KR20200064295A - Vehicle image management device, vehicle including thereof and controlling method - Google Patents

Abstract

The present invention relates to an image processing device capable of storing a high-quality vehicle black box image. The image processing device of the present invention comprises: an image photographing module photographing the surrounding images of a vehicle; and an image processing module acquiring the surrounding images photographed from the image photographing module, wherein the image processing module includes a storage part for storing a plurality of prediction modes having directionality for the entire screen, and a control part for dividing a screen of the acquired surrounding image into at least one divided screen and determining a predicted pixel value by applying only a part of the plurality of prediction modes based on the directionality of the divided screen to perform in-screen prediction processing.

Description

VEHICLE IMAGE MANAGEMENT DEVICE, VEHICLE INCLUDING THEREOF AND CONTROLLING METHOD}

The present invention relates to an image processing apparatus for a vehicle, a vehicle including the same, and a control method thereof, and more particularly, to a vehicle and a control method for storing the vehicle black box image more efficiently.

A vehicle means a device capable of transporting people or objects to a destination while driving on a road or track. The vehicle can be moved to various positions mainly using one or more wheels installed on the vehicle body. Such a vehicle may include a three- or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, and a train running on a rail disposed on a track.

In the case of driving such a vehicle, the driver can observe the front through the windshield while driving, and can see the rear without turning his head through the room mirror of the vehicle body, and each side mirror is installed on both sides of the vehicle. Both sides and right are checked visually to ensure safe operation. However, in the driver's seat, the blind spot may be invisible to the driver other than the rear stare through the front mirror and the room mirror, and thus a safety accident may occur frequently.

Therefore, in recent years, more and more vehicles are equipped with a blind spot identification device on the front and rear of the vehicle so that the driver can conveniently check the blind spot when driving. After taking a picture, the A/V system inside the vehicle allows the driver to view the image captured through the monitor.

For example, in recent years, a vehicle video recorder (DVR) that is installed in a vehicle to record external images of a vehicle has been developed and commercialized to identify the cause of a traffic accident, and to provide an economical, practical, and technical alternative. Black box is used.

However, in the case of a low-quality image of a vehicle black box, it is a trend to prefer a black box capable of securing a high-definition image because it is difficult to identify the cause in case of an accident. Due to the same problem, research into a method for more efficiently storing high quality images has been continued.

One aspect is to provide a vehicle image processing apparatus capable of storing a high-quality vehicle black box image, a vehicle including the same, and a control method.

Accordingly, the vehicle intends to secure a high-quality image by increasing a compression rate and to minimize computation time.

In addition, the vehicle is to provide an image processing apparatus for a vehicle, a vehicle including the same, and a control method capable of efficiently storing an image as a high quality image with a minimum computation time is secured.

An image processing apparatus according to an aspect includes an image photographing module that photographs a surrounding image of a vehicle; And an image processing module for acquiring surrounding images captured from the image capturing module, wherein the image processing module includes: a storage unit in which a plurality of prediction modes having directionality with respect to the entire screen are stored; And a control unit for dividing the obtained screen of the surrounding image into at least one split screen and determining a predicted pixel value by applying only a part of the plurality of prediction modes based on the direction of the split screen to perform intra prediction processing. It may include.

In addition, the controller may divide the screen of the acquired surrounding image into four divided screens based on a vanishing point of one point that is an intersection of a horizontal line and a vertical line.

In addition, the controller, the four split screens may include a first split screen on the upper left, a second split screen on the upper right, a third split screen on the lower left, and a fourth split screen on the lower right.

In addition, the controller may determine a predicted pixel value by applying half a prediction mode among the plurality of prediction modes based on the direction of the split screen.

In addition, the controller, in the case of the first split screen, applies a prediction mode in the upper left diagonal direction, and in the case of the second split screen, applies a prediction mode in the upper right diagonal direction, and of the third split screen. In the case, the prediction mode in the lower left diagonal direction may be applied, and in the case of the fourth split screen, the prediction mode in the lower right diagonal direction may be applied.

