Monitoring device and vehicle having the same

Abstract

A monitoring device and a vehicle having the same. The monitoring device includes a camera configured to obtain an image, a display configured to display the image, a tilt adjuster configured to adjust a tilt angle of the camera, and a controller configured to: recognize a brightness of a first image on the display, in response to determining that the recognized brightness is greater than or equal to a reference value, control the tilt adjuster to adjust the tilt angle of the camera, and in response to determining that a brightness of a second image displayed on the display is less than or equal to a release value after adjusting the tilt angle of the camera, control the tilt adjuster to adjust the tilt angle of the camera to an initial tilt angle.

Description

Technical Field

[0001] This disclosure relates to monitoring equipment for monitoring the surrounding environment and vehicles having such monitoring equipment. Background Technology

[0002] Typically, side mirrors are placed on the exterior of the vehicle. They extend a predetermined length from the left and right front doors and provide the driver with rear and side views of the vehicle.

[0003] Side mirrors that protrude a predetermined length from the left and right front doors are subject to air resistance while driving, which generates wind noise. Furthermore, in inclement weather, side mirrors fail to provide the driver with a clear image of the rear and sides of the vehicle.

[0004] Therefore, in recent years, cameras have been used instead of side mirrors to provide drivers with a rear view and / or a side-rear view of the vehicle.

[0005] Thus, when a camera is used to provide images of the rear or side rear of a vehicle, light saturation occurs in the camera due to light emitted from the lights of other vehicles, which obstructs the driver's rear and side rear views.

[0006] In other words, if light saturation occurs in the camera's view, the driver cannot ensure adequate rear and / or side-rear visibility. As a result, light saturation in the camera reduces the driver's awareness of their surroundings, making it difficult to change lanes and increasing the risk of accidents.

[0007] The information disclosed in the above background section is intended to help understand the context of this disclosure and should not be construed as an admission that this information forms any part of the prior art. Summary of the Invention

[0008] One aspect of this disclosure is to provide a monitoring device and a vehicle having the monitoring device, the monitoring device being configured to: control the tilt angle of a camera in response to a monitoring area of ​​an image satisfying a condition for light saturation, and control the tilt angle of the camera at an initial tilt angle in response to a monitoring area of ​​an image satisfying a condition for desaturation.

[0009] One aspect of this disclosure is to provide a monitoring device for changing light saturation occurrence conditions and light saturation deactivation conditions corresponding to nighttime and daytime, respectively, and a vehicle having the monitoring device.

[0010] Other aspects of this disclosure will be set forth in part in the description which follows, and in part will be apparent from the description or may be learned by practice of this disclosure.

[0011] According to one aspect of this disclosure, the monitoring device includes: a camera configured to acquire an image; a display configured to display the image; a tilt adjuster configured to adjust the tilt angle of the camera; and a controller configured to: identify the brightness of a first image displayed on the display; control the tilt adjuster to adjust the tilt angle of the camera in response to determining that the identified brightness is greater than or equal to a reference value; and, after adjusting the tilt angle of the camera, control the tilt adjuster to adjust the tilt angle of the camera to an initial tilt angle in response to determining that the brightness of a second image displayed on the display is less than or equal to a release value.

[0012] The monitoring equipment may further include: an illuminance detector configured to detect illuminance and output illuminance information about the detected illuminance; wherein the controller can determine whether the current time is daytime or nighttime based on the illuminance information, and in response to determining that the current time is daytime, set a reference value to a first reference value and set a release value to a first release value, and in response to determining that the current time is nighttime, set a reference value to a second reference value and set a release value to a second release value.

[0013] The controller can identify the monitored area in the first image and determine whether the brightness of each pixel in the identified monitored area is greater than or equal to a reference value.

[0014] The controller can identify the number of pixels in the monitored area whose brightness is greater than or equal to a reference value, identify the ratio of the area where the brightness of the pixels is greater than or equal to the reference value to the monitored area based on the total number of pixels in the monitored area and the number of identified pixels, and adjust the tilt angle of the camera in response to determining that the identified ratio is greater than or equal to a first ratio.

[0015] In response to determining that the identified proportion is maintained at or above the first proportion for a time that is greater than or equal to a predetermined time, the controller can control the tilt adjuster to adjust the tilt angle of the camera.

[0016] The controller can identify the monitored area in the second image and determine whether the brightness of each pixel in the identified monitored area is less than or equal to the release value.

[0017] The controller can identify the number of pixels in the monitored area whose brightness is less than or equal to the set value. Based on the total number of pixels in the monitored area and the number of identified pixels, it identifies the ratio of the area where the brightness of the pixels is less than or equal to the set value to the monitored area. In response to determining that the identified ratio is greater than or equal to a second ratio, it adjusts the tilt angle of the camera to the initial tilt angle.

[0018] In response to determining that the identified proportion is maintained at or above the second proportion for a time greater than or equal to a predetermined time, the controller can control the tilt adjuster to adjust the tilt angle of the camera to the initial tilt angle.

[0019] According to another aspect of this disclosure, a vehicle includes: a monitoring device including a camera for acquiring surrounding images; a tilt adjuster for adjusting the tilt angle of the camera; and an image display for displaying images acquired from the camera; a storage device configured to store information about an initial tilt angle of the camera; and a controller configured to: control the tilt adjuster to adjust the tilt angle of the camera in response to determining that the brightness of a first image displayed on the image display is greater than or equal to a reference value; and, after adjusting the tilt angle of the camera, control the tilt adjuster to adjust the tilt angle of the camera back to the initial tilt angle in response to determining that the brightness of a second image displayed on the image display is less than or equal to a release value.

[0020] The vehicle may also include: an illuminance detector configured to detect illuminance and output illuminance information about the detected illuminance; wherein the controller can determine whether the current time is daytime or nighttime based on the illuminance information, set a reference value to a first reference value and a release value to a first release value in response to determining that the current time is daytime, and set a reference value to a second reference value and a release value to a second release value in response to determining that the current time is nighttime.

[0021] The controller can identify the monitored area in the first image of the image display and determine whether the brightness of each pixel in the monitored area is greater than or equal to a reference value.

[0022] The controller can identify the number of pixels in the monitored area whose brightness is greater than or equal to a reference value. Based on the total number of pixels in the monitored area and the number of identified pixels, it identifies the ratio of the area where the brightness of the pixels is greater than or equal to the reference value to the monitored area. In response to determining that the identified ratio remains greater than or equal to a first ratio for more than a predetermined time, it adjusts the tilt angle of the camera.

[0023] The controller can identify the monitored area in the second image of the image display and determine whether the brightness of each pixel in the monitored area is less than or equal to the release value.

[0024] The controller can identify the number of pixels in the monitored area whose brightness is less than or equal to the set value, identify the ratio of the area where the brightness of the pixels is less than or equal to the set value to the monitored area based on the total number of pixels in the monitored area and the number of identified pixels, and adjust the tilt angle of the camera to the initial tilt angle in response to determining that the identified ratio remains greater than or equal to the second ratio for a predetermined time.

[0025] The controller can identify the monitored area in the first image on the image display and obtain the tilt angle of the camera based on the position information of the corner of the first image and the position information of the corner of the monitored area.

[0026] The controller can identify lanes in the first image displayed on the image display and identify the monitored area based on the location information of the identified lanes.

