KR20130136038A - Apparatus for outputing parking information of parking assistance system using laser - Google Patents

Abstract

The purpose of the present invention is to provide a parking information outputting device of a parking assistance system using a laser generating parking information by combining information obtained from the conversion output of a laser beam into a perpendicular beam and the driving information about a vehicle, which is obtained from the vehicle. Also, the present invention includes a parking information output unit, which detects an image reflected from different positions from each other depending on the appearance of an object, calculates information about distance to the position of the object, and generates and outputs the parking information from the calculated distance information. Therefore, the present invention provides three-dimensional parking information, thereby more improving the performance of the parking assistance system and helping a driver perform parking motion more safely. [Reference numerals] (110) Light source module;(130) Camera module;(140) Image processing module;(150) Vehicle information detecting unit;(AA) 3D information

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a parking information output apparatus,

The present invention relates to a parking information output device for a parking assist system using a laser, and more particularly, to a parking information output device for a parking assist system using a laser, The present invention relates to a parking information output device for a parking assist system using a laser to generate a parking information.

In general, women and novice drivers suffer considerable difficulty when parking in a parking lot, and in some cases, they cause contact accidents.

One of the ways to solve this problem is to install the sensor on the vehicle and automatically recognize the parking position so as to provide the driver with the convenience of parking.

In detecting the parking position automatically by attaching the sensor to the vehicle, an apparatus for detecting range data indicating the distance and direction of the obstacle such as a scanning laser radar is mounted on the vehicle to detect an empty parking space.

FIG. 1 shows a method for detecting an empty parking space in parallel parking according to the prior art. As shown in FIG. 1, when a plurality of parking vehicles 10 and 11 are parked in an arbitrary parking area, The position of the parked front vehicle 10 and the rear vehicle 11 is scanned by using the ultrasonic sensor 30 provided on the side of the vehicle 20 and the parking space between the parked front vehicle 10 and the rear vehicle 11 Dimensional parking space 40 as two-dimensional information, and the recognized two-dimensional parking space 40 information is provided as parking assistance information at the time of parking the parked vehicle 20.

However, due to the characteristics of the ultrasonic sensor 30, the shape of the beam is so large that it is impossible to perform detailed measurement, and the narrow and long parking space A1 can not be scanned, and only a parallel parking space having a wide space A2 is formed.

In the parking assist system using the conventional ultrasonic sensor 30, when the distance between the parked vehicle 20 and the parked rear car 11 becomes long as the parked vehicle 20 continues to move forward for parking, The parking space 40 between the parked front vehicle 10 and the rear vehicle 11 can not be properly detected or is detected as a wrong position.

In addition, there is a problem that an obstacle search in the vertical direction can not be performed by irradiating the ultrasonic sensor in the horizontal direction.

In order to solve such a problem, the present invention provides a parking information outputting device of a parking assist system using a laser for generating parking information by combining information obtained by converting a laser beam into a vertical surface light beam and driving information of a vehicle obtained from the vehicle And to provide the above-mentioned objects.

In order to achieve the above object, the present invention is to detect the image reflected from different positions according to the appearance of the object when the vertical ray is irradiated from one side of the vehicle, and based on the position of the detected image information on the distance to the object And a parking information output unit configured to calculate and output parking information from the calculated distance information.

In addition, the parking information output unit according to the present invention includes a light source module for dispersing the light for distance measurement in the vertical direction; A camera module for detecting light output from the light source module and outputting the detected light as an image; And an image processing module configured to control the operation of the light source module so that light is output, and output parking information including distance information to an object by analyzing the image signal of the light in the image detected by the camera module. It features.

The parking information output unit may further include a vehicle information detection unit configured to detect driving information including the moving speed and the steering angle information of the parked vehicle and output the detected driving information to the image processing module, wherein the image processing module includes the parking information. The moving information and the steering angle information of the vehicle provided by the vehicle information detector are matched with each other according to time, and the parking information is preferably 3D image information.

In addition, the light source module according to the invention is characterized in that it further comprises a diffusion module for dispersing the light in the vertical direction.

Further, the light source module according to the present invention may further comprise a modulator for using a laser as a light source, and for outputting the light to form an arbitrary frequency or pattern.

The present invention is advantageous in that parking information of three dimensions can be provided by combining laser beam acquisition information distributed vertically and outputted and vehicle running information acquired from a vehicle.

In addition, the present invention provides a three-dimensional parking assisting information to further improve the performance of the parking assisting system, thereby enabling a vehicle to more safely perform a parking operation.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating a method for detecting an empty parking space in parallel parking according to the related art.
2 is a block diagram showing a configuration of a parking information output apparatus of a parking assist system using a laser according to the present invention.
3 is a view illustrating an arrangement of a light source module and a camera module in a parking information output device of the parking assist system using the laser according to FIG.
FIG. 4 is a view illustrating a process of detecting a parking space using the parking information output device of the parking assist system using the laser according to FIG. 2;
FIG. 5 is a diagram illustrating a state in which a vertical surface light beam is output from the parking information output device of the parking assist system using the laser according to FIG. 2;
FIG. 6 is an exemplary view showing an image of a parking information output device of the parking assist system using the laser according to FIG. 2;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, a preferred embodiment of a parking information output device of a parking assist system using a laser according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a block diagram illustrating a configuration of a parking information output device of a parking assist system using a laser according to the present invention. FIG. 3 is a block diagram of a light source module and a camera module Fig.

