicle using this information, or the control unit is arranged or integrated in one area of the driving control unit or the steering control unit of the vehicle to drive the vehicle through the driving environment information of the vehicle. It is possible to control part of the vehicle, and as an optional embodiment, it is possible to control autonomous driving of the vehicle.

In addition, at this time, the first image camera uses visible light and the second image camera uses infrared, near-infrared or far-infrared, and the control unit can provide various and precise information. In the case of night driving in which the recognition rate through light rays decreases, accurate night driving environment information can be secured through information of the second image camera using infrared, near infrared, or far infrared rays, thereby improving the stability of driving at night.

Meanwhile, by disposing the first image camera and the second image camera inside the vehicle system, it is possible to prevent the first image camera and the second image camera from being contaminated, damaged, deformed or damaged according to the driving environment of the vehicle.

In addition, by arranging the first video camera and the second video camera inside the vehicle system on one side of the rearview mirror to face the front window, the utilization of the interior space of the vehicle is improved, and the view of the driver or occupants of the vehicle is limited or It is possible to efficiently secure information about the surrounding environment including the front of the vehicle without reducing the aesthetics of the space. In addition, by arranging the first image camera and the second image camera side by side so as to face one side of the room mirror unit, for example, in the forward direction, it is possible to reduce the error range of the image through the first image camera and the second image camera, Through this, the precision of environmental information can be improved.

In addition, the front window includes a corresponding region corresponding to the first image camera and the second image camera, and among the corresponding regions, the first correspondence region corresponding to the first image camera and the second correspondence region corresponding to the second image camera. Since the optical characteristics are different, it is possible to improve the accuracy of images secured through the first and second image cameras of different types when recognized through the front window from the inside of the vehicle.

For example, including the second correspondence region and the material different from the first correspondence region, the transmittance of at least infrared rays, etc., is made higher than that of the first correspondence region, thereby improving the image recognition rate through the second image camera in the second correspondence region. Through this, it is possible to easily secure and improve accuracy of driving environment information at night, and as a result, improve driving stability at night.

As an optional embodiment, by making the thickness of the second corresponding region smaller than that of the first corresponding region, infrared transmittance may be improved in an easy manner, and the recognition rate of the second image camera may be increased.

In addition, as another optional embodiment, an opening may be formed to correspond to the second corresponding region, through which infrared rays pass through only the air or gas layer without interference corresponding to the thickness of the front window. The effect of improving the transmittance can be increased, and through this, the precise recognition rate of the second video camera can be increased, and as a result, precise driving environment information can be used in combination with the first video camera, thereby improving the user's convenience and driving stability. can do.

In addition, the driving stability and convenience at night can be used to contribute to the autonomous driving characteristics at night.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the art will appreciate that various modifications and equivalent other embodiments are possible therefrom. . Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

Specific implementations described in the embodiments are examples, and do not limit the scope of the embodiments in any way. In addition, if there is no specific mention such as "essential", "important", etc., it may not be an essential component for the application of the present invention.

In the specification of the embodiments (especially in the claims"), the use of the term “above” and the reference terms similar thereto may correspond to both the singular and the plural. Including the invention to which the individual values falling within the above range are applied (unless otherwise stated"), it is the same as describing each individual value constituting the above range in the detailed description. The steps may be performed in an appropriate order unless explicitly stated or contradicted to the order of the steps. The embodiments are not necessarily limited according to the order of description of the steps. In the examples, all examples or illustrative terms ( For example, the use of ") is merely for describing the embodiment in detail, and the scope of the embodiment is not limited by the above examples or illustrative terms unless limited by the claims. In addition, those skilled in the art can recognize that various modifications, combinations, and changes may be configured according to design conditions and factors within the scope of the appended claims or their equivalents.

100: Real-time processing capable camera-based driving environment detection vehicle system
110: first video camera
120: second video camera
130: control unit
150: display unit
160: front window
RM: Room mirror

Claims (5)

A first image camera disposed inside the vehicle system to face a first direction and detecting image information of a first type;
A second image camera disposed on the inside of the vehicle to face the first direction and detecting image information of a second type different from the first type;
A control unit processing information using image information detected by the first and second image cameras; And
Includes a display unit for expressing one or more information processed by the control unit to a user,
Further comprising a front window facing the front of the vehicle system,
The first video camera or the second video camera is disposed to face the front window,
The front window includes a first correspondence region corresponding to the first image camera and a second correspondence region corresponding to the second image camera,
The first corresponding region and the second corresponding region of the front window may be formed to have different optical characteristics,
The first image camera detects the first type of image information through the first correspondence region, and the second image camera detects the second type of image information through the second correspondence region,
A vehicle system for detecting a driving environment based on a camera capable of real-time processing, comprising forming such that a thickness of the front window in the first correspondence region and a thickness of the front window in the second correspondence region are different from each other. The method of claim 1,
The first video camera is a camera-based driving environment detection vehicle system capable of real-time processing using visible light. The method of claim 1,
The second image camera is a camera-based driving environment detection vehicle system capable of real-time processing using infrared rays, near infrared rays, or far infrared rays. The method of claim 1,
The vehicle system has a rearview mirror disposed inside,
The first video camera or the second video camera is a real-time processing capable camera-based driving environment detection vehicle system disposed in a rearview mirror. The method of claim 1,
A real-time processing capable camera-based driving environment detection vehicle system, comprising the fact that the infrared transmission characteristics in the first correspondence region and the second correspondence region are different.

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