Vehicle and method for controlling vehicle image

Abstract

The present invention relates to a vehicle and a method for controlling a vehicle image. A vehicle provides a standardized and accurate image of the vehicle's surroundings by changing an image obtained by the vehicle into a single reference and providing the changed image to a user terminal. The vehicle includes a communicator that communicates with a user terminal or a server and a camera that obtains an image of the vehicle's surroundings. Then, a controller converts the surrounding image obtained by the camera into a reference image implemented with predetermined parameters and sends the reference image to the user terminal.

Description

Technical Field

[0001] The present disclosure relates to a vehicle, and more particularly, to a method of changing an image obtained by a vehicle to provide a standardized and accurate image of the vehicle's surroundings, and a method of controlling an image of the vehicle. Background Art

[0002] Surround View uses four cameras located at the front and rear of the vehicle and at the bottom of the left and right mirrors to generate a top-down view screen on the navigation screen to simulate an image viewed from the top of the vehicle. Using the Surround View Monitoring System, the driver can understand the situation around the vehicle at a glance, park safely, or navigate along narrow paths.

[0003] In recent years, a technology for remotely recognizing a surround view through a user terminal has been developed. However, when a surround view is provided through a user terminal, information provided through an image according to a viewpoint of a virtual camera is inaccurate, and specifically, information at an image boundary is unclear. Therefore, it is necessary to solve the above-mentioned problem of providing an image around a vehicle to a user terminal. Summary of the invention

[0004] Additional aspects of the disclosure will be partially set forth in the following description, and will be partially apparent from the description, or may be learned through practice of the disclosure. According to one aspect of the disclosure, a vehicle may include: a communicator configured to communicate with a user terminal or a server; a camera configured to obtain an image of the vehicle's surroundings; and a controller configured to convert the surrounding image obtained by the camera into a reference image implemented with predetermined parameters and send the reference image to the user terminal.

[0005] The user terminal may be configured to receive a reference image and associate the reference image with predetermined coordinate information. The user terminal may also be configured to generate at least one matrix corresponding to a virtual camera that determines a viewpoint of the reference image. At least one matrix may include a model matrix for determining a reference view of the reference image. In addition, at least one matrix may include a viewpoint matrix that determines the position of the virtual camera. At least one matrix may also include a projection matrix for determining internal parameters of the virtual camera.

[0006] Further, the user terminal may be configured to receive a user command to change the viewpoint, and change the viewpoint based on the user command to output the reference image. Therefore, when the user command exceeds a predetermined range, the user terminal may be configured to output the reference image at a predetermined viewpoint. The user terminal may also be configured to receive a user command including a region of interest around the vehicle and output a reference image corresponding to the region of interest.

[0007] According to another aspect of the present disclosure, a method for controlling a vehicle image may include: communicating with a user terminal and a server through a communicator; obtaining an image around the vehicle through a camera; converting the surrounding image obtained by the camera into a reference image implemented with predetermined parameters by a controller and sending the reference image to the user terminal through the controller.

[0008] The method may further include associating the reference image with predetermined coordinate information through the user terminal, and generating through the user terminal at least one matrix corresponding to the virtual camera that determines the viewpoint of the reference image. The at least one matrix may include a model matrix for determining a reference view of the reference image. In addition, the at least one matrix may include a viewpoint matrix that determines the position of the virtual camera. The at least one matrix may also include a projection matrix for determining internal parameters of the virtual camera.

[0009] The method may further include: receiving a user command to change the viewpoint through a user controller; and outputting the reference image by the user controller by changing the viewpoint based on the user command. Outputting the reference image may include: outputting the reference image at a predetermined viewpoint when the user command exceeds a predetermined range, and receiving a user command including a region of interest around the vehicle; and outputting the reference image corresponding to the region of interest. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] These and / or other aspects of the present disclosure will become apparent and more readily understood from the following description of exemplary embodiments taken in conjunction with the accompanying drawings, in which:

[0011] Figure 1 is a diagram for describing communication among a vehicle, a server, and a user terminal according to an exemplary embodiment of the present disclosure;

