KR20220097176A - Vehicle electronic device and method for transmitting driving information of the vehicle according to the moving distance of the vehicle - Google Patents

Abstract

One aspect of the present invention provides a vehicular electronic device comprising: a transceiver; at least one processor; and at least one memory operably connected to the at least one processor and storing at least one instruction for causing the at least one processor to perform operations, and image data obtained from a camera included in a vehicle. The operations are configured to collect driving information of the vehicle from the vehicle through the transceiver, based on the driving information, calculate a first moving distance which is the moving distance of the vehicle at a first point in time and a second moving distance which is a movement distance of the vehicle at a second point in time after the first point in time, and transmit the driving information to a server through the transceiver when a difference between the second moving distance and the first moving distance is equal to or greater than a predetermined distance threshold value. The present invention can transmit the driving information at optimal efficiency.

Description

VEHICLE ELECTRONIC DEVICE AND METHOD FOR TRANSMITTING DRIVING INFORMATION OF THE VEHICLE ACCORDING TO THE MOVING DISTANCE OF THE VEHICLE

The present disclosure relates to an electronic device for a vehicle and a method for transmitting driving information of a vehicle according to a moving distance of the vehicle.

Current vehicle driving information collection technology is to transmit vehicle information at different intervals according to the starting state of the vehicle. For example, in the conventional case, when the ignition is on, vehicle driving information is transmitted every 1 minute, and when the ignition is off, it is transmitted every 10 minutes.

In this method, when the vehicle moves quickly, there is a problem in that the current location and driving information of the vehicle are collected slowly compared to the vehicle speed. For example, when the vehicle is running at a speed of 120 km/h, if vehicle information is collected once per minute, the location of the vehicle finally collected and the location of the current vehicle may differ by up to 2 km. In addition, when vehicle information is collected every minute when only the vehicle is started and stopped, there is a problem in that a large amount of processing cost is required to transmit and process such information.

Republic of Korea Patent 10-1835632 Republic of Korea Patent Publication 10-2020-0027149

Various examples of the present disclosure are intended to provide an electronic device and method for a vehicle for transmitting driving information of a vehicle according to a moving distance of a vehicle capable of transmitting driving information with optimal efficiency.

Technical problems to be achieved in various examples of the present disclosure are not limited to those mentioned above, and other technical problems not mentioned are to those of ordinary skill in the art from various examples of the present disclosure to be described below. can be considered by

In one aspect of the present disclosure, a transceiver (transceiver); at least one processor; and at least one memory operatively connected to the at least one processor to store at least one instruction for causing the at least one processor to perform operations and image data obtained from a camera included in the vehicle ( memory), wherein the operations include collecting driving information of the vehicle from the vehicle through the transceiver, and based on the driving information, a first moving distance that is a moving distance of the vehicle at a first time point and the second A second moving distance that is the moving distance of the vehicle at a second time point after the first time point is calculated, and when the second moving distance is different from the first moving distance by more than a preset distance threshold, the transceiver It is an electronic device for a vehicle that transmits driving information to a server.

For example, the driving information may include at least one of a speed of the vehicle, revolutions per minute (RPM) of the vehicle, a direction of the vehicle, a tilt of the vehicle, the image data, and global positioning system (GPS) data of the vehicle. may include

For example, the operations may include calculating the first moving distance and the second moving distance based on one of a first moving distance calculating operation using the image data and a second moving distance calculating operation using the GPS data. can be calculated.

For example, the operations may be performed based on the first movement distance calculation operation when the GPS data reception time differs by more than a preset time threshold value from the time points at which the first movement distance and the second movement distance are calculated. Thus, the first movement distance and the second movement distance may be calculated.

For example, the image data includes distortion data generated by the camera, and the first movement distance calculation operation sets a region of interest (ROI) in the image data, and includes at least one Identifies a fixed object, calculates a reference line of the at least one fixed object, calculates position data of the at least one fixed object based on the reference line, and calculates the first movement distance based on the position data and calculating the second movement distance, wherein the ROI is set for each frame based on an identifier of a frame of the image data, a set of frames, and the distortion data, and the at least one fixed object includes the ROI and the It is set for each frame based on a set of frames and the distortion data, and the reference line may be set for each frame based on the at least one fixed object, the set of frames, the distortion data, and the identifier of the frame. .

For example, the reference line is defined with respect to the at least one fixed object, and may correspond to a first direction perpendicular to the ground.

For example, the reference line may be calculated based on at least one fixed object and the distortion data, and the location data may be calculated based on the reference line and the distortion data.

