KR20150102189A - Apparatus for correcting image of photographing apparatus in vehicle and method for correcting image thereof - Google Patents

Abstract

Disclosed are an image correction apparatus of a photographing device for a vehicle, and an image correction method thereof. According to an embodiment of the present invention, the image correction apparatus comprises: an estimation unit for estimating suspension variation information of a vehicle by the current pitch motion occurring when the vehicle accelerates or decelerates; a calculation unit for calculating current pitch angle information of the vehicle based on the estimated suspension variation information, and calculating pitch angle correction information needed depending on the current pitch motion by using the calculated current pitch angle information and pitch angle information calculated based on a lane recognition from a photographing device of the vehicle; a correction unit for correcting the current image of the photographing device with image information which is previously set depending on the calculated pitch angle correction information; and a control unit for providing the calculated pitch angle correction information to the correction unit to control the correction unit to correct the current image with the previously set image information.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image correcting apparatus for a vehicle photographing apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an image correction apparatus and a method for correcting an image of a vehicle image pickup apparatus.

Generally, in a situation where the conventional vehicle accelerates or decelerates, the situation where the front portion of the vehicle is lifted up or downward for a long time in proportion to the acceleration of the vehicle can be maintained for a long time.

At this time, the vehicle image pickup apparatus performs image calibration on the assumption that the vehicle is on a flat road.

However, in the vehicle image pickup apparatus, pitch motion occurs due to acceleration or deceleration when the vehicle travels on the road, and an error occurs in the pitch angle of the image correction result due to the pitch motion, Respectively.

Therefore, in recent years, when the pitch motion occurs due to acceleration or deceleration when the vehicle travels on the road, the image of the vehicle image pickup apparatus can be stably provided by estimating the pitch angle of the vehicle and correcting the image of the vehicle image pickup apparatus An image correction apparatus and an image correction method for an improved vehicle image pickup apparatus have been continuously studied.

An embodiment of the present invention is to provide an image correction apparatus for a vehicle image pickup apparatus capable of stably providing an image of a vehicle image pickup apparatus and an image correction method therefor.

In addition, an embodiment of the present invention is to provide an image correcting apparatus of a vehicle image pickup apparatus and a method of correcting the image, which can induce driver's attention driving.

According to an aspect of the present invention, there is provided an information processing apparatus comprising: an estimator for estimating suspension change information of a vehicle caused by a current pitch motion occurring when a vehicle accelerates or decelerates; Calculates the current pitch angle information of the vehicle on the basis of the estimated suspension change information, and calculates the pitch angle information based on the calculated current pitch angle information and the pitch angle information calculated based on the lane recognition from the photographing apparatus of the vehicle, A calculation unit for calculating the angle correction information; A correcting unit correcting the current image of the photographing apparatus to preset image information according to the calculated pitch angle correction information; And a control unit for controlling the correcting unit to supply the corrected pitch angle correction information to the correcting unit and correct the current image to already set image information.

At this time, when estimating the suspension change information of the vehicle, the estimating unit estimates the suspension change information of the vehicle based on the load value of the front and rear wheels, the suspension spring constant value of the front and rear wheels, the center of gravity of the vehicle, The mass value of the vehicle, and the gravitational acceleration value of the vehicle.

In calculating the present pitch angle information of the vehicle based on the estimated suspension change information, the calculating unit can use the correlation between the wheel base value and the suspension change amount of the front and rear wheels.

Further, when calculating the pitch angle information based on the lane recognition, the calculating unit can use the correlation between the height value of the horizon estimated by the lane recognition, the position value of the vanishing point acquired from the photographing apparatus, and the focal distance value of the photographing apparatus .

In calculating the pitch angle correction information, the calculating unit calculates the pitch angle correction information based on the acceleration value of the vehicle, the gravitational acceleration value of the vehicle, the height value of the horizon line estimated by the lane recognition, the position value of the vanishing point acquired from the photographing apparatus, Can be used.

The apparatus may further include a first identifying unit for identifying, when calculating the pitch angle correction information, the correction of the current image to the already set image information.

The image processing apparatus may further include a second identifying unit that identifies that the current image is corrected to image information that has already been set, when the current image is corrected to the previously set image information.

According to another aspect of the present invention, there is provided a suspension change estimation method for estimating suspension change information of a vehicle caused by a pitch motion occurring when a vehicle accelerates or decelerates; Calculates the current pitch angle information of the vehicle on the basis of the estimated suspension change information, and calculates the pitch angle information based on the calculated current pitch angle information and the pitch angle information calculated based on the lane recognition from the photographing apparatus of the vehicle, A pitch angle calculating step of calculating angle correction information; And an image correction step of correcting the current image of the photographing apparatus to image information already set according to the calculated pitch angle correction information.

In estimating the suspension change information of the vehicle, the suspension change estimating step estimates the suspension change information of the vehicle based on the load value of the front and rear wheels, the suspension spring constant of the front and rear wheels, the center of gravity of the vehicle, Value of the vehicle, a mass value of the vehicle, and a gravitational acceleration value of the vehicle.

The pitch angle calculating step may use the correlation between the wheel base value and the suspension change amount of the front and rear wheels when calculating the current pitch angle information of the vehicle based on the estimated suspension change information.

In calculating the pitch angle information based on the lane recognition, the pitch angle calculating step calculates a correlation between the height value of the horizon estimated by the lane recognition, the position value of the vanishing point acquired from the photographing apparatus, and the focal distance value of the photographing apparatus Can be used.

In calculating the pitch angle correction information, the pitch angle calculating step calculates the pitch angle correction information based on the acceleration value of the vehicle, the gravitational acceleration value of the vehicle, the height value of the horizon estimated by the lane recognition, the position value of the vanishing point acquired from the photographing apparatus, A correlation between focal length values can be utilized.

Further, when the pitch angle correction information is calculated, it is possible to further perform a first identification step of identifying the correction of the current image to the already set image information.

In addition, it is possible to further perform a second identification step of identifying that the current image is corrected to the already set image information when the current image is corrected to the already set image information.

The image correcting apparatus and the image correcting method of the vehicle image pickup apparatus according to the embodiment of the present invention as described above can achieve the following effects.

First, there is an effect that the image of the vehicle photographing apparatus can be stably provided.

Second, there are other effects that can drive driving attention to the driver.

