Rear lane tracking method and rear-view mirror using same

Abstract

Disclosed are a rear lane tracking method and a rear-view mirror using same. According to a preferred embodiment of the present invention, a rear lane tracking method and a rear-view mirror using same: detect an edge of an object by image-processing a rear image; obtain a corrected horizontal reference point by using edges of a lane; obtain a corrected vertical reference point by using a horizon edge; measure a displacement from a preset initial reference point; change and crop an area to be displayed on the rear-view mirror in the rear image according to the measured displacement; and then output the cropped area by means of a display, thereby always displaying, to a user, a situation of a vehicle approaching from the rear and the rear lane.

Description

Rear tracking method and rear-view mirror using the same

[0001] The present invention relates to a rear tracking method for a vehicle and a rear-view mirror using the same.

[0002] Generally, vehicles are equipped with a rear-view mirror inside the cabin to allow observation of the rear of the vehicle. Conventional rear-view mirrors are limited in their functionality to simply displaying the rear view of the vehicle through a mirror, and it is difficult to clearly see the rear of the vehicle when dust or snow accumulates on the rear window.

[0003] Another conventional technology to solve these problems has proposed a digital rear-view mirror. The digital rear-view mirror installs a digital camera at the rear of the vehicle to photograph the rear of the vehicle, and by outputting the image captured by the digital camera to a display included in the digital rear-view mirror, it can provide the driver with the situation behind the vehicle regardless of the condition of the vehicle's rear window.

[0004] However, these conventional technologies had limitations in that they merely displayed the rear situation of the vehicle and could not provide any useful functions beyond that.

[0005] In particular, as illustrated in FIG. 1a and FIG. 1b, in the case of a conventional digital rear-view mirror, the rear camera is installed so that the shooting direction is fixed, and accordingly, the rear-view mirror also outputs only a screen in a fixed direction, so the situation behind the vehicle (the situation of a vehicle operating in the rear lane) may not be properly displayed.

[0006] For example, as shown in Fig. 1a, when a vehicle goes up a hill, only the nearby road is displayed through the rear-view mirror at the beginning of the hill, and only the empty space is displayed at the top of the hill.

[0007] In addition, as shown in Fig. 1b, when a vehicle makes a large turn on a curved road, there is a problem in that it fails to display vehicles traveling along the lane behind it and fails to properly convey the situation behind the driver by displaying the space next to the road.

[0008] The problem that the present invention aims to solve is to provide a rear-view mirror that tracks the rear row of a vehicle and displays the tracked area so that the image displayed through the rear-view mirror can always include the rear row lane and the vehicle operating in the rear.

[0009] A rear-view mirror according to a preferred embodiment of the present invention for solving the above-mentioned problem comprises: a camera module including a rear camera that captures the rear of a vehicle; a display that outputs an image; a mirror module installed in front of the display that controls reflectivity and transmittance according to a control signal; and a circuit unit including a processor and a memory. The processor, which executes a command stored in the memory, performs the following steps: (a) storing an initial reference point of the rear image in the memory; (b) receiving a rear image from the rear camera and performing image processing on the rear image to extract edge lines of objects; (c) when the edge lines are extracted, obtaining a correction reference point of the rear image using the lane and horizon of the edge lines; (d) cropping an area to be displayed according to the correction reference point of the rear image; and (e) outputting the cropped area through the display.

[0010] Additionally, in step (d) above, the processor can calculate the displacement between the modification reference point and the initial reference point, accumulate the displacement by a predefined number of frames of the rear image, and if the accumulated displacement is greater than or equal to a predefined threshold, crop the area to be displayed according to the modification reference point of the rear image.

[0011] Additionally, in step (d) above, the processor can obtain a displacement between the modified reference point and the initial reference point, obtain a cropping center value by applying a weight to the displacement, and crop the area to be displayed according to the cropping center value.

