WO2015037908A1 - Rear view camera system for vehicle - Google Patents

Rear view camera system for vehicle Download PDF

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Publication number
WO2015037908A1
WO2015037908A1 PCT/KR2014/008457 KR2014008457W WO2015037908A1 WO 2015037908 A1 WO2015037908 A1 WO 2015037908A1 KR 2014008457 W KR2014008457 W KR 2014008457W WO 2015037908 A1 WO2015037908 A1 WO 2015037908A1
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region
vehicle
magnification
area
image
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PCT/KR2014/008457
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French (fr)
Korean (ko)
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이호철
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한밭대학교 산학협력단
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Publication of WO2015037908A1 publication Critical patent/WO2015037908A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/06—Rear-view mirror arrangements mounted on vehicle exterior
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images

Definitions

  • the present invention relates to a camera system of a rear view of a vehicle, and more particularly, to a system in which an image photographed by a camera mounted on a vehicle side mirror or mounted in place of a side mirror is reproduced.
  • the vehicle is equipped with mirrors on the outside of the left and right front doors and inside the vehicle in order for the driver to easily grasp and monitor the left and right road conditions, and is called a room mirror and a side mirror according to the mounting position of the mirror.
  • the driver can recognize the driving direction and speed of other vehicles traveling in the rear left and right through the side mirror while watching the front left and right, so that the driver can keep a safe distance from the front and rear vehicles. In addition, it is possible to safely pass or change lanes without disturbing the operation of other vehicles driving behind.
  • Such side mirrors were originally equipped with a flat mirror that is easy to manufacture, but in order to secure a more viewing angle of the vehicle driver and increase the viewing range of the driver, a side mirror having a convex mirror is increasing.
  • the convex mirrors have a wider viewing range than the planar ones, but they tend to obscure the driver's judgment because objects are too small at high reduction ratios.
  • an auxiliary mirror may be further mounted on the vehicle. Since it does not give a full rearward view, two areas where the size of the rear object is constant need to be represented by one side mirror while minimizing optical distortion.
  • the Korean Utility Model Publication No. 20-0288548 has a planar shape as a whole.
  • a side mirror for a vehicle is disclosed, and the outer side is formed with a convex curvature surface, and in Korean Patent Application Publication No. 20-0322014, a differential side having a planar shape as a whole but having an outer end curved to have a convex shape.
  • a mirror is disclosed.
  • Patent Document 10-0894432 discloses a progressive aspheric convex mirror having a convex mirror portion of a side mirror, and in Patent Document 10-0867439, at least three aspherical progressive focus regions are partitioned at predetermined intervals along a horizontal direction. The formed side mirror is disclosed.
  • FIG. 1 illustrates an exemplary view in which a vehicle camera is mounted on a conventional vehicle side mirror
  • FIG. 2 illustrates a conceptual diagram of a conventional vehicle camera system.
  • a vehicle camera 11 is installed at a portion of an existing vehicle side mirror 10 or only a vehicle camera is installed in place of an existing vehicle side mirror (not shown). It is displayed on the display unit 20 therein so that the driver can grasp the state of the surrounding vehicle.
  • the size of the image display device is inevitably large in order to view an image of more field of view, or the size of the image display device is inevitably increased to fit the limited small image device size, so that the size of the vehicle displayed on the image display device becomes smaller. It can blur the driver's judgment.
  • Conventional camera imaging system has a problem that when the magnification of the object is reduced as much as possible to remove the blind spot, the sense of distance of the object is damaged. In addition, when the magnification is enlarged so as not to damage the perspective, there is a problem that a blind spot occurs in a near area where the vehicle object approaches.
  • Korean Patent No. 10-0936557 is provided with an image display means inside the vehicle so as to grasp the image with a sense of distance while displaying an image of a wider area
  • a patent is disclosed for mixing and displaying a compressed image on both ends.
  • the image of both ends and the image of the center have different compression ratio, and at the boundary, the compressed image is discontinuously displayed, so that the vehicle movement between images cannot be displayed smoothly. The driver can feel the movement.
  • an object of the present invention is to provide a method of expressing the image of the widest rear field of view in a limited image display device, whereby In addition to eliminating blind spots that can not be seen, the purpose of the screen area can be adjusted to solve the distortion and inaccurate distance of the image to the maximum, so that the driver can feel the real comfort.
  • the camera system of the rear view of the vehicle comprising a vehicle camera mounted on the vehicle side mirror of the present invention or a display unit for reproducing the captured image to be reproduced to achieve the object as described above, from the camera And an image processor for dividing the received image data into an inner region, an outer region, and a central region to enlarge or reduce each region at a different magnification in the horizontal direction.
  • the image processing unit may have the same vertical magnification of the inner region, the outer region, and the center region, and the inner region may have the same vertical magnification and horizontal magnification, and the inner region and the outer region may be horizontal.
  • the direction magnification is different and has a constant value, and the center area gradually decreases in the horizontal direction magnification, and the horizontal direction magnification of the center area indicates that the horizontal direction magnification of both ends is the same as the horizontal direction magnification of the inner area and the outer area.
  • the horizontal magnification in the outer region is smaller than the horizontal magnification in the inner region.
  • the image processor may adjust the division widths of the inner region, the outer region, and the central region, which are displayed on the display unit.
  • the image processor may adjust horizontal magnifications of the inner region, the outer region, and the central region.