As shown in FIGS. 2 and 3, the parking information output device of the parking assist system using the laser according to the present invention includes a parking information output unit 100 that, when a vertical surface light beam is irradiated from one side of the vehicle, Calculates the distance information to the object based on the position of the detected image (500), generates parking information from the calculated distance information, and outputs the parking information, A diffusion module 120, a camera module 130, an image processing module 140,

Also, the parking information output unit 100 is installed at an arbitrary position so as to detect the left / right direction of the vehicle, and is preferably installed in the rear lamp assembly of the vehicle.

The light source module 110 is configured to output light for distance measurement and position analysis, and is preferably made of either infrared light or laser light, and more preferably at least one laser is installed.

In addition, the light source module 110 may include modulating means so that the output light forms an arbitrary frequency or pattern so that it can be distinguished from external noise.

The light emitted from the light source module 110 is dispersed vertically and output as a plane light. The light emitted from the light source module 110 is incident on the diffusion module 120, When the light is incident on the plane, it is dispersed in the up and down directions to be output as the expanded vertical plane light.

The diffusion module 120 may be integrally installed on the front side of the light source module 110 or may be installed separately from the light source module 110 and may be installed integrally with the light source module 110 do.

The diffusing module 120 according to the present embodiment uses a lens coated with anti-reflection (AR) so as to minimize the reflection of incident light so that one light output from the light source module 110 is directed upward and downward .

However, the diffusing module 120 is not limited to the diffusing lens. Instead, the diffusing module 120 may be replaced with a diffusing module that outputs light. It is also possible to configure it so that it is spread out and output as a surface light beam.

The camera module 130 is configured to detect a surface light beam output to an object through the diffusion module 120 and to output the image light to the image 500. Any sensor such as a CCD sensor or a CMOS sensor may be used, Any of the image sensors for detecting and outputting the image 500 may be used.

3A, the camera module 130 includes a light source module 110 and a camera module 130 which are disposed to overlap with each other. When viewed from the side as shown in FIG. 3B, the camera module 130 is spaced apart from the light source module 110 by a predetermined distance When the surface light rays irradiated and dispersed in the vertical direction in the diffusion module 120 come into contact with the curvature of the obstacle (or vehicle) so as to be arranged at a predetermined angle with the light source module 110, The position where the light is reflected differs according to the shape, so that the reflected image according to the distance can be photographed more accurately.

The camera module 130 may be integrally installed in the rear lamp assembly of the vehicle together with the light source module 110 and the diffusion module 120 or may be integrally installed in an arbitrary position (e.g., a side mirror or the like) And may detect the image 500 installed.

That is, when a camera is installed on the side mirror so that the side and rear of the vehicle can be photographed, an image may be acquired using the installed camera, and the obtained image may be calibrated so that an image May be used.

The image processing module 140 controls the operation of the light source module 110 to turn on / off the light to be output, and analyzes the position of the light reflected from the image 500 detected by the camera module 130 Calculates distance information to an object, and generates the calculated distance information as parking information.

The parking information is information provided so that the parking assist system can grasp the distance, shape, and position to the surrounding objects for parking.

In addition, the image processing module 140 generates and outputs more accurate parking information by matching the parking information generated based on the distance information with the driving information provided by the vehicle information detecting unit 150 according to time.

That is, the image processing module 140 stores installation position information between the light source module 110 and the camera module 130, so that the distance measuring plane light ray irradiated according to on / off control of the light source module 110 An obstacle or an object and is input to the camera module 130, the camera module 110 displays an obstacle or an obstacle displayed on the screen of the camera module 110 using angle information and distance information between the light source module 110 and the camera module 110. [ (Or an object) is calculated through triangulation calculation, and the calculated distance information is displayed together with the parking information and the actual distance information in which an arbitrary pixel is located on one side of the image 500.

In addition, the image processing module 140 may include filtering means for detecting an arbitrary frequency signal or pattern signal among the signals received through the camera module 130, so that a signal distinguishable from external noise can be detected.

In addition, the image processing module 140 superimposes the moving speed information and the steering angle information of the vehicle outputted from the vehicle information detecting unit 150 together with the image 500 detected from the camera module 130 over time, .

That is, the image processing module 140 acquires the distance information of the obstacle from the two-dimensional image of the obstacle (or object) acquired through the camera module 130, and accumulates the distance information over time to generate three-dimensional information.

The information necessary for the accumulation may analyze the moving speed and the steering angle information of the vehicle or utilize the information obtained from the image.

When the stored information is acquired from the vehicle, the vehicle information detecting unit 150 detects driving information including the moving speed and the steering angle information from the ECU, the TCU, and the steering wheel sensor of the parked vehicle 200, (140).

FIG. 4 is a view illustrating a process of detecting a parking space using the parking information output device of the parking assist system using the laser according to FIG. 2. FIG. FIG. 6 is an exemplary view showing an image of a parking information output device of the parking assist system using the laser according to FIG. 2; FIG.

