KR20200127145A - Apparatus of recognizing object of vehicle and system of remote parking including the same - Google Patents

Abstract

Disclosed is a device for recognizing an object in a vehicle, including: a variable field of view camera module which is mounted on an autonomous vehicle by applying a multi-layered lens structure including a plurality of lenses, and recognizes a target object by varying a field of view (FOV) as the focal length and refractive index of each lens are controlled; and a control unit that recognizes the target object through the variable field of view camera module by varying the field of view of the variable field of view camera module to increase the resolution of the target object, and controls autonomous driving of the autonomous vehicle based on the recognition result.

Description

Vehicle object recognition device and remote parking system including the same {APPARATUS OF RECOGNIZING OBJECT OF VEHICLE AND SYSTEM OF REMOTE PARKING INCLUDING THE SAME}

The present invention relates to an object recognition device of a vehicle and a remote parking system including the same, and more particularly, an object recognition device of a vehicle capable of remotely controlling parking of a vehicle and improving object recognition performance of an autonomous vehicle; and It relates to a remote parking system including this.

In general, the automatic parking system is a system capable of providing convenient parking to a novice driver who is not good at parking. The automatic parking system determines the position of an obstacle using a camera or ultrasonic sensor attached to the vehicle when parking, and assists the driver's parking by performing a certain operation when the driver selects parallel parking or perpendicular parking.

In recent vehicles, a Parking Assist System (PAS) is installed to detect objects in the rear when parking in the rear, providing convenience and safety to the driver. Vehicles equipped with a parking assistance system collide with obstacles by driving an ultrasonic sensor mounted at the rear of the vehicle when parking in the rear, emitting an ultrasonic signal, receiving a reflected signal from an object in the rear, and calculating the distance to the object behind the vehicle. Without allowing parking to be completed.

On the other hand, while the user has parked his vehicle in a parking space and then moved for business, a situation in which the own vehicle must be moved and parked for reasons such as the movement of another vehicle may occur (e.g., when the own vehicle is double-parked). Etc). In order for a user located at a distance from the parking space to move the own vehicle, a remote control terminal capable of controlling the parking of the own vehicle remotely is required, and in order for the user to precisely control the parking of the own vehicle remotely, It is necessary to display a display image reflecting the surrounding image of the vehicle on a remote control terminal and provide it to the user. Currently, a technology for providing a parking space image to a user has been proposed, but the technology has a limitation that is limited to simply recognizing an empty parking space and providing it to the user.

In addition, since the autonomous driving of the autonomous vehicle is controlled based on the object recognition result obtained by the installed camera sensor, the object recognition performance of the camera sensor of the autonomous driving vehicle is directly related to the autonomous driving control precision. Accordingly, there is a need for a system for improving object recognition performance of a camera sensor of an autonomous vehicle.

Background art of the present invention is disclosed in Korean Patent Application Publication No. 10-2015-0038776 (published on April 09, 2015).

The present invention was invented to solve the above-described problem, and an object according to an aspect of the present invention is to enable remote parking control of a vehicle by providing the user with a display image required for remotely controlling parking. It is to provide a remote parking system and method.

Another object of the present invention is to provide a vehicle object recognition apparatus capable of improving object recognition performance of a camera sensor of an autonomous vehicle.

The object recognition apparatus for a vehicle of the present invention,

A multi-layered lens structure including a plurality of lenses is applied and mounted on an autonomous vehicle, and a field of view (FOV) is changed as the focal length and refractive index of each lens are controlled to recognize a target object. Camera module; And

A controller configured to recognize the target object through the variable angle of view camera module by varying the angle of view of the variable angle of view camera module to increase the resolution of the target object, and control autonomous driving of the autonomous vehicle based on the recognition result ;

Includes.

The controller may change the angle of view of the variable angle of view camera module so that the resolution for the target object is increased only when the recognition degree of the variable angle of view camera module with respect to the target object is less than a preset threshold.

The controller may control autonomous driving of the autonomous vehicle by applying a deep learning or image processing technique to the recognition result.