  • the camera system of the rear view of the vehicle of the present invention is a method of expressing the image of the rear view as wide as possible in the limited image display device by dividing the image area to set different magnifications, but gradually changing the magnification in the center area, Images are displayed continuously even at the boundaries of all regions.
  • the present invention not only eliminates blind spots that the driver can not see while driving the vehicle, but also ensures continuity at the interface to solve image distortion and inaccurate distance as much as possible, so that the driver can feel a realistic comfort. have.
  • 1 is an exemplary view equipped with a conventional rear view camera.
  • FIG. 2 is a conceptual diagram of a camera system of a conventional vehicle rear view
  • FIG. 3 is a conceptual view illustrating a camera system of a rear view of a vehicle according to an embodiment of the present invention.
  • FIG. 4 is a graph showing a compression ratio for compressing and displaying an image of a camera system of a rear view camera for a vehicle according to an embodiment of the present invention in a horizontal direction;
  • FIG 3 is a conceptual diagram of a camera system 1000 of a rear view of a vehicle according to an embodiment of the present invention.
  • the camera system 1000 of the rear view vehicle for the vehicle includes a camera 100, an image processor 300, and a display unit 200.
  • a vehicle camera 100 is installed at a portion of an existing vehicle side mirror 10 or only a vehicle camera 100 is installed in place of an existing vehicle side mirror (not shown).
  • the image photographed at is displayed on the display unit 200 inside the vehicle, so that the driver can grasp the state of the surrounding vehicle.
  • the vehicle camera 100 in the conventional vehicle camera system 1000 is a vehicle camera 100 that is generally used, and a wide angle lens is preferably installed to secure a wider field of view.
  • the image photographed by the camera 100 is displayed on the display unit 200 via the image processor 300. Since the vehicle camera 100 is installed on the vehicle side mirror, which is already known, the captured image is displayed on the display unit 200, the operation relationship thereof is not described here. It will be described focusing on the image change of the display unit 200 appears.
  • an image captured by the camera 100 is compressed by the image processor 300, and a part or the whole of the image is displayed on the display 200.
  • the driver may adjust the size of the image displayed on the display unit 200 according to the number of lanes.
  • the number of lanes when the number of lanes is large, a wide field of view may be secured by displaying the entire photographed image.
  • the number of lanes is small, only a part of the captured image may be displayed to determine an accurate image.
  • the image processor 300 divides the image photographed by the camera 100 into an inner region 210, an outer region 230, and a central region 220.
  • the inner region 210, the outer region 230, and the central region 220 are displayed at the same magnification in the vertical direction, but in the horizontal direction, the outer region 230 and the central region 220. Processes the image at different magnifications.
  • the horizontal magnifications of the inner region 210 and the outer region 230 are different and have a constant value.
  • the inner region 210 has the same vertical magnification and horizontal magnification, and the central region 220 gradually decreases in the horizontal magnification, and the horizontal ratio of the central region 220 is determined at both ends.
  • the horizontal ratio is the same as the horizontal ratio of the inner region 210 and the outer region 230.
  • the horizontal magnification of the central region 220 gradually changes to have continuity with the inner region 210 and the outer region 230.
  • Mm Mf + (Mn-Mf) * sin ⁇ / 2 * (x-xf) / (xn-xf) ⁇
  • Equation 1 shows an example of the formula for determining the horizontal magnification of the central region 220, the boundary between the inner region 210 and the outer region 230 in the central region 220.
  • the feature is that the magnification is set continuously.
  • the outer region 230 has a horizontal magnification smaller than the horizontal magnification in the inner region 210.
  • the image processor 300 may allow the driver to arbitrarily set the horizontal and vertical magnifications of the inner region 210, the central region 220, and the outer region 230. do.
  • the image processing unit 300 has the same vertical magnification of each area, and adjusting the horizontal magnification of the outer area 230 has an advantage of ensuring a wide viewing angle.
  • the photographed video image displayed on the display unit 200 is divided into the inner region 210, the central region 220, and the outer region 230 and reproduced.
  • the display unit 200 includes the inner region 210, and the horizontal magnification is gradually converted into a horizontal magnification lower than the horizontal magnification of the central region 220 and the inner region 210. If only one region of the outer region 230 is included, the image may suddenly change at the interface with the inner region 210, which may confuse the driver.
  • the image processing unit 300 of the present invention should include all of the inner region 210, the outer region 230, and the central region 220.
  • the image processor 300 may adjust and reproduce a division width in the display unit 200 in which the inner region 210, the outer region 230, and the central region 220 are displayed. .
  • the driver directly adjusts the dividing widths of the inner region 210, the outer region 230, and the central region 220, and adjusts the dividing width that the driver considers to be the most natural. You can see the rear view.
  • the ratio of the inner region 210: the center region 220: the outer region 230 may be adjusted to 7: 1: 2.
  • the above-described area ratio 7: 1: 2 is merely one embodiment, and the driver may arbitrarily adjust various ratios to adjust the ratio displayed on the display unit 200.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The present invention relates to a rear view camera system for a vehicle, the rear view camera system comprising a vehicle camera which is mounted on a vehicle side mirror or mounted in place of the side mirror and a display unit for reproducing a captured image, wherein the rear view camera system comprises an image processing unit, which horizontally divides the image data received from the camera into an inner area, an outer area, and a central area with reference to a rear view near a driver, and enlarges or reduces the divided areas of the image data with different magnifications, respectively.

