KR102632092B1 - Vehicle and control method for the same - Google Patents

Abstract

The present invention provides a vehicle and control method that outputs a top view image with improved visibility while minimizing inconvenience to pedestrians and surrounding vehicles by synchronizing a camera and lighting capable of infrared radiation.
A vehicle according to one embodiment includes a display unit; A camera that acquires images around the vehicle; A lighting unit that emits light in a plurality of wavelength bands; A sensor unit that acquires the illuminance around the vehicle; and emitting light in at least one wavelength band determined based on the illuminance around the vehicle, obtaining an image around the vehicle using light in the at least one wavelength band, and deriving a top view image of the vehicle. It includes a control unit that outputs output to the display unit.

Description

Vehicle and its control method {VEHICLE AND CONTROL METHOD FOR THE SAME}

The present invention relates to a vehicle that provides images surrounding the vehicle in the form of a top view and a control method thereof.

Around view is a function that uses four cameras, one each at the front and rear of the vehicle and one at the bottom of the left and right side mirrors, to create a top view screen on the navigation screen as if the car was taken from above. Using this around view monitoring system, drivers can see the situation around the vehicle at a glance and safely park or pass through narrow roads.

Meanwhile, in forming an around view, there may be a problem where the left and right sides are not clearly visible in the top view image because there is no lighting at night on the left and right sides of the vehicle.

To solve this problem, visible light lighting can be installed to improve left and right visibility at night, but such lighting causes discomfort to pedestrians at night and to surrounding vehicles when driving. You can.

Therefore, research is needed on technology that can create an around view even at night without causing inconvenience to pedestrians and surrounding vehicles.

The present invention provides a vehicle and control method that outputs a top view image with improved visibility while minimizing inconvenience to pedestrians and surrounding vehicles by synchronizing a camera and lighting capable of infrared radiation.

A vehicle according to one embodiment includes a display unit; A camera that acquires images around the vehicle; A lighting unit that emits light in a plurality of wavelength bands; A sensor unit that acquires the illuminance around the vehicle; and emitting light in at least one wavelength band determined based on the illuminance around the vehicle, obtaining an image around the vehicle using light in the at least one wavelength band, and deriving a top view image of the vehicle. It includes a control unit that outputs output to the display unit.

The camera is configured to detect light in a plurality of wavelength bands,

The plurality of wavelength bands may include a visible light band and an infrared band.

The camera is configured to acquire images around the vehicle using at least one of the visible light band and the infrared light band,

The control unit may synchronize the wavelength band emitted by the lighting unit and the wavelength band of light detected by the camera.

The camera acquires images around the vehicle based on a sync signal of a predetermined period,

The control unit may control the lighting unit to emit one of the visible light band and the infrared light band based on the sync signal.

If the illuminance around the vehicle is less than a predetermined value, the control unit may alternately obtain an image around the vehicle emitting the visible light wavelength band and an image around the vehicle emitting the infrared wavelength band. .

The control unit forms a first top view image using images around the vehicle in which the visible light wavelength band is emitted,

A second top view image may be formed using the image around the vehicle and the image around the vehicle where the infrared wavelength band is emitted.

The vehicle according to one embodiment further includes an input unit that receives a user's command,

The control unit, based on the user's command, sends one of the first top-view image, the second top-view image, and the third top-view image synthesized with the first top-view image and the second top-view image to the display unit. Can be printed.

In a vehicle control method according to an embodiment, the lighting unit radiates light in at least one wavelength band determined based on the illuminance around the vehicle, and the camera acquires images around the vehicle using light in at least one wavelength band. Thus, it includes deriving a top view image of the vehicle and outputting it to the display unit.

The camera is configured to detect light in a plurality of wavelength bands, and the plurality of wavelength bands may include a visible light band and an infrared band.

The camera is configured to acquire images around the vehicle using at least one of the visible light band and the infrared light band,

Deriving a top view image of the vehicle may include synchronizing the wavelength band emitted by the lighting unit and the wavelength band of light detected by the camera.

The camera acquires images around the vehicle based on a sync signal of a predetermined period, and derives a top view image of the vehicle based on the sync signal. The lighting unit uses the visible light band and the infrared band based on the sync signal. It may include controlling to emit one of the lights.

