KR102343298B1 - Apparatus of recognizing object of vehicle and system of remote parking including the same - Google Patents

Abstract

A multi-layer lens structure including a plurality of lenses is applied and mounted on an autonomous vehicle, and as the focal length and the refractive index of each lens are controlled, the field of view (FOV) is changed to recognize the target object. camera module; and changing the angle of view of the variable angle of view camera module to increase the resolution of the target object, recognizing the target object through the variable angle of view camera module, and controlling autonomous driving of the autonomous vehicle based on the recognition result. Disclosed is an apparatus for recognizing an object of a vehicle comprising a control unit.

Description

Object recognition device for vehicle and remote parking system including same

The present invention relates to an object recognition apparatus for a vehicle and a remote parking system including the same, and more particularly, to an object recognition apparatus for a vehicle capable of remotely controlling parking of a vehicle and improving object recognition performance of an autonomous vehicle; It relates to a remote parking system including the same.

In general, the automatic parking system is a system that can provide convenient parking to a beginner driver who is not good at parking. When parking, the automatic parking system uses a camera or ultrasonic sensor attached to the vehicle to determine the location of an obstacle, and when the driver selects parallel parking or perpendicular parking, it performs a certain operation to assist the driver in parking.

Recent vehicles are equipped with a Parking Assist System (PAS), which provides convenience and safety to the driver by detecting an object in the rear when parking rearward. When a vehicle equipped with a parking assistance system is parked in the rear, it drives an ultrasonic sensor mounted on the rear of the vehicle to emit an ultrasonic signal, receives a reflected signal from an object in the rear, and calculates the distance to the rear object to collide with an obstacle. Allow the parking to be completed without

On the other hand, a situation may occur in which the user has to move and park his/her own vehicle for reasons such as the movement of another vehicle while the user has parked his/her vehicle in the parking space and then moved for business (e.g., if the user has double-parked his/her own vehicle) etc). In order for a user located far from the parking space to move his vehicle, a remote control terminal capable of remotely controlling the parking of his/her vehicle is required. It is necessary to display a display image in which an image of the vehicle's surroundings is reflected on the remote control terminal and provide it to the user. Currently, a technology for providing a parking space image to a user has been proposed, but the technology has a limitation in that it simply recognizes an empty parking space and provides it to the user.

In addition, since the autonomous driving of the autonomous vehicle is controlled based on the object recognition result obtained by the mounted camera sensor, the object recognition performance of the camera sensor of the autonomous driving vehicle is directly related to the autonomous driving control precision. Accordingly, there is a need for a system for improving the object recognition performance of a camera sensor of an autonomous vehicle.

Background art of the present invention is disclosed in Korean Patent Application Laid-Open No. 10-2015-0038776 (published on April 09, 2015).

The present invention has been devised to solve the above-described problems, and an object according to an aspect of the present invention is to provide a user with a display image required for the user to remotely control parking, thereby enabling remote parking control of the vehicle. It is to provide a remote parking system and method.

Another object of the present invention is to provide an object recognition apparatus for a vehicle capable of improving object recognition performance of a camera sensor of an autonomous vehicle.

The object recognition apparatus for a vehicle of the present invention comprises:

A multi-layer lens structure including a plurality of lenses is applied and mounted on an autonomous vehicle, and as the focal length and the refractive index of each lens are controlled, the field of view (FOV) is changed to recognize the target object. camera module; and

A controller configured to change the angle of view of the variable angle of view camera module to increase the resolution of the target object, recognize the target object through the variable angle of view camera module, and control autonomous driving of the autonomous vehicle based on the recognition result ;

includes

The controller may vary the angle of view of the variable angle of view camera module so that the resolution of the target object is increased only when the degree of recognition of the variable angle of view camera module for the target object is less than a preset threshold.

The controller may control the autonomous driving of the autonomous vehicle by applying deep learning or an image processing technique to the recognition result.

