Driving information display apparatus and method, and computer readable storage medium

Abstract

The invention relates to a driving information display apparatus and method, and a computer readable storage medium. The driving information display apparatus includes a processor configured to receive driving guide information and vehicle position information, control output of a guide screen, and set a cropping area in an image from a front view camera based on a calculated vanishing point. The storage unit stores the road information, the algorithm, and the camera attitude value, thereby allowing the processor to generate a guide screen by integrating the driving guide information within a clipping area centered on the vanishing point.

Description

[0001] Related Applications

[0002] This application claims the priority of Korean Patent Application No. 10-2024-0007439, filed on January 17, 2024, the entire contents of which are incorporated herein by reference for all purposes. Technical Field

[0003] The present disclosure relates to a driving information display device and method for using a vanishing point to correct a camera attitude value, and more particularly, to a device and method for extracting a portion suitable for providing information to a driver from an image captured by a front view camera during the process of displaying driving information using augmented reality, enhancing the extracted portion with driving information, and then providing the extracted portion enhanced with driving information. Background Art

[0004] With the development of location information and geospatial information processing technologies using technologies such as the Global Positioning System (GPS), various types of driving information are provided during vehicle operation. In particular, with the advancement of vehicle navigation systems and head-up displays (HUDs), methods for presenting driving information have also become more diverse.

[0005] Accordingly, there is an increasing trend to provide driving information using augmented reality, such as the technology disclosed in Korean Patent No. 10-1665599, entitled "Augmented Reality Navigation Device and Method for Route Guidance Service". As in the prior art, when providing driving information by overlaying it on a front view image captured by a vehicle's camera using augmented reality technology, it is necessary to extract an area from the front view image that can provide sufficient information to the driver and then provide that information. The necessary portion extracted from the image in this way is called a cropping area. Therefore, a method capable of accurately extracting the cropping area is required.

[0006] The information included in the background of the present disclosure is only for enhancing the understanding of the general background of the present disclosure and should not be construed as admitting or suggesting that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0007] An object of the present disclosure is to accurately extract an area corresponding to an actual front area in front of a vehicle from an image captured by a front view camera of the vehicle.

[0008] An object of the present invention is to extract an area suitable for providing information to a driver from an image captured by a front view camera of the vehicle.

[0009] An object of the present disclosure is to correct a camera attitude value set in a vehicle.

[0010] The object of the present disclosure is to stably extract a cropped area by preventing the extracted area from being unnecessarily changed due to temporary conditions or errors when correcting the camera attitude value set in a vehicle.

[0011] The object solved by the exemplary embodiments of the present disclosure is not limited to the above object, and those skilled in the art will clearly understand other objects from the following detailed description of the present disclosure.

[0012] According to various aspects of the present disclosure, there is provided a driving information display device, including: a processor configured to receive driving guidance information and vehicle position information, and control the output of a guidance screen corresponding to the driving guidance information; and a storage unit configured to store road information and algorithms executed by the processor; wherein, the storage unit is further configured to store the camera attitude value of the front view camera of the vehicle; and wherein, the processor is further configured to: set a cropped area such that the position of the vanishing point calculated based on the camera attitude value is the center of the image captured by the front view camera of the vehicle; and generate a guidance screen by adding the driving guidance information to the cropped area.

[0013] The processor may further be configured to: determine whether the camera attitude value can be corrected based on the driving route and driving speed information of the vehicle; and when it is determined that the camera attitude value can be corrected, use the image captured by the front view camera of the vehicle to correct the camera attitude value, and store the corrected camera attitude value in the storage unit.

[0014] The processor may further be configured to: determine that the camera attitude value can be corrected when there is no turn exceeding a predetermined reference angle in a front section of a predetermined reference length on the driving route of the vehicle, and the speed of the vehicle is at or higher than the predetermined reference speed.

[0015] The processor may further be configured to: determine that the camera attitude value can be corrected when the steering angle of the vehicle also falls within a predetermined reference steering angle range.

[0016] The processor may further be configured to: when the condition for correcting the camera attitude value lasts for a predetermined reference time or longer, use the image captured by the front view camera of the vehicle to correct the camera attitude value, and store the corrected camera attitude value in the storage unit.

[0017] The processor may further be configured to: cumulatively store a plurality of corrected camera attitude values in the storage unit; and update the camera attitude value by using those corrected values that have passed noise filtering among the plurality of cumulatively stored corrected camera attitude values.

[0018] The camera attitude values may include a pitch value, a yaw value, and a roll value representing the angles of the camera; and the processor may also be configured to derive a corrected camera attitude value by calculating a corrected pitch value, a corrected yaw value, and a corrected roll value using an image captured by a front view camera of the vehicle.

[0019] The storage unit may also store a focal length value of the front view camera of the vehicle; and the processor may also be configured to: identify a left lane and a right lane beside the vehicle by analyzing an image captured by the front view camera of the vehicle; determine a position of a vanishing point in the image based on an intersection point of the identified left lane and the right lane; and calculate a corrected pitch value and a corrected yaw value based on the position of the vanishing point in the image and the focal length value.

[0020] The processor may also be configured to calculate a corrected pitch value using a value obtained by dividing a difference between a y-axis coordinate of a center point of the image and a y-axis coordinate of the vanishing point in the image by a y-axis distance of the focal length.

[0021] The processor may also be configured to calculate a corrected yaw value using a value obtained by dividing a difference between an x-axis coordinate of a center point of the image and an x-axis coordinate of the vanishing point in the image by an x-axis distance of the focal length.

[0022] The processor may also be configured to: identify a horizon line in an image captured by the front view camera of the vehicle; and calculate a corrected roll value based on an angle of the identified horizon line in the image.

