WO2016153224A1 - Dispositif d'étalonnage autonome pour véhicules et véhicule possédant celui-ci - Google Patents

Dispositif d'étalonnage autonome pour véhicules et véhicule possédant celui-ci Download PDF

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Publication number
WO2016153224A1
WO2016153224A1 PCT/KR2016/002746 KR2016002746W WO2016153224A1 WO 2016153224 A1 WO2016153224 A1 WO 2016153224A1 KR 2016002746 W KR2016002746 W KR 2016002746W WO 2016153224 A1 WO2016153224 A1 WO 2016153224A1
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WIPO (PCT)
Prior art keywords
vehicle
calibration
processor
unit
information
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PCT/KR2016/002746
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English (en)
Korean (ko)
Inventor
박영경
박영우
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엘지전자 주식회사
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Publication of WO2016153224A1 publication Critical patent/WO2016153224A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces

Definitions

  • the present invention relates to an autonomous calibration device for a vehicle and a vehicle having the same, and more particularly, to an autonomous calibration device for a vehicle and a vehicle having the same, which can autonomously adjust an error in a camera mounted on the vehicle.
  • the vehicle is a device for moving in the direction desired by the user.
  • An example is a car.
  • various types of sensors, electronic devices, etc. are provided.
  • various devices for driving convenience of the user have been developed, such as an image photographed from a rear camera provided when the vehicle is reversed or when the vehicle is parked.
  • An object of the present invention is to provide an autonomous calibration device for a vehicle, and a vehicle having the same, capable of autonomously adjusting errors in a camera mounted on a vehicle.
  • An autonomous vehicle calibration apparatus for achieving the above object, the interface unit for receiving a plurality of images overlapping at least a partial region from the plurality of cameras, and the calibration parameters for performing the calibration for the plurality of cameras; Perform calibration based on the memory to be stored and the plurality of images received, and control the calibration parameters generated by the calibration result to be updated, correct the plurality of images based on the updated calibration parameters, and correct And a processor that generates a depth map based on the plurality of images.
  • the vehicle for achieving the above object, the interface unit for receiving a plurality of images overlapping at least a partial area from the plurality of cameras, and the calibration parameters for performing the calibration for the plurality of cameras Perform calibration based on the memory and the plurality of received images, control calibration parameters generated by the calibration result to be updated, correct the plurality of images based on the updated calibration parameters, and correct the corrected plurality. And a processor for generating a depth map based on the image of.
  • an autonomous vehicle calibration apparatus and a vehicle having the same include an interface unit configured to receive a plurality of images overlapping at least some regions from a plurality of cameras, and calibration parameters for performing calibration on the plurality of cameras. Perform calibration based on the memory to be stored and the plurality of images received, and control the calibration parameters generated by the calibration result to be updated, correct the plurality of images based on the updated calibration parameters, and correct
  • an interface unit configured to receive a plurality of images overlapping at least some regions from a plurality of cameras, and calibration parameters for performing calibration on the plurality of cameras. Perform calibration based on the memory to be stored and the plurality of images received, and control the calibration parameters generated by the calibration result to be updated, correct the plurality of images based on the updated calibration parameters, and correct
  • a processor that generates a depth map based on the plurality of images, error adjustment in the camera mounted on the vehicle is autonomously possible. This enables accurate depth map detection.
  • the autonomous calibration device it is possible to appropriately update the remap table, which is stored in the internal memory.
  • FIG. 1 is a conceptual diagram of a vehicle communication system having an autonomous calibration apparatus according to an embodiment of the present invention.
  • 2A is a view illustrating an exterior of a vehicle having various cameras.
  • FIG. 2B is a diagram illustrating an appearance of a stereo camera attached to the vehicle of FIG. 2A.
  • FIG. 2C is a view schematically illustrating a position of an around view camera attached to the vehicle of FIG. 2A.
  • FIG. 2D illustrates an around view image based on the image captured by the around view camera of FIG. 2C.
  • 3A to 3B illustrate various examples of an internal block diagram of the vehicle driving assistance apparatus of FIG. 1.
  • 3C to 3D illustrate various examples of an internal block diagram of the around view providing apparatus of FIG. 1.
  • 3E is an internal block diagram of the vehicle display apparatus of FIG. 1.
  • FIGS. 3A-3D illustrate various examples of internal block diagrams of the processor of FIGS. 3A-3D.
  • FIG. 5 is a diagram illustrating object detection in the processor of FIGS. 4A-4B.
  • 6A and 6B are views referred to for describing the operation of the vehicle driving assistance apparatus of FIG. 1.
  • FIG. 7 is an example of a block diagram of a vehicle interior according to an embodiment of the present invention.
  • FIG. 8 is a flowchart illustrating a method of operating an autonomous calibration device for a vehicle according to an embodiment of the present invention.
  • FIG. 9 is an example of an internal block diagram of the autonomous calibration device for teeth of FIG. 1.
  • FIG. 10 is an example of a block diagram inside a processor of the autonomous calibration apparatus of FIG. 9.
  • 11 is a diagram illustrating various kinds of deformations that may occur between stereo images.
  • FIG. 12 is a flowchart illustrating a method of operating an autonomous calibration device for a vehicle according to another embodiment of the present invention.
  • FIG. 13 is a flowchart illustrating a method of operating an autonomous calibration device for a vehicle according to another embodiment of the present invention.
  • FIG. 14A to 14C illustrate various examples of block diagrams inside a processor of the autonomous calibration apparatus of FIG. 9.
  • 15 is a flowchart illustrating a method of operating a vehicle driving assistance apparatus according to an embodiment of the present invention.
  • 16 to 19C are views referred to for describing the operating method of FIG. 15.
  • module and “unit” for components used in the following description are merely given in consideration of ease of preparation of the present specification, and do not impart any particular meaning or role by themselves. Therefore, the “module” and “unit” may be used interchangeably.
  • the vehicle described herein may be a concept including an automobile, a motorcycle, a drone, a robot cleaner, an airplane, and a helicopter.
  • a vehicle is mainly described for a vehicle.
  • the vehicle described herein may be a concept including both a vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as the power source, and an electric vehicle having an electric motor as the power source.
  • FIG. 1 is a conceptual diagram of a vehicle communication system having an autonomous calibration apparatus according to an embodiment of the present invention.
  • the vehicle communication system 10 may include a vehicle 200, terminals 600a and 600b, and a server 500.
  • the vehicle 200 may include a vehicle driving assistance apparatus 100a, an around view providing apparatus 100b, and a vehicle display apparatus 100c inside the vehicle.
  • the vehicle driving assistance apparatus 100a, the around view providing apparatus 100b, and the vehicle display apparatus 100c each use terminals 600a and 600b using a communication unit (not shown) or a communication unit included in the vehicle 200. Or exchange data with the server 500.
  • the mobile terminal 600a when the mobile terminal 600a is located in or near a vehicle, at least one of the vehicle driving assistance apparatus 100a, the around view providing apparatus 100b, and the vehicle display apparatus 100c may be formed by short-range communication.
  • the terminal 600a can exchange data with the terminal 600a.
  • the terminal 600b when the terminal 600b is located at a remote location outside the vehicle, at least one of the vehicle driving assistance apparatus 100a, the around view providing apparatus 100b, and the vehicle display apparatus 100c may be remote communication (mobile communication, etc.). ), Data can be exchanged with the terminal 600b or the server 500 via the network 570.
  • the terminals 600a and 600b may be mobile terminals, such as wearable devices such as mobile phones, smart phones, tablet PCs, and smart watches. Or it may be a fixed terminal such as a TV or a monitor. Hereinafter, the terminal 600 will be described based on a mobile terminal such as a smart phone.
  • the server 500 may be a server provided by a vehicle manufacturer or a server operated by a provider providing a vehicle related service. For example, it may be a server operated by a provider that provides information on road traffic conditions.
  • the vehicle driving assistance apparatus 100a may generate and provide vehicle-related information by processing a stereo image received from the stereo camera 195 based on computer vision.
  • the vehicle related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for driving guide to the vehicle driver.
  • the around view providing apparatus 100b may include a plurality of images captured by the plurality of around view cameras 295a, 295b, 295c, and 295d, respectively, in the processor 200 of the vehicle 200 (FIG. 3C or 170 of FIG. 3D).
  • the processor (170 of FIG. 3C or 3D) may combine the plurality of images to generate and provide an around view image.
  • the vehicle display apparatus 100c may be an AVN (Audio Video Navigation) device.
  • AVN Audio Video Navigation
  • the vehicle display apparatus 100c may include a space recognition sensor unit and a touch sensor unit, whereby the remote approach may be sensed by the space recognition sensor unit and the near touch approach may be sensed by the touch sensor unit.
  • a user interface corresponding to the sensed user gesture or touch may be provided.
  • the controlled driving may be performed.
  • the autonomous driving device may include at least one of the vehicle driving assistance device 100a and the around view providing device 100b.
  • the autonomous calibration device 50a or 50b for a vehicle may be provided in the vehicle driving assistance device 100a and the around view providing device 100b, respectively.
  • the autonomous calibration device 50a in the vehicle driving assistance apparatus 100a may perform calibration based on the stereo image obtained from the stereo camera.
  • the autonomous calibration device 50b in the around view providing apparatus 100b may perform calibration based on images obtained from cameras photographing overlapping regions of a plurality of cameras.
  • 2A is a view illustrating an exterior of a vehicle having various cameras.
  • the vehicle 200 includes wheels 203FR, 103FL, 103RL,... Rotated by a power source, a steering wheel 250 for adjusting the traveling direction of the vehicle 200, and the vehicle driving assistance of FIG. 1.
  • a stereo camera 195 provided inside the vehicle 200 for the apparatus 100a, and a plurality of around view cameras 295a and 295b mounted to the vehicle 200 for the around view providing apparatus 100b of FIG. 295c, 295d).
  • only the left camera 295a and the front camera 295d are shown for convenience.
  • the stereo camera 195 may include a plurality of cameras, and the stereo image obtained by the plurality of cameras may be signal processed in the vehicle driving assistance apparatus 100a of FIG. 3.
  • the drawing illustrates that the stereo camera 195 includes two cameras.
  • the plurality of around view cameras 295a, 295b, 295c, and 295d may be activated when the speed of the vehicle is less than or equal to a predetermined speed or when the vehicle propels, thereby acquiring a captured image.
  • the image, obtained by the plurality of cameras, may be signal processed in an around view providing apparatus (100 of FIG. 3C or 3D).
  • FIG. 2B is a diagram illustrating an appearance of a stereo camera attached to the vehicle of FIG. 2A.
  • the stereo camera module 195 may include a first camera 195a having a first lens 193a and a second camera 195b having a second lens 193b.
  • the stereo camera module 195 includes a first light shield 192a and a second light for shielding light incident on the first lens 193a and the second lens 193b, respectively.
  • the shield 192b may be provided.
  • the stereo camera module 195 of the drawing may be a structure that can be attached to or detached from the ceiling or the windshield of the vehicle 200.