The remote parking system of the present invention comprises:

A multi-layer lens structure including a plurality of lenses is applied and mounted on an autonomous vehicle, and as the focal length and the refractive index of each lens are controlled, the field of view (FOV) is changed to change objects around the autonomous vehicle. a variable angle of view camera module for recognizing a , and the object is recognized through the variable angle of view camera module by changing the angle of view of the variable angle of view camera module to increase the resolution of the object, and based on the recognition result, the autonomous vehicle an object recognition device having an autonomous driving control unit for controlling autonomous driving;

A control display image for remote parking control of the vehicle is generated by synthesizing a parking space image obtained by an image recognition device installed in a parking space and an image surrounding the autonomous driving vehicle including the object recognized by the variable angle of view camera and then provided to the user, controlling the operation of the variable angle of view camera module based on the user's motion, and providing the user with the control display image processed according to the operation control of the variable angle of view camera module to the user, so that the parking a remote control device unit for remotely controlling the parking of the vehicle in the space;

includes

The remote parking system of the present invention is installed in the vehicle, and each RSSI (Received Signal Strength Indication) of a first position determination signal received from the image recognition device and a second position determination signal received from a remote terminal possessed by the user ) may further include a positioning unit for generating the location information of the vehicle in the parking space based on the.

The remote control device unit, by synthesizing the image of the parking space and the image around the vehicle based on the location information of the vehicle received from the positioning unit, the control display image to reflect the location of the vehicle in the parking space can create

The remote control device unit may vary the angle of view of the variable angle of view camera module based on the motion of the user, and the control display image processed based on the image around the vehicle that changes as the angle of view of the variable angle of view camera module is changed can be provided to the user.

The remote control device unit varies the angle of view of the variable angle of view camera module to obtain an image corresponding to a region of interest (ROI) of the user determined based on the motion of the user, wherein the user's motion is It may include one or more of the user's manual manipulation and gaze information.

The remote control device unit obtains authentication information for authenticating the user from the user, and the variable field of view camera module displays the image around the vehicle only when the authentication information is transmitted from the remote control device unit to the vehicle. It can be obtained and transmitted to the remote control device unit.

According to one aspect of the present invention, the present invention provides the user with a display image required for the user to remotely control parking through a method of synthesizing a parking space image and an image around the vehicle, so that the parking of the vehicle remotely is more convenient. It is possible to enable control and improve the precision of remote parking control by providing the user with a display image that is active in the user's motion by utilizing the variable angle of view camera module applied to the vehicle.

In addition, the present invention can improve the autonomous driving performance of the autonomous vehicle by improving the recognition performance of the variable angle of view camera module through a method of varying the angle of view of the variable angle of view camera module to increase the resolution of the target object.

1 is a block diagram illustrating a remote parking system according to an embodiment of the present invention.
2 is an exemplary diagram illustrating a mounting example and wiring structure of a camera sensor unit and a control device in a remote parking system according to an embodiment of the present invention.
3 is an exemplary diagram illustrating a sub-configuration of a variable field of view camera module and a control unit provided in a vehicle in the remote parking system according to an embodiment of the present invention.
4 is an exemplary view for explaining the entire operation process of the remote parking system according to an embodiment of the present invention.
5 is an exemplary diagram illustrating an example in which the angle of view of the camera sensor unit is varied so that an image corresponding to a user's ROI is obtained in the remote parking system according to an embodiment of the present invention.
6 and 7 are flowcharts for explaining a remote parking method according to an embodiment of the present invention.
8 is a block diagram illustrating an apparatus for recognizing an object in a vehicle according to an embodiment of the present invention.
9 is an exemplary diagram for explaining an operation process of an apparatus for recognizing an object in a vehicle according to an embodiment of the present invention.
10 is a flowchart illustrating a method for recognizing an object of a vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of a remote parking system and method, and a vehicle object recognition apparatus according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram illustrating a remote parking system according to an embodiment of the present invention, and FIG. 2 is a mounting example and wiring structure of a camera sensor unit and a control device in the remote parking system according to an embodiment of the present invention. 3 is an exemplary diagram illustrating a sub-configuration of a variable field of view camera module and a control unit provided in a vehicle in a remote parking system according to an embodiment of the present invention, and FIG. 4 is an embodiment of the present invention It is an exemplary view for explaining the entire operation process of the remote parking system according to an example, and FIG. 5 is a variable angle of view of the camera sensor unit so that an image corresponding to the user's area of interest is obtained in the remote parking system according to an embodiment of the present invention. It is an exemplary diagram showing an example to be.

