KR20120077309A - Apparatus and method for displaying rear image of vehicle - Google Patents

Abstract

PURPOSE: An apparatus and method for displaying rear images of vehicles are provided to prevent car accidents because drivers effectively realize information on the distance to vehicles in the rear. CONSTITUTION: An apparatus and method for displaying rear images of vehicles comprises at least two cameras, a controller(150), and a display unit(160). The cameras are installed in the vehicles and film rear images. The controller generates a pre-set background image using a moving image interface program. The controller image-processes the rear images, and outputs the information on the vehicles in the rear on the background image. The display unit displays the information on the vehicles in the rear outputted from the controller.

Description

Rear image display device and method of vehicle {APPARATUS AND METHOD FOR DISPLAYING REAR IMAGE OF VEHICLE}

The present invention relates to a rear image display apparatus and method of a vehicle, and more particularly, to a rear image display apparatus and method for providing a rear image information of a vehicle and distance information to a rear vehicle on a screen that is easy for a driver to recognize. It is about.

An outside rear view mirror (hereinafter referred to as a side mirror), which is generally installed at the left and right sides of a vehicle, is used when the driver changes the lane, parks, or reverses the vehicle while driving. This configuration helps to make the left and right side observation easier.

In addition, the driver checks the presence or absence of a vehicle located in a blind spot not caught by the side mirror, and then changes the lane or enters the parking space only when it is determined that a sufficient distance from the rear vehicle is secured.

In addition, as an inside-side rear view mirror (hereinafter referred to as a room mirror) installed near the driver's seat, the driver helps to secure a rear view of the vehicle.

However, when the driver watches the rear or reverses to change lanes or to park, the left and right side mirrors and the room mirror must be continuously watched together.

In addition, there is a danger of collision during parking or reversing because there is a blind spot when the rear of the vehicle is detected through the side mirror and the room mirror.

In addition, in order to solve the risk of a collision when the vehicle is backing up, a rear view camera is installed in the trunk of the car to secure the view of the rear of the car, but the limited area that can be photographed through the camera provides sufficient rear information. There is a problem that cannot be provided.

In addition, on a screen on which an image photographed by a camera is displayed, a far-away object is often seen close to or vice versa, so that accurate distance information to a rear vehicle may not be known.

In order to solve this problem, an object of the present invention is to provide a rear image display apparatus and method for providing a rear image information of the vehicle and the distance information to the rear vehicle in a screen that is easy for the driver to recognize.

In order to achieve the above object, the present invention provides a rear image display apparatus of a vehicle,

At least two cameras installed in the vehicle to capture a rear image; A controller configured to generate a preset background screen by matching the rear image captured by the camera with an image matching program, and to arrange and output rear vehicle information detected by image processing the photographed rear image on the generated background screen; And a screen display unit for displaying a background image and rear vehicle information output from the controller.

In addition, the control unit according to the present invention includes a background screen generation unit for generating a background screen by matching a plurality of screens with a pre-installed image registration program; An object recognizing unit which detects a vehicle to be recognized by analyzing a rear image captured by the camera through a pre-stored image processing program; A distance measuring unit calculating distance information to the rear vehicle detected by the object recognition unit and relative speed information of the rear vehicle; And a screen matching unit configured to match the rear vehicle calculated by the object recognition unit and the distance measuring unit with the distance information to the rear and output the background image reproduced by the background screen generation unit.

In addition, the background screen generation unit according to the present invention is characterized in that it matches any one of the panorama image, the image of the perspective adjusted, the image of changing the viewpoint, the image of changing the viewpoint is a Top View ) Screen.

In addition, the distance measuring unit according to the present invention detects the movement displacement of the rear vehicle by image processing a plurality of images detected by one camera at different times, and includes steering angle information, distance information and speed information provided from the vehicle The distance information to the rear vehicle and the relative speed information of the rear vehicle are calculated using the driving information and the movement displacement.

In addition, the distance measuring unit according to the present invention is characterized by calculating the distance information to the rear vehicle and the relative speed information of the rear vehicle through the stereo matching program for the image photographed by any camera.

In addition, the screen matching unit according to the present invention captures the image of the rear vehicle recognized by the object recognition unit in the photographed image, the captured preset size according to the distance information to the rear vehicle calculated by the distance measuring unit And adjusts the size of the rear vehicle having the size adjusted in consideration of perspective from the distance information and a reference position on a preset background screen.

