KR20160114323A - Environment monitoring apparatus for vehicle - Google Patents
Environment monitoring apparatus for vehicle Download PDFInfo
- Publication number
- KR20160114323A KR20160114323A KR1020150040639A KR20150040639A KR20160114323A KR 20160114323 A KR20160114323 A KR 20160114323A KR 1020150040639 A KR1020150040639 A KR 1020150040639A KR 20150040639 A KR20150040639 A KR 20150040639A KR 20160114323 A KR20160114323 A KR 20160114323A
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- South Korea
- Prior art keywords
- vehicle
- correction
- image
- present
- peripheral
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/02—Rear-view mirror arrangements
- B60R1/08—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors
- B60R1/081—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors avoiding blind spots, e.g. by using a side-by-side association of mirrors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/202—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used displaying a blind spot scene on the vehicle part responsible for the blind spot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
- Studio Devices (AREA)
- Image Processing (AREA)
Abstract
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a peripheral monitoring apparatus for a vehicle, and more particularly, to a peripheral monitoring apparatus for a vehicle capable of correcting a tolerance of a camera installed in a vehicle for peripheral surveillance of the vehicle.
A peripheral monitoring apparatus for a vehicle according to an embodiment of the present invention includes an image obtaining unit for obtaining an image including a plurality of correction patterns in at least one direction around the vehicle, And a control unit for detecting a correction point from the plurality of correction patterns included in the generated peripheral image and calculating a correction value for correcting the obtained image according to the detected correction point, Wherein the correction pattern includes a plurality of pattern regions having different brightnesses, and at least a part of the plurality of pattern regions comprises a diffusely reflecting region for diffusely reflecting ambient light.
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a peripheral monitoring apparatus for a vehicle, and more particularly, to a peripheral monitoring apparatus for a vehicle capable of correcting a tolerance of a camera installed in a vehicle for peripheral surveillance of the vehicle.
In general, the vehicle is easy to monitor in front of the driver's seat, but it is relatively difficult to observe the side or backside of the vehicle, resulting in a blind spot. Most accidents such as human accidents or structural damage occurring during the operation of the vehicle, Occurs in the zone.
The driver monitors the surroundings, particularly the blind spot, through one or more mirrors provided in the vehicle. However, since the monitoring by such a mirror requires continuous attention of the driver, the driver's fatigue increases, There is a limit to the safe operation due to obstruction of sight.
Recently, a camera is installed in a vehicle, and an image acquired by a camera is displayed in a driver's seat of a vehicle so that a driver can identify an obstacle around the vehicle.
The camera is installed with a predetermined height or angle. If the camera is not installed correctly or the camera is out of the preset installation height or installation angle due to external factors, the surrounding image can not be normally acquired, It is difficult to recognize and cope with such a situation.
Therefore, there is a demand for a method of obtaining a peripheral image normally even when the camera is deviated from a predetermined installation height or installation angle.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle control system and a vehicle control method for a vehicle that corrects an image acquired by a camera and thereby normally acquires a surrounding image even when a camera for acquiring an image of the surroundings of the vehicle deviates from a predetermined installation height or installation angle Thereby providing a peripheral surveillance device.
Another object of the present invention is to provide a peripheral device for a vehicle which prevents irregularity of a correction pattern due to ambient light by irregularly reflecting ambient light incident on a correction pattern used for correcting an image acquired by a camera.
The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.
In order to achieve the above object, a vehicle surroundings surveillance apparatus according to an embodiment of the present invention includes an image acquisition unit that acquires an image including a plurality of correction patterns in at least one direction around the vehicle, And a controller for detecting a correction point from the plurality of correction patterns included in the generated peripheral image, and for correcting the obtained image according to the detected correction point, Wherein the correction pattern includes a plurality of pattern regions having different brightnesses, and at least a part of the plurality of pattern regions is composed of a diffusely reflecting region for diffusely reflecting ambient light.
The details of other embodiments are included in the detailed description and drawings.