In addition, the controller may calculate a cost for each of the half prediction modes based on the direction of the split screen, and determine a prediction mode, which is a minimum cost among the calculated costs, as a final mode.

In addition, when the cost of the final mode is greater than a preset threshold cost, the controller may determine a predicted pixel value by applying all of the plurality of prediction modes rather than the half prediction mode.

In addition, it is possible to provide a vehicle including the image processing apparatus.

According to another aspect,

And an image processing module including an image processing module for photographing surrounding images of a vehicle, and an image processing module for acquiring surrounding images captured from the image photographing module and storing a plurality of prediction modes having directionality with respect to the entire screen. A vehicle control method comprising: dividing a screen of an acquired surrounding image into at least one split screen; A vehicle control method for determining a prediction pixel value by applying only a part of the plurality of prediction modes based on the direction of the split screen to perform intra prediction processing may be provided.

In addition, dividing the screen of the acquired peripheral image into at least one split screen may include dividing the screen of the acquired peripheral image into four divided screens based on a 1-point vanishing point that is an intersection of a horizontal line and a vertical line. Can be.

In addition, dividing the screen of the acquired surrounding image into four divided screens based on a vanishing point of one point that is an intersection of a horizontal line and a vertical line, the four divided screens include a first split screen on the upper left and a second split on the upper right. It can be divided into a split screen, a third split screen in the lower left, and a fourth split screen in the lower right.

In addition, performing prediction processing in the screen by determining a prediction pixel value by applying only a part of the plurality of prediction modes based on the direction of the split screen is half of the plurality of prediction modes based on the direction of the split screen. And determining a predicted pixel value by applying a prediction mode of.

In addition, determining a predicted pixel value by applying a prediction mode of half of the plurality of prediction modes based on the directionality of the split screen, in the case of the first split screen, applies a prediction mode in the upper left diagonal direction, In the case of the second split screen, the prediction mode in the upper right diagonal direction is applied, in the case of the third split screen, the prediction mode in the lower left diagonal direction is applied, and in the fourth split screen, the lower right diagonal direction is applied. It may include applying a prediction mode of.

Also, it may further include calculating a cost for each of the half prediction modes based on the directionality of the split screen, and determining a prediction mode that is a minimum cost among the calculated costs as a final mode.

In addition, when the cost of the final mode is greater than a preset threshold cost, it may further include determining a prediction pixel value by applying all of the plurality of prediction modes rather than the half prediction mode.

The present invention can provide a vehicle image processing apparatus capable of storing a high-quality vehicle black box image.

The vehicle can improve the prediction method for increasing the compression rate by using the directional feature of the image in the high quality image.

Accordingly, the vehicle can secure a high-quality image with minimal computation time, and thus can provide a vehicle image processing apparatus capable of efficiently storing an image, a vehicle including the same, and a control method.

1 is an exemplary interior view of a vehicle for explaining a camera attachment position according to an embodiment.
2 is an internal block diagram of a vehicle according to an embodiment.
3 is an exemplary diagram for explaining a method of dividing a screen of an image according to an embodiment.
4 is a schematic diagram illustrating an in-screen prediction method of an image according to an embodiment.
5 is an exemplary view for explaining an intra prediction method of an image according to an embodiment.
6 is a flowchart illustrating an in-screen prediction method of an image.

The same reference numerals refer to the same components throughout the specification. This specification does not describe all elements of the embodiments, and overlaps between general contents or embodiments in the technical field to which the present invention pertains are omitted. The term'part' used in the specification may be implemented in software or hardware.

Throughout the specification, when a part is "connected" to another part, this includes not only a direct connection but also an indirect connection, and an indirect connection includes connecting through a wireless communication network. do.

Also, when a part “includes” a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise specified.

Singular expressions include plural expressions, unless the context clearly has an exception.