In addition, the screen matching unit according to the present invention, if the distance information to the rear vehicle has a value larger than a preset perspective determination reference value, the image size of the captured vehicle is set to be small, the distance information to the rear vehicle Has a value smaller than the reference value, the image size of the captured vehicle is set to be large.

In addition, the screen matching unit according to the present invention, if the distance information to the rear vehicle has a value larger than a preset reference value for determining the perspective, the image of the captured vehicle is located far from the reference position on the background screen, When the distance information to the rear vehicle has a smaller value than the reference value, the image of the captured vehicle is positioned near the reference position on the background screen.

In addition, the camera according to the invention is characterized in that it is installed on the rear and side of the vehicle.

In addition, the rear image display apparatus of the vehicle according to the present invention analyzes the measured distance information to the rear vehicle and the relative speed of the rear vehicle and compares it with preset collision avoidance determination information, and according to the comparison result, a warning sound or Characterized in that it further comprises a warning sound generating unit for determining whether to output the warning screen.

In addition, the present invention is a rear image display method of a vehicle,

a) the control unit detecting rear image of the vehicle from at least two cameras; b) the control unit matching the rear image detected by the cameras with a preset background image through a pre-installed image registration program; c) the controller recognizing a vehicle located at the rear by image processing a rear image captured by an arbitrary camera; And d) the control unit matching the rear vehicle recognized in step c) with the background screen matched in step a) and displaying the same on the screen display unit.

In addition, the present invention is e) the control unit calculates the distance information to the rear vehicle and the rear vehicle speed recognized in the step c), the background information matched in the step d) the calculated distance information to the rear vehicle The method may further include matching the vehicle behind the screen to be displayed on the screen display unit.

In addition, the control unit according to the present invention captures the image of the rear vehicle from the photographed image, repositioning by adjusting the size of the captured vehicle image and the position on the background screen in perspective according to the distance information to the rear vehicle Characterized in that it further comprises the step.

In addition, the relocating step according to the present invention, if the distance information to the rear vehicle has a value larger than a preset reference value for perspective determination, the image size of the captured vehicle is set to be small, the distance information to the rear vehicle Has a value smaller than the reference value, the image size of the captured vehicle is set to be large.

In addition, the repositioning step according to the present invention, if the distance information to the rear vehicle has a value larger than a preset reference value for determining the perspective, the image of the captured vehicle is located far from the reference position on the background screen, When the distance information to the rear vehicle has a smaller value than the reference value, the image of the captured vehicle is positioned near the reference position on the background screen.

Further, step e-1) e) according to the present invention analyzes the calculated distance information to the rear vehicle and the relative speed information of the rear vehicle and compares it with preset collision prevention determination information, and compares the result with the comparison result. The method may further include determining whether to output a warning sound or a warning screen.

In addition, the distance calculation of the step e) according to the present invention is image processing a plurality of images detected by one camera at different times to detect the displacement of the rear vehicle, steering angle information, distance information and The distance information to the rear vehicle and the relative speed information of the rear vehicle are calculated using the driving information including the speed information and the movement displacement.

In addition, the distance calculation of the step e) according to the invention is characterized in that for calculating the distance information of the image taken by the stereo camera through a stereo matching program.

The background image matched in step b) of the present invention may be matched with any one of a panoramic image, an image of which perspective is adjusted, and an image of which a viewpoint is changed.

The present invention has an advantage of providing a safe driving environment to a driver by providing a rear image information of a vehicle and distance information to a rear vehicle on a screen which is easy for a driver to recognize.

In addition, the present invention has the advantage that the driver can effectively recognize the distance information to the vehicle located in the rear to prevent the collision accident with the vehicle approaching from the rear.

In addition, the present invention has the advantage of warning that the vehicle behind the approaching collision distance to prevent the driver's safe driving induction and accident occurrence.

1 is a block diagram showing the configuration of a rear image display apparatus of a vehicle according to the present invention;
FIG. 2 is an exemplary diagram for describing a process of installing and operating a rear image display apparatus of a vehicle according to FIG. 1; FIG.
3 is an exemplary view showing a rear image captured by a camera installed in a vehicle.
4 is an exemplary view illustrating an embodiment of an image output by the rear image display apparatus of the vehicle according to FIG. 1.
5 is an exemplary diagram illustrating another embodiment of an image output by the rear image display apparatus of the vehicle according to FIG. 1.
6 is a flowchart showing a rear image display method of a vehicle according to the present invention;
7 is a flowchart illustrating an image rearrangement process of the rear image display method of the vehicle according to FIG. 6.