Obtaining an image around the vehicle means that, if the illuminance around the vehicle is less than a predetermined value, the image around the vehicle in which the visible light wavelength band is emitted and the image around the vehicle in the infrared wavelength band are alternately displayed. It may include acquiring things as you go.

Obtaining images around the vehicle includes forming a first top-view image using images around the vehicle in which the visible light wavelength band is emitted,

It may include forming a second top view image using an image around the vehicle and an image around the vehicle from which the infrared wavelength band is emitted.

Deriving a top view image of the vehicle and outputting it to the display unit,

Based on a user's command, outputting one of the first top view image, the second top view image, and the third top view image synthesized with the first top view image and the second top view image to the display unit. You can.

The vehicle and its control method according to one embodiment can provide a top view image with improved visibility while minimizing inconvenience to pedestrians and surrounding vehicles by synchronizing cameras and lights capable of infrared radiation.

1 is an exterior view of a vehicle according to one embodiment.
Figure 2 is a control block diagram of a vehicle according to one embodiment.
Figure 3 is a diagram for explaining a camera and a lighting unit according to an embodiment.
Figure 4 is a diagram for explaining synchronization of a lighting unit and a camera according to an embodiment.
Figure 5 is a diagram for explaining an image surrounding a vehicle using visible light and an image surrounding a vehicle using infrared light according to an embodiment.
Figure 6 is a diagram for explaining an operation of inputting a user's command according to an embodiment.
Figure 7 is a flow chart according to one embodiment.

The same reference numerals refer to the same elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention pertains is omitted. The term 'unit, module, member, block' used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of 'unit, module, member, block' may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

Throughout the specification, when a member is said to be located “on” another member, this includes not only cases where a member is in contact with another member, but also cases where another member exists between the two members.

Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above-mentioned terms.

Singular expressions include plural expressions unless the context clearly makes an exception.

The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

Hereinafter, the operating principle and embodiments of the present invention will be described with reference to the attached drawings.

1 is a diagram showing the exterior of a vehicle according to one embodiment.

Referring to Figure 1, the exterior of the vehicle 1 according to one embodiment includes wheels 12 and 13 that move the vehicle 1, a door 15L that shields the inside of the vehicle 1 from the outside, and a vehicle 1. ) It includes a windshield 16 that provides a view of the front of the vehicle 1 to the driver inside, and side mirrors 14L and 14R that provide a view of the rear of the vehicle 1 to the driver.

The wheels include the front wheels provided at the front of the vehicle and the rear wheels provided at the rear of the vehicle, and the driving device (not shown) provided inside the vehicle 1 is the front wheels or rear wheels so that the vehicle 1 moves forward or backward. Provides rotational force to Such a driving device may employ an engine that generates rotational force by burning fossil fuel or a motor that generates rotational force by receiving power from a capacitor.

The door is rotatably provided on the left and right sides of the vehicle 1 to allow the driver or passenger to board the inside of the vehicle 1 when opened, and to shield the interior of the vehicle 1 from the outside when closed. Additionally, a handle may be provided on the outside of the vehicle 1 to open and close the doors 15L and 15R, and an LF antenna (not shown) capable of transmitting an LF (Low Frequency) signal may be mounted on the handle. .

The front glass 16 is provided on the front upper side of the main body to enable the driver inside the vehicle 1 to obtain visual information in front of the vehicle 1, and is also called a windshield glass.

In addition, the side mirrors 14L and 14R include a left side mirror 14L provided on the left side of the vehicle 1 and a right side mirror 14R provided on the right side, and the driver inside the vehicle 1 can use the vehicle ( 1) Allows acquisition of visual information on the sides and rear.

In addition, the vehicle 1 may include a detection device such as a proximity sensor that detects rear or side obstacles or other vehicles, and a rain sensor that detects whether or not there is precipitation and the amount of precipitation.

The proximity sensor can transmit a detection signal to the side or rear of the vehicle and receive reflected signals reflected from obstacles such as other vehicles. Based on the waveform of the received reflected signal, the presence of an obstacle on the side or rear of the vehicle 1 can be detected, and the location of the obstacle can be detected. As an example of such a proximity sensor, a method may be adopted that transmits ultrasonic waves or infrared rays and detects the distance to the obstacle using ultrasonic waves or infrared rays reflected by the obstacle.

