CAMERA SIGNAL MONITORING DEVICE AND METHOD

Abstract

Camera signal monitoring device which features: a vehicle information input unit (10) that receives a vehicle speed signal and a yaw rate signal from a vehicle; a navigation information input unit (20) that receives a road curvature signal provided on the basis of road curvature information from a high-precision map; a camera information input unit (40) that receives a camera signal, comprising a vehicle speed signal and a yaw rate signal, from a vehicle front camera; and a monitoring unit (50) which calculates a reference curvature value based on the vehicle speed signal and the vehicle yaw rate signal inputted from the vehicle information input unit (10) and / or the road curvature signal from the navigation information input unit (20) and determines reliability by comparing the calculated reference curvature value with a curvature value calculated using the camera signal input from the camera information input unit (40); characterized by the fact that the monitoring unit (50) comprises a vehicle motion path calculation device (54) which calculates the vehicle motion path based on an offset-corrected yaw rate signal and the vehicle speed signal from the vehicle information input unit (10), wherein the vehicle motion path calculation device (54) calculates the first curvature value by dividing a yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value of the vehicle speed signal; and wherein the monitoring unit (50) has a reference curvature calculation device (56) which calculates the reference curvature value by combining the first curvature value calculated by the vehicle motion path calculation device (54) and a second curvature value of a road curvature signal received from the navigation information input unit (20).

Description

CROSS-REFERENCE TO RELATED REGISTRATION

[0001] The present application claims priority over Korean patent application No. 10-2019-0045341, filed on April 18, 2019, the entire contents of which are hereby incorporated by reference for all purposes. BACKGROUND OF THE INVENTION Area of ​​the invention

[0002] The present invention relates to a camera signal monitoring device and method, and in particular to a camera signal monitoring device and method for determining whether a signal output from a vehicle front camera is abnormal. Description of the state of the art

[0003] Recently, various sensors and electronic devices have been incorporated into vehicles to enhance driver comfort. In particular, research has been actively conducted into advanced driver assistance systems (ADAS) to improve driver comfort. Furthermore, autonomous vehicles have been actively developed.

[0004] Furthermore, many automakers offer semi-autonomous driving functions based on their own algorithms and systems. Typical examples of these systems include smart cruise control, which maintains a vehicle's speed relative to vehicles ahead and performs navigation-related functions; lane keeping assistant (LKA), which actively keeps a vehicle in its lane; forward collision avoidance assistant; emergency braking systems; and the like.

[0005] Such systems perform vehicle control using information input from a vehicle front camera, and the vehicle front camera receives a yaw rate signal and vehicle speed information from the vehicle and provides lane information, lane offset, curvature information and the like for the purpose of vehicle control.

[0006] The reliability of the information output from the front camera is crucial. With current technology, the vehicle's control unit cannot interpret the signal processing within the camera, making it unclear whether the front camera signal is normal or abnormal, or when and over what period the signal needs to be checked. If the yaw rate signal used in the front camera is incorrectly inputted or incorrectly corrected, errors in the output value will occur, leading to malfunctions when controlling the vehicle using the front camera. State of the art documents

[0007] (Patent Specification 1) Korean patent application publication KR 10 2018 0 006 759 A (January 19, 2018) “Apparatus and Method for Detecting Abnormality in Dynamic Sensor of Vehicle”. EP 3 091 338 A1 discloses a camera signal monitoring device with the features of the preamble of claim 1. DE 11 2008 004 238 T5 discloses a further camera signal monitoring device. OVERVIEW OF THE INVENTION

[0008] The present invention was conceived in view of the aforementioned problems arising in the prior art, and the objective of the present invention is to provide a camera signal monitoring device and method with which, according to the reliability of a calculation algorithm in the camera, it is determined whether a signal output from a front camera is abnormal.