Hereinafter, exemplary embodiments of a rear image display apparatus and method for a vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram illustrating a configuration of a rear image display apparatus of a vehicle according to the present invention, and FIG. 2 is an exemplary diagram for describing a process of installing and operating the rear image display apparatus of the vehicle according to FIG. 1. 3 is an exemplary view showing a rear image captured by a camera installed in a vehicle, FIG. 4 is an exemplary view showing a panoramic image output by the rear image display apparatus of the vehicle according to FIG. 1, and FIG. 5 is a vehicle according to FIG. 1. FIG. 4 is a diagram illustrating another embodiment of an image output by the rear image display device of FIG.

1 to 5, the rear image display apparatus 100 of the vehicle according to the present invention includes four cameras 110 to 140 installed in the vehicle and photographing the rear image, and the four cameras 110 to 140. The rear image captured by the 140 is matched with a preset background image by an image matching program, and the photographed rear image is analyzed by a stereo matching program to measure distance information of the vehicles 300 to 320 located behind and the vehicle. And a controller 150 for matching the measured distance information to the vehicle with the vehicles 300 to 320 included in the matched panoramic image, and outputting the distance information to the rear vehicle output from the controller 150. And a screen display unit 160 for displaying a panoramic image, and a warning sound generator 170 for outputting a collision warning of a vehicle approaching from the rear.

The four cameras 110 to 140 are installed at the rear and side of the vehicle 200 to photograph the rear of the vehicle, and preferably the left / right fender, left side mirror, right side mirror, left tail light and right side of the vehicle body. It is installed on the rear lights and photographs the rear of the vehicle.

The first camera 110 is installed by forming a predetermined angle with the longitudinal axis of the vehicle 200 on the right side mirror of the vehicle 200, and photographing and outputting the right blind spot and the rear of the vehicle 200. .

The second camera 120 is installed on the right rear light of the vehicle 200 in parallel with the longitudinal axis of the vehicle 200, and photographs and outputs a part of the left rear side and the right rear side of the vehicle 200.

The third camera 130 is installed on the rear tail light of the vehicle 200 in parallel with the longitudinal axis of the vehicle 200 to photograph and output a part of the right rear side and the left rear side of the vehicle 200.

The fourth camera 140 is installed on the left side mirror of the vehicle 200 to form a predetermined angle with the longitudinal axis of the vehicle 200, and photographs and outputs the left blind spot and the rear of the vehicle 200. .

In addition, the second camera 120 and the third camera 130 are installed with the axes of the two cameras and the axis of the lens aligned in parallel in the same direction, using the second and third cameras 120 and 130 To shoot the same rear vehicle.

The first to fourth cameras 110 to 140 may use either a CMOS or a CCD.

The installation positions of the first to fourth cameras 110 to 140 are not limited thereto, and the installation positions may be changed.

The controller 150 matches the images of FIGS. 3 (a) to 3 (d) taken by the first to fourth cameras 110 to 140 to output the preset background image, and the rear vehicle 300 to. The distance to 320 is extracted and matched with the matched background image so as to be output. For this, the background screen generator 151, the object recognition unit 152, the distance measuring unit 153, and the screen matching unit 154 are output. It is configured to include.

The background image generating unit 151 receives rear images captured by the first to fourth cameras 110 to 140, and extracts parameters for distortion correction from the received rear images through a pre-stored image matching program. After calculating the homography between the image and the adjacent image, the rear image is matched (synthesized).

In addition, the background screen generation unit 151 matches and outputs any one of a panorama image, an image of which perspective is adjusted, and an image of which a viewpoint is changed.

When the background image generating unit 151 matches the panorama image, the left and right rear images captured by the first and fourth cameras 110 and 140 and the second and third cameras 120 and 130 capture the image. A matched image is generated by performing image registration by mapping each rear image using the distortion correction parameter and homography between adjacent images.

That is, when a wide-angle lens is installed in the camera, distortion correction is performed on the input image to extract the distortion-corrected image.

