KR20170019844A - Apparatus and method for monitoring environment - Google Patents

Abstract

The present invention relates to a device and a method to monitor surroundings and, more specifically, relates to a device and a method to monitor surroundings, capable of including more image information by distorting a partial area of a screen of a photographed image about surroundings of a vehicle. According to an embodiment of the present invention, the device includes: an image input part receiving a photographed image about surroundings of a vehicle by using first and second cameras photographing left and right rear sides of the vehicle; a state determining part determining a driving state of the vehicle; an image processing part mapping a part of the whole area of the photographed image with a screen area, setting at least one among upper and lower sides of the screen area as an expanding area depending on the driving state of the vehicle, and including an expanding image, vertically larger than an image corresponding to the expanding area, in the expanding area; and a display part displaying the image included in the screen area.

Description

[0001] Apparatus and method for monitoring environment [

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a peripheral surveillance apparatus and method, and more particularly, to a peripheral surveillance apparatus and method for distorting a part of a screen of an image taken with respect to the periphery of a vehicle to include more image information.

Generally, the vehicle is equipped with a side mirror that allows the driver to grasp the road conditions on the left or right or rear of the vehicle.

The side mirrors are installed near the front doors or the front doors on both sides of the vehicle, and allow the driver to recognize the surrounding vehicles located laterally or rearwardly through the side mirrors, and to securely change lanes or maintain safety distances. It plays a role.

However, since the side mirrors are installed so as to protrude from both sides of the vehicle to a considerable size in the outward direction, there is a problem that the air resistance increases when the vehicle is running, the fuel consumption is lowered, the noise is increased, .

In the absence of a side mirror, air resistance can be reduced by up to 7%, and fuel consumption due to reduced air resistance can be reduced by about 3%. Accordingly, in order to design a high-efficiency and high-performance car, research is underway to replace a conventional side mirror with a camera.

On the other hand, since the size of a screen for displaying an image photographed by the camera is limited, there is also a limit to the amount of information that the driver can acquire about the surrounding environment.

Therefore, it is required to introduce an invention that can provide the driver with more information about the surrounding environment.

Korean Patent Publication No. 10-2014-0099079 (Apr.

A problem to be solved by the present invention is to provide the driver with more information on the surrounding environment through the images photographed by the camera.

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

The peripheral surveillance apparatus according to an embodiment of the present invention includes a video input unit that receives images photographed with respect to the periphery of the vehicle using a first camera and a second camera that respectively photograph the left rear and right rear of the vehicle, And a control unit configured to map at least a part of the entire range of the photographed image to a screen area and at least one area of the upper and lower sides of the screen area according to the running state of the vehicle, And a display unit for displaying an image included in the screen area. The display unit displays the enlarged image in the extended area.

A peripheral surveillance method according to an embodiment of the present invention includes the steps of receiving an image photographed with respect to the periphery of the vehicle using a first camera and a second camera that respectively photograph the left rear side and the right rear side of the vehicle, A step of mapping a part of the entire range of the image to a screen area; a step of judging a running state of the vehicle; at least one area of the upper and lower sides of the screen area as an extension area And expanding the enlarged image in the extension direction in the vertical direction in comparison with the image corresponding to the extension area, and displaying the image included in the screen area.

The details of other embodiments are included in the detailed description and drawings.

According to the peripheral monitoring apparatus and method according to the embodiment of the present invention as described above, there is an advantage that a part of the image of the photographed image of the periphery of the vehicle is distorted to provide more image information to the driver.

1 is a block diagram showing a peripheral monitoring apparatus according to an embodiment of the present invention.
2 and 3 are views showing a vehicle equipped with a peripheral monitoring apparatus according to an embodiment of the present invention.
4 and 5 are views showing a screen area according to an embodiment of the present invention.
FIGS. 6 and 7 are views illustrating a relationship between a screen region and a photographed image according to an embodiment of the present invention.
8 is a diagram illustrating a relationship between an extended image and an extended region according to an embodiment of the present invention.
9 to 12 are views showing an image range included in an extended area according to an embodiment of the present invention.
13 is a flowchart illustrating a peripheral surveillance method according to an embodiment of the present invention.
Figs. 14 and 15 are flow charts specifically explaining S620 shown in Fig. 13. Fig.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to 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. Is provided to fully convey 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.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

1 is a block diagram showing a peripheral monitoring apparatus according to an embodiment of the present invention.

