KR20130024066A - Apparatus for supporing parking of vehicle and method for the same - Google Patents

Abstract

PURPOSE: A parking auxiliary apparatus and an operation method thereof are provided to detect obstacles around a vehicle for changing the display of a view. CONSTITUTION: A parking auxiliary apparatus includes an image acquisition unit(100), an obstacle detector unit(200), and a control unit(300). The image obtaining unit obtains images around a vehicle, and projects the images to a projecting surface for synthesizing a surrounding image of the vehicle from a virtual viewpoint. The obstacle detector unit detects obstacles without the specified range around the vehicle. The control unit changes the virtual viewpoint to the position of the obstacles, and displays the surrounding image including the obstacles. [Reference numerals] (100) Image acquisition unit; (200) Obstacle detector unit; (300) Control unit; (400) Display unit

Description

Apparatus for supporing parking of vehicle and method for the same}

The present invention relates to a parking assist device for a vehicle and a method of operating the vehicle, and more particularly, to assist a parking assist of a vehicle capable of detecting an obstacle present in the vicinity of the vehicle and displaying a surrounding image including the detected obstacle and the vehicle. An apparatus and a method of operating the same.

In general, a system for displaying the surrounding image of the vehicle is not universally installed in the vehicle, so the driver only checks the surroundings of the vehicle through his / her own eyes or the inside or outside mirrors.

However, depending on the vehicle, the driver may sit in the driver's seat and easily check the surrounding environment of the vehicle through the naked eye or a mirror, and there may be a blind spot that is difficult to see through the naked eye or the mirror. Failure to identify pedestrians or pedestrians can lead to vehicle accidents or deaths.

In particular, in the case of a large vehicle, there are relatively many areas that are difficult to see through the naked eye or a mirror, compared to a small vehicle, and thus the probability of an accident is relatively higher than that of a small vehicle.

For example, even if the driver checks the rear of the vehicle through the naked eye or a mirror when the driver reverses or reverses the parking direction, an obstacle lower than the vehicle exists on one side of the rear of the vehicle or the direction of the vehicle that is difficult for the driver to check. If another vehicle approaches, the probability of a vehicle accident is increased.

Therefore, when the driver reverses or reverses the vehicle, the driver can easily identify obstacles existing at the rear of the vehicle that are difficult to see through the naked eye or mirrors, or other vehicles approaching from the rear side of the vehicle. There is a demand for measures to prevent possible vehicle accidents.

The present invention has been devised to solve the above problems, the technical problem to be achieved of the present invention is to detect an obstacle present in the vicinity of the vehicle, change the viewpoint according to the position of the detected obstacle, A parking assistance apparatus for a vehicle capable of displaying a surrounding image including a vehicle and a method of operating the same.

In order to achieve the above object, the parking assisting apparatus of a vehicle according to an embodiment of the present invention obtains an image around the vehicle, projects the obtained image onto a projection surface forming the periphery of the vehicle, and the vehicle is viewed from a virtual viewpoint. An image acquisition unit for synthesizing the surrounding image of the vehicle, an obstacle detection unit detecting an obstacle existing within a predetermined range from the vehicle, and when the obstacle exists, the virtual viewpoint is changed to a position of the obstacle, and the changed virtual viewpoint And a controller configured to display a surrounding image including at least a portion of the vehicle and the obstacle viewed from the.

In order to achieve the above object, the rear image display method of a vehicle according to an embodiment of the present invention, to obtain an image around the vehicle, and to project the obtained image on the projection surface forming the periphery of the vehicle viewed from a virtual view Synthesizing the surrounding image of the vehicle, detecting an obstacle existing within a predetermined range from the vehicle, and when the obstacle exists, changing the virtual viewpoint to the position of the obstacle and viewing the changed virtual viewpoint. And displaying a surrounding image including at least a portion of the vehicle and the obstacle.

According to the parking assistance apparatus and method of the vehicle of the present invention as described above has one or more of the following effects.

The virtual view of the surrounding image of the vehicle is changed according to the position of obstacles around the vehicle, and the surrounding image viewed from the changed virtual view is displayed to minimize the possibility of a vehicle accident caused by the obstacle that is difficult to identify by the driver. It can be effective.