In addition, as shown in FIG. 5, the background screen having the changed viewpoint may match the image of the road surface photographed by an arbitrary camera and the lane information 420 with the planar top view screen.

The background screen 400 allows the driver to recognize the position up to the rear vehicle with a substantial perspective.

The image registration program may be a known image registration program.

The object recognizing unit 152 recognizes the vehicle included in the images captured by the first to fourth cameras 110 to 140 through a preset stereo matching program. ), The second and third cameras 120 and 130, and the third and fourth cameras 130 and 140 are sequentially set as a pair of stereo cameras, and two images captured through the set stereo cameras are used. The vehicle 300 to 320 that are the recognition targets are recognized in the image.

That is, when the first and second cameras 110 and 120 are set as the stereo cameras, when the rear vehicle 1 300 enters the image area A captured by the two cameras, the first and second cameras 110 and 120 are included. When the vehicle is extracted from the captured image and the second and third cameras 120 and 130 are set as the stereo cameras, the rear vehicle 2 310 and the rear vehicle 3 ( When 320 is entered, the vehicle is extracted from the captured images of the second and third cameras 120 and 130, and when the third and fourth cameras 130 and 140 are set as stereo cameras, images captured by two cameras are recorded. When the rear vehicle enters the area C, the vehicle is extracted from the captured images of the third and fourth cameras 130 and 140.

In addition, when the two stereo cameras set have parallel image axes, the object recognizing unit 152 may be mounted on the left / right tail lights of the vehicle, for example, the second camera 120 and the third camera 130. If the axis of the camera and the axis of the lens is parallel to each other is installed in parallel to each other without performing a separate camera correction, for example, different image axes, for example, the first camera 110 and the second camera 120 or the third camera ( If it is not the same image axis as 130 and the fourth camera 140, the image is corrected to be recognizable through camera calibration, and then the recognition object, ie, the vehicle behind the vehicle, is extracted by comparing the feature points of the two images.

The correction is a screen having the same image axis including, for example, vertical alignment, horizontal axis alignment, difference in viewing angles, differences in imaging device specifications, and distance error between cameras between two stereo cameras. To calibrate.

The stereo matching program is a pre-processing process for the stereo image input to match the brightness and the epipolar line for the left and right images when the left and right images are input through the camera installed in the rear lamp and the side mirror of the vehicle, respectively. Perform stereo matching to generate a pixel-to-pixel disparity of the left and right images determined to be the same object, and remove the noise component from the result of the binocular projection, and then project the distance information of the stereo image. By performing post-processing such as projection, segmentation, filtering, and the like, stereo image information is obtained to detect information such as distance, shape, and direction of an object through the stereo image.

The stereo matching program may use various known stereo matching programs as an embodiment.

When the distance measuring unit 153 extracts the rear vehicles 1 to 3 (300 to 320), which are objects to be recognized by the object recognition unit 152, the image deviation of the stereo camera from which the vehicle is extracted and the target target image are displayed. The distance to the extracted vehicle is calculated by calculating how far from the center of the.

In other words, after photographing the same vehicle using two cameras, the angle at which the two cameras look at the image using the image disparity of the two images is obtained, and the two cameras are separated from each other and the angle information is used. The distance from the camera to the vehicle is calculated.

In addition, the distance measuring unit 153 may be configured to display the image image captured by a camera at an arbitrary point in time and the image image photographed at a past point in time by a predetermined time from an arbitrary image image and a past image image through a pre-stored image processing program. Pixels of an object having similar characteristics (e.g., brightness of pixels, presence or absence of edges, etc.) are found to detect each pixel in which displacement has occurred.

In other words, two images of interest are compared from multiple image images taken at different times through image processing to detect similarity through movement displacement and angular displacement of pixels defined as vectors, or object boundary Alternatively, it may be used to obtain line segments or curves that approximate edges, such as outlines, or contours of objects, and perform recognition using invariant feature points for corner points, invariant points, or rotational transformations or size changes existing in an image. Alternatively, recognition may be performed by extracting feature points of an object included in an image.

The distance measuring unit 153 may move displacement between a pixel position detected in the arbitrary image image (hereinafter referred to as a first image) and a past pixel position detected in a past image (hereinafter referred to as a second image). Detects (vector) and detects driving information including steering angle information, distance information, and speed information of the vehicle provided from the ECU, TCU, wheel sensor, or steering angle sensor of the vehicle, and corresponds to the movement displacement of the two pixels. Calculate the distance.