[0012] Figure 2 is a diagram describing a camera provided in a vehicle according to an exemplary embodiment of the present disclosure;

[0013] Figure 3 is a control block diagram according to an exemplary embodiment of the present disclosure;

[0014] Figure 4 is a diagram for describing an operation of generating a reference image according to an exemplary embodiment of the present disclosure;

[0015] Figure 5 is a diagram for describing an operation of mapping coordinate information to a reference image according to an exemplary embodiment of the present disclosure;

[0016] Figure 6 is a diagram for describing an operation of mapping a matrix to a reference image according to an exemplary embodiment of the present disclosure;

[0017] Figures 7 to 9 is a diagram for describing an operation of changing a viewpoint of a reference image based on a user command according to an exemplary embodiment of the present disclosure;

[0018] Fig.10 is a diagram for describing an operation of inputting a region of interest according to an exemplary embodiment of the present disclosure;

[0019] Fig.11 and Fig.12 is a diagram for describing an operation of changing a viewpoint of a virtual camera according to an exemplary embodiment of the present disclosure; and

[0020] Fig.13 and Fig.14 is a flow chart according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] It should be understood that the terms "vehicle" or "vehicular" or other similar terms used herein generally include motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including various marine vessels, aircraft, etc., and include hybrid vehicles, electric vehicles, gas vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from resources other than petroleum).

[0022] Although the exemplary embodiments are described as using multiple units to perform the exemplary processes, it should be understood that the exemplary processes can also be performed by one or more modules. In addition, it should be understood that the term controller / control unit refers to a hardware device including a memory and a processor. The memory is configured to store the modules and the processor is specifically configured to run the modules to perform one or more processes described further below.

[0023] Further, the control logic of the present disclosure may encompass non-volatile computer-readable media containing executable program instructions executed by a processor, controller / control unit, etc. on a computer-readable medium. Embodiments of computer-readable media include, but are not limited to, ROM, RAM, compact disk (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable recording medium can also be distributed in a network-coupled computer system, so that, for example, the computer-readable medium is stored and executed in a distributed manner by a telematics server or a controller area network (CAN).

[0024] Throughout this specification, similar reference numerals refer to similar elements. All elements of the embodiments of the present disclosure are not described, and descriptions that are generally known in the art or overlapped with each other in the embodiments will be omitted. Terms such as "~part", "~module", "~element", "~block" etc. used throughout this specification can be implemented in software and / or hardware, and multiple "~part", "~module", "~element", "~block" can be implemented in a single element, or a single "~part", "~module", "~element", "~block" can include multiple elements.

[0025] It should be further understood that the term "connection" and its derivatives refer to direct and indirect connections, and indirect connections include connections of wireless communication networks. The terms "include (or include (including))" and "comprise (or include (comprising))" are inclusive or open and do not exclude additional, unstated elements or method steps, unless otherwise specified. It should be further understood that the term "element" and its derivatives refer to an element in contact with another element and another element is present between the two elements. It should be understood that although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers, and / or parts, however, these elements, components, regions, layers, and / or parts should not be limited by these terms. These terms are only used to distinguish an element, component, region, layer, or part from another region, layer, or part.

[0026] It should be understood that the singular forms "a", "an", and "the" include plural references unless the context clearly indicates otherwise. The reference numbers used in the method steps are used only for convenience of description and do not limit the order of the steps. Thus, unless the context clearly indicates otherwise, the written order can be achieved by other means.

[0027] Hereinafter, the operating principles and exemplary embodiments of the present disclosure will be described with reference to the accompanying drawings. Figure 1 is a diagram for describing communication among a vehicle, a server, and a user terminal according to an exemplary embodiment of the present disclosure. Figure 1 , the vehicle 1 may be configured to communicate with the server 300 and the server 300 may be configured to communicate with the user terminal 200 .