[0012] In addition, in step (c) above, the processor may determine the horizontal coordinates of the correction reference point by drawing a plurality of parallel virtual lines connecting the lanes in a horizontal direction and calculating the average of the coordinate values ​​of the center points of the plurality of virtual lines.

[0013] In addition, in step (c) above, the processor may determine the vertical coordinates of the correction reference point by drawing a plurality of virtual lines parallel to each other at regular intervals in a vertical direction and calculating the average of the coordinate values ​​of the points where the plurality of virtual lines meet the horizon.

[0014] Additionally, prior to step (a), the processor may further perform the step of investigating the display mode set in the rear-view mirror, turning off the display and increasing the reflectivity of the mirror module if the display mode is mirror mode, and turning on the display and increasing the transmittance of the mirror module if the display mode is display mode, and performing steps (a) through (e).

[0015] Meanwhile, a rear-row tracking method performed in a rear-view mirror according to a preferred embodiment of the present invention for solving the above-mentioned problem is a rear-row tracking method performed in a rear-view mirror comprising a rear camera, a display, a mirror module installed in front of the display to adjust reflectivity and transmittance according to a control signal, and a circuit unit including a processor and a memory, comprising: (a) a step of storing an initial reference point of a rear image in the memory; (b) a step in which the processor receives a rear image from the rear camera and performs image processing on the rear image to extract edge lines of objects; (c) a step in which, when the edge lines are extracted, the processor obtains a correction reference point of the rear image using the lane and horizon of the edge lines; (d) a step in which the processor crops an area to be displayed according to the correction reference point of the rear image; and (e) a step in which the processor outputs the cropped area through the display.

[0016] Additionally, step (d) calculates the displacement between the correction reference point and the initial reference point, accumulates the displacement by a predefined number of frames of the rear image, and if the accumulated displacement is greater than or equal to a predefined threshold, crops the area to be displayed according to the correction reference point of the rear image.

[0017] Additionally, step (d) can calculate the displacement between the modified reference point and the initial reference point, calculate the cropping center value by applying weights to the displacement, and crop the area to be displayed according to the cropping center value.

[0018] In addition, step (c) above can determine the horizontal coordinates of the correction reference point by drawing a plurality of parallel virtual lines connecting the lanes in a horizontal direction and calculating the average of the coordinate values ​​of the center points of the plurality of virtual lines.

[0019] In addition, step (c) above can determine the vertical coordinates of the correction reference point by drawing a plurality of virtual lines parallel to each other at regular intervals in a vertical direction and calculating the average of the coordinate values ​​of the points where the plurality of virtual lines meet the horizon.

[0020] Additionally, a rear-view mirror tracking method performed according to another preferred embodiment of the present invention may further include, prior to step (a), a step of investigating a display mode set in the rear-view mirror; and if the display mode is a mirror mode, a step of turning off the display and increasing the reflectivity of the mirror module, and if the display mode is a display mode, turning on the display and increasing the transmittance of the mirror module, and then performing steps (a) through (e).

[0021] A rear-row tracking method and a rear-view mirror using the same according to a preferred embodiment of the present invention can always display to the user the situation of a vehicle approaching from the rear and the rear-row lane by performing image processing on a rear image to detect the edges of an object, obtaining a modified horizontal reference point using the edges of a lane, obtaining a modified vertical reference point using the horizon edge, measuring the displacement from a preset initial reference point, changing and cropping the area to be displayed on the rear-view mirror in the rear image according to the measured displacement, and outputting the cropped area through a display.

[0022] FIGS. 1a and 1b are drawings illustrating the problems of a digital rear-view mirror according to the prior art.

[0023] FIGS. 2a and FIGS. 2b are drawings illustrating the functional configuration and external configuration, respectively, of a rear-view mirror according to a preferred embodiment of the present invention.

[0024] FIGS. 3a to 3c are drawings conceptually illustrating a method of performing rear-row tracking and displaying a rear-row image on a rear-view mirror according to a preferred embodiment of the present invention.