In each step, the identification code is used for convenience of explanation. The identification code does not describe the order of each step, and each step can be executed differently from the specified order unless a specific order is clearly stated in the context. have.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is an internal block diagram of a vehicle according to an embodiment.

As shown in Figure 1, the interior 120 of the vehicle body is seated on the occupant seat 121, the dashboard 122, and disposed on the dashboard tachometer, speedometer, coolant thermometer, fuel gauge, direction change indicator light The instrument panel (i.e., cluster, 123) with air-conditioner, warning lamp, safety belt warning light, odometer, odometer, automatic shift selector light, door open warning light, engine oil warning light, and fuel shortage warning light It includes a center fascia 124 on which a tuyeres and throttle are arranged and on which radio and audio devices are arranged.

The cluster 123 may further include a display unit that displays driving information and failure information of the vehicle. Here, the driving information may include fuel consumption information, driving distance information, total driving distance information, and driving mode, and the failure information may include tire air pressure abnormality information and the like.

The center fascia 124 may be provided with a head unit 125 for controlling a radio device, an audio device, an air conditioning device, a multi-terminal 126 and the like.

Here, the multi-terminal 126 may be disposed at a position adjacent to the head unit 125, may include a USB port, an AUX terminal, and may further include an SD slot.

The multi-terminal 126 can also communicate with a user terminal through a USB port. Here, the user terminal is a device capable of mobile and communication, and may include a smart phone, a laptop, a tablet, and a wearable device.

The vehicle 1 may further include an input unit 127 for receiving operation commands of various functions.

The input unit 127 may be provided in the head unit 125 and the center fascia 124, and includes at least one physical button such as an operation on/off button for various functions, a button for changing a set value of various functions, and the like. do.

The input unit 127 may include a touch panel integrally provided with a display unit of the vehicle terminal 130. The input unit 127 receives location information of buttons displayed on the display unit of the terminal 130.

The input unit 127 may further include a jog dial or a touch pad for inputting a movement command and a selection command of a cursor displayed on the display unit of the vehicle terminal 130.

Here, the jog dial or the touch pad may be provided in a center fascia or the like.

The vehicle 1 may be provided on the head unit, and may further include a display unit 128 that displays information about a function being performed in the vehicle and information input by the user.

The display unit 128 includes a plasma display panel (Plasma Display Penal), a liquid crystal display (LCD) panel, an electroluminescence (EL) panel, an electrophoretic display (EPD) panel, and an electrochromic display ( An electrochromic display (ECD) panel, a light emitting diode (LED) panel, or an organic light emitting diode (Organic Light Emitting Diode: OLED) panel may be provided, but is not limited thereto.

The vehicle terminal 130 may display images in the front, rear, left, and right directions, and may display map accuracy and road guidance information in conjunction with a navigation mode.

The vehicle terminal 130 may be mounted on the dashboard or mounted on the center fascia.

The display unit of the terminal 130 can also display information on a function being performed and information input by a user.

The vehicle 1 is provided in the center fascia 124 and is operated in an electronic parking brake device (not shown), which is located in the periphery of the shift lever 140 or the head unit 125 and receives the operation position. It further includes a parking button (EPB button) for receiving a command.

In addition, the vehicle 1 is a steering wheel 151 of the steering device for adjusting the driving direction, a brake pedal 152 that is pressed by the user according to the user's braking will, and the user according to the user's willingness to accelerate. It may include a pressurized accelerator pedal (153).

In particular, the vehicle according to the embodiment may include a vehicle black box 1000. As shown in FIG. 1, the vehicle black box 1000 is generally mounted at the rear (bottom) of a room mirror, and an image photographed by the black box is generally mounted so that the center of the front of the vehicle can be photographed.

2 is a block diagram of an image processing apparatus 100 that processes an image acquired through a camera mounted on a black box according to an embodiment, and the image processing apparatus 100 is an image photographing module 110 for photographing an image ) And an image processing module 120 that controls predictive analysis and image compression for the captured image.