The remote parking system of the present invention,

A multi-layered lens structure including a plurality of lenses is applied and mounted on an autonomous vehicle, and the field of view (FOV) is variable as the focal length and the refractive index of each lens are controlled, and objects around the autonomous vehicle A variable angle of view camera module that recognizes the object, and the object through the variable angle of view camera module by varying the angle of view of the variable angle of view camera module to increase the resolution of the object, and the autonomous vehicle based on the recognition result An object recognition device having an autonomous driving controller that controls autonomous driving of the vehicle;

A control display image for remote parking control of the vehicle is generated by synthesizing a parking space image acquired by an image recognition device installed in a parking space and an image around the autonomous vehicle including the object recognized by the variable angle of view camera Then, by providing to the user, controlling the operation of the variable angle of view camera module based on the user's motion, and providing the control display image processed according to the operation control of the variable angle of view camera module to the user, the parking A remote control device for remotely controlling the parking of the vehicle in space;

Includes.

The remote parking system of the present invention is installed in the vehicle, and each RSSI (Received Signal Strength Indication) of a first position determination signal received from the image recognition device and a second position determination signal received from a remote terminal possessed by the user. ) May further include a positioning unit that generates location information of the vehicle in the parking space.

The remote control device unit combines the parking space image and the vehicle surrounding image based on the position information of the vehicle received from the positioning unit, so that the position of the vehicle in the parking space is reflected. Can be created.

The remote control device unit may vary the angle of view of the variable angle of view camera module based on the motion of the user, and the control display image processed based on the image around the vehicle that changes as the angle of view of the variable angle of view camera module changes Can be provided to the user.

The remote control device unit varies the angle of view of the variable angle of view camera module so that an image corresponding to the user's region of interest (ROI) determined based on the user's motion is obtained, but the user's motion is the It may include one or more of user's manual operation and gaze information.

The remote control device unit obtains authentication information for authenticating the user from the user, and the variable angle of view camera module transmits the image around the vehicle only when the authentication information is transmitted from the remote control device unit to the vehicle. It can be acquired and transmitted to the remote control device unit.

According to an aspect of the present invention, the present invention provides a display image required for remotely controlling parking by the user through a method of synthesizing a parking space image and a vehicle surrounding image to the user to more conveniently park a vehicle remotely. Control can be enabled, and the precision of remote parking control can be improved by providing an active display image to the user's motion by utilizing the variable angle of view camera module applied to the vehicle.

In addition, the present invention improves the recognition performance of the variable angle of view camera module through a method of varying the angle of view of the variable angle of view camera module so as to increase the resolution of the target object, thereby improving the autonomous driving performance of the autonomous vehicle.

1 is a block diagram illustrating a remote parking system according to an embodiment of the present invention.
2 is an exemplary view showing a mounting example and a wiring structure of a camera sensor unit and a control device in a remote parking system according to an embodiment of the present invention.
3 is an exemplary view showing a sub-configuration of a variable angle of view camera module and a control unit provided in a vehicle in a remote parking system according to an embodiment of the present invention.
4 is an exemplary diagram for explaining the entire operation process of the remote parking system according to an embodiment of the present invention.
5 is an exemplary view showing an example in which the angle of view of a camera sensor unit is changed so that an image corresponding to a user's region of interest is acquired in a remote parking system according to an embodiment of the present invention.
6 and 7 are flowcharts illustrating a remote parking method according to an embodiment of the present invention.
8 is a block diagram illustrating an apparatus for recognizing an object of a vehicle according to an embodiment of the present invention.
9 is an exemplary diagram illustrating an operation process of an object recognition apparatus of a vehicle according to an exemplary embodiment of the present invention.
10 is a flowchart illustrating a method of recognizing an object of a vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of a remote parking system and method according to the present invention and an object recognition apparatus for a vehicle 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.

1 is a block diagram illustrating a remote parking system according to an embodiment of the present invention, and FIG. 2 is a mounting example and wiring structure of a camera sensor unit and a control device in a remote parking system according to an embodiment of the present invention. 3 is an exemplary view showing a sub-configuration of a variable angle of view camera module and a control unit provided in a vehicle in a remote parking system according to an embodiment of the present invention, and FIG. 4 is an exemplary embodiment of the present invention. It is an exemplary diagram for explaining the entire operation process of the remote parking system according to an example, and FIG. 5 is a view angle of the camera sensor unit is variable so that an image corresponding to the user's region of interest is acquired in the remote parking system according to an embodiment of the present invention. It is an exemplary diagram showing an example.

