KR20150051425A - Apparatus and method for correcting lane departure warning - Google Patents

Abstract

The present invention relates to an apparatus and a method for AS correction of lane deviation warning, wherein the apparatus provides lane deviation warnings as an after-service through an AS correction of a front camera installed on a vehicle. The apparatus for AS correction of lane deviation warning according to the present invention comprises: a camera which captures images of the front area of a vehicle; a correction target which is arranged within the angle of view of the camera and which detects a correction patch and a lane warning patch; and a correction unit which recognizes correction patch and a lane warning patch in the images from the camera, corrects the location of an existing vanishing point based on the location of the detected correction patch, and verifies the logic of the lane deviation warning based on the detected lane warning patch. In addition, the method for AS correction of lane deviation warning according to the present invention comprises: a correction target placement step where the correction target, which includes the correction patch and the lane warning patch, is placed within the angle of view of the camera that captures images of the front area of the vehicle; a correction command transmission step where a correction command signal is transmitted to the correction unit; a patch detection step where the correction command signal is received and the correction patch included in the correction target is detected from the images of the camera; a vanishing point correction and estimation step where, in the event that the correction patch is detected, the location of an existing vanishing point is corrected and the vanishing point of the vehicle is estimated based on the location of the correction patch; a correction unit rebooting step where the correction unit is rebooted to be switched into a warning mode; a lane warning patch switching step where the lane warning patch is placed within the camera′s angle of view, and a warning logic verification step where the lane deviation warning logic is verified by moving the lane warning patch left and right.

Description

[0001] APPARATUS AND METHOD FOR CORRECTING LANE DEPARTURE WARNING [0002]

The present invention relates to a lane departure warning AS correction apparatus and a method for providing a lane departure warning AS through an after service (AS) correction of a front camera disposed in a vehicle.

Because of the remarkable development of a camera system for capturing an image of the surroundings instead of the human eyes, the range of application of the camera system for a vehicle is widening.

Accordingly, the development of an active safety system for detecting an out-of-sight danger and recognizing the existence of an obstacle and preventing an accident in advance is being promoted.

Such a camera-based safety system should basically define the geometrical relation between camera image space and real space.

For example, when the camera for photographing the front of the vehicle detects the position of the lane seen in the obtained image, it is necessary to recognize how far the detected position of the lane is located with respect to the vehicle being driven, It is possible to determine whether or not the vehicle has deviated from the lane, so that an operation for preventing lane departure can be performed.

This process is generally called camera calibration. The camera calibration is performed by knowing what size (pixel unit) the object (lane, vehicle) detected through the image obtained through the camera is projected according to the distance from the vehicle It is a process for.

That is, an object (correction target) serving as a reference to an image can be illuminated, and the size and position of the detected other object can be estimated by comparing the reference object with the shape and size of the reference object.

According to the prior art, since the geometric relationship of the camera determined in the correction process has an absolute effect on the accuracy performance of the application system, a large contrast scheme is used to accurately perform the correction process, and black schematics or black Utilizing the shape of the white scheme on the color background, it provides accurate feature points for calculating the geometric relationship.

The correction factors determined by the camera calibration are divided into Intrinsic and Extrinsic parameters. External factors are the factors that represent the geometrical relationship between the camera and the object. The number of polynomials must be greater than or equal to the number of unknowns.

In this case, the number of unknowns to be determined through the camera correction is the sum of the internal factors and external factors as shown in [Equation 1].

[Equation 1]

For example, in order to find 22 unknowns, there must be 22 or more polynomials. In order to generate 22 or more polynomials, at least 11 characteristic points (X, Y) must be obtained and Least Square Method Camera parameters can be estimated.

Since the camera calibration has an absolute effect on the accuracy of the application system, a correction plate is installed at an accurate position in order to set a geometric relationship including the distance between the correction target and the camera, and the feature points of the correction target obtained from the image You need to figure out what physical relationships (external factors of camera calibration) you have.

However, there is a problem in that it is not physically easy to accurately position the correction target at a predetermined position.

Referring to FIG. 1, according to the related art, a correction target is attached to a tripod and a tripod is attached to a front surface of the radiator grill of the vehicle.

