KR20200123038A - Apparatus and method for monitoring camera signals - Google Patents

Abstract

According to the present invention, disclosed are a camera signal monitoring apparatus and a method thereof. The camera signal monitoring apparatus of the present invention includes: a vehicle information input part receiving a speed and yaw rate signal of a vehicle; a camera information input part receiving a camera signal including the speed and yaw rate signal from a front camera of the vehicle; and a monitoring part calculating a host vehicle driving trace by using the speed and yaw rate signal of the vehicle inputted from the vehicle information input part, calculating a reference curvature value based on the calculated host vehicle driving trace, and determining reliability by comparing the calculated reference curvature value to a curvature value calculated by the camera signal inputted from the camera information input part. Therefore, the present invention is capable of preventing a malfunction during vehicle control using a camera.

Description

Camera signal monitoring device and method {APPARATUS AND METHOD FOR MONITORING CAMERA SIGNALS}

The present invention relates to a camera signal monitoring apparatus and method, and more particularly, to a camera signal monitoring apparatus and method for determining whether a signal output from a vehicle front camera is abnormal.

Recently, various sensors and electronic devices are being provided for the convenience of users using vehicles. In particular, research on an Advanced Driver Assistance System (ADAS) is being actively conducted for the user's driving convenience. Furthermore, the development of autonomous vehicles is being actively carried out.

In addition, many car manufacturers are showing semi-autonomous driving functions based on their own algorithms and systems. Representative examples include smart cruise control, LKA, front collision prevention imitation, and emergency braking system that reacts with the distance to the vehicle in front and works in conjunction with the navigation.

These systems perform vehicle control using information input through the vehicle's front camera, and receive the vehicle's yaw rate signal and vehicle speed information from the vehicle's front camera and receive lane information, lane offset, curvature information, etc. For vehicle control.

Therefore, the reliability of the information output from the front camera is important, but conventionally, the signal processing part inside the camera cannot be known from the vehicle controller that controls the above systems, so whether the front camera signal is normal or abnormal, or at what period when the signal should be checked. As it is not clear, if the yaw rate signal used inside the front camera is incorrectly input or corrected incorrectly, there is a problem that an error may occur in the output value and malfunction may occur when controlling the vehicle using the front camera.

As a background technology of the present invention, there is a "device and method for detecting an abnormality in a dynamic sensor of a vehicle" of Korean Patent Publication No. 10-2018-0006759 (published on January 19, 2018).

According to an aspect of the present invention, the present invention was devised to improve the above problems, and a camera signal monitoring device that enables it to determine whether a signal output from a front camera for a vehicle is abnormal through the reliability of the camera's internal calculation algorithm. And to provide a method.

Camera signal monitoring apparatus according to an aspect of the present invention,

A vehicle information input unit receiving a vehicle speed and yaw rate signal of the vehicle;

A camera information input unit receiving camera signals including vehicle speed and yaw rate signals from the front camera of the vehicle; And

An own vehicle driving trajectory is calculated using the vehicle speed and yaw rate signals input from the vehicle information input unit, a reference curvature value is calculated based on the calculated host vehicle driving trajectory, and the calculated reference curvature value and the camera information And a monitoring unit that determines reliability by comparing a curvature value calculated by a camera signal input from the input unit.

In the present invention, the monitoring unit includes, in the present invention, an own vehicle trajectory calculating unit that calculates an own vehicle driving trajectory based on a vehicle speed and offset-corrected yaw rate signal from the vehicle information input unit, wherein the own vehicle trajectory calculating unit, A first curvature value may be calculated by dividing a yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value of the vehicle speed signal.

The present invention may further include a navigation information input unit receiving a road curvature signal provided from a high-precision map, and the monitoring unit includes a first curvature value calculated by the own vehicle trajectory calculation unit and a road curvature input from the navigation information input unit. And a reference curvature calculating unit that calculates a reference curvature value by combining the second curvature value of the signal.