  • the vehicle driving assistance device (100a in FIG. 3) having such a stereo camera module 195 obtains a stereo image of the front of the vehicle from the stereo camera module 195, and based on the stereo image, a disparity ) Detect, perform object detection on the at least one stereo image based on the disparity information, and continuously track the movement of the object after object detection.
  • FIG. 2C is a diagram schematically illustrating a position of an around view camera attached to the vehicle of FIG. 2A
  • FIG. 2D illustrates an around view image based on an image captured by the around view camera of FIG. 2C.
  • the plurality of around view cameras 295a, 295b, 295c, and 295d may be disposed at the left side, the rear side, the right side, and the front side of the vehicle, respectively.
  • the left camera 295a and the right camera 295c may be disposed in a case surrounding the left side mirror and a case surrounding the right side mirror, respectively.
  • the rear camera 295b and the front camera 295d may be disposed near the trunk switch and near the emblem or the emblem, respectively.
  • Each of the plurality of images captured by the plurality of around view cameras 295a, 295b, 295c, and 295d is transmitted to a processor (FIG. 3C or 170 of FIG. 3C) in the vehicle 200, and the processor (FIG. 3C or 3D).
  • the plurality of images are combined to generate an around view image.
  • the around view image 210 includes a first image area 295ai from the left camera 295a, a second image area 295bi from the rear camera 295b, and a third image area from the right camera 295c ( 295ci), and a fourth image area 295di from the front camera 295d.
  • 3A to 3B illustrate various examples of an internal block diagram of the vehicle driving assistance apparatus of FIG. 1.
  • the vehicle driving assistance apparatus 100a of FIGS. 3A to 3B may process the stereo image received from the stereo camera 195 based on a computer vision to generate vehicle related information.
  • vehicle related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for driving guide to the vehicle driver.
  • the vehicle driving assistance apparatus 100a of FIG. 3A includes a communication unit 120, an interface unit 130, a memory 140, a processor 170, a power supply unit 190, and a stereo camera. 195.
  • the communication unit 120 may exchange data with the mobile terminal 600 or the server 500 in a wireless manner.
  • the communication unit 120 may exchange data wirelessly with a mobile terminal of a vehicle driver.
  • a wireless data communication method various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.
  • the communication unit 120 may receive weather information, road traffic information, for example, TPEG (Transport Protocol Expert Group) information from the mobile terminal 600 or the server 500.
  • TPEG Transport Protocol Expert Group
  • the vehicle driving assistance apparatus 100a may transmit the real-time traffic information grasped based on the stereo image to the mobile terminal 600 or the server 500.
  • the mobile terminal 600 and the vehicle driving assistance device 100a of the user may perform pairing with each other automatically or by executing the user's application.
  • the interface unit 130 may receive vehicle-related data or transmit a signal processed or generated by the processor 170 to the outside. To this end, the interface unit 130 may perform data communication with the ECU 770, the AVN (Audio Video Navigation) device 400, the sensor unit 760, etc. in the vehicle by wired communication or wireless communication. have.
  • ECU 770 the ECU 770
  • AVN Audio Video Navigation
  • the interface unit 130 may receive map information related to driving of the vehicle through data communication with the vehicle display apparatus 400.
  • the interface unit 130 may receive sensor information from the ECU 770 or the sensor unit 760.
  • the sensor information includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle interior temperature information, vehicle interior humidity information.
  • Such sensor information may include heading sensors, yaw sensors, gyro sensors, position modules, vehicle forward / reverse sensors, wheel sensors, vehicle speed sensors, It may be obtained from a vehicle body tilt sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle interior temperature sensor, a vehicle interior humidity sensor, and the like.
  • the position module may include a GPS module for receiving GPS information.
  • vehicle driving information the vehicle driving information related to the vehicle driving.
  • the memory 140 may store various data for operations of the overall vehicle driving assistance apparatus 100a such as a program for processing or controlling the processor 170.
  • the audio output unit (not shown) converts an electrical signal from the processor 170 into an audio signal and outputs the audio signal. To this end, a speaker or the like may be provided.
  • the audio output unit (not shown) may output sound corresponding to the operation of the input unit 110, that is, the button.
  • the audio input unit may receive a user voice.
  • a microphone may be provided.
  • the received voice may be converted into an electrical signal and transmitted to the processor 170.
  • the processor 170 controls the overall operation of each unit in the vehicle driving assistance apparatus 100a.
  • the processor 170 performs computer vision-based signal processing. Accordingly, the processor 170 obtains a stereo image of the front of the vehicle from the stereo camera 195, performs a disparity operation on the front of the vehicle based on the stereo image, and based on the calculated disparity information. , Object detection may be performed on at least one of the stereo images, and after the object detection, the movement of the object may be continuously tracked.
  • the processor 170 may perform lane detection, vehicle detection, pedestrian detection, traffic sign detection, road surface detection, and the like. Can be.
  • the processor 170 may perform a distance calculation on the detected surrounding vehicle, a speed calculation of the detected surrounding vehicle, a speed difference calculation with the detected surrounding vehicle, and the like.
  • the processor 170 may receive weather information, road traffic information, for example, TPEG (Transport Protocol Expert Group) information through the communication unit 120.
  • TPEG Transport Protocol Expert Group
  • the processor 170 may identify, in real time, traffic situation information around the vehicle, which the vehicle driving assistance apparatus 100a grasps based on a stereo image.
  • the processor 170 may receive map information and the like from the vehicle display apparatus 400 through the interface unit 130.
  • the processor 170 may receive sensor information from the ECU 770 or the sensor unit 760 through the interface unit 130.
  • the sensor information includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle interior temperature information, vehicle interior humidity information.
  • the power supply unit 190 may supply power required for the operation of each component under the control of the processor 170.
  • the power supply unit 190 may receive power from a battery inside the vehicle.
  • the stereo camera 195 may include a plurality of cameras. Hereinafter, as described in FIG. 2B and the like, two cameras are provided.
  • the stereo camera 195 may be detachable from the ceiling or the windshield of the vehicle 200, and may include a first camera 195a having a first lens 193a and a second camera having a second lens 193b. 195b.
  • the stereo camera 195 has a first light shield 192a and a second light shield for shielding light incident on the first lens 193a and the second lens 193b, respectively.
  • the part 192b may be provided.
  • the vehicle driving assistance apparatus 100a of FIG. 3B further includes the input unit 110, the display 180, and the audio output unit 185 as compared to the vehicle driving assistance apparatus 100a of FIG. 3A. It can be provided.
  • the input unit 110, the display 180, and the audio output unit 185 will be described.
  • the input unit 110 may include a plurality of buttons or a touch screen attached to the vehicle driving assistance apparatus 100a, particularly, the stereo camera 195. It is possible to turn on and operate the power supply of the vehicle driving assistance apparatus 100a through a plurality of buttons or a touch screen. In addition, various input operations may be performed.
  • the display 180 may display an image related to the operation of the vehicle driving assistance apparatus.
  • the display 180 may include a cluster or a head up display (HUD) on the front surface of the vehicle.
  • HUD head up display
  • the display 180 when it is a HUD, it may include a projection module for projecting an image on the windshield of the vehicle 200.
  • the audio output unit 185 outputs sound to the outside based on the audio signal processed by the processor 170.
  • the audio output unit 185 may include at least one speaker.
  • 3C to 3D illustrate various examples of an internal block diagram of the around view providing apparatus of FIG. 1.
  • the around view providing apparatus 100b of FIGS. 3C to 3D may combine the plurality of images received from the plurality of cameras 295a to 295d to generate an around view image.
  • the around view providing apparatus 100b may perform object detection, confirmation, and tracking on an object located near the vehicle based on the plurality of images received from the plurality of cameras 295a, ..., 295d. Can be.
  • the around view providing apparatus 100b of FIG. 3C includes a communication unit 220, an interface unit 230, a memory 240, a processor 270, a display 280, and a power supply unit 290. ) And a plurality of cameras 295a, ..., 295d.
  • the communication unit 220 may exchange data with the mobile terminal 600 or the server 500 in a wireless manner.
  • the communication unit 220 may exchange data wirelessly with the mobile terminal of the vehicle driver.
  • various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.
  • the communication unit 220 may, from the mobile terminal 600 or the server 500, schedule information of a vehicle driver or schedule information related to a moving position, weather information, traffic state information of a road, for example, TPEG (Transport Protocol Expert). Group) information can be received. Meanwhile, the around view providing apparatus 100b may transmit the real time traffic information grasped based on the image to the mobile terminal 600 or the server 500.
  • schedule information of a vehicle driver or schedule information related to a moving position for example, weather information, traffic state information of a road, for example, TPEG (Transport Protocol Expert). Group) information can be received.
  • TPEG Transport Protocol Expert
  • Group Transmission Protocol Expert
  • the mobile terminal 600 and the around view providing apparatus 100b of the user may perform pairing with each other automatically or by executing an application of the user.
  • the interface unit 230 may receive vehicle-related data or transmit a signal processed or generated by the processor 270 to the outside. To this end, the interface unit 230 may perform data communication with the ECU 770, the sensor unit 760, and the like in the vehicle by wired or wireless communication.
  • the interface unit 230 may receive sensor information from the ECU 770 or the sensor unit 760.
  • the sensor information includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle interior temperature information, vehicle interior humidity information.
  • vehicle driving information the vehicle driving information related to the vehicle driving.
  • the memory 240 may store various data for the overall operation of the around view providing apparatus 100b such as a program for processing or controlling the processor 270.
  • the memory 240 may store map information related to vehicle driving.
  • the processor 270 controls the overall operation of each unit in the around view providing apparatus 100b.
  • the processor 270 may obtain a plurality of images from the plurality of cameras 295a,..., 295d and combine the plurality of images to generate an around view image.
  • the processor 270 may also perform computer vision-based signal processing. For example, based on the plurality of images or the generated around view image, the disparity operation is performed on the surroundings of the vehicle, and based on the calculated disparity information, the object detection is performed within the image, and after the object detection. , Continuously, you can track the movement of the object.
  • the processor 270 may perform lane detection, vehicle detection, pedestrian detection, obstacle detection, parking area detection, road surface detection, etc. when detecting an object. .
  • the processor 270 may perform distance calculation with respect to the detected surrounding vehicle or pedestrian.
  • the processor 270 may receive sensor information from the ECU 770 or the sensor unit 760 through the interface unit 230.
  • the sensor information includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle interior temperature information, vehicle interior humidity information.
  • the display 280 may display an around view image generated by the processor 270.
  • the around view image it is possible to provide a variety of user user interface, it is also possible to include a touch sensor capable of touch input to the provided user interface.
  • the display 280 may include a cluster or a head up display (HUD) on the front surface of the vehicle.
  • HUD head up display
  • the display 280 when it is a HUD, it may include a projection module for projecting an image on the windshield of the vehicle 200.
  • the power supply unit 290 may supply power required for the operation of each component under the control of the processor 270.