Additionally, the vehicle may include cameras 100-1, 100-2, 100-3, and 100-4. Cameras 100-1, 100-2, 100-3, and 100-4 are provided at the front, rear, and sides of the vehicle to acquire images, and each camera (100-1, 100-2, 100-3, The image acquired by 100-4) can be derived as an image around the vehicle through a method described later.

Figure 2 is a control block diagram of a vehicle according to one embodiment.

Referring to Figure 2, the vehicle may include an input unit 200, a display unit 300, a camera 100, a lighting unit 600, a sensor unit 400, and a control unit 500.

The input unit 200 may include a reverse gear provided by the user. The input unit 200 may include a button and a touch screen that can receive a top view operation. Additionally, through the input unit 200, the user can determine the output of a top-view image derived based on infrared rays, a top-view image derived using visible light, etc., as described later.

The input unit 200 may include hardware devices such as various buttons, switches, pedals, various levers, handles, and sticks for user input.

Additionally, the input unit 200 may include a GUI (Graphical User Interface), that is, a software device, such as a touch pad, for user input. The touch pad is implemented as a touch screen panel (TSP) and can form a mutual layer structure with the display unit 300.

When composed of a touch screen panel (TSP) forming a layered structure with a touch pad, the display unit 300 may also be used as the input unit 200.

The display unit 300 may be implemented in the form of a display provided on the center fascia of a vehicle. The display unit 300 may output a top view image drawn by the vehicle, as will be described later.

The display unit 300 includes a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel, a liquid crystal display (LCD) panel, and an electroluminescent panel. (Electro Luminescence: EL) panel, Electrophoretic Display (EPD) panel, Electrochromic Display (ECD) panel, Light Emitting Diode (LED) panel, or Organic Light Emitting Diode: It may be prepared as an OLED panel, etc., but is not limited to this.

The lighting unit 600 may be implemented to emit light in a plurality of wavelength bands so that the camera 100 can easily acquire images around the vehicle, as will be described later.

The lighting unit 600 may include general lighting 610 including headlights and taillights provided in the vehicle. Additionally, the lighting unit 600 may include an infrared light 620 that emits infrared rays. A detailed description of the lighting unit 600 provided in the vehicle will be described later.

Additionally, the lighting unit 600 may operate in synchronization with the camera 100. Additionally, the lighting unit 600 may be provided with a plurality of infrared lights that can uniformly illuminate the surrounding area of the vehicle at night.

The sensor unit 400 can obtain the illuminance around the vehicle. Illuminance can refer to the density of light (referred to as luminous flux) measured based on the sensitivity of the eye. The sensor unit 400 may be provided as an illuminance sensor that measures such illuminance.

The sensor unit 400 can add a visibility correction filter to the sensor when the light sensitivity of the sensor is significantly different from the visibility, and it is necessary to correct the measured value using a correction coefficient.

The sensor unit 400 may be provided as an illuminance sensor provided with a photocell or an illuminance sensor including a photoelectric tube.

The camera 100 may be provided to acquire images around the vehicle. The camera 100 may be configured to detect light in multiple wavelength bands. Specifically, the camera 100 may be configured to acquire images around the vehicle using at least one of light in the visible light band and light in the infrared band.

The camera 100 can capture front, side, and rear images of the vehicle and transmit the captured images to the control unit 500. According to one embodiment, the camera 100 is provided in the side mirrors 14R and 14L provided in the vehicle 1 to obtain images around the vehicle 1.

The camera 100 installed in the vehicle 1 may include a charge-coupled device (CCD) camera 100 or a CMOS color image sensor. Here, both CCD and CMOS refer to sensors that convert light coming through the lens of the camera 100 into electrical signals and store them. Specifically, the CCD (Charge-Coupled Device) camera 100 is a device that converts images into electrical signals using a charge-coupled device. Additionally, CIS (CMOS Image Sensor) refers to a low-consumption, low-power imaging device with a CMOS structure, and serves as an electronic film for digital devices. In general, CCD has better sensitivity than CIS and is often used in vehicles (1), but it is not necessarily limited to this.

Additionally, the camera 100 can acquire images around the vehicle based on light in the infrared wavelength band. According to one embodiment, the camera may be configured to include a band pass filter that can accommodate light in the infrared wavelength band (680-800 nm).

According to another embodiment, the CCD of the camera 100 may be implemented to selectively capture infrared images using an infrared dry plate or a charge-coupled device (CCD) sensitive to infrared rays.