In this case, the image processing apparatus 100 may be the vehicle black box 1000 shown in FIG. 1. That is, the vehicle black box 1000 may internally store an image through image capturing, predictive analysis, and image compression processing.

Alternatively, the image capturing module 110 corresponds to the vehicle black box 1000 illustrated in FIG. 1, so that the camera included in the black box captures the image, and the vehicle black box 1000 acquires the image acquired by the vehicle network ( NT) to the image processing module 120.

At this time, the vehicle network (NT) is a MOST (Media Oriented Systems Transport) with a communication speed of up to 24.5 Mbps (Mega-bits per second), FlexRay with a communication speed of up to 10 Mbpas, and 125 kbps ( Communication protocols such as kilo-bits per second (CAN) to 1Mbps communication speed (CAN, Controller Area Network), and 20kbps communication speed (LIN, Local Interconnect Network) may be employed.

The vehicle communication network NT may employ not only a single communication protocol such as Most, Place, Can, and Lean, but also a plurality of communication protocols.

Hereinafter, in the image processing apparatus 100 according to the embodiment, each configuration of the image photographing module 110 and the image processing module 120 constituting the same will be described.

First, the image capturing module 110 may include an image capturing unit 111 and a first communication unit 112.

The image capturing unit 111 acquires an image of the road based on the front center of the vehicle, and the captured image can be transmitted to the image processing module 120 through wired or wireless communication through the first communication unit 112. .

At this time, the image photographing unit 111 is a camera, which may include a CCD or CMOS image sensor, and is generally mounted at the bottom of a room mirror in a vehicle.

The image photographing unit 111 has a composition in which a horizontal line is positioned at the center of the screen due to the mounting characteristics of the camera. That is, as in the image shown in FIG. 3, the horizontal line is located at the center of the screen, so that the image is divided into two parts, top and bottom.

Accordingly, as shown in FIG. 3, the vanishing point, which means the point where the horizontal line and the vertical line cross, is represented by one vanishing point (a), constitutes one vanishing point (a), and the position of the one vanishing point (a) is This is the point where the horizontal and vertical lines of the image meet, and is located at the eye level, which is the horizontal line (HL) representing the height of the camera.

Next, the image processing module 120 performs predictive analysis and image compression processing on the second communication unit 122 receiving the image acquired by the image capturing module 110 through the first communication unit 112 and the received image. It includes an ongoing control unit 123, a storage unit 125 for storing the processed image, a prediction unit and a compression processing method, and a display unit 124 for displaying the processed image to the user.

At this time, the first communication unit 112 of the image capturing module 110 and the second communication unit 122 of the image processing module 120 may transmit and receive the image captured through the vehicle network NT.

The display unit 124 may correspond to the terminal illustrated in FIG. 1. The terminal 130 may include an input unit 127 and a display unit 124. The input unit of the terminal 130 may be a touch panel, and the display unit may be a display panel.

The terminal 130 may be provided as a touch screen in which a touch panel and a display panel are integrated.

In addition, the terminal 130 may include only a display panel that is the display unit 124, and it is also possible to receive operation information and operation commands through the input unit 127 provided in the center fascia of the vehicle.

In addition, the display unit 124 may display an image after prediction and compression processing of the image captured by the image capturing module 110.

Next, the storage unit 125 stores information on a prediction processing method and a compression processing method for image processing, and stores the captured image information obtained from the image capture module 112 in a volatile memory, or the control unit 123 ), it is also possible to store the processed image information.

Accordingly, the storage unit 125 may sequentially store images photographed over time.

That is, the storage unit 125 is a non-volatile memory such as cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EPMROM), and flash memory The device may be implemented as at least one of a volatile memory device such as a random access memory (RAM) or a storage medium such as a hard disk drive (HDD) or CD-ROM, but is not limited thereto. The storage unit may be a memory implemented in a separate chip from the processor described above in relation to the control unit, or may be implemented in a single chip from the processor.