Description

차량용 후방시야의 카메라 시스템Car Rear View Camera System
본 발명은 차량용 후방시야의 카메라 시스템에 관한 것으로서, 좀 더 상세하게는 차량용 사이드미러에 장착되거나 사이드 미러를 대신하여 장착되는 카메라로 촬영된 영상이 재생되는 시스템에 관한 것이다.The present invention relates to a camera system of a rear view of a vehicle, and more particularly, to a system in which an image photographed by a camera mounted on a vehicle side mirror or mounted in place of a side mirror is reproduced.
일반적으로, 차량에는 운전자가 좌우 및 후방 도로 상황을 용이하게 파악하여 감시하기 위하여, 좌, 우 프런트 도어 외측 및 차량 내부에는 미러가 장착되며, 미러의 장착 위치에 따라 룸미러, 사이드 미러라고 불린다.In general, the vehicle is equipped with mirrors on the outside of the left and right front doors and inside the vehicle in order for the driver to easily grasp and monitor the left and right road conditions, and is called a room mirror and a side mirror according to the mounting position of the mirror.
운전자는 전방의 좌, 우측을 주시한 상태에서 사이드 미러를 통해 좌, 우측 후방에서 주행하는 다른 차량의 주행 방향이나 속도 등을 인식할 수 있어, 운전자는 전후방의 차량과 안전거리를 유지할 수 있을 뿐 아니라 후방에서 주행하는 타 차량의 운행을 방해하지 않고 안전하게 추월하거나 차선을 변경할 수 있다.The driver can recognize the driving direction and speed of other vehicles traveling in the rear left and right through the side mirror while watching the front left and right, so that the driver can keep a safe distance from the front and rear vehicles. In addition, it is possible to safely pass or change lanes without disturbing the operation of other vehicles driving behind.
이러한 사이드 미러는 원래 제작이 용이한 평면 형태의 미러가 구비되었으나, 차량 운전자의 시야 각도를 좀 더 확보하여 운전자의 시야 범위를 크게 하기 위하여 볼록 형태의 미러가 구비되는 사이드 미러가 증가되고 있는 추세이나, 이러한 볼록 형태의 미러는 평면 형태에 비하여 시야 범위는 넓으나, 높은 축소 배율로 물체가 지나치게 작아 보여 운전자의 판단을 흐리게 하는 경향이 있다.Such side mirrors were originally equipped with a flat mirror that is easy to manufacture, but in order to secure a more viewing angle of the vehicle driver and increase the viewing range of the driver, a side mirror having a convex mirror is increasing. The convex mirrors have a wider viewing range than the planar ones, but they tend to obscure the driver's judgment because objects are too small at high reduction ratios.
이러한 평면경 및 볼록경 사용으로 인한 좁은 시야범위 및 상의 과다한 축소 현상 등의 문제점을 해결하기 위하여 차량에 보조경을 더 장착하는 경우도 있으나, 보조경 설치 경계영역을 거치면서 상이 급격한 변화하여 오히려 운전자에게 완전한 후방 시야 감각을 주지 못하여, 후방의 물체의 크기가 일정하게 보이는 두 개의 영역을 광학적 왜곡을 최소화하면서 하나의 사이드미러로 표현할 필요가 있다.In order to solve problems such as narrow viewing range and excessive reduction of images due to the use of flat and convex mirrors, an auxiliary mirror may be further mounted on the vehicle. Since it does not give a full rearward view, two areas where the size of the rear object is constant need to be represented by one side mirror while minimizing optical distortion.
상기와 같은 문제점들을 해결하기 위한 방법으로서, 평면 형태의 미러와 볼록 형태의 미러가 함께 구비되는 사이드 미러에 대한 연구개발이 활발하게 진행되어 한국 등록실용신안공보 제20-0288548호에서는 전체적으로 평면형태를 이루고 외측부가 볼록 형상의 곡률면이 형성되어 있는 자동차용 사이드 미러가 개시되어 있으며, 한국 등록실용신안공보 제20-0322014호에서는 전체적으로 평면 형태를 이루되 외측 단부가 굴곡되어 볼록 형태로 이루어지는 차동차용 사이드 미러가 개시되어 있다.As a method for solving the above problems, the research and development of the side mirror that is provided with a planar mirror and a convex mirror are actively progressed, and thus the Korean Utility Model Publication No. 20-0288548 has a planar shape as a whole. A side mirror for a vehicle is disclosed, and the outer side is formed with a convex curvature surface, and in Korean Patent Application Publication No. 20-0322014, a differential side having a planar shape as a whole but having an outer end curved to have a convex shape. A mirror is disclosed.
그리고, 등록특허 10-0894432에는 사이드 미러의 미러부가 볼록한 형태의 누진 비구면형 볼록 미러가 형성되어 있으며, 등록특허 10-0867439에서는 적어도 3개의 비구면 누진다초점 영역이 수평방향을 따라 소정간격으로 구획되어 형성된 사이드 미러가 개시되어 있다.Further, Patent Document 10-0894432 discloses a progressive aspheric convex mirror having a convex mirror portion of a side mirror, and in Patent Document 10-0867439, at least three aspherical progressive focus regions are partitioned at predetermined intervals along a horizontal direction. The formed side mirror is disclosed.
도 1은 종래의 차량용 사이드 미러에 차량용 카메라가 장착된 예시도를 도시한 것이고, 도 2는 종래의 차량용 카메라 시스템의 개념도를 나타내고 있다.FIG. 1 illustrates an exemplary view in which a vehicle camera is mounted on a conventional vehicle side mirror, and FIG. 2 illustrates a conceptual diagram of a conventional vehicle camera system.