[0023] The methods and apparatuses of the present disclosure have additional features and advantages that will be apparent or more particularly described in the accompanying drawings and the following detailed description incorporated herein, which explain specific principles of the present disclosure in conjunction with the accompanying drawings and the detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a block diagram showing an internal configuration of a driving information display device according to various exemplary embodiments of the present disclosure;

[0025] Figure 2 is a diagram showing an example of an image captured by a front view camera of a vehicle in a driving information display device according to various exemplary embodiments of the present disclosure;

[0026] Figure 3 is a diagram showing an example of setting a cropping area using a camera attitude value configured for a vehicle in a driving information display device according to various exemplary embodiments of the present disclosure;

[0027] Figure 4It is a diagram showing another example of setting a cropping area using a camera attitude value set for a vehicle in a driving information display device according to various exemplary embodiments of the present disclosure;

[0028] Figure 5 It is a diagram showing an example of correcting a camera attitude value based on a vanishing point and then setting a cropping area in a driving information display device according to various exemplary embodiments of the present disclosure;

[0029] Figure 6 It is a diagram showing an example of correcting a camera attitude value based on a vanishing point and then setting a cropping area in a driving information display device according to various exemplary embodiments of the present disclosure;

[0030] Figure 7 It is a diagram showing an example of deriving a vanishing point in a driving information display device according to various exemplary embodiments of the present disclosure;

[0031] Figure 8 It is a diagram showing an example of correcting a pitch value of a camera attitude value in a driving information display device according to various exemplary embodiments of the present disclosure;

[0032] Figure 9 It is a diagram showing an example of correcting a yaw value of a camera attitude value in a driving information display device according to various exemplary embodiments of the present disclosure;

[0033] Figure 10 It is a diagram showing an example of correcting a roll value of a camera attitude value in a driving information display device according to various exemplary embodiments of the present disclosure; and

[0034] Figure 11 It is a flowchart showing the process of a driving information display method according to various exemplary embodiments of the present disclosure.

[0035] It should be understood that the drawings are not necessarily drawn to scale, presenting a slightly simplified representation of various features illustrating the basic principles of the present disclosure. Specific design features of the present disclosure included herein (including specific dimensions, orientations, positions, and shapes) will be determined in part by the specific intended application and usage environment.

[0036] In the drawings throughout the figures, the same reference numerals refer to the same or equivalent parts of the present disclosure. Detailed Description

[0037] Reference will now be made in detail to various embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings and described below. Although the present disclosure will be described in conjunction with the exemplary embodiments of the present disclosure, it should be understood that this specification is not intended to limit the present disclosure to those exemplary embodiments. On the other hand, the present disclosure is intended to cover not only the exemplary embodiments of the present disclosure, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the present disclosure as defined by the appended claims.

[0038] Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the following description of the present disclosure, if the detailed description of any relevant known configuration or function may obscure the gist of the present disclosure, the detailed description will be omitted. In addition, in the following description of the exemplary embodiments of the present invention, specific numerical values are merely examples, and the scope of the present disclosure is not limited thereby.

[0039] In the description of the components of the exemplary embodiments, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only used to distinguish the corresponding components from other components, and the nature, order of positioning, and / or sequence of the corresponding components are not limited by the terms. In addition, unless otherwise defined, all terms (including technical or scientific terms) used herein include the same meanings as those commonly understood by those skilled in the art to which the exemplary embodiments of the present disclosure belong. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings in the context of the prior art, and should not be interpreted as having ideal or overly formal meanings unless explicitly defined in this application.

[0040] Reference will now be made to Figures 1 to 11 describe in detail the embodiments of the present disclosure.

[0041] Figure 1 is a block diagram showing the internal configuration of a driving information display device 101 according to various exemplary embodiments of the present disclosure.

[0042] The driving information display device 101 according to the exemplary embodiment may be provided inside a vehicle (such as a vehicle), or may be implemented in a detachable form. The driving information display device 101 may generally include forms such as a vehicle navigation system, an audio, video, and navigation (AVN) system, a head-up display (HUD), etc., and may be implemented in the form of providing an application on a mobile phone terminal such as a smart phone.

[0043] The driving information display device 101 according to an exemplary embodiment may be in the form of a server located outside a vehicle (such as a car). In this case, the driving information display device 101 may be implemented to generate driving guidance information by processing determinations while being outside the vehicle, and output the driving guidance information to a display located inside the vehicle. In addition, it may be implemented in various embodiments. The scope of rights of the present disclosure is not limited by the form of these implementations.

[0044] In addition, the driving information display device 101 of the exemplary embodiment may operate in combination with an autonomous driving control system (such as an Advanced Driver Assistance System (ADAS), Smart Cruise Control (SCC), Forward Collision Warning (FCW), etc.).

[0045] As shown in the figure, the driving information display device 101 according to an exemplary embodiment may include a processor 110, a storage unit 120, a communication unit 130, and an output unit 140.

[0046] The processor 110 is configured to control the storage unit 120, the communication unit 130, and the output unit 140 to execute applications, process data according to algorithms defined in the application programs, communicate with external modules, and provide the processing results to the user.

[0047] The processor 110 may refer to a chip for processing general algorithms, such as a Central Processing Unit (CPU) or an Application Processor (AP), or a combination of such chips. The processor 110 may refer to a chip designed to process artificial intelligence algorithms such as deep learning, optimized for floating-point arithmetic such as General-Purpose Computing on Graphics Processing Units (GPGPU), or a group of such chips. Alternatively, the processor 110 may refer to a module in which various types of chips execute algorithms and process data in a connected and distributed manner.

[0048] The processor 110 may be electrically connected to the storage unit 120 and the communication unit 130, may control these components, may be a circuit that executes software commands, and may perform various types of data processing and determinations described later. The processor 110 may be, for example, an Electronic Control Unit (ECU), a Microcontroller Unit (MCU), or another low-level controller installed in a vehicle.

[0049] The storage unit 120 stores road information and algorithms executed by the processor. The road information may include map data, traffic conditions, or similar information. Depending on the configuration of the driving information display device 101 of the present disclosure, the form or amount of road information stored inside the driving information display device 101 may vary.

[0050] In some cases, the storage unit 120 may store road information including map data of all serviceable areas and traffic condition information, and provide services based on the road information. Alternatively, the storage unit 120 may only temporarily store road information related to the currently guided location, and provide services based on the temporarily stored road information.

[0051] Implementations may vary depending on the form of implementing the driving information display device 101 according to the exemplary embodiments of the present disclosure inside or outside the vehicle, the communication method used, the storage capacity of the storage unit 120, and / or the input / output speed. This is part that can be autonomously selected by those skilled in the art according to the implementation situation. The scope of rights of the present disclosure is not limited by such different implementations.

[0052] The storage unit 120 may store graphic information that is superimposed on a captured image in the front area of the vehicle or on a scene viewed through the front windshield of the vehicle by using augmented reality technology. The graphic information may include images output according to various types of guidance.

[0053] The storage unit 120 may have various forms and may be at least one type of storage medium, such as flash memory, hard disk, micro, card (e.g., Secure Digital (SD) card), Extreme Digital (XD) card, random access memory (RAM), static RAM (SRAM), read only memory (ROM), programmable ROM (PROM), electrically erasable PROM (EPROM), magnetic memory (MRAM), magnetic disk, or optical disk type storage medium, etc. Different types of storage media or combinations of different types of storage media may be selected depending on factors such as capacity, processing speed, and storage cycle.