[0009] A camera signal monitoring device according to one aspect of the present invention comprises a vehicle information input unit that receives a vehicle speed signal and a yaw rate signal from a vehicle; a navigation information input unit that receives a road curvature signal provided on a high-precision map; a camera information input unit that receives a camera signal, comprising a vehicle speed signal and a yaw rate signal, from a vehicle front camera;and a monitoring unit that calculates a reference curvature value based on the vehicle speed signal and the vehicle's yaw rate signal, which are input from the vehicle information input unit, and / or the road curvature signal from the navigation information input unit, and determines reliability by comparing the calculated reference curvature value with a curvature value calculated using the camera signal input from the camera information input unit.

[0010] According to the present invention, the monitoring unit can include a signal processing unit that filters signals input from the vehicle information input unit, the navigation information input unit and / or the camera information input unit.

[0011] According to the present invention, the monitoring unit comprises a vehicle motion path calculation device which calculates the vehicle motion path on the basis of an offset-corrected yaw rate signal and the vehicle speed signal from the vehicle information input unit, wherein the vehicle motion path calculation device calculates the first curvature value by dividing a yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value of the vehicle speed signal.

[0012] According to the present invention, the vehicle motion path calculation device can calculate the vehicle motion path when the vehicle speed value and the yaw rate value are less than or equal to a threshold value.

[0013] According to the present invention, the monitoring unit has a reference curvature calculation device which calculates the reference curvature value by combining the first curvature value calculated by the vehicle motion path calculation device and a second curvature value of a road curvature signal received from the navigation information input unit.

[0014] According to the present invention, the reference curvature calculation device can calculate the reference curvature value by combining the first curvature value and the second curvature value when the second curvature value is entered from the navigation information input unit, and it determines the first curvature value as the reference curvature value when the second curvature value is not entered from the navigation information input unit.

[0015] According to the present invention, the monitoring unit can have a reliability determination device that calculates a reliability value of the front camera when the camera signal curvature value calculated using the camera signal is equal to or greater than a threshold value compared to the reference curvature value.

[0016] According to the present invention, the reliability determination device can determine a percentage value of a difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera if the camera signal curvature value is equal to or greater than the threshold value compared to the reference curvature value.

[0017] According to the present invention, the monitoring unit can determine that the front camera signal is abnormal if the reliability value is greater than or equal to the threshold value during a predetermined time, and it outputs a front camera abnormality signal, wherein the monitoring unit outputs the front camera abnormality signal to a warning unit that notifies a driver of the abnormality, and / or to a vehicle control unit that performs a control operation such that a switch from operation of the vehicle control system using the front camera to a standby state takes place.

[0018] A camera signal monitoring method according to a further aspect of the present invention comprises receiving, by a monitoring unit, a vehicle speed signal and a yaw rate signal of a vehicle from a vehicle information input unit; receiving, by the monitoring unit, a road curvature signal provided on a high-precision map from a navigation information input unit; receiving, by the monitoring unit, a camera signal comprising a vehicle speed signal and a yaw rate signal from a vehicle front camera from a camera information input unit; and calculating, by the monitoring unit, a reference curvature value based on the vehicle speed signal and the vehicle yaw rate signal input from the vehicle information input unit, and / or the road curvature signal from the navigation information input unit.and determine, by the monitoring unit, a reliability by comparing the reference curvature value calculated by the monitoring unit with a curvature value calculated using the camera signal input from the camera information input unit.

[0019] The method according to the present invention can further comprise filtering, by the monitoring unit, a signal input from the vehicle information input unit, the navigation information input unit and / or the camera information input unit.

[0020] The method according to the present invention further comprises the calculation, by the monitoring unit, of a vehicle driving trajectory using a vehicle speed signal and a yaw rate signal of the vehicle, which are input from the vehicle information input unit, after receiving the camera signal, wherein the calculation of the reference curvature value is provided such that the monitoring unit calculates the reference curvature value on the basis of the calculated vehicle driving trajectory and / or the road curvature signal from the navigation information input unit.