  • the power supply unit 290 may receive power from a battery or the like in the vehicle.
  • the plurality of cameras 295a, ..., 295d are cameras for providing an around view image, and are preferably wide-angle cameras.
  • the around view providing apparatus 100b of FIG. 3D is similar to the around view providing apparatus 100b of FIG. 3C, but includes an input unit 210, an audio output unit 285, and an audio input unit ( There is a difference in further comprising 286).
  • the input unit 210, the audio output unit 285, and the audio input unit 286 will be described.
  • the input unit 210 may include a plurality of buttons attached to the periphery of the display 280 or a touch screen disposed on the display 280. It is possible to turn on and operate the around view providing apparatus 100b through a plurality of buttons or a touch screen. In addition, various input operations may be performed.
  • the audio output unit 285 converts an electrical signal from the processor 270 into an audio signal and outputs the audio signal. To this end, a speaker or the like may be provided. The audio output unit 285 may also output sound corresponding to the operation of the input unit 210, that is, the button.
  • the audio input unit 286 may receive a user voice. To this end, a microphone may be provided. The received voice may be converted into an electrical signal and transmitted to the processor 270.
  • the around view providing apparatus 100b of FIG. 3C or 3D may be an audio video navigation (AVN) device.
  • APN audio video navigation
  • 3E is an internal block diagram of the vehicle display apparatus of FIG. 1.
  • the vehicle display apparatus 400 according to an embodiment of the present invention, the input unit 310, the communication unit 320, the space recognition sensor unit 321, the touch sensor unit 326, the interface unit 330 And a memory 340, a processor 370, a display 380, an audio input unit 383, an audio output unit 385, and a power supply unit 390.
  • the input unit 310 includes a button attached to the display apparatus 400.
  • it may be provided with a power button.
  • the display device may further include at least one of a menu button, an up and down control button, and a left and right control button.
  • the input signal through the input unit 310 may be transmitted to the processor 370.
  • the communication unit 320 may exchange data with an adjacent electronic device.
  • data may be exchanged with an in-vehicle electronic device or a server (not shown) in a wireless manner.
  • data can be exchanged wirelessly with the mobile terminal of the vehicle driver.
  • various data communication methods such as Bluetooth, WiFi, and APiX are possible.
  • the mobile terminal of the user and the display apparatus 400 may perform pairing with each other automatically or by executing an application of the user.
  • the communication unit 320 may include a GPS receiver, and through this, may receive GPS information, that is, location information of the vehicle.
  • the space recognition sensor unit 321 may detect the approach or movement of the user's hand. To this end, it may be disposed around the display 380.
  • the spatial recognition sensor unit 321 may perform spatial recognition based on light, or perform spatial recognition based on ultrasound. Hereinafter, the description will be focused on performing spatial recognition on a light basis.
  • the space recognition sensor unit 321 may detect the approach or movement of the user's hand based on the output of the output light and the reception of the received light corresponding thereto.
  • the processor 370 may perform signal processing on electrical signals of output light and received light.
  • the space recognition sensor unit 321 may include a light output unit 322 and a light receiving unit 324.
  • the light output unit 322 may output, for example, infrared (IR) light for detecting a user's hand located in front of the display apparatus 400.
  • IR infrared
  • the light receiver 324 receives the light that is scattered or reflected when the light output from the light output unit 322 is scattered or reflected by a user's hand positioned in front of the display apparatus 400.
  • the light receiver 324 may include a photo diode, and may convert the received light into an electrical signal through the photo diode. The converted electrical signal may be input to the processor 370.
  • the touch sensor unit 326 detects a floating touch and a direct touch.
  • the touch sensor unit 326 may include an electrode array and an MCU. When the touch sensor unit is operated, an electric signal is supplied to the electrode array, so that an electric field is formed on the electrode array.
  • the touch sensor unit 326 may operate when the intensity of light received from the space recognition sensor unit 321 is equal to or greater than the first level.
  • an electric signal may be supplied to the electrode array or the like in the touch sensor unit 326.
  • An electric field is formed on the electrode array by the electrical signal supplied to the electrode array, and the change is used to sense the capacitance. Then, based on the capacitance change detection, the floating touch and the direct touch are sensed.
  • the z axis information may be sensed according to the user's hand approaching.
  • the interface unit 330 may exchange data with another electronic device in the vehicle.
  • the interface unit 330 may perform data communication with an ECU inside the vehicle by a wired communication method.
  • the interface unit 330 may receive vehicle state information through data communication with an ECU inside the vehicle.
  • the vehicle state information includes at least one of battery information, fuel information, vehicle speed information, tire information, steering information by steering wheel steering, vehicle lamp information, vehicle interior temperature information, vehicle exterior temperature information, and vehicle interior humidity information. can do.
  • the interface unit 330 may further receive GPS information from an ECU inside the vehicle. Alternatively, the GPS information received by the display apparatus 400 may be transmitted to the ECU or the like.
  • the memory 340 may store various data for operations of the entire display apparatus 400, such as a program for processing or controlling the processor 370.
  • the memory 340 may store a map map for guiding a driving route of the vehicle.
  • the memory 340 may store the user information and the user's mobile terminal information for pairing with the user's mobile terminal.
  • the audio output unit 385 converts the electrical signal from the processor 370 into an audio signal and outputs the audio signal. To this end, a speaker or the like may be provided. The audio output unit 385 may also output sound corresponding to the operation of the input unit 310, that is, the button.
  • the audio input unit 383 may receive a user voice. To this end, a microphone may be provided. The received voice may be converted into an electrical signal and transmitted to the processor 370.
  • the processor 370 controls the overall operation of each unit in the vehicle display apparatus 400.
  • the processor 370 When the user's hand continuously approaches the display device 400, the processor 370 successively, based on the light received by the light receiving unit 324, the x, y, z axis for the user's hand. Information can be calculated. At this time, the z-axis information may be sequentially reduced.
  • the processor 370 may control the touch sensor unit 326 to operate. That is, the processor 370 may control the touch sensor unit 326 to operate when the intensity of the electrical signal from the space recognition sensor unit 321 is equal to or greater than the reference level. As a result, an electric signal is supplied to each electrode array in the touch sensor unit 326.
  • the processor 370 may detect the floating touch based on the sensing signal sensed by the touch sensor unit 326.
  • the sensing signal may be a signal indicating a change in capacitance.
  • the processor 370 calculates x, y axis information of the floating touch input, and based on the intensity of the capacitance change, z, which is the distance between the display device 400 and the user's hand. Axis information can be calculated.
  • the processor 370 may vary the grouping of the electrode array in the touch sensor unit 326 according to the distance of the user's hand.
  • the processor 370 may perform grouping on the electrode array in the touch sensor unit 326 based on the approximate z-axis information calculated based on the received light received by the spatial recognition sensor unit 321. It is possible to vary. The farther the distance is, the larger the size of the electrode array group can be set.
  • the processor 370 may vary the size of the touch sensing cell with respect to the electrode array in the touch sensor unit 326 based on distance information of the user's hand, that is, z-axis information.
  • the display 380 may separately display an image corresponding to the function set for the button.
  • the display 380 may be implemented as various display modules, such as LCD, OLED.
  • the display 380 may be implemented as a cluster on the front of the vehicle interior.
  • the power supply unit 390 may supply power required for the operation of each component under the control of the processor 370.
  • FIGS. 4A-4B illustrate various examples of internal block diagrams of the processor of FIGS. 3A-3D
  • FIG. 5 is a diagram illustrating object detection in the processor of FIGS. 4A-4B.
  • FIG. 4A illustrates the processor 170 of the vehicle driving assistance apparatus 100a of FIGS. 3A to 3B or the processor 270 of the around view providing apparatus 100b of FIGS. 3C to 3D.
  • An example of an internal block diagram is shown.
  • the processor 170 or 270 may include an image preprocessor 410, a disparity calculator 420, an object detector 434, an object tracking unit 440, and an application unit 450.
  • the image preprocessor 410 may receive stereo images from the stereo cameras 195a and 195b and perform preprocessing.
  • the image preprocessor 410 may include noise reduction, rectification, calibration, color enhancement, and color space conversion for a stereo image. space conversion (CSC), interpolation, camera gain control, and the like. Accordingly, a sharper image may be obtained than the stereo image photographed by the stereo cameras 195a and 195b.
  • CSC space conversion
  • interpolation camera gain control
  • the disparity calculator 420 receives a stereo image signal-processed by the image preprocessor 410, performs stereo matching on the stereo image, and disparity according to stereo matching. Obtain a map of dispartiy. That is, disparity information about the surroundings of the vehicle can be obtained.
  • the stereo matching may be performed in units of pixels or in units of predetermined blocks of the images.
  • the disparity map may refer to a map that numerically represents the disparity information (binocular parallax information) of the image, that is, left and right images.
  • the segmentation unit 432 may perform segmentation and clustering in the image based on the disparity information from the disparity calculator 420.
  • the segmentation unit 432 may separate a background and a foreground from at least one of the images based on the disparity information.
  • an area in which the disparity information is less than or equal to a predetermined value in the disparity map may be calculated in the background, and the corresponding part may be excluded. Thereby, the foreground can be relatively separated.
  • an area in which the disparity information is greater than or equal to a predetermined value in the disparity map may be calculated in the foreground and a corresponding portion may be extracted. Thereby, the foreground can be separated.
  • the object detector 434 may detect the object based on the image segment from the segmentation unit 432.
  • the object detector 434 may detect an object with respect to at least one of the images based on the disparity information information.
  • the object detector 434 may detect an object with respect to at least one of the images.
  • an object can be detected from the foreground separated by image segments.
  • an object verification unit 436 classifies and verifies the separated object.
  • the object verification unit 436 may include an identification method using a neural network, a support vector machine (SVM) method, a method of identifying by AdaBoost using a haar-like feature, or a histograms of oriented gradients (HOG). Techniques can be used.
  • SVM support vector machine
  • AdaBoost a method of identifying by AdaBoost using a haar-like feature
  • HOG histograms of oriented gradients
  • the object checking unit 436 may check the objects by comparing the objects stored in the memory 240 with the detected objects.
  • the object checking unit 436 may check surrounding vehicles, lanes, road surfaces, signs, dangerous areas, tunnels, and the like, which are positioned around the vehicle.
  • the object tracking unit 440 performs tracking on the identified object. For example, in a stereo image, an object may be identified, a motion or motion vector of the identified object may be calculated, and movement of the object may be tracked based on the calculated motion or motion vector. Accordingly, it is possible to track surrounding vehicles, lanes, road surfaces, signs, dangerous areas, and the like, which are located around the vehicle.
  • 4B is another example of an internal block diagram of a processor.
  • the processor 170 or 270 of FIG. 4B has the same internal configuration unit as the processor 170 or 270 of FIG. 4A, but the signal processing order is different. Only the differences are described below.
  • the object detector 434 may receive a plurality of images or the generated around view images, and detect an object in the plurality of images or the generated around view images. Unlike FIG. 4A, based on the disparity information, for the segmented image, the object may be detected directly from the plurality of images or the generated around view image, instead of detecting the object.