[0027] The monitored area identified in the first image and the monitored area identified in the second image can be the same as each other.

[0028] The vehicle may also include a first door and a second door respectively located on the left and right sides of the vehicle body, wherein the cameras of the monitoring equipment are respectively installed in the first and second doors.

[0029] The vehicle may also include an input device configured to receive user input and a position-adjustable seat, wherein the storage is further configured to store seat position information for each driver's seat, and the controller may identify the driver based on user input received from the input device and obtain the tilt angle of the camera based on the seat position information corresponding to the identified driver.

[0030] When the camera's tilt angle is adjusted, the controller can display a notification message about the adjustment. Attached Figure Description

[0031] These and / or other aspects of this disclosure will become apparent and more readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0032] Figure 1 This is an external view of a vehicle having a monitoring device according to an exemplary embodiment of the present disclosure;

[0033] Figure 2 This is a view showing the interior of a vehicle having a monitoring device according to an exemplary embodiment of the present disclosure;

[0034] Figure 3A and Figure 3B This is a view showing the location of the image acquisition unit of a monitoring device according to an exemplary embodiment of the present disclosure;

[0035] Figure 4 This is a control configuration diagram of a vehicle having a monitoring device according to an exemplary embodiment of the present disclosure;

[0036] Figure 5 This is a configuration diagram illustrating a monitoring device according to an exemplary embodiment of the present disclosure;

[0037] Figure 6This is a view showing images and monitored areas acquired by a monitoring device according to exemplary embodiments of the present disclosure;

[0038] Figure 7A and Figure 7B This is a view showing the generation of a saturation flag in a monitoring device according to an exemplary embodiment of the present disclosure; and

[0039] Figure 8 This is a control flowchart illustrating a vehicle having a monitoring device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0040] Throughout this specification, the same reference numerals refer to the same elements. Not all elements of the embodiments of this disclosure will be described, and descriptions of elements that overlap with each other in well-known art or exemplary embodiments will be omitted. Terms such as “~part,” “~module,” “~component,” “~block,” etc., used throughout this specification may be implemented in software and / or hardware, and multiple “~parts,” “~modules,” “~components,” or “~blocks” may be implemented in a single element, or a single “~part,” “~module,” “~component,” or “~block” may include multiple elements.

[0041] It should also be understood that the term "connection" and its derivatives refer to both direct and indirect connections, and indirect connections include connections via wireless communication networks.

[0042] Unless otherwise stated, the terms “comprising” and “including” are inclusive or open-ended and do not exclude additional unlisted elements or method steps.

[0043] It should be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, regions, layers, and / or parts, these elements, components, regions, layers, and / or parts should not be limited by these terms. These terms are used only to distinguish one element, component, region, layer, or part from another.

[0044] It should be understood that, unless the context clearly specifies otherwise, the singular forms “a / an” and “the” include plural references.

[0045] The reference numerals used in the drawings for method steps are for illustrative purposes only and are not intended to restrict the order of steps. Therefore, unless the context clearly specifies otherwise, the written order may be followed in other ways.

[0046] The working principle and embodiments of the present invention will be described below with reference to the accompanying drawings.

[0047] Figure 1 This is an external view of a vehicle having a monitoring device according to an exemplary embodiment of the present disclosure. Figure 2 This is a view showing the interior of a vehicle having a monitoring device according to an exemplary embodiment of the present disclosure. Figure 3A and Figure 3B This is a view illustrating the location of the image acquisition unit of a monitoring device according to an exemplary embodiment of the present disclosure.

[0048] like Figure 1 As shown, vehicle 1 includes a body 110 having its exterior and interior, and a chassis in which mechanical components required for drive are mounted as the rest of the body.

[0049] The exterior of the vehicle body 110 includes a front panel 111, an engine hood 112, a roof panel 113, and a rear panel 114, as well as multiple doors 115 for opening and closing the interior space where passengers can sit, and multiple windows respectively provided on the multiple doors.

[0050] In this document, multiple window glass may include side window glass, quarter window glass installed between non-open pillars, rear window glass installed at the rear of the vehicle, and front window glass installed at the front of the vehicle.

[0051] Vehicle 1 includes a tailgate 116 for opening and closing a trunk that forms a space for storing items, and lights that enable easy viewing of the surroundings while maintaining a forward view and performing signaling and communication functions to other vehicles and pedestrians.

[0052] The door 115 may be provided with an opening / closing component for opening and closing the door and a locking component for locking / unlocking the door.

[0053] As shown in Figure 2, the interior 120 of the vehicle body includes a seat 121 for occupants, an instrument panel 122, a central instrument box 123 with vents and an air conditioning control panel, and a host unit 124 mounted on the central instrument box 123 that receives operating commands from the audio equipment and the air conditioning.

[0054] Seat 121 may include a driver's seat (driver's seat, 112a) on which the driver sits and a passenger seat (passenger seat, 112b) on which the (front) passenger sits, and may also include a rear passenger seat disposed behind the driver's seat and the passenger seat.

[0055] Vehicle 1 may also include an input device 125 for receiving operational information for various functions.

[0056] The input device 125 can be installed on the main unit 124 and / or the central instrument box 126, on the steering wheel, on the armrest or handle inside the door, and on each seat 121.

[0057] The input device 125 may include at least one physical mechanism, such as an on / off button for various functions, a button for changing the setting value of various functions, a key, a switch, etc.

[0058] The input device 125 may also include a scroll wheel (not shown) or a touchpad (not shown) for inputting movement and selection commands of a cursor displayed on a vehicle terminal (e.g., audio-visual navigation (AVN)). In this document, the scroll wheel or touchpad may be located on a central instrument cluster 123, etc.

[0059] Vehicle 1 may also include a display 126, which is disposed in the host unit 124 and displays information about the functions performed in the vehicle and user input.

[0060] Vehicle 1 may also include an instrument panel 127, which is mounted on the instrument panel 122 and displays the vehicle's driving information and status information.

[0061] Instrument 127 can selectively display various images corresponding to the odometer, driving recorder, fuel economy, outside temperature, inside temperature, gear shift position, and drivable distance.

[0062] Instrument 127 can also display door opening information, information about surrounding obstacles, and information about abnormal tire pressure.

[0063] like Figure 3A As shown, the multiple doors 115 may include a driver's side door 115a, a (front) passenger side door 115b, a left rear door 115c, and a right rear door 115d.

[0064] Vehicle 1 may also include first and second monitoring devices for providing the driver with a rearward view, a left rearward view, and a right rearward view of vehicle 1.

[0065] like Figure 2 and 3A As shown, the first monitoring device 130a includes a first image acquisition unit 131a mounted on the driver's side door 115a and a second monitoring device 130b mounted on the passenger side door 115b. Specifically, the first monitoring device 130a is positioned adjacent to the left A-pillar and the driver's side side window and protrudes from the door 115a by a predetermined length, while the second monitoring device 130b is positioned adjacent to the right A-pillar and the passenger side side window and protrudes from the passenger side door 115b by a predetermined length.

[0066] like Figure 2As shown, the first monitoring device 130a further includes a first image display 132a for displaying the monitoring images obtained by the first image acquirer 131a, and the second monitoring device 130b may further include a second image display 132b for displaying the monitoring images obtained by the second image acquirer 131b.

[0067] like Figure 2 As shown, the first image display 132a can be disposed inside the driver's side door 115a, while the second image display 132b can be disposed inside the passenger side door 115b.