The present invention may further include a lidar & radar sensor input unit that receives a sensing value from a lidar or radar and calculates a third curvature value, and the monitoring unit includes a first curvature value calculated by the own vehicle trajectory calculation unit and And a reference curvature calculating unit configured to calculate a reference curvature value by combining a second curvature value of the road curvature signal input from the navigation information input unit and a third curvature value input from the lidar & radar sensor input unit.

In the present invention, the monitoring unit may include a reliability determining unit that calculates a reliability value of the front camera when a camera signal curvature value calculated by the camera signal is greater than or equal to a threshold value compared to the reference curvature value.

In the present invention, the reliability determination unit, when the camera signal curvature value is greater than or equal to a threshold value with respect to the reference curvature value, calculates a percentage value of the difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera. I can.

In the present invention, the monitoring unit determines that the signal from the front camera is abnormal and outputs the abnormal signal from the front camera when the reliability value is greater than or equal to the threshold value for a set time, but the warning unit and the front camera to inform the driver The abnormal signal of the front camera may be output to at least one of the vehicle controllers for controlling the operation of the vehicle control system using the in standby state.

Camera signal monitoring method according to another aspect of the present invention,

Receiving, by a monitoring unit, vehicle speed and yaw rate signals of the vehicle from the vehicle information input unit;

Receiving, by the monitoring unit, a camera signal including vehicle speed and yaw rate signals from a front camera of the vehicle from a camera information input unit;

Calculating, by the monitoring unit, a driving trajectory of the own vehicle using the vehicle speed and yaw rate signals input from the vehicle information input unit;

Calculating, by the monitoring unit, a reference curvature value based on the calculated vehicle driving trajectory; And

And determining reliability by comparing the calculated reference curvature value by the monitoring unit with a curvature value calculated by a camera signal input from the camera information input unit.

In the present invention, in the step of calculating the own vehicle driving trajectory, the monitoring unit calculates the own vehicle driving trajectory based on the vehicle speed and offset-corrected yaw rate signal from the vehicle information input unit, and the offset-corrected yaw rate signal The first curvature value may be calculated by dividing the yaw rate value by the vehicle speed value of the vehicle speed signal.

The present invention may further include the step of receiving, by the monitoring unit, a road curvature signal provided from a high-precision map from a navigation information input unit, and in the step of calculating the reference curvature value, the monitoring unit may include: A reference curvature value may be calculated by combining the calculated first curvature value and a second curvature value of the road curvature signal received from the navigation information input unit.

In the present invention, the monitoring unit may further include a step of receiving a third curvature value calculated by receiving a sensing value from a lidar or radar from the lidar & radar sensor input unit, and in the step of calculating the reference curvature value , The monitoring unit combines a first curvature value calculated by the own vehicle trajectory calculation unit, a second curvature value of the road curvature signal input from the navigation information input unit, and a third curvature value input from the lidar & radar sensor input unit. Thus, a reference curvature value can be calculated.

In the present invention, in the step of determining the reliability, the monitoring unit may calculate a reliability value of the front camera when a camera signal curvature value calculated by the camera signal is greater than or equal to a threshold value compared to the reference curvature value.

In the present invention, in the step of determining the reliability, the monitoring unit, when the camera signal curvature value is greater than or equal to a threshold value compared to the reference curvature value, determines a percentage value of the difference between the camera signal curvature value and the reference curvature value. It can be calculated from the camera's reliability value.

In the present invention, the monitoring unit further comprises, outputting the abnormal signal by determining that the signal of the front camera is abnormal when the reliability value is greater than or equal to the threshold value for a set time, and outputting the abnormal signal of the front camera. In the step of, the monitoring unit may output an abnormal signal of the front camera to at least one of a warning unit for notifying the driver and a vehicle control unit for controlling an operation of the vehicle control system using the front camera to a standby state. .