도 1에서 보는 바와 같이 기존 차량용 사이드 미러(10)의 일부분에 차량용 카메라(11)가 설치되거나 기존 차량용 사이드 미러를 대신하여 차량용 카메라만이 설치되어(도시하지 않았음) 카메라에서 촬영된 영상이 차량 내부에 있는 디스플레이부(20)에 표시되어 운전자가 주위의 차량 상태를 파악할 수 있게 된다.As shown in FIG. 1, a vehicle camera 11 is installed at a portion of an existing vehicle side mirror 10 or only a vehicle camera is installed in place of an existing vehicle side mirror (not shown). It is displayed on the display unit 20 therein so that the driver can grasp the state of the surrounding vehicle.
하지만 종래의 특허로서는 보다 많은 시야의 영상을 보기 위해서는 영상표시 장치의 크기가 불가피하게 커지거나, 영상의 배율을 높여서 제한된 작은 영상 장치 크기에 맞추게 되어, 영상표시장치에 표시되는 차량 크기가 작아져 오히려 운전자의 판단을 흐리게 할 수 있다. However, according to the conventional patent, the size of the image display device is inevitably large in order to view an image of more field of view, or the size of the image display device is inevitably increased to fit the limited small image device size, so that the size of the vehicle displayed on the image display device becomes smaller. It can blur the driver's judgment.
종래의 카메라 영상 시스템은 사각지대를 제거하기 위해 물체의 배율을 가능한 축소하면 물체의 거리감이 훼손하게 되는 문제점이 있었다. 또한, 원근감을 훼손하지 않게 하기 위해서 배율을 확대하면 차량물체가 접근하는 근거리 영역에서 사각지대가 발생하는 문제점이 있었다.Conventional camera imaging system has a problem that when the magnification of the object is reduced as much as possible to remove the blind spot, the sense of distance of the object is damaged. In addition, when the magnification is enlarged so as not to damage the perspective, there is a problem that a blind spot occurs in a near area where the vehicle object approaches.
그렇지만, 이러한 기술들은 사각지대의 해소를 위한 시야 확대와 운전자가 느끼는 광학적 감성 표현에 있어서 한계가 있으며, 운전자에게 넓은 시야를 제공하면서도 정확한 거리감이나 시야의 편안함을 제공함에 있어서 구체적인 해결책을 제시하지 못하고 있다.However, these technologies have limitations in expanding the field of view to eliminate blind spots and expressing the optical sensitivity of the driver, and do not provide specific solutions in providing the driver with a wide range of vision while providing accurate distance or visual comfort. .
또한, 이와 같은 문제점을 해소하기 위해서, 한국등록특허 제 10-0936557호는 보다 넓은 영역의 영상을 표시하면서, 정확한 거리감으로 영상을 파악할 수 있도록 차량 내부에 영상표시수단을 구비하고, 영상표시수단의 양단부측에 압축된 영상을 혼합하여 표시하는 특허가 개시되어 있다.In addition, in order to solve such a problem, Korean Patent No. 10-0936557 is provided with an image display means inside the vehicle so as to grasp the image with a sense of distance while displaying an image of a wider area, A patent is disclosed for mixing and displaying a compressed image on both ends.
하지만, 양단부측의 영상과 중앙의 영상은 압축배율이 다르고 그 경계에서는 압축 영상이 불연속적으로 표시되어 영상간의 차량 이동을 매끄럽게 표시할 수가 없어 외부 사이드 미러에 부착되는 보조미러의 경우처럼 차량이 갑자기 이동하는 느낌을 운전자가 받을 수 있다.However, the image of both ends and the image of the center have different compression ratio, and at the boundary, the compressed image is discontinuously displayed, so that the vehicle movement between images cannot be displayed smoothly. The driver can feel the movement.
따라서, 본 발명은 상기한 바와 같은 종래 기술의 문제점을 해결하기 위하여 안출된 것으로, 본 발명의 목적은 최대한 넓은 후방시야의 영상을 제한된 영상 표시 장치 내에 표현하는 방법을 제공함으로써, 차량 주행 중에 운전자가 볼 수 없는 사각지대를 해소할 뿐만 아니라, 화면 영역을 조절 가능하게 하여 상의 왜곡현상과 부정확한 거리감을 최대한 해소하여 운전자가 실제와 유사한 편안함을 느낄 수 있도록 함에 그 목적이 있다.Accordingly, the present invention has been made to solve the problems of the prior art as described above, and an object of the present invention is to provide a method of expressing the image of the widest rear field of view in a limited image display device, whereby In addition to eliminating blind spots that can not be seen, the purpose of the screen area can be adjusted to solve the distortion and inaccurate distance of the image to the maximum, so that the driver can feel the real comfort.
상기한 바와 같은 목적을 달성하기 위한 본 발명의 차량용 사이드 미러에 장착되거나 사이드 미러를 대신하여 장착되는 자동차 카메라와 촬영된 영상이 재생되는 디스플레이부로 포함하는 차량용 후방시야의 카메라 시스템에 있어서, 상기 카메라로부터 받은 화상데이터를 내측영역, 외측영역, 중앙영역으로 분할하여 각각의 영역에 수평 방향으로 다른 배율로 확대 또는 축소하는 영상 처리부를 포함하는 것을 특징으로 한다.In the camera system of the rear view of the vehicle comprising a vehicle camera mounted on the vehicle side mirror of the present invention or a display unit for reproducing the captured image to be reproduced to achieve the object as described above, from the camera And an image processor for dividing the received image data into an inner region, an outer region, and a central region to enlarge or reduce each region at a different magnification in the horizontal direction.