  • the object verification unit 436 classifies the detected and separated objects based on the image segments from the segmentation unit 432 and the objects detected by the object detection unit 434. , Verify.
  • the object verification unit 436 may include an identification method using a neural network, a support vector machine (SVM) method, a method of identifying by AdaBoost using a haar-like feature, or a histograms of oriented gradients (HOG). Techniques can be used.
  • SVM support vector machine
  • AdaBoost a method of identifying by AdaBoost using a haar-like feature
  • HOG histograms of oriented gradients
  • FIG. 5 is a diagram referred to for describing a method of operating the processor 170 or 270 of FIGS. 4A to 4B based on an image acquired in each of the first and second frame sections.
  • the plurality of cameras 295a,..., 295d respectively acquire images FR1a and FR1b sequentially.
  • the disparity calculator 420 in the processor 170 or 270 receives the images FR1a and FR1b signal-processed by the image preprocessor 410 and performs stereo matching on the received images FR1a and FR1b. To obtain a disparity map 520.
  • the disparity map 520 is a leveling disparity between the images FR1a and FR1b. The greater the disparity level is, the closer the distance is to the vehicle, and the smaller the disparity level is, the lower the disparity map 520 is. We can calculate that distance is far.
  • the disparity map when displaying such a disparity map, the disparity map may be displayed such that the larger the disparity level, the higher the luminance, and the smaller the disparity level, the lower the luminance.
  • the first to fourth lanes 528a, 528b, 528c, 528d and the like have corresponding disparity levels, respectively, the construction area 522, the first front vehicle 524.
  • each of the second front vehicles 526 has a corresponding disparity level.
  • the segmentation unit 432, the object detection unit 434, and the object confirmation unit 436 based on the disparity map 520, segment, object detection, and object for at least one of the images FR1a and FR1b. Perform the check.
  • the first to fourth lanes 538a, 538b, 538c, 538d, the construction area 532, the first front vehicle 534, and the second front vehicle 536 detect an object. And confirmation can be performed.
  • the object tracking unit 440 may perform tracking on the identified object.
  • 6A and 6B are views referred to for describing the operation of the vehicle driving assistance apparatus of FIG. 1.
  • FIG. 6A is a diagram illustrating a situation in front of a vehicle captured by the stereo camera 195 provided in a vehicle.
  • the vehicle front situation is displayed in a bird eye view.
  • the first lane 642a, the second lane 644a, the third lane 646a, the fourth lane 648a is located, the first lane 642a and the second A construction area 610a is located between the lanes 644a, a first front vehicle 620a is located between the second lane 644a and the third lane 646a, and the third lane 646a and the fourth lane. It can be seen that the second front vehicle 630a is disposed between the lanes 648a.
  • FIG. 6B illustrates displaying the vehicle front situation detected by the vehicle driving assistance apparatus together with various types of information.
  • the image as shown in FIG. 6B may be displayed on the display 180 or the vehicle display apparatus 400 provided in the vehicle driving assistance apparatus.
  • FIG. 6B illustrates that information display is performed based on an image captured by the stereo camera 195, unlike FIG. 6A.
  • a construction area 610b is located between the lanes 644b
  • a first front vehicle 620b is located between the second lane 644b and the third lane 646b
  • the third lane 646b and the fourth lane It can be seen that the second front vehicle 630b is disposed between the lanes 648b.
  • the vehicle driving assistance apparatus 100a performs signal processing based on the stereo image captured by the stereo camera 195 to provide the construction area 610b, the first front vehicle 620b, and the second front vehicle 630b. You can check the object.
  • the first lane 642b, the second lane 644b, the third lane 646b, and the fourth lane 648b may be identified.
  • the vehicle driving assistance apparatus 100a is based on the stereo image captured by the stereo camera 195, and the distance to the construction area 610b, the first front vehicle 620b, and the second front vehicle 630b. Information can be calculated.
  • the vehicle driving assistance apparatus 100a may receive sensor information about the vehicle from the ECU 770 or the sensor unit 760.
  • the vehicle speed information 672, the gear information 671, and the yaw rate information 673 are displayed on the vehicle front image upper portion 670, and the angle of the vehicle is displayed on the vehicle front image lower portion 680. While the information 682 is illustrated, various examples are possible. In addition, the width information 683 of the vehicle and the curvature information 681 of the road may be displayed together with the angle information 682 of the vehicle.
  • the vehicle driving assistance apparatus 100a may receive speed limit information and the like for the road on which the vehicle is traveling, through the communication unit 120 or the interface unit 130.
  • the speed limit information 640b is displayed.
  • the vehicle driving assistance apparatus 100a may display various pieces of information illustrated in FIG. 6B through the display 180. Alternatively, the vehicle driving assistance apparatus 100a may store various pieces of information without additional display. In addition, the information may be used for various applications.
  • FIG. 7 is an example of a block diagram of a vehicle interior according to an embodiment of the present invention.
  • the vehicle 200 may include an electronic control apparatus 700 for controlling the vehicle.
  • the electronic control apparatus 700 includes an input unit 710, a communication unit 720, a memory 740, a lamp driver 751, a steering driver 752, a brake driver 753, a power source driver 754, and a sunroof driver. 755, suspension driver 756, air conditioning driver 757, window driver 758, airbag driver 759, sensor unit 760, ECU 770, display 780, audio output unit 785.
  • the audio input unit 786, a power supply unit 790, a stereo camera 195, and a plurality of cameras 295 may be provided.
  • the ECU 770 may be a concept including the processor 270 described with reference to FIG. 3C or 3D.
  • a separate processor for signal processing an image from a camera may be provided.
  • the input unit 710 may include a plurality of buttons or a touch screen disposed in the vehicle 200. Through a plurality of buttons or touch screens, it is possible to perform various input operations.
  • the communication unit 720 may exchange data with the mobile terminal 600 or the server 500 in a wireless manner.
  • the communication unit 720 may exchange data wirelessly with the mobile terminal of the vehicle driver.
  • various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.
  • the communication unit 720 may, from the mobile terminal 600 or the server 500, schedule information of a vehicle driver, schedule information related to a moving position, weather information, traffic state information of a road, for example, TPEG (Transport Protocol Expert). Group) information can be received.
  • TPEG Transport Protocol Expert
  • the mobile terminal 600 and the electronic control apparatus 700 of the user can perform pairing with each other automatically or by executing the user's application.
  • the memory 740 may store various data for operating the entire electronic control apparatus 700, such as a program for processing or controlling the ECU 770.
  • the memory 740 may store map information related to vehicle driving.
  • the lamp driver 751 may control turn on / off of lamps disposed inside and outside the vehicle. In addition, it is possible to control the intensity, direction, etc. of the light of the lamp. For example, control of a direction indicator lamp, a brake lamp, and the like can be performed.
  • the steering driver 752 may perform electronic control of a steering apparatus (not shown) in the vehicle 200. As a result, the traveling direction of the vehicle can be changed.
  • the brake driver 753 may perform electronic control of a brake apparatus (not shown) in the vehicle 200.
  • the speed of the vehicle 200 may be reduced by controlling the operation of the brake disposed on the wheel.
  • the traveling direction of the vehicle 200 may be adjusted to the left or the right.
  • the power source driver 754 may perform electronic control of the power source in the vehicle 200.
  • the power source driver 754 may perform electronic control of the engine. Thereby, the output torque of an engine, etc. can be controlled.
  • the power source driver 754 may perform control on the motor. Thereby, the rotation speed, torque, etc. of a motor can be controlled.
  • the sunroof driver 755 may perform electronic control of a sunroof apparatus (not shown) in the vehicle 200. For example, the opening or closing of the sunroof can be controlled.
  • the suspension driver 756 may perform electronic control of a suspension apparatus (not shown) in the vehicle 200.
  • the suspension device may be controlled to control the vibration of the vehicle 200 to be reduced.
  • the air conditioning driver 757 may perform electronic control of an air cinditioner (not shown) in the vehicle 200. For example, when the temperature inside the vehicle is high, the air conditioner may operate to control the cool air to be supplied into the vehicle.
  • the window driver 758 may perform electronic control of a suspension apparatus (not shown) in the vehicle 200. For example, the opening or closing of the left and right windows of the side of the vehicle can be controlled.
  • the airbag driver 759 may perform electronic control of an airbag apparatus in the vehicle 200.
  • the airbag can be controlled to burst.
  • the sensor unit 760 senses a signal related to traveling of the vehicle 200.
  • the sensor unit 760 may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / reverse sensor, and a wheel sensor.
  • the sensor unit 760 includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information,
  • a sensing signal may be acquired for tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, and the like.
  • the sensor unit 760 may include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an intake temperature sensor (ATS), a water temperature sensor (WTS), and a throttle. Position sensor (TPS), TDC sensor, crank angle sensor (CAS), etc. may be further provided.
  • the ECU 770 may control the overall operation of each unit in the electronic control apparatus 700.
  • a specific operation may be performed or a signal sensed by the sensor unit 760 may be received and transmitted to the around view providing apparatus 100b, and the map information may be received from the memory 740.
  • the driving units 751, 752, 753, 754, 756 can control the operation.
  • the ECU 770 may receive weather information, road traffic condition information, for example, TPEG (Transport Protocol Expert Group) information from the communication unit 720.
  • TPEG Transport Protocol Expert Group
  • the ECU 770 may generate an around view image by combining the plurality of images received from the plurality of cameras 295. In particular, when the vehicle is below a predetermined speed or when the vehicle reverses, an around view image may be generated.
  • the display 780 may display an image in front of the vehicle while the vehicle is driving or an around view image while the vehicle is slowing. In particular, it is possible to provide various user interfaces in addition to the around view image.
  • the display 780 may include a cluster or a head up display (HUD) on the front surface of the vehicle.
  • the display 780 when the display 780 is a HUD, it may include a projection module for projecting an image on the windshield of the vehicle 200.
  • the display 780 may include a touch screen that can be input.
  • the audio output unit 785 converts the electrical signal from the ECU 770 into an audio signal and outputs the audio signal. To this end, a speaker or the like may be provided. The audio output unit 785 may output a sound corresponding to the operation of the input unit 710, that is, the button.
  • the audio input unit 786 may receive a user voice. To this end, a microphone may be provided. The received voice may be converted into an electrical signal and transmitted to the ECU 770.
  • the power supply unit 790 may supply power required for the operation of each component under the control of the ECU 770.
  • the power supply unit 790 may receive power from a battery (not shown) in the vehicle.
  • the stereo camera 195 is used for the operation of the vehicle driving assistance apparatus. This description is omitted with reference to the above.
  • a plurality of cameras 295 are used to provide an around view image, and for this purpose, as shown in FIG. 2C, four cameras may be provided.
  • the plurality of around view cameras 295a, 295b, 295c, and 295d may be disposed on the left side, rear side, right side, and front side of the vehicle, respectively.
