KR20210114160A - Method and apparatus for controlling vehicle stereo camera - Google Patents

Abstract

The present invention relates to a method for controlling a stereo camera for a vehicle and a device. According to an embodiment of the present invention, the method for controlling the stereo camera for the vehicle includes the following steps of: measuring vehicle speed when start of the vehicle is ON; and comparing measured vehicle speed with a preset speed value and adjusting an interval between a first camera and a second camera provided in the stereo camera. Therefore, the present invention reduces advanced driver assistance system (ADAS) implementation cost through a simplification of sensor configuration contributes to popularization of ADAS.

Description

A vehicle stereo camera control method and apparatus {METHOD AND APPARATUS FOR CONTROLLING VEHICLE STEREO CAMERA}

The present invention relates to a vehicle stereo camera control technology, and more particularly, to a technology for dynamically controlling an angle of view and a recognizable distance by dynamically adjusting a baseline of a vehicle stereo camera.

Advanced Driver Assistance Systems (ADAS) uses advanced detection sensors, GPS receivers, communication modules, and intelligent video equipment to recognize some situations while driving and judge the situation, and control or control the vehicle accordingly. It is a driver assistance system that notifies the driver with various alarm means - for example, sound, light, vibration, etc. - so that the driver can detect danger factors in advance.

Currently, the most common ADAS is a parking assistance system that detects objects around the vehicle using ultrasonic sensors and alerts the driver with a warning sound to help parking easier, and an automatic cruise control system that maintains a constant speed and distance between vehicles. , a lane departure warning system that detects the lane and driving direction and outputs a warning sound when the vehicle departs, and an adaptive light system that dynamically controls headlights according to the road and driving direction.

Cameras used to implement ADAS are largely divided into a mono camera and a stereo camera.

In particular, since a stereo camera recognizes an object in front with two cameras, there is an advantage in that it can more accurately detect longitudinal position information of a front object compared to a monocular camera.

A stereo camera has a characteristic that the distance and angle of view at which an object in front can be recognized varies depending on the distance between the two cameras. When the distance between the two cameras is shortened, the angle of view increases and the distance at which object recognition is possible decreases. On the other hand, as the distance between the two cameras increases, the angle of view becomes narrow and the distance at which object recognition is possible increases.

However, the stereo camera currently used for forward recognition has a problem in that the distance between the two cameras is fixed and thus the angle of view and the object recognition range are fixed.

It is an object of the present invention to provide a method and apparatus for controlling a stereo camera for a vehicle.

Another object of the present invention is to provide a method and apparatus for controlling a stereo camera for a vehicle to dynamically control an angle of view and an object recognizable distance by adaptively controlling a distance between two cameras of a stereo camera according to a driving environment.

Another object of the present invention is to provide a method and apparatus for controlling a stereo camera for a vehicle capable of accurately detecting an object with a wider recognition range without having a separate sensor for long-distance recognition and extension of the left/right recognition range.

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

The method for controlling a stereo camera for a vehicle according to an embodiment of the present invention includes the steps of measuring a vehicle speed when the vehicle ignition is on, comparing the measured vehicle speed with a preset speed value, and a first camera provided in the stereo camera; It may include adjusting the interval of the second camera.

In an embodiment, the method may further include returning the first camera and the second camera to a default interval position before the vehicle speed measurement when the vehicle ignition is on.

In an embodiment, the method may include moving the first camera and the second camera to a preset minimum interval position when the vehicle speed is less than the first speed value.

In an embodiment, the method includes comparing the vehicle speed with a second speed value when the vehicle speed is equal to or greater than the first speed value, and measuring a distance from the vehicle traveling in front when the vehicle speed is smaller than the second speed value may include steps.

In an embodiment, the method may include adjusting the distance between the first camera and the second camera by comparing the measured distance with a preset distance value.

In an embodiment, when the measured distance is smaller than the first distance value, the distance between the first camera and the second camera may be moved to the minimum distance position.

In an embodiment, if the measured distance is equal to or greater than the first distance value and is smaller than the second distance value, the distance between the first camera and the second camera is moved to a preset intermediate distance position, and the default gap position is It may be the intermediate spacing position.

In an embodiment, the method includes the steps of, if the measured distance is equal to or greater than the second distance value, determining whether a vehicle traveling in a left/right lane exists, and if the determination result does not exist, the first camera and the second It may include moving the interval between the two cameras to a preset maximum interval position, and if it exists as a result of the determination, moving the interval between the first camera and the second camera to the intermediate interval position.