[0054] The algorithms stored in the storage unit 120 may be implemented as computer programs in executable form, and stored in the storage unit 120 and then executed as needed. The algorithms stored in the storage unit 120 may be interpreted as instructions that are temporarily loaded into volatile memory and instruct the processor to perform specific operations.

[0055] The communication unit 130 receives information for driving guidance from outside the driving information display device 101 of the present disclosure through a wired / wireless communication network, and transmits necessary information to an external module.

[0056] The communication unit 130 can receive road information stored in the storage unit 120, algorithms executed by the processor 110, etc. from an external module, and can transmit information related to the current state of the vehicle to the outside to obtain necessary information related to the transmitted information. For example, the communication unit 130 can continuously receive traffic information from a traffic information server to check real-time traffic information, and is configured to send the position and route information of the vehicle discovered by a module such as a Global Positioning System (GPS) receiver to the outside to obtain real-time traffic information of the area related to the position and route of the vehicle.

[0057] The communication unit 130 is a hardware device implemented to send and receive signals using various electronic circuits and through wireless or wired connections. In an exemplary embodiment of the present disclosure, the communication unit 130 can perform communication within the vehicle using basic vehicle network communication technologies, and can perform vehicle-to-infrastructure (V2I) communication with a server, infrastructure, another vehicle, etc. outside the vehicle using wireless Internet access or short-range communication technologies. In this case, communication within the vehicle can be performed using Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, FlexRay communication, etc. as basic vehicle network communication technologies. In addition, such wireless communication technologies can include Wireless LAN (WLAN), Wireless Broadband (WiBro), Wi-Fi, Worldwide Interoperability for Microwave Access (WiMAX), etc. Additionally, short-range communication technologies can include Bluetooth, ZigBee, Ultra Wideband (UWB), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), etc.

[0058] The output unit 140 can display augmented reality information by executing an algorithm stored in the storage unit 120 under the control of the processor 110. Augmented reality is a technology that enables relevant information to be provided by adding graphic information to an image or scene of the real world.

[0059] The output unit 140 can be implemented as a Head-Up Display (HUD), dashboard, Audio, Video and Navigation (AVN) system, Human Machine Interface (HMI), etc. In addition, the output unit 140 can include at least one of a Liquid Crystal Display (LCD), Thin Film Transistor Liquid Crystal Display (TFT LCD), Light Emitting Diode (LED) display, Organic Light Emitting Diode (OLED) display, Active Matrix OLED (AMOLED) display, flexible display, curved display, and three-dimensional (3D) display. Some of these displays can be implemented as transparent displays configured in a transparent or semi-transparent form to enable seeing the outside. In addition, the output unit 140 can be set as a touch screen including a touch panel and can be used as an input device as well as an output device.

[0060] When the output unit 140 is implemented as a general opaque display, the processor 110 can reproduce in real time on the output unit an image obtained by capturing the area in front of a vehicle (such as a car), can determine the position on the reproduced image where information will be displayed, and can add graphic information for displaying augmented reality information to that position, thereby providing relevant information to the user in a realistic manner.

[0061] In contrast, when the output unit 140 is implemented as a transparent display, the position where information will be displayed can be determined on the front view of a vehicle (such as a car) visible through the transparent screen, graphic information for representing augmented reality information can be added to that position, and then the generated information can be output. The present disclosure applies to both of these types, and the processing type of the processor 110 can vary depending on the type of the output unit 140. Such a design change falls within the scope that is obvious to those skilled in the art, and the scope of the rights of the present disclosure is not limited by such type differences.

[0062] Depending on the processing method of the processor 110, the driving information display device 101 according to the present disclosure can have different embodiments. Therefore, the functions of the processor 110 will be described in combination with various exemplary embodiments in different scenarios.

[0063] In the present disclosure, a vehicle can include various transportation means. In some cases, a vehicle can be interpreted based on the concept that it includes not only various land transportation means (such as cars, motorcycles, trucks, and buses) traveling on roads, but also various transportation means (such as airplanes, drones, ships, etc.).

[0064] As described above, the processor 110 performs control to receive driving guidance information and the position data of the vehicle, and outputs a guidance screen corresponding to the driving guidance information. In this case, the driving guidance information can include various types of information. When a driver sets a destination and wants to receive guidance information related to the destination through a screen, the driving guidance information can include information related to the destination and the route leading to the destination. Various other types of information for guiding the driving of the vehicle can be included in the driving guidance information.

[0065] Specifically, when the processor 110 provides guidance information by using augmented reality technology to superimpose data on an image of the area in front of the vehicle, the driver can intuitively understand the guidance information. For example, by displaying the color of the lane that the vehicle needs to drive in or indicating the direction that the vehicle needs to drive in the image of the area in front of the vehicle, it can be clearly shown how to drive on an actual road.

[0066] In order for the processor 110 to use augmented reality technology to provide guidance information, it may be necessary to provide a forward view image to ensure that the driver can easily understand the guidance. An image of the area in front of the vehicle is obtained using a forward view camera mounted on the vehicle. The image of the area in front of the vehicle is generated by cropping out an area suitable for providing information to the driver from the image obtained by capturing a larger area in front of the vehicle using the forward view camera. The area cropped out from the image from the forward view camera to be provided to the driver in this way is called the cropping area.

[0067] If an area set too high in the image captured by the forward view camera is selected as the cropping area, a large sky area is shown within the cropping area while the forward road is not expected to be visible, making the forward road less visible and difficult for the driver to identify. Conversely, when a too low part of the image from the forward view camera is selected as the cropping area, only a large road area is shown in this area, making it difficult to display information related to the far - forward area and also difficult to provide information related to nearby geographical features or buildings.

[0068] Therefore, the cropping area should ideally be set such that the vanishing point is located at the center of the cropping area. Since the forward view camera is fixed to the vehicle, the camera pose value can be used to calculate the position of the vanishing point when the camera is installed in the vehicle. The camera pose value of the forward view camera can be determined when the forward view camera is installed on the vehicle, and the determined value can be stored in the storage unit 120. Therefore, based on the stored value, the vanishing point in the image can be calculated and the cropping area can be set such that the center of the cropping area is located at the vanishing point.

[0069] The camera pose value of the forward view camera includes a pitch value representing the angle in the vertical direction centered on the transverse axis of the vehicle, a yaw value representing the angle in the left - right direction centered on the vertical axis of the vehicle, and a roll value representing the rotation angle around the longitudinal direction of the vehicle. When all values are 0, the center point of the forward view image coincides with the vanishing point.