또한, 상기 영상처리부는 상기 내측영역, 상기 외측영역, 및 상기 중앙영역의 수직방향 배율이 동일하고, 상기 내측영역은 수직방향배율과 수평방향 배율이 동일하며, 상기 내측영역과 상기 외측영역의 수평방향배율이 상이하면서 일정한 값을 가지고, 상기 중앙영역은 점진적으로 수평방향 배율이 작아지고, 상기 중앙영역의 수평방향배율은 양 끝단의 수평방향배율이 내측영역과 외측영역의 수평방향배율과 동일한 것을 특징으로 한다. 이는 보여지는 차량 영상이 수평방향으로 모든 영역에서 경계없이 연속적으로 매끄럽게 보이고자 하는 것이며, 결과적으로 차량의 접근과 이동을 영상을 통해서 보는 운전자에게 편안한 시야를 제공하게 된다. In addition, the image processing unit may have the same vertical magnification of the inner region, the outer region, and the center region, and the inner region may have the same vertical magnification and horizontal magnification, and the inner region and the outer region may be horizontal. The direction magnification is different and has a constant value, and the center area gradually decreases in the horizontal direction magnification, and the horizontal direction magnification of the center area indicates that the horizontal direction magnification of both ends is the same as the horizontal direction magnification of the inner area and the outer area. It features. This means that the vehicle image to be seen is smoothly continuously without boundaries in all areas in the horizontal direction, and as a result, it provides a comfortable view to the driver who sees the approach and movement of the vehicle through the image.
또한, 상기 외측영역에서의 수평방향 배율이 내측영역에서의 수평방향배율보다 작은 것을 특징으로 한다.Further, the horizontal magnification in the outer region is smaller than the horizontal magnification in the inner region.
또한, 상기 영상처리부는 상기 디스플레이부에 표현되는, 상기 내측영역, 상기 외측영역, 및 상기 중앙영역의 분할폭을 조절할 수 있는 것을 특징으로 한다.The image processor may adjust the division widths of the inner region, the outer region, and the central region, which are displayed on the display unit.
또한, 상기 영상처리부는 상기 내측영역, 상기 외측영역, 및 상기 중앙영역의 수평방향 배율을 조절할 수 있는 것을 특징으로 한다.The image processor may adjust horizontal magnifications of the inner region, the outer region, and the central region.
본 발명의 차량의 후방시야의 카메라 시스템은 최대한 넓은 후방시야의 영상을 제한된 영상 표시 장치 내에 표현하는 방법으로서 영상 영역을 분할하여 각각 다른 배율을 설정하나, 중앙영역에서의 배율을 점진적으로 변하게 하여, 모든 영역의 경계에서도 연속적으로 영상이 표시되게 한다. The camera system of the rear view of the vehicle of the present invention is a method of expressing the image of the rear view as wide as possible in the limited image display device by dividing the image area to set different magnifications, but gradually changing the magnification in the center area, Images are displayed continuously even at the boundaries of all regions.
또한, 본 발명은 차량 주행 중에 운전자가 볼 수 없는 사각지대를 해소할 뿐만 아니라 경계면에서의 연속성이 보장되어 상의 왜곡현상과 부정확한 거리감을 최대한 해소하여 운전자가 실제와 유사한 편안함을 느낄 수 있는 효과가 있다.In addition, the present invention not only eliminates blind spots that the driver can not see while driving the vehicle, but also ensures continuity at the interface to solve image distortion and inaccurate distance as much as possible, so that the driver can feel a realistic comfort. have.
도 1은 종래의 후방시야의 카메라가 장착된 예시도.1 is an exemplary view equipped with a conventional rear view camera.
도 2는 종래의 차량용 후방시야의 카메라 시스템 개념도.2 is a conceptual diagram of a camera system of a conventional vehicle rear view;
도 3은 본 발명의 일실시예에 따른 차량용 후방시야의 카메라 시스템 개념도.3 is a conceptual view illustrating a camera system of a rear view of a vehicle according to an embodiment of the present invention.
도 4는 본 발명의 일실시예에 따른 차량용 후방시야의 카메라 시스템의 영상을 수평방향으로 압축하여 표시하는 압축 배율을 나타내는 그래프.4 is a graph showing a compression ratio for compressing and displaying an image of a camera system of a rear view camera for a vehicle according to an embodiment of the present invention in a horizontal direction;
<부호의 설명><Description of the code>
1000 : 후방시야의 카메라 시스템1000: rear view camera system
100 : 카메라100: camera
200 : 디스플레이부200: display unit
210 : 내측영역210: inner region
220 : 중앙영역220: center area
230 : 외측영역230: outer area
300 : 영상처리부300: image processing unit
이하, 상기한 바와 같은 구성을 가지는 본 발명에 의한 차량용 후방시야의 카메라 시스템을 첨부된 도면을 참고하여 상세하게 설명한다.Hereinafter, a camera system of a rear view vehicle for a vehicle according to the present invention having the configuration as described above will be described in detail with reference to the accompanying drawings.
도 3은 본 발명의 일실시예에 따른 차량용 후방시야의 카메라 시스템(1000)의 개념도이다.3 is a conceptual diagram of a camera system 1000 of a rear view of a vehicle according to an embodiment of the present invention.
도 3을 이용하여, 본 발명의 일실시예에 따른 차량용 후방시야의 카메라 시스템(1000)에 대해서 설명한다.3, a camera system 1000 for a rear view of a vehicle according to an exemplary embodiment of the present invention will be described.