According to the vehicle surroundings surveillance apparatus of the present invention, one or more of the following effects can be obtained.
It is possible to correct the tolerance of the camera easily even if it is not a skilled expert because the image obtained by the camera installed in the vehicle can be corrected and the surrounding image can be normally generated even when the tolerance occurs in the camera.
In addition, since the ambient light incident on the correction pattern used for correcting the tolerance of the camera is irregularly reflected, it is possible to prevent the correction pattern from being perceived abnormally in the camera due to the ambient light, There is also an effect.
The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.
1 is a block diagram showing a vehicle surroundings monitoring apparatus according to an embodiment of the present invention;
2 is a schematic diagram illustrating a plurality of cameras according to an embodiment of the present invention;
3 is a schematic diagram illustrating a peripheral image according to an embodiment of the present invention.
4 is a schematic view illustrating a peripheral image when a tolerance of a camera is generated according to an embodiment of the present invention.
5 is a schematic view showing a correction pattern located around a vehicle according to an embodiment of the present invention;
6 is a schematic diagram showing a correction pattern according to an embodiment of the present invention;
7 is a schematic diagram illustrating correction points according to an embodiment of the present invention;
8 is a schematic view showing reflected light reflected by a correction pattern according to an embodiment of the present invention.
9 is a pictorial schematic illustration of a correction pattern acquired by a camera when ambient light is present according to an embodiment of the present invention.
10 is a schematic view showing reflected light diffusely reflected by a correction pattern according to an embodiment of the present invention.
11 and 12 are schematic diagrams showing correction patterns for irregularly reflecting incident ambient light according to an embodiment of the present invention.
13 is a schematic diagram showing correction points detected from a peripheral image according to an embodiment of the present invention;
BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.
Thus, in some embodiments, well known process steps, well-known structures, and well-known techniques are not specifically described to avoid an undue interpretation of the present invention.
The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It should be understood that the terms comprising and / or comprising the terms used in the specification do not exclude the presence or addition of one or more other components, steps and / or operations other than the stated components, steps and / . And "and / or" include each and any combination of one or more of the mentioned items.
Further, the embodiments described herein will be described with reference to the perspective view, cross-sectional view, side view, and / or schematic views, which are ideal illustrations of the present invention. Thus, the shape of the illustrations may be modified by manufacturing techniques and / or tolerances. Accordingly, the embodiments of the present invention are not limited to the specific forms shown, but also include changes in the shapes that are generated according to the manufacturing process. In addition, in the drawings of the present invention, each constituent element may be somewhat enlarged or reduced in view of convenience of explanation.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the drawings for explaining a peripheral monitoring apparatus of a vehicle according to embodiments of the present invention.
FIG. 1 is a block diagram showing a vehicle surroundings monitoring apparatus according to an embodiment of the present invention.
The peripheral monitoring apparatus 1 of the vehicle according to the embodiment of the present invention includes an
The
The plurality of
As shown in FIG. 2, the plurality of
In the embodiment of the present invention, a plurality of
In this case, in the embodiment of the present invention, a case where a plurality of
For example, in a case where a wide angle lens having a relatively large angle of view is used for a plurality of
The image obtained by the plurality of
Further, in order to acquire an image of the vehicle in all directions, the plurality of
As described above, when a wide angle lens is used for the plurality of
The
In addition, the
As described above, the
Here, in the embodiment of the present invention, a case where a wide angle lens is used for a plurality of
The peripheral
At this time, the peripheral
The
At this time, when the plurality of
Therefore, in the embodiment of the present invention, the
In the embodiment of the present invention, in order to correct the tolerances generated in the plurality of
The position and the number of the correction pattern P used when correcting the tolerances generated in the plurality of
The correction pattern P may include a plurality of pattern areas P11, P12, P21, and P22 having different brightness levels as shown in FIG. 6. In the exemplary embodiment of the present invention, The regions P11 and P12 are referred to as high luminance regions and the pattern regions P21 and P22 having luminance lower than the reference luminance are referred to as low luminance regions.