However, according to the related art, there is a problem that a complicated algorithm is required to compensate for the Z-axis rotation, Y-axis rotation, and translation of the mounted correction target.

In addition, these algorithms should be implemented on an embedded system. If the limitations of the memory and processor capabilities such as the PC are clearly defined, it is possible to configure an initialization function that can be calibrated by an algorithm There is a problem to be constructed.

The correction of the forward camera is divided into EOL (End Of Line) correction and AS (After Service) correction. The EOL correction is a correction made during the production process at the factory. It has an environment that can correct the vehicle by moving it to the correct position The geometric relationship between the camera and the calibration target is clear.

However, since the AS correction can vary the position of the vehicle and the correction target, it is difficult to ensure that the position of the correction target obtained through the camera always exists in the same place.

That is, the fact that the correction target does not always exist in the same place means that the position of the minutiae point of the correction plate used as a reference for correction can be changed. Therefore, in order to compensate for this, There is a problem that SW algorithm is necessary.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a correction target, which can mount a correction target at a fixed position without a separate algorithm for recognizing a pattern feature of the correction target, It is an object of the present invention to provide a lane departure warning AS correction apparatus and method capable of estimating the position of a vanishing point to obtain detection factors for lane detection and verifying lane departure warning logic.

A lane departure warning AS correction apparatus according to the present invention comprises a camera for photographing an image in front of a vehicle, a correction target disposed within an angle of view of the camera and including a correction patch and a lane warning patch, And a correction unit for recognizing the patch, correcting the position of the predetermined vanishing point based on the recognized correction patch position, and verifying the lane departure warning logic using the recognized lane warning patch.

A lane departure warning AS correction method according to the present invention includes a correction target mounting step of arranging a correction target including a correction patch and a lane warning patch in an angle of view of a camera that captures an image in front of the vehicle, A patch recognition step of receiving a correction command signal and recognizing a correction patch included in the correction target in an image of the camera; A compensating step of compensating a position of a predetermined vanishing point to estimate a vanishing point of the vehicle; a correcting unit rebooting step of switching to an alarm driving mode by rebooting the compensating unit; Recognizes the patch switching step and the lane warning patch, moves the lane warning patch to the left and right, Characterized in that it comprises an alarm logic verification step for verifying the logic.

The lane departure warning AS correcting apparatus and method according to the present invention can correct the lane departure warning AS by correcting the front lane departure warning There is an effect of clarifying the geometrical relationship between the camera and the correction target.

According to the present invention, the position of the vanishing point can be corrected based on the position of the correction patch to estimate the position of the vanishing point of the current vehicle, and the position of the vanishing point can be utilized as a detection factor changing reference for detecting the lane .

In addition, according to the present invention, the lane warning patch is shifted to the left or right, thereby confirming whether or not the alarm logic is normally driven.

Further, according to the present invention, a correction patch is arranged on one surface of the correction target, a lane warning patch is arranged on the other surface, and the correction target is rotationally driven to selectively place a correction patch or a lane warning patch on the front surface of the camera, The calibration process and the verification process can be easily performed.

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

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a calibration target for camera calibration according to the prior art;
2 is a block diagram showing a lane departure warning AS correction apparatus according to the present invention.
3 is a front view of a lane departure warning AS correction apparatus according to the present invention disposed in a windshield of a vehicle.
4 is a side view of the lane departure warning AS correction device according to the present invention disposed in the windshield of the vehicle;
5 is an exemplary view showing a correction target of the lane departure alarm AS correction apparatus according to the present invention;
6 is a diagram showing a connection example of a lane departure warning AS correction apparatus according to the present invention.
7 is an exemplary view showing a vanishing point correction using the lane departure alarm AS correction apparatus and method according to the present invention.
8 is an exemplary view showing the arrangement of a correction target correction lane and a lane warning target due to rotational drive of a lane departure alarm AS correction device according to the present invention;
FIG. 9 is an exemplary view showing the operation of a lane warning patch for verifying alarm logic by a left / right movement of a lane departure alarm AS correction apparatus according to the present invention; FIG.
10 is a flowchart showing a lane departure alarm AS correction method according to the present invention.