1, a remote parking system according to an embodiment of the present invention may include a camera sensor unit 100, a positioning unit 200, and a remote control device unit 300, and the camera sensor unit 100 And the positioning unit 200 is installed in the vehicle (VEH), the remote control device unit 300 may be implemented as a user terminal for controlling the remote parking of the vehicle carried by a user located at a distance from the vehicle. In addition, as will be described later, the remote parking system according to the present embodiment may further include a control unit (ECU module).

The camera sensor unit 100 may be installed in a vehicle to obtain an image around the vehicle. The image around the vehicle obtained by the camera sensor unit 100 may be synthesized with a parking space image as described later, and may be provided to a user through the remote control device unit 300 in the form of a control display image.

The camera sensor unit 100 of the present embodiment has a multi-layer lens structure including a plurality of lenses applied, so that the field of view (FOV) is variable as the focal length and the refractive index of each lens are controlled. It may include a variable angle of view camera module.

The variable angle of view camera module can control the refractive index of each lens by changing the characteristics of the crystal material constituting each lens by an applied electric signal. Also, as is well known, the angle of view increases and the resolution increases as the focal length decreases. Decreases, and as the focal length increases, the angle of view decreases and the resolution increases, so the variable angle of view camera module can have various angles of view through a combination of the focal length and the refractive index of each lens (that is, the angle of view can be varied). .

The camera sensor unit 100 may include first to fifth variable angle of view camera modules 110, 120, 130, 140, 150 as shown in FIG. 2, and the first to fifth variable angle of view camera modules ( In the 110, 120, 130, 140, and 150, a focal length and a refractive index of each lens are controlled by the camera sensor control device CAM_ECU, so that the angle of view may be variably controlled. The first to fifth variable angle of view camera modules 110, 120, 130, 140, and 150 may be implemented as a camera module constituting a Surround View Monitoring (SVM) system and a Multifunction Front Camera (MFC) system, for example The first to fourth variable angle of view camera modules 110, 120, 130, and 140 are implemented as a camera module constituting the SVM system, and the fifth variable angle of view camera module 150 is implemented as a camera module constituting the MFC system. I can. In this case, area ① shown in FIG. 4 is an area photographed by the fifth variable angle of view camera module 150 (MFC camera area), and area ② is the first to fourth variable angle of view camera modules 110, 120, 130, 140) is an area (SVM camera area). The images corresponding to areas ① and ② become images around the vehicle, and as the first to fifth variable angle of view camera modules (110, 120, 130, 140, 150), SVM (Surround View Monitoring) system and MFC (Multifunction When a camera module constituting the (Front Camera) system is employed, images around the vehicle can be obtained in high resolution.

The positioning unit 200 is installed in the vehicle, and each RSSI (Received Signal Strength) of the first position determination signal received from the image recognition device (CAM_CCTV) and the second position determination signal received from the remote terminal (SMK) possessed by the user. Indication) can generate the location information of the vehicle in the parking space.

Here, the image recognition device (CAM_CCTV) is a device that is installed in a parking space to photograph a parking space to generate a parking space image, and may be implemented with a CCTV camera installed in the parking space, and FIG. 4 shows an image recognition device (CAM_CCTV). An example including four CCTV cameras is shown. Unlike the vehicle surrounding image that can be acquired in high resolution, the parking space image is acquired in low resolution in that it is acquired by a conventional CCTV camera. Further, the remote terminal (SMK) may be implemented as a smart key held by the user in order for the user to remotely lock and unlock the door of the vehicle.

In this embodiment, the image recognition device (CAM_CCTV) and the remote terminal (SMK) may operate to transmit a first position determination signal and a second position determination signal, respectively, and the first and second position determination signals are RF (Radio Frequency). , Typically 315/433MHz) may be a signal (when the image recognition device (CAM_CCTV) includes four CCTV cameras as shown in FIG. 4, the first position determination signal is the 1-1 position transmitted from each CCTV camera. It may be subdivided into a determination signal, a 1-2 position determination signal, a 1-3 position determination signal, and a 1-4 position determination signal).