For example, the GPS data includes at least two pieces of GPS data received at different time points, and the second movement distance calculation operation calculates a difference value between the at least two GPS data and the at least two GPS data. When the difference value between data is less than a preset error value, the first movement distance and the second movement distance may be calculated based on the difference value between the at least two pieces of GPS data.

In another aspect of the present disclosure, there is provided a method performed by an electronic device for a vehicle, the method comprising: collecting driving information of a vehicle from a vehicle through a transceiver; calculating a first moving distance that is the moving distance of the vehicle at a first time point and a second moving distance that is a moving distance of the vehicle at a second time point after the first time point based on the driving information; and transmitting the driving information to a server through the transceiver when the second moving distance is different from the first moving distance by more than a preset distance threshold.

For example, the driving information includes the speed of the vehicle, revolutions per minute (RPM) of the vehicle, the direction of the vehicle, the tilt of the vehicle, image data obtained from a camera included in the vehicle, and GPS ( global positioning system) data.

For example, calculating the first moving distance and the second moving distance based on one of a first moving distance calculating operation using the image data and a second moving distance calculating operation using the GPS data Further comprising, when the receiving time of the GPS data differs from the time of calculating the first moving distance and the second moving distance by more than a preset time threshold, the first moving distance and the second moving distance are the second moving distances. 1 may be calculated based on a movement distance calculation operation.

For example, the image data includes distortion data generated by the camera, and the first movement distance calculation operation sets a region of interest (ROI) in the image data, and includes at least one Identifies a fixed object, calculates a reference line of the at least one fixed object, calculates position data of the at least one fixed object based on the reference line, and calculates the first movement distance based on the position data and calculating the second movement distance, wherein the ROI is set for each frame based on an identifier of a frame of the image data, a set of frames, and the distortion data, and the at least one fixed object includes the ROI and the It is set for each frame based on a set of frames and the distortion data, and the reference line may be set for each frame based on the at least one fixed object, the set of frames, the distortion data, and the identifier of the frame. .

For example, the GPS data includes at least two pieces of GPS data received at different time points, and the second movement distance calculating operation calculates a difference value between the at least two GPS data and the at least two GPS data. When the difference value between data is less than a preset error value, the first movement distance and the second movement distance may be calculated based on the difference value between the at least two pieces of GPS data.

The various examples of the present disclosure described above are only some of the preferred examples of the present disclosure, and various examples in which the technical features of various examples of the present disclosure are reflected are detailed descriptions to be detailed below by those of ordinary skill in the art can be derived and understood based on

According to various examples of the present disclosure, the following effects are obtained.

According to various examples of the present disclosure, an electronic device and method for a vehicle for transmitting driving information of a vehicle according to a moving distance of a vehicle capable of transmitting driving information with optimal efficiency may be provided.

In addition, it is possible to calculate the moving distance of the vehicle even in an environment in which GPS data cannot be received.

Effects that can be obtained from various examples of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned are clearly derived to those of ordinary skill in the art based on the detailed description below. and can be understood

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are provided to help understanding of various examples of the present disclosure, and various examples of the present disclosure are provided together with the detailed description. However, technical features of various examples of the present disclosure are not limited to specific drawings, and features disclosed in each drawing may be combined with each other to constitute a new embodiment. Reference numerals in each drawing refer to structural elements.
1 is a block diagram of an electronic device for a vehicle according to an example of the present disclosure.
2A-2C show various examples of ROI setup.
3 shows an example of fixed object identification.
4 shows an example of setting a baseline.
5A to 5C illustrate ROI setting for each frame, fixed object identification, and reference line setting according to various examples of the present disclosure.
6 illustrates an example of calculating a moving distance.
7 illustrates a system for a vehicle according to an example of the present disclosure.
8 is a flowchart of a method for transmitting driving information according to an example of the present disclosure.
9 is a flowchart of a method of calculating a moving distance according to an example of the present disclosure.
10 is a flowchart of an operation of calculating a first moving distance according to an example of the present disclosure.
11 is a flowchart of a second movement distance calculation operation according to an example of the present disclosure.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, implementations according to the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION The detailed description set forth below in conjunction with the appended drawings is intended to describe exemplary implementations of the present invention, and is not intended to represent the only implementation forms in which the present invention may be practiced. The following detailed description includes specific details in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that the present disclosure may be practiced without these specific details.

In some cases, well-known structures and devices may be omitted or shown in block diagram form focusing on core functions of each structure and device in order to avoid obscuring the concepts of the present disclosure. In addition, the same reference numerals are used to describe the same components throughout the present disclosure.

