KR20180082793A - Apparatus and method controlling camera for vehicle - Google Patents

Abstract

The present invention relates to an apparatus and a method for controlling a camera for a vehicle, which automatically control the center point of a camera to improve accuracy of lane recognition and calculation of a distance from a front vehicle. According to an embodiment of the present invention, the apparatus for controlling a camera for a vehicle comprises an image generation unit to generate a front image of a user vehicle; a feature point extraction unit to extract road information displayed on a traffic sign or a road surface from the front image as a feature point; a feature point tracking unit to track a feature point in continuous frames of the front image; a first moving distance calculation unit to calculate a first moving distance of the feature point changed in the continuous frames of the front image; a second moving distance calculation unit to sense a wheel speed of the user vehicle and calculate a second moving distance by which the user vehicle has moved; and a camera control unit to compare the first moving distance and the second moving distance to control a center point parameter of a camera.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and method for controlling a camera for a vehicle, and more particularly, to an apparatus and method for controlling a camera for a vehicle that can automatically recognize a center point of a camera, .

Recently, a plurality of cameras are disposed in a vehicle to allow the driver to grasp the road conditions of the front, rear, and side of the driving lane in real time during driving. The driver can recognize the vehicle ahead, the lane, the sign, and so on through the image captured by the camera. Thus, the lane can be changed by keeping the safety distance from the preceding vehicle or recognizing the driving direction and speed of the vehicle running in the rear direction have.

However, when the camera is installed in an inclined state at the time of installing the camera, or when the camera is inclined due to an external shock or pressure, the camera is tilted. Therefore, there is a problem that the camera displays the images of the front, rear, and side of the vehicle photographed with an inclined focal point, and carries out lane recognition based on the distorted image data, thereby causing an error in lane recognition. In addition, there is a problem that an error occurs in the recognition of the distance to the front vehicle.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus and method for controlling a camera for a vehicle that adjusts a center point of the camera.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle camera control apparatus and method capable of improving the accuracy of lane recognition.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus and method for adjusting a camera for a vehicle that can improve the accuracy of distance recognition between a vehicle and a vehicle ahead.

Other features and advantages of the invention will be set forth in the description which follows, or may be obvious to those skilled in the art from the description and the claims.

According to another aspect of the present invention, there is provided an apparatus for adjusting a camera for a vehicle, the apparatus comprising: an image generation unit for generating a forward image of the vehicle; a feature point extracting unit for extracting, from the forward image, A feature point tracking unit for tracking the feature points in successive frames of the forward image, a first movement distance calculating unit for calculating a first movement distance of the feature points changed in successive frames of the forward image, A second movement distance calculation unit for calculating a second movement distance of the subject vehicle by detecting the velocity and a camera control unit for adjusting the center point parameter of the camera by comparing the first movement distance and the second movement distance.

Here, the first movement distance calculation unit calculates a first vertical distance from the center of the first frame of the forward image to the feature points, calculates a second vertical distance from the center of the second frame to the changed feature points, And a first vertical distance based on the difference of the first vertical distance and the second vertical distance.

In addition, the camera control unit adjusts the center point of the camera based on the second movement distance when the comparison result of the first movement distance and the second movement distance is different.

According to another aspect of the present invention, there is provided a method of adjusting a camera for a vehicle, the method comprising: extracting road information displayed on a signboard or a road bottom in a forward image of the vehicle, Calculating a second movement distance based on the wheel speed of the subject vehicle, and adjusting a center parameter of the camera based on a result of comparing the first movement distance and the second movement distance do.

Here, in the step of calculating the first movement distance, the feature point is extracted from the first frame of the forward image, the vertical distance from the center of the first frame to the feature point is calculated, A second vertical distance from the center of the two frames to the changed minutiae is calculated to calculate a first moving distance based on the difference between the first vertical distance and the second vertical distance.

Further, in the step of adjusting the camera parameters, the center point parameter of the camera is adjusted based on the second movement distance when the first movement distance and the second movement distance are different.

The apparatus and method for controlling a camera according to an embodiment of the present invention can precisely control camera parameters by comparing movement distances of a vehicle calculated using a front image and a wheel speed sensor.

In addition, the camera parameters can be adjusted to improve the accuracy of front vehicle and lane recognition.

In addition, other features and advantages of the present invention may be newly understood through embodiments of the present invention.