[0068] Furthermore, the first image display 132a and the second image display 132b can be mounted on the instrument panel 122 in front of the driver's seat. The first image display 132a and the second image display 132b can also be mounted within the built-in A-pillar.

[0069] The monitoring images acquired by the first image acquirer 131a and the second image acquirer 131b can be displayed by a vehicle terminal 140 installed in the vehicle. In this document, the vehicle terminal 140 may be an AVN device that performs audio, video, and navigation functions and displays images of the functions being performed.

[0070] The first image display 132a and the second image display 132b may be provided as a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel (PDP), a liquid crystal display (LCD) panel, an electroluminescent (EL) panel, an electrophoretic display (EPD) panel, an electrochromic display (ECD) panel, a light-emitting diode (LED) panel, or an organic light-emitting diode (OLED), etc., but are not limited thereto.

[0071] like Figure 3B As shown, the first image acquisition unit 131a of the first monitoring device 130a is disposed on the driver's side door 115a, and the first image acquisition unit 131a is disposed adjacent to the driver's side door handle and is configured to protrude from the driver's side door 115a by a predetermined length. The second image acquisition unit 131b of the second monitoring device 130b is disposed on the passenger side door 115b, and the second image acquisition unit 131b is disposed adjacent to the handle of the passenger side door 115b and is configured to protrude from the passenger side door 115b by a specific length.

[0072] The first image acquisition device 131a may include a first camera a11 and a first housing a12 for protecting the first camera a11, and also includes a first folding member a13 for folding or unfolding the first housing a12.

[0073] The second image acquisition device 131b may include a second camera a21 and a second housing a22 for protecting the second camera a21, and also includes a second folding member a23 for folding or unfolding the second housing a22.

[0074] The first image acquirer 131a and the second image acquirer 131b can fold toward the doors 115a and 115b (115) when the vehicle's ignition switch is off, the remote control is deviated beyond a predetermined distance, or user input is received; and can unfold when the ignition switch is on, the remote control is approached within a predetermined distance, or user input is received. In other words, the first image acquirer 131a and the second image acquirer 131b can automatically fold or unfold in response to locking / unlocking the doors or opening / closing the ignition switch.

[0075] The first folding component a13 of the first image acquirer 131a and the second folding component a23 of the second image acquirer 131b may include actuators (not shown) for their folding and unfolding operations. In this document, the actuator may include a motor.

[0076] The first camera a11 of the first image acquisition unit 131a and the second camera a21 of the second image acquisition unit 131b can acquire images of the vehicle's rear view and side-rear view, and send the acquired images to the controller 160 (see...). Figure 4 ).

[0077] The first camera a11 of the first image acquisition unit 131a and the second camera a21 of the second image acquisition unit 131b may include a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) image sensor.

[0078] The first camera a11 of the first image acquirer 131a and the second camera a21 of the second image acquirer 131b may include a three-dimensional spatial recognition sensor, such as a KINECT (RGB-D sensor), a TOF (structured light sensor), a stereo camera, etc. The first camera a11 of the first image acquirer 131a and the second camera a21 of the second image acquirer 131b may include at least one rotatable camera.

[0079] When the first image acquirer 131a and the second image acquirer 131b are in the deployed state, the first camera a11 of the first image acquirer 131a and the second camera a21 of the second image acquirer 131b can respond to the controller 160 (this is in Figure 4 The control command shown in the image is activated.

[0080] Figure 4 This is a control diagram illustrating a vehicle having a monitoring device according to an exemplary embodiment of the present disclosure, while Figure 5 This is a configuration diagram illustrating a monitoring device according to an exemplary embodiment of the present disclosure.

[0081] Vehicle 1 includes an input device 125, a display 126, an instrument panel 127, a sound output device (e.g., a speaker) 128, a monitoring device 130, an illuminance detector 150, a controller 160, and a storage device 161.

[0082] Input device 125 receives user input.

[0083] The input device 125 can receive the position information of the driver's seat. In this document, the seat position information may include the fore-and-aft position, up-and-down position, and angle information of the seat back.

[0084] The input device 125 can receive driver identification information and angle information of the first image acquirer 131a and the second image acquirer 131b corresponding to the driver identification information. In this document, the angle information of the first image acquirer 131a and the second image acquirer 131b may include information about tilt angle and rotation angle.

[0085] The driver's identification information may include at least one of the following: driver identification number, driver's name, driver's facial image, driver's iris, driver's fingerprint, and driver's voice.

[0086] The display 126 displays the driver's identification information and can also display the angle information of the first image acquisition device 131a and the second image acquisition device 131b corresponding to the driver's identification information, and can also display the position information of the seat 121a (121).

[0087] The instrument 127 can display the driver's identification information, the angle information of the first image acquisition device 131a and the second image acquisition device 131b corresponding to the driver's identification information, and the position information of the seat 121a (121).

[0088] The display 126 and the meter 127 can display, in text form, information on the angle change of at least one of the first and second monitoring devices in response to light saturation.

[0089] The vehicle may also include a voice output device 128, which outputs information about the functions performed in the vehicle as voice.

[0090] The sound output device 128 may include one or more speakers.

[0091] The sound output unit 128 can output sound information about the angle change of at least one of the first and second monitoring devices. For example, the sound output unit 128 can adjust the tilt angle of the first monitoring device by indicating that the light saturation occurrence condition is met, and can adjust the tilt angle of the first monitoring device to the initial tilt angle by indicating that the light saturation de-compression condition is met.

[0092] The monitoring device 130 may include a first monitoring device 130a and a second monitoring device 130b (130), which provides the driver with a rearward view, a left rearward view, and a right rearward view of the vehicle 1. In this document, the configurations of the first monitoring device 130a and the second monitoring device 130b may be identical to each other. References have been made to... Figure 2 , 3A Sections 1 and 3B describe the first monitoring device 130a and the second monitoring device 130b, therefore repeated descriptions of them will be omitted.

[0093] like Figure 5 As shown, the first image acquisition unit 131a may further include a first tilt adjuster a14 for adjusting the vertical angle of the first camera a11 and a first rotation adjuster a15 for adjusting the horizontal angle of the first camera a11 within the first housing a12.

[0094] The second image acquisition unit 131b may further include a second tilt adjuster a24 for adjusting the vertical angle of the second camera a21 and a second rotation adjuster a25 for adjusting the horizontal angle of the second camera a21.

[0095] Illuminance detector 150 detects the illuminance around monitoring equipment 130 or vehicle 1 and sends illuminance information about the detected illuminance to controller 160.

[0096] The controller 160 controls the start-up of the monitoring device 130 in response to determining that the vehicle's ignition switch has been turned on.

[0097] The controller 160 identifies the driver based on the user information input to the input device 125, identifies the seat position information corresponding to the identified driver based on the seat position information of each driver stored in the storage 161, and controls the seat position adjustment based on the seat position information.

[0098] The user information entered into the input device 125 can be the driver's identification number or the driver's name.

[0099] The controller 160 can also identify the driver based on facial images obtained by an internal camera, voice received by a microphone, or fingerprints or irises.

[0100] The controller 160 identifies the angle information of the monitoring device 130 corresponding to the identified driver based on the angle information of the monitoring device of each driver stored in the storage 161, and can adjust the tilt angle and rotation angle of the first and second cameras set in the first and second monitoring devices 130 based on the identified angle information.