The peripheral surveillance apparatus 100 includes an image input unit 110, a state determination unit 120, a storage unit 130, a control unit 140, an image processing unit 150, and a display unit 160.

The image input unit 110 photographs a subject and generates an image of the subject. Particularly, the image input unit 110 can receive a photographed image of the surroundings of the vehicle using the first camera and the second camera that respectively photograph the left rear and right rear of the vehicle.

For example, the first camera 10 and the second camera 20, which will be described later, may be included in the image input unit 110 to receive a photographed image. That is, an image sensor (not shown) provided in the cameras 10 and 20 receives light for an object and generates a digital image (moving image or still image) for the object.

The image sensor of the image input unit 110 receives an analog image signal. The image sensor may be provided with an image sensor to receive a video signal. The image sensor may be a charge-coupled device (CCD) or a complementary metal oxide semiconductor -Oxide Semiconductor) can be used.

The state determination unit 120 determines the driving state of the vehicle. In the present invention, the running state of the vehicle includes at least one of a backward running and an inclined road running. As a result, it can be understood that the state determination unit 120 determines whether the vehicle is in the backward traveling or the backward traveling state.

The state determination unit 120 may sense the speed change stage of the transmission (not shown) to determine whether the vehicle is running backward. That is, when the speed change stage of the transmission is detected as the R-stage, the state determination unit 120 can determine that the vehicle is running backward.

In addition, the state determination unit 120 may sense the posture of the vehicle to determine whether the vehicle runs on an inclined road. For example, when the attitude of the vehicle has an angle equal to or greater than a predetermined value with respect to the average sea level, the state determination unit 120 can determine that the vehicle is running on an inclined road. For this, the state determination unit 120 may include a sensing unit (not shown) for sensing the angle of the vehicle with respect to the average sea level.

The display unit 160 displays an image captured by the image input unit 110. Hereinafter, an area where an image is displayed by the display unit 160 is referred to as a screen area. As a result, the display unit 160 can be understood to display an image included in the screen area.

The size of the image photographed by the image input unit 110 may be larger than the size of the screen area of the display unit 160 in the present invention. In other words, only a part of the entire range of the photographed image is included in the screen area.

In the present invention, the image of the image photographed by the image input unit 110 may be the image of the rear side of the vehicle, and the driver may identify the person or object existing in the rear side through the image. Therefore, there is a possibility of a safety accident if the size of a person or object displayed through the screen area of the display unit 160 differs from the actual size predicted by the driver. For example, if the size of the opponent vehicle approaching from the rear side of the vehicle is displayed too small, the driver may misunderstand that the opponent vehicle is far away and try to change the lane even though the distance from the opponent vehicle is close .

Therefore, according to the embodiment of the present invention, the entire range of the image photographed by the image input unit 110 is not included in the screen area, a part of the range is included in the screen area as it is, And can be included in the screen area. Accordingly, the driver can determine the distance between the vehicle on which the driver is operating and a person or object existing in the vicinity with a relatively small amount of sense of heterogeneity.

For this, the image processing unit 150 may map a range of the entire range of the image captured by the image input unit 110 to the screen area.

The image processing unit 150 sets at least one of the upper and lower regions of the screen region in which the photographed image is displayed according to the driving state of the vehicle as an extended region and sets an image corresponding to the extended region of the captured image as an extended region Can be mapped. That is, the image processing unit 150 sets an area including the upper edge of the screen area or an area including the lower edge of the screen area as an extended area according to the driving state of the vehicle, Mapping.

In addition, the image processor 150 may include a larger image in the vertical direction than the image corresponding to the extended area in the extended area. Hereinafter, an image larger in the vertical direction than the image corresponding to the extended area is referred to as an extended image. In the present invention, it can be understood that the extended image is an image in which the image corresponding to the extended area is extended by a predetermined size in the vertical direction.