본 발명의 일실시예에 따른 차량용 후방시야의 카메라 시스템(1000)은 카메라(100), 영상처리부(300), 및 디스플레이부(200)를 포함한다.The camera system 1000 of the rear view vehicle for the vehicle according to the exemplary embodiment of the present invention includes a camera 100, an image processor 300, and a display unit 200.
도 1에서 보는 바와 같이, 기존 차량용 사이드 미러(10)의 일부분에 차량용 카메라(100)가 설치되거나 기존 차량용 사이드 미러를 대신하여 차량용 카메라(100)만이 설치되어(도시하지 않았음) 카메라(100)에서 촬영된 영상이 차량 내부에 있는 디스플레이부(200)에 표시되어 운전자가 주위의 차량 상태를 파악할 수 있게 된다.As shown in FIG. 1, a vehicle camera 100 is installed at a portion of an existing vehicle side mirror 10 or only a vehicle camera 100 is installed in place of an existing vehicle side mirror (not shown). The image photographed at is displayed on the display unit 200 inside the vehicle, so that the driver can grasp the state of the surrounding vehicle.
한편, 본 발명에서는 이러한 기존의 차량용 카메라 시스템(1000)에서 차량용 카메라(100)는 일반적으로 사용되는 차량용 카메라(100)로서, 좀 더 넓은 시야를 확보하기 위해서 광각렌즈가 설치되는 것이 바람직하다.Meanwhile, in the present invention, the vehicle camera 100 in the conventional vehicle camera system 1000 is a vehicle camera 100 that is generally used, and a wide angle lens is preferably installed to secure a wider field of view.
상기 카메라(100)에서 촬영된 영상은 영상처리부(300)를 거쳐 디스플레이부(200)에 표시된다. 이는, 이미 공지된 차량용 사이드 미러에 차량용 카메라(100)가 설치되어 촬영된 영상이 디스플레이부(200)에 나타나도록 하는 것과 동일하므로 여기서는 이러한 작동관계에 대해서는 설명하지 않고, 영상처리부(300)에 의해서 나타나는 디스플레이부(200)의 영상 변화에 초점을 맞추어 설명하고자 한다.The image photographed by the camera 100 is displayed on the display unit 200 via the image processor 300. Since the vehicle camera 100 is installed on the vehicle side mirror, which is already known, the captured image is displayed on the display unit 200, the operation relationship thereof is not described here. It will be described focusing on the image change of the display unit 200 appears.
이때, 상기 카메라(100)를 이용하여 촬영된 영상을 영상처리부(300)에서 압축하여, 디스플레이부(200)에 일부 또는 전체가 표시된다.In this case, an image captured by the camera 100 is compressed by the image processor 300, and a part or the whole of the image is displayed on the display 200.
즉, 운전자가 차선의 개수에 따라서 디스플레이부(200)에 표시되는 영상의 크기를 조절할 수 있다. 다시 말해서, 차선의 개수가 많은 경우 촬영된 영상의 전체를 표시하여 넓은 시야각을 확보할 수 있으며, 차선의 개수가 적은 경우 촬영된 영상의 일부만을 표시하여 넓지는 않지만 정확한 이미지를 확인할 수 있다.That is, the driver may adjust the size of the image displayed on the display unit 200 according to the number of lanes. In other words, when the number of lanes is large, a wide field of view may be secured by displaying the entire photographed image. When the number of lanes is small, only a part of the captured image may be displayed to determine an accurate image.
상기 영상처리부(300)는 상기 카메라(100)에서 촬영된 영상을 내측영역(210), 외측영역(230), 및 중앙영역(220)으로 구분한다.The image processor 300 divides the image photographed by the camera 100 into an inner region 210, an outer region 230, and a central region 220.
이때, 상기 내측영역(210), 상기 외측영역(230), 및 상기 중앙영역(220)에 수직방향으로 동일한 배율로 표시하되, 수평방향으로는 상기 외측영역(230) 및 상기 중앙영역(220)에서 다른 배율로 영상을 처리한다.In this case, the inner region 210, the outer region 230, and the central region 220 are displayed at the same magnification in the vertical direction, but in the horizontal direction, the outer region 230 and the central region 220. Processes the image at different magnifications.
좀 더 상세하게는, 상기 영상처리부(300)에서 상기 내측영역(210)과 상기 외측영역(230)의 수평방향 배율이 상이하면서 일정한 값을 가진다.More specifically, in the image processor 300, the horizontal magnifications of the inner region 210 and the outer region 230 are different and have a constant value.
또한, 상기 내측영역(210)은 수직방향 배율과 수평방향 배율이 동일하며, 상기 중앙영역(220)은 점진적으로 수평방향 배율이 작아지고, 상기 중앙영역(220)의 수평방향비율은 양 끝단의 수평방향비율이 상기 내측영역(210)과 상기 외측영역(230)의 수평방향비율과 동일하게 형성된다.In addition, the inner region 210 has the same vertical magnification and horizontal magnification, and the central region 220 gradually decreases in the horizontal magnification, and the horizontal ratio of the central region 220 is determined at both ends. The horizontal ratio is the same as the horizontal ratio of the inner region 210 and the outer region 230.
즉, 상기 중앙영역(220)은 상기 내측영역(210) 및 상기 외측영역(230)과 연속성을 갖도록 수평배율이 점진적으로 변화한다.That is, the horizontal magnification of the central region 220 gradually changes to have continuity with the inner region 210 and the outer region 230.
