KR101558586B1 - VEHICLE VIDEO DISPLAY AND METHOD - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an on-vehicle video display apparatus and a control method thereof, and more particularly, ≪ / RTI >

To this end, one embodiment of the present invention for achieving the above object is a vehicle comprising: a plurality of image acquisition means for shooting an image of a surroundings of a vehicle; A distance measuring unit comprising an obstacle detecting sensor for detecting an obstacle around the vehicle, and a distance detecting unit for calculating a distance between the vehicle and the obstacle in response to the signal of the sensor; A vehicle state detecting unit for detecting a running state by receiving signals of various sensors for detecting a running state of the vehicle; A point of view generating means for calculating and converting a virtual point of view of the vehicle based on a signal of the vehicle state detecting portion and a signal of the obstacle distance detecting portion; An image conversion table for converting coordinates of an image to be brought in according to an angle at which the vehicle is seen at a target virtual time point generated by the viewpoint generation means; An image generating means for synthesizing image information of a ground surface including an obstacle obtained from the image signal obtained from the image acquiring means and an image coordinate signal from the image conversion table and previously stored car body appearance information to generate a surplus image; Display means for displaying a negative image generated by the image generating means; And a display unit for displaying an image of a surrounding area of the vehicle.

Vehicle, image, display device, obstacle, parking, virtual viewpoint, viewpoint generating means, image conversion table, image generating means,

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an on-vehicle video display apparatus and a control method thereof, and more particularly, ≪ / RTI >

Japanese Unexamined Patent Application, First Publication No. Hei 11-78692 and Japanese Unexamined Patent Publication No. 2006-131166 disclose a display device for detecting the running state of a vehicle and synthesizing it into an image, In this case, an image containing an obstacle is further extracted to provide a more secure parking support by visually showing the periphery of the vehicle on a vehicle display means (for example, a display for AVN).

However, when a vehicle is parked by entering a narrow underground parking lot, a parking tower, or the like in a building, a display device for displaying the image of a conventional vehicle around the vehicle is disadvantageous in that it can not accurately determine the relative position between the vehicle and the obstacle. The driver may not be able to accurately recognize the distance and the vehicle position before and after the parking, so that the driver may feel difficulty in parking.

For example, when there is an obstacle on the wall of the underground parking lot of the building, not only the distance between the vehicle and the underground parking lot wall is short, but the distance between the vehicle and the obstacle is shorter. Therefore, There is a drawback that it can not show together.

In other words, when the virtual time point at which the vehicle circumscribes the vehicle is located at the upper position of the rear of the vehicle, the virtual time point is placed on the wall side of the underground parking lot or on the opposite side of the wall, The vehicle can not be shown to be collapsed, and an accident that the vehicle comes in contact with an obstacle adjacent to the wall side may occur.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and it is an object of the present invention to provide an image processing apparatus, The present invention provides a vehicle surround image display apparatus and method which can prevent a driver from accurately recognizing a situation around a vehicle even in a narrow parking space by preventing the driver from contacting an obstacle by showing the vicinity of the vehicle have.

According to an aspect of the present invention, there is provided an image processing apparatus including: a plurality of image acquisition means for imaging an image of a surroundings of a vehicle; A distance measuring unit comprising an obstacle detecting sensor for detecting an obstacle around the vehicle, and a distance detecting unit for calculating a distance between the vehicle and the obstacle in response to the signal of the sensor; A vehicle state detecting unit for detecting a running state by receiving signals of various sensors for detecting a running state of the vehicle; A point of view generation means for calculating and determining a virtual point of view of the vehicle based on a signal of the vehicle state detection unit and a signal of the obstacle distance detection unit; An image conversion table for converting the coordinates of an image to be brought in according to an angle at which the vehicle is seen at a target virtual time point determined by the viewpoint generation means; An image generating means for synthesizing image information of a ground surface including an obstacle obtained from the image signal obtained from the image acquiring means and an image coordinate signal from the image conversion table and previously stored car body appearance information to generate a surplus image; Display means for displaying a negative image generated by the image generating means; And a display unit for displaying an image of the surroundings of the vehicle.