For example, when the vehicle speed is equal to or greater than the second speed value, the distance to the vehicle driving ahead is measured, and when the measured distance is less than the third distance value, the distance between the first camera and the second camera is It is moved to the minimum interval position, and the third distance value may be greater than the second distance value.

In an embodiment, when the measured distance is equal to or greater than the third distance value and smaller than the fourth distance value, the distance between the first camera and the second camera is moved to the intermediate distance position, and the measured distance is If the fourth distance value or more, the distance between the first camera and the second camera may be moved to the maximum distance position.

A method for controlling a stereo camera for a vehicle according to another embodiment of the present invention includes the steps of measuring a vehicle speed when the vehicle is started, measuring a radius of curvature of a road ahead, and measuring a distance from a vehicle driving ahead; calculating an optimal distance between the first camera and the second camera provided in the stereo camera based on the measured vehicle speed, radius of curvature, and distance, and setting the distance between the first camera and the second camera as the calculated optimal distance It may include the step of adjusting.

In an embodiment, the method may further include returning the first camera and the second camera to an initial interval position before the vehicle speed measurement when the vehicle ignition is on.

In an embodiment, the optimal distance may be calculated by inputting the measured vehicle speed, radius of curvature, and distance to a predefined optimal gap generating function.

In an embodiment, preset weights may be applied to each of the measured vehicle speed, radius of curvature, and distance to calculate the optimal interval.

An apparatus for controlling a stereo camera for a vehicle according to another embodiment of the present invention includes a stereo camera having a first camera and a second camera, a vehicle speed detecting unit for detecting a vehicle speed when the vehicle is started, and the vehicle speed and a preset speed It may include a control unit that compares values to determine an interval between the first camera and the second camera, and an interval control unit that moves the first camera and the second camera at the determined interval.

In an embodiment, when the vehicle ignition is ON, the interval adjusting unit may return the first camera and the second camera to a default interval position before detecting the vehicle speed.

In an embodiment, when the vehicle speed is less than the first speed value, the controller may determine the interval between the first camera and the second camera as a preset minimum interval.

In an embodiment, the device further includes a distance calculator for calculating a distance from a vehicle in front, wherein the controller includes the distance calculator for calculating the distance when the vehicle speed is equal to or greater than the first speed value and less than the second speed value. can be controlled to do so.

In an embodiment, the controller may determine the interval between the first camera and the second camera by further comparing the calculated distance with a preset distance value.

In an embodiment, when the measured distance is smaller than a first distance value, the controller may determine the distance between the first camera and the second camera as the minimum distance.

In an embodiment, when the measured distance is equal to or greater than the first distance value and smaller than the second distance value, the controller determines the interval between the first camera and the second camera as a preset intermediate interval, and the default interval may be the intermediate interval.

In an embodiment, the device further includes an object detecting unit for detecting an object around the vehicle based on the image captured by the stereo camera, and the control unit is configured to: It is determined whether there is a vehicle traveling in the left/right lane through the sensing unit, and if there is no vehicle as a result of the determination, the interval between the first camera and the second camera is determined as a preset maximum interval, and as a result of the determination, If present, the interval between the first camera and the second camera may be determined as the intermediate interval.

For example, when the vehicle speed is equal to or greater than the second speed value, the distance to the vehicle in front measured by the distance calculator is smaller than a third distance value, the distance between the first camera and the second camera is determined as the minimum interval, and the third distance value may be greater than the second distance value.

In an embodiment, when the measured distance is equal to or greater than the third distance value and less than the fourth distance value, the controller determines the interval between the first camera and the second camera as the intermediate interval, and the measured distance When is greater than or equal to the fourth distance value, the distance between the first camera and the second camera may be determined as the maximum distance.

An apparatus for controlling a stereo camera for a vehicle according to another embodiment of the present invention includes a stereo camera equipped with a first camera and a second camera, a vehicle speed detection unit that detects a vehicle speed when the vehicle is turned on, and a radius of curvature of the road ahead. The distance calculator for calculating the distance between the calculated radius of curvature calculator and the vehicle driving ahead, and the vehicle speed, radius of curvature, and distance to determine the optimal distance between the first camera and the second camera provided in the stereo camera It may include a control unit and an interval adjusting unit for adjusting the interval between the first camera and the second camera to the determined optimal interval.