[0021] The calculation of the vehicle's trajectory according to the present invention is provided such that the monitoring unit calculates the vehicle's trajectory on the basis of an offset-corrected yaw rate signal and the vehicle speed signal from the vehicle information input unit and calculates a first curvature value by dividing a yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value of the vehicle speed signal.

[0022] The calculation of the vehicle's trajectory according to the present invention can be provided such that the monitoring unit calculates the vehicle's trajectory when the vehicle speed value and the yaw rate value are less than or equal to a threshold value.

[0023] The calculation of the reference curvature value according to the present invention is provided such that the monitoring unit calculates the reference curvature value by combining the first curvature value calculated by the vehicle motion path calculation device and a second curvature value of the road curvature signal that is entered from the navigation information input unit.

[0024] The calculation of the reference curvature value according to the present invention is provided such that the monitoring unit calculates the reference curvature value by combining the first curvature value and the second curvature value when the second curvature value is entered from the navigation information input unit, and determines the first curvature value as the reference curvature value when the second curvature value is not entered from the navigation information input unit.

[0025] Determining the reliability according to the present invention can be provided such that, when the camera signal curvature value calculated using the camera signal is equal to or greater than a threshold value compared to the reference curvature value, the monitoring unit calculates a reliability value of the front camera.

[0026] Determining the reliability according to the present invention can be provided such that the monitoring unit calculates a percentage value of a difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera if the camera signal curvature value is equal to or greater than the threshold value compared to the reference curvature value.

[0027] The method according to the present invention can further comprise the output, by the monitoring unit, of a front camera abnormality signal by determining that the front camera signal is abnormal if the reliability value is greater than or equal to a threshold value during a predetermined time, wherein the output of the abnormality signal is provided such that the monitoring unit outputs the front camera abnormality signal to a warning unit that notifies a driver of the abnormality and / or a vehicle control unit that performs a control operation such that a switch from operation of a vehicle control system using the front camera to a standby state takes place.

[0028] The camera signal monitoring device and method according to an embodiment of the present invention offer the advantage that the reliability is determined relative to whether a signal output from a vehicle front camera is abnormal, in order to notify the driver of the abnormality or to perform the control in such a way that the state of the control system switches to the standby state, thereby preventing a malfunction when the vehicle is controlled using the camera.

[0029] Furthermore, the camera signal monitoring device and method according to an embodiment of the present invention offer the advantage that it is possible to primarily determine whether there is a problem with the camera signal by determining whether a calculation algorithm in the camera is abnormal, instead of verifying the camera output signal, and if the camera signal is corrected, it is possible to prevent a camera malfunction by comparing the camera signal with the vehicle signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The foregoing and further objects, features and further advantages of the present invention will be better understood with reference to the following detailed description in conjunction with the accompanying drawings. These show: Fig. 1 a block diagram illustrating a camera signal monitoring device according to an embodiment of the present invention; and Fig. 2 a flowchart illustrating a camera signal monitoring method according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] A camera signal monitoring device and method according to an embodiment of the present invention are described below with reference to the accompanying drawings. For the sake of simplicity and clarity, the thickness of lines or the size of components shown in the drawings may be exaggerated.

[0032] Furthermore, terms described later are defined taking into account the functions of the present invention and may vary according to the custom or intention of a user or operator. Therefore, the definition of these terms should consistently be based on the content of the patent specification.

[0033] Furthermore, the implementations described here can be implemented, for example, as a method or process, a device, a software program, a data stream, or a signal. Although the embodiments have been discussed in connection with a single form of implementation (for example, only a method), the implementation of the discussed features can also be implemented in other forms (for example, a device or a program). The device can be implemented with suitable hardware, software, firmware, and the like. The method can be implemented in a device, such as a processor, which generally refers to a processing device that includes, for example, a computer, a microprocessor, an integrated circuit, or a programmable logic device. The processor also includes communication devices, such as...Computers, mobile phones, portable / personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end users.