Finally, the control unit 123 constituting the image processing module 125 will be described. The control unit 123 controls overall the operation of the image processing module 120. The control unit 123 may be formed of a single chip and a storage unit 125, or may be operated as a memory composed of separate chips.

The control unit 123 divides the still image screen into four regions based on the one-point vanishing point with respect to the still image obtained from the image capturing module 110. Specifically, as illustrated in FIG. 3, the control unit 123 performs the upper/lower 2 division based on the horizontal line HL and the left/right 2 division based on the vertical line VL.

Accordingly, the control unit 123 distinguishes the upper left area of ①, the upper right area of ③, the lower left area, and the lower right area of ④ on the still image screen, and performs screen compression operation on each of the four divided areas. .

However, before performing the compression operation, the controller 123 performs predictive analysis on the shape of the object included in the still image screen.

Specifically, the prediction execution method refers to a method of predicting each pixel value according to a direction using horizontal pixels and vertical pixels as reference pixels in a screen. Specifically, FIG. 4 is an exemplary diagram for explaining a prediction performance method.

As illustrated in FIG. 4, reference pixels for pixels in the horizontal direction are denoted as having Q to H pixel values, and reference pixels for pixels in the vertical direction are denoted as having Q to L pixel values.

At this time, in case of (a) of FIG. 4, an example calculation method for calculating a predicted pixel value for each block in horizontal downward prediction is also described, and in case of (b) in FIG. An example calculation method for calculating a predicted pixel value is described.

For example, if the vertical pixel and the area to be currently calculated are the same, the controller 123 may increase efficiency when calculating the horizontal direction in the prediction mode. That is, the controller 123 may perform horizontal up-prediction analysis as shown in FIG. 4(a) horizontal down prediction or FIG. 4(b) when the vertical pixel and the current region to be calculated match.

For example, FIGS. 4(a) and 4(b) show that a diagonal direction object is included in a still image, and the prediction direction is a horizontal downward diagonal direction and a horizontal upward diagonal direction, respectively. .

Accordingly, as the controller 123 predicts each pixel value based on a preset pixel value prediction value according to an embodiment illustrated in FIG. 4C, it is possible to maximize the computational efficiency while maintaining the image quality and increasing the compression rate. It is possible.

In addition, the controller 123 improves the accuracy of the prediction mode by using the tendency that each divided region has a similar pixel distribution in the diagonal direction with respect to the four regions included in the divided still image screen.

For example, when the road shape, the lane shape, and the vehicle shape are based on the area ④ of FIG. 3, it can be seen that similar pixels are distributed in the lower right direction, and the area ③ in FIG. 3 is also similar in the lower left direction You can see that is distributed.

Accordingly, the controller 123 may improve the accuracy of the prediction mode by using a pixel distribution of similar directionality for each divided region.

That is, the controller 123 applies the prediction method of FIG. 5 to improve the accuracy of the prediction mode by having a pixel distribution of similar directionality for each divided region. Specifically, FIG. 5 is an exemplary diagram for explaining an intra-screen prediction method of an image according to an embodiment, and the entire image is diagonally divided based on the one-point vanishing point (a).

Accordingly, the control unit 123 applies a diagonal division method using the direction of similar pixel distribution for each divided area to improve the accuracy of the intra prediction mode. Specifically, the prediction mode of FIG. 5 starts at 1 point vanishing point (a) and has two directions so as to be uniformly divided in the vertical direction to the left of the screen. It includes modes 18 to 34 having respective directionality so as to be uniformly divided in directions, and although not shown, arrows of each mode indicate the position of pixel values used for prediction.

In addition, although not shown, additional modes other than diagonal directionality may be further included. For example, the control unit 123 may further include a Direct-Currnet (DC) mode in addition to the Mode 2 to Mode 34, or a Plane mode.