The reason why the correction pattern P is composed of the high luminance areas P11 and P12 and the low luminance areas P21 and P22 is that edge detection is easy due to the luminance difference between the two areas, CP) may be determined at a predetermined point of the detected edge.
For example, when the correction pattern P is alternately arranged in a plurality of directions in the high luminance areas P11 and P12 and the low luminance areas P21 and P22 as shown in FIG. 6, The edge E1 and the longitudinal edge E2 of the transverse edge E1 and the longitudinal edge E2 of the transverse edge E1 can be respectively detected and the point at which the transverse edge E1 and the longitudinal edge E2 intersect can be detected by the correction point CP .
In the embodiment of the present invention, the high brightness areas P11 and P12 and the low brightness areas P21 and P22 are each composed of two areas. However, the present invention is not limited to this, The number and arrangement direction of the high luminance areas P11 and P12 and the low luminance areas P21 and P22 can be variously changed according to the detection standard.
In the embodiment of the present invention, detecting a point at which a transverse edge E1 intersects a transverse edge E2 with a correction point CP is merely an example for facilitating understanding of the present invention, The present invention is not limited to this, and the correction point CP may be determined as a predetermined point.
The shape of the correction pattern P is not limited to the above-described embodiment, and may have various shapes according to the criteria for detecting the correction point CP.
In the embodiment of the present invention, a white pattern is used for the high luminance areas P11 and P12, and a black pattern is used for the low luminance areas P21 and P22. However, But the present invention is not limited to this, and colors other than the white color and the black color having a large luminance difference may be used to facilitate edge detection.
5, since the
In other words, since the
At this time, when the ambient light such as natural light or artificial light is incident on the correction pattern P, when the image is acquired by the camera due to the reflected light reflected by the correction pattern P, A phenomenon in which the luminance of the liquid crystal panel is varied may occur.
That is, when the ambient light L1 is acquired by the camera due to the reflected light L2 incident on at least one of the low-luminance areas P21 and P22 of the correction pattern P and reflected thereon as shown in FIG. 8, When at least one of the low luminance areas P21 and P22 of the correction pattern P included in the image is recognized as a high luminance area as shown in Fig. 9, it is difficult to detect the edge and it is difficult to detect the correction point CP .
For this, in the embodiment of the present invention, in the embodiment of the present invention, the reflected light L2 reflected by the correction pattern P is scattered, that is, the reflected light L2 incident on the camera is reduced At least a part of the correction pattern P is formed as a diffuse reflection region so that the luminance increase phenomenon due to the ambient light L1 is prevented.
For example, as shown in FIG. 11, the surface of the correction pattern P may be roughened through sandpaper or the like, or may be formed of a material having a surface of the correction pattern P itself, It is possible to reduce the reflected light L2 incident on the camera and make it possible to accurately detect the correction point CP.
12, a diffusive layer M may be disposed on at least a part of the correction pattern P so that the reflected light L2 is irregularly reflected. The diffusive layer M may be made of a diffusive coating or a film, Or a cover for diffuse reflection (for example, diffused reflection glass) or the like.
When at least one of the pattern areas P11, P12, P21 and P22 of the correction pattern P is formed, it is also possible to reduce the reflected light L2 by using irregularly reflecting ink, paint or the like.
The method of forming the diffusive region in at least a partial region of the correction pattern P is not limited to the above-described examples, and various methods capable of causing the incident ambient light L1 to be scattered can be used.
As described above, in the embodiment of the present invention, at least a partial region of the correction pattern P is formed as a diffusely reflecting region in which the reflected light L2 is diffusely diffused. However, in the present invention, It can be understood that the reflected light is diffusely reflected by using the various methods described above in the low luminance region.
As described above, in the embodiment of the present invention, reflected light is scattered by the correction pattern P to prevent the brightness from increasing, so that the correction pattern can be correctly recognized by the camera.