Referring to FIG. 1 , the remote parking system according to an embodiment of the present invention may include a camera sensor unit 100 , a positioning unit 200 , and a remote control device unit 300 , and the camera sensor unit 100 . And the positioning unit 200 is installed in the vehicle (VEH), the remote control device unit 300 may be implemented as a user terminal for controlling the remote parking of the vehicle possessed by a user located at a distance from the vehicle. In addition, as will be described later, the remote parking system according to the present embodiment may further include a control unit (ECU module).

The camera sensor unit 100 may be installed in a vehicle to acquire an image around the vehicle. The image around the vehicle acquired by the camera sensor unit 100 may be synthesized with the parking space image and provided to the user through the remote control device unit 300 in the form of a control display image, as will be described later.

The camera sensor unit 100 of the present embodiment is applied with a multi-layer lens structure including a plurality of lenses, and as a focal length and a refractive index of each lens are controlled, a field of view (FOV) is variable. It may include a variable angle of view camera module.

In the variable field of view camera module, the refractive index of each lens can be controlled by changing the properties of the crystalline material constituting each lens by an applied electric signal. Since the angle of view decreases and the resolution increases as the focal length increases, the variable angle of view camera module can have various angles of view through a combination of the focal length and the refractive index of each lens (that is, the angle of view can be varied). .

As shown in FIG. 2 , the camera sensor unit 100 may include first to fifth variable angle of view camera modules 110 , 120 , 130 , 140 and 150 , and first to fifth variable angle of view camera modules ( The angles of view of 110 , 120 , 130 , 140 , and 150 may be variably controlled by controlling the focal length and refractive index of each lens by the camera sensor control unit CAM_ECU. The first to fifth variable angle camera modules 110 , 120 , 130 , 140 and 150 may be implemented as camera modules constituting a Surround View Monitoring (SVM) system and a Multifunction Front Camera (MFC) system, for example, The first to fourth variable angle of view camera modules 110 , 120 , 130 and 140 are implemented as camera modules constituting the SVM system, and the fifth variable angle of view camera module 150 is implemented as a camera module constituting the MFC system. can In this case, area ① shown in FIG. 4 is an area (MFC camera area) photographed by the fifth variable angle of view camera module 150, and area ② is the first to fourth variable angle of view camera module 110, 120, 130, and 140 become an area to be photographed (SVM camera area). The images corresponding to areas ① and ② become images around the vehicle, and SVM (Surround View Monitoring) system and MFC (Multifunction) as the first to fifth variable angle of view camera modules 110, 120, 130, 140, 150 When the camera module constituting the front camera) system is employed, an image around the vehicle may be acquired in high resolution.

The positioning unit 200 is installed in the vehicle, and each RSSI (Received Signal Strength Indication), it is possible to generate location information of the vehicle in the parking space.

Here, the image recognition device (CAM_CCTV) is installed in a parking space to generate a parking space image by photographing the parking space, and may be implemented with a CCTV camera installed in the parking space, and FIG. 4 shows the image recognition device (CAM_CCTV) An example including four CCTV cameras is shown. Unlike the image around the vehicle, which can be acquired in high resolution, the parking space image is acquired in a low resolution in that it is acquired by a conventional CCTV camera. In addition, the remote terminal SMK may be implemented as a smart key possessed by the user in order for the user to remotely lock and unlock the vehicle door.

In the present embodiment, the image recognition apparatus CAM_CCTV and the remote terminal SMK may operate to transmit a first position determination signal and a second position determination signal, respectively, and the first and second position determination signals are provided with a radio frequency (RF) signal. , usually 315/433MHz) may be a signal (if the image recognition device (CAM_CCTV) includes four CCTV cameras as shown in FIG. 4, the first position determination signal is the 1-1 position transmitted from each CCTV camera. It can be subdivided into a determination signal, a 1-2 position determination signal, a 1-3 position determination signal, and a 1-4 position determination signal).