[0101] The controller 160 determines whether the current time is daytime or nighttime based on the illuminance information sent from the illuminance detector 150, and identifies the light saturation occurrence condition and light saturation deactivation condition corresponding to daytime in response to determining that the current time is daytime, and identifies the light saturation occurrence condition and light saturation deactivation condition corresponding to nighttime in response to determining that the current time is nighttime.

[0102] In this document, information regarding the light saturation occurrence conditions corresponding to daytime includes a first reference value and a predetermined first time, while information regarding the light saturation release conditions includes a first release value and a predetermined second time. Information regarding the light saturation occurrence conditions corresponding to nighttime includes a second reference value and a predetermined third time, while information regarding the light saturation release conditions includes a second release value and a predetermined fourth time.

[0103] The first, second, third, and fourth scheduled times can be the same or different from each other. In this embodiment, it is assumed that the first, second, third, and fourth scheduled times are the same as each other. In other words, the first, second, third, and fourth scheduled times are all described as scheduled times.

[0104] The controller 160 can also predict daytime and nighttime based on weather, date, and time information.

[0105] If information regarding light saturation occurrence conditions and light saturation de-encounter conditions is not set separately for daytime and nighttime, the controller 160 can determine whether the images obtained by the first and second cameras are under light saturation occurrence or light saturation de-encounter conditions based on predetermined reference values ​​and de-encounter values.

[0106] The controller 160 identifies the brightness information of each region of the image obtained by the first camera a11, determines whether the light saturation occurrence condition is met based on the identified brightness information of each region of the image, and adjusts the tilt angle of the first camera a11 in response to determining that the light saturation occurrence condition is met.

[0107] The controller 160 can identify the monitoring area in the image obtained by the first camera, obtain the tilt angle based on the location information of the identified monitoring area, and adjust the tilt angle of the first camera a11 to the obtained tilt angle.

[0108] The controller 160 can identify the tilt angle corresponding to the position information of the driver's seat in the information stored in the storage 161, and adjust the tilt angle of the first camera a11 to the identified tilt angle.

[0109] After adjusting the tilt angle of the first camera a11, the controller 160 identifies the brightness information of the image obtained by the first camera a11, determines whether the light saturation release condition is met based on the brightness information of the image obtained by the first camera a11, and adjusts the tilt angle of the first camera a11 to the initial tilt angle in response to determining that the light saturation release condition is met. In this document, the initial tilt angle may be a predetermined tilt angle of the first camera a11 corresponding to the identified driver.

[0110] The controller 160 identifies the brightness information of each region of the image obtained by the second camera a21, determines whether the light saturation occurrence condition is met based on the identified brightness information of each region of the image, and adjusts the tilt angle of the second camera a21 in response to determining that the light saturation occurrence condition is met.

[0111] The controller 160 can identify the monitored area in the image obtained by the second camera, obtain the tilt angle based on the position information of the identified monitored area, and adjust the tilt angle of the second camera a21 to the obtained tilt angle.

[0112] The controller 160 can also identify the tilt angle corresponding to the position information of the driver's seat in the information stored in the storage 161, and adjust the tilt angle of the second camera a21 to the identified tilt angle.

[0113] After adjusting the tilt angle of the second camera a21, the controller 160 identifies the brightness information of the image obtained by the second camera a21, determines whether the light saturation release condition is met based on the brightness information of the image obtained by the second camera a21, and adjusts the tilt angle of the second camera a21 to the initial tilt angle in response to determining that the light saturation release condition is met. In this document, the initial tilt angle may be a predetermined tilt angle of the second camera a21 corresponding to the identified driver.

[0114] The configurations for adjusting the tilt angles of the first camera a11 and the second camera a21 in response to light saturation in the monitoring images obtained by the first monitoring device 130a and the second monitoring device 130b can be identical to each other. Therefore, to illustrate this configuration in detail, as an example, the configuration for adjusting the tilt angle of the first camera a11 of the first monitoring device will be described.

[0115] (1) Describe the configuration of the controller that identifies the monitoring area.

[0116] In response to the determination that the ignition switch is turned on, the controller 160 controls the first tilt adjuster a14 to adjust the tilt angle of the first camera a11 to the initial tilt angle, and then identifies the brightness information of each region of the first image obtained by the first camera a11. At this time, the controller 160 identifies the monitoring region among the multiple regions of the obtained first image and identifies the brightness information of the identified monitoring region.

[0117] In this document, multiple regions of the first image can be divided by pixels, or by blocks of a predetermined size. In this embodiment, multiple regions divided by pixels will be described.

[0118] like Figure 6 As shown, when identifying the first monitoring area M12 among multiple areas of the first image M11 obtained by the first camera, the controller 160 can identify the lane in the obtained first image M11, and then identify a certain size area containing the identified lane as the first monitoring area M12.

[0119] When identifying the second monitoring area M22 among multiple areas of the first image M21 obtained by the second camera, the controller 160 can identify the lane in the first image M21 obtained by the second camera, and then identify a certain size area containing the identified lane as the second monitoring area M22.

[0120] When the controller 160 identifies a monitoring area among multiple areas of the corresponding first images obtained by the first and second cameras, the controller 160 can identify a lane in the corresponding first image, and then, in response to the identification of two lanes, identify a certain size area where the two lanes intersect as a monitoring area.

[0121] The controller 160 can identify a monitored area as the region containing the left lane relative to the lane in which the vehicle is traveling, among a plurality of regions in the first image acquired by the first camera. In this context, the region containing the left lane may include lanes in which other vehicles may be traveling.

[0122] The controller 160 can identify a monitored area as the region containing the right lane relative to the lane in which the vehicle is traveling, among multiple regions of the first image obtained by the second camera. In this context, the region containing the right lane can also include lanes where other vehicles may be traveling.

[0123] (2) The configuration of the controller will be described in the case where light saturation occurrence condition information and light saturation deactivation condition information are not set separately for daytime and nighttime.

[0124] The controller 160 can determine whether the brightness of the monitored area is greater than or equal to a reference value based on the brightness information of the monitored area among multiple areas in the first image. In response to determining that the brightness of the monitored area is greater than or equal to the reference value, it obtains a tilt angle based on the position information of the monitored area and adjusts the tilt angle of the first camera a11 based on the obtained tilt angle. After adjusting the tilt angle of the first camera a11, the controller 160 can determine whether the brightness of the monitored area is less than or equal to a release value based on the brightness information of the monitored area. In response to determining that the brightness of the monitored area is less than or equal to the release value, it adjusts the tilt angle of the first camera a11 back to the initial tilt angle. In this document, the monitored areas before and after the tilt angle adjustment can be the same.

[0125] The controller 160 can determine whether the brightness of each pixel in the monitoring area of ​​the first image is greater than or equal to a reference value, and can determine whether the brightness of each pixel in the monitoring area is less than or equal to a release value.

[0126] The controller 160 can determine whether the brightness of the pixels in each block of the monitoring area in the first image is greater than or equal to a reference value, and can determine whether the brightness of the pixels in each block of the monitoring area is less than or equal to a release value.