[0034] Fig. Figure 1 is a block diagram illustrating a camera signal monitoring device according to an embodiment of the present invention. Based on Fig. 1. A camera signal monitoring device is described as follows.

[0035] As in Fig. Figure 1 shows a camera signal monitoring device according to an embodiment of the present invention comprising a vehicle information input unit 10, a navigation information input unit 20, a LIDAR & radar sensor input unit 30, a camera information input unit 40 and a monitoring unit 50.

[0036] Initially, the vehicle's front camera receives a vehicle yaw rate signal, vehicle speed information, etc., and provides lane information, lane offset, and curvature information for vehicle control purposes. If the yaw rate signal used in the front camera is incorrectly inputted or incorrectly corrected, an error occurs in an output value, leading to a malfunction when controlling the vehicle using the front camera. Accordingly, the present embodiment is characterized in that the signal processing unit in the front camera enables a determination of whether the front camera is abnormal. When the front camera signal is inputted or corrected, the reliability is then determined by comparing a camera signal from the front camera with a vehicle signal.In particular, in this embodiment, when it is determined that the signal from the front camera is abnormal, the monitoring unit 50 outputs the front camera abnormality signal to a warning unit 60, which notifies the driver of the abnormality, and / or a vehicle control unit 70, which performs a control action such that the operation of the vehicle control system using the front camera switches to a standby state, thereby preventing a malfunction when controlling a vehicle using the front camera.

[0037] In this embodiment, the vehicle information input unit 10 receives all vehicle control information from a vehicle control system that controls the operation of a vehicle, and also receives a vehicle speed signal and a yaw rate signal from the vehicle. Furthermore, the vehicle information input unit 10 can receive the vehicle speed signal and the yaw rate signal from the vehicle, as well as sensing signals from sensors that detect a steering angle, wheel speed, etc.

[0038] The navigation information input unit 20 receives a road curvature signal provided on a high-precision map and can supply the monitoring unit 50 with a road curvature value of a vehicle's trajectory.

[0039] The LIDAR & radar sensor input unit 30 can receive sensing values ​​from a light detection and ranging (LIDAR) sensor and a radio detection and ranging (radar) sensor provided in the vehicle. Although the embodiment describes the LIDAR and radar as being integrated, this does not necessarily mean that they are provided as an integrated sensor. The LIDAR sensor and the radar sensor can be provided separately, and both sensors can be provided in the vehicle, or only one of the two sensors can be provided.

[0040] The camera information input unit 40 receives camera signal information, including a vehicle speed signal and a yaw rate signal from the vehicle's front camera, and transmits this information to the monitoring unit 50. In this embodiment, it is possible to determine whether the front camera is malfunctioning based on the camera information provided by the camera information input unit 40. Although the present embodiment describes the camera information input unit 40 receiving the camera signal from the vehicle's front camera, it can also receive camera signals from another camera installed in the vehicle.

[0041] The monitoring unit 50 sets a reference value based on signals input from the vehicle information input unit 10 and the navigation information input unit 20 and compares the reference value with a signal input from the camera information input unit 40 to determine whether the front camera is abnormal. Although not specifically described in this embodiment, the reference value can also include the curvature value input from the LIDAR & radar sensor input unit 30.

[0042] In particular, the monitoring unit 50 comprises a signal processing unit 52, a vehicle motion path calculation unit 54, a reference curvature calculation unit 56, and a reliability determination unit 58. The monitoring unit 50 calculates a vehicle motion path using a vehicle speed signal and a vehicle yaw rate signal inputted from the vehicle information input unit 10, calculates the reference curvature value based on the calculated vehicle motion path and / or the road curvature signal from the navigation information input unit 20, and determines the reliability by comparing the calculated reference curvature value with a curvature value calculated using the camera signal input from the camera information input unit 40.