In an embodiment, when the vehicle ignition is turned on, the controller may restore the interval between the first camera and the second camera to a preset initial interval before the vehicle speed measurement.

In an embodiment, the controller may calculate the optimum interval by inputting the calculated vehicle speed, radius of curvature, and distance to a predefined optimum interval generating function.

In an embodiment, the controller may calculate the optimum interval by applying a preset weight to each of the vehicle speed, the radius of curvature, and the distance.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. will be able

The present invention has the advantage of providing a method and apparatus for controlling a stereo camera for a vehicle.

In addition, the present invention has the advantage of providing a method and apparatus for controlling a stereo camera for a vehicle to dynamically control an angle of view and an object recognizable distance by adaptively controlling a distance between two cameras of a stereo camera according to a driving environment.

In addition, the present invention has the advantage of providing a method and apparatus for controlling a stereo camera for a vehicle capable of accurately detecting an object with a wider recognition range without having a separate sensor for long-distance recognition and extension of the left/right recognition range.

In addition, the present invention has the advantage of not only reducing the ADAS implementation cost through the simplification of the sensor configuration, but also contributing to the popularization of ADAS.

In addition, various effects directly or indirectly identified through this document may be provided.

1 is a view for explaining the structure of a conventional stereo camera.
2 is a view for explaining the structure of a stereo camera according to an embodiment of the present invention.
3 is a view for explaining the structure of a stereo camera according to another embodiment of the present invention.
4 is a view for explaining the structure of a stereo camera control apparatus for a vehicle according to an embodiment of the present invention.
FIG. 5 is a view for explaining a method of adjusting a stereo camera distance in the apparatus according to the embodiment of FIG. 4 .
6 is a view for explaining the structure of a stereo camera control apparatus for a vehicle according to another embodiment of the present invention.
FIG. 7 is a view for explaining a method of adjusting a stereo camera distance in the apparatus according to the embodiment of FIG. 6 .
8A to 8B are flowcharts illustrating a method for controlling a stereo camera for a vehicle according to an embodiment of the present invention.
9 is a flowchart illustrating a method for controlling a stereo camera for a vehicle according to another embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 9 .

1 is a view for explaining the structure of a conventional stereo camera.

The principle of a stereo camera is the same as the principle that a person feels a three-dimensional effect and a sense of distance when looking at an object.

As shown in FIG. 1 , the stereo camera 100 may include a first camera 120 and a second camera 130 disposed on one surface of the body 110 at a predetermined distance from each other.

When the left/right cameras 120 and 130 of the stereo camera 100 look at a specific object, such as both eyes of a person, a parallax occurs due to a spatial difference, and by the parallax, a sense of distance to the object or a three-dimensional effect of the object be able to feel

There are processes that must be performed before the stereo camera 100 extracts disparity information of an object, which is calibration and rectification.

Calibration is a process of extracting camera parameters of the stereo camera 100, and rectification is a process of accurately aligning left and right camera images using these extracted camera parameters, thereby reducing the amount of computation and increasing accuracy when calculating stereo parallax. means

The stereo camera 100 calibration is a process that must be preceded for camera distortion correction and stereo image rectification, and in the vehicle stereo camera control device according to the present invention, the pre-extracted calibration parameter is recorded and maintained in the internal memory. can

The stereo camera 100 has a characteristic in that a distance and an angle of view at which an object in front can be recognized vary according to the distance between the first camera 120 and the second camera 130 .

That is, when the distance between the cameras is shortened, the angle of view is widened and the distance that can recognize the front object decreases. On the other hand, as the distance between the cameras increases, the angle of view narrows and the recognizable distance of the front object increases.

The conventional stereo camera 100 is mounted on the main body 110 so that the distance between the first camera 120 and the second camera 130 is fixed.

In the case of the stereo camera 100 having a fixed camera distance, the front object recognizable distance has a fixed value. Therefore, there is a disadvantage in that an object located farther than the front object recognition distance cannot be detected.

In addition, in the case of the stereo camera 100 having a fixed camera interval, the angle of view is fixed. Accordingly, when the preceding vehicle travels at a very close distance to the host vehicle, there is a disadvantage in that accurate driving information about the preceding vehicle cannot be obtained due to the limitation of the angle of view.

For example, when the preceding vehicle is too close to the own vehicle, it may be difficult or inaccurate to recognize the left and right lanes through the stereo camera.

