Apparatus and method for controlling switching of front and rear cameras mounted on vehicle

Abstract

The present invention relates to an apparatus and a method for controlling switching of front and rear cameras mounted on a vehicle. To this end, the apparatus for controlling switching of front and rear cameras mounted on a vehicle, according to one embodiment of the present invention, comprises: the front camera mounted on the front side of the vehicle; the rear camera mounted on the rear side of the vehicle; and a processor electrically connected to the front camera and the rear camera, wherein the processor can identify whether a reference point of the vehicle crosses a boundary line corresponding to a parking zone in a parking space when the vehicle is reversing into the parking zone, and turn off the front camera and turn on the rear camera when the reference point of the vehicle crosses the boundary line.

Description

Device and method for controlling switching of front and rear cameras mounted on a vehicle

[0001] The present invention relates to a device and method for controlling switching of front and rear cameras mounted on a vehicle.

[0002] The automotive industry is experiencing remarkable growth, but this growth has exceeded expectations, creating challenges for road expansion and parking space expansion. The labor required to manage parking spaces is also incurring significant labor costs, and parking lot maintenance is also costly.

[0003] The prior art document (Korean Patent Publication No. 10-2003-0041366, May 27, 2003) relates to an unmanned parking management system, which discloses a method of checking whether a vehicle is parked in each parking area within a parking lot using a sensor and automatically confirming this to quickly control vehicles entering the parking lot.

[0004] Additionally, in the past, unmanned vehicles recognized markers through cameras mounted on the vehicle to drive in parking spaces.

[0005] However, in the past, there was a problem that the amount of computation required to process image information increased because both the front and rear cameras mounted on the vehicle were activated while the vehicle was moving through a parking space to recognize markers installed at designated locations within the parking lot.

[0006] Therefore, there is a need to reduce the amount of computation and shorten the time to recognize a marker by selectively operating the front camera or rear camera depending on the vehicle's moving state.

[0007] Accordingly, the present invention provides a device and method for controlling switching of front and rear cameras mounted on a vehicle.

[0008] The purposes of the present invention are not limited to those mentioned above, and other unmentioned purposes and advantages of the present invention can be understood through the following description and will be more clearly understood through embodiments of the present invention. Furthermore, it will be readily apparent that the purposes and advantages of the present invention can be realized by the means and combinations thereof set forth in the claims.

[0009] In order to achieve this purpose, an apparatus for controlling switching of front and rear cameras mounted on a vehicle according to an embodiment of the present invention includes a front camera mounted on the front of the vehicle; a rear camera mounted on the rear of the vehicle; and a processor electrically connected to the front camera and the rear camera, wherein the processor may be configured to identify whether a reference point of the vehicle crosses a boundary line corresponding to the parking area when the vehicle is being rear-parked in a parking area within a parking space, and to turn off the front camera and turn on the rear camera when the reference point of the vehicle crosses the boundary line.

[0010] In addition, a device for controlling switching of front and rear cameras mounted on a vehicle according to an embodiment of the present invention includes a front camera mounted on the front of the vehicle; a rear camera mounted on the rear of the vehicle; and a processor electrically connected to the front camera and the rear camera, wherein the processor may be configured to identify whether an entry angle of the vehicle is within a predetermined angle range based on a vertical direction of a boundary line corresponding to the parking area when the vehicle is front-parked in a parking area within a parking space, and to turn on the front camera and turn off the rear camera when the entry angle of the vehicle is within the predetermined angle range.

[0011] In addition, a method for controlling switching of front and rear cameras mounted on a vehicle according to an embodiment of the present invention may include, when the vehicle is being rear-parked in a parking area within a parking space, a process of identifying whether a reference point of the vehicle crosses a boundary line corresponding to the parking area; and, when the reference point of the vehicle crosses the boundary line, a process of turning off a front camera mounted on the front of the vehicle and turning on a rear camera mounted on the rear of the vehicle.

[0012] In addition, a method for controlling switching of front and rear cameras mounted on a vehicle according to an embodiment of the present invention may include, when the vehicle is parked in front of a parking area within a parking space, a process of identifying whether an entry angle of the vehicle is within a predetermined angle range based on a vertical direction of a boundary line corresponding to the parking area; and, when the exit angle of the vehicle is within the predetermined angle range, a process of turning on a front camera mounted on the front of the vehicle and turning off a rear camera mounted on the rear of the vehicle.

[0013] The present invention can reduce the number of images to be processed by a processor and shorten the time for processing images by selectively activating a front camera or a rear camera depending on the direction of movement or progress of a vehicle.

[0014] In addition, the present invention can reduce the number of images to be processed by the processor and shorten the time for processing images by turning off the front camera and turning on the rear camera when the reference point of the vehicle crosses the boundary line corresponding to the parking area while the vehicle is moving backwards into the parking area within the parking space.