That is, the distance measuring unit 153 displays the pixel position (current position) and the past pixel position on the first image, and sets the difference value between the two pixels as the movement distance between the two pixels using the distance traveled by the vehicle. Be sure to

In addition, the distance measuring unit 153 detects a displacement between a predetermined reference point, a current pixel, and a past pixel on the first image, and triangular information formed by the reference point, the current pixel, and the past pixel, that is, the current The displacement between the pixel and the past pixel is the reference side, and the displacement between the reference point and the current pixel is the other two sides, and the angle between them is calculated to calculate the angle between each pixel and the distance from the reference pixel to the rear vehicle. Calculate and provide the distance of.

The screen matching unit 154 matches the background information generated by the background screen generation unit 151 with the rear vehicle calculated by the object recognition unit 152 and the distance measuring unit 153 and the distance information to the rear. To print it out.

That is, when the screen matching unit 154 detects the calculated distance information to the rear vehicle, for example, from the rear image captured by the first camera 110 and the second camera 120, the background screen generation unit The rear vehicle 1 (300) is recognized from the matched background image by receiving information mapped to the images of the first and second cameras (110 and 120) from 151, and the recognized rear vehicle 1 (300) of the The distance information calculated by the distance measuring unit 153 is displayed to be displayed as a display signal.

In addition, the screen matching unit 154 may determine a large value (for example, a distance value of a position far from the vehicle 200) of the distance information 430 of the rear vehicle calculated by the distance measuring unit 153. If captured, the image of the vehicle recognized by the object recognition unit 152 is captured, and the sizes of the captured images 1 to 3 (440, 450, and 460) are set to be small, and then the reference on the background screen 400 is used. From the vehicle icon 410 which is a position, it arranges considering the perspective.

In more detail, the screen matching unit 154 has a small value of the distance information to the rear vehicle calculated by the distance measuring unit 153 (for example, a distance value of a position close to the vehicle 200). ) Allows the capture images 1 to 3 (440, 450, and 460) of the vehicle to have a large size.

For example, when comparing the rear vehicle 1 300 and the rear vehicle 3, the distance information 430 of the rear vehicle 1 300 is 7 m and the distance information 430 of the rear vehicle 3 320 is 10 m. The synthesizing unit 153 makes the size of the image 1 440 captured by the rear vehicle 1 300 larger than the size of the image 3 460 captured by the rear vehicle 3 320. Make sure you are aware of this nearby.

In addition, when the distance information 430 of the vehicle to the rear vehicle has a large value, the screen matching unit 154 may reference the captured images 1 to 3 (440, 450, and 460) of the vehicle on the background screen 400 for rear display. To be located far from the vehicle icon 410 which is the location.

In addition, if the distance information to the rear vehicle has a small value, the screen synthesizing unit 154 may display a vehicle icon in which captured images 1 to 3 (440, 450, and 460) of the vehicle are the reference positions on the rear display background screen 400. 410 is located close to.

For example, when comparing the rear vehicle 1 300 and the rear vehicle 3, the distance information 430 of the rear vehicle 1 300 is 7 m and the distance information 430 of the rear vehicle 3 320 is 10 m. The synthesizing unit 154 is arranged such that the image 1 440 captured by the rear vehicle 1 300 is located closer to the image 3 460 captured from the rear vehicle 3 320, so that the rear vehicle 1 300 is closer to the rear vehicle 1 300. Make sure you know where you are.

The screen display unit 160 displays the background information matched by the controller 150 and the distance information to the vehicle matched with the background screen to the driver.

When the distance from the distance measuring unit 153 to the rear vehicle is calculated, the warning sound generating unit 170 detects the speed information of the vehicle or the displacement of the rear vehicle which has detected the distance information of the calculated vehicle from the vehicle 200. Based on the relative speed information according to the comparison with the predetermined collision prevention determination information.

As a result of the comparison, the warning sound generating unit 170 does not generate a separate warning sound when the distance to the rear vehicle is greater than the collision prevention determination distance, and the distance to the rear vehicle is equal to the collision prevention determination distance. Or small, make the driver output a warning sound for safe driving.