[0127] The controller 160 can identify the number of pixels with brightness greater than or equal to a reference value by comparing the brightness of each pixel in the monitoring area of ​​the first image with a reference value, identify the proportion of the area where the brightness of the pixels is greater than or equal to the reference value based on the total number of pixels in the monitoring area and the number of identified pixels, and adjust the tilt angle of the first camera a11 to the obtained tilt angle in response to determining that the proportion of the identified area is greater than or equal to a first proportion relative to the entire area of ​​the monitoring area.

[0128] The controller 160 can identify the number of pixels with brightness less than or equal to the release value by comparing the brightness of each pixel in the monitoring area of ​​the second image with the release value, identify the proportion of the area where the brightness of the pixels is less than or equal to the release value based on the total number of pixels in the monitoring area and the number of identified pixels, and adjust the tilt angle of the first camera a11 to the initial tilt angle in response to determining that the proportion of the identified area is greater than or equal to a second proportion relative to the entire area of ​​the monitoring area.

[0129] In this article, the brightness of each pixel can be the brightness value of each pixel of (multiple) pixels.

[0130] The controller 160 can identify the number of pixels with brightness greater than or equal to a reference value by comparing the brightness of each pixel in the monitoring area of ​​the first image with a reference value, identify the proportion of the area where the brightness of the pixels is greater than or equal to the reference value based on the total number of pixels in the monitoring area and the identified number of pixels, and adjust the tilt angle of the first camera a11 to the obtained tilt angle in response to the determination that the proportion of the identified area is maintained at a first proportion relative to the entire area of ​​the monitoring area for a predetermined time.

[0131] In response to the fact that the proportion of the identified area remains greater than or equal to a first proportion relative to the entire monitored area for less than a predetermined time, the controller 160 may maintain the tilt angle of the first camera a11 at the initial tilt angle.

[0132] like Figure 7A As shown, in response to determining that the proportion of areas in the monitored area where the pixel brightness is greater than or equal to a reference value is greater than or equal to a first proportion, the controller 160 determines that the light saturation occurrence condition is initially met, and at this time, a saturation flag appears at a predetermined interval. Furthermore, in response to determining that the saturation flags appear consecutively and the number of consecutively appearing saturation flags is greater than or equal to a predetermined number, the controller 160 can determine that a predetermined time has been maintained.

[0133] In this paper, the pre-order interval can be approximately 1 second, and the pre-order quantity can be approximately 10. In other words, the pre-order time can be approximately 10 seconds.

[0134] like Figure 7B As shown, in response to the proportion of areas in the monitored area where the pixel brightness is greater than or equal to a reference value being greater than or equal to a first proportion, the controller 160 determines that the light saturation occurrence condition is initially met, and at this time, a saturation indicator appears at a predetermined interval. Furthermore, in response to determining that the saturation indicators appear discontinuously, or that the number of consecutively appearing saturation indicators is less than a predetermined number, the controller 160 can determine that the predetermined duration has not been maintained. In other words, even if the proportion of areas in the monitored area where the brightness is greater than or equal to the reference value is greater than or equal to the first proportion, in response to determining that the predetermined duration has not been maintained, the controller 160 determines that the light saturation occurrence condition is ultimately not met.

[0135] The controller 160 can identify the number of pixels whose brightness is less than or equal to the resolution value by comparing the brightness of each pixel in the monitoring area of ​​the second image with the resolution value, identify the proportion of the area where the brightness of the pixels is less than or equal to the resolution value based on the total number of pixels in the monitoring area and the number of identified pixels, and adjust the tilt angle of the first camera a11 to the initial tilt angle in response to determining that the proportion of the identified area is maintained at a second proportion relative to the entire area of ​​the monitoring area for a predetermined time.

[0136] In response to the fact that the proportion of the identified area remains greater than or equal to a second proportion relative to the entire monitored area for less than a predetermined time, the controller 160 may maintain the tilt angle of the first camera a11 at the obtained tilt angle.

[0137] (3) The configuration of the controller will be described when light saturation occurrence condition information and light saturation deactivation condition information are set for daytime and nighttime respectively.

[0138] In response to determining that the current time is daytime, controller 160 determines whether the brightness of the monitored area is greater than or equal to a first reference value based on the brightness information of the monitored area obtained by the first camera. In response to determining that the brightness of the monitored area is greater than or equal to the first reference value, controller 160 obtains a tilt angle based on the position information of the monitored area and adjusts the tilt angle of the first camera a11 based on the obtained tilt angle. After adjusting the tilt angle of the first camera a11, controller 160 determines whether the brightness of the monitored area is less than or equal to a first release value based on the brightness information of the monitored area. In response to determining that the brightness of the monitored area is less than or equal to the first release value, the tilt angle of the first camera a11 can be adjusted back to the initial tilt angle.

[0139] In response to determining that the current time is daytime, the controller 160 can determine whether the brightness of each pixel in the monitored area of ​​the image is greater than or equal to a first reference value, and determine whether the brightness of each pixel in the monitored area is less than or equal to a first release value.

[0140] In response to determining that the current time is daytime, the controller 160 can identify the number of pixels with brightness greater than or equal to the first reference value by comparing the brightness of each pixel in the monitored area of ​​the first image with the first reference value, identify the proportion of the area where the brightness of the pixels is greater than or equal to the first reference value based on the total number of pixels in the monitored area and the number of identified pixels, and adjust the tilt angle of the first camera a11 to the obtained tilt angle in response to determining that the proportion of the identified area is greater than or equal to a first proportion relative to the entire monitored area.

[0141] In response to determining that the current time is daytime, the controller 160 can identify the number of pixels with brightness less than or equal to a first reference value by comparing the brightness of each pixel in the monitored area of ​​the second image with a first reference value, identify the proportion of the area where the pixel brightness is less than or equal to the first reference value based on the total number of pixels in the monitored area and the number of identified pixels, and adjust the tilt angle of the first camera a11 to the initial tilt angle in response to determining that the proportion of the identified area is greater than or equal to a second proportion relative to the entire monitored area.

[0142] In response to determining that the current time is daytime, the controller 160 can identify the number of pixels with brightness greater than or equal to the first reference value by comparing the brightness of each pixel in the monitored area of ​​the first image with the first reference value, identify the proportion of the area where the brightness of the pixels is greater than or equal to the first reference value based on the total number of pixels in the monitored area and the number of identified pixels, and in response to determining that the proportion of the identified area remains greater than or equal to a first proportion relative to the entire monitored area for a predetermined time, adjust the tilt angle of the first camera a11 to the obtained tilt angle.

[0143] In response to determining that the current time is daytime, the controller 160 can identify the number of pixels with brightness less than or equal to the first resolution value by comparing the brightness of each pixel in the monitored area of ​​the second image with the first resolution value, identify the proportion of the area where the brightness of the pixels is less than or equal to the first resolution value based on the total number of pixels in the monitored area and the number of identified pixels, and in response to determining that the proportion of the identified area remains greater than or equal to a second proportion relative to the entire monitored area for a predetermined time, adjust the tilt angle of the first camera a11 to the initial tilt angle.

[0144] In response to determining that the current time is nighttime, controller 160 determines whether the brightness of the monitored area is greater than or equal to a second reference value based on the brightness information of the monitored area in the first image obtained by the first camera. In response to determining that the brightness of the monitored area is greater than or equal to the second reference value, controller 160 obtains a tilt angle based on the position information of the monitored area and adjusts the tilt angle of the first camera a11 based on the obtained tilt angle. After adjusting the tilt angle of the first camera a11, controller 160 determines whether the brightness of the monitored area is less than or equal to a second release value based on the brightness information of the monitored area in the second image. In response to determining that the brightness of the monitored area is less than or equal to the second release value, controller 160 can adjust the tilt angle of the first camera a11 back to the initial tilt angle.