In addition, since a plurality of obstacles may display surrounding images viewed from a plurality of virtual viewpoints according to the positions of the obstacles, the plurality of obstacles may be easily identified.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a block diagram showing a parking assistance apparatus of a vehicle according to an embodiment of the present invention.
2 is a block diagram showing an image acquisition unit according to an embodiment of the present invention.
3 is a schematic diagram showing an image obtained by a plurality of cameras according to an embodiment of the present invention.
4 is a schematic view showing a projection surface according to an embodiment of the present invention.
5 is a schematic diagram illustrating a virtual view when no obstacle exists in accordance with an embodiment of the present invention.
6 is a schematic diagram illustrating a virtual view when one obstacle exists in accordance with an embodiment of the present invention.
7 is a schematic diagram illustrating a virtual view when there are a plurality of obstacles according to an embodiment of the present invention.
8 is a schematic diagram illustrating a split screen of a display unit according to an exemplary embodiment of the present invention.
9 is a schematic diagram showing a surrounding image at a reference distance or more according to an embodiment of the present invention.
10 is a schematic diagram showing a peripheral image below a reference distance according to an embodiment of the present invention.
11 is a schematic view showing a virtual viewpoint according to a shift stage according to an embodiment of the present invention.
12 is a flowchart illustrating a method of operating a parking assist device of a vehicle according to an embodiment of the present invention.
13 is a flowchart illustrating a method of operating a parking assist device of a vehicle according to another embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Thus, in some embodiments, well known process steps, well-known structures, and well-known techniques are not specifically described to avoid an undue interpretation of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It should be understood that the terms comprising and / or comprising the terms used in the specification do not exclude the presence or addition of one or more other components, steps and / or operations other than the stated components, steps and / . And "and / or" include each and any combination of one or more of the mentioned items.

Further, the embodiments described herein will be described with reference to the perspective view, cross-sectional view, side view, and / or schematic views, which are ideal illustrations of the present invention. Thus, the shape of the illustrations may be modified by manufacturing techniques and / or tolerances. Accordingly, the embodiments of the present invention are not limited to the specific forms shown, but also include variations in forms generated by the manufacturing process. In addition, in the drawings of the present invention, each constituent element may be somewhat enlarged or reduced in view of convenience of explanation.

Hereinafter, the present invention will be described with reference to the drawings for describing a parking assisting apparatus and a method of operating the vehicle according to embodiments of the present invention.

1 is a block diagram showing a parking assistance apparatus of a vehicle according to an embodiment of the present invention.

As shown, the parking assistance apparatus 1 of the vehicle according to the embodiment of the present invention may include an image acquisition unit 100, an obstacle detecting unit 200, a control unit 300, and a display unit 400. have.

The image acquisition unit 100 may acquire an image of one or more directions around the vehicle, and generate the surrounding image of the vehicle using the acquired image, and the obstacle detecting unit 200 may exist within a predetermined range from the vehicle. One or more obstacles may be detected, and the controller 300 may change the virtual view of the generated surrounding image according to the position of the detected obstacle, and the display unit 400 may include at least a portion of the vehicle viewed from the changed virtual view and The surrounding image including the detected obstacle may be displayed.

Hereinafter, the parking assisting device 1 of the vehicle according to the embodiment of the present invention will be described in detail.

2 is a block diagram illustrating an image acquisition unit according to an embodiment of the present invention.

As shown, the image acquisition unit 100 according to an embodiment of the present invention is an image storage for storing the images obtained by the plurality of cameras 111 to 114, the plurality of cameras 111 to 114 installed in the vehicle It may include a peripheral image generating unit 130 for generating the surrounding image of the vehicle using the unit 120 and the stored image.

In the embodiment of the present invention will be described a case where the plurality of cameras 111 to 114 are respectively installed in the front, rear, left and right directions of the vehicle 10, as shown in FIG. As an example, the present invention is not limited thereto, and the number or installation directions of the cameras may be variously changed according to a use and a need.

For example, the number of installations of the plurality of cameras 111 to 114 may be reduced when a wide angle lens or a fisheye lens having a large angle of view is used, or the number of installations may be increased. In this case, the plurality of cameras 111 to 114 do not necessarily need to be installed in the front, rear, left, and right directions of the vehicle in order to acquire an image of the surrounding omnidirectional direction of the vehicle, and under different conditions of obtaining the image of the surrounding omnidirectional direction of the vehicle. It can also be installed in place.