The control unit 500 radiates light in at least one wavelength band determined based on the illuminance around the vehicle, obtains an image around the vehicle using light in the at least one wavelength band, and obtains a top view image of the vehicle. can be derived and output to the display unit 300.

The camera 100 may include a band pass filter that includes the visible region (380-680 nm) and the infrared region (680-800 nm). The camera 100 captures day/night images and can transmit a sync signal at the start of each frame to each light. Detailed operations related to this will be described later.

The control unit 500 can control the lighting unit 600 to emit light in a predetermined band, and based on this, the camera 100 can acquire light to obtain images around the vehicle.

Meanwhile, the plurality of wavelength bands may include a visible light band and an infrared band.

Meanwhile, the above-described camera 100 may be configured to acquire images around the vehicle using at least one of the visible light band and the infrared light band, and the control unit 500 may be configured to obtain an image of the surrounding area of the vehicle by using at least one of the visible light band and the infrared light band. The wavelength band and the wavelength band of light detected by the camera 100 can be synchronized.

Synchronizing the lighting unit 600 and the camera 100 may mean that the camera 100 acquires images around the vehicle using light corresponding to the radiation of the lighting unit 600.

Specifically, the camera 100 may acquire images around the vehicle based on a sync signal of a predetermined period, and the control unit 500 may control the lighting unit 600 to operate the visible light band and the infrared light based on the sync signal. It can be controlled to emit one of the bands of light.

If the illuminance around the vehicle is less than a predetermined value, the controller 500 may alternately acquire images around the vehicle that emit visible light wavelength bands and images around the vehicle that emit the infrared wavelength band. For example, among the frames acquired by the camera 100, images around the vehicle can be acquired based on infrared light in odd-numbered frames, and images around the vehicle can be acquired based on visible light in even-numbered frames. there is.

The control unit 500 forms a first top view image using the image around the vehicle in which the visible light wavelength band is emitted, and forms a second top view image using the image around the vehicle and the image around the vehicle in the infrared wavelength band. A top view image can be formed, and a third top view image can be formed using the first top view image and the second top view image.

That is, in the odd-numbered frame, a first top-view image using infrared light can be acquired, and in the even-numbered frame, a second top-view image using visible light can be obtained. The first top view image, the second top view image, and the third top view image may be output to the display unit 300 based on the user's input command.

The control unit 500 may include an image processing ECU that synthesizes images from the general tail light, headlight, and each camera 100 into a top view image, and a TCU that transmits a gear shift signal.

The control unit 500 includes a memory (not shown) that stores data for an algorithm for controlling the operation of components in the vehicle or a program that reproduces the algorithm, and a processor that performs the above-described operations using the data stored in the memory ( (not shown) may be implemented. At this time, the memory and processor may each be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

At least one component may be added or deleted in response to the performance of the components of the vehicle shown in FIG. 2. Additionally, it will be easily understood by those skilled in the art that the mutual positions of the components may be changed in response to the performance or structure of the system.

Meanwhile, each component shown in FIG. 2 refers to software and/or hardware components such as Field Programmable Gate Array (FPGA) and Application Specific Integrated Circuit (ASIC).

FIG. 3 is a diagram for explaining the camera 100 and the lighting unit 600 according to an embodiment, and FIG. 4 is a diagram for explaining synchronization of the lighting unit 600 and the camera 100 according to an embodiment.

Referring to Figure 3, there may be a plurality of cameras 100-1, 100-2, 100-3, and 100-4 in the vehicle.

The cameras 100-1, 100-2, 100-3, and 100-4 can capture front, side, and rear images of the vehicle and transmit the captured images to the control unit. According to one embodiment, the cameras 100-1, 100-2, 100-3, and 100-4 are provided in the side mirrors 14R and 14L provided in the vehicle 1 to obtain images around the vehicle 1. It is provided at the front and rear so that front and rear images can be acquired.

Additionally, the vehicle may include a lighting unit 600 that can uniformly illuminate the surrounding area of the vehicle, and may include a plurality of lighting units 610-1, 610-2, 620-1, 620-2, 620-3, 620-4, 620. -5, 620-6, 620-7) can emit infrared rays. In addition to the infrared lights (620-1, 620-2, 620-3, 620-4, 620-5, 620-6, 620-7) provided separately in the vehicle, the lighting unit includes general lights (610- 1, 610-2).