The camera signal monitoring apparatus and method according to an embodiment of the present invention determine reliability as to whether a signal output from a vehicle front camera is abnormal, and notify the driver of the abnormality or transition a state of a control system to a standby state. By performing the control, there is an effect of preventing a malfunction when controlling a vehicle using a camera.

In addition, the camera signal monitoring apparatus and method according to an embodiment of the present invention determine whether there is an abnormality in the camera's internal calculation algorithm, not the camera output signal verification, so that if there is a problem with the camera signal, it can be verified first, When it is determined that the camera signal has been corrected, there is an effect of comparing the camera signal with the vehicle signal to check a problem in which the camera malfunctions in real time.

1 is a block diagram showing a camera signal monitoring apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a camera signal monitoring method according to an embodiment of the present invention.

Hereinafter, an apparatus and method for monitoring a camera signal according to an embodiment of the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description.

In addition, terms to be described later are terms defined in consideration of functions in the present invention and may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

In addition, the implementation described herein may be implemented in, for example, a method or process, an apparatus, a software program, a data stream or a signal. Although discussed only in the context of a single form of implementation (eg, only as a method), the implementation of the discussed features may also be implemented in other forms (eg, an apparatus or program). The device may be implemented with appropriate hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which generally refers to a processing device including, for example, a computer, microprocessor, integrated circuit or programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants ("PDAs") and other devices that facilitate communication of information between end-users.

1 is a block diagram showing a camera signal monitoring device according to an embodiment of the present invention, and a camera signal monitoring device will be described with reference to this.

As shown in FIG. 1, the camera signal monitoring apparatus according to an embodiment of the present invention includes a vehicle information input unit 10, a navigation information input unit 20, a lidar & radar sensor input unit 30, and a camera information input unit ( 40) and a monitoring unit 50.

First, the vehicle's front camera receives the vehicle's yaw rate signal and vehicle speed information and provides lane information, lane offset, and curvature information for vehicle control. At this time, the yaw rate signal used inside the front camera is If incorrectly input or corrected, there is an error in the output value, which may cause malfunction when controlling the vehicle using the front camera. Accordingly, in this embodiment, it is possible to know whether the front camera is abnormal in the internal signal processing part of the front camera. When the signal from the front camera is input or corrected, the reliability is determined by comparing the camera signal of the front camera with the vehicle signal. It is characterized by being able to do. That is, in this embodiment, the monitoring unit 50 is a warning unit 60 for notifying the driver when it is determined that the signal from the front camera is abnormal, and a vehicle control unit for controlling the operation of the vehicle control system using the front camera to a standby state. By outputting an abnormal signal from the front camera to at least one of (70), it is possible to prevent a malfunction when controlling the vehicle using the front camera.

The vehicle information input unit 10 receives vehicle information for overall control of the vehicle from a vehicle control system that controls the operation of the vehicle. In this embodiment, the vehicle speed and yaw rate signals of the vehicle may be input. In addition, the vehicle information input unit 10 may receive a sensing signal from sensors that sense not only a vehicle speed and yaw rate, but also a steering angle and a wheel speed.

The navigation information input unit 20 receives a road curvature signal provided from a high-precision map, and may provide the monitoring unit 50 with a road curvature value of a driving trajectory in which the vehicle is traveling.

The lidar & radar sensor input unit 30 may receive a sensing value from a LIght Detection And Ranging (LIDAR) sensor and a radar (RAdio Detecting And Ranging, RADAR) sensor provided in the vehicle. Meanwhile, in the present embodiment, the lidar & radar are integrated and described, but it does not mean that they are provided as an integrated sensor, and a lidar sensor and a radar sensor may be provided, respectively. In addition, the vehicle may be provided with both sensors, or only one of the two sensors may be provided.

The camera information input unit 40 receives camera signals including vehicle speed and yaw rate signals from the front camera of the vehicle, and may receive camera information from the front camera of the vehicle and provide the camera information to the monitoring unit 50. At this time, in this embodiment, it is possible to determine whether the front camera is abnormal based on camera information provided from the camera information input unit 40. Meanwhile, in the present embodiment, the camera information input unit 40 is described as receiving a camera signal from the front camera of the vehicle, but the camera signal may be input from another camera provided in the vehicle.