  • the plurality of images captured by the plurality of cameras 295 may be transferred to the ECU 770 or a separate processor (not shown).
  • FIG. 8 is a flowchart illustrating a method of operating an autonomous calibration device for a vehicle according to an embodiment of the present invention.
  • FIG. 9 is an example of an internal block diagram of the autonomous calibration device of FIG. 1, and
  • FIG. 10 is an autonomous calibration of FIG. 9.
  • FIG. 11 is a diagram illustrating various kinds of modifications that may occur between stereo images.
  • the autonomous calibration device 50 of FIG. 9 includes a memory 940, 943, 946, a signal processor 900, a power supply 990 for power supply, and a signal processor 900.
  • a microcomputer 980 capable of performing a control such as power supply may be provided.
  • the signal processor 900 may be implemented as a system on chip.
  • the signal processor 900 may include a first image processing unit 910 and a second image processing unit 902 as shown in FIG. 9.
  • the first image processing unit 910 may receive a stereo image from the stereo camera 195 and process it.
  • the first image processing unit 910 may exchange data with the second image processing unit 902 and may exchange data with the memory 940.
  • the first image processing unit 910 may include an interface unit 930 that receives the stereo image from the stereo camera 195 and a second processor 970a that processes the received stereo image.
  • the second processor 970a may include a rectifier 935 for rectifying the received stereo image and a semi global matching unit 938.
  • the semi global matching (gm) unit 938 may calculate a disparity in the stereo image based on the stereo image signaled by the rectifier 935. It is also possible to create a depth map.
  • the depth map generated by the semi global matching unit 938 may be input to the processor 970 in the second image processing unit 902.
  • the second image processing unit 902 may include a memory controller for driving the processor 970, the memory 943, and the memory 943, which receive and signal-process data received by the second processor 970a. 943a), a memory 946, a memory controller 946a for driving the memory 946, and an interface unit 980 for exchanging data with an external device (SD card, console, etc.).
  • a memory controller for driving the processor 970, the memory 943, and the memory 943, which receive and signal-process data received by the second processor 970a. 943a
  • a memory 946 for driving the memory 946
  • an interface unit 980 for exchanging data with an external device (SD card, console, etc.).
  • a processor 970 may include a rectifier 935 for rectifying a received stereo image and a semi global matching unit 938. That is, the second processor 970a of FIG. 9 may be provided in the processor 970.
  • the processor 970 of FIG. 10 includes a rectifier 935 for rectifying the received stereo image, a semi global matching unit 938, a feature matching unit 910, a feature verification unit 912, and a first A calibration unit 972, a second calibration unit 973, a controller 997, and a remap table generation unit 974 may be provided.
  • the memory 940 of FIG. 10 may include a remap table 940a and a modified remap table 940b.
  • the stereo camera 195 captures a stereo image (S810).
  • the captured stereo image is transmitted to the Rectifier 935 through the interface unit 930 of the vehicle auto-calibration device 900.
  • the RAM in which the pre-stored initial calibration parameters and initial remap table values are volatile memory, is turned on for the first time.
  • it can be loaded into a remap table 940a. That is, the initial remap table generated by the initial calibration parameter and the initial remap table value is loaded into the remap table 940a. Can be.
  • the remap table value which is stored in the nonvolatile memory 946, is stored in the volatile memory due to a past calibration operation or the like. 940 may be loaded.
  • the remap table is again stored. It can be sent to 940a for loading.
  • the Rectifier 935 signals the stereo image from the interface unit 930.
  • a flattening operation may be performed on the stereo image.
  • the Rectifier 935 may receive a calibration parameter from the remap table 940a and perform a flattening operation on the stereo image based on the received calibration parameter.
  • the rectifier 935 may be replaced with the image preprocessor 410 described above, or may be some component within the image preprocessor 410.
  • the Rectifier 935 may further include noise reduction, color enhancement, and color space conversion (CSC) for stereo images. ), Interpolation, camera gain control, and the like.
  • CSC color space conversion
  • the rectifier 935 may output a sharper image than the stereo image photographed by the stereo cameras 195a and 195b.
  • the output stereo image may be input to the feature matching unit 910.
  • the rectifier 935 may be disposed in the processor 970 or may be disposed in a separate second processor 970a as shown in FIG. 9.
  • the feature matching unit 910 matches a feature in the stereo image (S815).
  • the feature matching unit 910 may extract a plurality of points in the stereo image, and perform matching on the plurality of points extracted from the left eye image and the plurality of points extracted from the right eye image. have.
  • the feature matching unit 910 may extract some objects in the stereo image, and perform matching on the extracted objects in the left eye image and the extracted objects in the right eye image.
  • the feature matching result may be transmitted to the controller 997.
  • the feature verification unit 912 performs feature verification after feature matching (S816).
  • the feature verification result may be transmitted to the controller 997.
  • the feature matching unit 910 and the feature verification unit 912 may be integrated into one.
  • the first calibration unit 972 performs a calibration (S817).
  • the first calibration unit 972 includes a self calibration unit 972a that performs self calibration, and a yaw calibrationn that performs yaw calibration. unit) 972b.
  • Self calibration and yaw calibration may be performed when translation and rotation occur in a stereo camera, as in the case of FIG. 11.
  • the self calibration unit (self calibration unit) (972a) when at least one of horizontal translation, vertical translation, longitudinal translation, pitch rotation, roll rotation occurs, each of the self calibration (self calibration) corresponding to the corresponding case
  • the yaw calibration unit (yaw calibration unit) (972b) when yaw rotation occurs, can perform a yaw calibration (yaw calibration) corresponding to the yaw rotation.
  • yaw calibration may be performed after performing self calibration.
  • the first calibration unit 972 may calculate an error between stereo cameras and perform calibration to reduce the calculated error.
  • the calibration parameter may be updated.
  • the calibration parameter after performing self calibration and the calibration parameter after performing yaw calibration may be updated, respectively.
  • the updated calibration parameter may be transferred to the controller 997 or the remap table generation unit 974.
  • the remap table generation unit 974 may transmit the updated calibration parameter to the modified remap table 940b in the memory 940.
  • the semi global matching (sgm) unit 938 may calculate a disparity in the stereo image based on the stereo image signaled by the rectifier 935. It is also possible to create a depth map.
  • the semi global matching (sgm) unit 938 may correspond to the above-described disparity calculator 420 or may be a concept provided in the disparity calculator 420.
  • the depth map generated in the semi global matching unit 938 may be transferred to the first calibration unit 972.
  • the first calibration unit 972 uses the calculated disparity or depth map, and based on the feature verification result from the feature verification unit 912, to calculate the yaw calibration ( yaw calibration).
  • Yaw calibration may mean calibrating a distorted angle in the transverse direction, for example, the x direction, with respect to an overlapping area between a plurality of cameras.
  • the second calibration unit 973 may perform extrinsic calibration based on a result of performing yaw calibration and a calculated disparity or depth map. Can be. That is, an external calibration may be performed to adjust for an error between the stereo image and the road surface.
  • the external calibration may mean calibration for the difference between the camera and the road surface.
  • external calibration may mean calibrating distance, height, angle, and the like from a road surface based on a structure of a vehicle, for example, a bumper. Extrinsic calibration may be performed for one camera as well as a plurality of cameras.
  • the updated calibration parameter may be transferred to the controller 997 or the remap table generation unit 974.
  • extrinsic calibration parameter by extrinsic calibration performed in the second calibration unit 973 may be used when performing yaw calibration.
  • At least one of an initial calibration parameter or a remap table value (including an initial remap table value) from the nonvolatile memory 946 is determined.
  • a remap table may be generated and stored in the memory 940.
  • the updated calibration parameter may be transmitted to the modified remap table 940b.
  • the update trigger from 997 the calibration parameters stored in the modified remap table 940b are transferred to the remap table 940a, and the remap table The calibration parameter in the remap table 940a may be updated.
  • the rectifier 935 may then rectify the stereo image using the calibration parameters in the updated remap table 940a.
  • disparity operation and depth map generation can be performed.
  • depth map depth map
  • the processor 970 performs calibration based on the plurality of received images, controls the calibration parameters generated by the calibration result to be updated, corrects the plurality of images based on the updated calibration parameters, and corrects the calibration parameters.
  • a depth map may be generated based on the plurality of images.
  • the processor 970 may control the calibration parameter generated by the calibration result to be updated in the memory.
  • the plurality of images may be corrected based on an updated calibration parameter in the memory, and a depth map may be generated based on the corrected plurality of images.
  • the processor 970 may control the calibration mode to be turned on when the remap table is not updated by an update trigger and is turned off or paused. have.
  • the processor 970 is a semi global matching unit for calculating the disparity in the plurality of images based on the rectifier for rectifying the plurality of images received and the plurality of images signal-processed in the rectifier. And a first calibration unit for performing yaw calibration using the calculated disparity or depth map, a result of performing yaw calibration, and the calculated result.
  • a second calibration unit that performs extrinsic calibration based on a disparity or depth map, and includes a first calibration unit, and a second calibration unit The calibration parameter updated as a result of the calibration in the unit) can be controlled to be stored in the memory.
  • the processor 970 receives the updated calibration parameter as a result of performing the calibration in the first calibration unit 972 and the second calibration unit, and receives the changed remap in the memory.
  • the apparatus may further include a remap table generation unit for transmitting to a modified remap table 940b.
  • the processor 970 transmits an update trigger to the memory, and according to the update trigger, the calibration parameter stored in the modified remap table is converted into a remap table ( The data may be transferred to a remap table, and control to update a calibration parameter in the remap table. ,
  • the semi global matching unit in the processor 970 may correct a plurality of images based on the updated calibration parameter and generate a depth map based on the corrected plurality of images. have.
  • the processor 970 at a set cycle or when the vehicle is turned on, the camera is turned on, or the temperature of the vehicle autocalibration device or the temperature of the vehicle 200 is equal to or greater than the first reference temperature, When the temperature is below the reference temperature, or when there is an impact applied to the vehicle 200, or when the amount of impact is greater than a predetermined value, or based on a plurality of images, depth map data is not generated or an error is generated. When it is determined that it cannot be used because it is more than a predetermined value or a predetermined ratio, or the quality is low, or when at least one of object detection, confirmation, tracking, and distance detection occurs after generating a depth map, The calibration mode may be controlled to be turned on.
  • the processor 970 may be configured when the quality of the plurality of images is poor, or when the feature points of the image are low or the distribution is poor, or when the contrast is low, or when it is saturated, or when rain, snow, Or in foggy weather, or at night, in a tunnel, or when the vehicle is running at high speeds above a certain speed, or when it is in a sharp curve, or when the road surface is uneven, or after performing a calibration Is considerably smaller, smaller than a predetermined value, or when the error occurring after the calibration exceeds the allowable value, the calibration mode can be controlled to be turned off.