Since the size of the extended image is larger than the size of the extended area, the extended image can not be directly included in the extended area. Accordingly, when the extended image is included in the extended region, the image processing unit 150 may include the extended image in the extended region so that the extended image is distorted so that the vertical resolution of the extended image is reduced. That is, the image processor 150 reduces the expanded image in the vertical direction and includes the enlarged image in the extended area.

Hereinafter, an extended image whose resolution in the vertical direction is reduced to fit the size of the extended area is referred to as an extended mapping image. That is, since the size of the extended area is the same as the size of the extended mapping image, the image processing unit 150 can include the extended mapping image in the extended area.

In addition, the image processor 150 can adjust the size of the extended image included in the extended area in correspondence with the size of the extended area. For example, when the vertical size of the extended area is 10 pixels, the image processor 150 sets the vertical size of the extended image to 20 pixels, and when the vertical size of the extended area is 20 pixels, the vertical size of the extended image is 40 pixels . The size relationship between the extended area and the extended image can be stored in the storage unit 130. [

As described above, the size of the image photographed by the image input unit 110 may be larger than the size of the screen region of the display unit 160. In other words, only a part of the photographed images may be included in the screen area, and the rest may not be included.

Details of the relationship between the photographed image and the extended area will be described later with reference to FIG. 6 and FIG.

As described above, the display unit 160 serves to display the photographed image. In displaying an image, the display unit 160 may display a screen area including an extension area set by the image processing unit 150. [

The storage unit 130 temporarily or permanently stores the image input by the image input unit 110. Also, the storage unit 130 may store the relationship between the running state of the vehicle and the position of the extended region, and the magnitude relation between the extended region and the extended image. The position of the extension area included in the screen area may be changed according to the running state of the vehicle. The image processor 150 may configure the screen area using the relationship information stored in the storage unit 130. [

The control unit 140 performs overall control of the image input unit 110, the state determination unit 120, the storage unit 130, the image processing unit 150, and the display unit 160.

2 and 3 are views showing a vehicle equipped with a peripheral monitoring apparatus according to an embodiment of the present invention.

2, the first camera 10 is mounted adjacent to the left side mirror 2 and the second camera 20 is mounted adjacent to the right side mirror 3, The rear portion and the right rear portion of the vehicle.

As shown in FIG. 2, the display unit 160 may be provided in a cluster located behind the steering wheel 4. Alternatively, a monitor 5 mounted on the center fascia of the vehicle as the display unit 160 may be used.

The vehicle according to the embodiment of FIG. 2 is a vehicle in which the driver secures the right and left rear views of the vehicle through both side mirrors 2 and 3, and the first camera 10 and the second camera 20 can secure the right and left rear views of the vehicle through the images captured by the cameras. In this case, the screen of the display unit 160 may be divided into two areas so that the image captured by the first camera 10 and the image captured by the second camera 20 can be simultaneously displayed.

As shown in FIG. 3, the vehicle according to the present embodiment may include the first camera 10 and the second camera 20 in place of the side mirrors without the left and right side mirrors.

The first camera 10 is installed outside the driver's seat door to photograph the left rear side of the vehicle, and the second camera 20 is installed outside the assistant door to photograph the right rear side of the vehicle.

3, the display unit 160 includes a first display unit 160 installed inside the vehicle adjacent to the driver's seat door and a second display unit 160 installed inside the vehicle adjacent to the assistant's door .

An image captured by the first camera 10 is displayed on the first display unit 160 and an image captured by the second camera 20 is displayed on the second display unit 160. [ Accordingly, the driver can secure the view of the left rear side and the right rear side of the vehicle through the first display unit 160 and the second display unit 160. [

Alternatively, as in the case of Fig. 2, a monitor 5 mounted on the center fascia of a vehicle or a cluster located behind the steering wheel 4 as the display portion 160 may be used.