The monitoring unit 50 sets a reference value based on the signal input from the vehicle information input unit 10 and the navigation information input unit 20 and compares the reference value with the signal input from the camera information input unit 40 to determine whether the front camera is abnormal. Can judge. In this case, although not specifically described in the present embodiment, a reference value may be set including a curvature value input from the lidar & radar sensor input unit 30.

That is, the monitoring unit 50 includes a signal processing unit 52, an own vehicle trajectory calculation unit 54, a reference curvature calculation unit 56, and a reliability determination unit 58, and is received from the vehicle information input unit 10. Calculate the own vehicle driving trajectory using the vehicle speed and yaw rate signals of the vehicle, and calculate a reference curvature value based on at least one of the calculated own vehicle driving trajectory and the road curvature signal from the navigation information input unit 20, Reliability may be determined by comparing the calculated reference curvature value with a curvature value calculated by a camera signal input from the camera information input unit 40.

At this time, the signal processing unit 52 filters signals input from at least one of the vehicle information input unit 10, the navigation information input unit 20, and the camera information input unit 40, and also the lidar & radar sensor input unit 30 Signals input from) can also be filtered. In addition, the signal processing unit 52 may provide each filtered signal to at least one of the own vehicle trajectory calculation unit 54 and the reference curvature calculation unit 56. Various methods may be implemented as a method of filtering a signal received from the signal processing unit 52 in the present embodiment, but the method is not limited thereto.

In addition, the own vehicle trajectory calculation unit 54 calculates the own vehicle driving trajectory based on the vehicle speed and yaw rate signals from the vehicle information input unit 10, and the yaw rate signal may be an offset-corrected signal. In this case, the own vehicle trajectory calculator 54 may calculate a first curvature value by dividing the yaw rate value of the offset-corrected yaw rate signal by the vehicle speed value of the vehicle speed signal. That is, the first curvature value refers to a curvature value of the first signal output from the own vehicle trajectory calculation unit 54.

In addition, the own vehicle trajectory calculation unit 54 may calculate the own vehicle traveling trajectory when the vehicle speed value and the yaw rate value are less than or equal to the threshold value. This is to exclude excessive steering and sudden acceleration/deceleration situations. In other words, the vehicle driving trajectory is not calculated in the case of excessive steering or in the situation of sudden acceleration or rapid deceleration.

Next, the reference curvature calculation unit 56 combines the first curvature value calculated by the own vehicle trajectory calculation unit 54 and the second curvature value of the road curvature signal input from the navigation information input unit 20 to obtain a reference curvature. You can calculate the value. That is, the second curvature value means a road curvature signal provided from the high-precision map of the navigation information input unit 20, that is, a curvature value for the second signal.

In addition, when a second curvature value is input from the navigation information input unit 20, the reference curvature calculating unit 56 calculates a reference curvature value by combining the first curvature value and the second curvature value, and the navigation information input unit 20 If the second curvature value is not input from ), the first curvature value may be calculated as a reference curvature value. At this time, the curvature value input from the lidar & radar sensor input unit 30 is a third curvature value, and a reference curvature value may be calculated by combining a first curvature value, a second curvature value, and a third curvature value. It is not limited.

The reliability determination unit 58 may calculate the reliability value of the front camera when the camera signal curvature value calculated by the camera signal is greater than or equal to the threshold value compared to the reference curvature value. That is, the reliability determination unit 58 may calculate the reliability value of the front camera when the camera signal curvature value calculated by the camera signal is greater than a threshold value than the reference curvature value.

In this case, when the camera signal curvature value is greater than or equal to a threshold value compared to the reference curvature value, the reliability determination unit 58 calculates a percentage value of the difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera. I can.