Since various examples according to the concept of the present invention can have various changes and can have various forms, various examples are illustrated in the drawings and described in detail in the present disclosure. However, this is not intended to limit the various examples according to the concept of the present invention to specific disclosed forms, and includes changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms such as first or second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from other components, for example, without departing from the scope of rights according to the concept of the present invention, a first component may be named a second component, Similarly, the second component may also be referred to as the first component.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Expressions describing the relationship between elements, for example, “between” and “between” or “directly adjacent to”, etc. should be interpreted similarly.

In various examples of the present disclosure, “/” and “,” should be construed as indicating “and/or”. For example, “A/B” may mean “A and/or B”. Furthermore, “A, B” may mean “A and/or B”. Furthermore, “A/B/C” may mean “at least one of A, B, and/or C”. Furthermore, “A, B, and C” may mean “at least one of A, B and/or C”.

In various examples of the present disclosure, “or” should be construed as indicating “and/or.” For example, “A or B” may include “only A”, “only B”, and/or “both A and B”. In other words, “or” should be construed as indicating “additionally or alternatively”.

The terminology used in the present disclosure is used only to describe various specific examples, and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present disclosure, terms such as "comprise" or "have" are intended to designate that the described feature, number, step, operation, component, part, or combination thereof exists, and includes one or more other features or numbers, It should be understood that the possibility of the presence or addition of steps, operations, components, parts or combinations thereof is not precluded in advance.

Unless defined otherwise, 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 this 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 disclosure. does not Hereinafter, various examples of the present disclosure will be described in detail with reference to the accompanying drawings.

1 is a block diagram of an electronic device for a vehicle according to an example of the present disclosure.

Referring to FIG. 1 , the electronic device 100 for a vehicle according to an example of the present disclosure includes a transceiver 110 , a processor 120 , and a memory 130 .

The transceiver 110 may be connected to the processor 120 and may transmit and/or receive wired/wireless signals. For example, the transceiver 110 may be connected to various electronic control units (ECUs) of the vehicle through an in-vehicle communication network. Here, the in-vehicle communication network may be, for example, a controller area network (CAN), FlexRay, a local interconnect network (Lin), or Ethernet, but is not limited thereto.

Alternatively, the transceiver 110 may be connected to the server 20 through a wireless communication network. Here, the wireless communication network may include a mobile communication network, a wireless LAN, a local area wireless communication network, and the like. For example, the wireless communication network includes LTE, LTE Advance (LTE-A), code division multiple access (CDMA), wideband CDMA (WCDMA), universal mobile telecommunications system (UMTS), Wireless Broadband (WiBro), or Global System (GSM). for Mobile Communications) may include cellular communication using at least one of. For example, the wireless communication network may include at least one of wireless fidelity (WiFi), Bluetooth, Bluetooth low energy (BLE), Zigbee, near field communication (NFC), and radio frequency (RF).

The transceiver 110 may include a transmitter and a receiver. The transceiver 110 may be used interchangeably with a radio frequency (RF) unit. The transceiver 110 may exchange signals or data with various ECUs and servers of the vehicle under the control of the processor 120 .

The processor 120 may include at least one, control the memory 130 and/or the transceiver 110 , and be configured to implement the descriptions, functions, procedures, proposals, methods, and/or operational flowcharts of the present disclosure. can For example, the processor 120 may receive a signal or data through the transceiver 110 , and store information included in the signal or data in the memory 130 . In addition, the processor 120 may generate a signal or data by processing information stored in the memory 130 , and then transmit the generated signal or data through the transceiver 110 .

The memory 130 may include at least one, may be connected to the processor 120 , and may store various information related to the operation of the processor 120 . For example, the memory 130 may store instructions for performing some or all of the processes controlled by the processor 120 , or for performing the descriptions, functions, procedures, suggestions, methods, and/or operational flowcharts of the present disclosure. It can store software code that includes it. The memory 130 is a main storage device used by the computing devices to run various software such as an operating system and applications, and the computing device stores original data such as the operating system and applications, or user data generated by them. It may include an auxiliary storage device used for

Hereinafter, various operation examples of the vehicle electronic device 100 will be described. The following various operation examples may be included in the operation of the at least one processor 120 described above.

transmission of driving information

According to the present disclosure, the electronic device for a vehicle 100 may collect driving information from a vehicle and transmit the collected driving information and/or a moving distance (or driving distance) of the vehicle to the server 20 . In the present disclosure, the driving information includes: a speed of a vehicle, revolutions per minute (RPM) of a vehicle, a direction of a vehicle, a tilt of a vehicle, image data obtained from a camera included in the vehicle, and global positioning system (GPS) data of the vehicle. It may include at least one.

The vehicle electronic device 100 may collect vehicle driving information from the vehicle through the transceiver 110 . The driving information of the vehicle may be collected every preset period or may be collected in real time.