[0015] In addition, the present invention can reduce the number of images to be processed by the processor and shorten the time for processing images by turning on the front camera and turning off the rear camera when the vehicle is moving forward while parked backwards in a parking area and the moving angle of the vehicle is within a predetermined angle range based on the vertical direction of the boundary line.

[0016] In addition, the present invention can reduce the number of images to be processed by the processor and shorten the time for processing images by turning on the front camera and turning off the rear camera when the vehicle is moving forward into a parking area within a parking space and the vehicle's entry angle is within a predetermined angle range based on the vertical direction of the boundary line.

[0017] In addition, the present invention can reduce the number of images to be processed by the processor and shorten the time for processing images by turning off the front camera and turning on the rear camera when the reference point of the vehicle crosses the boundary line corresponding to the parking area while the vehicle is moving backwards from a front-parked position in the parking area.

[0018] In addition to the effects described above, specific effects of the present invention are described below while explaining specific details for carrying out the invention.

[0019] FIG. 1 is a block diagram of a device for controlling switching of front and rear cameras mounted on a vehicle according to one embodiment of the present invention.

[0020] FIG. 2 is a flowchart illustrating a camera switching process when a vehicle enters a parking area from the rear according to one embodiment of the present invention.

[0021] FIG. 3a is an exemplary diagram showing a state in which an unmanned vehicle enters a parking space while a plurality of markers are placed in the parking space according to one embodiment of the present invention.

[0022] FIG. 3b is an exemplary diagram showing a state in which a vehicle according to one embodiment of the present invention enters a parking area from the rear.

[0023] FIG. 4 is a flowchart showing a camera switching process when a vehicle moves forward from a rear-parked state according to an embodiment of the present invention.

[0024] FIG. 5 is an exemplary diagram showing a state in which a vehicle according to one embodiment of the present invention is moving forward from a state in which the vehicle is parked toward the rear.

[0025] FIG. 6 is a flowchart showing a camera switching process when a vehicle enters a parking area from the front according to one embodiment of the present invention.

[0026] FIG. 7 is an exemplary diagram showing a state in which a vehicle according to one embodiment of the present invention is entering a parking area from the front.

[0027] FIG. 8 is a flowchart showing a camera switching process when a vehicle moves backward from a front-parked state according to an embodiment of the present invention.

[0028] Figure 9 is an exemplary diagram showing a state in which a vehicle according to one embodiment of the present invention is moving backward from a front-parked state.

[0029] The above-described objects, features, and advantages will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can easily practice the technical idea of ​​the present invention. In describing the present invention, if it is determined that a detailed description of known technologies related to the present invention may unnecessarily obscure the gist of the present invention, a detailed description thereof will be omitted. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

[0030] Although terms like "first" and "second" are used to describe various components, these components are not limited by these terms. These terms are used merely to distinguish one component from another, and unless otherwise specified, a "first" component may also be a "second" component.

[0031] Hereinafter, the phrase "any configuration is placed on (or below)" a component or "on (or below)" a component may mean that any configuration is placed in contact with the upper surface (or lower surface) of said component, and that other configurations may be interposed between said component and any configuration placed on (or below) said component.

[0032] Additionally, when it is described that a component is "connected," "coupled," or "connected" to another component, it should be understood that the components may be directly connected or connected to one another, but that other components may also be "interposed" between the components, or that each component may be "connected," "coupled," or "connected" through another component.

[0033] Throughout the specification, unless otherwise specifically stated, each element may be singular or plural.

[0034] As used herein, singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "consisting of" or "comprising" should not necessarily be construed to include all of the components or steps described in the specification, and should be construed to mean that some of the components or steps may not be included, or that additional components or steps may be included.

[0035] Throughout the specification, when we refer to "A and / or B", this means A, B, or A and B, unless otherwise stated, and when we refer to "C to D", this means C or more and D or less, unless otherwise stated.

[0036] Hereinafter, a device and method for controlling switching of front and rear cameras mounted on a vehicle according to some embodiments of the present invention will be described.

[0037] FIG. 1 is a block diagram of a device for controlling switching of front and rear cameras mounted on a vehicle according to one embodiment of the present invention.

[0038] Referring to FIG. 1, a device (100) for controlling switching of front and rear cameras mounted on a vehicle according to an embodiment of the present invention may include a front camera (110) mounted on the front of the vehicle, a rear camera (120) mounted on the rear of the vehicle, a sensor (140), a memory (130), and a processor (150).

[0039] The configuration of the device (100) illustrated in FIG. 1 is according to one embodiment, and the components of the device (100) are not limited to the embodiment illustrated in FIG. 1, and some components may be added, changed, or deleted as needed.

[0040] For example, a device (100) for controlling switching of front and rear cameras mounted on a vehicle may include an ultrasonic sensor (not shown). Such an ultrasonic sensor (not shown) may be used for the purpose of measuring the distance to an object to prevent collision when the vehicle is driven at a low speed in an environment requiring close-range environmental recognition, such as an alleyway or a parking lot. The ultrasonic sensor (200) generates a plurality of electric pulse signals to generate ultrasonic waves (e.g., transmission signals) through a transducer, and when the energy waves are reflected by an object and return to the sensor, the transducer converts the reflected waves (e.g., reflection signals) into an electrical signal to measure the distance between the vehicle and the object.