In the above description, the first camera 10 and the second camera 20 are mounted adjacent to the side mirrors 2 and 3 or at the positions of the side mirrors. However, in the present invention, 2 cameras 20 may be provided at positions where they can photograph the left rear side and the right rear side of the vehicle, respectively. For example, the first camera 10 and the second camera 20 may be mounted on the left and right fenders (not shown) or may be mounted on the outside of the left and right doors, and may be mounted on a rear trunk (not shown) As shown in FIG.

4 and 5 are views showing a screen area according to an embodiment of the present invention.

The display unit 160 is provided with an LDC (Liquid Crystal Display) panel, a LED (Light Emitting Diode) panel, or an OLED (Organic Light Emitting Diode) panel to visually display an input video signal. Accordingly, the range of information provided through the display unit 160 is determined according to the size of the panel.

4 and 5 are views showing a screen area 200 implemented by a display panel constituting the display unit 160. FIG. 4 shows a screen area 200 including an extended area 220 at the lower end , And FIG. 5 shows a screen area 200 including an extended area 220 at the top. 4 and 5 can be understood to represent a screen area 200 of the display portion 160 that provides a view to the left rear or right rear.

Referring to FIGS. 4 and 5, the screen area 200 includes a general area 210 and an extended area 220.

The general region 210 indicates a region where an image is mapped at a low distortion rate as compared with the extended region 220. For example, the image photographed by the image input unit 110 may not be distorted or may be distorted at a low distortion rate compared to the distortion of the image included in the extension region 220, and may be mapped to the general region 210.

In the present invention, the image distortion rate means a rate at which the longitudinal resolution of the image is reduced. The higher the distortion rate of the image, the greater the rate at which the vertical resolution decreases. For example, when the vertical resolution of an image is reduced from 30 pixels to 10 pixels, the distortion rate is higher than that from 20 pixels to 10 pixels.

Also, in the present invention, the distortion rate of an image may have a negative value. If the distortion rate of the image has a negative value, the vertical resolution of the image may increase. For example, the vertical resolution of an image can increase from 10 pixels to 20 pixels.

It can be understood that the general region 210 is a region where the distortion rate is zero or the image is distorted and mapped to a negative distortion rate.

The extended area 220 indicates a region where an image is mapped with a high distortion rate as compared with the general area 210. That is, it can be understood that the extended region 220 is a region in which the image is distorted and mapped at a positive distortion rate. 4 illustrates that the extended area 220 is provided at the lower end of the screen area 200 and FIG. 5 illustrates the extended area 220 provided at the upper end of the screen area 200. FIG.

The extension area 220 may be included or not included in the screen area 200 and the location of the extension area 220 on the screen area 200 may be determined according to the driving state of the vehicle. For example, in a specific condition, only the lower extended area 220 is included in the screen area 200, only the upper extended area 220 is included in the screen area 200 under different conditions, The extended area 220 and the upper extended area 220 may all be included in the screen area 200.

4 and 5 illustrate that the vertical size of the extended area 220 is all Z. However, the vertical size of the lower extended area 220 and the upper extended area 220 may be different, The size may vary depending on the condition.

FIGS. 6 and 7 are views illustrating a relationship between a screen region and a photographed image according to an embodiment of the present invention.

Referring to FIGS. 6 and 7, the screen area 200 is included in the entire range 400 of the photographed image. As described above, only a partial range of the images photographed by the image input unit 110 is included in the screen area 200. In this manner, the inclusion of only a part of the photographed images in the screen area 200 is intended to alleviate the heterogeneity in the size between the real object and the displayed object.

However, for a driver, the presence of objects may be more important than the size at which objects are displayed. For example, the presence of a vehicle at the lower side of the vehicle during backward travel for parking is more important to the driver than the distance to the object.

Accordingly, the extension region 220 according to the embodiment of the present invention may include an image 410 that is larger than the size range of the original image to be included, that is, an extension image. That is, the image area corresponding to the area of the extended area 220 among the entire range 400 of the photographed image is extended in the vertical direction out of the screen area 200 and is mapped to the extended area 220.