1 is a block diagram showing a state in which an image correction apparatus according to a first embodiment of the present invention is connected to a photographing apparatus.
FIG. 2 is a block diagram showing an example of the image correction apparatus shown in FIG. 1; FIG.
3 is a diagram for calculating a load value of a front and rear wheel engaged with front and rear wheels of a vehicle in a static state.
4 is a diagram for calculating a load value of a front wheel wheel that is caught on a front wheel wheel of a vehicle when the vehicle is accelerating.
5 is a diagram for calculating a load value and a load variation amount of a rear wheel wheel engaged with a rear wheel of a vehicle when the vehicle is accelerating.
6 is a graph showing a correlation characteristic between the wheel base value, the suspension change amount of the front and rear wheels, and the current pitch angle information of the vehicle.
7 is a flowchart illustrating an image correction method of an image correction apparatus according to the first embodiment of the present invention.
8 is a block diagram of an image correction apparatus according to a second embodiment of the present invention.
9 is a flowchart illustrating an image correction method of an image correction apparatus according to a second embodiment of the present invention.
10 is a block diagram illustrating an image correction apparatus according to a third embodiment of the present invention.
11 is a flowchart illustrating an image correction method of an image correction apparatus according to a third embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

≪ Embodiment 1 >

FIG. 1 is a block diagram showing a state where an image correction apparatus according to a first embodiment of the present invention is connected to a photographing apparatus, and FIG. 2 is a block diagram showing an image correction apparatus shown in FIG. 1.

Fig. 3 is a diagram for calculating a load value of a front wheel of a vehicle when the vehicle is accelerating in a static state, and Fig. 4 is a diagram for calculating a load value of a front wheel of the vehicle when the vehicle is accelerating. to be.

5 is a diagram for calculating a load value and a load change amount of a rear wheel attached to a rear wheel of a vehicle when the vehicle is accelerating, And a correlation characteristic graph.

1 to 6, an image correction apparatus 100 according to the first embodiment of the present invention includes an estimation unit 102, a calculation unit 104, a correction unit 106, and a control unit 108 .

The estimating unit 102 estimates suspension change information of the vehicle by the current pitch motion that occurs when the vehicle accelerates or decelerates.

,

), 전후륜 휠의 서스펜션 스프링 상수값(

,

), 차량의 무게 중심값(CoG: Center of Gravity), 지면부터 무게 중심까지의 높이값(h), 휠 베이스값(L), 차량의 질량값(m), 차량의 중력 가속도값(g)간의 상관 관계를 이용할 수가 있다.At this time, when estimating the suspension change information of the vehicle, the estimating unit 102 calculates the load value of the front and rear wheels

,

), The suspension spring constant value of the front and rear wheels (

,

A center value of the vehicle CoG, a height h from the ground to the center of gravity h, a wheel base value L, a mass value m of the vehicle, a gravitational acceleration value g of the vehicle, Can be used.

For example, the estimating section 102 can estimate the suspension change information of the vehicle by the following equations (1) to (4).

,

)은 하기 <식 1>과 같다.As shown in Fig. 3, the load values of the front and rear wheel wheels engaged with the front and rear wheels of the vehicle in the static state

,

) Is as shown in the following Equation (1).

<Formula 1>

는 전체 휠의 하중값,

는 전륜 휠의 하중값,

은 후륜 휠의 하중값, CoG는 차량의 무게 중심값, h는 지면부터 무게 중심까지의 높이값, L은 휠 베이스값, a는 지면에서의 전륜 휠부터 무게 중심까지의 거리값, b는 지면에서의 후륜 휠부터 무게 중심까지의 거리값, m은 차량의 질량값, g는 차량의 중력 가속도값임.At this time,

The load value of the whole wheel,

The load value of the front wheel,

A is the distance from the front wheel to the center of gravity on the ground, b is the distance from the center of gravity to the center of gravity, , M is a mass value of the vehicle, and g is a gravitational acceleration value of the vehicle.

로 가속 중일 때, 차량의 전륜 휠에 걸리는 전륜 휠의 하중값(

)과 하중 변화량(

)은 하기 <식 2>와 같다.As shown in Fig. 4,

, The load value of the front wheel that is caught on the front wheel of the vehicle

) And load variation (

) Is as shown in the following Equation (2).

<Formula 2>

는 전륜 휠의 하중값,

는 전륜 휠의 하중 변화량, CoG는 차량의 무게 중심값, h는 지면부터 무게 중심까지의 높이값, L은 휠 베이스값, a는 지면에서의 전륜 휠부터 무게 중심까지의 거리값, b는 지면에서의 후륜 휠부터 무게 중심까지의 거리값, b'는 지면에서의 후륜 휠부터 무게 중심까지의 거리 변화량, m은 차량의 질량값, g는 차량의 중력 가속도값,

는 차량의 가속도값,

는 차량의 힘값임.At this time,

The load value of the front wheel,

A is the distance from the front wheel to the center of gravity on the ground, b is the distance from the ground to the center of gravity, B is the distance from the rear wheel to the center of gravity on the ground, m is the mass value of the vehicle, g is the acceleration value of the vehicle,

The acceleration value of the vehicle,

Is the power value of the vehicle.

로 가속 중일 때, 차량의 후륜 휠에 걸리는 후륜 휠의 하중값(

)과 하중 변화량(

)은 equivalent trailing arm analysis에 의해 산출되고, 산출 결과는 하기 <식 3>과 같다.As shown in Fig. 5,

The load value of the rear wheel of the vehicle that is caught by the rear wheel of the vehicle

) And load variation (

) Is calculated by equivalent trailing arm analysis, and the calculation result is as shown in Equation (3).

<Formula 3>

는 축이 되는 pivot A에 대한 moment들의 합,

은 후륜 휠의 하중값,

은 후륜 휠의 하중 변화량, r은 후륜 휠의 반지름, d는 지면에서의 후륜 휠부터 pivot A까지의 거리값, e는 지면부터 pivot A까지의 높이값, m은 차량의 질량값,

는 차량의 가속도값, h는 지면부터 무게 중심까지의 높이값, L은 휠 베이스값, h는 지면부터 무게 중심까지의 높이값,

는 차량의 힘값임.At this time,

Is the sum of the moments to the axis pivot A,

The load value of the rear wheel,

R is the radius of the rear wheel, d is the distance from the rear wheel to the pivot A on the ground, e is the height from the ground to the pivot A, m is the mass value of the vehicle,

H is the acceleration value of the vehicle, h is the height value from the ground to the center of gravity, L is the wheelbase value, h is the height value from the ground to the center of gravity,

Is the power value of the vehicle.