As another example, in a situation where the driving speed is slow, such as when the vehicle is driving in a narrow alley or an indoor parking lot, or when approaching an intersection or a crosswalk, the driving environment information on the left and right is closer than the driving environment information for a long distance - for example, a pedestrian Appearance information, etc. - may be useful. However, there is a problem in that it is impossible to obtain necessary information in a corresponding driving situation in a state in which the stereo camera angle of view is narrowly fixed.

Accordingly, there is a need for a stereo camera capable of adaptively adjusting the object recognition distance and the angle of view according to the driving state of the vehicle.

2 is a view for explaining the structure of a stereo camera according to an embodiment of the present invention.

Referring to FIG. 2 , the stereo camera 200 includes a main body 210 , a first camera 220 , a second camera 230 , a first guard rail 240 , and a second guard rail 250 . can be

The first camera 220 and the second camera 230 may be disposed on one surface of the body 210 to be spaced apart from each other.

The first camera 220 may be movable along the first guard rail 240 , and the second camera 230 may be movable along the second guard rail 250 .

At least one driving motor (not shown) for moving the first camera 220 and the second camera 230 may be provided inside the body 210 .

A control circuit (not shown) for controlling the distance between the first camera 220 and the second camera 230 by controlling the driving motor may be provided inside the main body 210 .

The control circuit may be linked with various sensors provided in the vehicle. Here, the sensor may include a vehicle speed sensor and a yaw rate sensor, but is not limited thereto, and may further include at least one of an ultrasonic sensor capable of detecting a side/rear object, a radar, and a lidar.

3 is a view for explaining the structure of a stereo camera according to another embodiment of the present invention.

Referring to FIG. 3 , the stereo camera 300 may include a body 310 , a first camera 320 , a second camera 330 , and a guard rail 340 .

The first camera 320 and the second camera 330 may be disposed on one surface of the body 310 to be spaced apart from each other.

The first camera 320 may be movable along the guard rail 340 .

A driving motor (not shown) for moving the first camera 320 may be provided inside the main body 310 .

A control circuit (not shown) for controlling the distance between the first camera 220 and the second camera 230 by controlling the driving motor may be provided inside the main body 310 .

The control circuit may be linked with various sensors provided in the vehicle. Here, the sensor may include a vehicle speed sensor and a yaw rate sensor, but is not limited thereto, and may further include at least one of an ultrasonic sensor capable of detecting a side/rear object, a radar, and a lidar.

3, the first camera 320 is shown to move on the guard rail 340, but this is only one embodiment, and in another embodiment, the guard rail 340 is the second camera 330 may be designed to be movable.

The stereo cameras 200 and 300 according to the embodiments of FIGS. 2 and 3 have the advantage of being able to maintain an optimal angle of view and an object recognizable distance by dynamically adjusting the camera distance according to driving information and driving road surroundings. .

In particular, the stereo cameras 200 and 300 according to the present invention have the advantage of being able to accurately detect an object with a wider recognition range without having a separate sensor for long-distance recognition and extension of the left/right recognition range.

Accordingly, the present invention has the advantage of not only reducing the cost of implementing ADAS through the simplification of the sensor configuration provided in the vehicle, but also contributing to the popularization of ADAS.

4 is a view for explaining the structure of a stereo camera control apparatus for a vehicle according to an embodiment of the present invention.

Referring to FIG. 4 , the vehicle stereo camera control device 400 includes a stereo camera 410 , an interval adjusting unit 420 , an object detecting unit 430 , a vehicle speed detecting unit 440 , a distance calculating unit 450 , and storage. It may be configured to include a unit 460 and a control unit 470 .

Hereinafter, for convenience of description, the vehicle stereo camera control device 400 will be simply referred to as the device 400 for convenience of description.

The stereo camera 410 may be configured to include a first camera 411 and a second camera 412 as described above with reference to FIGS. 2 and 3 .

The interval adjusting unit 420 may adjust the interval between the first camera 411 and the second camera 412 in a specific level unit by using an internal driving motor.

The object detecting unit 430 may detect an object based on an image captured by the stereo camera 410 . Here, the sensed object may include, but is not limited to, a vehicle traveling forward, a vehicle traveling in a lane, a vehicle traveling in a left/right lane, a pedestrian in front, and the like.

The vehicle speed detecting unit 440 may detect the driving speed of the vehicle.