[0028] The server 300 may be a processor configured to monitor and control the entire network, may be configured to be connected to another network via a host or a public network, and may share hardware resources such as software resources or other equipment. The user terminal 200 may be implemented as a computer or a portable terminal capable of accessing the vehicle 1 or the server 300 via a network. Specifically, for example, the computer may include a notebook, a desktop computer, a laptop, a tablet PC, a slate PC, etc., each of which is equipped with a web browser. For example, the user terminal 200 may include a wearable device such as a personal communication system (PCS) as a portable and mobile wireless communication device. The portable terminal can be any type of handheld based wireless communication device, such as Personal Communication System (PCS), Global System for Mobile Communications (GSM), Personal Digital Cellular (PDC), Personal Handyphone System (PHS), Personal Digital Assistant (PDA), International Mobile Telecommunications (IMT)-2000, Code Division Multiple Access (CDMA)-2000, W Code Division Multiple Access (W-CDMA), Wireless Broadband (WiBro) Internet terminal, smart phone, etc.; it can be a wearable device, such as a watch, a bracelet, a bracelet, an anklet, a necklace, glasses, and contact lenses, or a head mounted device (HMD), etc.

[0029] The user terminal 200 may be configured to communicate with the server 300 and transmit an image transmission request signal. The server 300 may be configured to transmit an image transmission command including a wake-up command to the vehicle 1. The vehicle 1 may be configured to obtain an image around the vehicle 1 (e.g., around the vehicle) based on a signal received from the server 300, convert the obtained image into an operation to be described later, and transmit the converted image to the server 300. The server 300 may be configured to receive an image from the vehicle 1 and transmit the received image to the user terminal 200. Then, the user terminal 200 may be configured to convert the received image based on the operation to be described later and output the converted image to the user terminal 200. The detailed operation related to this will be described below.

[0030] Figure 2 is a diagram describing a camera provided in a vehicle. It should be noted that the present disclosure is not limited to cameras and may include any type of imaging device. Figure 2 The vehicle 1 may include a body 10 constituting the exterior of the vehicle, and wheels 12 and 13 for moving the vehicle 1. The body 10 may include a hood 11a for protecting various devices required for the vehicle 1 to travel, a roof 11b constituting an interior space, a trunk lid 11c of a trunk, a front fender 11d provided on the side of the vehicle 1, and a quarter panel 11e. In addition, a plurality of doors 14 may be provided on the side of the body 10 and hinged to the body 10.

[0031] A front window 19a is provided between the hood 11a and the roof 11b to provide a view in front of the vehicle 1, and a rear window 19b is provided between the roof 11b and the trunk lid 11c to provide a view in the rear of the vehicle 1. Side windows 19c may also be provided at the upper portion of the door 14 to provide a side view. A headlight 15 may be provided at the front of the vehicle 1 to illuminate the direction in which the vehicle 1 is traveling. Turn signal lights 16 may also be provided at the front and rear of the vehicle 1 to indicate the direction in which the vehicle 1 is to turn.

[0032] Further, the vehicle 1 may be configured to operate the turn signal lamp 16 to flash to indicate the direction of the turn. The turn signal lamp 16 may be provided at the front and rear of the vehicle 1. The tail lamp 17 may also be provided at the rear of the vehicle 1. The tail lamp 17 may indicate the shifting state, the braking operation state, etc. of the vehicle 1. At least one controller 130 may be provided in the vehicle 1. The controller 130 may be configured to perform electronic control related to the operation of the vehicle 1. The controller 130 may be installed at any position in the vehicle 1 according to the designer's choice.

[0033] For example, the controller 130 may be installed between the engine compartment and the dashboard, or may be arranged in the central instrument panel. The controller 130 may include at least one processor configured to receive an electrical signal, process the input electrical signal, and output the processed electrical signal. The processor may be implemented using at least one semiconductor chip and associated components. The semiconductor chip and related components may be mounted on a printed circuit board (which may be mounted in the vehicle 1). In addition, the vehicle 1 may include a camera 110 configured to obtain images required for the automatic driving of the vehicle 1.

[0034] Specifically, the camera 110 may include a plurality of cameras 101-1, 101-2, 101-3, and 101-4. The cameras 101-1, 101-2, 101-3, and 101-4 may be configured to capture or obtain images around the vehicle 1, and may be respectively arranged in front of, behind, and to the sides of the vehicle 1. Through the method described later, the images obtained by the cameras 101-1, 101-2, 101-3, and 101-4 may be derived as images around the vehicle 1.