[0070] In this way, when the camera is installed in the vehicle, the camera pose value of the forward view camera is determined and can be continuously used in the state stored in the storage unit 120. When the pose of the forward view camera changes due to the weight of the load on the vehicle, vehicle repairs, vibrations during driving, etc., it is difficult to accurately set the center position of the cropping area to the vanishing point by using the camera pose value determined during installation.

[0071] Therefore, when the front view image can be used to correct the camera attitude values while the vehicle is moving, the processor 110 corrects the camera attitude values and stores them in the storage unit 120. As a result, the camera attitude values are corrected, ensuring that the cropping area can be accurately set and that driving guidance information can be provided to the driver using augmented reality technology.

[0072] As described above, the processor 110 sets the cropping area such that the vanishing point calculated based on the camera attitude values in the image from the front view camera of the vehicle is the center of the cropping area, and generates a guidance screen by superimposing the driving guidance information on the cropping area. As described above, the camera attitude values represent the different angles at which the actual camera is oriented in the vertical direction, the left-right direction, and the rotation direction based on the attitude with the center of the image from the camera as the vanishing point.

[0073] Therefore, using the focal length and pitch value of the camera, it is possible to calculate how far the actual vanishing point is from the center point of the image in the vertical direction. Using the focal length and yaw value of the camera, it is possible to calculate how far the actual vanishing point is from the center point of the image in the left-right direction. Using the roll value of the camera, the rotational offset of the image can be indicated to generate an image with a corrected angle. Refer to Figures 8 to 10 A method for calculating the actual position of the vanishing point using the pitch value, yaw value, and roll value will be described in more detail.

[0074] Based on the driving route and driving speed information of the vehicle, the processor 110 determines whether the camera attitude values can be corrected. When it is determined that the camera attitude values can be corrected, the image from the front view camera of the vehicle is used to correct the camera attitude values, and the corrected camera attitude values are stored in the storage unit 120. The condition for being able to correct the camera attitude values is a condition where information related to the vanishing point can be accurately obtained from the front view image.

[0075] When there is no turn exceeding a predetermined reference angle in the front section of a predetermined reference length on the driving route of the vehicle, and the speed of the vehicle is at or higher than the predetermined reference speed, the processor 110 determines that the camera attitude values can be corrected. When the vehicle turns left and right, the position of the vanishing point changes continuously, such that the vanishing point remains constant only when the vehicle is continuously driving in a straight section in the forward direction. Therefore, the processor 110 checks the road conditions ahead by referring to the storage unit 120, and when the straight section continues, determines the vanishing point and corrects the camera attitude values.

[0076] Therefore, when the steering angle of the vehicle also remains within a predetermined reference steering angle range, the processor 110 can determine that the camera attitude values can be corrected. When the steering angle does not change, it indicates straight driving. Therefore, by considering not only the road conditions ahead but also the actual driving direction of the vehicle, it is possible to determine whether the vanishing point can be reliably analyzed.

[0077] If the condition for correcting the camera attitude value continues for a predetermined reference time or longer, the processor 110 corrects the camera attitude value using an image from the front camera of the vehicle and stores the corrected camera attitude value in the storage unit 120. This can prevent a problem in which the camera attitude value cannot be accurately corrected due to a temporary misidentification of the vanishing point caused by the conditions of the vehicle or the like.

[0078] The processor 110 may cumulatively store multiple corrected camera attitude values in the storage unit 120 and may update the camera attitude value by using the corrected camera attitude value that has passed noise filtering among the multiple cumulatively stored corrected camera attitude values. If the vanishing point is temporarily misdetected due to the vehicle condition, determining the correction attitude value based only on a single vanishing point can result in inaccuracy. When the cropping area is changed too frequently, this can cause inconvenience to the driver. Therefore, when it is determined through analysis of the cumulative correction results that the actual camera attitude has changed, the camera attitude value is updated. Various techniques for removing outliers from the data can be applied to noise filtering, and the noise filtering is not limited to a specific method. The average value of the most recently generated corrected camera attitude values can be used to perform the update of the camera attitude value using the multiple cumulatively stored corrected camera attitude values. This average value can also be obtained by assigning weights according to time such that more weight is given to the most recently calculated corrected camera attitude value.

[0079] The processor 110 derives a corrected camera attitude value by calculating a corrected pitch value, a corrected yaw value, and a corrected roll value using an image captured by the front camera of the vehicle. For this purpose, the storage unit 120 may store a focal length value of the front camera of the vehicle. The focal length value of the front camera is a value predetermined according to the type of the camera and may be stored in the storage unit 120 during the initial setting of the vehicle.

[0080] The processor 110 detects a left lane and a right lane beside the vehicle by analyzing an image captured by the front camera, determines the position of the vanishing point in the image based on the intersection point of the detected left lane and right lane, and calculates a corrected pitch value and a corrected yaw value based on the position of the vanishing point in the image and the focal length value.

[0081] The vanishing point is a point in the image that appears to converge as an object recedes. As the number of straight lines matching the direction of the camera increases, the vanishing point can be more accurately identified. In the case of an image of an area in front of the vehicle, the lane along which the vehicle travels can be used to obtain the vanishing point. In this case, the vanishing point can be accurately calculated only when the lane is straight for a minimum distance ahead. As described above, when the vehicle travels on a road including a straight section of more than a predetermined distance, the camera attitude value can be corrected.

[0082] When identifying the left and right lanes beside the vehicle, the linear functions of the straight lines represented by the left and right lanes in the image can be obtained. When the linear functions representing the two lanes are obtained, the coordinates of the intersection point become the coordinates of the vanishing point in the image.

[0083] As described above, the camera attitude value has a pitch value, a yaw value, and a roll value. First, to correct the pitch value, the processor 110 calculates the corrected pitch value by dividing the difference between the y-axis coordinate of the center point of the image from the vehicle's front-view camera and the y-axis coordinate of the vanishing point in the image by the y-axis distance of the focal length.

[0084] As Figure 8 shown, when the camera attitude value is basically 0, it is set such that the vanishing point is located at the center of the image. Therefore, in the attached figure, the difference between the center point 705 of the charge-coupled device (CCD) 801 (where the center point of the camera image is identified here) and the actual vanishing point 704 is generated by the angle corresponding to the pitch value 820.

[0085] When as Figure 8 shown, when only considering the vertical direction, the difference between the y-coordinate of the center point of the image and the y-coordinate of the vanishing point represents the distance between points 704 and 705 on the y-axis in the figure. In this case, in the attached figure, F 810 is the distance of one focal length from the CCD's center point 705 on the straight line drawn vertically, such that the value obtained by dividing the distance between points 704 and 705 on the y-axis by F is used as tan (pitch value 820). Therefore, using the distance between points 704 and 705 on the y-axis and the focal length F of the camera, the pitch value can be calculated as an angle.