The distance calculator 450 may calculate a separation distance between the own vehicle and the vehicle driving ahead based on the image captured by the stereo camera 410 .

In the storage unit 460 , programs and various data necessary for the operation of the device 400 may be recorded and maintained. For example, in the storage unit 460 , a calibration parameter pre-extracted corresponding to the stereo camera 410 may be recorded and maintained.

The controller 470 may control the overall operation and input/output of the device 400 .

In an embodiment, the controller 470 may control the first camera 411 and the second camera 412 based on the vehicle speed information obtained from the vehicle speed detecting unit 440 and the distance to the vehicle traveling ahead obtained from the distance calculating unit 450 . ) - that is, an optimal baseline - can be determined. The control unit 470 may transmit a predetermined interval control signal instructing adjustment to the determined optimal interval to the interval control unit 420 . The interval adjusting unit 420 may control the driving motor according to the interval control signal to adjust the interval between the first camera 411 and the second camera 412 to an optimum interval.

In an embodiment, the controller 470 may control a short baseline (L1) and a medium baseline (L2, medium baseline), as shown in FIG. 5 to be described later, according to the real-time collected vehicle speed and distance from the vehicle traveling in front. ) and a long reference distance (L3, Long Baseline) may be determined as the optimal interval. At this time, information on the short reference distance (L1, Short baseline), the intermediate reference distance (L2, Medium Baseline), and the long reference distance (L3, Long baseline) may be extracted through pre-calibration and maintained in the storage unit 460 . have.

FIG. 5 is a view for explaining a method of adjusting a stereo camera distance in the apparatus according to the embodiment of FIG. 4 .

4 to 5 , after the device 400 starts the vehicle, the first camera 411 and the second camera 412 set the initial position—that is, the Default Baseline—to the intermediate reference line (L2, Medium Baseline)— can return

Thereafter, the device 400 dynamically adjusts the stereo camera interval to a short baseline (L1) and a medium baseline (L2, medium baseline) based on the vehicle speed information collected during driving and the separation distance information from the vehicle in front. ) and a long reference distance (L3, Long Baseline) can be determined and adjusted.

The apparatus 400 according to an embodiment may determine the stereo camera distance further based on information on whether a vehicle is traveling in the left/right lane of the own vehicle's driving lane according to the vehicle speed and the separation distance from the forward driving vehicle.

6 is a view for explaining the structure of a stereo camera control apparatus for a vehicle according to another embodiment of the present invention.

6, the vehicle stereo camera control device 600 includes a stereo camera 610, a vehicle speed detection unit 620, an interval adjustment unit 630, an object detection unit 640, a radius of curvature calculation unit 650, It may be configured to include a distance calculating unit 660 , a storage unit 670 , and a control unit 680 .

Hereinafter, for convenience of description, the vehicle stereo camera control device 600 will be simply referred to as the device 600 for convenience of description.

The stereo camera 610 may be configured to include a first camera 611 and a second camera 612 as described above with reference to FIGS. 2 and 3 .

The vehicle speed detecting unit 620 may detect the driving speed of the vehicle.

The controller 680 according to an embodiment may control the distance between the stereo cameras 610 to increase when the vehicle speed of the host vehicle is high, and control the distance between the stereo cameras 610 to decrease when the vehicle speed of the host vehicle is low.

The interval adjusting unit 630 may finely adjust the interval between the first camera 411 and the second camera 412 by using an internal driving motor. Here, the fine adjustment unit may be a millimeter (mm) unit or a centimeter (tsu) unit, but is not limited thereto, and may be set in units of several millimeters (mm) or several centimeters (tsu) according to a design of those skilled in the art. .

The object detecting unit 640 may detect an object based on an image captured by the stereo camera 610 . Here, the sensed object may include, but is not limited to, a vehicle traveling forward, a vehicle traveling in a lane, a vehicle traveling in a left/right lane, a pedestrian in front, and the like.

The radius of curvature calculator 650 may calculate the radius of curvature of the road ahead.

The control unit 680 according to an embodiment may control the distance between the stereo cameras 610 to increase when the radius of curvature of the front road is large, and control the distance between the stereo cameras 610 to be small when the radius of curvature of the front road is small. have.

The distance calculator 660 may calculate a separation distance between the own vehicle and the vehicle driving ahead based on the image captured by the stereo camera 610 .