[0025] FIGS. 4a to 4e are drawings illustrating the process of tracking a rear train lane by adjusting the area to be cropped in a rear image according to a preferred embodiment of the present invention.

[0026] FIG. 5 is a diagram illustrating an example of obtaining a reference point in a rear image and setting a cropping area according to the reference point, according to a preferred embodiment of the present invention.

[0027] Figures 6a to 6c are drawings illustrating a method for resetting a cropping area.

[0028] FIG. 7 is a drawing illustrating a rear-view mirror tracking method performed according to a preferred embodiment of the present invention.

[0029] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0030] Hereinafter, the aforementioned objects, features, and advantages of the present invention will become more apparent from the following detailed description in conjunction with the accompanying drawings. However, as the present invention is subject to various modifications and may have various embodiments, specific embodiments are illustrated in the drawings and described in detail below.

[0031] Throughout the specification, identical reference numbers indicate identical components in principle. Additionally, components with identical functions within the scope of the same concept appearing in the drawings of each embodiment are described using the same reference numeral.

[0032] When a part of a specification is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as "...part" or "module" as used in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware or software, or as a combination of hardware and software.

[0033] If it is determined that a detailed description of known functions or configurations related to the present invention may unnecessarily obscure the essence of the present invention, such detailed description is omitted. Additionally, numbers used in the description of this specification (e.g., 1st, 2nd, etc.) are merely identification symbols to distinguish one component from another.

[0034] FIGS. 2a and FIGS. 2b are drawings illustrating the functional configuration and external configuration, respectively, of a rear-view mirror according to a preferred embodiment of the present invention.

[0035] Referring to FIGS. 2a and 2b, a rear-view mirror (100) according to a preferred embodiment of the present invention includes a camera module (110), a mirror module (140), a display (130), and a circuit unit (120). The camera module (110) includes a rear camera (111), and the circuit unit (120) includes a processor (121), a memory (123), and a communication module (125).

[0036] The mirror module (140), display (130), and circuit (120) are included in the rear-view mirror housing (190) and installed near the front windshield of the vehicle interior.

[0037] The rear camera (111) is installed on the exterior rear of the vehicle, captures the rear of the vehicle to generate a rear image, and transmits the rear image to the processor (121). The rear camera (111) may be used to have a shooting angle of 120 degrees or more so that blind spots can be captured, and it is preferable to install it as a camera having a field of view of 180 degrees.

[0038] The display (130) can be implemented as an LCD module, an OLED module, etc., and is turned on / off according to the control of the processor (121), and outputs a video signal generated by the processor (121).

[0039] The mirror module (140) contains an EC (Electronic Chromic) film inside and is positioned in front of the display (130). Under the control of the processor (121), the reflectivity and transmittance of the EC film included in the mirror module (140) are adjusted. Accordingly, when the reflectivity of the mirror module (140) becomes greater than a predefined threshold and the transmittance becomes less than a predefined threshold, the mirror module (140) performs the role of a reflector. Conversely, when the reflectivity of the mirror module (140) becomes less than a predefined threshold and the transmittance exceeds a predefined threshold, the mirror module (140) transmits an image displayed on the display (130) so that the driver and passengers can view the image on the display (130).

[0040] The memory (123) is implemented as an SSD (Solid State Drive), flash memory, ROM (Read-Only Memory), RAM (Random Access Memory), etc., and stores instructions to be executed by the processor (121) and data processed by the processor (121). In addition, the memory (123) can store a rear view, a left rear view, and a right rear view.

[0041] The processor (121) can be implemented as a CPU (Central Processing Unit) or a similar device (e.g., MPU (Micro Processing Unit), MCU (Micro Control Unit), etc.) and controls the display (130) and mirror module (140) by executing instructions stored in memory (123), processes the rear image, left rear image, and right rear image to generate an image to be output to the display (130), and outputs the generated image through the display (130).