[0086] In addition, the processor 110 calculates the corrected yaw value by dividing the difference between the x-axis coordinate of the center point of the image from the vehicle's front-view camera and the x-axis coordinate of the vanishing point in the image by the x-axis distance of the focal length.

[0087] As Figure 9 shown, when looking at the CCD 801 from above the vehicle, the yaw value represents the attitude change in the left-right direction. Therefore, using the distance between points 704 and 705 on the x-axis (the difference between the x-coordinate of the center point and the x-coordinate of the vanishing point) and the focal length F, similar to the process of calculating the pitch value, the yaw value can be calculated as an angle. Also in this case, the value obtained by dividing the distance between points 704 and 705 on the x-axis by F is used as tan (yaw value 920). Therefore, the yaw value can be calculated using the distance between points 704 and 705 on the x-axis and the focal length F of the camera.

[0088] The vanishing point of the image is affected by the vertical and horizontal angles of the camera, enabling the accurate determination of the position of the vanishing point by correcting the pitch and yaw values. At the same time, the roll value, which is part of the camera attitude value, indicates how much the image is rotated compared to the actual situation. When the actual attitude of the camera moves and an image is captured while rotating, this may cause inconvenience to the driver in terms of image usage. Therefore, in the process of correcting the camera attitude value, the roll value is also corrected.

[0089] The processor 110 identifies the horizon in the image by analyzing the forward view image from the vehicle's camera and calculates the corrected roll value using the angle of the horizon identified in the image.

[0090] When the roll value of the camera is 0, it is necessary to derive the horizon parallel to the x-axis in the image. When an angle is formed with respect to the x-axis, the camera attitude value is formed such that the roll value corresponds to the angle. Thus, when extracting the cropped area from the forward view image, the processor 110 rotates the image by the roll value in the opposite direction to make the horizon parallel to the x-axis and then extracts the cropped area. Therefore, this ensures that an accurate image can be provided even when the attitude of the camera changes.

[0091] As Figure 10 shown, when the horizon is detected in the forward view image, the linear function of the line forming the horizon can be obtained, and the roll value can be calculated using the slope of the linear function.

[0092] In this way, the processor 110 can correct the pitch value, yaw value, and roll value using the forward view image. When there are many buildings in the front area, it may be difficult to identify the horizon. In this case, only the camera attitude value in which the pitch and yaw values have been corrected can be derived. As described above, the pitch and yaw values can be used to obtain the position of the vanishing point, and the roll value can be used to correct the rotation of the image. Therefore, the cropped area can be accurately derived only by correcting the pitch value and yaw value.

[0093] When the camera attitude value is corrected and updated in the storage unit 120 as described above, even in a situation where it is difficult to identify the vanishing point of the image (such as on a curved road section), the most recently updated camera attitude value can be used to accurately determine the vanishing point. A cropped area can be set around the vanishing point to provide a more convenient view for the driver.

[0094] Figure 2 is a diagram showing an example of an image captured by a forward view camera in a driving information display device according to various exemplary embodiments of the present disclosure, and Figure 3 and Figure 4 are diagrams showing examples of setting a cropped area using the camera attitude value set for the vehicle.

[0095] AsFigure 2 As shown, an image captured by a front view camera of a vehicle is obtained and provided by capturing a wide front view. Therefore, in order to display information within a specified display screen using augmented reality technology, an area suitable for displaying the information must be cut out as a cropping area.

[0096] Figure 3 The case where a vanishing point is obtained using a camera pose value and a cropping area 301 is set such that the center of the vanishing point is the center of the cropping area 301 is shown. However, as the vehicle travels for a long time, the pose of the fixed camera changes according to the collision or loading state of the vehicle.

[0097] In Figure 3 this case, the actual pose of the camera changes, and the camera captures an image of an area lower than the stored camera pose value. In this case, there is a difference between the vanishing point calculated based on the camera pose value and the actual vanishing point. If the cropping area 301 is set using a fixed camera pose value, only the road will be displayed, resulting in a single field of view for the driver.

[0098] In Figure 4 this case, the actual pose of the camera has changed to capture a higher area. Therefore, the cropping area 301 only contains a large expanse of sky and does not properly show the road. Therefore, it may be difficult to display guiding information for driving on the road.

[0099] If the vanishing point in the image is clearly visible as shown, this problem can be solved by checking the vanishing point each time the cropping area is set and then setting the cropping area based on the vanishing point. In most driving sections, since the road is not straight or is blocked by another vehicle, it is often difficult to accurately identify the vanishing point.

[0100] In addition, it is rare for the actual pose of the camera to change significantly. Continuously analyzing the image during driving and finding the vanishing point may be an unnecessary process that consumes a large amount of resources.

[0101] Therefore, in the present disclosure, as shown, the system determines whether the vanishing point can be clearly identified. When the vanishing point is identifiable, the vanishing point is used to correct and update the camera pose value in the storage unit 120. Therefore, in a situation where it is difficult to identify the vanishing point, the most recently corrected value is used to set the cropping area such that the vanishing point is exactly the center of the cropping area.

[0102] Figure 5 and Figure 6 are examples showing the correction of the camera pose value based on the vanishing point and then setting the cropping area in a driving information display device according to various exemplary embodiments of the present disclosure.

[0103] As shown in the figure, different from the situation where the front camera is installed on an actual vehicle, when continuously updating the camera attitude value even during driving and when the attitude of the camera changes, the cropping area 301 can be accurately set based on the position of the vanishing point.

[0104] Figure 5 A scene is shown where the attitude of the front camera is changed in the upper left compared to the initial setting, and Figure 6 A situation is shown where the attitude of the front camera is changed to the right compared to the initial setting. Even when the attitude of the camera changes as described above, when continuously correcting the camera attitude value as in the present disclosure, as shown in the drawings, the center of the cropping area 301 can coincide with the vanishing point.

[0105] Figure 7 It is a diagram showing an example of deriving a vanishing point in a driving information display device according to various exemplary embodiments of the present disclosure.

[0106] Reference numeral 701 indicates the left lane beside the vehicle, reference numeral 702 represents the right lane beside the vehicle, reference numeral 703 represents the horizon line, reference numeral 704 represents the vanishing point, and reference numeral 705 represents the center point of the image.