The control unit 680 according to an embodiment controls the distance between the stereo cameras 610 to become smaller as the distance from the own vehicle to the vehicle in front decreases, and the distance from the vehicle to the vehicle in front increases to increase the distance between the stereo cameras 610 . can be controlled to

In the storage 670 , a program necessary for the operation of the device 600 and various data and parameters may be recorded and maintained. For example, in the storage unit 670 , a calibration parameter pre-extracted corresponding to the stereo camera 610 may be recorded and maintained.

The controller 680 may control the overall operation and input/output of the device 600 .

In an embodiment, the control unit 680 may control the vehicle speed information obtained from the vehicle speed detecting unit 620 , the front road curvature radius information calculated from the curvature radius projecting unit 650 , and the distance to the forward driving vehicle obtained from the distance calculating unit 660 . An optimal interval between the first camera 611 and the second camera 612 (ie, an optimal baseline) may be determined based on the distance information. The control unit 680 may transmit a predetermined interval control signal instructing adjustment to the determined optimum interval to the interval control unit 630 . The interval adjusting unit 630 may control the driving motor according to the interval control signal to adjust the interval between the first camera 611 and the second camera 612 to an optimum interval.

In an embodiment, the controller 680 may calculate the optimum interval through a predefined optimum interval generating function Ls using the vehicle speed, the radius of curvature, and the distance to the vehicle traveling in front as input values. In this case, weights for each of the vehicle speed, the radius of curvature, and the distance from the vehicle traveling in front, which are input factors of the optimum interval generating function Ls, may be set differently.

As shown in FIG. 7 to be described later, the apparatus 600 according to the present embodiment has the advantage of being able to linearly fine-tune the distance between the stereo cameras 610 through the optimal interval generating function.

FIG. 7 is a view for explaining a method of adjusting a stereo camera distance in the apparatus according to the embodiment of FIG. 6 .

6 to 7 , the device 600 may move the positions of the first camera 611 and the second camera 612 to have an initial interval Linit after the vehicle is started.

Thereafter, the device 600 may dynamically adjust the distance between the stereo cameras 610 based on the vehicle speed (V) collected during driving, the radius of curvature (R) of the road ahead, and the separation distance (X) from the vehicle driving in front. have.

As an example, the device 600 calculates the optimum interval between the first camera 611 and the second camera 612 provided in the stereo camera 610 in the corresponding driving environment by using the following optimum interval generation function Ls. can

Ls = a×Ax×X + b×Ar×R + c×Av×V

Here, a is a weight for the X value, b is a weight for the R value, and c is a weight for the V value. Ax, Ar, and Av are dimensionless coefficients for making the X value, R value, and V value the same size as the Ls value - the same scale (SCALE) - respectively.

In an embodiment, at least one of a, b, and c may have different values.

8A to 8B are flowcharts illustrating a method for controlling a stereo camera for a vehicle according to an embodiment of the present invention.

In an embodiment, when the vehicle ignition is turned off, the distance between the stereo cameras 410 may be maintained in a state immediately before the ignition is turned off.

Referring to FIGS. 4, 5 and 8A , when the vehicle ignition is on, the device 400 may return the stereo camera 410 to the default interval L2 position ( S801 ).

In another embodiment, when the vehicle ignition is turned off, the device 400 may automatically return the interval between the stereo cameras 410 to the default intermediate interval L2. In this case, the above-described step S801 may be omitted.

The device 400 may measure the vehicle speed Vx, which is the current traveling speed of the vehicle (S802).

The device 400 may compare the vehicle speed Vx with a preset first speed value ( S803 ). For example, the first speed value may be 20 km/h, but is not limited thereto, and may be set to a specific value corresponding to low-speed driving.

When Vx is less than the first speed value, the device 400 may move the stereo camera to the position of the minimum distance L1 (S804).

As a result of the comparison in step 803 , if Vx is equal to or greater than the first speed value, the apparatus 400 may compare Vx with the second speed value ( S805 ). Here, the second speed value may be set to a value greater than the first speed value. As an example, the second speed value may be 80 km/h, but is not limited thereto, and may be set to a specific value corresponding to constant speed driving.

As a result of the comparison in step 805, if Vx is less than the second speed value, the apparatus 400 may measure the distance X to the vehicle traveling in front (S806).

The device 400 may compare the measured distance X with the first distance value (S807).

As a result of the comparison, if X is smaller than the first distance value, the device 400 may move the stereo camera to the position of the minimum distance L1 ( S808 ).