Referring to Figure 4, Figure 4 explains the operation of the lighting unit corresponding to the sync signal (s1) of the camera for each frame.

The camera may operate based on the sync signal s1 having a t1 period. The camera can acquire an image for each frame based on the sync signal s1 having a t1 period.

Meanwhile, in response to this, the lighting unit may vary the type of light it emits. According to one embodiment, in odd-numbered frames (1, 3, 5...2N+1), general lighting operates based on the camera's sync signal (s1) to emit light in the visible light region. In this case, the camera can acquire images around the vehicle based on light in the visible light wavelength band. Meanwhile, the lighting unit can alternately emit visible light and infrared light. The lighting unit can emit infrared rays in even-numbered frames (2, 4, 6?? 2N) (s3), and the camera can acquire images around the vehicle based on light in the infrared wavelength band. Meanwhile, according to one embodiment, the lighting unit may radiate light in the infrared and visible light regions alternately for each frame (s2, s3), and the camera may include a band-pass filter that can use the light in the infrared and visible light regions, so It is possible to form images around the vehicle based on light.

Additionally, if the camera operates with a sync signal (s1) with a period of t1, general lighting (s2) including headlights and tail lights and infrared lighting (s3) can operate with a period of t2 that is twice that of t1, respectively. The signals (s2, s3) may operate in synchronization with the camera's sync signal (s1). In this way, in the odd-numbered frame (2N+1), an image around the vehicle can be derived using light in the visible light wavelength band, and in the even-numbered frame (2N), an image around the vehicle can be derived using light in the infrared wavelength band. You can. The image surrounding the vehicle derived in this way can be output to the display unit based on the user's command, which will be described later.

Meanwhile, what is described in FIG. 4 is only an embodiment in which the control unit synchronizes the camera 100 and the lighting unit 600. If the operation is to derive an image by varying the infrared wavelength band and the visible light wavelength band by changing the viewpoint, the operation is performed. There are no limits.

Figure 5 is a diagram for explaining an image around the vehicle using visible light and an image around the vehicle using infrared rays according to an embodiment, and Figure 6 is a diagram for a user to select the type of image output on the display unit 300. am.

When the vehicle speed is less than a predetermined speed or a reverse transmission gear is input through the input unit 200, the vehicle can output a top view image on the display unit 300.

The control unit 500 can determine whether the vehicle is driving at night based on the illuminance obtained by the sensor unit 400, and if it is determined that the vehicle is at night, it synchronizes the lighting unit 600 and the camera 100 to You can obtain images around the vehicle.

Meanwhile, at this time, the control unit 500 may output an icon for selecting an image to be output on the display unit 300. For example, icons 'NIGHT', 'NORMAL', and 'SYNTHESIS' can be output on the display unit 300. Referring to Figure 5a, it shows a case where the user selects 'NORMAL' according to one embodiment, The control unit 500 may derive a top view image based on an image surrounding the vehicle formed based on visible light and output it to the display unit 300. Since visible light cannot help but depend on the visible light emitted from the vehicle's headlights and taillights, images that reflect the environment in front and behind the vehicle can be output, but it is difficult for the vehicle's headlights and taillights to radiate to the sides of the vehicle, so the driver's It may be difficult to easily understand the environment surrounding the vehicle. However, the environment in front and behind the vehicle can be easily identified due to the vehicle's headlights and taillights.

Referring to Figure 5b, when the user selects 'NIGHT', the control unit 500 may derive a top view image based on the image surrounding the vehicle formed based on infrared rays and output it to the display unit 300. Top view images derived from infrared rays can be provided so that drivers can better understand the environment around the vehicle even at night. The operation of deriving the top view image based on the infrared light output by the lighting unit 600 is as described above.

Referring to Figure 5c, according to another embodiment, when the user selects 'SYNTHESIS', the control unit 500 synthesizes the image surrounding the vehicle formed based on visible light and the image surrounding the vehicle formed based on infrared to create a top view image. can be derived. In other words, for the front and rear of the vehicle, images around the vehicle using visible light are easier to understand the environment around the vehicle than images around the vehicle using infrared, and for the sides of the vehicle, images around the vehicle using infrared are easier to understand the surroundings of the vehicle using visible light. Since it is easier to understand the environment around the vehicle than an image, the control unit 500 can combine the two images to form a top view image and output it to the display unit 300.