[0041] According to one embodiment, the front camera (110) may be mounted on the front of the vehicle. The front camera (110) may include a camera mounted on a black box installed inside the vehicle. The front camera (110) may acquire an image (e.g., a marker image) located in front of the vehicle and then transmit the image to the processor (150).

[0042] According to one embodiment, the rear camera (120) may be mounted on the rear of the vehicle. The rear camera (120) may be installed on the rear bumper or trunk door of the vehicle. The rear camera (120) may acquire an image (e.g., a marker image) located at the rear of the vehicle and transmit it to the processor (150).

[0043] These cameras (210, 220) may include at least one image sensor. The cameras (210, 220) may acquire images of markers located within a parking space. The cameras (210, 220) may include an image intelligence camera (or smart image intelligence camera) with a built-in artificial intelligence chip. Through these image intelligence cameras, objects, people, lanes, crosswalks, intersections, etc. in front or behind the vehicle can be recognized.

[0044] For example, the camera (210, 220) may include a camera (e.g., an RGB (Red Green Blue) camera) that can acquire images of the front or rear of the vehicle even in a situation with high illumination due to lighting, and an IR (infrared) camera that can acquire images in a situation with low illumination. The camera (210, 220) may include a device (e.g., an LED, an IR pattern light) that emits light necessary to acquire images.

[0045] According to one embodiment, the sensor (140) may include a motion detection sensor that detects the movement of the vehicle. This sensor (140) is placed in a location where it is easy to detect the movement of the vehicle, and can transmit the motion detection results to the processor (150).

[0046] According to one embodiment, the memory (130) may store information, data, programs, etc. necessary for the operation of the device (100). Specifically, various information or data described below may be stored in advance in the memory (130). Accordingly, the processor (150) may perform the control operation described below with reference to the information stored in the memory (130). The memory (130) may store programs for signal processing and control within the processor (150). The memory (130) may also store various platforms. The memory (130) may include, for example, at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., an SD or XD memory, etc.), a RAM, and a ROM (e.g., an EEPROM).

[0047] According to one embodiment, the memory (230) can store map information for various parking spaces. For example, map information corresponding to various parking spaces may be pre-stored in the memory (230), or may be received from a server (not shown) and stored in the memory (230). For example, when a vehicle is parked in a new parking space, the processor (150) can identify the location of the vehicle's current parking space via GPS and request map information for the current parking space from a server (not shown). In addition, the processor (150) can store the received map information in the memory (230) in response to the request.

[0048] According to one embodiment, the memory (230) can store images (e.g., marker images) acquired from each of the front camera (110) and the rear camera (120).

[0049] According to one embodiment, the processor (150) may include circuits capable of controlling components of the device (100). For example, the processor (150) may be electrically connected to a front camera (110), a rear camera (120), a sensor (140), and a memory (130).

[0050] According to one embodiment, the processor (150) may be implemented as a physical element of at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, micro-controllers, microprocessors, microcontroller units (MCUs), and microprocessors (MPUs).

[0051] According to one embodiment, the processor (150) may turn on or turn off both the front camera (110) and the rear camera (120). Alternatively, the processor (150) may turn on or turn off either one of the front camera (110) and the rear camera (120).

[0052] According to one embodiment, the processor (150) can turn on or off either the front camera (110) or the rear camera (120) depending on the direction of movement of the vehicle.

[0053] For example, when the vehicle is moving forward, the front camera (110) can be turned ON and the rear camera (120) can be turned OFF. Alternatively, when the vehicle is moving forward, the front camera (110) can be turned OFF and the rear camera (120) can be turned ON.

[0054] For example, if the vehicle is moving backward, the front camera (110) can be turned off and the rear camera (120) can be turned on. Alternatively, if the vehicle is moving backward, the front camera (110) can be turned on and the rear camera (120) can be turned off.

[0055] In this way, the processor (150) can selectively turn ON or OFF either the front camera (110) or the rear camera (120).

[0056] Below, the on / off of the front camera (110) and the rear camera (120) is explained when a vehicle is parked backwards in a parking area within a parking space and then pulled out forward, and when a vehicle is parked forwards and then pulled out backward.

[0057] 1. When parking backwards in a parking space and then exiting forward

[0058] According to one embodiment, when the processor (150) identifies that a vehicle is located within a parking space, the processor (150) may obtain map information about the parking space from the memory (130). For example, the processor (150) may receive GPS information to identify the current location of the vehicle, and when the identified current location is within a parking space, the processor (150) may obtain map information about the parking space from the memory (130).