)과 후륜 휠의 하중 변화량(

)은 하기 <식 4>와 같이 재전개할 수가 있다.Here, the load change amount of the front wheel (

) And the load change amount of the rear wheel (

) Can be re-developed as shown in the following Equation (4).

<Formula 4>

는 전륜 휠의 하중 변화량, h는 지면부터 무게 중심까지의 높이값, L은 휠 베이스값, m은 차량의 질량값,

는 차량의 가속도값, d는 지면에서의 후륜 휠부터 pivot A까지의 거리값, e는 지면부터 pivot A까지의 높이값,

는 차량의 힘값,

는 전륜 휠의 서스펜션 스프링 상수값,

은 후륜 휠의 서스펜션 스프링 상수값,

는 전륜 휠의 서스펜션 변화량,

은 후륜 휠의 서스펜션 변화량임.At this time,

H is the height change value from the ground to the center of gravity, L is the wheel base value, m is the mass value of the vehicle,

D is the distance from the rear wheel to pivot A on the ground, e is the height from ground to pivot A,

The power value of the vehicle,

Is the suspension spring constant value of the front wheel,

The value of the suspension spring constant of the rear wheel,

The change amount of the suspension of the front wheel,

Is the change in suspension of the rear wheel.

)를 산출하고, 산출한 현재 피치 각도 정보(하기 <식 5> 내지 <식 7>의

)와 차량의 촬영 장치(10)로부터 차선 인식을 기초로 산출한 피치 각도 정보(하기 <식 8>의

)를 이용하여 현재 피치 모션에 따라 필요한 피치 각도 보정 정보(하기 <식 9>의

)를 산출한다.The calculating unit 104 calculates the current pitch angle information of the vehicle based on the suspension change information estimated by the estimating unit 102

), And calculates the current pitch angle information (the following equations (5) to (7)

And the pitch angle information calculated on the basis of the lane recognition from the photographing apparatus 10 of the vehicle

) Is used to calculate pitch angle correction information (hereinafter referred to as &quot; pitch angle correction information &quot;

).

)를 산출할 때에, 휠 베이스값(L), 전후륜 휠의 서스펜션 변화량(

,

)간의 상관 관계를 이용할 수가 있다.At this time, the calculating unit 104 calculates the current pitch angle information of the vehicle based on the suspension change information estimated by the estimating unit 102 (see Equation (5) to Equation

), The wheel base value L, the suspension change amount of the front and rear wheel wheels (

,

) Can be used.

,

) 및 차량의 현재 피치 각도 정보(

)간의 상관 특성 그래프를 통해 하기 <식 5> 내지 <식 7>과 같이 차량의 현재 피치 각도 정보(

)를 산출할 수가 있다.For example, as shown in FIGS. 2 and 6, the calculation unit 104 calculates the suspension amount of the front and rear wheels

,

) And the current pitch angle information of the vehicle (

(5) to (7) through the correlation characteristic graph between the current pitch angle information

) Can be calculated.

&Lt; EMI ID =

는 차량의 현재 피치 각도 정보, L은 휠 베이스값,

는 전륜 휠의 서스펜션 변화량,

은 후륜 휠의 서스펜션 변화량임.At this time,

Is the current pitch angle information of the vehicle, L is the wheel base value,

The change amount of the suspension of the front wheel,

Is the change in suspension of the rear wheel.

)는 하기 <식 6>과 같이 <식 4>를 이용하여 가속도

에 관한 식으로 재전개할 수가 있다.Here, the current pitch angle information of the vehicle

) Is calculated by using Equation (4) as < EMI ID =

It is possible to re-develop the equation.

)는 하기 <식 7>과 같이 단순화시켜 재전개할 수가 있다.At this time, the pitch angle correction information S according to the pitch motion becomes the variable value changed by the mass change of the vehicle depending on the passenger of the vehicle, so that the current pitch angle information

) Can be re-expanded as shown in Equation (7) below.

&Lt; EMI ID =

Equation (7)

는 차량의 현재 피치 각도 정보, L은 휠 베이스값,

는 전륜 휠의 서스펜션 변화량,

은 후륜 휠의 서스펜션 변화량,

는 전체 휠의 하중값,

는 차량의 가속도값, h는 지면부터 무게 중심까지의 높이값, d는 지면에서의 후륜 휠부터 pivot A까지의 거리값, e는 지면부터 pivot A까지의 높이값,

는 전륜 휠의 서스펜션 스프링 상수값,

은 후륜 휠의 서스펜션 스프링 상수값임.At this time,

Is the current pitch angle information of the vehicle, L is the wheel base value,

The change amount of the suspension of the front wheel,

The amount of suspension change of the rear wheel,

The load value of the whole wheel,

H is the height value from the ground to the center of gravity, d is the distance from the rear wheel to pivot A on the ground, e is the height value from ground to pivot A,

Is the suspension spring constant value of the front wheel,

Is the value of the suspension spring constant of the rear wheel.

)를 산출할 때에, 차선 인식으로 추정한 지평선의 높이값(

), 촬영 장치(10)로부터 획득한 소실점의 위치값(

), 촬영 장치(10)의 초점 거리값(

)간의 상관 관계를 이용할 수가 있다.Further, the calculating unit 104 calculates pitch angle information (e.g., pitch angle information) from the photographing apparatus 10 of the vehicle based on lane recognition

), The height value of the horizon estimated by the lane recognition (

), The position value of the vanishing point acquired from the photographing apparatus 10

), The focal distance value of the photographing apparatus 10 (

) Can be used.

)를 산출할 수가 있다.For example, the calculating unit 104 calculates pitch angle information (e.g., pitch angle information) based on lane recognition from the photographing apparatus 10 of the vehicle

) Can be calculated.

<Formula 8>

는 피치 각도 정보,

은 촬영 장치(10)로부터 획득한 소실점의 위치값,

은 차선 인식으로 추정한 지평선의 높이값,

는 촬영 장치(10)의 초점 거리값임.At this time,

Pitch angle information,

The position value of the vanishing point acquired from the photographing apparatus 10,

The height value of the horizon estimated by the lane recognition,

Is the focal length value of the photographing apparatus (10).

