Method for correcting arrangement error of camera installed outside vehicle

Abstract

According to an embodiment of the present disclosure, a method for correcting an arrangement error of a camera installed outside a vehicle (METHOR CORRECTING SET-UP ERROR OF CAMERAS INSTALLED OUTSIDE OF THE VEHICLE), according to an embodiment of the present disclosure, comprises: a step of operating a camera position error correction application (Road Calibration Application) for correcting a position error of a plurality of cameras; correcting, by the vehicle, camera position information set in advance as a reference camera position to actual positions of the plurality of cameras; and a step in which the camera position error correction application is ended after the camera position information is corrected to the actual positions of the plurality of cameras by the vehicle.

Description

Technical Field

[0001] This disclosure relates to a method for correcting configuration errors of multiple cameras installed in a vehicle relative to a reference point. Background Technology

[0002] The automotive industry is currently undergoing a massive technological transformation. The concept of mobility has expanded from simply driving a vehicle to encompass entirely new technologies and services that integrate various modes of transportation.

[0003] In particular, autonomous driving technology plays a crucial role in improving fuel efficiency, preventing accidents caused by driver error, and transitioning towards multi-purpose mobility. South Korean startups and SMEs are actively investing in autonomous driving, while lightweight technologies aimed at improving fuel efficiency are also an important area of ​​research.

[0004] Furthermore, the railway system has also seen technological advancements. Even on trains traveling at speeds exceeding 350 km / h, data communication, including video calls, is possible. The Korean-style train control system utilizes a 4G integrated railway wireless network for train control data transmission.

[0005] The technological trends in the automotive industry are constantly changing, and people are looking forward to more innovation and development.

[0006] Camera position error correction (Road Calibration) refers to the process of accurately adjusting or calibrating the measuring instruments or systems used for roads or paths. As described above, calibration is a necessary step to obtain accurate measurement results.

[0007] For example, checking and adjusting the accuracy of a car's speedometer also falls under the category of camera position error correction (Road Calibration). Calibration is an important step in maintaining high accuracy and reliability. Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] This disclosure aims to address the problems existing in the prior art as described above, and its purpose is to accurately correct the installation errors of multiple cameras installed on the exterior of low-speed vehicles such as trailers, especially in blind spots, to perform camera position error correction (Road Calibration).

[0010] Solutions for solving technical problems

[0011] A method for correcting the arrangement error of multiple cameras mounted on the exterior of a vehicle according to one embodiment of the present disclosure may include: the steps of the vehicle running a camera position error correction application for correcting the position errors of the multiple cameras; the steps of the vehicle correcting camera position information, which is pre-set as a reference camera position, to the actual positions of the multiple cameras; and the steps of the vehicle ending the camera position error correction application after correcting the camera position information to the actual positions of the multiple cameras.

[0012] In addition, it may include a step of correcting the angle information set as the reference camera angle by the vehicle to the actual angle of the plurality of cameras.

[0013] In addition, it may include the step of monitoring the position error correction status of the camera by the vehicle.

[0014] In addition, it may include the step of the vehicle displaying a screen showing a setting of a speed limit option for performing the camera position error correction.

[0015] In addition, it may include the step of the vehicle setting or disabling the speed limit setting according to the user's selection.

[0016] In addition, it may include the step of stopping the monitoring of the region of interest (ROI) on the front side of the vehicle among the multiple regions of interest (ROI) formed by the multiple cameras when the user selects the number of regions of interest (ROI) selection button (Road-calMode#Full).

[0017] In addition, it may include a step of correcting the position or angle of the left and right side cameras and the rear camera among the plurality of cameras that capture rear regions of interest (ROIs) in the plurality of regions of interest (ROIs).

[0018] Invention Effects

[0019] This disclosure allows for easy correction of the camera's error relative to a reference position even when multiple cameras mounted on the exterior of a road-going vehicle, such as a trailer, are inaccurately positioned, while the vehicle is traveling at low speed without stopping.

[0020] Furthermore, this disclosure can further improve the accuracy of camera position error correction for vehicles traveling on roads. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a method for correcting configuration errors of multiple cameras mounted on the exterior of a vehicle according to an embodiment of the present disclosure.

[0022] Figure 2 A vehicle and a plurality of cameras according to an embodiment of the present disclosure are illustrated.

[0023] Figure 3 An example of a camera position error correction application screen displayed on a tablet computer is illustrated.

[0024] Figure 4 Another example of a camera position error correction application screen displayed on a tablet computer is illustrated.

[0025] Figure 5 Another example of a camera position error correction application screen displayed on a tablet computer is illustrated.

[0026] Figure 6 This screen displays the speed limit options selected by the user.