[0035] Figure 3 is a control block diagram according to an exemplary embodiment of the present disclosure. Figure 3, the vehicle 1 may include a camera 110, a communicator 120, and a controller 130. The vehicle 1 may be configured to communicate with the server 300 and the user terminal 200. The camera 110 may be configured to obtain an image around the vehicle 1. The camera 110 may be provided in the side mirrors 14R and 14L of the vehicle 1 to obtain an image around the vehicle 1.

[0036] Specifically, the camera 110 may include a charge coupled device (CCD) camera or a CMOS color image sensor. CCD and CMOS refer to sensors that convert light received through the lens of the camera 110 into electrical signals and store the electrical signals. Specifically, the CCD camera 110 may be a device configured to convert an image into an electrical signal using a charge coupled device. In addition, a CMOS image sensor (CIS) may refer to an image pickup device of a low-consumption, low-power type having a CMOS structure and is performed as an electronic film of a digital device. Generally, CCD is more sensitive than CIS and can be used in the vehicle 1, but is not necessarily limited to this.

[0037] In addition, the controller 130 may be configured to convert the image of the surroundings of the vehicle 1 obtained by the camera 110 into a reference image implemented as a predetermined parameter. The detailed operation related to this will be described later. The controller 130 may be configured to operate the communicator 120 to send the reference image to the user terminal 200. The controller 130 may include an image converter 131, a top view synthesizer 132, and an image compressor 133. The details related to the above-mentioned content will be described later.

[0038] The controller 130 may include a memory (not shown) and a processor (not shown), the memory being configured to store algorithms for operating components in the vehicle 1 or data about programs for running the algorithms, and the processor being configured to perform the operations described above using the data stored in the memory. The memory and the processor may be implemented in separate chips. Alternatively, the memory and the processor may be implemented in a single chip.

[0039] The communicator 120 may be configured to communicate with at least one of the user terminal 200 and the server 300. The communicator 120 may include one or more components capable of communicating with an external device, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module. The short-range communication module may include various short-range communication modules for sending and receiving signals within a short range through a wireless communication network, such as a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local area network (WLAN) communication module, a near field communication (NFC) module, and a Zigbee communication module.

[0040] The wired communication module may include not only one of the wired communication modules, such as a controller area network (CAN) communication module, a local area network (LAN) module, a wide area network (WAN) module, or a value-added network (VAN) module, but may also include one of the cable communication modules, such as a universal serial bus (USB), a high-definition multimedia interface (HDMI), a digital visual interface (DVI), a recommended standard (RS) 232, a power cable, or a plain old telephone service (POTS), etc.

[0041] The wireless communication module may include a wireless fax (WiFi) module, a wireless broadband (WiBro) module, and / or any wireless communication module for supporting various wireless communication schemes, such as a Global System for Mobile Communications (GSM) module, a Code Division Multiple Access (CDMA) module, a Wideband Code Division Multiple Access (WCDMA) module, a Universal Mobile Telecommunications System (UMTS), a Time Division Multiple Access (TDMA) module, a Long Term Evolution (LTE) module, etc.

[0042] You can add or remove Figure 3 At least one component corresponding to the performance of the components of the vehicle 1 shown in FIG. It is easy for a person skilled in the art to understand that the relative positions of the components corresponding to the performance or structure of the vehicle 1 can be changed. At the same time, Figure 3 The various components shown in the figure are referred to as hardware components such as software and / or field programmable gate arrays (FPGAs) and application specific integrated circuits (ASICs).

[0043] and, Figure 4 is a diagram for describing an operation of generating a reference image according to an exemplary embodiment of the present disclosure. Figure 4 , when the user inputs a user command through the user terminal 200, the vehicle 1 may be configured to obtain an image V41 around the vehicle 1 through the camera 110. In other words, in response to receiving the user input, the controller in the vehicle may be configured to operate the camera to obtain an image of the surrounding environment of the vehicle.