On the other hand, when the image obtained by the plurality of cameras 111 to 114 is the image of the vehicle in all directions, that is, the 360 degree direction, and the plurality of cameras 111 to 114 are installed in the front, rear, left and right directions of the vehicle, Each camera may be a camera using a wide-angle lens or a fisheye lens having an angle of view of 180 degrees, and each camera 111 to 114 may be a front region 111a, a rear region 112a, a left region 113a, and a right side of the vehicle. An image of the area 114a may be acquired.

In addition, in the embodiment of the present invention, when the plurality of cameras 111 to 114 are installed in the front, rear, left and right directions of the vehicle, the front is installed at the center of the bonnet of the vehicle, the rear is installed at the upper part of the bumper, and the left and right directions are left and right out. The case where it is installed in a side mirror is demonstrated to an example.

The image storage unit 120 may store images acquired by the plurality of cameras 111 to 114, and the image storage unit 120 may acquire the identification information of the image and the image of the corresponding direction along with the acquired image. May be stored together.

The image storage unit 120 may include a cache, a RAM, an SRAM, a DRAM, a ROM, a PROM, an EPROM, an EEPROM, a flash memory, and a hard disk drive, but is not limited thereto.

The plurality of cameras 111 to 114 may convert the image into a compressed format to facilitate data transmission before transmitting the acquired image to the image storage unit 120. The compressed format may be MPEG-1 or MPEG-. Various known formats such as 4 may be used, and the plurality of cameras 111 to 114 may include a processor for converting a data format of an acquired image.

On the other hand, when the plurality of cameras 111 to 114 use a wide-angle lens or a fisheye lens, since the focal length is short rather than a perfect sphere shape, geometric distortion of the lens, for example, radial distortion or tangential distortion may occur. Therefore, the images acquired by the plurality of cameras 111 to 114 may be stored with distortion corrected by a distortion correction algorithm.

The distortion correction of the images acquired by the plurality of cameras 111 to 114 may be performed by the plurality of cameras 111 to 114, may be performed when the image is stored in the image storage unit 120, and the additional distortion correction. It may be performed by a component for transmitting to the image storage unit 120.

The peripheral image generating unit 130 converts coordinates by projecting the images acquired by the plurality of cameras 111 to 114 onto a projection surface forming a vehicle periphery, and generates the peripheral image by synthesizing the converted image on the projection surface. The peripheral image generator 130 may include a projection surface setting unit 131, a coordinate converter 132, and an image synthesizer 133.

The projection surface setting unit 131 may set a virtual projection surface forming a vehicle periphery. The projection surface may be a preset projection surface when the vehicle is shipped, or may be a projection surface selected by a driver among various kinds of previously stored projection surfaces, but is not limited thereto.

In the exemplary embodiment of the present invention, as shown in FIG. 4, a case in which the projection surface 140 set by the projection surface setting unit 131 is a hemispherical shape as a 3D stereoscopic projection model will be described as an example. As an example to help, but not limited to this, various projection surfaces such as a sphere and a plane may be set.

The coordinate converting unit 132 may store coordinate information (for example, 3D coordinate information, etc.) of the projection surface set by the projection surface setting unit 131, and use a plurality of cameras 111 to 114 using the stored coordinate information. ) Can be converted into the coordinates of the projection surface.

For example, the coordinate converting unit 132 projects the images acquired by the plurality of cameras 111 to 114 onto the projection surface, thereby converting the two-dimensional coordinates of the images acquired by the plurality of cameras 111 to 114 to the projection surface. 3D coordinates can be converted, and through this coordinate conversion, the image synthesizing unit 133 can synthesize images acquired by the plurality of cameras 111 to 114 on the set projection plane.

The image synthesizing unit 133 may generate the surrounding image by synthesizing the image whose coordinates are converted by the coordinate converting unit 132 with the projection surface set by the projection surface setting unit 131.