For example, in the case of the upper left area of ①, since similar pixels are distributed in the diagonal direction of the upper left, as shown in FIG. 5 by applying mode 10 to mode 26, the computation amount can be reduced in half.

In addition, for example, in the upper right area of ②, by selecting mode 2 in mode 10 and mode 26 in mode 26, it is also possible to reduce the computation amount in half.

Also, for example, in the case of the lower left area, since similar pixels are distributed in the diagonal direction of the lower left, according to the selection of mode 2 to mode 10 and mode 26 to mode 34 in FIG. 5, the computation amount is also reduced by half. I can do it.

In addition, for example, in the case of the lower right area, since similar pixels are distributed in the diagonal direction of the lower right, it is possible to reduce the computation amount in half by selecting the mode 10 to mode 26.

Accordingly, the control unit 123 may reduce the calculation amount to 1/16 for the entire still image screen by applying an in-screen prediction method in which the calculation amount is reduced in half for each region.

A flowchart of a method for the control unit 123 to reduce the calculation amount for the still image screen based on FIGS. 4 and 5 will be described in FIG. 6. That is, FIG. 6 is a flowchart illustrating an intra-screen prediction method of an image, and is intended to reduce a computation amount by reducing the number of prediction modes by utilizing the intra-pixel distribution characteristics.

First, the image processing apparatus 100 acquires an image (600). That is, in the image processing apparatus 100, the control unit 123 in the image processing module 125 receiving the image captured by the image capturing module 110 acquires an image. Thereafter, the controller 123 divides the obtained still image screen into four regions (610). Specifically, the four areas are the upper left area, the upper right area, the lower left area, and the lower right area of ① as illustrated in FIG. 3, and the horizontal line (HL) and the vertical line (VL) are centered around the vanishing point (a). ).

Thereafter, the controller 123 performs block division for screen prediction for each of the four regions for screen prediction (operation 620). That is, as illustrated in FIG. 4, for each region, it is determined whether the size of the block of the video screen is 4*4 pixels, for example, the size of the block of the video screen for the entire screen is 8*8 pixels It may consist of, but not necessarily.

Thereafter, the control unit 123 acquires a reference pixel for a horizontal direction and a reference pixel for a vertical direction, and predicts pixel values in a screen for each block (630 and 640). That is, as described in FIG. 5, the controller 123 performs prediction by selecting mode 10 to mode 26 in FIG. 5 in the case of the upper left area of ①, and ② in the case of the upper right area of ② In 10 and Mode 26, mode 34 is applied to perform prediction, and in the case of the lower left area, prediction is performed by selecting Mode 2 to Mode 10 and Mode 26 to Mode 34 in the diagonal direction of the lower left, ④ In the case of the lower right area, mode 10 to mode 26 are selected and prediction prediction is applied (640).

Thereafter, the controller 123 calculates the cost calculated by applying each mode, selects the mode that becomes the minimum as the final mode (650), and if the selected mode is less than the minimum cost (example of 660), selects the corresponding final mode By storing in the current mode, prediction is performed on the next block.

However, if the mode selected as the final mode is greater than the minimum cost (No in 660), prediction is performed on all modes, not the selected mode (690).

Therefore, since prediction is performed on all modes, until prediction is completed for all modes (700), the controller performs prediction (Nos and 700 of 690), and when prediction is performed for all modes is completed. (Example 690), the process proceeds to prediction for the next block (680).

That is, when the prediction execution is completed for all blocks (YES in 710), the control unit 123 reduces the computation amount by applying a prediction mode reduced in half for each region. have.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains may have different forms from the disclosed embodiments without changing the technical spirit or essential features of the present invention. It will be understood that the invention can be practiced. The disclosed embodiments are illustrative and should not be construed as limiting.