[0145] In response to determining that the current time is nighttime, the controller 160 can identify the number of pixels with a brightness greater than or equal to the second reference value by comparing the brightness of each pixel in the monitored area of ​​the first image with the second reference value, identify the proportion of the area where the brightness of the pixels is greater than or equal to the second reference value based on the total number of pixels in the monitored area and the number of identified pixels, and adjust the tilt angle of the first camera a11 to the obtained tilt angle in response to determining that the proportion of the identified area is greater than or equal to a first proportion relative to the entire monitored area in the first image.

[0146] In response to determining that the current time is nighttime, the controller 160 can identify the number of pixels with brightness less than or equal to the second resolution value by comparing the brightness of each pixel in the monitored area of ​​the second image with the second resolution value, identify the proportion of the area where the brightness of the pixels is less than or equal to the second resolution value based on the total number of pixels in the monitored area and the number of identified pixels, and adjust the tilt angle of the first camera a11 to the initial tilt angle in response to determining that the proportion of the identified area is greater than or equal to a second proportion relative to the entire area of ​​the monitored area in the second image.

[0147] In response to determining that the current time is nighttime, the controller 160 can identify the number of pixels with a brightness greater than or equal to the second reference value by comparing the brightness of each pixel in the monitored area of ​​the first image with the second reference value, identify the proportion of the area where the brightness of the pixels is greater than or equal to the second reference value based on the total number of pixels in the monitored area and the number of identified pixels, and in response to determining that the proportion of the identified area remains greater than or equal to a first proportion relative to the entire monitored area for a predetermined time, adjust the tilt angle of the first camera a11 to the obtained tilt angle.

[0148] In response to determining that the current time is nighttime, the controller 160 can identify the number of pixels with brightness less than or equal to the second resolution value by comparing the brightness of each pixel in the monitored area of ​​the second image with the second resolution value, identify the proportion of the area with pixel brightness less than or equal to the second resolution value based on the total number of pixels in the monitored area and the number of identified pixels, and in response to determining that the proportion of the identified area remains greater than or equal to the second proportion relative to the entire monitored area in the second image for a predetermined time, adjust the tilt angle of the first camera a11 to the initial tilt angle.

[0149] (4) The configuration of the controller used to obtain the tilt angle of the first camera will be described.

[0150] like Figure 6 As shown, when the tilt angle of the first camera a11 is adjusted to the obtained tilt angle, the controller 160 can obtain the tilt angle that allows the image of the monitored area M12 to be included in the second image M13 obtained by the first camera whose tilt angle has been adjusted, and control the first tilt adjuster a14 of the first camera with the obtained tilt angle.

[0151] When the tilt angle of the second camera a21 is adjusted to the obtained tilt angle, the controller 160 can obtain the tilt angle that allows the image of the monitored area M22 to be included in the second image M23 obtained by the second camera whose tilt angle has been adjusted, and control the second tilt adjuster a24 of the second camera with the obtained tilt angle.

[0152] The controller 160 can identify the position information of the corner of the first image M11 obtained by the first camera a11, obtain the position information of the corner of the monitoring area M12 in the first image, and obtain the tilt angle of the first camera a11 based on the position information of the corner of M12 and the position information of the corner of the first image M11.

[0153] The controller 160 can obtain the tilt angle of the first camera based on the position information of the corresponding corners in the corners of the monitored area and the corners of the first image.

[0154] For example, such as Figure 6 As shown, the controller 160 obtains the tilt angle of the first camera based on the position information X1 and Y1 of the upper left corner of the corner of the first image M11 and the position information X2 and Y2 of the upper left corner of the corner of the monitoring area M12. The tilt angle can be obtained based on the difference of the Y-axis values ​​so as to adjust the tilt angle of the upper, middle and lower angles of the first camera.

[0155] In this paper, the information about the tilt angle corresponding to the difference with the Y-axis value can be obtained experimentally and stored in advance.

[0156] like Figure 6 As shown, the controller 160 can obtain the tilt angle of the first camera so that the upper left corner of the monitored area matches the upper left corner of the second image M13.

[0157] The controller 160 can obtain the rotation angle of the first camera based on the position information of the corresponding corners in the corners of the monitored area and the corners of the first image, and control the first rotation adjuster a15 to adjust the rotation angle of the first camera based on the obtained rotation angle.

[0158] The controller 160 can be implemented as a memory (not shown) and a processor (not shown), the memory storing data of an algorithm for controlling the operation of components in the vehicle or a program for reproducing the algorithm, and the processor using the data stored in the memory to perform the aforementioned operations. In this case, the memory and processor can be implemented as separate chips. Alternatively, the memory and processor can be implemented as a single chip.

[0159] Storage 161 can store a reference value for determining the conditions under which light saturation occurs and a release value for determining the conditions under which light saturation is released.

[0160] In addition, storage 161 can store a first reference value and a first release value corresponding to daytime, and a second reference value and a second release value corresponding to nighttime.

[0161] In this paper, the first reference value and the second reference value can be information about the conditions under which light saturation occurs, and the first release value and the second release value can be information about the conditions under which light saturation is released.

[0162] The first baseline value is the value of the state in which objects in areas of light saturation that may occur in an image acquired during the daytime may not be identifiable, while the second baseline value is the value of the state in which objects in areas of light saturation that may occur in an image acquired at nighttime may not be identifiable.

[0163] In this article, objects may include lanes.

[0164] The first resolution value is the value at which objects in the light-saturated areas of an image acquired during the daytime become difficult to identify, while the second resolution value is the value at which objects in the light-saturated areas of an image acquired during the nighttime become difficult to identify.

[0165] The area to be identified in the image obtained by the camera is the area of ​​the lane that is being identified, i.e., the monitoring area.

[0166] The first and second reference values ​​and the first and second release values ​​can vary depending on the position and performance of the first and second cameras, and can be predetermined information obtained through testing.

[0167] Storage 161 can store the first ratio as information about the light saturation occurrence condition for determining the light saturation occurrence condition, and store the second ratio as information about the light saturation deactivation condition for determining the light saturation deactivation condition.

[0168] The first and second ratios can vary depending on the type of vehicle, the location and performance of the first and second cameras, and can be preset based on information obtained through testing. For example, the first ratio could be approximately 70%, while the second ratio could be approximately 50%.

[0169] Storage 161 can store a predetermined time for determining the light saturation occurrence condition. In this document, the predetermined time can vary depending on the vehicle type, the location and performance of the first and second cameras, and can be predetermined information obtained through testing and pre-set. For example, the predetermined time is the duration for which the light saturation occurrence condition is maintained, and can be approximately 10 seconds.

[0170] Storage 161 can store information about the tilt angle corresponding to the difference with the Y-axis value, and can also store information about the rotation angle corresponding to the difference with the X-axis value.

[0171] Storage 161 can also store information for each driver about the tilt angle to be adjusted under light saturation conditions.

[0172] Storage 161 can store weather information, date information, and day / night information corresponding to time information.

[0173] Storage 161 can store user information for each user, seat position information for each user, and angle information of the first and second monitoring devices for each user. In this document, the user can be the driver.