Hereinafter, preferred embodiments of the lane departure warning AS correction apparatus and method according to the present invention will be described in detail with reference to the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

2 is a block diagram of a lane departure alarm AS correction apparatus according to the present invention, FIG. 3 is a front view of a lane departure warning AS correction apparatus according to the present invention disposed in a windshield of a vehicle, Fig. 7 is a side view of the lane departure warning AS correction apparatus according to the present invention, which is disposed in the windshield of the lane departure warning apparatus.

2 to 4, the lane departure warning AS correction apparatus according to the present invention includes a camera 300 for photographing an image in front of a vehicle, 110 and the lane warning patch 120 within the image of the correction target 100 and the camera 300 including the lane warning patch 120 and the lane warning patch 120, And a correcting section 200 for correcting the position of the predetermined vanishing point based on the lane departure warning logic 120 and verifying the lane departure warning logic using the lane warning patch 120. [

At this time, the correction target 100 further includes a plurality of corner patches 130 disposed at each corner of the windshield of the vehicle, and the corner patches 130 are disposed at each corner of the windshield, (100) is positioned at the center of the angle of view of the camera (300).

The correction unit 200 generates a patch recognition error signal (DTC error signal) when the correction patch 110 is not recognized in the image acquired by the camera 300, Adjusts the position of the correction patch 110, or adjusts the ambient illumination environment recognition setting of the camera 300. [

When the lane warning patch 120 can not be recognized in the image of the camera 300, the corrector 200 adjusts the ambient illumination environment recognition setting of the camera 300. [

The correction target 100 includes a separate rotation driving means such that the front side and the rear side are selectively disposed on the front side of the lens of the camera 300. The correction patch 110 or the lane warning patch 120 ).

That is, the vanishing point correction and estimation using the correction patch 110 and the lane departure alarm logic verification using the lane warning patch 120 are possible.

In this case, when the lane warning patch 120 is disposed on the front surface of the lens of the camera 300, the correction target 100 moves in the left / right direction.

3, the correction plate 10 including the lane departure alarm AS correction device according to the present invention is disposed in the windshield of the vehicle, and the correction target 100 is disposed in the center of the position where the camera 300 is mounted So that the virtual center of the correction target 100 and the optical axis of the camera 300 coincide with each other.

At this time, since the correction target 100 reflects the physical position of the vehicle, the center point of the correction patch 110 of the correction target 100 does not coincide with the center of the optical axis of the camera 300 when the camera 300 is mounted Which can be corrected by mounting the correction target 100.

The angle of view of the camera 300 is different for each product, but the greater the distance from the camera 300, the larger the angle of view is.

4, when the physical distance between the correction target 100 and the camera 300 is close to each other, the size of the correction target 100 may be larger than the angle of view of the camera 300, It is easy to implement the algorithm for searching the correction target 100 because only the correction target 100 is shown.

In addition, the camera 300 observing the front of the vehicle has a wide viewing range from a minimum of 5 meters to a maximum of 100 meters, and an object placed close to the camera 300 is slightly blurred.

This is equivalent to performing Gaussian filtering for noise removal in general image processing, so that it can be implemented without applying a separate filter.

5 is a view illustrating an example of a correction target 100 of a lane departure alarm AS correction apparatus according to the present invention. Referring to FIG. 5, a support surface 150, which is connected to a support of a correction target 100, (suction).

That is, the configuration constituting the correction target 100 of the lane departure warning AS correction apparatus according to the embodiment of the present invention includes a central axis for supporting the correction target 100, a fan-shaped corner which can be attached to four corners of the windshield, The patch 130 is composed of four pieces.

The correction target 100 and the corner patch 130 are connected to four lines and the connection line 140 is made of a soft material and can be applied flexibly according to the type and shape of the vehicle.

6, the bottom surface of the corner patch 130 connected to the connection line 140 includes a plurality of suction plates, And the attracting plate is precisely disposed at the edge of the windshield so as not to come off the edge of the windshield.

At this time, the corner patch 130 indicates the position where the connection line 140 is connected according to the type of the vehicle, and the corner patch 130 is arranged at the corner of the windshield in accordance with a predetermined mark, 300 at the center of the angle of view.

FIG. 7 is a diagram illustrating vanishing point correction using the apparatus and method for correcting lane departure alarm according to the present invention, and is a diagram illustrating a vanishing point position compensation process using the correction target 100. FIG.