According to another aspect of the present invention, there is provided a method of driving a vehicle, the method comprising: detecting whether the vehicle is traveling forward or backward; Detecting an obstacle around the vehicle and calculating a distance to the detected obstacle; A step of photographing the entire vehicle surroundings from a plurality of image acquisition means mounted on the vehicle; Calculating a virtual point of view of the vehicle based on a signal obtained by detecting a vehicle running state and a distance between the signal and the obstacle; Transforming virtual viewpoint coordinates of an image to be imaged using an image conversion table according to an angle at which the vehicle is viewed at a determined virtual viewpoint; A step of synthesizing image information around the vehicle including the obstacle obtained based on the image signal obtained from the image acquiring unit and the image coordinate signal from the image conversion table with previously stored vehicle body appearance information to generate a reduced image; Displaying the created additional image on the display means; And a display device for displaying the surroundings of the vehicle.

Preferably, when the distance between the vehicle and the front-rear obstacle is long, the virtual viewpoint coordinates of the vehicle are automatically converted into a perspective view of the front or rear of the vehicle, and as the distance from the obstacle approaches, Is gradually transformed to a viewpoint of a plane of the vehicle.

Particularly, the image information of the surroundings of the vehicle including the obstacle includes: an image captured by the image capturing means; Acquiring only the necessary area from the captured image data; Correcting the acquired image data that is warped by the distortion aberration of the camera lens to be immediately visible; Performing a viewpoint conversion process on the corrected image data, removing the viewpoint from the camera, and converting the viewpoint into a viewpoint at the determined virtual viewpoint; Synthesizing the corrected image data by rearranging the corrected image data in a coordinate change table corresponding to the determined virtual time point; .

Wherein the virtual time point is set based on the closest obstacle at the front and rear ends of the vehicle when the obstacle is a plurality of stationary objects.

Even when the obstacle is mixed with a moving object and a stationary object, the virtual point of view is set based on an obstacle nearest to the vehicle.

Through the above-mentioned means for solving the problems, the present invention provides the following effects.

According to the present invention, by converting the image of the entire surroundings of the vehicle into an image viewed from the virtual viewpoint, the vehicle is displayed in a plane or perspective angle according to the distance from the obstacle, It is possible to more precisely grasp the relative positional relationship between the obstacle surrounding the vehicle and the vehicle, thereby preventing a safety accident caused by the obstacle.

That is, when the vehicle is parked with the vehicle moving forward and backward in a narrow parking space, the vicinity of the vehicle including the obstacle is displayed as a moving picture that changes the point of time of shooting, thereby enabling the driver to more accurately recognize the situation around the vehicle, Can be prevented.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention provides a video display device and a method for a vehicle that can clearly understand the relative positional relationship between an obstacle surrounding a vehicle and a vehicle when the vehicle is parked in a narrow place such as an underground parking lot surrounded by a wall to contribute to safe driving .

FIG. 6 is a block diagram for explaining a configuration of a vehicle surroundings image display apparatus according to the present invention, and FIG. 7 is a flowchart for explaining a determination of a virtual viewpoint of the vehicle surroundings image display apparatus according to the present invention.

First, the step of detecting whether the running of the vehicle is in the forward, rearward, or stationary state is performed. The vehicle state detection unit 10 receives signals of various sensors (12: gearshift sensor and vehicle speed sensor) State.

That is, the vehicle state detecting section 10 detects forward or backward from the signal of the gear shift sensor, detects at the same time whether or not the vehicle is at a low speed suitable for an emergency vehicle from the signal of the vehicle speed sensor, and transmits the detected signal to the viewpoint generating means 30 do.