[0174] Storage 161 may be a memory implemented as a chip separate from the processor associated with controller 160, or it may be implemented as a single chip with a processor.

[0175] Storage 161 may be implemented as at least one of the following non-volatile storage devices: cache, read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory; or volatile storage devices: random access memory (RAM); or storage media: hard disk drive (HDD), optical disk drive (CD-ROM), but not limited thereto.

[0176] Figure 4 Each component shown may refer to a software component and / or a hardware component, such as a field-programmable gate array (FPGA) and an application-specific integrated circuit (ASIC).

[0177] You can add or delete with Figure 4 The performance of the components of the vehicle shown corresponds to at least one component. Furthermore, those skilled in the art will readily understand that the relative positions of the components can be changed depending on the performance or structure of the system.

[0178] Figure 8 This is a control flowchart illustrating a vehicle having a monitoring device according to an exemplary embodiment of the present disclosure.

[0179] When the vehicle starts, it identifies the driver (in operation 201), recognizes the seat position information corresponding to the identified driver based on the seat position information of each driver stored in storage 161, and controls the seat position adjustment based on the seat position information (in operation 202). The vehicle recognizes the angle information of the first and second cameras corresponding to the identified driver, and adjusts the tilt and rotation angles of the first and second cameras based on the recognized angle information (in operation 203).

[0180] In this paper, the angle information of the first and second cameras refers to the tilt and rotation angles of the first and second cameras. In other words, the adjusted tilt and rotation angles of the first and second cameras can be the initial tilt and rotation angles.

[0181] The vehicle uses an illuminance detector to detect illuminance (in operation 204), and determines whether the current time is daytime or nighttime based on illuminance information about the detected illuminance. In response to determining that the current time is daytime, a first reference value is set as a light saturation occurrence condition and a first deactivation value is set as a light saturation deactivation condition. Conversely, in response to determining that the current time is nighttime, a second reference value is set as a light saturation occurrence condition and a second deactivation value is set as a light saturation deactivation condition. In other words, the vehicle sets the reference value and deactivation value for adjusting the tilt angle of the first and second cameras in response to light saturation (in operation 205).

[0182] The configurations for adjusting the tilt angles of the first camera a11 and the second camera a21 in response to light saturation in the images obtained by the first monitoring device 130a and the second monitoring device 130b can be identical to each other. Therefore, to illustrate this configuration in detail, the configuration for adjusting the tilt angle of the first camera a11 of the first monitoring device will be used as an example.

[0183] The vehicle identifies the lane in the first image obtained by the first camera of the first monitoring device, and identifies the monitoring area based on the position information of the lane in the identified first image (in operation 206).

[0184] Furthermore, when identifying the monitored area among multiple areas of the acquired first image, the vehicle can identify the lanes in the acquired first image, and if there are two lanes identified, the vehicle can identify the area where the two lanes intersect as the monitored area.

[0185] The vehicle can identify a monitored area as the region that includes the left lane relative to its own lane of travel from among multiple regions in the acquired first image. In this context, the region including the left lane may also include lanes that other vehicles may be traveling in.

[0186] Next, the vehicle determines whether the monitored area in the first image meets the conditions for light saturation (in operation 207).

[0187] More specifically, the vehicle can identify the number of pixels with brightness greater than or equal to a reference value by comparing the brightness of each pixel in the monitored area of ​​the first image with a reference value, identify the proportion of the area where the brightness of the pixels is greater than or equal to the reference value based on the total number of pixels in the monitored area and the number of identified pixels, identify the time for which the proportion of the identified area is greater than or equal to a first proportion relative to the entire area of ​​the monitored area in the first image, and determine that the monitored area in the first image meets the light saturation occurrence condition in response to determining that the identified time is greater than or equal to a predetermined time.

[0188] In this paper, when the current time is daytime, the benchmark value can be the first benchmark value, and when the current time is nighttime, the benchmark value can be the second benchmark value.

[0189] Furthermore, in response to the fact that the proportion of the area with brightness greater than or equal to the reference value is less than a first proportion relative to the entire area of ​​the monitored area, or the time for which the brightness is greater than or equal to the first proportion is less than a predetermined time, the vehicle determines that the monitored area in the first image does not meet the light saturation occurrence condition.

[0190] In response to determining that the monitored area in the first image does not meet the light saturation conditions, the vehicle maintains the tilt angle of the first camera at the initial tilt angle.

[0191] The vehicle can identify the position information of the corner of the first image obtained by the first camera a11, obtain the position information of the corner of the monitored area in the first image, and obtain the tilt angle of the first camera a11 based on the position information of the corner of the monitored area M12 and the position information of the corner of the first image.

[0192] In other words, the vehicle can obtain the tilt angle of the first camera based on the position information of the corresponding corners in the monitored area and the corners of the first image.

[0193] like Figure 6 As shown, the vehicle obtains the tilt angle of the first camera based on the position information X1 and Y1 of the upper left corner of the first image and the position information X2 and Y2 of the upper left corner of the monitored area. The tilt angle can be obtained based on the difference of the Y-axis values ​​to adjust the tilt angle as the upper, middle and lower angles of the first camera (in operation 208).

[0194] Next, the vehicle adjusts the tilt angle of the first camera a11 to the obtained tilt angle (in operation 209).

[0195] The vehicle can display notification information regarding the tilt angle adjustment of the first camera as an image via at least one of a display, image display, or instrument panel.

[0196] The vehicle can output notification information about adjusting the tilt angle of the first camera as audio via an audio output device.

[0197] Next, after adjusting the tilt angle of the first camera to the obtained tilt angle, the vehicle determines whether the monitored area in the second image obtained by the first camera meets the light saturation release condition (in operation 210).

[0198] More specifically, the vehicle can identify the number of pixels with brightness less than or equal to the release value by comparing the brightness of each pixel in the monitoring area of ​​the second image obtained by the first camera with the release value, identify the proportion of the area where the brightness of the pixels is less than or equal to the release value based on the total number of pixels in the monitoring area and the number of identified pixels, identify the time for which the proportion of the identified area is greater than or equal to the second proportion relative to the entire area of ​​the monitoring area in the second image, and determine that the monitoring area in the second image meets the light saturation release condition in response to determining that the identified time is greater than or equal to the predetermined time.

[0199] In this document, when the current time is daytime, the release value can be the first release value, and when the current time is nighttime, the release value can be the second release value. At this time, the vehicle adjusts the tilt angle of the first camera a11 to the initial tilt angle (in operation 211).

[0200] In response to the determination that the proportion of the identified area is less than a second proportion relative to the entire area of ​​the monitored area in the second image, or the time for which the proportion is greater than or equal to the second proportion is less than a predetermined time, the vehicle determines that the monitored area in the second image does not meet the light saturation release condition.

[0201] In this case, the vehicle can maintain the tilt angle of the first camera a11 at the obtained tilt angle.

[0202] As can be clearly seen from the above, according to the embodiments of this disclosure, compared with the field of view angle of the side mirror (about 17 degrees), a wider field of view angle (about 35 degrees) can provide the driver with a rear view and a side-rear view of the vehicle, so that the driver can accurately identify the surrounding situation and check blind spots without having to check with his shoulder.