The vehicle electronic device 100 may calculate the moving distance of the vehicle before transmitting the collected driving information to the server 20 . In the present disclosure, for convenience, a moving distance of the vehicle at a first time point is referred to as a first moving distance, and a moving distance of the vehicle at a second time point after the first time point is referred to as a second moving distance. A detailed description of the operation of calculating the first moving distance and the second moving distance will be described later.

The vehicle electronic device 100 compares the calculated first moving distance and the second moving distance. For example, when the second moving distance differs from the first moving distance by more than a preset distance threshold, the vehicle electronic device 100 transmits the driving information to the server 20 through the transceiver 110 . Alternatively, when the second moving distance differs from the first moving distance by less than a preset distance threshold, the vehicle electronic device 100 may omit the operation of transmitting the driving information. Here, the preset distance threshold may be a preset value or a value received from the server 20 through the transceiver 110, and the difference means that the second moving distance is a preset distance from the first moving distance. It may mean that it is a value outside the range between the value minus the threshold value and the value added.

When the second moving distance differs from the first moving distance by more than a preset distance threshold, the driving information transmitted to the server 20 may be collected at the second time point. In other words, since the vehicle electronic device 100 transmits driving information only when there is a significant change in the moving distance of the vehicle, it does not transmit the driving information at every preset period, that is, constantly, but considers the moving distance of the vehicle. The driving information may be transmitted according to different time intervals.

The vehicle electronic device 100 may transmit not only the driving information but also the calculated moving distance to the server 20 . That is, the vehicle electronic device 100 may transmit the driving information and/or the moving distance to the server 20 through the transceiver 110 .

Calculate travel distance

According to the present disclosure, the vehicle electronic device 100 calculates a moving distance used for transmitting the above-described driving information or transmitted to the server 20 . For example, the vehicle electronic device 100 calculates the first moving distance and the second moving distance based on one of a first moving distance calculating operation using image data and a second moving distance calculating operation using GPS data do.

The vehicle electronic device 100 may calculate the moving distance by mixing the first moving distance calculating operation and the second moving distance calculating operation in order to correct a position error that may occur when GPS data is not received.

For example, in the case where the time of GPS data reception differs by more than a preset time threshold from the time points of calculating the first movement distance and the second movement distance, the vehicle electronic device 100 , that is, the GPS data reception time and movement distance. A case in which the calculation time is significantly different is determined as a situation in which GPS data cannot be smoothly received, and the first moving distance and the second moving distance may be calculated based on the first moving distance calculation operation using the image data. .

Alternatively, the vehicle electronic device 100 determines that when the GPS data reception time does not differ by more than a preset time threshold value from the time at which the first movement distance and the second movement distance are calculated, that is, when the GPS data is received and the movement distance is calculated. The first moving distance and the second moving distance may be calculated based on the second moving distance calculating operation using the GPS data by determining the case of the remarkably difference as a situation in which GPS data can be smoothly received.

Hereinafter, the first movement distance calculation operation and the second movement distance calculation operation will be described in more detail.

The first movement distance calculation operation is performed by the vehicle electronic device 100 based on image data. The image data is collected by a camera included in the vehicle, and may be collected for at least one frame, and may include a fixed object and/or a non-fixed object. Since the image data is collected for each frame, the position of objects or the moving distance of the vehicle may change for each frame. In the present disclosure, a fixed object may mean any object, such as a building, a sign, a traffic light, etc., that does not actually have a physical location change even though the location of the image data is changed for each frame on the image data.

The first movement distance calculation operation includes setting a region of interest (ROI) in image data, identifying at least one fixed object within the ROI, calculating a reference line of the at least one fixed object, and based on the reference line The location data of the at least one fixed object is calculated, and the first movement distance and the second movement distance are calculated based on the location data.

Setting the ROI may be performed for each frame of image data. Accordingly, the ROI may not be a fixed region, but may be a region set differently for each frame. For example, the vehicle electronic device 100 may set the ROI based on ROI _n = f_ROI(n, frame_set, distortion_data). Here, f_ROI is a function for setting ROI, n is the number or identifier of frames of image data, frame_set is an image data set for all frames stored in the memory 130 of the vehicle electronic device 100, that is, a set of frames , distortion_data may mean image data in which distortion has occurred, that is, distortion data. The distortion data may be a concept included in the image data.

The above-described ROI setting of the present disclosure is set for each frame, unlike the conventional setting of fixed ROI for all image data, that is, all frames. That is, the ROI is set for each frame based on an identifier of a frame of image data, a set of frames, and distortion data for the image data. Therefore, according to the present disclosure, in particular, when the noise is different for each frame of image data (eg, blurring, movement of the wiper, etc.), such as during rain in a vehicle driving environment, accurate ROI setting for each frame may be possible. In addition, by considering frame_set in the ROI setting, when setting the ROI for a certain frame, even the image data of the previous frame can be considered, enabling more accurate ROI setting.