Meanwhile, the operation described in FIGS. 5 and 6 is only an example of the operation of the present invention, and there is no limitation on the input configuration for inputting the type of image to be output or the form of the image to be output.

Figure 7 is a flow chart according to one embodiment.

Referring to Figure 7, the control unit may determine whether the illuminance around the vehicle is less than a predetermined value based on the illuminance obtained from the sensor unit (1001). If the illuminance is less than a predetermined value, the controller may synchronize the camera and the lighting unit to derive a top view image using infrared and visible light (1002). The user can select the output format of the video (1003). According to one embodiment, the user can select one of "NIGHT", "NORMAL", and "SYNTHESIS", and the control unit can output a top view image corresponding to the user's selection (1004).

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media storing instructions that can be decoded by a computer. For example, there may be Read Only Memory (ROM), Random Access Memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

As described above, the disclosed embodiments have been described with reference to the attached drawings. Those skilled in the art will understand that the present invention may be formed in a form different from the disclosed embodiments without changing the technical idea or essential features of the present invention. It will be understood that the present invention can be practiced. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle
100: Camera
200: input unit
300: Display unit
400: sensor unit
500: Control unit
600: lighting unit

Claims (14)

display unit;
A camera that acquires images around the vehicle;
A lighting unit that emits light in a plurality of wavelength bands;
A sensor unit that acquires the illuminance around the vehicle; and
Emitting light in at least one wavelength band determined based on the illuminance around the vehicle,
Obtaining images around the vehicle using light in the at least one wavelength band,
It includes a control unit that derives a top view image of the vehicle and outputs it to the display unit,
The camera is
Configured to detect light in a plurality of wavelength bands including visible light bands and infrared bands,
Obtaining an image around the vehicle using at least one of the visible light band and the infrared light band,
Obtaining images around the vehicle based on a sync signal of a predetermined period,
The control unit
Synchronize the wavelength band emitted by the lighting unit and the wavelength band of light detected by the camera,
A vehicle that controls the lighting unit to emit one of light in the visible light band and light in the infrared band based on the sync signal.
delete delete delete According to paragraph 1,
The control unit,
If the illuminance around the vehicle is less than a predetermined value,
A vehicle that alternately acquires images around the vehicle in which the visible light wavelength band is emitted and images around the vehicle in which the infrared wavelength band is emitted.
According to clause 5,
The control unit,
Forming a first top view image using images around the vehicle in which the visible light wavelength band is emitted,
A vehicle that forms a second top view image using images around the vehicle and images around the vehicle where the infrared wavelength band is emitted.
According to clause 6,
It further includes an input unit that receives a user's command,
The control unit,
Based on the user's command,
The first top view image, the second top view image, and
A vehicle that outputs one of a third top view image obtained by combining the first top view image and the second top view image to the display unit. The lighting unit emits light in at least one wavelength band determined based on the illuminance around the vehicle,
The camera acquires images around the vehicle using light in at least one wavelength band,
It includes deriving a top view image of the vehicle and outputting it to a display unit,
The camera is,
Configured to detect light in a plurality of wavelength bands including visible light bands and infrared bands,
Obtaining an image around the vehicle using at least one of the visible light band and the infrared light band,
Obtaining images around the vehicle based on a sync signal of a predetermined period,
Deriving the top view image of the vehicle is,
Including synchronizing the wavelength band emitted by the lighting unit and the wavelength band of light detected by the camera,
A vehicle control method for controlling the lighting unit to emit one of light in the visible light band and the infrared band based on the sync signal.
delete delete delete According to clause 8,
Obtaining an image around the vehicle is performed when the illuminance around the vehicle is less than a predetermined value.
A vehicle control method comprising alternately acquiring images around the vehicle in which the visible light wavelength band is emitted and images around the vehicle in which the infrared wavelength band is emitted.
According to clause 12,
Obtaining images around the vehicle includes forming a first top-view image using images around the vehicle in which the visible light wavelength band is emitted,
A vehicle control method comprising forming a second top view image using an image around the vehicle and an image around the vehicle from which the infrared wavelength band is emitted.
According to clause 13,
Deriving a top view image of the vehicle and outputting it to the display unit,
Based on your commands,
A vehicle control method comprising outputting one of the first top-view image, the second top-view image, and a third top-view image obtained by combining the first top-view image and the second top-view image to the display unit.

Images