[0203] Furthermore, even in adverse weather conditions, embodiments of this disclosure can provide the driver with a clear image of the surrounding environment in real time. Because embodiments of this disclosure can provide a clear image of the surrounding environment without the need for additional equipment, it prevents increased costs and promotes driving safety.

[0204] Compared to side mirrors, embodiments of this disclosure allow for less air resistance in terms of aerodynamics, thereby reducing wind noise.

[0205] As described above, embodiments of this disclosure can improve the quality and marketability of monitoring equipment and vehicles, further enhance user convenience and vehicle safety, and ensure product competitiveness.

[0206] On the other hand, embodiments of this disclosure can be implemented in the form of a recording medium storing computer-executable instructions that can be executed by a processor. The instructions can be stored as program code, and when executed by a processor, the instructions can generate program modules to perform the operations of the disclosed embodiments. The recording medium can be implemented as a non-transitory computer-readable recording medium.

[0207] Non-transitory computer-readable recording media can include all types of recording media that store commands that can be interpreted by a computer. For example, non-transitory computer-readable recording media can be, for example, ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0208] Embodiments of this disclosure have now been described with reference to the accompanying drawings. It will be apparent to those skilled in the art that this disclosure can be practiced in other forms than those described above without altering the technical concept or essential characteristics. The above embodiments are merely examples and should not be construed as limiting.

Claims

1. A monitoring device, comprising: The camera is configured to acquire images; An image display is configured to display the image; A tilt adjuster is configured to adjust the tilt angle of the camera; and The controller is configured as follows: Identify the brightness of the first image displayed on the image display; In response to determining that the identified brightness is greater than or equal to a reference value, the tilt adjuster is controlled to adjust the tilt angle of the camera; as well as After adjusting the tilt angle of the camera, in response to determining that the brightness of the second image displayed on the image display is less than or equal to a release value, the tilt adjuster is controlled to adjust the tilt angle of the camera back to the initial tilt angle. The controller is further configured as follows: Identify the monitoring area in the first image and determine whether the brightness of each pixel in the identified monitoring area is greater than or equal to the reference value; Identify the number of pixels in the monitored area whose brightness is greater than or equal to the reference value; Based on the total number of pixels in the monitored area and the number of identified pixels, the ratio of the area where the brightness of the identified pixels is greater than or equal to the reference value to the monitored area; and In response to determining that the identified proportion is greater than or equal to a first proportion, the tilt angle of the camera is adjusted.

2. The monitoring device according to claim 1 further includes: An illuminance detector is configured to detect illuminance and output illuminance information about the detected illuminance, wherein, The controller is also configured to: Based on the illuminance information, determine whether the current time is daytime or nighttime; In response to determining that the current time is daytime, the reference value is set to a first reference value, and the release value is set to a first release value; and In response to determining that the current time is nighttime, the reference value is set to a second reference value, and the release value is set to a second release value.

3. The monitoring device according to claim 1, wherein, The controller is also configured to: In response to determining that the identified proportion remains greater than or equal to the first proportion for a period of time greater than or equal to a predetermined time, the tilt adjuster is controlled to adjust the tilt angle of the camera.

4. The monitoring device according to claim 1, wherein, The controller is also configured to: Identify the monitoring area in the second image and determine whether the brightness of each pixel in the identified monitoring area is less than or equal to the release value.

5. The monitoring device according to claim 4, wherein, The controller is also configured to: Identify the number of pixels in the monitored area whose brightness is less than or equal to the reset value; Based on the total number of pixels in the monitored area and the number of identified pixels, the ratio of the area where the brightness of the identified pixels is less than or equal to the release value to the monitored area; as well as In response to determining that the identified proportion is greater than or equal to the second proportion, the tilt angle of the camera is adjusted to the initial tilt angle.

6. The monitoring device according to claim 5, wherein, The controller is also configured to: In response to determining that the identified proportion is maintained at or above the second proportion for a time greater than or equal to a predetermined time, the tilt adjuster is controlled to adjust the tilt angle of the camera to the initial tilt angle.

7. A vehicle comprising: Surveillance equipment, including cameras used to acquire images of the surroundings; A tilt adjuster is used to adjust the tilt angle of the camera; An image display for displaying images acquired from the camera; The storage is configured to store information about the initial tilt angle of the camera; and The controller is configured as follows: In response to determining that the brightness of the first image displayed on the image display is greater than or equal to a reference value, the tilt adjuster is controlled to adjust the tilt angle of the camera; as well as After adjusting the tilt angle of the camera, in response to determining that the brightness of the second image displayed on the image display is less than or equal to a release value, the tilt adjuster is controlled to adjust the tilt angle of the camera back to the initial tilt angle. The controller is further configured as follows: Identify the monitoring area in the first image of the image display, and determine whether the brightness of each pixel in the monitoring area is greater than or equal to the reference value; Identify the number of pixels in the monitored area whose brightness is greater than or equal to the reference value; Based on the total number of pixels in the monitored area and the number of identified pixels, the ratio of the area where the brightness of the identified pixels is greater than or equal to the reference value to the monitored area; and In response to determining that the identified proportion is maintained at or above the first proportion for a time that is greater than or equal to a predetermined time, the tilt adjuster is controlled to adjust the tilt angle of the camera.

8. The vehicle according to claim 7, further comprising: An illuminance detector is configured to detect illuminance and output illuminance information about the detected illuminance, wherein, The controller is also configured to: Based on the illuminance information, determine whether the current time is daytime or nighttime; In response to determining that the current time is daytime, the reference value is set to a first reference value, and the release value is set to a first release value; and In response to determining that the current time is nighttime, the reference value is set to a second reference value, and the release value is set to a second release value.

9. The vehicle according to claim 7, wherein, The controller is also configured to: Identify the monitoring area in the second image of the image display and determine whether the brightness of each pixel in the monitoring area is less than or equal to the release value.

10. The vehicle according to claim 9, wherein, The controller is also configured to: Identify the number of pixels in the monitored area whose brightness is less than or equal to the reset value; Based on the total number of pixels in the monitored area and the number of identified pixels, the ratio of the area where the brightness of the identified pixels is less than or equal to the release value to the monitored area; as well as In response to determining that the identified proportion remains greater than or equal to the second proportion for a predetermined time, the tilt angle of the camera is adjusted to the initial tilt angle.

11. The vehicle according to claim 7, wherein, The controller is also configured to: The monitoring area in the first image of the image display is identified, and the tilt angle of the camera is obtained based on the position information of the corner of the first image and the position information of the corner of the monitoring area.

12. The vehicle according to claim 11, wherein, The controller is also configured to: The lanes in the first image of the image display are identified, and the monitoring area is identified based on the location information of the identified lanes.

13. The vehicle according to claim 12, wherein, The monitoring area identified in the first image and the monitoring area identified in the second image are the same.

14. The vehicle according to claim 7, further comprising a first door and a second door respectively disposed on the left and right sides of the vehicle body. in, The cameras of the monitoring equipment are respectively installed in the first door and the second door.

15. The vehicle of claim 7, further comprising an input device configured to receive user input and a position-adjustable seat. in, The storage is also configured to store seat position information for each driver's seat, and The controller is also configured to: identify the driver based on user input received from the input device, and obtain the tilt angle of the camera based on seat position information corresponding to the identified driver.

16. The vehicle of claim 15, further comprising a display. in, The controller is also configured to display notification information regarding the adjustment of the camera's tilt angle when the camera's tilt angle is adjusted.

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