2A-2C show various examples of ROI setup.

2A to 2C , the vehicle electronic device 100 may perform ROI setting according to various examples. As described above, ROI setting may be performed based on f_ROI, which is a function for ROI setting. For example, in the case of the vehicle electronic device 100 as shown in FIG. 2A , there is no separate noise in the image data and it is clear and thus easy to identify a fixed object, as well as when the vehicle driving environment is rainy, as shown in FIGS. 2B and 2C . Even when noise may occur in the image data, an area from which an appropriate image can be extracted may be set as the ROI. The ROI may be set in consideration of the movement of the wiper for each frame of image data as shown in FIG. 2B, or may be set as the remaining region in which a region blurred by rainwater is excluded as much as possible as shown in FIG. 2C.

Identification of the fixed object may be performed within a set ROI. For example, the vehicle electronic device 100 may identify a fixed object based on object_image_set = f_filter_object(ROI, frame_set, distortion_data). Here, object_image_set may be a set of identified fixed objects, and f_filter_object may mean a function for identifying fixed objects. That is, the vehicle electronic device 100 identifies a fixed object based on the ROI, the image data set, and the distortion data. At least one fixed object is set for each frame based on the ROI, the set of frames, and the distortion data.

The vehicle electronic device 100 may identify an object based on pixel data within the ROI. Identification of the object may be performed based on f_filter_object as described above. For example, the vehicle electronic device 100 does not include prior information corresponding to a specific object within the ROI (eg, a basic image and/or image of an object, or information on a pixel set for a shape, shape, etc.) of a pixel. An object may be identified based on the pattern information. In other words, the vehicle electronic device 100 identifies the object based only on the pattern of pixels included in the image data for each frame, even if information on the type of the object is not given as an external variable.

According to the present disclosure, identifying an object based only on pattern information of a pixel without prior information about the object has an advantage in that the object can be more effectively extracted, particularly when there is noise in the image within the ROI. For example, as in FIGS. 2B and 2C, in case of a rainy situation, a blurred area occurs or the ROI changes every moment according to the movement of the wiper. When trying to identify an object by prior information, accurate identification of the object due to noise Although there is a problem that this is difficult, identification based on pixel pattern information is robust against noise.

The vehicle electronic device 100 may identify an object based on pixel pattern information, and may identify a fixed object among the identified objects. For example, identification of the fixed object may be performed based on a projection projection.

3 shows an example of fixed object identification.

Referring to FIG. 3 , in the image data, the vehicle electronic device 100 determines that each object located at an arbitrary position at a specific time point (or frame) through projection projection among identified objects has a position at a subsequent viewpoint at a position on the projection projection. If there is, the corresponding object can be identified as a fixed object, and when it is located at a location other than the location on the projection projection, the corresponding object can be identified as a non-fixed object.

For example, the first object 201 may be identified as a fixed object because the position at a specific viewpoint is A1 and the position at a later viewpoint is A2 which is the position on the projection projection. The second object 202 is identified as a fixed object because the location at a specific point in time is B1, and the location at a later point in time is 1) B2 is the location on the projection projection, and 2) B2' or B2'' is projected. It is identified as an unfixed object because it is out of position on the projection.

When there are a plurality of objects in the ROI, the above-described fixed object identification operation may be performed only on one randomly selected object or may be performed on all the plurality of objects.

Calculating the reference line of the fixed object means calculating a reference line perpendicular to the ground of the fixed object from the fixed object. That is, the reference line is defined with respect to at least one fixed object, and corresponds to a first direction perpendicular to the ground.

4 shows an example of setting a baseline.

Referring to FIG. 4 , the fixed object 211 may not be parallel to the side surface of the vehicle or may be located at an oblique line when viewed from the front. Accordingly, the reference line 212 is calculated in order to more accurately determine the three-dimensional image position of the fixed object 211 from the image data. For example, the vehicle electronic device 100 may calculate the reference line 212 based on object_axis n = f_axis(object_image_set, frame_set, distortion_data, n). Here, n is the number or identifier of frames of image data, object_axis n is a reference line 212 of the fixed object 211 for each frame, and f_axis is a function for calculating the reference line 212 . That is, the vehicle electronic device 100 may calculate the reference line 212 of the fixed object 211 based on the set of the fixed object 211 , the image data set, and the distortion data. A reference line is set for each frame based on at least one fixed object, a set of frames, distortion data, and an identifier of the frame.

f_axis goes through the process of selecting an object with a small distance error. For example, a terrain feature closer to the vehicle and farther from the vanishing point is selected as a target object for distance calculation. Then, f_axis is perpendicular to the ground with respect to the selected object and obtains a reference line on the object from which the distance to the vehicle camera can be measured.