[0044] The controller 130 may be configured to convert the images V41 around the vehicle 1 obtained by the camera into reference images V42, respectively. Specifically, the controller 130 may be configured to convert the images around the vehicle 1 into reference images, and therefore, its operation is independent of the camera specifications. The controller 130 may refer to the reference image, that is, the original image converted into a single fixed parameter image. The controller 130 may be configured to change the intrinsic parameters rather than other parameters.

[0045] Specifically, even if the camera lens or resolution changes in the future, the controller 130 can also be configured to convert the resolution or distortion characteristics into a single parameter value when converted into a reference image. Based on the above operation, even if the camera 110 changes, the user terminal 200 can always receive the same reference image and output the image without updating.

[0046] The above-described operations may be performed in the image converter 131 provided in the controller 130. In addition, the image compressor 133 provided in the controller 130 may be configured to compress the reference image and the overhead view image and transmit the compressed images to the communicator 120. Then, the communicator 120 may be configured to transmit the images and data to the server 300.

[0047] The above-mentioned operation may refer to an operation of converting the obtained image of the vehicle 1 into a reference image implemented as a single parameter, receiving an image obtained by the camera 110, and recognizing an image around the vehicle 1 from the user terminal 200 at a free viewpoint. As long as it is an operation of converting from the vehicle 1 to the reference image, the operation is not limited.

[0048] Further, Figure 5 is a diagram for describing an operation of mapping coordinate information to a reference image according to an exemplary embodiment of the present disclosure. Figure 5 , the user terminal 200 receiving the reference image V51 from the vehicle 1 may correspond to the reference image and predetermined coordinate information V52.

[0049] Specifically, the user terminal 200 can provide a view from a free viewpoint using a three-dimensional (3D) rendering technique. The user terminal 200 can construct a spherical 3D mesh and configure the coordinates of the texture to be mapped to each vertex. At this time, a lookup table (LUT) can be used to store the vertex 3D coordinates and 2D texture coordinates of the mesh in the user terminal 200. Because the user terminal 200 receives and uses a reference image, it can be applied to a single unified LUT, regardless of the vehicle type, camera specifications, and camera position. Figure 5 As shown in , when the user terminal 200 constructs a spherical mesh using the LUT and maps the front / back / left / right reference images to the texture, the center of the reference image may be mapped to the center of the spherical surface.

[0050] Figure 6 is a diagram for describing an operation of mapping a matrix to a reference image according to an exemplary embodiment of the present disclosure. Figure 5 After the operation, the user terminal 200 may be configured to generate at least one matrix corresponding to a virtual camera that determines a viewpoint of the reference image. On the other hand, the matrix applied by the user terminal 200 to the reference image may be applied as follows.

[0051] Equation 1

[0052] Mat=Mm x Vm x Pm

[0053] The matrix Mat applied to the reference image can be represented by the product of the model matrix Mm, the view matrix Vm, and the projection matrix Pm.

[0054] The view matrix may reflect the installation angles of the various cameras located on the spherical surface of the mapped reference image. The user terminal 200 may implement the view matrix described below using the received pitch value, yaw value, and roll value.

[0055] Equation 2

[0056]

[0057] The model matrix Mm may be implemented using the above-mentioned matrix, and Yreal, Preal, and Rreal may each refer to a yaw value, a pitch value, and a roll value of the camera 110 mounted on the vehicle 1 .

[0058] For each camera 110, the user terminal 200 may have a corresponding model matrix Mm, and after receiving the installation angle value for calculation, the user terminal 200 may be configured to receive and output the image without performing additional calculations. On the other hand, applying the model matrix Mm to the reference image compensates for the misaligned angle of the camera 110, so that the angle of the initial virtual camera can be set to be the same (V61->V62).

[0059] On the other hand, the viewpoint matrix Vm can be prepared as follows.

[0060] Equation 3

[0061]

[0062] The view matrix Vm may represent the rotation / position of the virtual camera associated with receiving the input of the user command. Yvirtual in Equation 3 may be the yaw value of the virtual camera, and Pvirtual may be the pitch value of the virtual camera.

[0063] On the other hand, the projection matrix Pm can be prepared as follows.