[0107] In the driving information display device of the present invention, the coordinates of the vanishing point are obtained using an image from the front camera, and the camera attitude value is corrected using the coordinates of the vanishing point. Therefore, it is important to obtain the coordinates of the vanishing point within the image.

[0108] As described above, in the present disclosure, the situation where the vehicle travels straight for a predetermined distance is set as a situation where the camera attitude value can be corrected. In this way, when the vehicle travels straight, both the left lane 701 and the right lane 702 beside the vehicle are straight. Therefore, when the left lane 701 and the right lane 702 beside the vehicle are recognized, the point where the two lanes meet can be obtained as the vanishing point.

[0109] Various conventional techniques can be used to recognize lane lines in an image. When the left lane 701 and the right lane 702 are recognized, a linear function representing the corresponding lane is derived from the coordinates of the image. By accurately recognizing only two points forming a straight line, the linear function can be easily derived. In addition, once these two linear functions are obtained, the intersection point of the two linear functions can also be derived. Therefore, the coordinates of the intersection point of the two linear functions are recognized and used as the coordinates of the vanishing point.

[0110] In addition, in the case of the roll value of the camera attitude value, instead of correcting the roll value based on the vanishing point 704, the horizon 703 is used to correct the roll value. Since the roll value refers to the longitudinal rotation of the camera, the image is rotated and captured according to the roll value. Therefore, it is possible to analyze whether the horizon can be horizontal to the x-axis, and the roll value can be corrected by the angle between the x-axis and the horizon. In this case, the horizon can be detected, the linear equation of the horizon can be derived, and the roll value can be corrected using the slope of the linear equation.

[0111] Figure 8 This shows an example of correcting the pitch value of the camera attitude value in a driving information display device according to various exemplary embodiments of the present disclosure.

[0112] Figure 8 A side view of the vehicle is shown. Through the drawings, the vertical direction of the CCD 801 that identifies the image from the camera, that is, the y-axis direction of the image, can be determined.

[0113] In the drawings, the center point 705 of the image is the center point of the CCD 801, and light enters through the focal point of the lens 802. Therefore, the vertical distance (the distance on the y-axis of the image) between the vanishing point 704 and the center point 705 is determined by the pitch value 820. When the pitch value 820 is 0, the vanishing point 704 and the center point 705 are in the same position. However, since it is difficult to accurately install the camera to capture the actual vanishing point 704 as the center point 705, the pitch value 820 can be used to calculate the position of the vanishing point.

[0114] The processor 110 determines the pitch value 820 of the camera attitude value stored in the storage unit 120, and also determines the value F 810 of the focal length of the camera. The y-axis distance between the vanishing point 704 and the center point 705 in the figure is obtained by multiplying the focal length F 810 of the camera by tan (pitch value 820). Thus, the y-coordinate value of the vanishing point 704 in the captured image can be derived.

[0115] Conversely, when correcting the pitch value 820 using the vanishing point identified in the actual image, the difference between the y-axis coordinates of the vanishing point 704 and the y-axis coordinates of the center point 705 is obtained, thereby providing a corrected pitch value obtained by dividing the difference by the focal length F 810 (i.e., tan (pitch value 820)).

[0116] Thus, the pitch value 820 of the camera attitude value can be corrected. After that, even in a situation where it is difficult to identify the vanishing point in the image, the position of the vanishing point can be accurately determined using the corrected pitch value 820 as described above.

[0117] Figure 9This is an example of correcting the yaw value of the camera attitude value in a driving information display device according to various exemplary embodiments of the present disclosure.

[0118] This figure shows the situation when viewed vertically from a position above the vehicle. The change in the left - right direction of the CCD (i.e., the x - axis direction of the front - view image) can be determined.

[0119] As described above, light enters through the focal point of the lens 802 located at the focal length F 810, such that the horizontal distance (the distance on the x - axis of the image) between the vanishing point 704 and the center point 705 is determined according to the angle of the yaw value 920. When the yaw value 920 is 0, the vanishing point 704 and the center point 705 are in the same position. However, since it is difficult to accurately install the camera to capture the actual vanishing point 704 as the center point 705, the yaw value 920 can be used to calculate the position of the vanishing point.

[0120] The processor 110 determines the yaw value 920 of the camera attitude value stored in the storage unit 120, and also determines the value F 810 as the focal length of the camera. Thereafter, the distance on the x - axis between the vanishing point 704 and the center point 705 in the figure is obtained by multiplying the focal length F 810 of the camera by tan(yaw value 920). Thus, the x - coordinate value of the vanishing point 704 within the captured image is derived.

[0121] Conversely, when correcting the yaw value 920 using the vanishing point identified in the actual image, the difference between the x - axis coordinate of the vanishing point 704 and the x - axis coordinate of the center point 705 is obtained. Dividing this difference by the focal length F 810 yields tan(yaw value 920), thereby providing the corrected yaw value.

[0122] Thus, the yaw value 920 of the camera attitude value can be corrected. Even when it is difficult to detect the vanishing point in the image, the position of the vanishing point can be accurately determined using the corrected yaw value 920 as described above.

[0123] Figure 10 This is an example of correcting the roll value of the camera attitude value in a driving information display device according to various exemplary embodiments of the present disclosure.

[0124] As shown in the figure, the roll value 1010 represents the rotation of the camera in the longitudinal direction of the vehicle. When the camera rotates in the longitudinal direction of the vehicle, the image rotates accordingly and is captured. The image can be corrected by rotating the image in the opposite direction using the roll value 1010.

[0125] To correct the roll value 1010, the horizon 1001 passing through the vanishing point 704 is identified, and the roll value 1010 is derived from the angle between the horizon and the x - axis 1002.

[0126] By rotating the image from the front-view camera in the opposite direction using the roll value 1010 derived in this way and then setting the cropping area, a guidance screen identical to that when the camera is correctly installed can be provided to the driver.

[0127] Figure 11 is a flowchart showing the process of a driving information display method according to various exemplary embodiments of the present disclosure.

[0128] In the present exemplary embodiment, the driving information display method according to the present disclosure is a method executed by a driving information display device 101 including a processor 110 and a storage unit 120. The components described above in connection with the operation of the driving information display device 101 can be applied with minimal modification to the driving information display method. Therefore, by applying the foregoing description of the driving information display device 101, those skilled in the art can even implement components without the specific description of the following driving information display method.

[0129] In the attitude value storage step S1101, the attitude value of the front-view camera of the vehicle is stored in the storage unit.

[0130] In the attitude value correction step S1102, it is determined whether the camera attitude value can be corrected based on the driving route and driving speed information of the vehicle. When it is determined that the camera attitude value can be corrected, the image from the front-view camera of the vehicle is used to correct the camera attitude value, and the corrected camera attitude value is stored in the storage unit.