[식 1][Equation 1]
Mm = Mf+(Mn-Mf)*sin{π/2*(x-xf)/(xn-xf)}Mm = Mf + (Mn-Mf) * sin {π / 2 * (x-xf) / (xn-xf)}
Mm : 중앙영역 수평방향 배율 Mm: Center area horizontal magnification
Mf : 내측영역 수평방향 배율Mf: Internal area horizontal magnification
Mn : 외측영역 수평방향 배율Mn: Horizontal magnification in the outside
x : 중앙영역내의 위치 x: position in the center area
xf : 중앙영역과 내측영역 경계 위치xf: the center and inner region boundary position
xn : 중앙영역과 외측영역 경계 위치xn: location of boundary between center and outer area
상기 [식 1]은 상기 중앙영역(220)의 수평방향 배율을 정하는 식의 하나의 예를 나타낸 것으로 중앙영역(220) 내에서 내측영역(210)과의 경계로부터 외측영역(230)과의 경계까지 배율이 연속적으로 설정하는 것이 특징이다.[Equation 1] shows an example of the formula for determining the horizontal magnification of the central region 220, the boundary between the inner region 210 and the outer region 230 in the central region 220. The feature is that the magnification is set continuously.
상기 외측영역(230)은 수평방향 배율이 상기 내측영역(210)에서의 수평방향 배율보다 작은 것을 특징으로 한다.The outer region 230 has a horizontal magnification smaller than the horizontal magnification in the inner region 210.
이때, 상기 영상처리부(300)는 운전자가 상기 내측영역(210), 상기 중앙영역(220), 및 상기 외측영역(230)의 수평방향배율과 수직방향배율을 임의로 설정하여 조절할 수 있는 것을 특징으로 한다.In this case, the image processor 300 may allow the driver to arbitrarily set the horizontal and vertical magnifications of the inner region 210, the central region 220, and the outer region 230. do.
좀 더 상세하게는, 상기 영상처리부(300)에서 상기 각각의 영역의 수직방향배율을 동일하고, 상기 외측영역(230)의 수평방향배율을 조절하게 되면 넓은 시야각을 확보할 수 있는 장점이 있다.More specifically, the image processing unit 300 has the same vertical magnification of each area, and adjusting the horizontal magnification of the outer area 230 has an advantage of ensuring a wide viewing angle.
아울러, 상기 중앙영역(220)을 더 포함함으로써, 상기 각각의 영역의 경계지점에서 영상이 자연스럽게 표현되는 장점이 있다.In addition, by further including the central area 220, there is an advantage that the image is naturally expressed at the boundary of each area.
상기 디스플레이부(200)에 나타나는 촬영된 영상 이미지는 상기 내측영역(210), 상기 중앙영역(220), 및 상기 외측영역(230)으로 나뉘어져 재생된다.The photographed video image displayed on the display unit 200 is divided into the inner region 210, the central region 220, and the outer region 230 and reproduced.
이때, 상기 디스플레이부(200)는 상기 내측영역(210)을 포함하고, 점차적으로 수평배율이 변환하는 상기 중앙영역(220)과 상기 내측영역(210)의 수평 배율보다 낮은 수평배율로 처리된 상기 외측영역(230) 중 하나의 영역만 포함하면, 상기 내측영역(210)과의 경계면에서 이미지가 갑자기 변화하는 것처럼 보여 운전자가 혼동할 수 있는 문제점이 있다.In this case, the display unit 200 includes the inner region 210, and the horizontal magnification is gradually converted into a horizontal magnification lower than the horizontal magnification of the central region 220 and the inner region 210. If only one region of the outer region 230 is included, the image may suddenly change at the interface with the inner region 210, which may confuse the driver.
이와 같은 문제점을 해결하기 위해서, 본 발명의 영상처리부(300)에서 상기 내측영역(210), 상기 외측영역(230), 및 상기 중앙영역(220) 모두 포함하여야 한다.In order to solve such a problem, the image processing unit 300 of the present invention should include all of the inner region 210, the outer region 230, and the central region 220.
상기 영상처리부(300)는 상기 내측영역(210), 상기 외측영역(230), 및 상기 중앙영역(220)이 표시되는 상기 디스플레이부(200)에 분할폭을 조절하여 재생할 수 있는 것을 특징으로 한다.The image processor 300 may adjust and reproduce a division width in the display unit 200 in which the inner region 210, the outer region 230, and the central region 220 are displayed. .
즉, 상기 내측영역(210), 상기 외측영역(230), 및 상기 중앙영역(220)의 분할폭을 운전자가 직접 조절하여, 운전자가 가장 자연스럽다고 생각되는 분할폭을 조절하여 가장 최적화된 상태의 후방시야를 볼 수 있다.That is, the driver directly adjusts the dividing widths of the inner region 210, the outer region 230, and the central region 220, and adjusts the dividing width that the driver considers to be the most natural. You can see the rear view.
예를 들어, 상기 디스플레이부(200)의 수평분할을 10으로 하였을 경우, 내측영역(210) : 중앙영역(220) : 외측영역(230)의 비율을 7 : 1 : 2로 조절할 수 있다.For example, when the horizontal division of the display unit 200 is 10, the ratio of the inner region 210: the center region 220: the outer region 230 may be adjusted to 7: 1: 2.