Next, a step of detecting an obstacle around the vehicle and calculating a distance from the detected obstacle is performed in the distance measuring means 20 including the obstacle detecting sensor 22 and the distance detecting unit 24, The distances between the vehicle and the obstacle are calculated by sensing the obstacle at the detection sensor 22 and the obstacle detection signal of the obstacle detection sensor 22 at the distance detection unit 24, Lt; / RTI >

On the other hand, a plurality of image acquisition means (40) mounted on front and rear sides of the vehicle, that is, a camera captures the entire vehicle surroundings, and transmits the images to the image generation means (50).

Next, a step of calculating and determining a virtual viewpoint position at which the vehicle is viewed by the viewpoint generating unit 30 is proceeded based on a signal obtained by calculating the distance between the signal and the obstacle that detects the vehicle running condition and the obstacle.

More specifically, the view generation unit 30 receives a signal detected by the vehicle state detection unit 10 and a distance signal from the obstacle calculated by the distance detection unit 24, and calculates a virtual viewpoint position at which the vehicle is viewed .

The virtual viewpoint coordinates of the image to be finally captured in accordance with the angle of view of the vehicle at the virtual viewpoint determined by the viewpoint generation means 30 are converted in the image conversion table 60.

Preferably, when the distance from the rear obstacle at the time of backward movement of the vehicle is large, the virtual point of view pointing to the vehicle is adjusted to a perspective angle from the top of the vehicle (see FIG. 1) The virtual viewpoint coordinates of the vehicle are automatically converted gradually to the viewpoint of the vehicle's plane (see FIG. 2).

In addition, when the distance from the front obstacle is large at the time of forward movement of the vehicle, the virtual point of view pointing to the vehicle is adjusted to the oblique angle at which the front of the vehicle is viewed from above (see FIG. 3) The virtual viewpoint coordinates for looking at the vehicle are gradually converted automatically to the viewpoint of the vehicle's plane (see FIG. 4).

As a result, as shown in FIG. 5, the virtual viewpoint coordinates are automatically transformed in a time-series manner within a range of angles that observe the plane at a perspective angle according to the distance between the obstacle and the vehicle.

Next, when the image signal obtained by the image acquiring means 40 and the virtual viewpoint coordinate signal for the image from the image conversion table 60 are transmitted to the image generating means 50, the image generating means 50 (Ground surface) including the obstacle based on the video signal and the virtual viewpoint coordinate signal, and synthesizes the body view information stored in advance in the generated vehicle periphery image to generate a final depressed image.

Hereinafter, the generation of an image around the vehicle including the obstacle by the image generating means will be described in more detail.

First, the image generating means 50 captures an image captured by the image capturing means 40, and then acquires only the necessary image region to be displayed on the display means 70 from the captured image data, and deletes the remaining image regions.

At this time, the captured image data is obtained by photographing the surroundings of the vehicle. Since the image itself appears to be warped due to the distortion of the camera lens, the captured image data is corrected to be seen immediately.

Subsequently, the viewpoint conversion process for the corrected image data is performed, and the viewpoint viewed from the camera is removed. At the same time, the viewpoint is changed from the virtual viewpoint determined as described above. Then, By synthesizing the data, the image of the vicinity of the vehicle including the obstacle is generated, and the body image information previously stored in the generated vehicle surroundings image is synthesized to generate the final image.

8, which is a display image of the display means installed in the vehicle and accompanied by an additional image to be displayed on the display means 70, The shape of the vehicle is converted into a perspective angle or gradually converted into an angle of viewing the plane according to the distance between the vehicle and the vehicle.

For example, when the vehicle is moving backward, the distance from the rear obstacle is displayed as the vehicle looks straight ahead to the rear of the vehicle. When the distance from the rear obstacle is gradually getting closer to the rear, And when the distance to the rear obstacle is nearest to the point immediately before the contact, the appearance of the vehicle is shown as looking straight at the plane of the vehicle.