As a result of the comparison in step 807 , if X is equal to or greater than the first distance value, the device 400 may compare X with the second distance value ( S809 ). Here, the second distance value may be set to be larger than the first distance value.

As a result of the comparison in step 809 , if X is less than the second distance value, the device 400 may move the stereo camera 410 to the intermediate distance L2 ( S810 ).

As a result of the comparison in step 809, if X is equal to or greater than the second distance value, the apparatus 400 may determine whether a vehicle traveling in the left/right lane of the own driving lane exists (S811).

As a result of the determination, if there is no vehicle driving in the left/right lane of the own driving lane, the device 400 may move the stereo camera 410 to the position of the maximum distance L3 ( S812 ).

As a result of the determination in step 811 , when there is no vehicle driving in the left/right lane of the own driving lane, the device 400 may move the stereo camera 410 to the intermediate distance L2 position.

Referring to FIG. 8B , as a result of the comparison in step 805 , if Vx is equal to or greater than the second speed value, the apparatus 400 may measure the distance X to the vehicle traveling in front ( S813 ).

The device 400 may compare the measured distance X with the third distance value (S814). Here, the third distance value may be set to a value greater than the second distance value.

As a result of the comparison, if X is smaller than the third distance value, the device 400 may move the stereo camera 410 to the position of the minimum distance L1 ( S815 ).

As a result of the comparison in step 814, if X is equal to or greater than the third distance value, the apparatus 400 may compare X with the fourth distance value (S816). Here, the fourth distance value may be set to a value greater than the third distance value.

As a result of the comparison, if X is smaller than the fourth distance value, the device 400 may maintain the stereo camera 410 at the intermediate interval L2 (S817).

As a result of the comparison in step 816 , if X is equal to or greater than the fourth distance value, the device 400 may move the stereo camera 410 to the position of the maximum distance L3 ( S818 ).

9 is a flowchart illustrating a method for controlling a stereo camera for a vehicle according to another embodiment of the present invention.

The embodiment according to FIG. 9 may be performed by the apparatus 600 of FIG. 6 .

Referring to FIG. 9 , when the vehicle ignition is turned on, the device 600 may move the positions of the first camera 611 and the second camera 612 to have the initial distance Linit ( S910 ).

The device 600 may measure the current vehicle speed Vx, the radius of curvature R of the road ahead, and the distance X from the vehicle traveling in the same lane ahead (S920 to S940).

The apparatus 600 may calculate the optimum interval Ls by inputting the measured vehicle speed Vx, the radius of curvature R, and the distance X into a predefined optimum interval generating function (S950).

The device 600 may adjust the stereo camera interval to the calculated optimal interval Ls (S960).

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in a storage medium (ie, memory and/or storage) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM.

An exemplary storage medium is coupled to the processor, the processor capable of reading information from, and writing information to, the storage medium. Alternatively, the storage medium may be integral with the processor. The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (20)