For example, as shown in FIG. 4, the image synthesizing unit 133 is configured to coordinate conversion unit 132 in order to synthesize images acquired by the plurality of cameras 111 to 114 on the projection surface 140 set to hemispherical shape. 2D coordinates of the images obtained by the plurality of cameras 111 to 114 are converted into three-dimensional coordinates of the projection surface 140, and the image synthesis unit 133 converts the coordinate-converted image onto the projection surface ( By synthesizing at 140, the surrounding image of the vehicle can be generated.

As such, when generating the surrounding image by synthesizing the images acquired by the plurality of cameras 111 to 114 on the projection surface set by the projection surface setting unit 131, the surrounding image of the vehicle may be displayed in the form of a three-dimensional image. By changing the virtual view of the projection surface 140 as shown by the arrow of FIG.

In other words, in the exemplary embodiment of the present invention, the virtual view of the generated surrounding image, that is, the virtual view of the projection plane, may be changed and displayed in a top view from the top of the vehicle. It is possible to display in the form of looking at at least a part of the vehicle and the surroundings of the vehicle.

The obstacle detecting unit 200 may detect one or more obstacles existing within a predetermined range from the vehicle, and may detect a position of the detected obstacle or a distance from the obstacle. In this case, the range in which the obstacle detecting unit 200 may detect the obstacle may be variously changed according to a vehicle model or a road condition. For example, the range in which the obstacle detecting unit 200 can detect an obstacle may be set to be wider as a large vehicle or a highway. The obstacle detecting unit 200 may be an ultrasonic sensor, an infrared sensor, a radar, or the like.

When one or more obstacles exist around the vehicle as a result of the sensing of the obstacle detecting unit 200, the controller 300 changes the virtual viewpoint to the position of the obstacle so that the surrounding image including the obstacle or the obstacle and at least a portion of the vehicle is displayed. can do. When the obstacle is detected by the obstacle detecting unit 200, the controller 300 may output a warning sound or an effect sound through a speaker provided in the vehicle to notify the driver.

In the embodiment of the present invention, changing the virtual viewpoint to the position of the obstacle may be understood to change to include at least a portion of the detected obstacle and the vehicle, and changes the virtual viewpoint to include at least a portion of the detected obstacle and the vehicle. In this case, the driver can easily check the distance between the vehicle and the obstacle as well as the obstacle when the surrounding image viewed from the changed virtual view is displayed.

For example, when no obstacle is detected around the vehicle, the controller 300 may set the virtual view A to be displayed in a top view form including the entire vehicle 10 and a part of the surroundings, as shown in FIG. 5.

When the obstacle 1 (11) is detected around the vehicle, the controller 300 changes the position of the virtual viewpoint from A of FIG. 5 to B of FIG. 6 to at least a portion of the vehicle 10 viewed from the virtual viewpoint B. The surrounding image including the obstacle 1 11 may be displayed.

At this time, the virtual views A and B in FIG. 5 and FIG. 6 are shown to be changed two-dimensionally, but this is merely an example for helping understanding of the present invention, and the virtual views A and B are described above. As a virtual view of the projection surface 140 of FIG. 4, the image may have any location under a condition in which at least a portion of the vehicle 10 and the obstacle 1 11 are included, and the surrounding image viewed from the virtual views A and B may have various directions. At least a portion of the vehicle 10 and the surrounding image viewed by the obstacle 1 (11) may be viewed, and after a variety of tests, the direction having the best visibility may be set.

In addition, in FIG. 6 described above, a case in which one virtual view, that is, a peripheral image viewed from the virtual view B, is displayed according to the position of the obstacle 11 is described as an example, but is not limited thereto. Also, a plurality of virtual viewpoints may be set to provide a peripheral image including at least a portion of a vehicle and obstacles in different directions, and the peripheral images viewed from each virtual viewpoint may be displayed.

In the embodiment of the present invention, for example, a case of detecting an obstacle present in the rear of the vehicle during the reverse parking of the vehicle, changing the virtual viewpoint according to the detected position of the obstacle, and displaying the surrounding image viewed from the changed virtual viewpoint, for example. Although not limited to this, the present invention may be applied to detecting an obstacle present in the surrounding even when the vehicle is moved or stopped, and displaying a surrounding image by changing a virtual viewpoint according to the detected obstacle.