[0064] Equation 4

[0065]

[0066] Referring to equation (4), fovy may refer to the vertical viewing angle of the virtual camera. In addition, aspect ratio may also refer to the horizontal / vertical ratio (horizontal resolution / vertical resolution) of the output image. zFar and zNear may refer to the maximum distance and minimum distance represented at the time of rendering, respectively.

[0067] The user terminal 200 may be configured to convert an image received from the vehicle 1 based on the above matrix. According to an exemplary embodiment, the converted image may be output to a display provided in the user terminal 200. In addition, Figures 4 to 6 The operations described in are merely exemplary embodiments of the present disclosure. When the camera 110 obtains an image and converts the vehicle 1 into a unified reference image and the user terminal 200 uses the image, there is no limitation on the operations.

[0068] Figures 7 to 9 2 is a diagram for describing an operation of changing a viewpoint of a reference image based on a user command according to an exemplary embodiment of the present disclosure. Figure 7 , the user may input a user command to the user terminal 200 (P7). When the user inputs a user command and drags the image upward, the user may input a command to view the lower half of the reference image. The user terminal 200 may be configured to change the viewpoint of the reference image from the first viewpoint A71 to the viewpoint A72 corresponding to the user command. On the other hand, the change of the viewpoint of the reference image may be performed without limitation.

[0069] refer to Figure 8 , the user can freely change the viewpoint of the reference image (A81->A82). On the other hand, when changing the viewpoint, the yaw of the viewpoint itself can be changed and the complete image can be output. Fig. 9 , the user can input a user command (P9) to zoom in or out the image output to the user terminal 200. In other words, the user can input a command to display scanning or dragging to the user terminal 200 to adjust the output magnification of the images V91 and V92 output to the user terminal 200. The viewpoint output based on the user command can be changed from A91 to A92.

[0070] Based on the above operations, the user can change the viewpoint of the reference image, but when the user command exceeds the predetermined range, the user terminal 200 can be configured to output the reference viewpoint at a viewpoint exceeding the range of the predetermined viewpoint. Figures 7 to 9 This is merely an embodiment for changing the viewpoint of a reference image, and there is no limitation on the operation of changing the viewpoint of a reference image and outputting a reference image of a viewpoint desired by a user.

[0071] Fig.10 is a diagram for describing an operation of inputting a focus area according to an exemplary embodiment of the present disclosure. Fig.10, the user can input a user command related to the area of ​​interest (P10). Fig.10 It is shown that the user inputs the front of the vehicle 1 as the area of ​​interest. When the user terminal 200 receives the user command, the user terminal 200 may be configured to output a reference area image V10 of a corresponding area based on the vehicle 1 to the user terminal 200 .

[0072] Fig.11 and Fig.12 is a diagram for describing an operation of changing a viewpoint of a virtual camera according to an exemplary embodiment of the present disclosure. Fig.11 and Fig.12 Describes the idea of ​​using a virtual camera Figures 7 to 9 In the present disclosure, an actual camera configured to directly obtain an image around the vehicle 1 and a virtual camera for changing the viewpoint can be distinguished from each other, and Figures 7 to 9 The operations described in are described as changing the viewpoint of the virtual camera.

[0073] refer to Fig.11 , the user can drag the viewpoint of the reference image V11 output from the user terminal 200 to the right, and dragging to the right is intended to output an image on the left side of the image around the vehicle 1. Thus, the virtual camera can move the viewpoint to the left and output the reference image.

[0074] refer to Fig.12 , the virtual camera can drag the viewpoint (P12) of the reference image V12 output by the user terminal 200 upward, and the upward dragging is intended to output an image below the image around the vehicle 1. Then, the virtual camera moves the viewpoint downward and outputs the reference image. Fig.11 and Fig.12 The described operation is merely an example for describing an output format of a reference image, and there is no limitation on the operation for changing the viewpoint of a virtual camera.

[0075] Fig.13 and Fig.14 is a flow chart according to an exemplary embodiment of the present disclosure. Fig.13 1 is a flowchart showing an exemplary embodiment of an operation implemented in the vehicle 1. The vehicle 1 may be configured to obtain an image around the vehicle 1 (1001). The vehicle 1 may be configured to convert the obtained image around the vehicle 1 into a reference image (1002). On the other hand, the vehicle 1 may be configured to send the converted reference image to the server 300 (1003).