[0043] Here, the signal processing unit 52 filters signals input from the vehicle information input unit 10, the navigation information input unit 20, and / or the camera information input unit 40, and further filters signals input from the LiDAR and radar sensor input unit 30. The signal processing unit 52 can also feed each of the filtered signals to the vehicle motion path calculation unit 54 and / or the reference curvature calculation unit 56. The process of filtering the signals received from the signal processing unit 52 can be implemented in various ways.

[0044] Furthermore, the vehicle motion trajectory calculation unit 54 calculates the vehicle motion trajectory based on the vehicle speed signal and the yaw rate signal from the vehicle information input unit 10, where the yaw rate signal can be an offset-corrected signal. Here, the vehicle motion trajectory calculation unit 54 calculates a first curvature value by dividing a yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value of the vehicle speed signal. That is, the first curvature value is a curvature value for a first signal output from the vehicle motion trajectory calculation unit 54.

[0045] Furthermore, the vehicle motion trajectory calculation device 54 can calculate the vehicle motion trajectory if the vehicle speed value and the yaw rate value are equal to or less than a threshold value. This serves to exclude situations of excessive steering and sudden acceleration / deceleration. In other words, in the case of excessive steering or sudden acceleration / deceleration, the vehicle motion trajectory is not calculated.

[0046] Next, the reference curvature calculation unit 56 combines the first curvature value calculated by the vehicle motion path calculation unit 54 with a second curvature value of a road curvature signal received from the navigation information input unit 20, thereby calculating the reference curvature value. That is to say, the second curvature value refers to a road curvature signal provided on the high-precision map of the navigation information input unit 20; that is, it refers to a curvature value for the second signal.

[0047] Furthermore, if the second curvature value is entered from the navigation information input unit 20, the reference curvature calculation unit 56 calculates the reference curvature value by combining the first and second curvature values. If the second curvature value is not entered from the navigation information input unit 20, the reference curvature calculation unit 56 can determine the first curvature value as the reference curvature value. Here, the curvature value entered from the LiDAR & radar sensor input unit 30 is a third curvature value, and the reference curvature value can be calculated by combining the first, second, and third curvature values, but is not limited to doing so.

[0048] The reliability determination device 58 can calculate the reliability value of the front camera if the camera signal curvature value calculated using the camera signal is equal to or greater than a threshold value compared to the reference curvature value. This means that the reliability determination device 58 can calculate the reliability value of the front camera if the camera signal curvature value calculated using the camera signal is greater than the reference curvature value by a threshold value or more.

[0049] If the curvature value of the camera signal is equal to or greater than the threshold value compared to the reference curvature value, the reliability determination device 58 can determine a percentage value of a difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera.

[0050] Furthermore, the monitoring unit 50 can determine that the front camera signal is abnormal if the reliability value is greater than or equal to a threshold value during the predetermined time. If the front camera signal is determined to be abnormal, the monitoring unit 50 can then output the front camera abnormal signal to the warning unit 60 and the vehicle control unit 70. This means that by outputting the front camera abnormal signal to the warning unit 60, the monitoring unit 50 can inform the driver of the abnormal condition of the front camera and control the system by outputting the abnormal signal to the vehicle control unit 70, thereby switching the operation of the vehicle control system using the front camera to a standby state, thus preventing a malfunction due to the front camera abnormality.

[0051] Fig. 2 A flowchart illustrating a camera signal monitoring method according to an embodiment of the present invention. Based on Fig. 2. A camera signal monitoring procedure is described as follows.

[0052] As in Fig. As shown in Figure 2, in the camera signal monitoring method according to an embodiment of the present invention, the monitoring unit 50 first receives a vehicle speed signal and a yaw rate signal from a vehicle from the vehicle information input unit 10 (S10).

[0053] Here, the vehicle information input unit 10 receives all vehicle control information from a vehicle control system that controls the operation of the vehicle; in this embodiment, it receives the vehicle speed signal and the yaw rate signal of the vehicle.