[0059] According to one embodiment, when map information is acquired, the processor (150) can recognize a marker located in front (or rear) of the vehicle through the front camera (110) (or rear camera (120)). The marker is a sign (e.g., a QR code) attached to a wall, floor, or ceiling within a parking space to identify the location of the vehicle during unmanned parking. The size of the marker may be 40 cm X 40 cm in width X height.

[0060] The vehicle can identify these markers to determine its current location and orientation within a parking space (e.g., an indoor parking space). In this way, the processor (150) can identify the vehicle's location within the parking space using the recognized markers.

[0061] In one embodiment, the processor (150) can identify whether the vehicle's reference point crosses the boundary line corresponding to the parking area while the vehicle is being parked backwards in the parking area within the parking space. The reference point is the center point of the vehicle's rear wheel axle. The processor (150) can identify the vehicle's current location and the size of the parking area (e.g., width and height) through the acquired map information.

[0062] Through this, the processor (150) can identify whether the reference point (i.e., the center point of the rear wheel axle of the vehicle) crosses the boundary line of the parking area (e.g., the boundary line perpendicular to the direction of movement of the vehicle) by considering the direction of movement of the vehicle.

[0063] According to one embodiment, the processor (150) can turn off the front camera (110) and turn on the rear camera (120) when the reference point of the vehicle crosses the boundary line (or when the rear wheels touch the boundary line).

[0064] Alternatively, when the reference point of the vehicle crosses the boundary line, the processor (150) can identify whether the approach angle of the vehicle is within a predetermined angle range (e.g., ±45 degrees) based on the vertical direction of the boundary line, and if the approach angle of the vehicle is within the predetermined angle range, turn off the front camera (110) and turn on the rear camera (120). The processor (150) can turn on the rear camera (120) to obtain an image of a marker (a marker attached to a wall) placed at the rear.

[0065] According to one embodiment, when the processor (150) determines that the vehicle is moving forward after the vehicle is rear-parked in a parking area, the processor (150) can determine whether the reference point of the vehicle crosses the boundary line. Then, when the reference point of the vehicle crosses the boundary line, the processor (150) can determine whether the moving angle according to the moving direction of the vehicle is within a predetermined angle range (e.g., ±45 degrees) with respect to the vertical direction of the boundary line, and if the moving angle of the vehicle is within the predetermined angle range (e.g., ±45 degrees), the processor can turn on the front camera (110) and turn off the rear camera (120).

[0066] As described above, the present invention identifies whether a reference point of the vehicle crosses a boundary line corresponding to the parking area when a vehicle is being parked backwards in a parking area within a parking space, and if the reference point of the vehicle crosses the boundary line, turns off the front camera (110) and turns on the rear camera (120), thereby reducing the number of images to be processed by the processor (150) and shortening the time for processing the images. In addition, the performance of the processor (150) is not degraded, so that image information can be processed in real time.

[0067] 2. When parking forward in a parking area and then exiting backward

[0068] According to one embodiment, the processor (150) can identify whether the vehicle's approach angle is within a predetermined angle range (e.g., ±45 degrees) based on the vertical direction of the boundary line corresponding to the parking area, while the vehicle is parked forward in a parking area within a parking space. The approach angle is the vehicle's rotation angle.

[0069] According to one embodiment, the processor (150) can turn on the front camera (110) and turn off the rear camera (120) when the vehicle's approach angle is within the predetermined angle range (e.g., ±45 degrees).

[0070] The processor (150) can turn on the rear camera (120) to obtain an image of a marker placed at the rear (a marker attached to a wall for a vehicle parked in reverse).

[0071] According to one embodiment, when the processor (150) determines that the vehicle is moving backward after the vehicle is parked forward in the parking area, the processor (150) can determine whether the reference point of the vehicle crosses the boundary line. Then, when the reference point of the vehicle crosses the boundary line, the processor (150) can determine whether the moving angle according to the direction of travel of the vehicle is within a predetermined angle range (e.g., ±45 degrees) with respect to the vertical direction of the boundary line, and if the moving angle of the vehicle is within the predetermined angle range (e.g., ±45 degrees), the processor can turn on the front camera (110) and turn off the rear camera (120).

[0072] As described above, the present invention identifies whether the vehicle's entry angle is within a predetermined angle range based on the vertical direction of the boundary line corresponding to the parking area when the vehicle is parked forward in a parking area within a parking space, and if the vehicle's entry angle is within the predetermined angle range, turns the front camera on and turns the rear camera off, thereby reducing the number of images to be processed by the processor (150) and shortening the time for processing the images. In addition, the performance of the processor (150) is not degraded, so that image information can be processed in real time.

[0073] Figure 2 is a flowchart illustrating a camera switching process when a vehicle enters a parking space from the rear, according to an embodiment of the present invention. Figure 3a is an exemplary diagram illustrating a state in which an unmanned vehicle enters a parking space with multiple markers placed in the parking space, according to an embodiment of the present invention. Figure 3b is an exemplary diagram illustrating a state in which a vehicle enters a parking space from the rear, according to an embodiment of the present invention.