Calculating the position data of the fixed object 211 is the actual three-dimensional position of the fixed object 211 based on the lens position of the camera of the vehicle that collects image data based on the calculated reference line 212 . It means generating data.

For example, the vehicle electronic device 100 may calculate location data of the fixed object 211 based on object_location = f_object_location(frame_set, object_axis, distortion_data). Here, object_location may mean location data, and f_object_location may mean a function for calculating location data. That is, the vehicle electronic device 100 may calculate position data of the fixed object 211 based on the image data set, the reference line 212 and the distortion data. For example, the calculated position data may be an x-axis coordinate of the reference line 212 .

ROI setting, fixed object identification, and reference line setting according to various examples of the present disclosure are performed for each of the frames included in the image data as described above.

5A to 5C illustrate ROI setting for each frame, fixed object identification, and reference line setting according to various examples of the present disclosure.

Referring to FIG. 5A , ROIs 1 to 3 are set for each of frames 1, 2, and 3 included in frame_set, and in particular, when setting the ROI of a specific frame, as frame_set is all considered, the ROI of the previous frame is considered. Unlike the conventional setting of the ROI with a fixed area and a fixed value regardless of the frame of the image data, according to the present disclosure, the ROI can be set differently for each frame, so that the noise that changes according to the driving environment is reflected in real time can do.

Referring to FIG. 5B , a fixed object is also set for each of frames 1, 2, and 3 included in frame_set, and a part corresponding to an image such as a building or a feature within a preset ROI area in each frame is set as a fixed object. extracted with

Referring to FIG. 5C , a reference line is also set for each of frames 1, 2, and 3 included in frame_set, and a line perpendicular to the ground is set as a reference line for a preset fixed object in each frame.

Calculating the moving distance may be performed based on the calculated location data. In the image data set, the electronic device for a vehicle 100 is configured in the image data based on the position data of the fixed object 211 in the image data of a specific time point in the image data set and the position data of the fixed object 211 in the image data of a later time in the image data. The moving distance of the fixed object 211 whose position is changed is calculated.

6 illustrates an example of calculating a moving distance.

Referring to FIG. 6 , for example, the vehicle electronic device 100 uses a field of view (FOV) value of a camera that collects image data to calculate a movement distance (m) of a fixed object identified within an ROI. to obtain a value (eg, an area, etc.) related to the first area 221 and the second area 222 defined by the reference line of the fixed object, and the distance between the first area 221 and the second area 222 (d) is obtained, and the movement distance m can be calculated based on the distance d.

Alternatively, as described above, the vehicle electronic device 100 may calculate the moving distance by using various operation examples for calculating the moving distance using the calculated location data as well as the moving distance calculating operation using the FOV value as described above. .

For example, when distortion data is included, the vehicle electronic device 100 may calculate a movement distance based on m = kxf(p1, p2, distortion_map). Here, k is a camera constant, and p1 and p2 are different frames of image data or positions of objects in frames of distortion data. The camera constant k may be defined by k = f _k (Fc, Hc, image). Here, f _k is a function for calculating the camera constant k, Fc and image are values uniquely assigned to the camera, and Hc is the height at which the camera is installed from the ground.

The second movement distance calculation operation is performed by the vehicle electronic device 100 based on GPS data. The GPS data may include at least two pieces of GPS data received at different time points.

The vehicle electronic device 100 calculates a difference value between the plurality of GPS data, and when the difference value between the plurality of GPS data is less than a preset error value, the first movement distance and the second movement distance based on the difference value between the plurality of GPS data 2 The distance traveled can be calculated. For example, the vehicle electronic device 100 may calculate the movement distance based on dgps = f_d(gps_location _n - gps_location _n-1 ). Here, dgps is a movement distance, f_d is a movement distance calculation function based on GPS data, gps_location _n and gps_location _n-1 are GPS data of time n and n-1, respectively, and n is the The number or identifier of the frame.

In this case, the vehicle electronic device 100 compares dgps with a preset error value k, and calculates it as an effective movement distance only when dgps is less than the preset error value. k may mean a maximum value of an error that may occur between a moving distance calculated based on GPS data and an actual moving distance.

When performing the above-described second movement distance calculation operation, the vehicle electronic device 100 may drop GPS data according to a condition. For example, the vehicle electronic device 100 calculates the location of the vehicle at the time of GPS reception based on the number of frames in the image data and the moving distance of an object in the image data. You can drop data.