[0054] The monitoring unit 50 then receives a road curvature signal provided by the navigation information input unit 20 on a high-precision map (S20).

[0055] Here, the navigation information input unit 20 receives a road curvature signal provided on the high-precision map, and it can supply the monitoring unit 50 with a road curvature value for a vehicle's trajectory. In this embodiment, the road curvature signal input from the navigation information input unit 20 can be referred to as the second signal or second curvature value.

[0056] Next, the monitoring unit 50 receives a camera signal, which includes a vehicle speed signal and a yaw rate signal, from the vehicle front camera from the camera information input unit 40 (S30).

[0057] Here, the camera information input unit 40 receives camera signal information, including a vehicle speed signal and a yaw rate signal, from the vehicle's front camera and transmits it to the monitoring unit 50. In this embodiment, it is possible to determine, based on the camera information provided by the camera information input unit 40, whether the front camera is malfunctioning.

[0058] In the present embodiment, the monitoring unit 50 can filter signals input from the vehicle information input unit 10, the navigation information input unit 20 and / or the camera information input unit 40.

[0059] The monitoring unit 50 can then calculate a vehicle movement path using the vehicle speed signal and the vehicle's yaw rate signal, which are entered from the vehicle information input unit 10 (S40).

[0060] Here, the monitoring unit 50 calculates the vehicle's trajectory based on the vehicle speed signal and the yaw rate signal from the vehicle information input unit 10, where the yaw rate signal can be an offset-corrected signal. The monitoring unit 50 can calculate a first curvature value (first signal) by dividing the yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value from the vehicle speed signal.

[0061] Furthermore, the monitoring unit 50 can calculate the vehicle's trajectory if the vehicle speed and yaw rate values ​​are less than or equal to the threshold. This serves to prevent situations involving excessive steering and sudden acceleration / deceleration. In other words, the vehicle's trajectory is not calculated in the event of excessive steering or sudden acceleration or deceleration.

[0062] Furthermore, the monitoring unit 50 can calculate the reference curvature value based on the calculated vehicle driving path and / or a road curvature signal from the navigation information input unit 20 (S50).

[0063] Here, the monitoring unit 50 can calculate the reference curvature value by combining the calculated first curvature value and a second curvature value of the road curvature signal received from the navigation information input unit 20. Then, if the second curvature value is input from the navigation information input unit 20, the monitoring unit 50 calculates the reference curvature value by combining the first and second curvature values. If the second curvature value is not input from the navigation information input unit 20, the monitoring unit 50 determines the first curvature value as the reference curvature value.

[0064] Next, the monitoring unit 50 can determine the reliability by comparing the calculated reference curvature value with the curvature value calculated using the camera signal input from the camera information input unit (S60).

[0065] Here, the monitoring unit 50 can calculate the reliability value of the front camera if the camera signal curvature value calculated using the camera signal is greater than or equal to a threshold value compared to the reference curvature value. This means that the monitoring unit 50 can calculate the reliability value of the front camera if the camera signal curvature value calculated using the camera signal is greater than or greater than the reference curvature value by a threshold value. Furthermore, if the camera signal curvature value is greater than or equal to the threshold value compared to the reference curvature value, the monitoring unit 50 can determine a percentage value of the difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera.

[0066] In this embodiment, if the reliability value is greater than or equal to the threshold during the predetermined time, the monitoring unit 50 can determine whether the front camera signal is abnormal (S70), and if it is determined that the front camera signal is abnormal, the monitoring unit 50 can output a front camera abnormal signal (S80).

[0067] Here, the monitoring unit 50 can output the front camera abnormal signal to the warning unit 60, which notifies the driver of the abnormality, and / or the vehicle control unit 70, which performs the control in such a way that the operation of the vehicle control system using the front camera is switched to a standby state.