[0027] Figure 7 The surround view image of a typical camera is illustrated.

[0028] Figures 8 to 13 An surround view image after camera position error correction according to an embodiment of the present disclosure is illustrated. Detailed Implementation

[0029] Terminology Explanation in this Manual

[0030] All embodiments described below are exemplary only to aid in understanding this disclosure, and can be implemented in various forms through different modifications to the embodiments described herein. Furthermore, in the process of describing this disclosure, if it is determined that a detailed description of a related known function or known constituent element would obscure the gist of this disclosure, such detailed description will be omitted.

[0031] To aid in understanding this disclosure, the accompanying drawings may not be drawn to an actual scale, but rather the size of some of the constituent elements may be exaggerated. Furthermore, when assigning drawing numbers to the constituent elements, the same numbers are assigned to the same constituent elements as much as possible, even when they are shown in different drawings.

[0032] Furthermore, in describing the constituent elements of the embodiments of this disclosure, terms such as first, second, A, B, (a), and (b) may be used. These terms are merely for distinguishing the corresponding constituent elements from other constituent elements, and the nature, order, or sequence of the corresponding constituent elements are not limited by the corresponding terms. When a constituent element is described as being "connected," "combined," or "connected" to other constituent elements, although the constituent element may be directly connected, combined, or connected to the other constituent elements, it should be understood that the constituent element and the other constituent elements may also be "connected," "combined," or "connected" by other constituent elements.

[0033] Therefore, the embodiments described in this specification and the configurations illustrated in the accompanying drawings are only the most preferred embodiments of this disclosure and do not represent all the technical ideas of this disclosure. Instead, there may be various modified embodiments of this disclosure.

[0034] Furthermore, the terms and words used in this specification and claims should not be limited to their general or dictionary meanings, but should be interpreted in accordance with the principle that the inventor can appropriately define the concepts of the terms in order to best explain his or her disclosure, so as to conform to the meaning and concept of the technical idea of ​​this disclosure.

[0035] Furthermore, unless there is an explicit opposite meaning in the context, singular statements used in this application also include plural meanings.

[0036] Flowchart of camera configuration error correction method

[0037] Figure 1 This is a flowchart illustrating a method for correcting configuration errors of multiple cameras mounted on the exterior of a vehicle according to an embodiment of the present disclosure.

[0038] like Figure 1 As shown, the camera configuration error correction method S100 according to an embodiment of the present disclosure includes steps S101, S103, S105, S107 and S109, which are described in detail below.

[0039] First, in step S101, the vehicle according to an embodiment of the present disclosure will run a camera position error correction application (Road Calibration Application).

[0040] Next, in step S103, the vehicle according to an embodiment of the present disclosure will monitor the camera position error correction status.

[0041] Next, in step S105, the vehicle according to an embodiment of the present disclosure corrects the camera position information set as the reference camera position to the actual position of the camera.

[0042] Next, in step S107, the vehicle according to an embodiment of the present disclosure corrects the camera angle information set as the reference camera angle to the actual camera angle.

[0043] Next, in step S109, the vehicle according to an embodiment of the present disclosure ends the camera position error correction application after completing the camera position / angle correction.

[0044] The purpose of camera configuration error correction method

[0045] The purpose of the camera configuration error correction method according to embodiments of this disclosure is to confirm the surrounding view of the vehicle using multiple cameras (e.g., HT LinkVue cameras) mounted on the trailer of the vehicle, and to correct the error even when the multiple cameras are out of their reference mounting positions. Furthermore, even if there is insufficient space or time to perform correction after camera installation, the camera installation error can be automatically corrected during the movement of the trailer (vehicle).

[0046] Explanation related to camera installation errors

[0047] The camera should be installed in accordance with the specified specifications. The types of errors that may occur during camera installation and the error range thresholds are shown in Table 1 below.

[0048] Table 1

[0049]

[0050] Conditions for camera mounting position error correction (Road Calibration)

[0051] The following description will provide conditions for camera mounting position error correction according to embodiments of the present disclosure.

[0052] 1) The initial settings for multiple cameras should be set according to the camera installation specifications and the trailer (vehicle) specifications.

[0053] 2) The camera installation error should be within the error range threshold shown in Table 1.

[0054] 3) Before calibration, the stitching error of the Surround View Monitor (SVM) should be within 1m.

[0055] 4) The distance between the tractor and the vehicle (trailer) in front of the vehicle should be relatively wide.

[0056] Figure 2 A vehicle and a plurality of cameras according to an embodiment of the present disclosure are illustrated.

[0057] like Figure 2 As shown, the four corners of vehicle 210 are the regions of interest (ROI) 211, 212, 213, and 214.