)와 차선 인식을 기초로 산출한 피치 각도 정보(

)를 이용하여 현재 피치 모션에 따라 필요한 피치 각도 보정 정보(

)를 산출할 때에, 차량의 가속도값(

), 차량의 중력가속도값(g), 차선 인식으로 추정한 지평선의 높이값(

), 촬영 장치(10)로부터 획득한 소실점의 위치값(

), 촬영 장치(10)의 초점 거리값(

)간의 상관 관계를 이용할 수가 있다.Further, the calculating unit 104 calculates the current pitch angle information (

) And the pitch angle information calculated based on the lane recognition

), The necessary pitch angle correction information (

), The acceleration value of the vehicle (

), A gravitational acceleration value (g) of the vehicle, a height value of the horizon estimated by lane recognition

), The position value of the vanishing point acquired from the photographing apparatus 10

), The focal distance value of the photographing apparatus 10 (

) Can be used.

)와 차선 인식을 기초로 산출한 피치 각도 정보(<식 8>의

)를 이용하여 하기 <식 9>와 같이 현재 피치 모션에 따라 필요한 피치 각도 보정 정보(

)를 산출할 수가 있다.For example, the calculating unit 104 calculates the current pitch angle information (equation

) And the pitch angle information calculated on the basis of the lane recognition

), Pitch angle correction information (hereinafter referred to as &quot; pitch angle correction information &quot;) necessary for the current pitch motion

) Can be calculated.

Equation (9)

는 피치 각도 정보,

은 촬영 장치(10)로부터 획득한 소실점의 위치값,

은 차선 인식으로 추정한 지평선의 높이값,

는 촬영 장치(10)의 초점 거리값,

는 차량의 가속도값, g는 차량의 중력가속도값, S는 피치 모션에 따른 피치 각도 보정 정보,

는 현재 피치 모션에 따라 필요한 피치 각도 보정 정보임.At this time,

Pitch angle information,

The position value of the vanishing point acquired from the photographing apparatus 10,

The height value of the horizon estimated by the lane recognition,

The focal length value of the photographing apparatus 10,

G is the gravitational acceleration value of the vehicle, S is the pitch angle correction information according to the pitch motion,

Is the pitch angle correction information required according to the current pitch motion.

)에 따라 이미 설정된 영상 정보로 보정한다.The correcting unit 106 corrects the current image of the photographing apparatus 10 based on the pitch angle correction information (

) To the image information already set.

)를 공급하여 촬영 장치(10)의 현재 영상을 이미 설정된 영상 정보로 보정시키도록 보정부(106)를 제어한다.The control unit 108 instructs the correcting unit 106 to calculate the pitch angle correction information (

To control the correcting unit 106 to correct the current image of the photographing apparatus 10 to already set image information.

At this time, the estimation unit 102, the calculation unit 104, the correction unit 106, and the control unit 108 control the overall operation of the vehicle with a main computer applied to the vehicle, And an ECU (Electric Control Unit) (not shown) for estimating the suspension change information by the pitch angle of the vehicle and correcting the pitch angle while calculating the current pitch angle of the vehicle.

Although not shown, the estimating unit 102, the calculating unit 104, the correcting unit 106, and the controlling unit 108 are provided with a processor, a memory, and an input / output device in a single chip to control the overall operation of the vehicle, And a conventional MCU (Micro Control Unit) (not shown) for estimating the suspension change information by the pitch motion and correcting the pitch angle while calculating the current pitch angle of the vehicle.

The estimating unit 102, the calculating unit 104, the correcting unit 106, and the controlling unit 108 are not limited to this. The present invention is not limited to this, All of the control means, the estimating means, the calculating means, and the correcting means that can correct the pitch angle while estimating the change information and calculating the current pitch angle of the vehicle.

Here, the estimation unit 102, the calculation unit 104, the correction unit 106, and the control unit 108 may be integrally provided with an ECU (Electric Control Unit) (not shown) or an MCU (Micro Control Unit And may be provided as a separate type in an ECU (Electric Control Unit, not shown) or an MCU (Micro Control Unit, not shown).

An image correction method for correcting an image of the photographing apparatus 10 using the image correction apparatus 100 according to the first embodiment of the present invention will be described with reference to FIG.

7 is a flowchart illustrating an image correction method of an image correction apparatus according to the first embodiment of the present invention.

7, an image correction method 700 of an image correction apparatus 100 according to the first embodiment of the present invention includes a suspension change estimation step S702, a pitch angle calculation step S704, and an image correction step S706 ).

First, the suspension change estimation step S702 estimates the suspension change information of the vehicle by the current pitch motion that occurs when the vehicle accelerates or decelerates.

,

), 전후륜 휠의 서스펜션 스프링 상수값(

,

), 차량의 무게 중심값(CoG: Center of Gravity), 지면부터 무게 중심까지의 높이값(h), 휠 베이스값(L), 차량의 질량값(m), 차량의 중력 가속도값(g)간의 상관 관계를 이용할 수가 있다.At this time, in the suspension change estimation step S702, when estimating the suspension change information of the vehicle by the estimating unit 102, the load value of the front and rear wheel

,

), The suspension spring constant value of the front and rear wheels (

,

A center value of the vehicle CoG, a height h from the ground to the center of gravity h, a wheel base value L, a mass value m of the vehicle, a gravitational acceleration value g of the vehicle, Can be used.

For example, in the suspension change estimation step S702, the suspension change information of the vehicle can be estimated by the following equations (1) to (4).

,

)은 하기 <식 1>과 같다.First, as shown in Fig. 3, the load value of the front and rear wheels of the vehicle, which is applied to the front and rear wheels of the vehicle in the static state

,

) Is as shown in the following Equation (1).

<Formula 1>

는 전체 휠의 하중값,

는 전륜 휠의 하중값,

은 후륜 휠의 하중값, CoG는 차량의 무게 중심값, h는 지면부터 무게 중심까지의 높이값, L은 휠 베이스값, a는 지면에서의 전륜 휠부터 무게 중심까지의 거리값, b는 지면에서의 후륜 휠부터 무게 중심까지의 거리값, m은 차량의 질량값, g는 차량의 중력 가속도값임.At this time,

The load value of the whole wheel,

The load value of the front wheel,

A is the distance from the front wheel to the center of gravity on the ground, b is the distance from the center of gravity to the center of gravity, , M is a mass value of the vehicle, and g is a gravitational acceleration value of the vehicle.