[0068] However, if in step S70 it is determined that the signal from the front camera is not abnormal, the monitoring unit 50 can determine whether the reliability value is equal to or greater than the threshold during the predetermined time, or it can otherwise terminate operation.

[0069] As described above, the camera signal monitoring device and method according to an embodiment of the present invention offer the advantage that the reliability is determined relative to whether a signal output from a vehicle front camera is abnormal, in order to notify the driver of the abnormality or to perform the control in such a way that the state of the control system switches to the standby state, thereby preventing a malfunction when controlling the vehicle using the camera.

[0070] Furthermore, the camera signal monitoring device and method according to an embodiment of the present invention offer the advantage that it is possible to primarily determine whether there is a problem with the camera signal by determining whether a calculation algorithm in the camera is abnormal, instead of verifying the camera output signal, and if the camera signal is corrected, it is possible to prevent a camera malfunction by comparing the camera signal with the vehicle signal.

[0071] The present invention has been described with reference to the embodiment shown in the drawings, but this is only exemplary, and those skilled in the art in the field to which the invention belongs will recognize that various modifications and other equivalent embodiments are possible.

[0072] Therefore, the true technical scope of protection of the present invention is defined by the following claims.

Claims

[1] Camera signal monitoring device comprising: a vehicle information input unit (10) that receives a vehicle speed signal and a yaw rate signal from a vehicle; a navigation information input unit (20) that receives a road curvature signal provided on the basis of road curvature information from a high-precision map; a camera information input unit (40) that receives a camera signal, comprising a vehicle speed signal and a yaw rate signal, from a vehicle front camera; and a monitoring unit (50) which calculates a reference curvature value based on the vehicle speed signal and the vehicle yaw rate signal inputted from the vehicle information input unit (10) and / or the road curvature signal from the navigation information input unit (20) and determines reliability by comparing the calculated reference curvature value with a curvature value calculated using the camera signal input from the camera information input unit (40); characterized by , that the monitoring unit (50) comprises a vehicle motion path calculation device (54) which calculates the vehicle motion path based on an offset-corrected yaw rate signal and the vehicle speed signal from the vehicle information input unit (10), wherein the vehicle motion path calculation device (54) calculates the first curvature value by dividing a yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value of the vehicle speed signal; and wherein the monitoring unit (50) has a reference curvature calculation device (56) which calculates the reference curvature value by combining the first curvature value calculated by the vehicle motion path calculation device (54) and a second curvature value of a road curvature signal received from the navigation information input unit (20). [2] Camera signal monitoring device according to claim 1, wherein the monitoring unit (50) comprises a signal processing unit (52) which filters signals input from the vehicle information input unit (10), the navigation information input unit (20) and / or the camera information input unit (40). [3] Camera signal monitoring device according to claim 1, wherein the vehicle motion path calculation device (54) calculates the vehicle motion path when the vehicle speed value and the yaw rate value are less than or equal to a threshold value. [4] Camera signal monitoring device according to claim 1, wherein the reference curvature calculation device (56) calculates the reference curvature value by combining the first curvature value and the second curvature value when the second curvature value is entered from the navigation information input unit (20), and determines the first curvature value as the reference curvature value when the second curvature value is not entered from the navigation information input unit (20). [5] Camera signal monitoring device according to claim 1, wherein the monitoring unit (50) has a reliability determination device (58) which calculates a reliability value of the front camera when the camera signal curvature value calculated using the camera signal is equal to or greater than a threshold value compared to the reference curvature value. [6] Camera signal monitoring device according to claim 5, wherein the reliability determination device (58) determines a percentage value of a difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera when the camera signal curvature value is equal to or greater than the threshold value compared to the reference curvature value. [7] Camera signal monitoring device according to claim 5, wherein the monitoring unit (50) determines that the front camera signal is abnormal if the reliability value is greater than or equal to the threshold value during a predetermined time, and outputs