[0058] During camera position error correction (Road Calibration), the vehicle will continuously check the stitching status of the road surface in the region of interest (ROI).

[0059] When the gap between the tractor 220 and the vehicle 210 in front of the vehicle is narrow or there are obstacles such as a reefer, it may be impossible to obtain the region of interest (ROI) in the front corner. In the above-mentioned situation, it will be difficult to perform road calibration while referring to all four corners at the same time. In this case, an alternative can be adopted to abandon the calibration of the front cameras 212 and 214 and only correct the left, right and rear cameras.

[0060] Camera position error correction (Road Calibration) time

[0061] when Figure 2 When the region of interest (ROI) can obtain data to confirm the stitching status, the camera position error correction (Road Calibration) will be completed within a few minutes.

[0062] However, obtaining region of interest (ROI) data may take longer. For example, at midday, when the shadow of vehicle 210 is shorter, ROI data can be obtained more easily.

[0063] Furthermore, as the vehicle's shadow gradually moves in four directions and is stretched to a wider range over time, higher quality region of interest (ROI) data can be obtained.

[0064] Furthermore, higher quality region of interest (ROI) data can be obtained when the road markings are clear and curved (e.g., with a bend in the shape of the graphic) rather than straight.

[0065] Camera position error correction (Road Calibration) settings (options)

[0066] Figure 3 An example of a camera position error correction application screen displayed on a tablet computer is illustrated.

[0067] Figure 4 Another example of a camera position error correction application screen displayed on a tablet computer is illustrated.

[0068] Figure 5 Another example of a camera position error correction application screen displayed on a tablet computer is illustrated.

[0069] 1) Initiate camera position error correction (Road Calibration)

[0070] -when Figure 4 or Figure 5 When you enter the Road Calibration menu in the tablet application and then exit after enabling Road Calibration, Road Calibration will begin and will automatically exit when it ends.

[0071] - Similarly, when in Figure 4 or Figure 5 When you enter the camera position error correction (Road Calibration) menu in the display that is directly connected to the electronic control unit (ECU) and exit after enabling camera position error correction (Road Calibration), camera position error correction (Road Calibration) will also begin.

[0072] - During the camera position error correction (Road Calibration) process, a graph of the vehicle shape will be displayed at the upper right of the screen.

[0073] 2) End camera position error correction (Road Calibration)

[0074] - When it is necessary to forcibly end camera position error correction (Road Calibration), simply... Figure 4 or Figure 5 To disable camera position error correction (Road Calibration), go to the camera position error correction (Road Calibration) menu in the tablet application and then exit.

[0075] -when Figure 4 or Figure 5Accessing the camera position error correction (Road Calibration) menu in the display directly connected to the electronic control unit (ECU) and exiting after disabling camera position error correction (Road Calibration) will also force the termination of camera position error correction (Road Calibration).

[0076] 3) Road Calibration for Surveillance Camera Position Errors

[0077] exist Figure 4 or Figure 5 During the process of performing camera position error correction (Road Calibration), when it is necessary to confirm the Region of Interest (ROI) and state in the image as described below, Figure 4 or Figure 5 Turn on camera position error correction monitoring in the POST Calibration menu of the electronic control unit (ECU).

[0078] For example, when in Figure 4 or Figure 5 When you select (for example, click) the [Menu]#Basic button 3 times in the Post Calibration menu, the [Menu]#Etc menu will be displayed.

[0079] For example, when in Figure 4 or Figure 5 When the camera position error correction monitor is #OFF, the camera position error correction (Road Calibration) monitor screen will not be displayed; when it is #ON, the monitor screen will be displayed.

[0080] In the selection (e.g., clicking). Figure 4 or Figure 5 The button will toggle between #ON and #OFF.

[0081] In selection Figure 4 or Figure 5 The SAVE button allows you to save the applicable settings.

[0082] 4) Restore to the reference (Default) camera position / angle

[0083] To restore the camera position / angle information to the reference camera mounting position / angle calculated based on vehicle specifications and camera location, select... Figure 4 The "Apply CAM Ref Pos" button on account 5.

[0084] The current camera reference mounting position / angle is defined as shown in Table 2 below.

[0085] Table 2

[0086]

[0087] 5) Speed ​​Limit option

[0088] Regions of interest (ROI) data can only be considered valid when they are locked by GPS and their velocity (speed) is below a baseline value.

[0089] The vehicle speed options include 10km / s, 20km / h, 30km / h, or no speed confirmation option.