Since an exemplary embodiment of the present invention describes a case of reverse parking of a vehicle, at least a part of the vehicle included in the surrounding image viewed from the virtual viewpoint B when at least one of the obstacles is present is one tire (eg, rear of the vehicle). Tires).

Meanwhile, when a plurality of obstacles are detected by the obstacle detecting unit 200, the controller 300 changes the plurality of virtual viewpoints to the positions of the obstacles, and includes at least a portion of the vehicle and the obstacles at each virtual viewpoint. The surrounding image may be displayed.

For example, as shown in FIG. 7, when there are a plurality of obstacles 1 and 2 (11, 12) behind the vehicle 10, the virtual viewpoint is changed to the positions of the obstacles 1 and 2 (11, 12) to be virtual. At least some of the vehicle 10 viewed from the viewpoints B and C and the surrounding image including the obstacles 1 and 2 (11 and 12) may be displayed, respectively.

As such, the display unit 400 may display at least one of the surrounding images viewed from a plurality of virtual viewpoints on one obstacle or the surrounding images viewed from each virtual viewpoint on the plurality of obstacles. It may be configured as a divided screen or a plurality of, in the embodiment of the present invention will be described with an example in which the display unit 400 is composed of at least one divided screen.

For example, as illustrated in FIG. 8, the display unit 400 may include three divided screens 141, 142, and 143, and the controller 300 may include obstacles 21 and 22 on both sides of the rear of the vehicle, respectively. If present, the virtual viewpoint may be changed to the positions of the obstacles 21 and 22, respectively, and the peripheral image viewed from the changed virtual viewpoint may be displayed. In this case, FIG. 8 is an example of displaying the surrounding image viewed from the changed virtual view through the left and right split screens 141 and 143 and displaying the rear of the vehicle in the top view form through the split screen 142 located at the center. .

8 described above is merely an example to help understanding of the present invention, and the present disclosure is not limited thereto, and the divided screens 141, 142, and 143 may display surrounding images viewed from a plurality of virtual views with respect to one obstacle. The surrounding image viewed from the virtual viewpoint of each of the plurality of obstacles may be displayed.

Meanwhile, the controller 300 may change the virtual viewpoint as the distance between the vehicle and the obstacle is changed. For example, when an obstacle is initially detected, the controller 300 may not include the obstacle as the distance between the vehicle and the obstacle changes as the surrounding image viewed from the changed virtual view.

Therefore, when the distance between the vehicle and the obstacle changes, the controller 300 may change the virtual view corresponding thereto so that the surrounding image including at least a portion of the obstacle and the vehicle may be displayed even when the distance between the vehicle and the obstacle is changed. Can be.

The number of split screens of the display unit 400 may be changed as necessary, and the surrounding image viewed through each split screen may be predetermined or may selectively display the surrounding images viewed from a specific virtual view.

The display unit 400 is a display device provided in a vehicle, for example, a navigation device, a HUD display, a display device mounted on an inside mirror or an outside mirror and an AV system, or a display device separately installed for displaying surrounding images. Can be used.

Meanwhile, when the distance between the vehicle and the obstacle becomes less than the reference distance, the controller 300 may enlarge and display the surrounding image displayed by the display 400 at a predetermined ratio.

For example, if the distance between the vehicle 10 and the obstacle 21 is greater than or equal to the reference distance, the controller 300 displays the ratio as shown in FIG. 9, and the distance between the vehicle 10 and the obstacle 20 is a reference. When the distance is less than the distance, the P region of FIG. 9 may be enlarged and displayed as shown in FIG. 10.

In the above-described embodiment of the present invention, for example, the controller 300 changes the virtual viewpoint according to the position of the obstacle detected by the obstacle detecting unit 200 and displays the surrounding image viewed from the changed virtual viewpoint. Although described, this is merely an example to help understanding of the present invention, and the present invention is not limited thereto. The virtual view may be changed according to a driver's request or shift stage, and the surrounding image viewed from the changed virtual view may be displayed.

That is, the controller 300 may change the virtual viewpoint to a specific position according to the driver's request, and may display the surrounding image at the changed virtual viewpoint, and detect the shift stage to change the virtual viewpoint to the specified position at the specific shift stage. The surrounding image may be displayed at the changed time point.