Accordingly, the positioning unit 200 may generate location information of the vehicle in the parking space based on each RSSI of the received first and second location determination signals. That is, the positioning unit 200 uses a multi-angle survey algorithm according to the difference between each RSSI of the first and second position determination signals received from the image recognition device (CAM_CCTV) and the remote terminal (SMK), respectively. The vehicle location information can be generated as location coordinates.

The positioning unit 200 performing the above-described operation controls a smart key system that locks and unlocks the door of the vehicle based on LF and RF communication with a remote terminal (SMK), as shown in FIG. 2. It may be implemented as a device (SMK_ECU), or may be implemented in a separate control unit (ECU module) installed in the vehicle as shown in Fig. 3(b), and the smart key system control device (SMK_ECU) is absent or the control unit ( ECU module) may be implemented in a variable angle of view camera module as shown in FIG. 3(a) in consideration of various cases in which the first and second position determination signals cannot be received.

The remote control device unit 300 synthesizes the parking space image acquired by the image recognition device (CAM_CCTV) installed in the parking space and the vehicle surrounding image acquired by the camera sensor unit 100 to control the remote parking of the vehicle. After creating a control display image, it is provided to the user, controls the operation of the camera sensor unit 100 based on the user's motion, and provides the control display image processed according to the operation control of the camera sensor unit 100 to the user. By doing so, it is possible to remotely control the parking of the vehicle in the parking space.

That is, in order for a user to remotely control parking for a vehicle located in a parking space, it is necessary to check the vehicle surrounding image together with the parking space image, so the remote control device unit 300 synthesizes the parking space image and the vehicle surrounding image. After generating the control display image, it can be provided to the user (the parking space image acquired by the image recognition device (CAM_CCTV) can be managed by a separate management server for managing the corresponding parking space, and thus remote control The device unit 300 may receive an image of a parking space through the management server). In addition, in consideration of the fact that the convenience of remote parking control is deteriorated when only the uniform control display image is provided to the user, the remote control device unit 300 is a camera sensor unit including a variable angle of view camera module based on the user's motion. The operation of 100 can be controlled (ie, the angle of view of the variable angle of view camera module included in the camera sensor unit 100 can be controlled). As the operation of the camera sensor unit 100 is controlled, the range and resolution of the image around the vehicle obtained by the camera sensor unit 100 are varied, and thus the control display image is processed in real time to control the remote control device unit 300. It can be provided to the user through.

Based on the above, the operation of the remote control device unit 300 will be described below in detail.

The remote control device unit 300 generates a control display image to reflect the position of the vehicle in the parking space by synthesizing the parking space image and the vehicle surrounding image based on the vehicle location information transmitted from the positioning unit 200 can do.

That is, in order for a user to remotely control parking for a vehicle located in the parking space, the position of the vehicle in the parking space must be identified, so that the remote control device unit 300 is the position of the vehicle received from the positioning unit 200. By synthesizing the parking space image and the vehicle surrounding image based on the information, a control display image can be generated and provided to the user so that the user can check the position of the vehicle in the parking space.

The remote control device unit 300 may provide a control display image generated to reflect the position of the vehicle in the parking space in the form of a bird-view image, and the control display image in the form of a bird's eye view according to the user's manipulation. May be converted into a control display image in the form of a user's viewpoint to match the user's viewpoint in the vehicle and provided to the user (that is, the view viewed while the user is actually in the vehicle can be provided to the user. ). To this end, the remote control device unit 300 may be provided with a manipulation unit (eg, a button) that a user can manipulate to convert a control display image.

In addition, the remote control device unit 300 changes the angle of view of the camera sensor unit 100 based on the user's motion, and is processed based on the image around the vehicle that changes as the angle of view of the camera sensor unit 100 changes. The control display image can be provided to the user.

That is, the remote control device unit 300 transmits a control signal for varying the angle of view of the variable angle of view camera module included in the camera sensor unit 100 based on the user's motion (to be described later), the camera sensor control unit (CAM_ECU) of the vehicle. The camera sensor control device (CAM_ECU) can change the angle of view of the camera sensor unit 100 based on the received control signal, and as the angle of view of the camera sensor unit 100 changes, the image around the vehicle is Will change. The changed image around the vehicle is transmitted to the remote control device unit 300, and the remote control device unit 300 may provide a control display image processed based on the changing image around the vehicle to the user.