[0076] Fig.14 is a flow chart showing an exemplary embodiment of operations implemented in the user terminal 200. Fig.14, the user terminal 200 may be configured to match the received reference image with the coordinate information (1011). In addition, the user terminal 200 may be configured to generate a matrix in which the coordinate information is applied to the matched reference image (1012). The user terminal 200 may be configured to output an image based on a user command to the user terminal 200 based on the above-mentioned matrix (1013).

[0077] According to the vehicle, the user terminal, and the method of controlling a vehicle image as described above, an image obtained by the vehicle can be changed into a single reference and provided to the user terminal, thereby providing a standardized and accurate image around the vehicle.

[0078] At the same time, the disclosed exemplary embodiments can be implemented in the form of a recording medium storing instructions executed by a computer. Instructions in the form of program code can be stored, and when executed by a processor, the instructions can generate a program module that performs the operations of the disclosed embodiments. The recording medium can be implemented as a non-volatile computer-readable recording medium.

[0079] The non-volatile computer-readable recording medium may include various recording media storing commands that can be interpreted by a computer. For example, the computer-readable recording medium may be a ROM, RAM, a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, etc.

[0080] Thus, the exemplary embodiments of the present disclosure have been described so far with reference to the accompanying drawings. It is obvious to those skilled in the art that the present disclosure can be implemented in other forms other than the exemplary embodiments described above without changing the technical concept or essential features of the present disclosure. The exemplary embodiments described above are only examples and should not be interpreted as limiting.

Claims

1. A vehicle comprising: A communicator configured to communicate with a user terminal or a server; a camera configured to obtain an image of the vehicle's surroundings; as well as a controller configured to convert a surrounding image obtained by the camera into a reference image implemented with predetermined parameters and send the reference image to the user terminal, The user terminal is configured to receive a user command to change a viewpoint, and change the viewpoint based on the user command to output the reference image and output the reference image at a predetermined viewpoint when the user command exceeds a predetermined range.

2. The vehicle according to claim 1, wherein: The user terminal is configured to receive the reference image and associate the reference image with predetermined coordinate information.

3. The vehicle according to claim 2, wherein: The user terminal is configured to generate at least one matrix corresponding to a virtual camera determining a viewpoint of the reference image.

4. The vehicle according to claim 3, wherein: The at least one matrix comprises a model matrix for determining a reference view of the reference image.

5. The vehicle according to claim 3, wherein: The at least one matrix comprises a view matrix that determines a position of the virtual camera.

6. The vehicle according to claim 3, wherein: The at least one matrix comprises a projection matrix for determining intrinsic parameters of the virtual camera.

7. The vehicle according to claim 1, wherein: The user terminal is configured to receive a user command including a region of interest around the vehicle and output a reference image corresponding to the region of interest.

8. A method for controlling a vehicle image, comprising the following steps: Communicate with user terminals and servers via communicators; Obtaining images around the vehicle through a camera; The controller converts the surrounding image obtained by the camera into a reference image implemented with predetermined parameters; The controller sends the reference image to the user terminal, receiving, by a user controller, a user command to change the viewpoint; as well as outputting the reference image by the user controller by changing the viewpoint based on the user command; as well as When the user command exceeds a predetermined range, the reference image is output at a predetermined viewpoint.

9. The method according to claim 8, further comprising: The reference image is associated with predetermined coordinate information through the user terminal.

10. The method according to claim 9, further comprising: At least one matrix corresponding to a virtual camera that determines a viewpoint of the reference image is generated by the user terminal.

11. The method according to claim 10, wherein: The at least one matrix comprises a model matrix for determining a reference view of the reference image.

12. The method according to claim 10, wherein: The at least one matrix comprises a view matrix that determines a position of the virtual camera.

13. The method according to claim 10, wherein: The at least one matrix comprises a projection matrix for determining intrinsic parameters of the virtual camera.

14. The method according to claim 8, wherein: Outputting the reference image includes: receiving a user command including an area of ​​interest around the vehicle; and A reference image corresponding to the region of interest is output.

Images