The vehicle electronic device 100 according to various examples of the present disclosure can more accurately identify a fixed object even in a situation where there is noise in the image data, and determines the moving distance of the fixed object based on the image data and GPS data, respectively. can be calculated by In particular, in a situation where GPS data cannot be received, by calculating the moving distance based on the image data, it is possible to accurately calculate the moving distance even in a special situation such as tunnel driving. In addition, by transmitting the driving information to the server 20 based on the calculated moving distance, it is possible to reduce an informational gap between the movement of the vehicle and the driving information.

Hereinafter, a vehicle system including the above-described vehicle electronic device 100 and a method of calculating a moving distance by the vehicle electronic device 100 and transmitting driving information will be described. Hereinafter, detailed descriptions of parts overlapping with the previously described parts will be omitted.

7 illustrates a system for a vehicle according to an example of the present disclosure.

Referring to FIG. 7 , a system for a vehicle according to an example of the present disclosure includes a vehicle 10 and a server 20 .

The vehicle 10 may include the above-described vehicle electronic device 100 . The vehicle electronic device 100 included in the vehicle 10 collects driving information from the vehicle, calculates a moving distance of the vehicle, and transmits the driving information to the server 20 based on the calculated moving distance.

For example, as described above, the driving information includes a second time point after the vehicle moving distance is calculated for each frame (or time point, for example, a first time point and a second time point after the first time point) of the image data as described above. It may be transmitted to the server 20 only when the second moving distance in .

8 is a flowchart of a method for transmitting driving information according to an example of the present disclosure.

Referring to FIG. 8 , in S110 , the vehicle electronic device 100 collects vehicle driving information from the vehicle through the transceiver 110 .

In S120 , the vehicle electronic device 100 calculates a first movement distance that is a movement distance of the vehicle at a first time point and a second movement distance that is a movement distance of the vehicle at a second time point after the first time point based on the driving information. Calculate.

In S130 , the vehicle electronic device 100 transmits the driving information to the server 20 through the transceiver 110 when the second moving distance differs from the first moving distance by more than a preset distance threshold. do.

9 is a flowchart of a method of calculating a moving distance according to an example of the present disclosure. The moving distance calculation method according to FIG. 8 may be included in S120 described above.

Referring to FIG. 9 , in S210 , the vehicle electronic device 100 determines whether the GPS data reception time differs from the first moving distance and the second moving distance by more than a preset time threshold.

If it is determined in S210 that the GPS data reception time differs from the first moving distance and the second moving distance by more than a preset time threshold, in S220 the vehicle electronic device 100 calculates the first moving distance A first moving distance and a second moving distance are calculated based on .

Alternatively, if it is determined in S210 that the GPS data reception time does not differ by more than a preset time threshold from the time of calculating the first moving distance and the second moving distance, the in-vehicle electronic device 100 sets the second moving distance in S230. A first movement distance and a second movement distance are calculated based on the calculation operation.

10 is a flowchart of an operation of calculating a first moving distance according to an example of the present disclosure.

Referring to FIG. 10 , in S310 , the vehicle electronic device 100 sets a region of interest (ROI) in image data.

In S320 , the vehicle electronic device 100 identifies at least one fixed object within the ROI.

In S330 , the vehicle electronic device 100 calculates a reference line of at least one fixed object.

In S340 , the vehicle electronic device 100 calculates position data of at least one fixed object based on the reference line.

In S350 , the vehicle electronic device 100 calculates a first moving distance and a second moving distance based on the location data.

11 is a flowchart of a second movement distance calculation operation according to an example of the present disclosure.

Referring to FIG. 11 , in S410 , the vehicle electronic device 100 calculates a difference value between at least two pieces of GPS data.

In S420 , when the difference value between the at least two GPS data is less than a preset error value, the vehicle electronic device 100 calculates the first moving distance and the second moving distance based on the difference value between the at least two GPS data.

Since examples of the proposed method in the above description may also be included as one of the implementation methods of the present disclosure, it is clear that they may be regarded as a kind of proposed method. In addition, the above-described proposed methods may be implemented independently, but may also be implemented in the form of a combination (or merge) of some of the proposed methods.