로 가속 중일 때, 차량의 전륜 휠에 걸리는 전륜 휠의 하중값(

)과 하중 변화량(

)은 하기 <식 2>와 같다.Thereafter, as shown in Fig. 4,

, The load value of the front wheel that is caught on the front wheel of the vehicle

) And load variation (

) Is as shown in the following Equation (2).

<Formula 2>

는 전륜 휠의 하중값,

는 전륜 휠의 하중 변화량, CoG는 차량의 무게 중심값, h는 지면부터 무게 중심까지의 높이값, L은 휠 베이스값, a는 지면에서의 전륜 휠부터 무게 중심까지의 거리값, b는 지면에서의 후륜 휠부터 무게 중심까지의 거리값, b'는 지면에서의 후륜 휠부터 무게 중심까지의 거리 변화량, m은 차량의 질량값, g는 차량의 중력 가속도값,

는 차량의 가속도값,

는 차량의 힘값임.At this time,

The load value of the front wheel,

A is the distance from the front wheel to the center of gravity on the ground, b is the distance from the ground to the center of gravity, B is the distance from the rear wheel to the center of gravity on the ground, m is the mass value of the vehicle, g is the acceleration value of the vehicle,

The acceleration value of the vehicle,

Is the power value of the vehicle.

로 가속 중일 때, 차량의 후륜 휠에 걸리는 후륜 휠의 하중값(

)과 하중 변화량(

)은 equivalent trailing arm analysis에 의해 산출되고, 산출 결과는 하기 <식 3>과 같다.Thereafter, as shown in Fig. 5,

The load value of the rear wheel of the vehicle that is caught by the rear wheel of the vehicle

) And load variation (

) Is calculated by equivalent trailing arm analysis, and the calculation result is as shown in Equation (3).

<Formula 3>

는 축이 되는 pivot A에 대한 moment들의 합,

은 후륜 휠의 하중값,

은 후륜 휠의 하중 변화량, r은 후륜 휠의 반지름, d는 지면에서의 후륜 휠부터 pivot A까지의 거리값, e는 지면부터 pivot A까지의 높이값, m은 차량의 질량값,

는 차량의 가속도값, h는 지면부터 무게 중심까지의 높이값, L은 휠 베이스값, h는 지면부터 무게 중심까지의 높이값,

는 차량의 힘값임.At this time,

Is the sum of the moments to the axis pivot A,

The load value of the rear wheel,

R is the radius of the rear wheel, d is the distance from the rear wheel to the pivot A on the ground, e is the height from the ground to the pivot A, m is the mass value of the vehicle,

H is the acceleration value of the vehicle, h is the height value from the ground to the center of gravity, L is the wheelbase value, h is the height value from the ground to the center of gravity,

Is the power value of the vehicle.

)과 후륜 휠의 하중 변화량(

)은 하기 <식 4>와 같이 재전개할 수가 있다.Here, the load change amount of the front wheel (

) And the load change amount of the rear wheel (

) Can be re-developed as shown in the following Equation (4).

<Formula 4>

는 전륜 휠의 하중 변화량, h는 지면부터 무게 중심까지의 높이값, L은 휠 베이스값, m은 차량의 질량값,

는 차량의 가속도값, d는 지면에서의 후륜 휠부터 pivot A까지의 거리값, e는 지면부터 pivot A까지의 높이값,

는 차량의 힘값,

는 전륜 휠의 서스펜션 스프링 상수값,

은 후륜 휠의 서스펜션 스프링 상수값,

는 전륜 휠의 서스펜션 변화량,

은 후륜 휠의 서스펜션 변화량임.At this time,

H is the height change value from the ground to the center of gravity, L is the wheel base value, m is the mass value of the vehicle,

D is the distance from the rear wheel to pivot A on the ground, e is the height from ground to pivot A,

The power value of the vehicle,

Is the suspension spring constant value of the front wheel,

The value of the suspension spring constant of the rear wheel,

The change amount of the suspension of the front wheel,

Is the change in suspension of the rear wheel.

)를 산출하고, 산출한 현재 피치 각도 정보(하기 <식 5> 내지 <식 7>의

)와 차량의 촬영 장치(10)로부터 차선 인식을 기초로 산출한 피치 각도 정보(하기 <식 8>의

)를 이용하여 현재 피치 모션에 따라 필요한 피치 각도 보정 정보(하기 <식 9>의

)를 산출한다.Thereafter, the pitch angle calculating step S704 calculates the pitch angle information of the vehicle based on the suspension change information estimated by the estimating unit 102 (see Equations 5 to 7 below)

), And calculates the current pitch angle information (the following equations (5) to (7)

And the pitch angle information calculated on the basis of the lane recognition from the photographing apparatus 10 of the vehicle

) Is used to calculate pitch angle correction information (hereinafter referred to as &quot; pitch angle correction information &quot;

).

)를 산출할 때에, 휠 베이스값(L), 전후륜 휠의 서스펜션 변화량(

,

)간의 상관 관계를 이용할 수가 있다.At this time, the pitch angle calculating step S704 calculates the pitch angle information of the vehicle based on the suspension change information estimated by the estimating unit 102,

), The wheel base value L, the suspension change amount of the front and rear wheel wheels (

,

) Can be used.

,

) 및 차량의 현재 피치 각도 정보(

)간의 상관 특성 그래프를 통해 하기 <식 5> 내지 <식 7>과 같이 차량의 현재 피치 각도 정보(

)를 산출부(104)에서 산출할 수가 있다.For example, as shown in FIGS. 6 and 7, the pitch angle calculating step S704 calculates the pitch angle of the front and rear wheels based on the wheel base value L and the suspension change amount

,

) And the current pitch angle information of the vehicle (

(5) to (7) through the correlation characteristic graph between the current pitch angle information

Can be calculated by the calculation unit 104. [

&Lt; EMI ID =

는 차량의 현재 피치 각도 정보, L은 휠 베이스값,

는 전륜 휠의 서스펜션 변화량,

은 후륜 휠의 서스펜션 변화량임.At this time,

Is the current pitch angle information of the vehicle, L is the wheel base value,

The change amount of the suspension of the front wheel,

Is the change in suspension of the rear wheel.