상술한 영역 비율인 7 : 1 : 2는 단순히 일실시예에 불과하며, 운전자가 임의로 여러 가지 비율을 조절하여 상기 디스플레이부(200)에 표시되는 비율을 조절할 수 있다.The above-described area ratio 7: 1: 2 is merely one embodiment, and the driver may arbitrarily adjust various ratios to adjust the ratio displayed on the display unit 200.
따라서, 본 발명에 의하면, 서로 상이한 곡률반경을 가진 곡선과 이들 곡선을 연결하는 최적의 연결곡선을 제공함으로써, 차량 주행 중에 운전자가 볼 수 없는 사각지대를 해소할 뿐만 아니라 경계면에서의 연속성이 보장되어 상의 왜곡현상과 부정확한 거리감을 최대한 해소하여 운전자가 실제와 유사한 편안함을 느낄 수 있는 효과가 있다.Therefore, according to the present invention, by providing curves having different curvature radii and optimal connection curves connecting the curves, not only the blind spots which are not seen by the driver while driving the vehicle but also the continuity at the interface are ensured. By eliminating the distortion of the image and the sense of inaccurate distance as much as possible, there is an effect that the driver can feel the real comfort.
본 발명은 상기한 실시예에 한정되지 아니하며, 적용범위가 다양함은 물론이고, 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 본 발명이 속하는 분야에서 통상의 지식을 가진 자라면 누구든지 다양한 변형 실시가 가능한 것은 물론이다.The present invention is not limited to the above-described embodiments, and the scope of application of the present invention is not limited to those of ordinary skill in the art to which the present invention pertains without departing from the gist of the present invention as claimed in the claims. Of course, various modifications can be made.

Claims (4)

  1. 차량용 사이드 미러에 장착되거나 사이드 미러를 대신하여 장착되는 자동차 카메라와 촬영된 영상이 재생되는 디스플레이부로 포함하는 차량용 후방시야의 카메라 시스템에 있어서,In the camera system of the rear view of the vehicle comprising a vehicle camera mounted on the vehicle side mirror or mounted in place of the side mirror and a display unit to reproduce the captured image,
    상기 카메라로부터 받은 화상데이터를 수평방향으로 운전자에게 가까운 후방시야 기준으로 내측영역, 외측영역, 및 중앙영역으로 분할하여 각각의 영역에 다른 배율로 확대 또는 축소하는 영상처리부를 포함하여 이루어지며,And an image processor for dividing the image data received from the camera into an inner region, an outer region, and a central region based on a rear field of view close to the driver in a horizontal direction to enlarge or reduce each region at different magnifications.
    상기 영상처리부는The image processor
    상기 내측영역, 상기 외측영역, 및 상기 중앙영역의 수직방향 배율이 동일하고,The vertical magnification of the inner region, the outer region, and the central region is the same,
    상기 내측영역은 수직방향배율과 수평방향 배율이 동일하며, 상기 내측영역과 상기 외측영역의 수평방향배율이 상이하면서 일정한 값을 가지고, The inner region has a vertical magnification and a horizontal magnification, the horizontal magnifications of the inner region and the outer region are different and have a constant value.
    상기 중앙영역은 점진적으로 수평방향 배율이 작아지고, 상기 중앙영역의 수평방향배율은 양 끝단의 수평방향배율이 내측영역과 외측영역의 수평방향배율과 동일한 것을 특징으로 하는 차량용 후방시야의 카메라 시스템.The central area is gradually reduced in the horizontal magnification, and the horizontal magnification of the central area is a horizontal magnification of both ends of the rear view camera system for a vehicle, characterized in that the same as the horizontal magnification of the inner area and the outer area.
  2. 제 1항에 있어서,The method of claim 1,
    상기 외측영역에서의 수평방향 배율이 내측영역에서의 수평방향배율보다 작은 것을 특징으로 하는 차량용 후방시야의 카메라 시스템.And the horizontal magnification in the outer region is smaller than the horizontal magnification in the inner region.
  3. 제 2항에 있어서,The method of claim 2,
    상기 영상처리부는 상기 디스플레이부에 표현되는, 상기 내측영역, 상기 외측영역, 및 상기 중앙영역의 분할 폭을 조절할 수 있는 것을 특징으로 하는 차량용 후방시야의 카메라 시스템.And the image processor is configured to adjust the division widths of the inner region, the outer region, and the central region, which are displayed on the display unit.
  4. 제 2항에 있어서,The method of claim 2,
    상기 영상처리부는 상기 중앙영역의 임의의 위치 x에서의 수평방향 배율을 The image processing unit may adjust a horizontal magnification at an arbitrary position x of the center area.
    Mm = Mf+(Mn-Mf)*sin{π/2*(x-xf)/(xn-xf)}Mm = Mf + (Mn-Mf) * sin {π / 2 * (x-xf) / (xn-xf)}
    Mm : 중앙영역 수평방향 배율 Mm: Center area horizontal magnification
    Mf : 내측영역 수평방향 배율Mf: Internal area horizontal magnification
    Mn : 외측영역 수평방향 배율Mn: Horizontal magnification in the outside area
    x : 중앙영역내의 위치 x: position in the center area
    xf : 중앙영역과 내측영역 경계 위치xf: the center and inner region boundary position
    xn : 중앙영역과 외측영역 경계 위치xn: location of boundary between center and outer area
    에 의해서 배율을 정하는 것을 특징으로 하는 차량용 후방시야의 카메라 시스템.A rear view camera system for a vehicle, characterized in that the magnification is determined by.
PCT/KR2014/008457 2013-09-13 2014-09-11 Rear view camera system for vehicle WO2015037908A1 (en)

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