In addition, the warning sound generating unit 170, but the distance to the calculated vehicle is relatively close to the rear vehicle, but if the speed of the rear vehicle is reduced or the speed of the vehicle 200 is increased so as not to generate a warning sound, Although the calculated distance to the vehicle is relatively far from the rear vehicle, the warning sound is generated when the speed of the rear vehicle is increasing or the speed of the vehicle 200 is decreasing.

In addition, the warning sound generating unit 170 outputs a flashing signal to the screen matching unit 154 to warn that the rear vehicle is approaching within the collision prevention determination distance when the warning sound generating signal is output.

On the other hand, the screen matching unit 154 when the warning flashing signal is input from the warning sound generating unit 170 so that the distance information to the rear vehicle to blink so that the warning signal is exposed to the driver.

6 is a flowchart illustrating a rear image display method of a vehicle according to the present invention, and FIG. 7 is a flowchart illustrating an image rearrangement process of the rear image display method of the vehicle according to FIG. 6.

A method of displaying a rear image of a vehicle according to the present invention will be described in more detail with reference to FIGS. 1 to 7.

The control unit 150 of the rear image display apparatus 100 captures the image image information of the rear of the vehicle from the first to fourth cameras 110 to 140 installed at the left / right side mirrors and the left / right rear lights of the vehicle, respectively. Detection (S100).

When the rear image photographed in step S100 is an image photographed by a camera installed at an asymmetrical position, the controller 150 corrects and inputs an image according to a preset camera angle and setting information.

When the photographed image through the first to fourth cameras 110 to 140 is input, the controller 150 controls the rear image of the vehicle photographed from the first to fourth cameras 110 to 140. (a) to FIG. 3 (d)), and after calculating parameter extraction for distortion correction of the received rear images and homography between adjacent images through a pre-stored image registration program, each rear image is calculated. In operation S110, the background image is matched with any one of the panorama image, the image whose perspective is adjusted, and the image whose viewpoint is changed.

In addition, the controller 150 may recognize the vehicle included in the rear image captured by the first to fourth cameras 110 to 140 through a preset stereo matching program. ), The second and third cameras 120 and 130, and the third and fourth cameras 130 and 140 are sequentially set to be a pair of stereo cameras, and the set pair of stereo cameras are photographed. A process of recognizing (S120) the rear vehicles 1 to 3 (300 to 320), which are recognition targets located in one or two image areas, is performed.

When the two stereo cameras are parallel to each other in step S120, the two stereo cameras do not perform separate camera correction, and the two stereo cameras have different image axes, for example, the first camera 110, the second camera 120, or the first camera. If the same camera axis as the third camera 130 and the fourth camera 140 does not have the same image axis, the camera is calibrated into a recognizable screen through camera calibration, and the rear vehicle is extracted by comparing feature points of the two images.

When the rear vehicles 1 to 3 (300 to 320) are recognized in the step S120, the controller 150 images the two cameras by using the image deviation of the stereo camera that recognizes each rear vehicle through a pre-installed distance measuring program. Calculate the angle to look at, and calculates the distance from the camera to the recognized vehicle using the position of the two cameras and the angle information (S130).

The controller 150 matches the distance information calculated in the step S130 with the background screen generated in the step S110 to output in perspective (S140).

In more detail, when the controller 150 detects rear vehicles 1 to 3 (300, 310 and 320), lane information 420, and distance information 430 to the rear vehicle, a preset background screen ( 400) For example, the top view screen is matched (S410).

When the background screen 400 is generated, the controller 150 causes the lane information 420 of the road surface to be displayed on the background screen 400 (S420), and the background screen on which the lane information 420 is displayed ( Capture image 1 to 3 (440, 450 and 460) of the actual vehicle to be displayed on 400, that is, the actual appearance of the rear vehicle 1 to 3 (300, 310 and 320) from which the distance information 430 is extracted from the captured image Capture (S430).

In operation S430, the capture images 1 to 3 (440, 450, and 460) of the vehicle are configured to capture the captured images 1 to 3 (440, 450, and 460) of the vehicle according to the magnitude of the distance information value detected by the controller 150. A size is adjusted and a position at which the captured images 1 to 3 (440, 450, and 460) of the adjusted vehicle are to be disposed on the background screen 400 is determined (S440).

That is, in step S440, the distance information 430 to the rear vehicle is a preset reference value for determining perspective, for example, 5 m, and the calculated distance information 430 is greater than the reference value (for example, A value of 5 m or more), the image size of the captured vehicle is set to be smaller than a preset reference size, and if the distance information to the rear vehicle has a small value (for example, a value of 5 m or less), the captured vehicle Set the image size of the image to be larger than the preset reference size.