)는 하기 <식 6>과 같이 <식 4>를 이용하여 가속도

에 관한 식으로 재전개할 수가 있다.Here, the current pitch angle information of the vehicle

) Is calculated by using Equation (4) as < EMI ID =

It is possible to re-develop the equation.

)는 하기 <식 7>과 같이 단순화시켜 재전개할 수가 있다.At this time, the pitch angle correction information S according to the pitch motion becomes the variable value changed by the mass change of the vehicle depending on the passenger of the vehicle, so that the current pitch angle information

) Can be re-expanded as shown in Equation (7) below.

&Lt; EMI ID =

Equation (7)

는 차량의 현재 피치 각도 정보, L은 휠 베이스값,

는 전륜 휠의 서스펜션 변화량,

은 후륜 휠의 서스펜션 변화량,

는 전체 휠의 하중값,

는 차량의 가속도값, h는 지면부터 무게 중심까지의 높이값, d는 지면에서의 후륜 휠부터 pivot A까지의 거리값, e는 지면부터 pivot A까지의 높이값,

는 전륜 휠의 서스펜션 스프링 상수값,

은 후륜 휠의 서스펜션 스프링 상수값임.At this time,

Is the current pitch angle information of the vehicle, L is the wheel base value,

The change amount of the suspension of the front wheel,

The amount of suspension change of the rear wheel,

The load value of the whole wheel,

H is the height value from the ground to the center of gravity, d is the distance from the rear wheel to pivot A on the ground, e is the height value from ground to pivot A,

Is the suspension spring constant value of the front wheel,

Is the value of the suspension spring constant of the rear wheel.

)를 산출할 때에, 차선 인식으로 추정한 지평선의 높이값(

), 촬영 장치(10)로부터 획득한 소실점의 위치값(

), 촬영 장치(10)의 초점 거리값(

)간의 상관 관계를 이용할 수가 있다.The pitch angle calculating step S704 calculates the pitch angle information (step S704) based on the lane recognition from the photographing apparatus 10 of the vehicle by the calculating unit 104

), The height value of the horizon estimated by the lane recognition (

), The position value of the vanishing point acquired from the photographing apparatus 10

), The focal distance value of the photographing apparatus 10 (

) Can be used.

)를 산출할 수가 있다.For example, the pitch angle calculating step S704 calculates the pitch angle information (hereinafter referred to as &quot; pitch angle information &quot;) based on lane recognition from the photographing apparatus 10 of the vehicle

) Can be calculated.

<Formula 8>

는 피치 각도 정보,

은 촬영 장치(10)로부터 획득한 소실점의 위치값,

은 차선 인식으로 추정한 지평선의 높이값,

는 촬영 장치(10)의 초점 거리값임.At this time,

Pitch angle information,

The position value of the vanishing point acquired from the photographing apparatus 10,

The height value of the horizon estimated by the lane recognition,

Is the focal length value of the photographing apparatus (10).

)와 차선 인식을 기초로 산출한 피치 각도 정보(

)를 이용하여 현재 피치 모션에 따라 필요한 피치 각도 보정 정보(

)를 산출할 때에, 차량의 가속도값(

), 차량의 중력가속도값(g), 차선 인식으로 추정한 지평선의 높이값(

), 촬영 장치(10)로부터 획득한 소실점의 위치값(

), 촬영 장치(10)의 초점 거리값(

)간의 상관 관계를 이용할 수가 있다.In addition, the pitch angle calculating step S704 calculates the pitch angle information

) And the pitch angle information calculated based on the lane recognition

), The necessary pitch angle correction information (

), The acceleration value of the vehicle (

), A gravitational acceleration value (g) of the vehicle, a height value of the horizon estimated by lane recognition

), The position value of the vanishing point acquired from the photographing apparatus 10

), The focal distance value of the photographing apparatus 10 (

) Can be used.

)와 차선 인식을 기초로 산출한 피치 각도 정보(<식 8>의

)를 이용하여 하기 <식 9>와 같이 현재 피치 모션에 따라 필요한 피치 각도 보정 정보(

)를 산출할 수가 있다.For example, the pitch angle calculating step S704 calculates the pitch angle information (equation

) And the pitch angle information calculated on the basis of the lane recognition

), Pitch angle correction information (hereinafter referred to as &quot; pitch angle correction information &quot;) necessary for the current pitch motion

) Can be calculated.

Equation (9)

는 피치 각도 정보,

은 촬영 장치(10)로부터 획득한 소실점의 위치값,

은 차선 인식으로 추정한 지평선의 높이값,

는 촬영 장치(10)의 초점 거리값,

는 차량의 가속도값, g는 차량의 중력가속도값, S는 피치 모션에 따른 피치 각도 보정 정보,

는 현재 피치 모션에 따라 필요한 피치 각도 보정 정보임.At this time,

Pitch angle information,

The position value of the vanishing point acquired from the photographing apparatus 10,

The height value of the horizon estimated by the lane recognition,

The focal length value of the photographing apparatus 10,

G is the gravitational acceleration value of the vehicle, S is the pitch angle correction information according to the pitch motion,

Is the pitch angle correction information required according to the current pitch motion.

)를 보정부(106)에 공급하고, 보정부(106)에서 촬영 장치(10)의 현재 영상을 산출부(104)에서 산출한 피치 각도 보정 정보(

)에 따라 이미 설정된 영상 정보로 보정한다.Thereafter, the image correction step S706 is performed based on the pitch angle correction information (the pitch angle correction information) calculated by the calculation unit 104

And supplies the current image of the photographing apparatus 10 to the correcting section 106 in the correcting section 106. The pitch angle correcting information

) To the image information already set.

The image correcting apparatus 100 and the image correcting method 700 of the vehicle image capturing apparatus 10 according to the first embodiment of the present invention include the estimating unit 102, the calculating unit 104, and the correcting unit 106 And a control unit 108 to perform a suspension change estimation step S702, a pitch angle calculation step S704, and an image correction step S706.

Therefore, the image correcting apparatus 100 and the image correcting method 700 of the vehicle image pickup apparatus 10 according to the first embodiment of the present invention are arranged such that when a pitch motion occurs due to acceleration or deceleration when the vehicle is traveling on the road , It is possible to stably provide the image of the vehicle image pickup apparatus 10 by correcting the image of the vehicle image pickup apparatus 10 by estimating the pitch angle of the vehicle.