[0074] Hereinafter, with reference to FIGS. 2, 3a and 3b, a camera switching process according to an embodiment of the present invention when a vehicle enters a parking area from the rear will be described in detail.

[0075] According to one embodiment, the processor (150) can identify whether the vehicle is currently parking (S210). The processor (150) can identify whether the vehicle (305) is currently moving within a parking space to park through the sensor (140). If the vehicle is identified as being located within a parking space, the processor (150) can obtain map information (303) about the parking space from the memory (130). For example, the processor (150) can identify the current location of the vehicle (305) through GPS information or wireless communication (e.g., Wi-Fi, Bluetooth, 4G, or 5G). For this purpose, the device (100) may include a communication unit (not shown).

[0076] According to one embodiment, the processor (150) can obtain map information about a parking space (S212). If the identified current location is within a parking space, the processor (150) can obtain map information (303) about the parking space from the memory (130).

[0077] Referring to FIG. 3a, a user (301) can unmanned park a vehicle (305) in a parking space using his / her mobile terminal. When the vehicle (305) enters the parking space, the vehicle (305) can obtain map information (303) from the memory (130).

[0078] According to one embodiment, a plurality of markers (302) may be placed on a wall, ground, or ceiling in a parking space, and the map information (303) may include location information regarding the placement positions of these plurality of markers (302) and the parking area (304).

[0079] According to one embodiment, the processor (150) can recognize a marker by activating a camera (S214). When map information is acquired, the processor (150) can recognize a marker located in front (or rear) of the vehicle through the front camera (110) (or rear camera (120)). The marker is a mark (e.g., a QR code) attached to a wall, floor, or ceiling within a parking space to identify the location of the vehicle during unmanned parking. The size of the marker can be 40 cm X 40 cm in width X height.

[0080] According to one embodiment, the processor (150) can identify the location of the vehicle on the map information based on the recognized marker (S216). The processor (150) can identify the marker to identify the current location and direction of the vehicle within a parking space (e.g., an indoor parking space). In this way, the processor (150) can identify the current location of the vehicle within the parking space through the recognized marker.

[0081] The processor (150) can obtain the XY coordinate values ​​of the vehicle based on map information, and obtain a heading value according to the direction of travel of the vehicle (e.g., the angle between the boundary line of the parking area (or the parking lot coordinate system) and the direction of movement of the vehicle). The processor (150) can identify the location and direction of the vehicle through these XY coordinate values ​​and heading values.

[0082] In one embodiment, the processor (150) can identify whether a vehicle is being rear-parked into a parking space (S218). When a vehicle is being rear-parked into a parking space within a parking space, the processor (150) can calculate in real time the distance between the location of the boundary line corresponding to the parking space and a reference point of the vehicle. The reference point is the center point of the rear wheel axle of the vehicle.

[0083] According to one embodiment, the processor (150) can identify whether the reference point of the vehicle crosses the boundary line corresponding to the parking area (S220). The processor (150) can identify whether the reference point (i.e., the center point of the rear wheel axle of the vehicle) crosses the boundary line of the parking area (e.g., a boundary line perpendicular to the direction of movement of the vehicle) by considering the direction of movement of the vehicle.

[0084] According to one embodiment, the processor (150) can turn off the front camera of the vehicle and turn on the rear camera (S222). When the reference point of the vehicle crosses the boundary line (or the rear wheels touch the boundary line), the processor (150) can turn off the front camera (110) and turn on the rear camera (120).

[0085] According to one embodiment, when the reference point of the vehicle crosses the boundary line, the processor (150) can identify whether the approach angle of the vehicle is within a predetermined angle range (e.g., ±45 degrees) based on the vertical direction of the boundary line, and if the approach angle of the vehicle is within the predetermined angle range, turn off the front camera (110) and turn on the rear camera (120). The processor (150) can turn on the rear camera (120) to obtain an image of a marker (a marker attached to a wall) placed at the rear.

[0086] Referring to FIG. 3B, a marker (311) may be placed on one side (e.g., a wall) of a parking area (304). The processor (150) may identify whether the reference point (320) of the vehicle (305) crosses the boundary line (330) corresponding to the parking area while the vehicle (305) is moving toward the parking area (304) for rear parking.

[0087] According to one embodiment, when the processor (150) identifies that the reference point (320) of the vehicle (305) crosses the boundary line (330) corresponding to the parking area, the processor (150) may turn off the front camera (110) and turn on the rear camera (120).

[0088] According to one embodiment, when the processor (150) identifies that the reference point (320) of the vehicle (305) crosses the boundary line (330) corresponding to the parking area, the processor (150) can identify whether the approach angle of the vehicle (305) is within a predetermined angular range (e.g., ±45 degrees) with respect to the vertical direction of the boundary line (330) (i.e., the direction perpendicular to the boundary line (330). In addition, when the approach angle of the vehicle (305) is within the predetermined angular range (e.g., ±45 degrees), the processor (150) can turn off the front camera (110) and turn on the rear camera (120).