In this case, the remote control device unit 300 may change the angle of view of the camera sensor unit 100 so that an image corresponding to the user's region of interest (ROI) determined based on the user's motion is obtained. Here, the user's motion may include one or more of the user's manual manipulation and gaze information, and the user's gaze information may include the user's gaze direction (location) and the time the gaze stays in the corresponding direction.

Specifically, the remote control device unit 300 may receive a region of interest from the user through the user's manual manipulation of the operation unit, and the camera so that an image corresponding to the region of interest of the user determined based on the user's manual manipulation is obtained. The angle of view of the sensor unit 100 can be varied.

In addition, the remote control device unit 300 may detect the direction of the user's gaze and measure the time the gaze stays in the corresponding direction, determine the location where the gaze stays for a certain time or longer as the user's area of interest, and to the determined area of interest. The angle of view of the camera sensor unit 100 may be varied to obtain a corresponding image. In order to detect the user's gaze direction, the remote control device unit 300 may be provided with a pupil recognition module or an iris recognition module that detects the pupil or iris of the user.

Here, when the angle of view of the camera sensor unit 100 is varied so that an image corresponding to the user's region of interest is obtained, the remote control device unit 300 zooms in and zooms out the image around the vehicle. Out), crop, and shift functions can be applied. That is, as described above, since the image around the vehicle can be obtained in high resolution, the image can be enlarged. However, since the image of the parking space is acquired at a low resolution and the image cannot be enlarged, the remote control device unit 300 provides the image around the vehicle. The zoom in, zoom out, crop and shift functions are applied to allow the user to check the image corresponding to the region of interest among the images around the vehicle in more detail. have.

5 illustrates an example in which the angle of view of the camera sensor unit 100 is changed so that an image corresponding to the user's region of interest is obtained. Fig. 5(a) shows an example of the initial control display image, and Fig. 5(b) shows an example of the control display image in which the image around the vehicle, which is a high-resolution area compared to the parking space image, is further enlarged (Zoom In case 1), Fig. 5(c) shows an example of a control display image in which an image around the vehicle, which is a high-resolution area, is expanded and moved (Zoom In Case 2), and Fig. 5(d) is an image around the vehicle, which is a high-resolution area, is expanded and moved. An example of a control display image in which the image around the vehicle is enlarged compared to the image of the parking space in the state in which the parking space image is enlarged (Zoom In case 3), and FIG. Out case).

Accordingly, the remote control device unit 300 detects the user's motion to change the angle of view of the camera sensor unit 100, and controls based on the image around the vehicle that changes as the angle of view of the camera sensor unit 100 changes. As the display image is processed, a control display image that is actively processed in response to the user's motion during the vehicle movement process is provided to the user, thereby improving the precision of remote parking control.

Meanwhile, the remote control device unit 300 may acquire authentication information for authenticating the user from the user and transmit it to the vehicle (camera sensor control unit (CAM_ECU) or camera sensor unit 100), and the camera sensor unit 100 May acquire an image around the vehicle and transmit it to the remote control device unit 300 only when the authentication information is transmitted to the vehicle (camera sensor control unit (CAM_ECU) or camera sensor unit 100).

That is, before starting the remote parking control, the remote control device unit 300 may obtain authentication information for authenticating a user, and when the obtained authentication information matches the previously registered authentication information, the obtained authentication information is Can be transferred to the vehicle. Accordingly, the camera sensor unit 100 acquires an image around the vehicle only when the authentication information is transmitted to the vehicle and transmits it to the remote control device unit 300, so that remote parking control of the vehicle may be initiated.

The authentication information may include user's iris information, fingerprint information, and smart key code information, and the remote control device unit 300 may be provided with an iris recognition module and a fingerprint recognition module in order to obtain iris information and fingerprint information. have.

On the other hand, since all information (vehicle surrounding image, vehicle location information, authentication information) transmitted and received between the remote control device unit 300 and the vehicle is transmitted and received based on wireless communication, each information is encrypted and decrypted to enhance its security. Can be transmitted and received.