&Lt; Embodiment 2 >

8 is a block diagram illustrating an image correction apparatus according to a second embodiment of the present invention.

8, an image correction apparatus 800 according to the second embodiment of the present invention includes an estimation unit 802 and an output unit 804 (FIG. 2) similar to the image correction apparatus 100 of FIG. 2 according to the first embodiment. A correction unit 806, and a control unit 808. [

The functions of the estimating unit 802 and the calculating unit 804, the correcting unit 806 and the controlling unit 808 of the image correcting apparatus 800 according to the second embodiment of the present invention and the organic connection relationship therebetween 2) of the image correction apparatus 100 (FIG. 2), the calculation unit 104 (FIG. 2), the correction unit 106 (FIG. 2), and the control unit ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the image correction apparatus 800 according to the second embodiment of the present invention further includes a first identification unit 810.

)를 산출할 때에, 현재 영상을 이미 설정된 영상 정보로 보정시킴을 식별시킨다.That is, the first identifying unit 810 calculates the pitch angle correction information (

), It is discriminated that the current image is to be corrected to the already set image information.

At this time, the first identification unit 810 includes at least one of an alarm (not shown), a speaker (not shown) and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle (Not shown) and a HUD (Head-Up Display) module (not shown), which are installed to interface the user and the machine so that the driver can grasp the information and status of the vehicle An alarm operation of an alarm (not shown), a sound operation of a speaker (not shown), a light emitting operation of a light emitting member (not shown), an operation of displaying an HMI (human machine interface) message of an HMI And the HUD (Head-UP Display) message display operation of the HUD (Head-Up Display) module (not shown).

An image correcting method for correcting the image of the photographing apparatus 10 using the image correcting apparatus 800 according to the second embodiment of the present invention will now be described with reference to FIG.

9 is a flowchart illustrating an image correction method of the image correction apparatus according to the second embodiment of the present invention.

9, an image correction method 900 of an image correction apparatus 800 according to the second embodiment of the present invention includes an image correction method (see FIG. 2) of the image correction apparatus 100 7, 700) includes a suspension change estimation step S902, a pitch angle calculation step S904, and an image correction step S906.

The function of the suspension change estimation step S902, the pitch angle calculation step S904, and the image correction step S906 among the image correction method 900 of the image correction apparatus 800 according to the second embodiment of the present invention, And an organic connection between them is determined by a suspension change estimation step S702, a pitch angle calculation step S704, and a pitch angle calculation step of the image correction method (700 of FIG. 7) of the image correction apparatus 100 of FIG. The function for the image correction step S706, and the organic connection relation between them, respectively, and the respective further description thereof will be omitted below.

Here, the image correction method 900 of the image correction apparatus 800 according to the second embodiment of the present invention further performs a first identification step (S905).

For example, the first identifying step S905 may be performed after the pitch angle calculating step S904 and before the image correcting step S906.

Alternatively, the first identification step (not shown) may be performed in synchronization with the pitch angle calculation step (not shown), though not shown.

)를 산출할 때에, 현재 영상을 이미 설정된 영상 정보로 보정시킴을 식별시킨다.In the first identifying step S905, the pitch angle correction information (

), It is discriminated that the current image is to be corrected to the already set image information.

The image correcting apparatus 800 and the image correcting method 900 of the vehicle image capturing apparatus 10 according to the second embodiment of the present invention include the estimating unit 802, the calculating unit 804, and the correcting unit 806 A suspension angle change estimation step S902, a pitch angle calculation step S904, a first identification step S905, and an image correction step S906 including the control part 808 and the first identification part 810 .

Therefore, the image correcting apparatus 800 and the image correcting method 900 of the vehicle image capturing apparatus 10 according to the second embodiment of the present invention are configured such that, when a pitch motion occurs due to acceleration or deceleration when the vehicle travels on the road , It is possible to stably provide the image of the vehicle image pickup apparatus 10 by correcting the image of the vehicle image pickup apparatus 10 by estimating the pitch angle of the vehicle.

)를 산출할 때에, 현재 영상을 이미 설정된 영상 정보로 보정시킴을 식별시킬 수가 있으므로, 운전자에게 주의 운전을 유도할 수가 있게 된다.The image correcting apparatus 800 and the image correcting method 900 of the vehicle image capturing apparatus 10 according to the second embodiment of the present invention may further include pitch angle correcting information

, It can be discriminated that the current image is corrected to the already set image information, so that it is possible to induce the driver to perform the cautionary operation.

&Lt; Third Embodiment >

FIG. 10 is a block diagram illustrating an image correction apparatus according to a third embodiment of the present invention.

10, an image correction apparatus 1000 according to the third embodiment of the present invention includes an estimation unit 1002 and a calculation unit 1004 (FIG. 2) in the same manner as the image correction apparatus 100 of FIG. 2 A correction unit 1006, and a control unit 1008. [

The functions of the estimation unit 1002, the calculation unit 1004, the correction unit 1006 and the control unit 1008 of the image correction apparatus 1000 according to the third embodiment of the present invention and the organic connection relationship therebetween 2) of the image correction apparatus 100 (FIG. 2), the calculation unit 104 (FIG. 2), the correction unit 106 (FIG. 2), and the control unit ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the image correction apparatus 1000 according to the third embodiment of the present invention further includes a second identification unit 1012.

That is, when the correction unit 1006 corrects the current image to the image information already set, the second identification unit 1012 identifies that the current image is corrected to the previously set image information.

At this time, the second identification unit 1012 includes at least one of an alarm (not shown), a speaker (not shown), and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle (Not shown) and a HUD (Head-Up Display) module (not shown), which are installed to interface the user and the machine so that the driver can grasp the information and status of the vehicle An alarm operation of an alarm (not shown), a sound operation of a speaker (not shown), a light emitting operation of a light emitting member (not shown), an operation of displaying an HMI (human machine interface) message of an HMI It is possible to identify that the current image is corrected to the already set image information through at least one operation of the HUD (Head-UP Display) message display operation of the HUD (Head-UP Display) module (not shown).

An image correction method for correcting an image of the photographing apparatus 10 using the image correction apparatus 1000 according to the third embodiment of the present invention will be described with reference to FIG.

11 is a flowchart illustrating an image correction method of an image correction apparatus according to the third embodiment of the present invention.