In addition, when the distance information 430 to the rear vehicle has a larger value than the reference value for determining the perspective in step S440 the vehicle is a reference position on the background screen 400 to capture the image of the adjusted vehicle When the distance information to the rear vehicle has a smaller value than the reference value, the captured image of the resized vehicle is a reference position on the background screen 400. 410 to be located close to.

According to the size and arrangement information determined in step S440, the controller 150 displays the size, location, and distance information of the determined vehicle image on the background screen 400 as a top view screen (S450).

That is, when the distance information of the rear vehicle 1 (300), the rear vehicle 2 (310) and the rear vehicle 3 (320) is 7 m, 8 m, and 10 m, respectively, the captured images 1 to 3 ( 440, 450, and 460 are placed in perspective so that they are displayed.

The controller 150 outputs the background screen 400 having completed the arrangement in the step S450 to the screen display unit 160 (S460) so that the driver can recognize it.

The screen display unit 160 receives the display signal output from the controller 150 in step S140 to display the display signal (S150).

On the other hand, the warning sound generating unit 170 compares the distance information to the rear vehicle and the speed information of the rear vehicle calculated in step S130 with preset collision prevention determination distance information, the distance to the rear vehicle as a result of the comparison If the collision prevention determination distance is greater than the separate warning sound does not occur, and if the distance to the rear vehicle is less than or equal to the collision prevention determination distance to the driver to output a warning sound for safe driving.

In addition, the warning sound generating unit 170, but the distance to the calculated vehicle is relatively close to the rear vehicle, but if the speed of the rear vehicle is reduced or the speed of the vehicle 200 is increased so as not to generate a warning sound, Although the calculated distance to the vehicle is relatively far from the rear vehicle, the warning sound is generated when the speed of the rear vehicle is increasing or the speed of the vehicle 200 is decreasing.

In addition, the warning sound generating unit 170 outputs a flashing signal to warn the screen vehicle 160 that the rear vehicle is approaching within the collision prevention determination distance when the warning sound generating signal is output. The distance information of the vehicle is flickered on the screen display unit 160.

Therefore, it is possible to provide a safe driving environment to the driver by providing the rear image information of the vehicle, and to prevent the collision accident with the vehicle approaching from the rear by allowing the driver to effectively recognize the distance information to the rear vehicle. In addition, by warning the rear of the vehicle approaching the expected collision distance to prevent the driver's safe driving and prevent the occurrence of an accident.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It can be understood that

100: video display device 110: first camera
120: second camera 130: third camera
140: fourth camera 150: control unit
151: Wallpaper generation unit 152: Object recognition unit
153: distance measuring unit 154: screen matching unit
160: screen display unit 170: warning sound generation unit
200: vehicle 300: rear vehicle 1
310: rear vehicle 2 320: rear vehicle 3
400: rear display wallpaper 410: vehicle icon
420: lane 430: street information
440: capture image 1 450: capture image 2
460: Capture Image 3

Claims (20)