In addition, the monitoring unit 50 may determine that the signal of the front camera is abnormal when the reliability value is greater than or equal to the threshold value for a set time. In addition, when it is determined that the signal of the front camera is abnormal, the monitoring unit 50 may output the abnormal signal of the front camera to the warning unit 60 and the vehicle control unit 70. That is, the monitoring unit 50 can notify the driver of the abnormal state of the front camera by outputting the error signal of the front camera to the warning unit 60, and output it to the vehicle control unit 70 to control the vehicle control system using the front camera. By controlling the operation in a standby state, it is possible to prevent malfunction due to an error in the front camera.

2 is a flow chart illustrating a camera signal monitoring method according to an embodiment of the present invention, and a camera signal monitoring method will be described with reference to this.

As shown in FIG. 2, in the camera signal monitoring method according to an embodiment of the present invention, first, the monitoring unit 50 receives vehicle speed and yaw rate signals from the vehicle information input unit 10 (S10).

In this case, the vehicle information input unit 10 receives vehicle information for overall control of the vehicle from a vehicle control system that controls the operation of the vehicle. In this embodiment, the vehicle speed and yaw rate signals of the vehicle may be input.

Then, the monitoring unit 50 receives a road curvature signal provided from the high-precision map from the navigation information input unit 20 (S20).

In this case, the navigation information input unit 20 receives a road curvature signal provided from a high-precision map, and may provide the monitoring unit 50 with a road curvature value of a driving trajectory in which the vehicle is traveling. In this embodiment, a road curvature signal input from the navigation information input unit 20 may be referred to as a second signal and a second curvature value.

Next, the monitoring unit 50 receives a camera signal including the vehicle speed and yaw rate signals from the front camera of the vehicle from the camera information input unit 40 (S30).

In this case, the camera information input unit 40 receives camera signals including vehicle speed and yaw rate signals from the front camera of the vehicle, and may receive camera information from the front camera of the vehicle and provide it to the monitoring unit 50. In this embodiment, it is possible to determine whether the front camera is abnormal based on camera information provided from the camera information input unit 40.

Meanwhile, in the present embodiment, the monitoring unit 50 may filter a signal input from at least one or more of the vehicle information input unit 10, the navigation information input unit 20, and the camera information input unit 40.

Then, the monitoring unit 50 may calculate the own vehicle driving trajectory using the vehicle speed and yaw rate signals input from the vehicle information input unit 10 (S40).

In this case, the monitoring unit 50 calculates the own vehicle driving trajectory based on the vehicle speed and yaw rate signals from the vehicle information input unit 10, and the yaw rate signal may be an offset-corrected signal. In this case, the monitoring unit 50 may calculate a first curvature value (first signal) by dividing the yaw rate value of the offset-corrected yaw rate signal by the vehicle speed value of the vehicle speed signal.

In addition, the monitoring unit 50 may calculate the own vehicle driving trajectory when the vehicle speed value and the yaw rate value are less than or equal to the threshold value. This is to exclude excessive steering and sudden acceleration/deceleration situations. In other words, the vehicle driving trajectory is not calculated in the case of excessive steering or in the situation of sudden acceleration or rapid deceleration.

In addition, the monitoring unit 50 may calculate a reference curvature value based on at least one of the calculated vehicle driving trajectory and the road curvature signal from the navigation information input unit 20 (S50 ).

In this case, the monitoring unit 50 may calculate a reference curvature value by combining the first curvature value calculated above and the second curvature value of the road curvature signal received from the navigation information input unit 20. And when a second curvature value is input from the navigation information input unit 20, the monitoring unit 50 calculates a reference curvature value by combining the first curvature value and the second curvature value, and calculates a reference curvature value from the navigation information input unit 20. 2 If a curvature value is not input, the first curvature value may be calculated as a reference curvature value.

Next, the monitoring unit 50 may determine the reliability by comparing the calculated reference curvature value with the curvature value calculated by the camera signal input from the camera information input unit (S60).