For example, when the backward stage is selected, the controller 300 may change to the virtual view D as shown in FIG. 11 and display the surrounding image viewed from the virtual view D. FIG.

12 is a flowchart illustrating a method of operating a parking assistance apparatus of a vehicle according to an exemplary embodiment of the present invention, and FIG. 12 is an example of a case in which one obstacle exists behind the vehicle.

As shown, the operating method of the vehicle parking assistance apparatus according to an embodiment of the present invention, first, the obstacle detection unit 200 detects an obstacle existing within a predetermined range from the vehicle (S110).

When it is detected that an obstacle exists around the vehicle, the controller 300 changes the position of the virtual viewpoint to the position of the obstacle (S120). In this case, the changed position of the virtual view may include at least a portion of the vehicle and an obstacle.

The controller 300 displays the surrounding image viewed from the changed virtual view through the display 400 (S130). In this case, the controller 300 may display the surrounding image viewed from one virtual viewpoint changed according to the position of the detected obstacle, and set the positions of the plurality of virtual viewpoints according to the position of the obstacle to view from the plurality of virtual viewpoints. Peripheral images can also be displayed.

FIG. 13 is a flowchart illustrating a method of operating a parking assistance apparatus of a vehicle according to another exemplary embodiment. FIG. 13 is an example of a case in which a plurality of obstacles exist behind a vehicle.

As shown, in the operation method of the vehicle parking assisting apparatus according to another embodiment of the present invention, first, the obstacle detecting unit 200 detects a plurality of obstacles existing within a predetermined range from the vehicle (S210).

When a plurality of obstacles are detected, the controller 300 changes the virtual viewpoints according to the position of each obstacle (S220).

The control unit 300 displays the surrounding image viewed from the virtual viewpoint changed according to the position of each obstacle through the display unit 400 (S230).

That is, when a plurality of obstacles are detected, the controller 300 may display the surrounding image viewed from the virtual view changed according to the position of each obstacle through the split screens 141, 142, and 43 of FIG. 8. will be.

12 and 13 described above, when one or more obstacles are detected, a virtual view is changed accordingly and a surrounding image viewed from the changed virtual view is displayed as an example. The same may be applied depending on the gear stage.

FIG. 14 is a flowchart illustrating a method of operating a parking assistance apparatus of a vehicle according to another exemplary embodiment. FIG. 14 is an example of changing a virtual viewpoint as a distance between a vehicle and an obstacle is changed.

As shown in the drawing, in the method of operating the vehicle assistance device according to another embodiment of the present invention, the obstacle detecting unit 200 first detects an obstacle existing within a predetermined range from the vehicle (S310).

When it is detected that an obstacle exists around the vehicle, the controller 300 changes the position of the virtual viewpoint to the position of the obstacle (S320).

The controller 300 displays the surrounding image viewed from the changed virtual view through the display 400 (S330).

At this time, the controller 300 determines whether the distance between the vehicle and the obstacle is changed, and if the distance is changed as a result of the determination, changes the virtual viewpoint according to the changed distance, and performs the above-described step S330 (S340).

As such, the vehicle parking assisting apparatus and the operation method thereof according to an embodiment of the present invention detect an obstacle existing around the vehicle, in particular, an obstacle present at the rear of the vehicle during backward or reverse parking of the vehicle, and detects the detected obstacle. By changing the position of the virtual viewpoint according to the position of the, and displaying a peripheral image including at least a portion of the vehicle and obstacles viewed from the changed virtual viewpoint, the driver can easily determine the distance between the vehicle and the obstacle to cause a vehicle accident Can be prevented in advance.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning and scope of the claims and the equivalents thereof are included in the scope of the present invention Should be interpreted.