The extended area 220 is an area including more information than the actual size. 6 and 7, the extended region 220 includes an image 410 in a range larger than the size of the extended region 220, that is, an extended image. For this, the vertical resolution of the extended image 410 included in the extended area 220 among the photographed images may be reduced and mapped to the extended area 220. As shown in FIGS. 6 and 7, the extended image 410 is mapped to the extended area 220 by reducing the vertical length to Z. FIG.

The image displayed through the extended area 220 is distorted and recognized by the driver as the longitudinal resolution of the image is reduced. However, since the information about the object provided through the extended area 220 is not a distance to the object, the presence of the object makes it possible for the driver to obtain desired information without feeling a great inconvenience.

8 is a diagram illustrating a relationship between an extended image and an extended region according to an embodiment of the present invention.

As described above, the image processing unit 150 may distort the extended image so that the vertical resolution of the extended image is reduced, and may include the extended image in the extended area. Here, the distortion rate of the extended image may increase toward the upper or lower edge of the screen area. That is, when the extended region exists on the upper side of the screen region, the distortion rate of the extended image increases as it goes to the upper edge, and when the extended region exists on the lower side of the screen region, the distortion rate of the extended image increases as it goes to the lower edge.

FIG. 8 is a diagram showing that the extended area 220 exists below the screen area, and shows that the distortion rate of the extended image 420 increases toward the lower edge. 8 shows an example in which the extended area 220 is divided into a uniform size in the vertical direction and the size of the extended images 421, 422, and 423 mapped to the divided areas 221, 222, and 223 decreases toward the lower edge . ≪ / RTI > However, according to another embodiment of the present invention, the extended image 220 may be divided into a smaller size toward the lower edge, and an expanded image (not shown) of a uniform size in the vertical direction may be mapped to each divided area.

As the distortion rate increases, more image information is included, while the recognition rate by the driver decreases. However, since the area is an area for confirming the presence or absence of an object rather than an area for confirming the shape or size of the object as it goes to the edge of the screen area, the driver can obtain the desired information .

8 shows that the extended region 220 is divided into a plurality of divided regions 221 and 222 and the distortion rates vary depending on the divided regions 221 and 222. However, as the entire region of the extended region 220 approaches the edge of the screen region 200 The distortion rate may gradually increase.

9 to 12 are views showing an image range included in an extended area according to an embodiment of the present invention.

9 to 12, when the running state of the vehicle 1 is an inclined road running, the image processing unit 150 refers to the change of the elevation of the vehicle 1 and the change of the angle with respect to the average sea level, And the position of the extension area 220 included in the screen area 200 are selected.

Referring to FIG. 9, the vehicle 1 can travel so that the absolute angle to the mean sea level L decreases as the altitude becomes lower. That is, the vehicle 1 initially located at the upper part of the hill has an angle? 1 between the average sea level L and the running axis C1 of the vehicle 1, The angle between the sea surface L and the running axis C2 of the vehicle 1 is reduced to? 2.

The terrain can be judged by the altitude change and attitude change of the vehicle 1 as described above. That is, it can be determined that the terrain of the road on which the vehicle 1 travels is the same as that shown in Fig. 9 based on the decrease of the absolute angle with respect to the average sea level L as the altitude becomes lower. Terrain determination can be performed by the control unit.

The image processor 150 compares the altitude change and the posture change with a preset threshold value and sets the extended area 220 in the screen area 200 when the altitude change and the posture change exceed the threshold value.

9, it is important for the driver to secure the view of the upper portion 511 of the normal rear image range 510. Therefore, the image processing unit 150 may display the enlarged image of the upper region 511 on the upper side of the screen region 200 220).

Referring to FIG. 10, the vehicle 1 can be driven so that the absolute angle to the mean sea level L increases as the altitude becomes higher. That is, the vehicle 1 initially positioned at the lower part of the hill has an angle? 3 between the average sea level L and the running axis C3 of the vehicle 1, The angle between the sea surface L and the running axis C4 of the vehicle 1 is increased by? 4.

Through such an altitude change and attitude change of the vehicle 1, the control section can determine that the topography of the road on which the vehicle 1 travels is the same as that shown in Fig.

The image processor 150 compares the altitude change and the posture change with a preset threshold value and sets the extended area 220 in the screen area 200 when the altitude change and the posture change exceed the threshold value.