The information on which the lane departure warning system (LDWS) is based is the location of the vanishing point, and the location of the vanishing point for the vehicle is predetermined.

The red dot shown at the upper center of FIG. 7 is an initially set correction target reference vanishing point position, and the position of the center point of the correction target is measured by mounting the correction target on the vehicle.

At this time, the red dot at the bottom left in Fig. 7 shows the reference position of the correction target with respect to the vanishing point position of the vehicle as an initial set position of the correction target. The red dot at the center upper end and the red The color point is used as a reference pair.

This reference point is stored in a non-volatile memory (EPROM), and the correction target 100 is mounted on the vehicle at present to measure the position of the correction target 100.

7 shows the position of the correction target 100 detected in the current vehicle, and using the correlation between the red points, which are previously obtained pairs, The position of the vanishing point with respect to the correction target 100 detected in the current vehicle is estimated to the blue point at the upper center of FIG.

This estimated position of the vanishing point is utilized as a reference for changing the detection factor for lane detection.

8 is an exemplary view showing the arrangement of the correction patch 110 and the lane warning patch 120 of the correction target 100 due to the rotation driving of the lane departure alarm AS correction apparatus according to the present invention.

The correction target 100 is a configuration for a lane departure alarm logic verification function using a correction function for correcting the position of the vanishing point using the correction patch 110 and a lane warning patch 120 as an ideal lane shape patch.

That is, according to one embodiment of the present invention, the same correction target 100 includes a correction patch 110 on the front side and a lane warning patch 120 on the back side, ), The point at which the cross shape intersects becomes the center position of the correction target 100. [

The form of the correction patch 110 shown in FIG. 8 is one of the forms utilized in the LDWS, and it is also possible to utilize the chess board form used for the normal camera correction.

When the correction target 100 is rotated by 180 degrees, the lane warning patch 120 disposed on the back surface of the correction target 100 is moved to the camera 300 lens As shown in Fig.

Since the general shape of the lane is a white lane on the asphalt floor, the shape of the lane warning patch 120 is configured such that a white lane appears on the black floor when the lane is viewed by the camera as shown in FIG. 8, Based on these assumptions, it is also possible to detect white lanes on a black floor without being sensitive to changes in the lighting environment.

9 is an exemplary view showing the operation of the lane warning patch 120 for verifying the alarm logic by the left / right movement of the lane departure alarm AS correction apparatus according to the present invention.

9, after performing a function of finding the center point of the correction target 100 using the correction patch 110 arranged on the front face of the correction target 100, it is possible to verify whether or not the alarm function works smoothly Since the lane warning patch 120 is used, the correction target 100 including the lane warning patch 120 is moved to the left / right.

That is, when the back surface (lane warning patch) 120 of the correction target 100 is disposed on the front surface of the lens of the camera 300, the correction target 100 moves to the left and right, The lane departure warning logic is verified using the lane warning patch 120 moving left / right according to the left / right movement of the lane departure alarm 100.

This is because when the front face (correction patch) 110 of the correction target 100 is disposed on the front face of the lens of the camera 300 and the correction patch 110 is used to correct and estimate the vanishing point, (Lane warning patch 120) of the correction target 100 is disposed on the front surface of the lens of the camera 300 so as to verify the lane departure warning logic using the lane warning patch 120 It is necessary to move the correction target 100 to the left / right to check whether the alarm logic is normally driven.

That is, the correction target 100 is shifted to the left / right only when the lane warning patch 120 disposed on the back surface of the correction target 100 is located on the front surface of the lens of the camera 300, The correction unit 200 determines the lane departure situation and sounds an alarm signal through a separate alarm unit.

10 is a flowchart illustrating a lane departure warning AS correcting method according to the present invention. Referring to FIG. 10, a lane departure warning AS correcting method according to the present invention includes a correction patch and a lane departure warning within an angle of view of a camera, A correction target mounting step (S100) of arranging a correction target including an alarm patch, a correction command transmission step (S200) of transmitting a correction command signal to the correction section, (S300) for determining whether or not the correction patch included in the correction target is recognized; a step (S300) of determining whether or not the correction patch is recognized; and, if the correction patch is recognized, correcting the position of the predetermined vanishing point based on the position of the correction patch (S400), a correcting unit rebooting step (S600) for rebooting the correcting unit to switch to an alarm driving mode, and a lane warning patch A lane warning patch switching step (S700) of placing a lane warning patch in an angle of view of the camera, a step (S800) of determining whether or not a lane warning patched is performed, and a lane departure warning logic And an alarm logic verification step (S850).