[0089] Figure 4 is a flowchart illustrating a camera switching process when a vehicle, according to an embodiment of the present invention, moves forward from a rear-parked state. Figure 5 is an exemplary diagram illustrating a vehicle, according to an embodiment of the present invention, moving forward from a rear-parked state.

[0090] Hereinafter, with reference to FIGS. 4 and 5, the process of switching the camera when a vehicle according to one embodiment of the present invention moves forward while parked at the rear will be described in detail.

[0091] In one embodiment, the processor (150) can identify whether a vehicle parked rearward is moving forward (S410). The processor (150) can identify whether the vehicle has started to move forward based on the sensor (140) (or the location on the map information) while the vehicle is parked rearward in a parking area within a parking space.

[0092] In one embodiment, the processor (150) can identify whether the reference point of the vehicle crosses the boundary line corresponding to the parking area (S412). The processor (150) can identify whether the reference point of the vehicle (e.g., the center point of the rear wheel axle) crosses the boundary line (330) corresponding to the parking area.

[0093] According to one embodiment, the processor (150) can identify whether the vehicle's departure angle is within a predetermined angular range (S414). If the vehicle's reference point crosses the boundary line, the processor (150) can identify whether the vehicle's departure angle is within a predetermined angular range (e.g., ±45 degrees) relative to the vertical direction of the boundary line.

[0094] According to one embodiment, the processor (150) may turn on the front camera of the vehicle and turn off the rear camera (S416). If the reference point of the vehicle crosses the boundary line and the vehicle's departure angle is within a predetermined angle range (e.g., ±45 degrees) based on the vertical direction of the boundary line, the processor (150) may turn on the front camera (110) and turn off the rear camera (120).

[0095] Referring to FIG. 5, a marker (311) may be placed on one side (e.g., a wall) of a parking area (304). The processor (150) turns off the front camera (110) and turns on the rear camera (120) before the reference point (320) reaches the boundary line (330) while the vehicle (305) moves forward and leaves the parking area (304). Thereafter, when the reference point (320) of the vehicle (305) crosses the boundary line (330), the processor (150) turns on the front camera (110) and turns off the rear camera (120).

[0096] According to one embodiment, the processor (150) turns on the front camera (110) and turns off the rear camera (120) when the reference point (320) of the vehicle (305) crosses the boundary line (330) and the angle (501) between the vehicle's departure angle and the vertical reference line of the boundary line (330) is within a predetermined angle range (e.g., ±45 degrees).

[0097] Thereafter, the front camera (110) of the vehicle can obtain an image of a marker (511) located in the direction of travel and transmit it to the processor (150).

[0098] As described above, the present invention can reduce the number of images to be processed by the processor (150) and shorten the time for processing images by turning off the front camera (110) and turning on the rear camera (120) when the reference point of the vehicle crosses the boundary line corresponding to the parking area while the vehicle is moving backwards into the parking area within the parking space.

[0099] In addition, the present invention can reduce the number of images to be processed by the processor (150) by turning on the front camera and turning off the rear camera when the vehicle is moving forward while parked at the rear in a parking area and the angle of movement of the vehicle is within a predetermined angle range based on the vertical direction of the boundary line. This can shorten the time for processing the images.

[0100] Figure 6 is a flowchart illustrating a camera switching process when a vehicle is entering a parking space from the front according to an embodiment of the present invention. Figure 7 is an exemplary diagram illustrating a state in which a vehicle is entering a parking space from the front according to an embodiment of the present invention.

[0101] Hereinafter, with reference to FIGS. 6 and 7, the camera switching process according to one embodiment of the present invention when a vehicle enters a parking area from the rear will be described in detail.

[0102] According to one embodiment, the processor (150) can identify whether the vehicle is currently parking (S610). The processor (150) can identify whether the vehicle (305) is currently moving within a parking space to park through the sensor (140). If the vehicle is identified as being located within a parking space, the processor (150) can obtain map information (303) about the parking space from the memory (130). For example, the processor (150) can identify the current location of the vehicle (305) through GPS information or wireless communication (e.g., Wi-Fi, Bluetooth, 4G, or 5G). For this purpose, the device (100) may include a communication unit (not shown).

[0103] According to one embodiment, the processor (150) can obtain map information about a parking space (S612). If the identified current location is within a parking space, the processor (150) can obtain map information (303) about the parking space from the memory (130).

[0104] According to one embodiment, the processor (150) can recognize a marker by activating a camera (S614). When map information is acquired, the processor (150) can recognize a marker located in front (or rear) of the vehicle through the front camera (110) (or rear camera (120)). A marker is a sign (e.g., a QR code) attached to a wall, floor, or ceiling within a parking space to identify the location of the vehicle during unmanned parking.