In the vehicle stereo camera control method,
measuring the vehicle speed when the vehicle ignition is turned on; and
and adjusting an interval between a first camera and a second camera provided in the stereo camera by comparing the measured vehicle speed with a preset speed value.
According to claim 1,
The step of adjusting the distance between the first camera and the second camera comprises:
and if the vehicle speed is smaller than the first speed value, moving the first camera and the second camera to a preset minimum interval position.
3. The method of claim 2,
The step of adjusting the distance between the first camera and the second camera comprises:
comparing the vehicle speed with a second speed value when the vehicle speed is equal to or greater than the first speed value; and
and measuring a distance from a vehicle traveling in front when the vehicle speed is less than the second speed value.
4. The method of claim 3,
The step of adjusting the distance between the first camera and the second camera comprises:
and adjusting the distance between the first camera and the second camera by comparing the measured distance with a preset distance value.
5. The method of claim 4,
The step of adjusting the distance between the first camera and the second camera comprises:
and if the measured distance is smaller than the first distance value, moving the distance between the first camera and the second camera to the minimum distance position.
6. The method of claim 5,
The step of adjusting the distance between the first camera and the second camera comprises:
If the measured distance is equal to or greater than the first distance value and smaller than the second distance value, moving the first camera and the second camera to a preset intermediate distance position;
The default interval position is,
The vehicle stereo camera control method, characterized in that the intermediate interval position.
7. The method of claim 6,
The step of adjusting the distance between the first camera and the second camera comprises:
determining whether there is a vehicle traveling in a left/right lane when the measured distance is equal to or greater than the second distance value;
moving the distance between the first camera and the second camera to a preset maximum gap position if it does not exist as a result of the determination; and
If it exists as a result of the determination, the method for controlling a stereo camera for a vehicle comprises moving the distance between the first camera and the second camera to the intermediate distance position.
8. The method of claim 7,
The step of adjusting the distance between the first camera and the second camera comprises:
If the vehicle speed is equal to or greater than the second speed value, the distance to the vehicle driving ahead is measured. If the measured distance is less than the third distance value, the distance between the first camera and the second camera is set to the minimum. moving to an interval position;
The third distance value is
The vehicle stereo camera control method, characterized in that greater than the second distance value.
9. The method of claim 8,
The step of adjusting the distance between the first camera and the second camera comprises:
When the measured distance is equal to or greater than the third distance value and is less than the fourth distance value, the distance between the first camera and the second camera is moved to the intermediate distance position, and the measured distance is the fourth distance value. If the distance is greater than or equal to the distance value, the vehicle stereo camera control method comprising the step of moving the distance between the first camera and the second camera to the maximum distance position.
a stereo camera equipped with a first camera and a second camera;
a vehicle speed detection unit configured to detect a vehicle speed when the vehicle ignition is turned on;
a controller for determining an interval between the first camera and the second camera by comparing the vehicle speed with a preset speed value; and
and an interval adjusting unit for moving the first camera and the second camera at the determined interval.
11. The method of claim 10,
The control unit is
If the vehicle speed is less than the first speed value, the stereo camera control apparatus for a vehicle, characterized in that for determining the distance between the first camera and the second camera as a preset minimum distance.
12. The method of claim 11,
Further comprising a distance calculation unit for calculating the distance to the vehicle in front,
The control unit is
If the vehicle speed is equal to or greater than the first speed value and less than the second speed value, the distance calculating unit is controlled to calculate the distance.
13. The method of claim 12,
The control unit is
The apparatus for controlling a stereo camera for a vehicle, characterized in that the distance between the first camera and the second camera is determined by further comparing the calculated distance with a preset distance value.
14. The method of claim 13,
The control unit is
When the measured distance is less than the first distance value, the vehicle stereo camera control apparatus, characterized in that determining the distance between the first camera and the second camera as the minimum distance.
15. The method of claim 14,
The control unit is
If the measured distance is equal to or greater than the first distance value and smaller than the second distance value, the interval between the first camera and the second camera is determined as a preset intermediate interval, and the default interval is the intermediate interval. A vehicle stereo camera control method, characterized.
16. The method of claim 15,
Further comprising an object detection unit for detecting an object around the vehicle based on the image taken by the stereo camera,
The control unit is
If the measured distance is equal to or greater than the second distance value, it is determined whether there is a vehicle traveling in the left/right lane through the object detecting unit. determines the interval as a preset maximum interval, and if it exists as a result of the determination, the interval between the first camera and the second camera is determined as the intermediate interval.
17. The method of claim 16,
The control unit is
When the vehicle speed is equal to or greater than the second speed value, and the distance to the vehicle in front measured through the distance calculator is smaller than a third distance value, the distance between the first camera and the second camera is determined as the minimum distance and the third distance value is greater than the second distance value.
18. The method of claim 17,
The control unit is
When the measured distance is equal to or greater than the third distance value and smaller than the fourth distance value, the distance between the first camera and the second camera is determined as the intermediate distance, and the measured distance is the fourth distance value If this is the case, the stereo camera control apparatus for a vehicle, characterized in that the distance between the first camera and the second camera is determined as the maximum distance.
a stereo camera equipped with a first camera and a second camera;
a vehicle speed detection unit configured to detect a vehicle speed when the vehicle ignition is turned on;
a radius of curvature calculator for calculating a radius of curvature of the road ahead;
a distance calculator for calculating a distance to a vehicle driving ahead;
a controller configured to determine an optimal distance between the first camera and the second camera provided in the stereo camera based on the vehicle speed, the radius of curvature, and the distance; and
and an interval adjusting unit for adjusting the interval between the first camera and the second camera to the determined optimal interval.
20. The method of claim 19,
The control unit is
and calculating the optimum distance by applying a preset weight to each of the calculated vehicle speed, radius of curvature, and distance.

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