11, an image correction method 1100 of the image correction apparatus 1000 according to the third embodiment of the present invention is the same as the image correction method 1100 of the image correction apparatus 100 (FIG. 2) according to the first embodiment 7, 700) includes a suspension change estimation step S1102, a pitch angle calculation step S1104, and an image correction step S1106.

The functions of the suspension change estimation step S1102, the pitch angle calculation step S1104 and the image correction step S1106 of the image correction method 1100 of the image correction apparatus 1000 according to the third embodiment of the present invention, And an organic connection between them is determined by a suspension change estimation step S702, a pitch angle calculation step S704, and a pitch angle calculation step of the image correction method (700 of FIG. 7) of the image correction apparatus 100 of FIG. The function for the image correction step S706, and the organic connection relation between them, respectively, and the respective further description thereof will be omitted below.

Here, the image correction method 1100 of the image correction apparatus 1000 according to the third embodiment of the present invention further performs a second identification step (S1107).

For example, the second identification step (S1107) may be performed after the image correction step (S1106).

Alternatively, the second identification step (not shown) may be performed in synchronization with the image correction step S1106 (not shown).

In the second identifying step S1107, when the correcting unit 1006 corrects the current image to the already set image information, it identifies that the current image is corrected to the already set image information.

The image correcting apparatus 1000 and the image correcting method 1100 of the vehicle image capturing apparatus 10 according to the third embodiment of the present invention include the estimating unit 1002, the calculating unit 1004, and the correcting unit 1006 A suspension angle change estimation step S1102, a pitch angle calculation step S1104, an image correction step S1106 and a second identification step S1107 including the control part 1008 and the second identification part 1012 .

Therefore, the image correction apparatus 1000 and the image correction method 1100 of the vehicle image sensing apparatus 10 according to the third embodiment of the present invention are configured such that when a pitch motion occurs due to acceleration or deceleration when the vehicle travels on the road , It is possible to stably provide the image of the vehicle image pickup apparatus 10 by correcting the image of the vehicle image pickup apparatus 10 by estimating the pitch angle of the vehicle.

The image correcting apparatus 1000 and the image correcting method 1100 of the photographing apparatus 10 according to the third embodiment of the present invention corrects the current image to already set image information, It is possible to identify that the image is corrected by the image information.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

Claims (14)

An estimator for estimating suspension change information of the vehicle by a current pitch motion occurring when the vehicle accelerates or decelerates;
Calculating current pitch angle information of the vehicle on the basis of the estimated suspension change information, and using the calculated current pitch angle information and pitch angle information calculated based on lane recognition from the photographing apparatus of the vehicle, A calculation unit for calculating necessary pitch angle correction information according to the motion;
A correcting unit correcting the current image of the photographing apparatus to preset image information according to the calculated pitch angle correction information; And
And a control unit for supplying the calculated pitch angle correction information to the correcting unit and controlling the correcting unit to correct the current image to the already set image information. The method according to claim 1,
Wherein the estimating unit comprises:
A suspension wheel spring constant value of the front and rear wheels, a vehicle center-of-gravity value, a height value from the ground to the center of gravity, a wheelbase value, a mass value of the vehicle , And a gravitational acceleration value of the vehicle. The method according to claim 1,
The calculating unit calculates,
Wherein the correlation between the wheel base value and the suspension change amount of the front and rear wheels when calculating the current pitch angle information of the vehicle based on the estimated suspension change information is used. The method according to claim 1,
The calculating unit calculates,
Wherein, when the pitch angle information is calculated based on the lane recognition, a correlation between the height value of the horizon estimated by the lane recognition, the position value of the vanishing point acquired from the photographing apparatus, and the focal distance value of the photographing apparatus is used An image correction device of a device. The method according to claim 1,
The calculating unit calculates,
Wherein said pitch angle correction information includes at least one of an acceleration value of said vehicle, a gravitational acceleration value of said vehicle, a height value of a horizon line estimated by said lane recognition, a position value of a vanishing point acquired from said photographing apparatus, And an image correction device of a vehicle image pickup apparatus using a correlation between distance values. The method according to claim 1,
Further comprising a first identifying unit for identifying, when the pitch angle correction information is calculated, that the current image is corrected to the already set image information. The method according to claim 1,
Further comprising a second identifying unit for identifying that the current image is corrected to the already set image information when the current image is corrected to the already set image information. A suspension change estimation step of estimating suspension change information of the vehicle by a current pitch motion occurring when the vehicle accelerates or decelerates;
Calculating current pitch angle information of the vehicle on the basis of the estimated suspension change information, and using the calculated current pitch angle information and pitch angle information calculated based on lane recognition from the photographing apparatus of the vehicle, A pitch angle calculating step of calculating necessary pitch angle correction information according to the motion; And
And an image correction step of correcting the current image of the photographing apparatus to image information already set according to the calculated pitch angle correction information. 9. The method of claim 8,
The suspension change estimating step includes:
A suspension wheel spring constant value of the front and rear wheels, a vehicle center-of-gravity value, a height value from the ground to the center of gravity, a wheelbase value, a mass value of the vehicle , And a gravitational acceleration value of the vehicle. 9. The method of claim 8,
Wherein the pitch angle calculating step comprises:
Wherein the correlation between the wheel base value and the suspension change amount of the front and rear wheels when calculating the current pitch angle information of the vehicle based on the estimated suspension change information is used. 9. The method of claim 8,
Wherein the pitch angle calculating step comprises:
Wherein, when the pitch angle information is calculated based on the lane recognition, a correlation between the height value of the horizon estimated by the lane recognition, the position value of the vanishing point acquired from the photographing apparatus, and the focal distance value of the photographing apparatus is used A method for image correction of a device. 9. The method of claim 8,
Wherein the pitch angle calculating step comprises:
Wherein said pitch angle correction information includes at least one of an acceleration value of said vehicle, a gravitational acceleration value of said vehicle, a height value of a horizon line estimated by said lane recognition, a position value of a vanishing point acquired from said photographing apparatus, Wherein the correlation between the distance values is used. 9. The method of claim 8,
Further comprising a first identifying step of identifying, when the pitch angle correction information is calculated, that the current image is corrected to the already set image information. 9. The method of claim 8,
Further comprising a second discriminating step of discriminating that the current image is corrected to the already set image information when correcting the current image to the already set image information.

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