Accordingly, the positioning unit 200 may generate location information of the vehicle in the parking space based on each RSSI of the received first and second location determination signals. That is, the positioning unit 200 uses a polygrammetry algorithm according to the difference between each RSSI of the first and second position determination signals respectively received from the image recognition device (CAM_CCTV) and the remote terminal (SMK) in the parking space. The location information of the vehicle may be generated as location coordinates.

The positioning unit 200 for performing the above-described operation, as shown in FIG. 2, based on LF and RF communication with the remote terminal (SMK), a smart key system control that performs the door lock and door unlock of the vehicle, etc. It may be implemented as a device (SMK_ECU), may be implemented within a separate control unit (ECU module) installed in the vehicle as shown in FIG. 3(b), and the smart key system control unit (SMK_ECU) is absent or the control unit ( In consideration of various cases in which the first and second position determination signals cannot be received through the ECU module, as shown in FIG.

The remote control device unit 300 synthesizes the image of the parking space obtained by the image recognition device (CAM_CCTV) installed in the parking space and the image around the vehicle obtained by the camera sensor unit 100 for remote parking control of the vehicle. After generating the control display image, it is provided to the user, the operation of the camera sensor unit 100 is controlled based on the user's motion, and the control display image processed according to the operation control of the camera sensor unit 100 is provided to the user. By doing so, it is possible to remotely control the parking of the vehicle in the parking space.

That is, in order for the user to remotely control the parking of a vehicle located in the parking space, it is necessary to check the image around the vehicle together with the image of the parking space. After generating the control display image, it can be provided to the user (the image of the parking space obtained by the image recognition device (CAM_CCTV) can be managed by a separate management server for managing the corresponding parking space, and thus the remote control The device unit 300 may receive a parking space image through the management server). In addition, in consideration of the fact that the convenience of remote parking control is reduced when only a uniform control display image is provided to the user, the remote control device unit 300 is a camera sensor unit including a variable angle of view camera module based on the user's motion. The operation 100 may be controlled (that is, the angle of view of the variable angle of view camera module included in the camera sensor unit 100 may be controlled). As the operation of the camera sensor unit 100 is controlled, the range and resolution of the image around the vehicle acquired by the camera sensor unit 100 varies, and thus the control display image is processed in real time to control the remote control device unit 300 . may be provided to the user.

Based on the foregoing, the operation of the remote control device unit 300 will be described below in detail.

The remote control device unit 300 generates a control display image to reflect the position of the vehicle in the parking space by synthesizing the parking space image and the vehicle surrounding image based on the vehicle position information received from the positioning unit 200 . can do.

That is, since the user must be able to confirm the location of the vehicle in the parking space in order to remotely control the parking of the vehicle located in the parking space, the remote control device unit 300 determines the location of the vehicle received from the positioning unit 200 . By synthesizing the parking space image and the vehicle surrounding image based on the information, a control display image can be generated and provided to the user so that the user can check the location of the vehicle in the parking space.

The remote control device unit 300 may provide the control display image generated to reflect the location of the vehicle in the parking space in the form of a bird-view image, and the control display image in the form of a bird's eye view according to the user's manipulation may be converted into a control display image in the form of a user's point of view so as to match the user's point of view in the vehicle and provided to the user (that is, the user may be provided with a view seen while the user is actually in the vehicle) ). To this end, the remote control device unit 300 may be provided with a manipulation unit (eg, a button, etc.) that the user can manipulate to convert the control display image.

In addition, the remote control device unit 300 varies the angle of view of the camera sensor unit 100 based on the user's motion, and is processed based on the image around the vehicle that changes as the angle of view of the camera sensor unit 100 is changed. A control display image may be provided to the user.

That is, the remote control device unit 300 transmits a control signal for changing the field of view of the variable field of view camera module included in the camera sensor unit 100 based on the user's motion (to be described later) to the vehicle's camera sensor control unit (CAM_ECU). , and the camera sensor control unit CAM_ECU may change the angle of view of the camera sensor unit 100 based on the received control signal, and as the angle of view of the camera sensor unit 100 changes, the image around the vehicle will change The changed vehicle surrounding image is transmitted to the remote control device unit 300 , and the remote control device unit 300 may provide the user with a control display image processed based on the changing vehicle surrounding image.