At this time, when the correction patch is not recognized in the step of determining whether or not the patch is recognized (S300), a patch recognition error signal is generated, the position of the correction patch is adjusted according to the patch recognition error signal, And a patch recognition error signal generating step (S500) for adjusting the patch recognition error signal.

In addition, it is preferable to further include an ambient illuminance environment recognition setting adjustment step (S900) for adjusting the ambient illuminance environment recognition setting of the camera when the lane warning patch is not recognized in the step S800 of determining whether or not the lane warning patched .

In the lane warning patch switching step S700, the correction target including the correction patch is rotationally driven within the angle of view of the camera, and the lane warning patch is arranged within the angle of view of the camera, thereby performing verification of the lane warning logic .

The embodiments of the present invention have been described above. It will be understood by those skilled 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. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

10: Compensation plate 100: Compensation target
110: correction patch 120: lane warning patch
130: Corner patch 140: Connector
200: Correction unit 300: Camera

Claims (9)

A camera for photographing a video in front of the vehicle;
A correction target disposed within an angle of view of the camera, the correction target including a correction patch and a lane warning patch; And
Recognizing a correction patch and a lane warning patch in the image of the camera, correcting a position of a predetermined vanishing point based on the recognized correction patch position, verifying the lane departure warning logic using the recognized lane warning patch A correction unit
The lane departure warning AS correction device comprising:
The apparatus of claim 1, wherein the correction target
Further comprising a corner patch disposed on each corner of the windshield of the vehicle, the center patch located at the center of the angle of view of the camera
In lane departure alarm AS correction device.
The apparatus of claim 1, wherein the correcting unit
Wherein the control unit generates a patch recognition error signal when the correction patch is not recognized in the image of the camera, adjusts the position of the correction patch according to the patch recognition error signal, adjusts the ambient illumination environment recognition setting of the camera , Adjusting a perimeter illumination environment recognition setting of the camera when the lane warning patch can not be recognized in the image of the camera
In lane departure alarm AS correction device.
The apparatus of claim 1, wherein the correction target
And rotationally driving the correction patch or the lane warning patch on the front face of the lens of the camera
In lane departure alarm AS correction device.
5. The apparatus of claim 4, wherein the correction target
When the lane warning patch is disposed on the front face of the lens of the camera,
Lane departure information AS correction device.
A correction target mounting step of arranging a correction target including a correction patch and a lane warning patch within an angle of view of a camera that captures an image of a vehicle front side;
A correction command transmitting step of transmitting a correction command signal to the correcting unit;
A patch recognition step of receiving the correction command signal and recognizing a correction patch included in the correction target in an image of the camera;
A vanishing point correction and estimation step of estimating a vanishing point of the vehicle by correcting a position of a predetermined vanishing point based on the position of the correction patch when the correction patch is recognized;
A correcting unit rebooting step of rebooting the correcting unit to switch to an alarm driving mode;
A lane warning patch switching step of placing the lane warning patch within an angle of view of the camera; And
An alarm logic verification step of recognizing the lane warning patch and moving the lane warning patch to the left and right to verify lane departure warning logic
Gt; AS < / RTI >
The method of claim 6, wherein the patch recognition step
Wherein the control unit generates a patch recognition error signal when the correction patch is not recognized in the image of the camera, adjusts the position of the correction patch according to the patch recognition error signal, or adjusts the ambient illumination environment recognition setting of the camera that
In lane departure warning AS calibration method.
The method according to claim 6, wherein the lane warning patch switching step
The correction target in which the correction patch is arranged within the angle of view of the camera is rotationally driven to arrange the lane warning patch within the angle of view of the camera
In lane departure warning AS calibration method.
7. The method of claim 6, wherein the step of verifying the alert logic
Adjusting the perimeter illuminance environment recognition setting of the camera when the lane warning patch is not recognized
Lane departure warning AS adjustment method.

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