1 is a view showing a configuration of a camera control device for a vehicle according to an embodiment of the present invention.
Fig. 2 is a diagram showing extraction of minutiae points. Fig.
Fig. 3 is a diagram showing the calculation of the vertical distance. Fig.
4 is a diagram showing the calculation of the first movement distance.
5 is a flowchart illustrating a camera camera adjustment method according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

If any part is referred to as being "on" another part, it may be directly on the other part or may be accompanied by another part therebetween. In contrast, when a section is referred to as being "directly above" another section, no other section is involved.

The terms first, second and third, etc. are used to describe various portions, components, regions, layers and / or sections, but are not limited thereto. These terms are only used to distinguish any moiety, element, region, layer or section from another moiety, moiety, region, layer or section. Thus, a first portion, component, region, layer or section described below may be referred to as a second portion, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified and that the presence or absence of other features, regions, integers, steps, operations, elements, and / It does not exclude addition.

Terms indicating relative space such as "below "," above ", and the like may be used to more easily describe the relationship to other portions of a portion shown in the figures. These terms are intended to include other meanings or acts of the apparatus in use, as well as intended meanings in the drawings. For example, when inverting a device in the figures, certain portions that are described as being "below" other portions are described as being "above " other portions. Thus, an exemplary term "below" includes both up and down directions. The device can be rotated by 90 degrees or rotated at different angles, and terms indicating relative space are interpreted accordingly.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

1 is a view showing a configuration of a camera control device for a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle camera control apparatus 100 according to an embodiment of the present invention includes an image generation unit 110, a feature point extraction unit 120, a feature point tracking unit 130, a first movement distance calculation unit 140 A second moving distance calculating unit 150, and a camera adjusting unit 160.

The image generation unit 110 generates a forward image of the subject vehicle. Specifically, the image generating unit 110 may include at least one camera disposed in the subject vehicle, and may capture a forward image of the subject vehicle to generate a forward image of the subject vehicle. Also, the image generating unit 110 may generate a peripheral image of the subject vehicle by photographing the periphery of the subject vehicle with respect to at least one direction as well as the front of the subject vehicle. The image generation unit 110 provides the feature point extraction unit 120 with the forward image and the surrounding image.

The feature point extraction unit 120 extracts the feature point 10 from the forward image. Specifically, the minutiae point extracting unit 120 extracts a traveling direction display, a speed limit display, a sign, and the like displayed on the bottom of the road by the minutiae point 10. Here, the feature point extracting unit 120 may extract the same feature point 10 in a plurality of frames of the forward image. For example, if the arrow of the sign indicating the running direction in the first frame of the forward image is extracted as the feature point 10, the second frame, the third frame, In the n-th frame, arrows of the same sign can be extracted as feature points 10. The feature point extraction unit 120 generates the feature point data for the extracted feature points and provides the feature point data to the feature point tracking unit 130.

The feature point tracking unit 130 tracks the feature point 10 in successive frames of the forward image based on the feature point data received from the feature point extracting unit 120. [ Specifically, the feature point tracking unit 130 tracks the change of the feature point 10 in successive frames.

For example, the minutiae point extracting unit 120 extracts the arrows displayed on the markers with the minutiae points 10, and the minutiae pointing unit 130 tracks the extracted minutiae 10. At this time, the size of the sign increases and the size of the arrow displayed on the sign increases in the forward image photographed according to the running of the subject vehicle. Accordingly, the position of the feature point 10 can be changed to the lower side of the forward image. Accordingly, even if the same feature point 10 is extracted, the position of the feature point 10 can be changed, and the feature point tracking unit 130 can track the position of the changed feature point 10 in successive frames. The feature point tracking unit 130 provides the first movement distance calculating unit 140 with the position of each feature point 10 in a plurality of frames.

Fig. 2 is a diagram showing extraction of minutiae points. Fig.

Referring to FIG. 2, the feature point extracting unit 120 extracts a signboard as a feature point 10 in a forward image. Here, when the feature point extracting unit 120 extracts the arrow indicating the direction of travel of the signboard in the first frame of the forward image as the feature point 10, the arrow of the same signboard is extracted as the feature point 10 in the second frame of the forward image can do. At this time, the size of the sign increases and the size of the arrow displayed on the sign increases in the forward image photographed according to the running of the subject vehicle. Accordingly, the position of the feature point 10 is changed in the forward image, and the feature point tracking unit 130 can track the position of the changed feature point 10 in successive frames.