  • the processor 970 when the calibration is completed, the error is within a predetermined range, or when the vehicle is stopped or parked, or when the running speed of the vehicle is less than or equal to the predetermined speed, or the vehicle's AEB (Advanced) Emergency Brake, Lane Keeping Assistance System (LKAS), Anti-lock Braking System (ABS), or Vehicle Dynamic Control System (VDC) are not operating, or the vehicle's gear is in P, N or R mode, or After the start of the vehicle is turned on, within the first time, or before turning off the start of the vehicle, or within a second time after turning off the vehicle, an update trigger may be output so that the update is performed.
  • AEB Advanced Emergency Brake
  • LKAS Lane Keeping Assistance System
  • ABS Anti-lock Braking System
  • VDC Vehicle Dynamic Control System
  • the memory has a flash memory and a RAM
  • a modified remap table or a modified remap table value stored in the flash memory is transferred to the RAM,
  • the RAM may update and store the remap table using the modified remap table or the modified remap table value.
  • an update trigger is output, and the remap table 940a is updated, the speed of the vehicle is below a predetermined speed, the start of the vehicle is turned off, or the vehicle
  • the updated remap table may be transmitted to the flash memory 946.
  • the battery mounted in the vehicle can supply power to the flash memory or the RAM.
  • the processor 970 may perform object detection and object verification in the plurality of images using the generated depth map.
  • the above-described autonomous calibration mode is preferably performed under predetermined conditions.
  • FIG. 12 is a flowchart illustrating a method of operating an autonomous calibration device for a vehicle according to another embodiment of the present invention.
  • steps 1110 to 1115 of S12 of FIG. 12 correspond to steps 810 to 815 of S81 of FIG. 8, description thereof is omitted.
  • the controller 997 determines whether or not feature matching is properly performed based on the feature matching result value in the feature matching unit 910 (S1122). In addition, when properly performed, it may be controlled to turn on a calibration mode (S1129).
  • the controller 997 determines that it is an appropriate matching, and determines a calibration mode
  • the calibration mode can be controlled to be on.
  • the controller 997 may include the feature verification unit 912, the self calibration unit 972a, the yaw calibration unit 972b, and the extrinsic calibration unit. Each unit may provide a module on signal to operate.
  • the controller 997 determines that it is an inappropriate matching, and the calibration mode mode) can be controlled to be off.
  • the controller 997 may include the feature verification unit 912, the self calibration unit 972a, the yaw calibration unit 972b, and the extrinsic calibration unit. Each unit may provide a module off or mode off signal to operate.
  • the controller 997 may determine whether the calibration mode is on or off based on the result value after the feature verification in the feature verification unit 912.
  • the controller 997 may control the calibration mode to be turned on when the feature verification accuracy in the feature verification unit 912 is greater than or equal to a predetermined value or greater than or equal to a predetermined probability.
  • the controller 997 is configured to operate the self calibration unit 972a, the yaw calibration unit 972b, and the extrinsic calibration unit 973 after feature verification.
  • a module on signal may be provided.
  • controller 997 may control the calibration mode to be turned off when the feature verification accuracy in the feature verification unit 912 is less than the predetermined value or less than the predetermined probability.
  • the controller 997 is configured to operate the self calibration unit 972a, the yaw calibration unit 972b, and the extrinsic calibration unit 973 after feature verification.
  • a module off or mode off signal may be provided.
  • controller 997 may control the calibration mode to be turned on periodically at a set cycle.
  • the controller 997 may control the calibration mode to be turned on while the vehicle is turned on and the stereo camera 195 is turned on.
  • controller 997 may control the calibration mode to be turned on every predetermined travel distance interval or every predetermined period of time.
  • the controller 997 may control the calibration mode to always be on when the calibration mode is not off.
  • the controller 997 is configured to turn on the calibration mode when the temperature of the autonomic calibration device 50 for measurement or the temperature of the vehicle 200 is equal to or greater than the first reference temperature or equal to or less than the second reference temperature. Can be controlled.
  • the controller 997 may control the calibration mode to be turned on when there is an impact applied to the vehicle 200 or when the impact amount is greater than or equal to a predetermined value.
  • the calibration mode can be controlled to be turned on.
  • the controller 997 may control the calibration mode to be turned on when the attachment position of the weight autonomous calibration device 50 is moved, newly mounted, or replaced.
  • the controller 997 may be controlled to be turned on when a specific button in the autonomous calibration device 50 for weighing is pressed, or when a calibration mode on signal or part replacement information is received from the outside remotely. have.
  • the controller 997 may control the calibration mode to be turned on when the remap table is not updated by a trigger and is turned off or paused. .
  • a calibration mode ( The calibration mode can be controlled to be on.
  • the controller 997 may control the calibration mode to be turned on when an error or the like occurs in at least one of object detection, confirmation, tracking, and distance detection after the depth map is generated. have.
  • the calibration mode may be controlled to be turned on.
  • the Controller 997 may be used when the quality of an image from a stereo camera is poor, when the feature points of the image are low or when the distribution is poor (failed on one side), or when the contrast is low, or saturation.
  • the calibration mode may be controlled to be off.
  • the controller 997 may control the calibration mode to be turned off when the weather is bad (rain, snow, fog, etc.).
  • the weather information may be information sensed by a specific sensor or information received from an external device (mobile terminal, server, etc.).
  • Controller 997 may control the calibration mode to be turned off at night, in a tunnel, at a high speed over a predetermined speed, during a sharp curve, or when a road surface is bad. Can be.
  • the controller 997 may control the calibration mode to be turned off since the calibration mode is no longer needed when the error is considerably smaller and smaller than the predetermined value after the calibration. .
  • the controller 997 may control the calibration mode to be turned off because the calibration mode does not make sense when an error occurring despite the calibration exceeds the allowable value. It is also possible to control to output an error output and a warning message indicating vehicle maintenance.
  • the controller 997 may be configured to smoothly perform each function operation when a specific function of the vehicle (for example, a vehicle dynamic control system (VDC), an anti-lock braking system (ABS), a windshield wiper) is in operation.
  • VDC vehicle dynamic control system
  • ABS anti-lock braking system
  • the calibration mode may be controlled to be off.
  • the calibration mode may be controlled to be turned off.
  • the controller 997 turns on the start of the vehicle, and turns on the vehicle driving assistance apparatus 100a or the around view providing apparatus 100b, every predetermined mileage, every predetermined time, or mode.
  • the controller 997 turns on the start of the vehicle, and turns on the vehicle driving assistance apparatus 100a or the around view providing apparatus 100b, every predetermined mileage, every predetermined time, or mode.
  • the update of the remap table in the memory 940 described above is preferably performed under a predetermined condition.
  • FIG. 13 is a flowchart illustrating a method of operating an autonomous calibration device for a vehicle according to another embodiment of the present invention.
  • steps 1210 to 1217 of S13 of FIG. 13 correspond to steps 810 to 817 of S8 of FIG. 8, and thus description thereof is omitted.
  • the remap table generating unit 974 may include a self calibration related parameter, a yaw calibration related parameter, and an extrinsic calibration related parameter, respectively. Can be received from the calibration units 972a, 972b, and 973, and delivered to the modified remap table 940b of the memory 940.
  • the modified remap table 940b may store respective related parameters (S1220).
  • the controller 997 the self calibration parameters, yaw calibration parameters, extrinsic calibration parameters, each of the calibration unit (972a, 972b, 973) ), It may be determined whether the parameter error is ⁇ K or less (S1222), and if applicable, an update trigger may be output.
  • the modified remap table 940b may output an update trigger as a remap table 940a based on an input of an update trigger. .
  • the remap table 940a may update a calibration parameter (S 1233).
  • the controller 997 may output an update trigger when calibration is completed and the error is within a predetermined range. Accordingly, the remap table 940a may be updated by the modified remap table 940b.
  • the controller 997 may output an update trigger when not driving, that is, while stopping or parking.
  • the controller 997 may output an update trigger when the traveling speed of the vehicle is running at a predetermined speed or less.
  • the controller 997 may include a specific function of the vehicle, for example, Advanced Emergency Brake (AEB), Lane Keeping Assistance System (LKAS), Anti-lock Braking System (ABS), Vehicle Dynamic Control System (VDC), or the like.
  • AEB Advanced Emergency Brake
  • LKAS Lane Keeping Assistance System
  • ABS Anti-lock Braking System
  • VDC Vehicle Dynamic Control System
  • the controller 997 may output an update trigger when any of the algorithms using the depth map of the vehicle does not have update counter information. For example, when object detection, confirmation, distance detection with an object, tracking, etc. are performed using a depth map, an object detection part, an object confirmation part, an object tracking part, if an occurrence error is below a tolerance value Etc., respectively or in combination, may output a trigger enable signal. The controller 997 may output an update trigger based on a trigger enable signal.
  • the controller 997 may output an update trigger when the vehicle gear is in the P / N / R mode.
  • the controller 997 may output an update trigger such that the update is performed after turning on the vehicle, within a predetermined time, or before turning off the vehicle, or within a predetermined time after turning off the vehicle. Can be.
  • Initial calibration parameters and initial remap table values stored in flash memory 946 may be transferred to RAM 940 to generate remap table 940a. have.
  • the updated remap table or remap table value updated in the RAM 940 is stored in the flash memory 946.
  • the flash memory 946 may store a remap table or a remap table value.
  • the remap table or remap table values updated and stored in the flash memory 946 may be transmitted to the RAM 940.
  • the RAM 940 may maintain the remap table in an updated state.
  • a modified remap table or a modified remap table value in RAM 940 is transferred to flash memory 946, where flash memory 946 is modified remap table. ) Or can store a modified remap table value.
  • the RAM 940 may update and store a remap table using a modified remap table or using a modified remap table value.
  • the update trigger is output from the controller 997 and the remap table 940a is updated
  • the updated remap table 940a is immediately changed to the flash memory ( 946 is also possible.
  • the speed of the vehicle is lower than or equal to a predetermined speed, or the vehicle is turned off.
  • P (parking) / N (neutral) mode it is also possible for the updated remap table 940a to be transmitted to the flash memory 946.
  • the battery mounted in the vehicle can supply power to the flash memory 946 and the RAM 940 and the like.
  • the controller 997 since the controller 997 determines the update, it knows the time point before and after the update, knows that the depth map before the update is incorrect, and also knows that the depth map after the update is correct. Can be. And, based on such information, it is possible to output the reliability information for the depth map (depth map).
  • the memory 946 in the autonomous calibration device 50 for a vehicle autonomous weight may store an initial calibration parameter before the windshield is mounted, or may further store a calibration parameter after the windshield is mounted.
  • the above-described calibration parameter may be at least one of a focal length parameter, a horizontal translation parameter, a vertical translation parameter, a longitudinal translation parameter, a pitch rotation parameter, a roll rotation parameter, a yaw rotation parameter, and a camera intrinsic parameter. have.
  • FIG. 14A to 14C illustrate various examples of block diagrams inside a processor of the autonomous calibration apparatus of FIG. 9.
  • FIG. 14A is similar to the internal block diagram of FIG. 10 except that a remap table generation unit 974 is not provided.