In this case, the remote control device unit 300 may vary the angle of view of the camera sensor unit 100 to obtain an image corresponding to a user's region of interest (ROI) determined based on the user's motion. Here, the user's motion may include one or more of the user's manual manipulation and gaze information, and the user's gaze information may include the user's gaze direction (location) and the time the gaze stayed in the corresponding direction.

Specifically, the remote control device unit 300 may receive an ROI from the user through the user's manual manipulation of the manipulation unit, and a camera to obtain an image corresponding to the ROI of the user determined based on the user's manual manipulation. The angle of view of the sensor unit 100 may be varied.

In addition, the remote control device unit 300 may detect the direction of the user's gaze and measure the time the gaze stays in the corresponding direction, and determines the location where the gaze stays for a predetermined time or more as the user's ROI, and is located in the determined ROI. The angle of view of the camera sensor unit 100 may be varied to obtain a corresponding image. In order to detect the user's gaze direction, the remote control device unit 300 may include a pupil recognition module or an iris recognition module for detecting the user's pupil or iris.

Here, when the angle of view of the camera sensor unit 100 is varied to obtain an image corresponding to the user's region of interest, the remote control device unit 300 zooms in and zooms out images around the vehicle. Out), crop and shift functions can be applied. That is, as described above, the image around the vehicle can be obtained in high resolution so that the image can be enlarged, but since the image of the parking space is obtained at a low resolution and thus image enlargement is impossible, the remote control device unit 300 is the image around the vehicle By applying the Zoom In, Zoom Out, Crop, and Shift functions to have.

5 illustrates an example in which the angle of view of the camera sensor unit 100 is varied so that an image corresponding to the user's ROI is obtained. Fig. 5 (a) shows an example of the initial control display image, and Fig. 5 (b) shows an example of the control display image in which the image around the vehicle, which is a high-resolution area compared to the parking space image, is further enlarged (Zoom In case). 1), FIG. 5(c) shows an example of a control display image in which an image around the vehicle, which is a high-resolution area, is extended and moved (Zoom In case 2), and FIG. It shows an example of the control display image in which the image around the vehicle compared to the parking space image is further enlarged (Zoom In case 3), and FIG. 5(e) shows a state returned to the initial control display image (Zoon) Out case).

Accordingly, the remote control device unit 300 detects the user's motion to change the angle of view of the camera sensor unit 100 , and controls based on the image around the vehicle that changes as the angle of view of the camera sensor unit 100 changes. By processing the display image, a control display image that is actively processed according to the user's motion in the process of moving the vehicle is provided to the user, so that the precision of remote parking control can be improved.

Meanwhile, the remote control device unit 300 may acquire authentication information for authenticating the user from the user and transmit it to the vehicle (the camera sensor control unit CAM_ECU or the camera sensor unit 100 ), and the camera sensor unit 100 . may acquire an image around the vehicle and transmit it to the remote control device unit 300 only when the authentication information is transmitted to the vehicle (the camera sensor control unit CAM_ECU or the camera sensor unit 100 ).

That is, before starting the remote parking control, the remote control device unit 300 may acquire authentication information for authenticating the user, and when the acquired authentication information and the previously registered authentication information match, the acquired authentication information can be transmitted by vehicle. Accordingly, the camera sensor unit 100 obtains an image around the vehicle only when the authentication information is transmitted to the vehicle and transmits the image to the remote control device unit 300 , thereby starting remote parking control of the vehicle.

The authentication information may include the user's iris information, fingerprint information, and smart key code information, and the remote control device unit 300 may include an iris recognition module and a fingerprint recognition module to obtain the iris information and fingerprint information. have.

On the other hand, since all information (vehicle surrounding images, vehicle location information, authentication information) transmitted and received between the remote control device unit 300 and the vehicle is transmitted and received based on wireless communication, each information is encrypted and decrypted to enhance its security. can be transmitted and received.