6 and 7 are flowcharts illustrating a remote parking method according to an embodiment of the present invention.

Referring to FIG. 6, a remote parking method according to an embodiment of the present invention will be described. First, the remote control device unit 300 prepares a remote control for parking of a vehicle in a parking space (S100).

Referring to FIG. 7 to describe step S100 in detail, the remote control device unit 300 transmits a wake-up signal for wake-up of the vehicle to the vehicle (camera sensor control unit (CAM_ECU) or camera sensor unit 100). Hereinafter, a configuration in which the remote control device unit 300 and the camera sensor unit 100 directly communicate will be described) (S110).

When the wakeup signal is not received from the remote control device unit 300 (S120), the current sleep mode is maintained (S130), and the wakeup signal is normally received from the remote control device unit 300 (S120), the camera sensor unit 100 transmits a response signal to the wake-up signal to the remote control device unit 300 (S140).

The remote control device unit 300 determines whether a response signal to the wakeup signal is received from the camera sensor unit 100 (S150), and when the response signal is received, obtains authentication information for authenticating the user from the user. Then (S160) transmits to the camera sensor unit 100 (S170), and when a response signal is not received, the wakeup signal is retransmitted to the camera sensor unit 100 (S110).

Referring back to FIG. 6, when preparation for remote parking control is completed through step S100, the positioning unit 200 includes a first position determination signal received from an image recognition device (CAM_CCTV) and a remote terminal (SMK) possessed by the user. Position information of the vehicle in the parking space is generated based on each RSSI (Received Signal Strength Indication) of the second position determination signal received from S200.

Subsequently, the camera sensor unit 100 acquires an image around the vehicle (S300).

Subsequently, the remote control device unit 300 synthesizes the parking space image acquired by the image recognition device (CAM_CCTV) and the vehicle surrounding image acquired by the camera sensor unit 100 to display a control display for remote parking control of the vehicle. By generating an image and providing it to the user, controlling the operation of the camera sensor unit 100 based on the user's motion, and providing a control display image processed according to the operation control of the camera sensor unit 100 to the user, Remotely controlling the parking of the vehicle in the parking space (S400).

Referring to FIG. 7 to describe step S400 in detail, the remote control device unit 300 receives the location information of the vehicle and the image around the vehicle from the positioning unit 200 and the camera sensor unit 100, respectively, and the parking space The parking space image is transmitted through a separate management server that manages (S410).

Subsequently, the remote control device unit 300 synthesizes the parking space image and the vehicle surrounding image based on the vehicle location information, thereby generating a control display image to reflect the vehicle location in the parking space and providing it to the user ( S420).

Thereafter, the remote control device unit 300 changes the angle of view of the camera sensor unit 100 based on the user's motion, and is processed based on the image around the vehicle that changes as the angle of view of the camera sensor unit 100 changes. Provide the control display image to the user.

That is, the remote control device unit 300 generates a control signal for varying the angle of view of the camera sensor unit 100 based on the user's motion (S430) and transmits it to the camera sensor control device (CAM_ECU) (S440), The angle of view of the camera sensor unit 100 is changed by the camera sensor control device (CAM_ECU) that has received the control signal (S450), and then, through steps S200 and S300, the current position information of the vehicle and the variable angle of view are obtained. The image around the vehicle is transmitted to the remote control device unit 300, and finally, the remote control device unit 300 is a control display image processed based on the image around the vehicle that changes as the angle of view of the camera sensor unit 100 changes. Is provided to the user (S410). Steps S410 to S450 are cyclically performed until there is a user's parking control stop operation through the manipulation unit, so that a control display image may be provided to the user in real time.

Meanwhile, when the remote control device unit 300 changes the angle of view of the camera sensor unit 100 in step S400, the remote control device unit 300 determines a user's region of interest (ROI) determined based on the user's motion. Interest), the angle of view of the camera sensor unit 100 may be varied so that an image corresponding to (interest) is acquired, and in this case, the user's motion may include one or more of user's manual manipulation and gaze information.

In the above embodiments, the process in which the control display image is provided to the user when the user performs remote parking control of the vehicle has been described, and in parallel with the configuration in which the control display image is provided to the user, movement of the vehicle is performed. The user's driving control for controlling may be performed through an operation unit provided in the remote control device unit 300.