In this case, the monitoring unit 50 may calculate the reliability value of the front camera when the camera signal curvature value calculated by the camera signal is greater than or equal to the threshold value compared to the reference curvature value. That is, the monitoring unit 50 may calculate the reliability value of the front camera when the camera signal curvature value calculated by the camera signal is greater than the threshold value than the reference curvature value. In addition, when the camera signal curvature value is greater than or equal to a threshold value with respect to the reference curvature value, the monitoring unit 50 may calculate a percentage value of the difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera. .

On the other hand, in the present embodiment, the monitoring unit 50 may determine that the signal from the front camera is abnormal when the reliability value is greater than or equal to the threshold value for a set time (S70), and when it is determined that the signal from the front camera is abnormal. , It is possible to output an abnormal signal of the front camera (S80).

At this time, the monitoring unit 50 is at least one of the warning unit 60 for notifying the driver and the vehicle control unit 70 for controlling the operation of the vehicle control system using the front camera to a standby state. You can output a signal.

However, when it is determined that the signal from the front camera is not abnormal in step S70, the monitoring unit 50 can check whether the reliability value is greater than or equal to the threshold value for the set time, and may terminate.

As described above, the camera signal monitoring apparatus and method according to an embodiment of the present invention determine reliability as to whether a signal output from a vehicle front camera is abnormal, and notify the driver of the abnormality or determine the state of the control system. By performing the control to transition to the standby state, there is an effect of preventing a malfunction when controlling a vehicle using a camera.

In addition, the camera signal monitoring apparatus and method according to an embodiment of the present invention determine whether there is an abnormality in the camera's internal calculation algorithm, not the camera output signal verification, so that if there is a problem with the camera signal, it can be verified first, When it is determined that the camera signal has been corrected, there is an effect of comparing the camera signal with the vehicle signal to check a problem in which the camera malfunctions in real time.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is only illustrative, and those of ordinary skill in the field to which the technology pertains, various modifications and other equivalent embodiments are possible. I will understand.

Therefore, the true technical protection scope of the present invention should be determined by the following claims.

Although shown and described in connection with specific embodiments of the present invention above, it is understood that the present invention can be variously improved and changed within the limit without departing from the technical spirit of the present invention provided by the following claims. It will be apparent to those of ordinary skill in the art.

10: vehicle information input unit
20: navigation information input unit
30: Lidar & Radar sensor input
40: camera information input unit
50: monitoring unit
52: signal processing unit
54: Own vehicle trajectory calculation unit
56: reference curvature calculation unit
58: reliability judgment unit
60: warning
70: vehicle control unit

Claims (14)