  • the parameter output from the first calibration unit 972 or the second calibration unit 973 may be stored at any time in the modified remap table 940b in the RAM 940b.
  • FIG. 14B is similar to the internal block diagram of FIG. 14A, but the modified remap table 940b in which the update trigger from the controller 997 has changed, as well as the remap table 940a. There is a difference in what is input.
  • the updated remap table may be output as a rectifier. That is, it may be used alternately with altered remap table 940b and remap table 940a.
  • FIG. 14B illustrates that a remap table generation unit 974 is not provided, an embodiment in which a remap table generation unit 974 is provided is also possible.
  • 14C is similar to the internal block diagram of FIG. 14A except that the first calibration unit 972 is omitted.
  • the parameter from the second calibration unit 973 may be stored at any time in the modified remap table 940b in the RAM 940b as it is.
  • the remap table 940a may be updated by an update trigger from the controller 997.
  • the autonomous calibration device 50a or 50b for a vehicle may be provided in the vehicle driving assistance device 100a and the around view providing device 100b, respectively.
  • the autonomous calibration device 50a in the vehicle driving assistance apparatus 100a may perform calibration based on the stereo image obtained from the stereo camera.
  • the autonomous calibration device 50b in the around view providing apparatus 100b may perform calibration based on images obtained from cameras photographing overlapping regions of a plurality of cameras.
  • FIGS. 8 to 14C are based on images obtained from cameras photographing overlapping regions among a plurality of cameras provided to the autonomous calibration or around view providing apparatus 100b for the stereo images obtained from the stereo camera. As described above, the calibration is described. However, in addition to the single camera, autonomous calibration may be performed.
  • the calibration may be performed only at a specific location related to the stored initial feature. For example, when a calibration device is mounted on a vehicle, calibration may be performed only in a parked area.
  • FIG. 15 is a flowchart illustrating a method of operating a vehicle driving assistance apparatus according to an exemplary embodiment of the present invention
  • FIGS. 16 to 19C are views for explaining the operation method of FIG. 15.
  • the processor 170 of the vehicle driving assistance apparatus 100 determines whether the operation mode is in a calibration mode (S1810), and if applicable, receives a stereo image from a stereo camera (S1820). . In operation S1830, calibration is performed based on the first area of the received stereo image.
  • the processor 170 may control to enter the calibration mode when the vehicle starts up, when a predetermined button is operated, or when the vehicle is temporarily stopped while driving.
  • the processor 170 may control to perform the calibration mode when the external shock to the vehicle is greater than or equal to a predetermined value.
  • the processor 170 may calculate a calibration value by calculating a parallax for the first area in the stereo image, comparing the calculated parallax with a previously stored reference parallax.
  • the calculated calibration value may be used when generating a disparity map from a subsequent stereo image.
  • the first area may be an area including the vehicle structure object.
  • the vehicle structure may include at least one of a character string, a hood emblem, or a hood edge line of the vehicle as part of the vehicle body.
  • the first area may be an area including the vehicle exterior structure object.
  • the vehicle exterior structure may include at least one of a sign, a traffic light, and a street light.
  • the vehicle driving assistance apparatus 100 displays an indicator indicating the calibration mode on the display 180 or 780, or outputs a sound indicating the calibration mode through the audio output unit 185 or 785. Output, or a combination thereof.
  • the vehicle driving assistance apparatus 100 may display, through the display 180 or 780, an indicator indicating a range or a calibration value for the calibration mode, progress time information of the calibration mode, and remaining time information of the calibration mode, when the calibration mode is performed. It can be controlled to display at least one.
  • the processor 170 of the vehicle driving assistance apparatus 100 receives a stereo image from the stereo camera in operation S1840.
  • the distance of the vehicle front object is detected based on the second area of the received stereo image.
  • the vehicle control signal is generated based on the distance detection.
  • the second area may be an area that does not include the vehicle structure object.
  • the second area may be an area that does not include the vehicle exterior structure object.
  • the processor 170 performs calibration on the second area in the stereo image after performing the calibration mode, using the calibration value calculated in the calibration mode, and performs the calibration in the calibrated stereo image. Based on the two regions, distance detection on an object in front of the vehicle may be performed.
  • the processor 170 may perform object detection based on the second area in the calibrated stereo image, and after the object detection, may continuously track the movement of the object.
  • the distance calculation with respect to the surrounding vehicle, the speed calculation of the detected surrounding vehicle, and the speed difference calculation with the detected surrounding vehicle may be performed.
  • the processor 170 may generate and output a control signal for attitude control or driving control of the vehicle 200 based on the calculated speed of the surrounding vehicle, distance to the surrounding vehicle, and the like. For example, a control signal for controlling at least one of the steering driver 752, the brake driver 753, the power source driver 754, and the suspension driver 756 in the vehicle may be generated.
  • the processor 170 of the vehicle driving assistance apparatus 100 is based on the sensor information of the vehicle received through the interface unit 130, the distance to the detected object based on the sensor information of the vehicle, and the stereo image.
  • the calibration mode may be controlled to be performed again, or the calibration value may be controlled to be adjusted in the normal mode.
  • the processor 170 may be configured to access the same forward object based on the vehicle speed information obtained from the vehicle speed sensor while the distance to the detected forward object based on the stereo image is calculated as the first distance.
  • the relative distance is calculated as the second distance, an error between the first distance and the second distance may be calculated.
  • the processor 170 may automatically control to perform the calibration mode again or control to adjust the calibration value in the normal mode.
  • the re-execution of the calibration mode is performed within a predetermined time, regardless of the start time of the vehicle, the operation of a predetermined button, the external shock to the vehicle, or the like when the vehicle is stopped while driving. It is preferable to carry out immediately.
  • the processor 170 displays a display 180 or the like. 780 or the audio output unit 185 or 785 may be controlled to be output, or control of the vehicle may be released.
  • the processor 170 controls to output a notification message when an error between the distance for the detected object based on the sensor information of the vehicle and the distance for the detected object based on the stereo image is greater than or equal to a predetermined value. After that, if there is an operation of the input button of the user, the calibration mode can be controlled to be re-executed manually.
  • FIG. 16 illustrates that the left eye camera 195a and the right eye camera 195b of the stereo camera 195 photograph the front object 1910.
  • FIG. 16A illustrates an angle of view 1912 of the left eye camera 195a and an angle of view 1914 of the right eye camera 195b, and the left eye camera 195a and the right eye camera 195b are spaced apart by Dca. To illustrate. Then, the object 1910 is illustrated as being separated by a distance Dis.
  • FIG. 16B illustrates a right eye image 1920 from the right eye camera 195b and a left eye image 1930 from the left eye camera 195a photographed under the conditions of FIG. 16A.
  • the processor 170 determines a position difference, that is, disparity, of the subjects 1922 and 932 in each image 1920 and 930. Is calculated and the distance Dis of the actual subject is calculated using the parallax disp and the interval Dca between the left eye camera 195a and the right eye camera 195b.
  • the vehicle driving assistance apparatus 100 when driving a vehicle, the vehicle driving assistance apparatus 100, in particular, the stereo camera 195, which is installed inside the vehicle, is deformed due to various external factors such as collision of the vehicle, passage of obstacles, and change of the direction of travel of the vehicle. This can happen.
  • the horizontal distance between the left eye camera 195a and the right eye camera 195b may be larger or smaller than the initially set Dca.
  • the vertical distance between the left eye camera 195a and the right eye camera 195b may not coincide.
  • the stereo camera is calibrated through the calibration mode in consideration of the horizontal or vertical gap change between the left eye camera 195a and the right eye camera 195b.
  • the calibration mode is preferably performed at vehicle start-up, when the vehicle driving assistance apparatus 100, in particular the stereo camera 195, begins to operate.
  • the calibration mode may be performed by the operation of a predetermined button among the input unit 710 of the vehicle or the input unit 110 of the vehicle driving assistance apparatus 100.
  • the processor 170 may control the calibration mode to be performed when the magnitude of the detected shock amount or the magnitude of the vibration amount is greater than or equal to a predetermined value through the impact sensor or the vibration sensor provided in the vehicle while the vehicle is driving. have.
  • the calibration mode in order for the calibration mode to be performed immediately when the vehicle is started, it is preferable to refer to a common subject among images captured by the stereo camera 195.
  • the common subject may include at least one of a character string, a hood emblem, or a hood edge line of the vehicle as a part of the vehicle body.
  • the calibration mode may be performed at a predetermined button operation or at a pause while driving the vehicle.
  • the vehicle external structure may be referred to.
  • the vehicle external structure may include at least one of a sign, a traffic light, and a street lamp.
  • 17A to 17C illustrate performing a calibration mode based on an image including a vehicle structure photographed through the stereo camera 195.
  • FIG. 17A illustrates a left eye image 1940a and a right eye image 1950a captured by the stereo camera 195.
  • the left eye image 1940a and the right eye image 1950a may include hood edge lines 1947a and 957a that are part of the vehicle bodywork.
  • the first area which is a part of the left eye image 1940a and the right eye image 1950a captured by the stereo camera 195, may be utilized.
  • a first area corresponding to a part of 720 lines may be used. That is, the region 241 to 960 lines can be utilized.
  • hood edge lines 1947a and 957a are included in the lower regions 1945a and 955a of the left eye image 1940a and the right eye image 1950a, such as hood edge lines 1947a and 957a. Can be used as a common subject to calculate a calibration value.
  • the difference can be numerically calculated and calculated as a calibration value.
  • the processor 170 may perform a calibration value when performing the calibration mode.
  • the horizontal calibration value can be calculated.
  • the processor 170 may perform vertical calibration with a calibration value when the calibration mode is performed.
  • the calibration value can be calculated.
  • 17B illustrates various horizontal movements of left eye camera 195a or right eye camera 195b in stereo camera 195.
  • the left eye camera 195a moves to the left
  • the right eye camera 195b moves to the right
  • the third case 3 The left eye camera 195a moves to the right
  • the fourth case 4 illustrates that the right eye camera 195b moves to the left.
  • the processor 170 may include a hood edge in the left eye image 1940a captured by the left eye camera 195a and the right eye image 1950a captured by the right eye camera 195b.
  • the movement (cases 1 to 4) of the lines 1956a and 957a may be grasped through the reference left image and the reference right eye image, and the calibration value may be set in a direction opposite to the movement of the hood edge lines 1956a and 957a.
  • the processor 170 may set a calibration value in consideration of the combination.
  • 17C illustrates various vertical movements of the left eye camera 195a or the right eye camera 195b in the stereo camera 195.
  • the left eye camera 195a moves upward
  • the sixth case 6 the left eye camera 195a moves downward
  • the seventh case 7 The right eye camera 195a moves upward
  • the eighteenth case 8 illustrates that the right eye camera 195b moves downward.
  • the processor 170 may include a hood edge in the left eye image 1940a captured by the left eye camera 195a and the right eye image 1950a captured by the right eye camera 195b.