A rear image display device of a vehicle,
At least two cameras installed in the vehicle to capture a rear image;
A controller configured to generate a preset background screen by matching the rear image captured by the camera with an image matching program, and to arrange and output rear vehicle information detected by image processing the photographed rear image on the generated background screen; And
And a screen display unit configured to display a background image and rear vehicle information output from the controller. The method of claim 1,
The controller may include: a background screen generation unit for generating a background screen by matching a plurality of screens with a pre-installed image registration program;
An object recognizing unit which detects a vehicle to be recognized by analyzing a rear image captured by the camera through a pre-stored image processing program;
A distance measuring unit calculating distance information to the rear vehicle detected by the object recognition unit and relative speed information of the rear vehicle; And
And a screen matching unit configured to match the rear vehicle calculated by the object recognition unit and the distance measuring unit with the distance information to the rear, and output the background image generated by the background screen generation unit. Device. The method of claim 2,
And the background screen generation unit matches any one of a panoramic image, an image of which perspective is adjusted, and an image of which the viewpoint is changed. The method of claim 3, wherein
The rear view image display apparatus of the vehicle, wherein the image of which the viewpoint is changed is a top view screen. The method of claim 2,
The distance measuring unit detects a movement displacement of a rear vehicle by image processing a plurality of images detected by one camera at different times, and includes driving information including the steering angle information, distance information, and speed information provided from the vehicle, and the movement displacement. And calculating distance information to the rear vehicle and relative speed information of the rear vehicle by using the. The method of claim 2,
And the distance measuring unit calculates distance information to a rear vehicle and relative speed information of the rear vehicle through a stereo matching program on an image photographed by an arbitrary camera. The method of claim 2,
The screen matching unit captures an image of a rear vehicle recognized by the object recognition unit from a photographed image, and adjusts the captured size to the captured preset size according to the distance information to the rear vehicle calculated by the distance measuring unit. The rear image display apparatus of the vehicle, wherein the image of the adjusted rear vehicle is disposed in consideration of the perspective from the distance information and a reference position on a preset background screen. The method of claim 7, wherein
The screen matching unit causes the image size of the captured vehicle to be set smaller when the distance information to the rear vehicle has a value larger than a preset perspective determination reference value, and the distance information to the rear vehicle is smaller than the reference value. And a value so that the image size of the captured vehicle is set to be large. The method of claim 7, wherein
The screen matching unit causes the image of the captured vehicle to be located far from the reference position on the background screen when the distance information to the rear vehicle has a value larger than a preset reference value for perspective determination, and the distance to the rear vehicle. And if the information has a value smaller than the reference value, the captured image of the vehicle is positioned near the reference position on the background screen. The method of claim 1,
And the camera is installed at the rear and side of the vehicle. The method of claim 1,
The rear image display apparatus of the vehicle analyzes the measured distance information to the rear vehicle and the relative speed of the rear vehicle and compares it with preset collision prevention determination information, and determines whether to output a warning sound or a warning screen according to the comparison result. And a warning sound generator configured to determine the rear image display device. As a rear image display method of a vehicle,
a) the control unit detecting rear image of the vehicle from at least two cameras;
b) the control unit matching the rear image detected by the cameras with a preset background image through a pre-installed image registration program;
c) the controller recognizing a vehicle located at the rear by image processing a rear image captured by an arbitrary camera; And
and d) displaying, by the control unit, the rear vehicle recognized in step c) with the background screen matched in step a) and displaying the same on the screen display unit. The method of claim 12,
e) the controller calculates the distance information to the rear vehicle and the speed of the rear vehicle recognized in step c), and calculates the distance information to the rear vehicle and the rear vehicle of the background screen matched in step d). And matching the display to the screen display unit. The method of claim 13,
The control unit may further include capturing an image of the rear vehicle from a photographed image, and repositioning the rear vehicle by adjusting the size of the captured vehicle image and a position on the background screen with perspective based on distance information to the rear vehicle. Rear image display method of a vehicle, characterized in that. 15. The method of claim 14,
The relocating step may cause the image size of the captured vehicle to be set smaller when the distance information to the rear vehicle has a value greater than a preset reference value for perspective determination, and the distance information to the rear vehicle is smaller than the reference value. The image display method of the rear vehicle, characterized in that to have a larger image size of the captured vehicle. 15. The method of claim 14,
The relocating step may cause the image of the captured vehicle to be located far from the reference position on the background screen when the distance information to the rear vehicle has a value greater than a preset reference value for perspective determination, and the distance to the rear vehicle. And if the information has a value smaller than the reference value, the captured image of the vehicle is positioned near the reference position on the background screen. The method of claim 13,
e-1) step e) analyzes the calculated distance information to the rear vehicle and the relative speed information of the rear vehicle and compares it with preset collision avoidance determination information, and according to the comparison result, And determining whether to output the rear image of the vehicle. The method according to any one of claims 13 to 17,
The distance calculation of step e) is performed by processing a plurality of images detected by one camera at different times to detect a displacement of the rear vehicle, and driving information including steering angle information, distance information, and speed information provided from the vehicle. And calculating the distance information to the rear vehicle and the relative speed information of the rear vehicle by using the moving displacement. The method according to any one of claims 13 to 17,
The distance calculation of the step e) is the rear image display method of the vehicle, characterized in that for calculating the distance information of the image taken by the stereo camera through a stereo matching program. The method of claim 12,
The background image matched in the step b) is matched to any one of the panorama image, the perspective adjusted image, the image of changing the viewpoint.

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