100: image acquisition unit
111-114: camera
120: video storage unit
130: surrounding image generating unit
131: projection surface setting unit
132: coordinate conversion unit
133: image synthesis unit
200: obstacle detection unit
300:
400:

Claims (21)

An image acquisition unit for acquiring an image around the vehicle and projecting the acquired image onto a projection surface forming the periphery of the vehicle and synthesizing the image into a peripheral image of the vehicle viewed from a virtual viewpoint;
An obstacle detecting unit detecting an obstacle existing within a predetermined range from the vehicle; And
And a controller configured to change the virtual viewpoint to the position of the obstacle and to display at least a portion of the vehicle and the surrounding image including the obstacle when the obstacle exists. . The method of claim 1,
The image acquisition unit,
A plurality of cameras for obtaining an image of at least one direction around the vehicle;
An image storage unit storing the obtained image; And
And a peripheral image generator configured to convert coordinates by projecting the acquired image on the projection surface, and generate the peripheral image by synthesizing the converted image on the projection surface. The method of claim 2,
The surrounding image generator,
A projection surface setting unit for setting the projection surface;
A coordinate converter configured to store coordinate information of the set projection surface and convert coordinates of the obtained image into coordinates of the projection surface based on the stored coordinate information; And
And an image synthesizer configured to synthesize the obtained image on the set projection surface based on the converted coordinates. The method of claim 1,
And a display unit including one or more divided screens displaying the surrounding image. The method of claim 4, wherein
The display unit includes:
Parking assistance device for a vehicle including at least one of an inside mirror, an outside mirror, a HUD display and a navigation. The method of claim 1,
The control unit,
When a plurality of obstacles are detected, the parking assist device of the vehicle to change the virtual viewpoint to the position of each obstacle. The method according to claim 6,
The control unit,
And a surrounding image including at least a part of the vehicle viewed from each virtual viewpoint changed to the position of each obstacle and a corresponding obstacle. The method of claim 1,
The control unit,
And at least a portion of the vehicle and the surrounding image including the obstacle when the vehicle is less than a reference distance between the vehicle and the detected obstacle. The method of claim 1,
At least a portion of the vehicle,
Parking assistance device of a vehicle comprising a tire of one side of the vehicle. The method of claim 1,
The control unit,
And a parking assist device of the vehicle that changes the virtual viewpoint as the detected distance between the vehicle and the vehicle is changed. Acquiring an image around the vehicle, and projecting the acquired image onto a projection surface forming the periphery of the vehicle, and synthesizing the image into a peripheral image of the vehicle viewed from a virtual viewpoint;
Detecting an obstacle present within a predetermined range from the vehicle; And
And when the obstacle exists, changing the virtual viewpoint to the position of the obstacle, and displaying a peripheral image including at least a portion of the vehicle and the obstacle viewed from the changed virtual viewpoint. Method of operation. The method of claim 11,
Wherein the combining comprises:
Method of operating a parking assistance device of a vehicle synthesized into the surrounding image before or after the detecting step. The method of claim 11,
Wherein the combining comprises:
Acquiring an image of at least one direction around the vehicle;
Storing the acquired image; And
Projecting the acquired image on the projection surface to transform coordinates, and synthesizing the converted image on the projection surface to generate the surrounding image. The method of claim 13,
Generating the surrounding image,
Setting the projection surface;
Converting coordinates of the obtained image into coordinates of the projection surface by using coordinate information of the set projection surface; And
And synthesizing the obtained image with the set projection surface based on the converted coordinates. The method of claim 11,
Wherein the displaying comprises:
Method of operating a parking assistance device of a vehicle for displaying the surrounding image through at least one divided screen. The method of claim 11,
Wherein the displaying comprises:
And displaying the surrounding image through at least one of an inside mirror, an outside mirror, a HUD display, and a navigation. The method of claim 11,
Wherein the displaying comprises:
And when the plurality of obstacles are detected, changing the virtual viewpoint to the location of each obstacle. The method of claim 17,
Wherein the displaying comprises:
And displaying a surrounding image including at least a part of the vehicle viewed from each virtual viewpoint changed to the position of each obstacle and a corresponding obstacle. The method of claim 11,
Wherein the displaying comprises:
If the distance between the vehicle and the detected obstacle is less than or equal to a reference distance, enlarging and displaying at least a portion of the vehicle and the surrounding image including the obstacle. The method of claim 11,
At least a portion of the vehicle,
Method of operating a parking assistance device of a vehicle comprising a tire of one side of the vehicle. The method of claim 11,
Wherein the displaying comprises:
And changing the virtual viewpoint as the distance between the vehicle and the sensed obstacle is changed.

Images