[0131] In the attitude value correction step S1102, when there is no turn exceeding a predetermined reference angle in a front section of a predetermined reference length on the driving route of the vehicle and the speed of the vehicle is equal to or higher than a predetermined reference speed, it is determined that the camera attitude value can be corrected.

[0132] In the attitude value correction step S1102, when the steering angle of the vehicle is also within a predetermined reference steering angle range, it is determined that the camera attitude value can be corrected.

[0133] In the attitude value correction step S1102, when the condition in which the camera attitude value can be corrected continues for a predetermined reference time or longer, the image from the front-view camera of the vehicle is used to correct the camera attitude value, and the corrected camera attitude value is stored in the storage unit 120.

[0134] In the attitude value correction step S1102, the corrected camera attitude values for multiple corrections are cumulatively stored in the storage unit, and the camera attitude value is updated using the corrected camera attitude value that has passed noise filtering among the cumulatively stored corrected camera attitude values for multiple corrections.

[0135] In this case, the camera attitude values include a pitch value, a yaw value, and a roll value indicating the angles of the camera. In the attitude value correction step S1102, a corrected camera attitude value is derived by calculating a corrected pitch value, a corrected yaw value, and a corrected roll value using an image from a front view camera of the vehicle.

[0136] The storage unit 120 also stores a focal length value of the front view camera of the vehicle. In the attitude value correction step S1102, the left lane and the right lane beside the vehicle are identified by analyzing an image from the front view camera of the vehicle, the position of the vanishing point in the image is determined based on the intersection points of the identified left lane and right lane, and the corrected pitch value and the corrected yaw value are calculated based on the position of the vanishing point in the image and the focal length value.

[0137] In the attitude value correction step S1102, the corrected pitch value is calculated by dividing the difference between the y-axis coordinate of the center point of the image from the front view camera of the vehicle and the y-axis coordinate of the vanishing point in the image by the y-axis distance of the focal length.

[0138] In the attitude value correction step S1102, by using the The x-axis of the center point The difference between the x-axis coordinate of the center point and the x-axis coordinate of the vanishing point in the image, divided by the x-axis distance of the focal length to calculate the corrected yaw value.

[0139] In the attitude value correction step S1102, the horizon in the image is identified by analyzing an image from the front view camera of the vehicle, and the corrected roll value is calculated based on the angle of the identified horizon in the image.

[0140] In the cropping area setting step S1103, a cropping area is set such that the position of the vanishing point calculated based on the camera attitude value is the center of the image from the front view camera of the vehicle.

[0141] In the guidance screen output step S1104, a guidance screen is generated by adding driving guidance information to the cropping area and then the guidance screen is output.

[0142] The present disclosure can achieve the advantage of accurately extracting a region corresponding to the actual front region in front of the vehicle from an image from a front view camera of the vehicle.

[0143] The present disclosure can achieve the advantage of extracting a region suitable for providing information to the driver from an image captured by a front view camera of the vehicle.

[0144] The present disclosure can achieve the advantage of correcting the camera attitude value set in the vehicle.

[0145] The present disclosure can achieve the advantage of stably extracting the cropping area by preventing the region to be extracted from being unnecessarily changed due to temporary conditions or errors when correcting the camera attitude value set in the vehicle.

[0146] In addition, various advantages that can be directly or indirectly understood by those skilled in the art can be provided throughout this specification.

[0147] Although the present disclosure has been described with reference to the embodiments, however, various modifications and changes can be made to the present disclosure by those skilled in the art without departing from the spirit and scope of the present disclosure described in the appended claims.

[0148] The control device can be at least one microprocessor operated by a predetermined program, and the predetermined program can include a series of commands for executing the methods included in the foregoing various exemplary embodiments of the present disclosure.

[0149] In various exemplary embodiments of the present disclosure, each of the above operations can be performed by the control device, and the control device can be configured as multiple control devices or an integrated single control device.

[0150] In various exemplary embodiments of the present disclosure, the memory and the processor can be provided as a single core or discrete chips.

[0151] In different exemplary embodiments of the present disclosure, the scope of the present disclosure includes software or machine-executable commands (e.g., operating systems, applications, firmware, programs, etc.) for enabling the operations of the methods according to different embodiments to be executed on a device or a computer, and non-transitory computer-readable media including such software or commands stored thereon and executable on the device or the computer.

[0152] In various exemplary embodiments of the present disclosure, the control device can be implemented as hardware or software, or a combination of both.

[0153] In addition, terms such as "unit" and "module" included in the specification refer to components that process at least one function or operation, which can be implemented by hardware, software, or a combination thereof.

[0154] In the exemplary embodiments of the present disclosure, vehicles are widely used to include various transportation means. In some cases, a vehicle can be interpreted based on the concept that includes not only various land transportation means (such as cars, motorcycles, trucks, and buses) traveling on roads, but also various transportation means (such as airplanes, drones, ships, etc.).

[0155] For the purpose of clearly and accurately defining the appended claims, the terms "upper", "lower", "inner", "outer", "above", "below", "upward", "downward", "front", "rear", "behind", "inside", "outside", "inward", "outward", "interior", "exterior", "inner", "outer", "forward", and "backward" are used to describe the features of the exemplary embodiments with reference to the positions of such features shown in the figures. It should also be understood that the term "connected" or its derivatives refer to both direct connection and indirect connection.

[0156] The term "and / or" may include combinations of multiple related listed items or any of the multiple related listed items. For example, "A and / or B" includes "A", "B", and "A and B".

[0157] In this specification, unless otherwise stated, singular terms include their plural forms, unless the context clearly indicates otherwise.

[0158] In the exemplary embodiments of the present disclosure, "at least one of A and B" may refer to "at least one of A or B" or "at least one of a combination of at least one of A and B". In addition, "one or more of A and B" may refer to "one or more of A or B" or "one or more of a combination of one or more of A and B".

[0159] In the exemplary embodiments of the present disclosure, it should be understood that terms such as "including" or "having" indicate the presence of the features, quantities, steps, operations, elements, parts, or combinations thereof described in the specification, and do not exclude the possibility of adding or the presence of one or more other features, quantities, steps, operations, elements, parts, or combinations thereof.

[0160] For purposes of illustration and description, the foregoing description of specific exemplary embodiments of the present disclosure has been presented. They are not exhaustive or intended to limit the present disclosure to the specific forms presented, as many modifications and variations are possible in light of the above teachings. The exemplary embodiments were chosen and described to explain specific principles of the invention and its practical applications so that others skilled in the art can make and utilize the various exemplary embodiments of the present disclosure and their various alternatives and modifications. The scope of the present disclosure is intended to be defined by the appended claims and their equivalents.