10, it is important for the driver to secure the view of the upper portion 521 of the normal rear image range 520. Therefore, the image processing unit 150 may display the enlarged image of the upper region 521 on the upper side of the screen region 200 220).

Referring to Fig. 11, the vehicle 1 can travel so that the absolute angle to the mean sea level L decreases as the altitude becomes higher. That is, the vehicle 1 initially located at the lower part of the hill has an angle? 5 between the average sea level L and the running axis C5 of the vehicle 1, The angle between the sea surface L and the running axis C6 of the vehicle 1 is reduced to? 6.

Through such changes in altitude and posture of the vehicle 1, the control unit can determine that the topography of the road on which the vehicle 1 travels is the same as shown in Fig.

The image processor 150 compares the altitude change and the posture change with a preset threshold value and sets the extended area 220 in the screen area 200 when the altitude change and the posture change exceed the threshold value.

11, it is important for the driver to secure a view of the lower portion 531 of the normal rear image range 530. Therefore, the image processing unit 150 may include an extended area 220).

Referring to Fig. 12, the vehicle 1 can travel so that the absolute angle to the mean sea level L increases as the altitude becomes lower. That is, the vehicle 1 initially located at the upper part of the hill has an angle? 7 between the average sea level L and the running axis C7 of the vehicle 1, while the vehicle 1 located at the lower part of the hill afterwards has an average The angle between the sea surface L and the running axis C8 of the vehicle 1 is increased by? 8.

Through such changes in altitude and posture of the vehicle 1, the control unit can determine that the terrain of the road on which the vehicle 1 travels is the same as shown in Fig.

The image processor 150 compares the altitude change and the posture change with a preset threshold value and sets the extended area 220 in the screen area 200 when the altitude change and the posture change exceed the threshold value.

12, since it is important for the driver to secure the view of the lower portion 541 of the normal rear image range 540, the image processing unit 150 may include an enlarged area (not shown) on the lower side of the screen area 200 220).

Although the above description has been made with reference to the combination of altitude change and attitude change of the vehicle 1 to determine whether or not the extension area 220 is set and its position, May be determined.

Alternatively, according to another embodiment of the present invention, the setting and the position of the extended area 220 can be determined according to various driving conditions as well as the altitude change and the attitude change of the vehicle 1. For example, the setting and the position of the extended area 220 can be determined according to the traveling speed of the vehicle 1. [ Also, the extended area 220 may be set on both the upper side and the lower side of the screen area 200 according to the running state of the vehicle 1. [

13 is a flowchart illustrating a peripheral surveillance method according to an embodiment of the present invention.

The image input unit 110 receives the photographed image of the surroundings of the vehicle 1 (S610). For this, the image input unit 110 may include at least one camera.

The state determination unit 120 determines the driving state of the vehicle 1 in operation S620 and the image processing unit 150 displays the image of the vehicle 1 on the upper side of the screen region 200 And at least one of the lower side is set as the extended area 220 (S630).

Then, the image processor 150 maps the image corresponding to the extended area 220 of the photographed image to the extended area 220 (S640).

The display unit 160 displays an image included in the screen area 200 (S650).

Figs. 14 and 15 are flowcharts specifically illustrating S620 to S640 shown in Fig. 13. Fig.

Referring to FIG. 14, the state determiner 120 may determine whether the traveling direction of the vehicle 1 is the reverse direction (S710).

Thus, when the running direction of the vehicle 1 is the backward direction, the image processing unit 150 can perform distortion on the bottom of the screen (S720). That is, the extension area 220 is set at the lower end of the screen area 200, and the resolution in the vertical direction of the corresponding extension image is reduced and mapped to the extension area 220.

On the other hand, when the traveling direction of the vehicle 1 is not the backward direction, the peripheral surveillance device can end the subsequent operation.

Referring to FIG. 15, the state determination unit 120 may determine whether the traveling direction of the vehicle 1 is the forward direction (S810). Thus, when the traveling direction of the vehicle 1 is the forward direction, the state determination unit 120 can sense the altitude change of the vehicle 1 (S820). On the other hand, when the traveling direction of the vehicle 1 is not the forward direction, the peripheral surveillance device can end the subsequent operation.