The
For example, when the correction point CP detected from the
That is, as described above, since the
For example, the
The correction value calculated by the
In the embodiment of the present invention, the
In the embodiment of the present invention, the
As described above, in the embodiment of the present invention, a process for correcting the tolerance separately by previously correcting the case where the image is not normally acquired due to the tolerance generated in the plurality of
It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning and range of the claims and the equivalents thereof are included in the scope of the present invention Should be interpreted.
100:
111 to 114: camera
120:
200: Distortion correction unit
300: peripheral image generating unit
400:
Claims (8)
A peripheral image generating unit for generating a peripheral image of the vehicle using the acquired image; And
And a control unit for detecting a correction point from the plurality of correction patterns included in the generated peripheral image and calculating a correction value for correcting the obtained image according to the detected correction point,
Wherein the plurality of correction patterns include:
A plurality of pattern regions each having a different luminance,
Wherein at least some of the plurality of pattern regions
A periphery monitoring device of a vehicle, which is a diffuse reflection area that irregularly reflects ambient light.
Wherein the plurality of pattern regions are pattern regions,
A low luminance region lower than the reference luminance and a high luminance region higher than the reference luminance,
The low-luminance region and the high-
Wherein the plurality of sensors are arranged alternately in at least one direction.
The irregular reflection region may be formed,
And the peripheral luminance of the vehicle is the low luminance region.
The irregular reflection region may be formed,
Wherein the surface of the plurality of pattern regions is roughly formed.
The irregular reflection region may be formed,
Wherein the plurality of pattern regions are regions in which the diffusive layer is located.
The diffusely reflective layer
A device for monitoring the surroundings of a vehicle comprising a diffusive film or a diffusive coating.
The diffusely reflective layer
A device for monitoring the surroundings of a vehicle made of diffusive glass.
The irregular reflection region may be formed,
Surrounding surveillance of the vehicle where diffuse reflection ink or diffuse reflection paint is used.
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KR1020150040639A KR101678098B1 (en) | 2015-03-24 | 2015-03-24 | Environment monitoring apparatus for vehicle |
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KR1020150040639A KR101678098B1 (en) | 2015-03-24 | 2015-03-24 | Environment monitoring apparatus for vehicle |
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KR101678098B1 KR101678098B1 (en) | 2016-11-23 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08276787A (en) * | 1995-04-03 | 1996-10-22 | Suzuki Motor Corp | On-vehicle image processing device and image display system |
JP2003312408A (en) * | 2002-04-17 | 2003-11-06 | Toshiba Corp | Image diagnosing device, image diagnosing system of on- vehicle image monitoring device and passing vehicle monitoring device |
JP2006178667A (en) * | 2004-12-21 | 2006-07-06 | Nissan Motor Co Ltd | Video correcting apparatus and method for vehicle |
KR100966288B1 (en) | 2009-01-06 | 2010-06-28 | 주식회사 이미지넥스트 | Around image generating method and apparatus |
KR101272257B1 (en) * | 2011-08-30 | 2013-06-19 | 에스엘 주식회사 | Apparatus and method for compensating around image of vehicle |
-
2015
- 2015-03-24 KR KR1020150040639A patent/KR101678098B1/en active IP Right Grant
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08276787A (en) * | 1995-04-03 | 1996-10-22 | Suzuki Motor Corp | On-vehicle image processing device and image display system |
JP2003312408A (en) * | 2002-04-17 | 2003-11-06 | Toshiba Corp | Image diagnosing device, image diagnosing system of on- vehicle image monitoring device and passing vehicle monitoring device |
JP2006178667A (en) * | 2004-12-21 | 2006-07-06 | Nissan Motor Co Ltd | Video correcting apparatus and method for vehicle |
KR100966288B1 (en) | 2009-01-06 | 2010-06-28 | 주식회사 이미지넥스트 | Around image generating method and apparatus |
KR101272257B1 (en) * | 2011-08-30 | 2013-06-19 | 에스엘 주식회사 | Apparatus and method for compensating around image of vehicle |
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