The operation of the parking information output device of the parking assist system using the laser according to the present invention will be described in more detail with reference to FIGS. 2 to 6. FIG.

When the parked vehicle 200 travels in a parked place where the first parking vehicle 300, the second parking vehicle 310 and the third parking vehicle 320 are parked to search for the parking space 400, The image processing module 140 installed in the tail lamp of the vehicle 200 turns on the light source module 110 and outputs a laser beam to be incident on the diffusion module 120 to be dispersed in the vertical direction, So that the light ray L1 is outputted.

The camera module 130 detects an image 500 of a surface light ray L1 output from the diffusion module 120 and outputs the image 500 to the image processing module 140. [

The image processing module 140 analyzes the image detected from the camera module 130 and calculates the distance to the obstacle on the image 500.

That is, when the light output from the light source module 110 at a certain point of time is dispersed vertically in the diffusion module 120 and the spread surface light is output, the light is reflected on the first parking vehicle 300, The first image I1, the second image I2 and the third image I3 are displayed on the image 500 captured by the camera module 130 according to the position of the reflected image on the vehicle 300, The processing module 140 performs a triangulation calculation using the angle information and the separation distance information of the light source module 110 and the camera module 130 that are set in advance, (I1, I2, I3).

The first image I1 is an image reflected at a distance from the light source module 110 and is detected at a distance from the third image I3 reflected at a close distance.

The difference is that when the light is irradiated at an arbitrary position, a reflected image is generated at a certain distance from the object due to the reflected positional difference between the object positioned close to the object and the object located at a distance.

Since the image processing module 140 knows the position information of the camera module 140, any pixel from the camera module 130 in the captured image 500 may be displayed on one side of the displayed image 500 It is possible to quickly detect the position information of the pixel where the first to third images I1, I2 and I3 are located by previously calculating the actual distance to the area where the first to third images I1, I2 and I3 are located.

When the image processing module 140 calculates the distance information of an arbitrary plane light ray L1, the light source module 110 sequentially irradiates a plurality of plane light rays Ln for a predetermined period of time, The moving speed information and the steering angle information provided from the vehicle information detecting unit 150 are superimposed on the image obtained from the camera module 130, Gt; 510 < / RTI >

The distance information (X axis) to the first parking vehicle 300 on the image 500, the moving distance information (Y axis), and the direction information (Z axis) according to the steering angle, Dimensional information from the two-dimensional information, and the generated three-dimensional parking information is provided to the parking assist system.

Therefore, it is possible to easily acquire the positional information of the parked vehicles 300, 310, and 320, to recognize the accurate parking space 400 through the surface light beam, You can also check if there is.

Also, the performance of the parking assist system can be further improved by providing the three-dimensional parking information by combining the acquisition information of the laser beam output from the surface light beam and the vehicle running information acquired from the vehicle, .

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

In the course of the description of the embodiments of the present invention, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation, , Which may vary depending on the intentions or customs of the user, the operator, and the definitions of these terms should be based on the contents throughout this specification.

100: parking information output unit 110: light source module
120: diffusion module 130: camera module
140: image processing module 150: vehicle information detector
200: parking vehicle 300: first parking vehicle
310: second parking vehicle 320: third parking vehicle
400: Parking space 500: Image
510: Vehicle image

Claims (7)

When the vertical ray is emitted from one side of the vehicle, the image 500 of the object reflected from different locations is detected according to the appearance of the object, and the distance information to the object is calculated based on the position of the detected image 500. And a parking information output unit (100) configured to generate and output parking information from the calculated distance information. The method of claim 1,
The parking information output unit 100 includes a light source module 110 for dispersing light for distance measurement in a vertical direction;
A camera module 130 for detecting light output from the light source module 110 and outputting the detected light to the image 500; And
By controlling the operation of the light source module 110 to output the light, and analyzes the image signal of the light in the image 500 detected by the camera module 130 to output the parking information including the distance information to the object Parking information output device for a parking assistance system using a laser, characterized in that it comprises an image processing module (140). 3. The method of claim 2,
The parking information output unit 100 further includes a vehicle information detector 150 that detects driving information including the moving speed and the steering angle information of the parked vehicle 200 and outputs the detected driving information to the image processing module 140.
The image processing module 140 matches the parking information with the moving distance information and the steering angle information of the vehicle provided by the vehicle information detector 150 according to time, and outputs the laser assisted parking system. Parking information output device. The method of claim 3, wherein
The parking information output device of the parking assistance system using a laser, characterized in that the three-dimensional image information. 5. The method according to any one of claims 2 to 4,
The light source module 110 is a parking information output device for a parking assist system using a laser, characterized in that it further comprises a diffusion module 120 for dispersing the light in the vertical direction. The method of claim 5, wherein
The light source module 110 is a parking information output device for a parking assist system using a laser, characterized in that the laser as a light source. The method of claim 5, wherein
The light source module (110) is a parking information output device for a parking assist system using a laser, characterized in that it further comprises a modulating means for outputting the output light forming an arbitrary frequency or pattern.

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