On the other hand, when the obstacle existing in the vicinity of the vehicle is a plurality of stationary objects as shown in FIG. 9, the determination of the virtual point of view of the vehicle is determined based on the closest obstacle at the front and rear ends of the vehicle.

In addition, even when the obstacle is mixed with the moving object and the stationary object, the obstacle existing nearest to the vehicle is used as a reference for determining the virtual viewpoint. However, as shown in FIG. 10, If the pedestrian is farther than the stationary object, the stationary object is determined as the reference point of the virtual point of view. If the pedestrian moves closer to the stationary object, the pedestrian as the moving object is determined as the reference point.

As described above, when the vehicle is parked with the vehicle moving forward and backward in a narrow parking space, the vicinity of the vehicle including the obstacle is displayed as a moving picture that changes at the time of shooting, Can be prevented.

FIGS. 1 to 5 are schematic views for explaining how a display state of a vehicle is changed by changing a virtual viewpoint of a vehicle according to a distance from an obstacle,

6 is a block diagram showing a configuration of a vehicle surroundings image display apparatus according to the present invention,

FIG. 7 is a flowchart illustrating a process of determining a virtual viewpoint in a vehicle surroundings image display method according to the present invention;

FIG. 8 is a schematic view for explaining the appearance of a vehicle displayed on a display means in accordance with a distance change and an imaginary view change with respect to an obstacle, according to the vehicle surround image display apparatus and method according to the present invention;

9 and 10 are schematic diagrams illustrating the determination of a reference of a virtual viewpoint when there are a plurality of obstacles around the vehicle in the vehicle surroundings image display apparatus and method according to the present invention.

Description of the Related Art

10: vehicle state detecting unit 12: vehicle sensor

20: Distance measuring means 22: Obstacle detecting sensor

24: distance detecting unit 30:

40: image acquisition means 50: image generation means

60: image conversion table 70: display means

Claims (6)

delete delete Detecting whether the running of the vehicle is a forward / backward or stopping state; Detecting an obstacle around the vehicle and calculating a distance to the detected obstacle; A step of photographing the entire vehicle surroundings from a plurality of image acquisition means mounted on the vehicle; Calculating a virtual point of view of the vehicle based on a signal obtained by detecting a vehicle running state and a distance between the signal and the obstacle; Transforming virtual viewpoint coordinates of an image to be imaged using an image conversion table according to an angle at which the vehicle is viewed at a determined virtual viewpoint; A step of synthesizing image information around the vehicle including the obstacle obtained on the basis of the video signal obtained by the image acquiring means and the image virtual viewpoint coordinate signal from the image conversion table and preliminarily stored body image information to generate a reduced image; ; Displaying the created additional image on the display means; Lt; / RTI > When the distance between the vehicle and the obstacle is large, the virtual viewpoint coordinates of the vehicle are automatically converted into a viewpoint angle of the front or rear of the vehicle. When the distance from the obstacle is closer to the obstacle, Wherein the viewpoint coordinates are gradually transformed to a viewpoint of the vehicle. The method of claim 3, Image information around the vehicle including the obstacle is: Capturing an image captured by the image capturing means; Acquiring only the necessary area from the captured image data; Correcting the acquired image data that is warped by the distortion aberration of the camera lens to be immediately visible; Performing a viewpoint conversion process on the corrected image data, removing the viewpoint from the camera, and converting the viewpoint into a viewpoint at the determined virtual viewpoint; Synthesizing the corrected image data by rearranging the corrected image data in a coordinate change table corresponding to the determined virtual time point; And displaying the surrounding image on the display. The method of claim 3, Wherein when the obstacle is a plurality of stationary objects, the virtual point of view is set based on the closest obstacle at the front and rear ends of the vehicle. The method of claim 3, Wherein when the obstacle is a mixture of a moving object and a stationary object, the virtual point of view is set on the basis of an obstacle nearest to the vehicle.

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