A vehicle information input unit receiving a vehicle speed and yaw rate signal of the vehicle;
A camera information input unit receiving camera signals including vehicle speed and yaw rate signals from the front camera of the vehicle; And
An own vehicle driving trajectory is calculated using the vehicle speed and yaw rate signals input from the vehicle information input unit, a reference curvature value is calculated based on the calculated host vehicle driving trajectory, and the calculated reference curvature value and the camera information Camera signal monitoring apparatus comprising; a monitoring unit that determines the reliability by comparing the curvature value calculated by the camera signal received from the input unit. The method of claim 1,
The monitoring unit,
Including; an own vehicle trajectory calculation unit that calculates an own vehicle driving trajectory based on the vehicle speed and offset corrected yaw rate signal from the vehicle information input unit
The host vehicle trajectory calculating unit calculates a first curvature value by dividing a yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value of the vehicle speed signal. The method of claim 2,
Further comprising a navigation information input unit for receiving the road curvature signal provided from the high-precision map,
And a reference curvature calculator configured to calculate a reference curvature value by combining a first curvature value calculated by the own vehicle trajectory calculation unit and a second curvature value of the road curvature signal received from the navigation information input unit. Camera signal monitoring device. The method of claim 3,
Further comprising a lidar & radar sensor input unit for calculating a third curvature value by receiving a sensing value from a lidar or radar,
The monitoring unit combines the first curvature value calculated by the own vehicle trajectory calculation unit, the second curvature value of the road curvature signal received from the navigation information input unit, and the third curvature value input from the lidar & radar sensor input unit Camera signal monitoring apparatus comprising a; reference curvature calculation unit for calculating a curvature value. The method of claim 1,
The monitoring unit,
And a reliability determination unit that calculates a reliability value of the front camera when the camera signal curvature value calculated by the camera signal is greater than or equal to a threshold value compared to the reference curvature value. The method of claim 5,
The reliability determination unit,
When the camera signal curvature value is greater than or equal to the threshold value compared to the reference curvature value, a percentage value of the difference between the camera signal curvature value and the reference curvature value is calculated as a reliability value of the front camera. The method of claim 5,
The monitoring unit,
When the reliability value is higher than the threshold value for a set time, it is determined that the signal from the front camera is abnormal and outputs the abnormal signal from the front camera, A camera signal monitoring device, characterized in that outputting an abnormal signal of the front camera to at least one of a vehicle controller for controlling to a standby state. Receiving, by a monitoring unit, vehicle speed and yaw rate signals of the vehicle from the vehicle information input unit;
Receiving, by the monitoring unit, a camera signal including vehicle speed and yaw rate signals from a front camera of the vehicle from a camera information input unit;
Calculating, by the monitoring unit, an own vehicle driving trajectory using the vehicle speed and yaw rate signals input from the vehicle information input unit;
Calculating, by the monitoring unit, a reference curvature value based on the calculated vehicle driving trajectory; And
And determining the reliability by comparing the reference curvature value calculated by the monitoring unit with the curvature value calculated by the camera signal input from the camera information input unit. The method of claim 8,
In the step of calculating the own vehicle driving trajectory, the monitoring unit,
Calculate the own vehicle driving trajectory based on the vehicle speed and offset-corrected yaw rate signal from the vehicle information input unit, and calculate a first curvature value by dividing the yaw rate value of the offset-corrected yaw rate signal by the vehicle speed value of the vehicle speed signal Camera signal monitoring method, characterized in that to. The method of claim 9,
The monitoring unit further comprises receiving a road curvature signal provided in a high-precision map from the navigation information input unit,
In the step of calculating the reference curvature value, the monitoring unit,
And calculating a reference curvature value by combining a first curvature value calculated by the own vehicle trajectory calculation unit and a second curvature value of the road curvature signal received from the navigation information input unit. The method of claim 10,
The monitoring unit further comprises a step of receiving a third curvature value calculated by receiving a sensing value from a lidar or radar from a lidar & radar sensor input unit,
In the step of calculating the reference curvature value, the monitoring unit,
A reference curvature value is obtained by combining a first curvature value calculated by the own vehicle trajectory calculation unit, a second curvature value of a road curvature signal input from the navigation information input unit, and a third curvature value input from the lidar & radar sensor input unit. Camera signal monitoring method, characterized in that to calculate. The method of claim 8,
In the step of determining the reliability, the monitoring unit,
And calculating a reliability value of the front camera when a camera signal curvature value calculated by the camera signal is greater than or equal to a threshold value compared to the reference curvature value. The method of claim 12,
In the step of determining the reliability, the monitoring unit,
When the camera signal curvature value is greater than or equal to a threshold value compared to the reference curvature value, a percentage value of a difference between the camera signal curvature value and the reference curvature value is calculated as a reliability value of the front camera. The method of claim 12,
The monitoring unit further comprises: determining that the signal from the front camera is abnormal when the reliability value is greater than or equal to the threshold value for a set time and outputting the abnormal signal from the front camera;
In the step of outputting the abnormal signal, the monitoring unit,
A camera signal monitoring method comprising outputting an abnormal signal of the front camera to at least one of a warning unit for notifying a driver and a vehicle control unit for controlling an operation of a vehicle control system using the front camera in a standby state.

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