6 and 7 are flowcharts for explaining a remote parking method according to an embodiment of the present invention.

The remote parking method according to an embodiment of the present invention will be described with reference to FIG. 6 . First, the remote control device unit 300 prepares a remote control for parking of a vehicle in a parking space ( S100 ).

When step S100 is specifically described with reference to FIG. 7 , the remote control device unit 300 transmits a wake-up signal for waking up the vehicle (the camera sensor control unit CAM_ECU) or the camera sensor unit 100 Hereinafter, the remote control device unit 300 and the camera sensor unit 100 directly communicate with each other) (S110).

When the wakeup signal is not received from the remote control device unit 300 (S120), the current sleep mode is maintained (S130), and when the wakeup signal is normally received from the remote control device unit 300 (S120), the camera sensor unit 100 transmits a response signal to the wake-up signal to the remote control device unit 300 (S140).

The remote control device unit 300 determines whether a response signal to the wake-up signal is received from the camera sensor unit 100 (S150), and when the response signal is received, authentication information for authenticating the user is obtained from the user and transmits to the camera sensor unit 100 (S160) (S170), and retransmits a wake-up signal to the camera sensor unit 100 when a response signal is not received (S110).

Referring back to FIG. 6 , when the preparation for remote parking control is completed through step S100 , the positioning unit 200 receives the first position determination signal received from the image recognition device CAM_CCTV and the remote terminal SMK possessed by the user. Position information of the vehicle in the parking space is generated based on each RSSI (Received Signal Strength Indication) of the second position determination signal received from ( S200 ).

Next, the camera sensor unit 100 acquires an image around the vehicle (S300).

Then, the remote control device unit 300 synthesizes the parking space image obtained by the image recognition device (CAM_CCTV) and the image around the vehicle obtained by the camera sensor unit 100 to display a control display for remote parking control of the vehicle By generating an image and providing it to the user, controlling the operation of the camera sensor unit 100 based on the user's motion, and providing the user with a control display image that is processed according to the operation control of the camera sensor unit 100, The parking of the vehicle in the parking space is remotely controlled (S400).

When step S400 is described in detail with reference to FIG. 7 , the remote control device unit 300 receives the location information of the vehicle and the image around the vehicle from the positioning unit 200 and the camera sensor unit 100, respectively, and also the parking space A parking space image is transmitted through a separate management server that manages (S410).

Then, the remote control device unit 300 generates a control display image to reflect the location of the vehicle in the parking space by synthesizing the parking space image and the vehicle surrounding image based on the vehicle location information, and provides it to the user ( S420).

Thereafter, the remote control device unit 300 changes the angle of view of the camera sensor unit 100 based on the user's motion, and is processed based on the image around the vehicle that changes as the angle of view of the camera sensor unit 100 changes. A control display image is provided to the user.

That is, the remote control device unit 300 generates a control signal for changing the angle of view of the camera sensor unit 100 based on the user's motion (S430) and transmits it to the camera sensor control unit CAM_ECU (S440), The angle of view of the camera sensor unit 100 is changed by the camera sensor control unit CAM_ECU that has received the control signal (S450), and thereafter, through steps S200 and S300, the current position information of the vehicle and the obtained angle of view are obtained according to the changed angle of view. The image around the vehicle is transmitted to the remote control device unit 300, and finally the remote control device unit 300 is a control display image processed based on the image around the vehicle that changes as the angle of view of the camera sensor unit 100 is changed. is provided to the user (S410). Steps S410 to S450 are cyclically performed until the user's operation to stop the parking control through the operation unit, so that the control display image may be provided to the user in real time.

Meanwhile, when the remote control device unit 300 changes the angle of view of the camera sensor unit 100 in step S400 , the remote control device unit 300 determines the user's region of interest (ROI) based on the user's motion. The angle of view of the camera sensor unit 100 may be varied to obtain an image corresponding to interest), and in this case, the user's motion may include one or more of the user's manual manipulation and gaze information.