The examples of the present disclosure disclosed as described above are provided to enable those skilled in the art to make and practice the present disclosure. Although the above has been described with reference to examples of the present disclosure, those skilled in the art may variously modify and change the examples of the present disclosure. Accordingly, this disclosure is not intended to be limited to the examples set forth herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

10: vehicle 20: server
100: vehicle electronic device
110: transceiver 120: processor
130: memory

Claims (13)

transceiver;
at least one processor; and
At least one memory operatively connected to the at least one processor to store at least one instruction for causing the at least one processor to perform operations and image data obtained from a camera included in the vehicle ), including
The actions are
Collecting driving information of the vehicle from the vehicle through the transceiver,
Calculating a first moving distance that is the moving distance of the vehicle at a first time point based on the driving information and a second moving distance that is a moving distance of the vehicle at a second time point after the first time point,
When the second moving distance is different from the first moving distance by more than a preset distance threshold, transmitting the driving information to the server through the transceiver,
Automotive electronics.
According to claim 1,
The driving information includes at least one of a speed of the vehicle, revolutions per minute (RPM) of the vehicle, a direction of the vehicle, a tilt of the vehicle, the image data, and global positioning system (GPS) data of the vehicle.
Automotive electronics.
3. The method of claim 2,
The actions are
calculating the first moving distance and the second moving distance based on one of a first moving distance calculating operation using the image data and a second moving distance calculating operation using the GPS data,
Automotive electronics.
4. The method of claim 3,
The actions are
When the reception time of the GPS data differs by more than a preset time threshold from the time points at which the first movement distance and the second movement distance are calculated, the first movement distance and the first movement distance based on the first movement distance calculation operation calculating a second moving distance,
Automotive electronics.
4. The method of claim 3,
The image data includes distortion data generated by the camera,
The first movement distance calculation operation is
setting a region of interest (ROI) in the image data, identifying at least one fixed object within the ROI, calculating a reference line of the at least one fixed object, and calculating the at least one fixed object based on the reference line calculating the position data of a fixed object, calculating the first moving distance and the second moving distance based on the position data,
The ROI is set for each frame based on the identifier of the frame of the image data, the set of frames, and the distortion data,
The at least one fixed object is set for each frame based on the ROI, the set of frames, and the distortion data,
The reference line is set for each frame based on the at least one fixed object, the set of frames, the distortion data, and the identifier of the frame,
Automotive electronics.
6. The method of claim 5,
The reference line is defined with respect to the at least one fixed object, corresponding to a first direction perpendicular to the ground,
Automotive electronics.
6. The method of claim 5,
The reference line is calculated based on at least one fixed object and the distortion data,
The position data is calculated based on the reference line and the distortion data,
Automotive electronics.
4. The method of claim 3,
The GPS data includes at least two GPS data received at different time points,
The second movement distance calculation operation is,
a difference value between the at least two GPS data is calculated, and when the difference value between the at least two GPS data is less than a preset error value, the first movement distance and the second movement distance based on the difference value between the at least two GPS data to calculate the travel distance,
Automotive electronics.
A method performed by an electronic device for a vehicle, comprising:
collecting driving information of the vehicle from the vehicle through the transceiver;
calculating a first moving distance that is the moving distance of the vehicle at a first time point and a second moving distance that is a moving distance of the vehicle at a second time point after the first time point based on the driving information; and
When the second moving distance is different from the first moving distance by more than a preset distance threshold, transmitting the driving information to a server through the transceiver;
Way.
10. The method of claim 9,
The driving information includes the speed of the vehicle, revolutions per minute (RPM) of the vehicle, the direction of the vehicle, the tilt of the vehicle, image data obtained from a camera included in the vehicle, and a global positioning system (GPS) of the vehicle. comprising at least one of the data;
Way.
11. The method of claim 10,
The method further comprising calculating the first moving distance and the second moving distance based on one of a first moving distance calculating operation using the image data and a second moving distance calculating operation using the GPS data,
When the reception time of the GPS data differs by more than a preset time threshold from the time points at which the first movement distance and the second movement distance are calculated, the first movement distance and the second movement distance are calculated calculated based on the action,
Way.
12. The method of claim 11,
The image data includes distortion data generated by the camera,
The first movement distance calculation operation is
setting a region of interest (ROI) in the image data, identifying at least one fixed object within the ROI, calculating a reference line of the at least one fixed object, and calculating the at least one fixed object based on the reference line calculating the position data of a fixed object, calculating the first moving distance and the second moving distance based on the position data,
The ROI is set for each frame based on the identifier of the frame of the image data, the set of frames, and the distortion data,
The at least one fixed object is set for each frame based on the ROI, the set of frames, and the distortion data,
The reference line is set for each frame based on the at least one fixed object, the set of frames, the distortion data, and the identifier of the frame,
Way.
12. The method of claim 11,
The GPS data includes at least two GPS data received at different time points,
The second movement distance calculation operation is,
a difference value between the at least two GPS data is calculated, and when the difference value between the at least two GPS data is less than a preset error value, the first movement distance and the second movement distance based on the difference value between the at least two GPS data to calculate the travel distance,
Way.

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