Claims

1. A driving information display device, comprising: a processor configured to receive driving guidance information and vehicle position information, and perform control to output a guidance screen corresponding to the driving guidance information; and a storage unit configured to store road information and an algorithm executed by the processor; wherein the storage unit is further configured to store a camera attitude value of a front view camera of the vehicle; and wherein the processor is further configured to: set a cropping area such that a position of a vanishing point calculated based on the camera attitude value is the center of an image from the front view camera of the vehicle; and generate the guidance screen by adding the driving guidance information to the cropping area.

2. The driving information display device according to claim 1, wherein, The processor is further configured to: determine whether the camera attitude value can be corrected based on a driving route and driving speed information of the vehicle; and when it is determined that the camera attitude value can be corrected, use the image from the front view camera of the vehicle to correct the camera attitude value, and store the corrected camera attitude value in the storage unit.

3. The driving information display device according to claim 2, wherein, The processor is further configured to: when there is no turn exceeding a predetermined reference angle in a front section of a predetermined reference length on the driving route of the vehicle, and the speed of the vehicle is a predetermined reference speed or higher, determine that the camera attitude value can be corrected.

4. The driving information display device according to claim 3, wherein, The processor is further configured to: when a condition that the steering angle of the vehicle is within a predetermined reference steering angle range is further satisfied, determine that the camera attitude value can be corrected.

5. The traveling information display device according to claim 4, wherein, The processor is further configured to: when a condition that the camera attitude value can be corrected continues for a predetermined reference time or longer, use the image from the front view camera of the vehicle to correct the camera attitude value, and store the corrected camera attitude value in the storage unit.

6. The traveling information display device according to claim 2, wherein, The processor is further configured to: cumulatively store a plurality of corrected camera attitude values in the storage unit; and update the camera attitude value by using a corrected camera attitude value that has been noise-filtered among the plurality of cumulatively stored corrected camera attitude values.

7. The driving information display device according to claim 2, Among them, wherein the camera attitude value includes a pitch value, a yaw value, and a roll value representing an angle of the camera; and wherein the processor is further configured to derive the corrected camera attitude value by calculating a corrected pitch value, a corrected yaw value, and a corrected roll value by using the image from the front view camera of the vehicle.

8. The driving information display device according to claim 7, Among them, wherein the storage unit is further configured to store a focal length value of the front view camera of the vehicle; and wherein the processor is further configured to: detect a left lane and a right lane beside the vehicle by analyzing the image from the front view camera of the vehicle; determine a position of the vanishing point in the image based on an intersection point of the detected left lane and right lane; and calculate the corrected pitch value and the corrected yaw value based on the position of the vanishing point in the image and the focal length value.

9. The driving information display device according to claim 8, wherein, The processor is further configured to calculate the corrected pitch value by using the difference between the y-axis coordinate of the center point of the image from the front view camera of the vehicle and the y-axis coordinate of the vanishing point in the image, and dividing the difference by the y-axis distance of the focal length.

10. The driving information display device according to claim 8, wherein, The processor is further configured to calculate the corrected yaw value by using the difference between the x-axis coordinate of the center point of the image from the front view camera of the vehicle and the x-axis coordinate of the vanishing point in the image, and dividing the difference by the x-axis distance of the focal length.

11. The driving information display device according to claim 7, wherein, The processor is further configured to: Identify the horizon in the image by analyzing the image from the front view camera of the vehicle; and Calculate the corrected roll value by using the angle of the horizon identified in the image.

12. A driving information display method, which is executed by a driving information display device equipped with a processor and a storage unit, and the driving information display method includes: An attitude value storage step of storing, by using the processor, the camera attitude value of the front view camera of the vehicle in the storage unit; A cropping area setting step of setting a cropping area such that the position of the vanishing point calculated by the processor based on the camera attitude value is the center of the image from the front view camera of the vehicle; And A guidance screen output step of using the processor to generate a guidance screen by adding driving guidance information to the cropping area and outputting the guidance screen.

13. The driving information display method according to claim 12, further including an attitude value correction step: Using the processor to determine whether the camera attitude value can be corrected based on the driving route and driving speed information of the vehicle; and When it is determined that the camera attitude value can be corrected, using the processor to correct the camera attitude value by using the image from the front view camera of the vehicle, and storing the corrected camera attitude value in the storage unit.

14. The driving information display method according to claim 13, wherein, The attitude value correction step includes: When there is no turn exceeding a predetermined reference angle in a front section of a predetermined reference length on the driving route of the vehicle, and the speed of the vehicle is a predetermined reference speed or higher, It is determined that the processor can correct the camera attitude value.

15. The driving information display method according to claim 14, wherein, The attitude value correction step includes: When the condition that the steering angle of the vehicle is within a predetermined reference steering angle range is further satisfied, It is determined that the processor can correct the camera attitude value.

16. The driving information display method according to claim 15, wherein, The attitude value correction step includes: When the condition that the camera attitude value can be corrected lasts for a predetermined reference time or longer, Using the processor to correct the camera attitude value by using the image from the front view camera of the vehicle, and storing the corrected camera attitude value in the storage unit.

17. The driving information display method according to claim 13, wherein, The attitude value correction step includes: Using the processor to cumulatively store multiple corrected camera attitude values in the storage unit; and Using the processor to update the camera attitude value by using the corrected camera attitude value that has passed noise filtering among the multiple cumulatively stored corrected camera attitude values.

18. The driving information display method according to claim 13, Among them, wherein the camera attitude values include a pitch value, a yaw value, and a roll value representing the angles of the camera; and wherein the attitude value correction step includes using the processor to calculate a corrected pitch value, a corrected yaw value, and a corrected roll value by using the image from the front view camera of the vehicle, and deriving the corrected camera attitude value.

19. The driving information display method according to claim 18, Among them, wherein the storage unit is further configured to store a focal length value of the front view camera of the vehicle; and and wherein the attitude value correction step includes: using the processor to detect a left lane and a right lane beside the vehicle by analyzing the image from the front view camera of the vehicle; using the processor to determine the position of the vanishing point in the image based on the intersection points of the detected left lane and right lane; and using the processor to calculate the corrected pitch value and the corrected yaw value based on the position of the vanishing point in the image and the focal length value.

20. A non-transitory computer-readable storage medium storing a program, which when executed by a processor, causes the processor to execute the driving information display method according to claim 12.

Images