According to Example 1, it is possible to control the parking of a vehicle remotely more conveniently by providing a display image required for the user to remotely control parking to the user through a method of synthesizing the parking space image and the vehicle surrounding image. In addition, it is possible to improve the precision of remote parking control by providing the user with a display image that is actively processed in the user's motion by utilizing the variable angle of view camera module applied to the vehicle.

FIG. 8 is a block diagram illustrating an object recognition apparatus of a vehicle according to an embodiment of the present invention, and FIG. 9 is an exemplary view illustrating an operation process of the object recognition apparatus of a vehicle according to an embodiment of the present invention. to be.

Referring to FIG. 8, the apparatus for recognizing an object of a vehicle according to an embodiment of the present invention may include a variable angle of view camera module 10 and a control unit 20.

The variable angle of view camera module 10 is mounted on an autonomous vehicle by applying a multi-layer lens structure including a plurality of lenses, and the field of view (FOV) is variable as the focal length and the refractive index of each lens are controlled. The target object can be recognized. Since the variable angle of view camera module 10 of the second embodiment is the same as the variable angle of view camera module 10 described in the first embodiment, a detailed operation description will be omitted. The variable angle of view camera module 10 of the second embodiment may be mounted on an autonomous vehicle to perform a function of providing an object recognition result required for autonomous driving control.

The controller 20 recognizes the target object through the variable angle of view camera module 10 by varying the angle of view of the variable angle of view camera module 10 so that the resolution of the target object is increased, and based on the recognition result, the Autonomous driving can be controlled.

Specifically, in the autonomous driving vehicle of the second embodiment, since autonomous driving is controlled based on the target object recognition result obtained by the installed variable angle of view camera module 10, the object recognition performance of the variable angle of view camera module 10 is It is directly connected to the precision of autonomous driving control. However, when the size of the target object is small, or when Occulusion occurs, or when a Blur occurs in the image acquired by the variable angle of view camera module 10 due to environmental conditions, recognition of the target object through the variable angle of view camera module 10 And tracking performance is reduced.

Accordingly, in this embodiment, the controller 20 recognizes the target object through the variable angle of view camera module 10 by varying the angle of view of the variable angle of view camera module 10 so that the resolution for the target object is increased, and the recognition result Based on this, the autonomous driving of autonomous vehicles can be controlled.

Referring to FIG. 9 as an example, when the variable angle of view camera module 10 applies a deep learning or image processing technique to the result of recognizing the target object, it may not recognize the target object according to the aforementioned various factors. Misrecognition may occur.

Therefore, when the target object is unrecognized or misrecognized, the controller 20 changes the angle of view of the variable angle of view camera module 10 so that the resolution of the target object is increased, and the variable angle of view camera module 10 with a variable angle of view Through the recognition of the target object, by applying deep learning or image processing techniques to the recognition result, it is possible to control the autonomous driving of the autonomous vehicle by grasping the meaning of the target object.

In this case, the controller 20 may change the angle of view of the variable angle of view camera module 10 so that the resolution of the target object is increased only when the recognition degree of the variable angle of view camera module 10 with respect to the target object is less than a preset threshold. The degree of recognition of the variable angle of view camera module 10 is a parameter that indicates the recognition performance of the variable angle of view camera module 10 and, for example, a resolution may be employed.

Accordingly, when the recognition degree of the variable angle of view camera module 10 with respect to the target object is less than a preset threshold, the precision of autonomous driving control may be reduced due to unrecognized or misrecognized of the target object, so that the controller 20 The angle of view of the variable angle of view camera module 10 is varied to increase the resolution of the object, and the target object is recognized through the variable angle of view camera module 10 with a variable angle of view, and a deep learning or image processing technique is applied to the recognition result. By doing so, it is possible to understand the meaning of the target object and control the autonomous driving of the autonomous vehicle.

10 is a flowchart illustrating a method of recognizing an object of a vehicle according to an embodiment of the present invention.

Referring to FIG. 10, a method of recognizing an object of a vehicle according to an embodiment of the present invention will be described. First, a variable angle of view camera module 10 mounted on an autonomous vehicle recognizes a target object during an autonomous driving process (S10).