The first moving distance calculating unit 140 calculates a first moving distance of the changed minutiae 10 in successive frames of the forward image based on the positions of the minutiae points 10 provided by the minutiae pointing unit 130 .

Specifically, the first movement distance calculating unit 140 calculates the vertical distance between the center of the forward image, which is the center point of the camera, and the extracted feature points 10. Here, the first movement distance calculation unit 140 calculates the first movement distance by calculating the difference in vertical distance between consecutive frames.

Fig. 3 is a diagram showing the calculation of the vertical distance. Fig.

)를 산출한다.Referring to FIG. 3, the first movement distance calculation unit 130 calculates the changed movement distance of the feature point 10 in successive frames of the forward image. The first movement distance calculation unit 130 generates a hypothetical first line 20a crossing the center of the first frame of the forward image and a hypothetical second line 20b crossing the feature point 10. [ At this time, the first line 20a and the second line 20b are parallel, and the first movement distance calculating unit 140 calculates the first vertical distance 22 between the first line 20a and the second line 20b ,

).

)를 산출한다. 그리고, 제1 이동거리 산출부(130)는 제1 수직거리(22,

) 및 제2 수직거리(24,

)의 차이에 기초하여 제1 이동거리를 산출한다.The first moving distance calculating unit 130 includes an imaginary first line 20a that crosses the center of the second frame that is continuous with the first frame of the forward image and a virtual third line 20b that crosses the characteristic point 10. [ (20c). At this time, the first line 20a and the third line 20c are in parallel, and the first movement distance calculating unit 140 calculates the second vertical distance 24 between the first line 20a and the third line 20c ,

). The first movement distance calculating unit 130 calculates the first vertical distance 22,

And the second vertical distance 24,

To calculate the first movement distance.

4 is a diagram showing the calculation of the first movement distance.

,

는 특징점의 실제 위치, h는 바닥에서 자차량에 배치된 카메라까지의 높이, f는 카메라의 초점거리이다. 여기서, 카메라의 초점 거리에 따라

이 전방영상에 특징점으로 표시(

)되고, 카메라 초점으로부터 특징점(

)까지의 제1 수직거리(

)를 산출할 수 있다. 또한, 카메라의 초점 거리에 따라

가 전방영상에 특징점으로 표시(

)되고, 카메라의 초점으로부터 특징점(

)까지의 제2 수직거리(

)를 산출할 수 있다. 이때, 제1 수직거리(

)와 제2 수직거리(

)의 차이는 제1 이동거리(

)가 된다.Referring to Figure 4,

,

Is the actual position of the feature point, h is the height from the floor to the camera disposed on the vehicle, and f is the focal length of the camera. Here, depending on the focal length of the camera

Marked as a feature point on this forward image (

), And a feature point (

) ≪ / RTI >

) Can be calculated. Also, depending on the focal length of the camera

Is displayed as a feature point on the forward image (

) From the focus of the camera,

) To the second vertical distance

) Can be calculated. At this time, the first vertical distance (

) And the second vertical distance (

) Is the first moving distance (

).

Then, the second movement distance calculation unit 150 detects the wheel speed of the child vehicle and calculates the second movement distance of the child vehicle. Specifically, the second travel distance calculating unit 150 detects the wheel speed of the host vehicle using the wheel speed sensor. In addition, the second movement distance calculating unit 150 can calculate the second movement distance based on the time when the subject vehicle moves according to the sensed wheel speed. The second movement distance calculation unit 150 provides the calculated movement distance to the camera control unit 160.

The camera controller 160 adjusts the center point parameter of the camera when the comparison result of the first movement distance and the second movement distance is different. Specifically, when the first moving distance and the second moving distance are different from each other as a result of comparing the first moving distance and the second moving distance, the camera adjusting unit 160 adjusts the first moving distance and the second moving distance To adjust the center point. At this time, by moving the center point, the first movement distance and the second movement distance are adjusted to be constant, and thus the front vehicle, the lane, the sign, etc. can be detected more accurately.

5 is a flowchart illustrating a camera camera adjustment method according to an embodiment of the present invention.