  • the movement (cases 5 to 8) of the lines 1956a and 957a can be grasped through the reference left image and the reference right eye image, and a calibration value can be set in a direction opposite to the movement of the hood edge lines 1956a and 957a.
  • the processor 170 may set the calibration value in consideration of the combination.
  • FIG. 17D illustrates performing a normal mode based on an image photographed through the stereo camera 195.
  • the normal mode may utilize a second area, which is a part of the left eye image 1940b and the right eye image 1950b captured by the stereo camera 195. It is preferable that a 2nd area
  • center region 1945b and 955b of the left eye image 1940a and the right eye image 1950a are illustrated.
  • a second area corresponding to a partial 720 line may be used. That is, an area of 121 to 840 lines can be utilized.
  • hood edge lines 1947b and 957b are not included in the central regions 1945b and 955b of the left eye image 1940b and the right eye image 1950b.
  • the processor 170 may perform distance detection on the vehicle front object based on the stereo image acquired for the front of the vehicle, in particular, the images 1945b and 955b for the second area.
  • the processor 170 may apply a calibration value to the images 1945b and 955b for the second region, and then apply the calibration value to the vehicle front object based on the calibrated image for the second region.
  • Distance detection can be performed.
  • accurate distance detection can be performed.
  • 17E to 17G illustrate performing a calibration mode based on an image including the vehicle exterior structure photographed through the stereo camera 195.
  • FIG. 17E illustrates a left eye image 1960a and a right eye image 1970a taken through the stereo camera 195.
  • the left eye image 1960a and the right eye image 1970a may include traffic lights 1967a and 997a, which are one of vehicle exterior structures.
  • the first area which is a part of the left eye image 1960a and the right eye image 1970a captured by the stereo camera 195, may be utilized.
  • a first area corresponding to a part of 720 lines may be used. That is, an area from 1 line to 720 lines can be utilized.
  • traffic lights 1967a and 997a are included in the upper regions 1965a and 975a of the left eye image 1960a and the right eye image 1970a, and the traffic lights 1967a and 997a are common subjects. It can be utilized as to calculate a calibration value.
  • the processor 170 may perform a calibration value when performing the calibration mode.
  • the horizontal calibration value can be calculated.
  • the processor 170 may vertically adjust the calibration value when the calibration mode is performed.
  • the calibration value can be calculated.
  • 17F illustrates various horizontal movements of left eye camera 195a or right eye camera 195b in stereo camera 195.
  • the left eye camera 195a moves to the left
  • the right eye camera 195b moves to the right
  • the third case 3 The left eye camera 195a moves to the right
  • the fourth case 4 illustrates that the right eye camera 195b moves to the left.
  • the traffic lights 1967a and 997a are moved within the left eye image 1960a captured by the left eye camera 195a and the right eye image 1970a captured by the right eye camera 195b. Appears.
  • the processor 170 includes a traffic light (in the left eye image 1960a captured by the left eye camera 195a and the right eye image 1970a captured by the right eye camera 195b).
  • the movements of cases 1967a and 997a (cases 1 to 4) may be identified through the reference left image and the reference right eye image, and calibration values may be set in the opposite direction to the movements of the traffic lights 1967a and 997a.
  • the processor 170 may set a calibration value in consideration of the combination.
  • 17G illustrates various vertical movements of left eye camera 195a or right eye camera 195b in stereo camera 195.
  • the left eye camera 195a moves upward
  • the sixth case 6 the left eye camera 195a moves downward
  • the seventh case 7 The right eye camera 195a moves upward
  • the eighteenth case 8 illustrates that the right eye camera 195b moves downward.
  • the processor 170 may include a traffic light (in a left eye image 1960a captured by the left eye camera 195a and a right eye image 1970a captured by the right eye camera 195b).
  • the movements of cases 1967a and 997a (cases 5 to 8) may be identified through the reference left image and the reference right eye image, and the calibration value may be set in a direction opposite to the movement of the traffic lights 1967a and 997a.
  • the processor 170 may set the calibration value in consideration of the combination.
  • FIG. 17H illustrates performing a normal mode based on an image photographed through the stereo camera 195.
  • the normal mode may utilize a second area, which is a part of the left eye image 1960b and the right eye image 1970b captured by the stereo camera 195. It is preferable that a 2nd area
  • center regions 1965b and 975b of the left eye image 1960a and the right eye image 1970a are illustrated.
  • a second area corresponding to a part of 720 lines may be used. That is, an area of 120 to 840 lines can be utilized.
  • the traffic lights 1967b and 997b are not included in the central regions 1965b and 975b of the left eye image 1960b and the right eye image 1970b.
  • the processor 170 may perform distance detection for the vehicle front object based on the stereo image acquired for the front of the vehicle, particularly the images 1965b and 975b for the second area.
  • the processor 170 may apply a calibration value to the images 1965b and 975b for the second area, and then apply the calibration value to the vehicle front object based on the calibrated image for the second area.
  • Distance detection can be performed.
  • accurate distance detection can be performed.
  • FIG. 18 illustrates outputting an indicator indicating a calibration mode through a HUD type display.
  • the indicator 1410 indicating the calibration mode at the time of vehicle startup is displayed in the output area 800, or the indicator 1420 indicating the calibration mode by button input is displayed in the output area 800,
  • the indicator 1430 indicating the calibration mode due to the vehicle shock may be displayed on the output area 800.
  • the remaining time information of the calibration mode may be displayed on the output area 800. Do.
  • a notification message is output to the output area 800. It is also possible.
  • FIGS. 19A to 19C illustrate outputting an indicator indicating the calibration mode on the cluster 300.
  • FIG. 19A illustrates that an indicator 1510 indicating a camera calibration mode is displayed in the cluster 300
  • FIG. 19B illustrates an indicator 1520 indicating a camera calibration completion mode displayed in the cluster 300
  • 19C illustrates that an indicator 1530 indicating a calibration range of camera calibration is displayed on the cluster 300.
  • the user can intuitively recognize the calibration completion or during the calibration.
  • FIG. 19C illustrates that the indicator 1530 moves the left eye image acquired by the left eye camera to the right, that is, sets the calibration value to the right shift value.
  • the length or size of the arrow may be proportional to the size of the calibration value. Accordingly, the user can intuitively recognize the calibration range.
  • the remaining time information of the calibration mode may be displayed on the cluster 300.
  • a notification message may be output to the cluster 300. It is possible.
  • a sound indicating a calibration mode may be output through the audio output unit 185 or 785.
  • At the time of performing the calibration mode at least one of an indicator indicating a range or a calibration value for the calibration, progress time information of the calibration mode, and remaining time information of the calibration mode may be output through the audio output unit 185 or 785.
  • the notification message may cause the audio output unit 185 or 785 to fail. It is possible to output through.
  • Such various user interfaces can be performed by the control of the processor 170.
  • the processor 170 may perform vehicle attitude control based on object detection and tracking.
  • the processor 170 of the vehicle driving assistance apparatus 100 includes front vehicle information, lane detection information, road surface detection information, and vehicle angle information which is vehicle driving information from the ECU 770 or the sensor unit 760 based on stereo images. , Vehicle inclination information, and map information from the AVN device 400 can be combined to calculate the vehicle attitude.
  • the processor 170 of the vehicle driving assistance apparatus 100 may detect that the vehicle is not tilted based on the stereo image based on the front vehicle and the lane being detected as being inclined to the right.
  • the map information can be used to calculate the actual vehicle traveling on a curve mainly tilted to the right.
  • the attitude control of the vehicle can be performed based on the stereo image, the sensor information, and the like.
  • attitude control of the vehicle it is possible to calculate whether the vehicle slips or to prevent slip control.
  • the processor 170 of the vehicle driving assistance apparatus 100 may perform at least one of a steering driver 752, a brake driver 753, a power source driver 754, and a suspension driver 756 when the vehicle is slipped or the vehicle slip is predicted. It is possible to generate a slip prevention control signal for controlling.
  • the processor 170 of the vehicle driving assistance apparatus 100 may generate at least one of a steering drive control signal or a brake drive control signal for moving the vehicle to the right. .
  • the ECU 770 may receive at least one of a steering drive control signal and a brake drive control signal through the interface unit 130, and the steering driver 752 controls the steering device to perform right steering,
  • the brake drive unit 753 can operate the left brake.
  • the vehicle driving assistance apparatus 100 may perform the slip prevention control based on the stereo image, the sensor information, the map information, the location information, and the like.
  • the autonomous calibration device for a vehicle and the operation method of the vehicle of the present invention can be implemented as code that can be read by the processor on a recording medium that can be read by the autonomous calibration device or the vehicle.
  • the processor-readable recording medium includes all kinds of recording devices that store data that can be read by the processor. Examples of the processor-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet. .
  • the processor-readable recording medium can also be distributed over network coupled computer systems so that the processor-readable code is stored and executed in a distributed fashion.

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  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
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Abstract

La présente invention concerne un dispositif d'étalonnage autonome pour des véhicules, et un véhicule équipé dudit dispositif. Un dispositif d'étalonnage autonome pour des véhicules selon un mode de réalisation de la présente invention comprend : une unité d'interface qui reçoit, à partir d'une pluralité de caméras, une pluralité d'images dont au moins une zone est superposée ; une mémoire qui stocke un paramètre d'étalonnage pour effectuer un étalonnage par rapport à la pluralité de caméras ; et un processeur qui exécute un étalonnage sur la base de la pluralité d'images reçues, est commandé de façon à mettre à jour le paramètre d'étalonnage généré à la suite de l'exécution de l'étalonnage, corrige la pluralité d'images sur la base du paramètre d'étalonnage mis à jour et génère une carte de profondeur sur la base de la pluralité d'images corrigées. En tant que tel, il est possible de corriger de façon autonome des erreurs dans une caméra installée dans un véhicule.
PCT/KR2016/002746 2015-03-20 2016-03-18 Dispositif d'étalonnage autonome pour véhicules et véhicule possédant celui-ci WO2016153224A1 (fr)

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EP3383038A1 (fr) * 2017-03-29 2018-10-03 Imagination Technologies Limited Étalonnage de caméra
CN110709301A (zh) * 2017-06-15 2020-01-17 日立汽车***株式会社 车辆控制装置
CN110738705A (zh) * 2018-07-19 2020-01-31 通用汽车环球科技运作有限责任公司 车辆摄像头的自动校准
CN113515536A (zh) * 2021-07-13 2021-10-19 北京百度网讯科技有限公司 地图的更新方法、装置、设备、服务器以及存储介质
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EP3383038A1 (fr) * 2017-03-29 2018-10-03 Imagination Technologies Limited Étalonnage de caméra
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CN110709301A (zh) * 2017-06-15 2020-01-17 日立汽车***株式会社 车辆控制装置
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CN110738705A (zh) * 2018-07-19 2020-01-31 通用汽车环球科技运作有限责任公司 车辆摄像头的自动校准
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CN113515536A (zh) * 2021-07-13 2021-10-19 北京百度网讯科技有限公司 地图的更新方法、装置、设备、服务器以及存储介质

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