[0105] According to one embodiment, the processor (150) can identify the location of the vehicle on the map information based on the recognized marker (S616). The processor (150) can identify the current location and direction of the vehicle within a parking space (e.g., an indoor parking space) by identifying the marker. In this way, the processor (150) can identify the current location of the vehicle within the parking space through the recognized marker.

[0106] According to one embodiment, the processor (150) can identify whether the vehicle is being parked forward into a parking area (S618). When the vehicle is being parked forward into a parking area within a parking space, the processor (150) can calculate the entry angle of the vehicle (305) in real time based on the vertical direction of the boundary line (330) (i.e., the direction perpendicular to the boundary line (330)).

[0107] According to one embodiment, the processor (150) can identify whether the vehicle's approach angle is within a predetermined angle range relative to the front (S620). The processor (150) can identify whether the vehicle's exit angle is within a predetermined angle range (e.g., ±45 degrees) relative to the vertical direction of the boundary line.

[0108] According to one embodiment, the processor (150) may turn off the front camera of the vehicle and turn on the rear camera (S622). If the processor (150) determines that the vehicle's approach angle is within a predetermined angle range (e.g., ±45 degrees) based on the vertical direction of the boundary line, the processor (150) may turn on the front camera (110) and turn off the rear camera (120).

[0109] Referring to FIG. 7, a marker (311) may be placed on one side (e.g., a wall) of a parking area (304). The processor (150) may identify whether the approach angle (701) of the vehicle (305) is within a predetermined angle range (e.g., ±45 degrees) based on the vertical direction of the boundary line while the vehicle (305) is moving toward the parking area (304) for front parking.

[0110] According to one embodiment, when the processor (150) identifies that the approach angle (701) of the vehicle (305) is within a predetermined angle range (e.g., ±45 degrees) based on the vertical direction of the boundary line, the processor (150) may turn on the front camera (110) and turn off the rear camera (120).

[0111] Figure 8 is a flowchart illustrating a camera switching process when a vehicle is moving backward from a front-parked state according to an embodiment of the present invention. Figure 9 is an exemplary diagram illustrating a vehicle moving backward from a front-parked state according to an embodiment of the present invention.

[0112] Hereinafter, with reference to FIGS. 8 and 9, the process of switching the camera when a vehicle according to one embodiment of the present invention is moving backward while parked forward will be described in detail as follows.

[0113] In one embodiment, the processor (150) can identify whether a vehicle parked forward is moving backward (S810). The processor (150) can identify whether the vehicle has started to move backward based on the sensor (140) (or the location on the map information) while the vehicle is parked forward in a parking area within a parking space.

[0114] According to one embodiment, the processor (150) can identify whether the reference point of the vehicle crosses the boundary line corresponding to the parking area (S812). The processor (150) can identify whether the reference point of the vehicle (e.g., the center point of the rear wheel axle) crosses the boundary line (330) corresponding to the parking area.

[0115] According to one embodiment, the processor (150) can identify whether the vehicle's departure angle is within a predetermined angular range (S814). If the vehicle's reference point crosses the boundary line, the processor (150) can identify whether the vehicle's departure angle is within a predetermined angular range (e.g., ±45 degrees) relative to the vertical direction of the boundary line.

[0116] According to one embodiment, the processor (150) may turn off the front camera of the vehicle and turn on the rear camera (S816). If the reference point of the vehicle crosses the boundary line and the vehicle's departure angle is within a predetermined angle range (e.g., ±45 degrees) based on the vertical direction of the boundary line, the processor (150) may turn off the front camera (110) and turn on the rear camera (120).

[0117] Referring to FIG. 9, a marker (311) may be placed on one side (e.g., a wall) of a parking area (304). The processor (150) turns on the front camera (110) and turns off the rear camera (120) before the reference point (320) reaches the boundary line (330) while the vehicle (305) is moving backwards out of the parking area (304). Thereafter, when the reference point (320) of the vehicle (305) crosses the boundary line (330), the processor (150) turns off the front camera (110) and turns on the rear camera (120).

[0118] According to one embodiment, the processor (150) turns off the front camera (110) and turns on the rear camera (120) when the reference point (320) of the vehicle (305) crosses the boundary line (330) and the angle (901) between the vehicle's departure angle and the vertical reference line of the boundary line (330) is within a predetermined angle range (e.g., ±45 degrees).

[0119] Thereafter, the front camera (110) of the vehicle can obtain an image of a marker (911) located in the direction of travel and transmit it to the processor (150).

[0120] As described above, the present invention can reduce the number of images to be processed by the processor (150) by turning on the front camera (110) and turning off the rear camera (120) when the vehicle is moving forward into a parking area within a parking space and the vehicle's entry angle is within a predetermined angle range based on the vertical direction of the boundary line.

[0121] In addition, the present invention can reduce the number of images to be processed by the processor (150) and shorten the time for processing images by turning off the front camera and turning on the rear camera when the reference point of the vehicle crosses the boundary line corresponding to the parking area while the vehicle is moving backwards while parked in the front of the parking area.