Referring to FIG. 5, the image generating unit 110 generates a forward image of the subject vehicle (S510). The image generating unit 110 generates a forward image of the subject vehicle by photographing the front of the subject vehicle in real time through at least one camera disposed in the subject vehicle. At this time, not only the front of the vehicle, but also the rear and side images of the vehicle can be generated.

Then, the feature point extracting unit 120 extracts feature points from the forward image (S520). Specifically, the minutiae point extracting unit 120 extracts a signboard, a traveling direction display on the floor, a speed, and the like as minutiae in the forward image. At this time, the feature point extracting unit 120 may extract the same feature points in one or more frames of the forward image.

Then, the feature point tracking unit 130 tracks the feature points extracted from the plurality of frames of the forward image (S530). Specifically, the feature point tracking unit 130 tracks the same feature points extracted from one or more frames of the forward image. Here, as the vehicle runs, the position of the feature point changes in the forward image, and the feature point tracking unit 130 tracks the position of the changed feature point.

Subsequently, the first movement distance calculation unit 140 calculates the first movement distance (S540). Specifically, the first movement distance calculation unit 140 calculates a first movement distance in which the feature points move in a plurality of frames of the forward image. Here, the first movement distance calculating unit 140 calculates the vertical distance from the center of the forward image to the minutiae, and calculates the first movement distance by calculating the difference between the vertical distances in successive frames.

Subsequently, the second movement distance calculation unit 150 calculates the second movement distance (S550). The second travel distance calculating unit 150 detects the wheel speed of the host vehicle using the wheel speed sensor disposed in the host vehicle, and calculates the second travel distance based on the wheel speed. The second travel distance calculating unit 150 can calculate the second travel distance based on the travel time according to the wheel speed of the host vehicle.

Then, the camera controller 160 compares the first movement distance and the second movement distance to adjust camera parameters (S560). Specifically, the camera control unit 160 compares the first movement distance and the second movement distance. As a result of comparing the first movement distance and the second movement distance, if the first movement distance and the second movement distance are different, the first movement distance and the second movement distance are adjusted to be constant by adjusting the center point parameter of the camera.

As described above, the present invention can realize a vehicle camera adjusting apparatus and method that can automatically adjust the center point of a camera to improve lane recognition and distance calculation accuracy with respect to a forward vehicle.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims and their equivalents. Only. It is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. .

100: Vehicle camera control device
110:
120: Feature point extraction unit
130: Feature point tracking unit
140: First movement distance calculating section
150: second moving distance calculating unit
160: Camera control unit

Claims (6)

An image generating unit for generating a forward image of the subject vehicle;
A feature point extracting unit for extracting road information displayed on a signboard or a road bottom in the forward image as feature points;
A feature point tracking unit for tracking the feature points in successive frames of the forward image;
A first movement distance calculation unit for calculating a first movement distance of the feature point in a continuous frame of the front image;
A second movement distance calculation unit for calculating a second movement distance of the child vehicle by sensing the wheel speed of the child vehicle; And
And a camera controller for adjusting a center point parameter of the camera by comparing the first movement distance and the second movement distance. The apparatus according to claim 1, wherein the first movement distance calculating unit
Calculating a first vertical distance from the center of the first frame of the forward image to the feature point and calculating a second vertical distance from the center of the second frame to the feature point changed to determine the first vertical distance and the second vertical And calculates the first movement distance based on the difference in distance. [3] The apparatus of claim 2,
And adjusts the center point of the camera based on the second movement distance when the comparison result of the first movement distance and the second movement distance is different. Extracting the road information displayed on the signboard or the road bottom from the forward image of the subject vehicle as feature points and calculating a first movement distance of the subject vehicle;
Calculating a second travel distance based on the wheel speed of the subject vehicle; And
And adjusting a center parameter of the camera based on a result of comparing the first movement distance and the second movement distance. 5. The method according to claim 4, wherein in the step of calculating the first movement distance,
The method of claim 1, further comprising: extracting a feature point from a first frame of the forward image, calculating a vertical distance from the center of the first frame to the feature point, Calculating the second vertical distance based on the difference between the first vertical distance and the second vertical distance. 6. The method of claim 5, wherein adjusting the camera parameters comprises:
And adjusting the center point parameter of the camera based on the second movement distance when the first movement distance and the second movement distance are different.

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