1: Vehicle 321: Distance detection unit
322: image acquisition unit 310: location receiving unit
310: location receiving unit `

Claims (15)

An image photographing module for photographing surrounding images of the vehicle;
Includes; image processing module for acquiring the surrounding image taken from the image taking module;
The image processing module,
A storage unit in which a plurality of prediction modes having directionality with respect to the entire screen are stored; And
A control unit for dividing the acquired screen of the surrounding image into at least one split screen and determining a predicted pixel value by applying only a part of the plurality of prediction modes based on the direction of the split screen to perform intra prediction processing; An image processing device comprising. According to claim 1,
The control unit,
An image processing apparatus for dividing the screen of the acquired surrounding image into four divided screens based on a 1-point vanishing point that is an intersection of a horizontal line and a vertical line. According to claim 2,
The control unit,
The four divided screens include a first split screen in the upper left, a second split screen in the upper right, a third split screen in the lower left, and a fourth split screen in the lower right. The method of claim 3,
The control unit,
An image processing apparatus that determines a predicted pixel value by applying half a prediction mode among the plurality of prediction modes based on the direction of the split screen. The method of claim 3,
The control unit,
For the first split screen, a prediction mode in the upper left diagonal direction is applied,
In the case of the second split screen, a prediction mode in the upper right diagonal direction is applied,
In the case of the third divided screen, a prediction mode in the lower left diagonal direction is applied,
In the case of the fourth divided screen, an image processing apparatus that applies a prediction mode in a lower right diagonal direction. The method of claim 4,
The control unit,
An image processing apparatus that calculates a cost for each of the half prediction modes based on the directionality of the split screen, and determines a prediction mode that is a minimum cost among the calculated costs as a final mode.
The method of claim 6,
The control unit,
When the cost of the final mode is greater than a preset threshold cost, the image processing apparatus determines a predicted pixel value by applying all of the plurality of prediction modes rather than the half prediction mode. According to claim 1 to 7,
A vehicle including the image processing device. An image processing apparatus including an image processing module that captures a surrounding image of a vehicle, and an image processing module that acquires surrounding images captured from the image capturing module and stores a plurality of prediction modes having directionality with respect to the entire screen. In the vehicle control method,
Dividing the screen of the acquired surrounding image into at least one split screen;
A vehicle control method that performs prediction processing within a screen by determining a prediction pixel value by applying only a part of the plurality of prediction modes based on the direction of the split screen. The method of claim 9,
Dividing the screen of the acquired surrounding image into at least one split screen,
And dividing the screen of the acquired surrounding image into four divided screens based on a vanishing point of one point that is an intersection of a horizontal line and a vertical line. The method of claim 10,
Dividing the screen of the acquired surrounding image into four divided screens based on a vanishing point of one point that is an intersection of a horizontal line and a vertical line,
The four divided screens include a first split screen on the upper left, a second split screen on the upper right, a third split screen on the lower left, and a fourth split screen on the lower right. The method of claim 11,
Based on the directionality of the split screen, applying only a part of the plurality of prediction modes to determine a predicted pixel value and performing intra prediction processing,
And determining a prediction pixel value by applying a prediction mode of half of the plurality of prediction modes based on the directionality of the split screen. The method of claim 12,
Determining a predicted pixel value by applying half a prediction mode among the plurality of prediction modes based on the directionality of the split screen,
For the first split screen, a prediction mode in the upper left diagonal direction is applied,
In the case of the second split screen, a prediction mode in the upper right diagonal direction is applied,
In the case of the third divided screen, a prediction mode in the lower left diagonal direction is applied,
In the case of the fourth divided screen, a vehicle control method comprising applying a prediction mode in a lower right diagonal direction. The method of claim 13,
And calculating a cost for each of the half prediction modes based on the directionality of the split screen, and determining a prediction mode that is a minimum cost among the calculated costs as a final mode. The method of claim 14,
And when the cost of the final mode is greater than a preset threshold cost, determining a predicted pixel value by applying all of the plurality of prediction modes rather than the half prediction mode.

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