In the above embodiment, the process in which the control display image is provided to the user when the user performs remote parking control of the vehicle has been mainly described. In parallel with the configuration in which the control display image is provided to the user, the movement of the vehicle is controlled. A user's driving control for controlling may be performed through a manipulation unit provided in the remote control device unit 300 .

According to the first embodiment, by providing the user with a display image required for the user to remotely control the parking through a method of synthesizing the parking space image and the image around the vehicle, it is possible to control the parking of the vehicle remotely more conveniently The precision of remote parking control can be improved by providing the user with a display image that is actively processed according to the user's motion by utilizing the variable angle of view camera module applied to the vehicle.

8 is a block diagram illustrating an apparatus for recognizing an object for a vehicle according to an embodiment of the present invention, and FIG. 9 is an exemplary diagram for explaining an operation process of the apparatus for recognizing an object for a vehicle according to an embodiment of the present invention. to be.

Referring to FIG. 8 , the apparatus for recognizing an object for a vehicle according to an embodiment of the present invention may include a variable angle of view camera module 10 and a controller 20 .

The variable angle of view camera module 10 is mounted on an autonomous vehicle by applying a multi-layer lens structure including a plurality of lenses, and the field of view (FOV) is variable as the focal length and the refractive index of each lens are controlled. and the target object can be recognized. Since the variable angle of view camera module 10 of the second embodiment is the same as the variable angle of view camera module 10 described in the first embodiment, detailed operation descriptions will be omitted. The variable field of view camera module 10 according to the second embodiment may be mounted on an autonomous driving vehicle and perform a function of providing an object recognition result required for autonomous driving control.

The controller 20 varies the angle of view of the variable angle of view camera module 10 to increase the resolution of the target object, recognizes the target object through the variable angle of view camera module 10, and based on the recognition result, Autonomous driving can be controlled.

Specifically, in the autonomous vehicle of Example 2, since autonomous driving is controlled based on the target object recognition result obtained by the mounted variable angle of view camera module 10, the object recognition performance of the variable angle of view camera module 10 is It is directly related to the precision of autonomous driving control. However, when the size of the target object is small or occulusion occurs, or when blur occurs in the image acquired by the variable angle of view camera module 10 due to environmental conditions, recognition of the target object through the variable angle of view camera module 10 and tracking performance is reduced.

Accordingly, in the present embodiment, the controller 20 changes the angle of view of the variable angle of view camera module 10 to increase the resolution of the target object, recognizes the target object through the variable angle of view camera module 10, and displays the recognition result. Based on this, autonomous driving of autonomous vehicles can be controlled.

When described as an example with reference to FIG. 9 , when deep learning or image processing techniques are applied to the result of recognizing the target object by the variable angle of view camera module 10, the target object may not be recognized or Misrecognition may occur.

Accordingly, when the target object is unrecognized or misrecognized, the controller 20 changes the angle of view of the variable angle of view camera module 10 to increase the resolution of the target object, and controls the variable angle of view camera module 10 with the variable angle of view. By recognizing a target object through the system, and applying deep learning or image processing techniques to the recognition result, the meaning of the target object can be grasped to control autonomous driving of an autonomous vehicle.

In this case, the controller 20 may vary the angle of view of the variable angle of view camera module 10 so that the resolution of the target object is increased only when the degree of recognition of the variable angle of view camera module 10 for the target object is less than a preset threshold. The recognition degree of the variable angle of view camera module 10 is a parameter indicative of the recognition performance of the variable angle of view camera module 10 , and for example, a resolution may be employed.

Accordingly, when the degree of recognition of the variable angle of view camera module 10 for the target object is less than a preset threshold, autonomous driving control precision may be reduced due to non-recognition or misrecognition of the target object, so that the controller 20 controls the target object The angle of view of the variable angle of view camera module 10 is varied so that the resolution for By doing so, it is possible to control the autonomous driving of the autonomous vehicle by grasping the meaning of the target object.

10 is a flowchart illustrating a method for recognizing an object of a vehicle according to an embodiment of the present invention.

A method of recognizing an object of a vehicle according to an embodiment of the present invention will be described with reference to FIG. 10 . First, the variable field of view camera module 10 mounted on the autonomous vehicle recognizes a target object during the autonomous driving process ( S10 ).