[0122] Each step in each of the flowcharts described above may be performed regardless of the order shown, or may be performed simultaneously. Furthermore, at least one component of the present invention and at least one operation performed by said at least one component may be implemented in hardware and / or software.

[0123] Although the present invention has been described with reference to the drawings exemplified above, it is to be understood that the present invention is not limited to the embodiments and drawings disclosed herein, and that various modifications may be made by those skilled in the art within the scope of the technical idea of ​​the present invention. Furthermore, even if the operational effects according to the configuration of the present invention have not been explicitly described while describing the embodiments of the present invention, it is natural that the effects predictable by the corresponding configuration should also be acknowledged.

Claims

1. In a device that controls the switching of front and rear cameras mounted on a vehicle, A forward-facing camera mounted on the front of the vehicle; A rear camera mounted on the rear of said vehicle; and A processor electrically connected to the front camera and the rear camera, The above processor, If the above vehicle is rear-parked in a parking area within a parking space, identify whether the reference point of the vehicle crosses the boundary line corresponding to the parking area, A device that controls switching of front and rear cameras mounted on a vehicle, the device being set to turn off the front camera and turn on the rear camera when the reference point of the vehicle crosses the boundary line.

2. In paragraph 1, Further comprising a memory for storing map information for the above parking space, The above processor, When the above vehicle is located within the above parking space, the map information is obtained, When the above map information is acquired, the marker located in front of the vehicle is recognized through the front camera, A device for controlling switching of front and rear cameras mounted on a vehicle set to identify the location of the vehicle within the parking space through the recognized marker.

3. In paragraph 1, The above processor, A device for controlling switching of front and rear cameras mounted on a vehicle, the front and rear cameras being set to acquire images of a marker placed at the rear of the vehicle through the rear camera turned ON.

4. In paragraph 1, The above processor, When the reference point of the above vehicle crosses the boundary line, it is identified whether the approach angle of the above vehicle is within a predetermined angle range based on the vertical direction of the boundary line, A device that controls switching of front and rear cameras mounted on a vehicle, the device being set to turn off the front camera and turn on the rear camera when the approach angle of the vehicle is within the predetermined angle range.

5. In paragraph 1, The above processor, When the vehicle parked in the rear of the above parking area is moving forward, identify whether the reference point of the vehicle crosses the boundary line, When the reference point of the above vehicle crosses the above boundary line, it is identified whether the exit angle of the above vehicle is within a predetermined angle range based on the vertical direction of the above boundary line, A device for controlling switching of front and rear cameras mounted on a vehicle, the device being set to turn on the front camera and turn off the rear camera when the departure angle of the vehicle is within the predetermined angle range.

6. In paragraph 1, The above reference point is, A device for controlling switching of front and rear cameras mounted on a vehicle, characterized in that the center point of the rear wheel axle of the vehicle is the center point.

7. In a device that controls the switching of front and rear cameras mounted on a vehicle, A forward-facing camera mounted on the front of the vehicle; A rear camera mounted on the rear of said vehicle; and A processor electrically connected to the front camera and the rear camera, The above processor, If the above vehicle is parked in front of a parking area within a parking space, identify whether the entry angle of the vehicle is within a predetermined angle range based on the vertical direction of the boundary line corresponding to the parking area, A device that controls switching of front and rear cameras mounted on a vehicle, the device being set to turn the front camera ON and the rear camera OFF when the approach angle of the vehicle is within the predetermined angle range.

8. In paragraph 1, The above processor, If the vehicle parked in front of the above parking area is moving backward, identify whether the reference point of the vehicle crosses the boundary line, When the reference point of the above vehicle crosses the above boundary line, it is identified whether the exit angle of the above vehicle is within a predetermined angle range based on the vertical direction of the above boundary line, A device for controlling switching of front and rear cameras mounted on a vehicle, the device being set to turn off the front camera and turn on the rear camera when the departure angle of the vehicle is within the predetermined angle range.

9. A method for controlling switching of front and rear cameras mounted on a vehicle, If the vehicle is rear-parked in a parking area within a parking space, a process for identifying whether the reference point of the vehicle crosses the boundary line corresponding to the parking area; and A method for controlling switching of front and rear cameras mounted on a vehicle, comprising the steps of turning off a front camera mounted on the front of the vehicle and turning on a rear camera mounted on the rear of the vehicle when the reference point of the vehicle crosses the boundary line.

10. A method for controlling switching of front and rear cameras mounted on a vehicle, When the vehicle is parked in front of a parking area within a parking space, a process of identifying whether the vehicle's entry angle is within a predetermined angle range based on the vertical direction of the boundary line corresponding to the parking area; and A method for controlling switching of front and rear cameras mounted on a vehicle, comprising the steps of turning on a front camera mounted on the front of the vehicle and turning off a rear camera mounted on the rear of the vehicle when the departure angle of the vehicle is within the predetermined angle range.

Images