Subsequently, when the recognition degree of the variable angle of view camera module 10 with respect to the target object is less than a preset threshold (S20), the controller 20 changes the angle of view of the variable angle of view camera module 10 so that the resolution for the target object is increased. , Recognizes the target object through the variable angle of view camera module 10 with a variable angle of view, and controls autonomous driving of the autonomous vehicle by grasping the meaning of the target object by applying deep learning or image processing techniques to the recognition result ( S30).

According to the second embodiment, by improving the recognition performance of the variable angle of view camera module through a method of varying the angle of view of the variable angle of view camera module so as to increase the resolution of the target object, it is possible to improve the autonomous driving performance of an autonomous vehicle. .

The present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the art to which the present 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.

<Example 1>
100: camera sensor unit
110, 120, 130, 140, 150: first to fifth variable angle of view camera modules
200: positioning portion
300: remote control device unit
VEH: vehicle
CAM_ECU: Camera sensor control unit
SMK_ECU: Smart key system control unit
ECU module: control unit
CAM_CCTV: image recognition device
SMK: remote terminal
<Example 2>
10: variable angle of view camera module
20: control unit

Claims (9)

A multi-layered lens structure including a plurality of lenses is applied and mounted on an autonomous vehicle, and a field of view (FOV) is changed as the focal length and refractive index of each lens are controlled to recognize a target object. Camera module; And
A controller configured to recognize the target object through the variable angle of view camera module by varying the angle of view of the variable angle of view camera module to increase the resolution of the target object, and control autonomous driving of the autonomous vehicle based on the recognition result ;
Object recognition device of a vehicle comprising a.
The method of claim 1,
The control unit is configured to change the angle of view of the variable angle of view camera module to increase the resolution of the target object only when the recognition degree of the variable angle of view camera module with respect to the target object is less than a preset threshold. Device.
The method of claim 1,
The control unit applies a deep learning or image processing technique to the recognition result to control the autonomous driving of the autonomous vehicle.
A multi-layered lens structure including a plurality of lenses is applied and mounted on an autonomous vehicle, and the field of view (FOV) is variable as the focal length and the refractive index of each lens are controlled, and objects around the autonomous vehicle A variable angle of view camera module that recognizes the object, and the object through the variable angle of view camera module by varying the angle of view of the variable angle of view camera module to increase the resolution of the object, and the autonomous vehicle based on the recognition result An object recognition device having an autonomous driving controller that controls autonomous driving of the vehicle;
A control display image for remote parking control of the vehicle is generated by synthesizing a parking space image acquired by an image recognition device installed in a parking space and an image around the autonomous vehicle including the object recognized by the variable angle of view camera Then, by providing to the user, controlling the operation of the variable angle of view camera module based on the user's motion, and providing the control display image processed according to the operation control of the variable angle of view camera module to the user, the parking A remote control device for remotely controlling the parking of the vehicle in space;
Including remote parking system.
The method of claim 4,
Installed in the vehicle, in the parking space based on each RSSI (Received Signal Strength Indication) of a first position determination signal received from the image recognition device and a second position determination signal received from a remote terminal possessed by the user And a positioning unit for generating location information of the vehicle.
The method of claim 5,
The remote control device unit combines the parking space image and the vehicle surrounding image based on the position information of the vehicle received from the positioning unit, so that the position of the vehicle in the parking space is reflected. Remote parking system, characterized in that to create a.
The method of claim 4,
The remote control device unit may vary the angle of view of the variable angle of view camera module based on the motion of the user, and the control display image processed based on the image around the vehicle that changes as the angle of view of the variable angle of view camera module changes Remote parking system, characterized in that to provide the user with.
The method of claim 7,
The remote control device unit varies the angle of view of the variable angle of view camera module so that an image corresponding to the user's region of interest (ROI) determined based on the user's motion is obtained, but the user's motion is the A remote parking system comprising at least one of user's manual operation and gaze information.
The method of claim 4,
The remote control device unit acquires authentication information for authenticating the user from the user,
Wherein the variable angle of view camera module acquires the vehicle surrounding image and transmits it to the remote control device unit only when the authentication information is transmitted from the remote control device unit to the vehicle.

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