[0090] For example, when the option to not confirm speed (no speed limit) is selected, region of interest (ROI) data will be captured regardless of whether GPS lock is enabled. Specifically, when the user selects the "Road-cal Speed ​​Limit" button, the setting will change sequentially from 10 km / s, 20 km / s, 30 km / h, to no speed limit.

[0091] Figure 6 This screen displays the speed limit options selected by the user.

[0092] like Figure 6 As shown, the selected option can be as follows Figure 6 The format shown is displayed at the top left.

[0093] 6) When the distance between the trailer and the tractor is too narrow.

[0094] When the user selects the "Camera position error correction mode #Full (Road-cal Mode #Full)" button, it will switch to "Camera position error correction mode #REAR (Road-cal Mode #REAR)".

[0095] At this point, the region of interest (ROI) on the front side will be abandoned, and the adjustment will be attempted to be made only through the region of interest (ROI) on the rear side, as well as the left and right side cameras and the rear camera.

[0096] Scenes where the vehicle stops during camera position error correction (Road Calibration)

[0097] After saving the camera position error correction (Road Calibration) status, the camera position error correction (Road Calibration) is loaded and automatically run when the vehicle resumes driving.

[0098] Test Result

[0099] Figure 7 The surround view image of a typical camera is illustrated.

[0100] Figures 8 to 13 An surround view image after camera position error correction according to an embodiment of the present disclosure is illustrated.

[0101] observe Figure 7 The surround view shown in the figure and Figures 8 to 13 The surround view image shown in the figure can be confirmed by correcting the camera position according to this disclosure. Figures 8 to 13 The surround view image shown in the figure, after camera position error correction according to the embodiments of the present disclosure, can present a more accurate surround view image.

[0102] Specifically, the action of confirming the status of each region of interest (ROI) in the four corners around the vehicle and saving the status confirmation results can be performed independently in each of the four corner ROIs.

[0103] Furthermore, the optimal data for performing camera position error correction (RoadCalibration) in each of the four corner regions of interest (ROIs) can be data obtained at different points in time (or time zones or time periods) (e.g., image data).

[0104] Figure 8 , Figure 10 , Figure 12 as well as Figure 13 The figures illustrate the data related to the four regions of interest (ROIs) obtained at different time points (or time zones or time periods).

[0105] Method of interpretation of this instruction manual

[0106] The embodiments of this disclosure have been described in more detail with reference to the accompanying drawings. However, this disclosure is not limited to the embodiments described above, but can be implemented in various ways without departing from the technical concept of this disclosure.

[0107] Therefore, the embodiments disclosed in this specification are merely illustrative of the technical concept of this disclosure and not intended to limit it. The technical concept of this disclosure is not limited by these embodiments. It should be understood that the embodiments described above are exemplary in all respects and not limiting. The scope of protection of this disclosure should be interpreted through the appended claims, and all technical concepts within the same scope should be interpreted as being included within the scope of the claims of this disclosure.

Claims

1. A method of correcting arrangement errors of cameras installed outside a vehicle, comprising: a step of operating, by the vehicle, a camera position error correction application for correcting position errors of a plurality of cameras; a step of correcting, by the vehicle, camera position information set in advance as a reference camera position to actual positions of the plurality of cameras; and a step of ending, by the vehicle, the camera position error correction application after the camera position information is corrected to the actual positions of the plurality of cameras.

2. The method of correcting arrangement errors of cameras installed outside a vehicle according to claim 1, further comprising: a step of correcting, by the vehicle, angle information set as a reference camera angle to actual angles of the plurality of cameras.

3. The method of correcting arrangement errors of cameras installed outside a vehicle according to claim 2, further comprising: a step of monitoring, by the vehicle, the camera position error correction state.

4. The method of correcting arrangement errors of cameras installed outside a vehicle according to claim 1, further comprising: a step of displaying, by the vehicle, a screen for setting a speed limit option for performing the camera position error correction.

5. The method of correcting arrangement errors of cameras installed outside a vehicle according to claim 4, further comprising: a step of setting, by the vehicle, a speed limit option according to a user's selection or contacting a speed limit setting.

6. The method of correcting arrangement errors of cameras installed outside a vehicle according to claim 1, further comprising: a step of stopping, by the vehicle, monitoring of a front side region of interest (ROI) of the vehicle among a plurality of regions of interest (ROIs) formed by the plurality of cameras when a user selects a region of interest (ROI) number selection button (Road-calMode#Full) button.

7. The method of correcting arrangement errors of cameras installed outside a vehicle according to claim 6, further comprising: a step of correcting, by the vehicle, positions or angles of left and right side cameras and a rear camera among the plurality of cameras that photograph rear regions of interest (ROIs) among the plurality of regions of interest (ROIs). ​

Images