a front camera abnormal signal, wherein the monitoring unit (50) outputs the front camera abnormal signal to a warning unit (60) that notifies a driver of the abnormality, and / or to a vehicle control unit (70) that performs a control such that a change from an operation of the vehicle control system using the front camera to a standby state is performed. [8] Camera signal monitoring methods, which include: Receiving, by a monitoring unit (50), a vehicle speed signal and a vehicle yaw rate signal from a vehicle information input unit (10); Received by the monitoring unit (50) a road curvature signal, which is provided on the basis of road curvature information from a high-precision map, from a navigation information input unit (20); Received by the monitoring unit (50) a camera signal, which includes a vehicle speed signal and a yaw rate signal, from a vehicle front camera from a camera information input unit (40); Calculate, by the monitoring unit (50), a reference curvature value based on the vehicle speed signal and the vehicle yaw rate signal, which are input from the vehicle information input unit (10), and / or the road curvature signal from the navigation information input unit (20); Determine, by means of the monitoring unit (50), a reliability by comparing the reference curvature value calculated by means of the monitoring unit (50) with a curvature value calculated using the camera signal input from the camera information input unit (40); and Calculating, by the monitoring unit (50), a vehicle driving trajectory using a vehicle speed signal and a vehicle yaw rate signal, which are input from the vehicle information input unit (10), after receiving the camera signal, wherein the calculation of the reference curvature value is provided such that the monitoring unit (50) calculates the reference curvature value on the basis of the calculated vehicle driving trajectory and / or the road curvature signal from the navigation information input unit (20), wherein the calculation of the vehicle's trajectory is provided such that the monitoring unit (50) calculates the vehicle's trajectory on the basis of an offset-corrected yaw rate signal and the vehicle speed signal from the vehicle information input unit (10) and calculates a first curvature value by dividing a yaw rate value of the offset-corrected yaw rate signal by a vehicle speed value of the vehicle speed signal, and wherein the calculation of the reference curvature value is provided such that the monitoring unit (50) calculates the reference curvature value by combining the first curvature value calculated by the vehicle motion path calculation device (54) and a second curvature value of the road curvature signal which is input from the navigation information input unit (20). [9] Camera signal monitoring method according to claim 8, further comprising: Filtering, by the monitoring unit (50), a signal input from the vehicle information input unit (10), the navigation information input unit (20) and / or the camera information input unit (40). [10] Camera signal monitoring method according to claim 8, wherein the calculation of the vehicle driving path is provided such that the monitoring unit (50) calculates the vehicle driving path when the vehicle speed value and the yaw rate value are less than or equal to a threshold value. [11] Camera signal monitoring method according to claim 8, wherein the calculation of the reference curvature value is provided such that the monitoring unit (50) calculates the reference curvature value by combining the first curvature value and the second curvature value when the second curvature value is input from the navigation information input unit (20), and determines the first curvature value as the reference curvature value when the second curvature value is not input from the navigation information input unit (20). [12] Camera signal monitoring method according to claim 8, wherein the determination of reliability is provided such that when the camera signal curvature value calculated using the camera signal is equal to or greater than a threshold value compared to the reference curvature value, the monitoring unit calculates a reliability value of the front camera. [13] Camera signal monitoring method according to claim 12, wherein the determination of reliability is provided such that the monitoring unit (50) calculates a percentage value of a difference between the camera signal curvature value and the reference curvature value as the reliability value of the front camera when the camera signal curvature value is equal to or greater than the threshold value compared to the reference curvature value. [14] Camera signal monitoring method according to claim 12, further comprising: Output, by the monitoring unit (50), of a front camera abnormal signal by determining that the front camera signal is abnormal if the reliability value during a specified time is greater than or equal to a threshold value, wherein the output of the abnormal signal is provided such that the monitoring unit (50) outputs the front camera abnormal signal to a warning unit (60) which notifies a driver of the abnormality, and / or a vehicle control unit (70) which performs a control such that a change from an operation of a vehicle control system using the front camera to a standby state takes place.

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