The state determination unit 120 may sense a change in the absolute angle between the average sea level L and the running axis of the vehicle 1 when the altitude of the falling or elevating per unit running distance exceeds the threshold value according to the altitude change detection result (S830, S840). On the other hand, if it is determined that the altitude is maintained as the descending or rising altitude change per unit travel distance is less than or equal to the threshold value, the peripheral surveillance device can end the subsequent operation.

If the angle of decrease or increase per unit travel distance exceeds the threshold value according to the result of detecting the angle change, the image processing unit 150 may perform distortion on the upper or lower end of the screen (S831, S832, S841, S842). In other words,

That is, when the altitude of the vehicle 1 is lowered and the angle is decreased, the image processing unit 150 sets the extended area 220 at the upper end of the screen area 200 (S831), the altitude of the vehicle 1 is lowered When the angle is increased, the image processing unit 150 sets the extended area 220 at the lower end of the screen area 200 in step S832. If the elevation of the vehicle 1 is increased and the angle is increased, If the elevation of the vehicle 1 is increased and the angle is decreased, the image processing unit 150 sets the extended area 220 at the lower end of the screen area 200 (S842). After the setting of the extension area 220, the image processor 150 may map the corresponding image to the extension area 220.

On the other hand, if it is determined that the angle is maintained as the angle change which is decreased or increased per unit travel distance is less than the threshold value, the peripheral surveillance device can end the subsequent operation.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

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Claims (12)

A video input unit that receives a video image of the surroundings of the vehicle using a first camera and a second camera that respectively photograph the left rear and right rear of the vehicle;
A state determination unit for determining a running state of the vehicle;
Maps at least a part of the entire range of the photographed image to a screen area and sets at least one of an upper side and a lower side of the screen area as an extended area according to the running state of the vehicle, An enlarged image in the vertical direction is included in the extended area; And
And a display unit for displaying an image included in the screen area. The method according to claim 1,
Wherein the running state of the vehicle includes at least one of a backward running and an inclined road running. 3. The method of claim 2,
When the running state of the vehicle is the slope road running, the image processing unit refers to the change of the altitude of the vehicle and the change of the angle with respect to the average sea level to select whether to set the extension area and the position of the extension area included in the screen area Peripheral surveillance device. The method according to claim 1,
Wherein the image processor includes an extended image in which the extended image is distorted so that the vertical resolution of the extended image is reduced. 5. The method of claim 4,
Wherein the distortion rate of the extended image is increased toward the upper or lower edge of the screen area. 6. The method of claim 5,
Wherein a distortion rate of an image included in a remaining screen area excluding the extended area is smaller than a distortion rate of the extended image. Receiving a photographed image of a periphery of the vehicle using a first camera and a second camera that respectively photograph the left rear and right rear of the vehicle;
Mapping a partial range of the entire range of the photographed image to a screen area;
Determining a traveling state of the vehicle;
Setting at least one of an upper side and a lower side of the screen area as an extended area according to a running state of the vehicle;
Including an enlarged image that is larger in the vertical direction than the image corresponding to the extended area in the extended area; And
And displaying an image included in the screen area. 8. The method of claim 7,
Wherein the traveling state of the vehicle includes at least one of a backward travel and a slope travel. 9. The method of claim 8,
Determining whether the extended area is set with reference to an altitude change of the vehicle and an angle change with respect to an average sea level when the running state of the vehicle is the slope road running, and selecting the position of the extended area included in the screen area Surrounding surveillance method. 8. The method of claim 7,
Wherein the step of including the extended image in the extended area includes distorting the extended image so that the vertical resolution of the extended image is reduced so as to be included in the extended area. 11. The method of claim 10,
Wherein the distortion rate of the extended image is increased toward the upper or lower edge of the screen area. 12. The method of claim 11,
Wherein a distortion rate of an image included in a screen region other than the extension region is smaller than a distortion rate of the extension image.

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