Then, when the degree of recognition of the variable angle of view camera module 10 for the target object is less than a preset threshold (S20), the controller 20 varies the angle of view of the variable angle of view camera module 10 so as to increase the resolution of the target object, and , the target object is recognized through the variable field of view camera module 10 with a variable field of view, and the meaning of the target object is grasped by applying deep learning or image processing techniques to the recognition result to control autonomous driving of the autonomous vehicle ( S30).

According to the second embodiment, by improving the recognition performance of the variable angle of view camera module through a method of varying the angle of view of the variable angle of view camera module to increase the resolution of the target object, the autonomous driving performance of the autonomous vehicle can be improved .

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and it is understood that various modifications and equivalent other embodiments are possible by those of ordinary skill in the art. will understand Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

<Example 1>
100: camera sensor unit
110, 120, 130, 140, 150: first to fifth variable angle of view camera modules
200: positioning unit
300: remote control device unit
VEH: vehicle
CAM_ECU: Camera sensor control unit
SMK_ECU: Smart key system control device
ECU module: control unit
CAM_CCTV: Video Recognition Device
SMK: remote terminal
<Example 2>
10: Variable angle camera module
20: control unit

Claims (9)

A multi-layer lens structure including a plurality of lenses is applied and mounted on an autonomous vehicle, and as the focal length and the refractive index of each lens are controlled, the field of view (FOV) is changed to recognize the target object. camera module; and
A controller configured to change the angle of view of the variable angle of view camera module to increase the resolution of the target object, recognize the target object through the variable angle of view camera module, and control autonomous driving of the autonomous vehicle based on the recognition result ;
An object recognition device for a vehicle comprising a; and
A control display image for remote parking control of the vehicle is generated by synthesizing a parking space image obtained by an image recognition device installed in a parking space and an image surrounding the autonomous driving vehicle including the object recognized by the variable angle of view camera A remote parking system comprising a; by providing to the user after the remote control device to remotely control the parking of the vehicle in the parking space.
According to claim 1,
The control unit is configured to vary the angle of view of the variable angle of view camera module so that the resolution of the target object is increased only when the degree of recognition of the variable angle of view camera module for the target object is less than a preset threshold Remote parking system, characterized in that.
According to claim 1,
The remote parking system, characterized in that the control unit controls the autonomous driving of the autonomous vehicle by applying deep learning or an image processing technique to the recognition result.
According to claim 1,
The remote control device unit,
By controlling the operation of the variable angle of view camera module based on the motion of the user, and providing the control display image processed according to the operation control of the variable angle of view camera module to the user, parking the vehicle in the parking space Remote parking system, characterized in that the remote control.
5. The method of claim 4,
Installed in the vehicle, based on each RSSI (Received Signal Strength Indication) of the first position determination signal received from the image recognition device and the second position determination signal received from the remote terminal possessed by the user in the parking space Remote parking system, characterized in that it further comprises a positioning unit for generating the location information of the vehicle.
6. The method of claim 5,
The remote control device unit, by synthesizing the image of the parking space and the image around the vehicle based on the location information of the vehicle received from the positioning unit, the control display image to reflect the location of the vehicle in the parking space A remote parking system, characterized in that it generates a.
5. The method of claim 4,
The remote control device unit may vary the angle of view of the variable angle of view camera module based on the motion of the user, and the control display image processed based on the image around the vehicle that changes as the angle of view of the variable angle of view camera module is changed A remote parking system, characterized in that it provides to the user.
8. The method of claim 7,
The remote control device unit varies the angle of view of the variable angle of view camera module to obtain an image corresponding to a region of interest (ROI) of the user determined based on the motion of the user, wherein the user's motion is A remote parking system comprising at least one of user's manual operation and gaze information.
5. The method of claim 4,
The remote control device unit obtains authentication information for authenticating the user from the user,
The variable field of view camera module acquires the image around the vehicle only when the authentication information is transmitted from the remote control device to the vehicle, and transmits the image to the remote control device.

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