[0042] The communication module (125) communicates with the vehicle's main controller (200) to receive information related to vehicle control from the vehicle's main controller (200) and output it to the processor (121). Additionally, the communication module (125) communicates with a navigation device (not shown) installed in the vehicle to receive navigation information from the navigation device and output it to the processor (121).

[0043] FIGS. 3a to 3c are drawings conceptually illustrating a method of performing rear-row tracking and displaying a rear-row image on a rear-view mirror according to a preferred embodiment of the present invention.

[0044] Referring to FIGS. 3a to 3c, the direction and angle of the area displayed on the rear-view mirror according to the prior art are indicated in blue, and the direction and angle of the area displayed on the rear-view mirror according to a preferred embodiment of the present invention are indicated in red.

[0045] When the rear camera (111) is implemented as a wide-angle camera, the image (310) captured by the rear camera (111) includes a very wide area as shown in FIG. 3a, and when all rear images input from the rear camera (111) are displayed through the display (130), the objects displayed through the display (130) appear too small, so the driver cannot identify the objects.

[0046] Accordingly, the processor (121) of the present invention crops a portion of the rear image input from the rear camera (111) and outputs it through the display (130). In addition, the processor (121) adjusts the cropped area in the rear image according to the situation and displays it through the display (130).

[0047] For example, as illustrated in FIG. 3b, when a vehicle goes up a hill, a preferred embodiment of the present invention adjusts the cropping area (i.e., field of view) of the rear image generated by the rear camera (111) so that the upper area of ​​the rear image is cropped and displayed (323) compared to when driving on flat ground (321), and the lower area of ​​the rear image is cropped and displayed (327) compared to when driving on flat ground (331) when driving on a hill.

[0048] Likewise, as illustrated in FIG. 3c, when a vehicle is driving on a large curved road, the area to be displayed in the direction of the curve in the rear view is cropped (333) so that the road can be tracked and displayed, compared to when driving on flat ground (331).

[0049] FIGS. 4a to 4e are drawings illustrating the process of tracking a rear train lane by adjusting the area to be cropped in a rear image according to a preferred embodiment of the present invention.

[0050] Referring to FIGS. 4a to 4e, the processor (121) of the present invention receives a rear image through a rear camera (111) while the vehicle is stopped on a flat surface (see FIG. 4a), performs image processing on the rear image to detect the boundary lines of objects included in the rear image (see FIG. 4b), and detects lanes and horizons from the detected boundary lines (see FIG. 4c).

[0051] After that, the processor (121) obtains an initial reference point by obtaining a reference point in the horizontal direction and a reference point in the vertical direction.

[0052] First, as shown in FIG. 4d, multiple virtual lines connecting parallel lanes at regular intervals are drawn horizontally in a straight lane image, and the centers of the virtual lines are determined. In FIG. 4d, the centers of each line are indicated by yellow circles (sx1, sx2, sx3). Then, the horizontal coordinates of the centers of each virtual line are averaged to obtain a horizontal reference point (horizontal reference point) (SX). The reference point is indicated by a blue circle (SX).

[0053] Likewise, as shown in FIG. 4e, in the horizon image, a plurality of virtual lines are drawn in the vertical direction at regular intervals, and the coordinates of the points where the virtual lines and the horizon meet are calculated (indicated by yellow circles (sy1, sy2, sy3)). Then, the average of the vertical coordinates of the yellow circles is calculated as the vertical reference point (vertical reference point) (SY). The reference point is indicated by a blue circle (SY).

[0054] The horizontal and vertical reference points obtained in this way constitute the initial reference point (SX,SY).

[0055] FIG. 5 is a diagram illustrating an example of obtaining a reference point in a rear image and setting a cropping area according to the reference point, according to a preferred embodiment of the present invention.

[0056] Referring to FIG. 5, the initial reference point consists of a horizontal reference point and a vertical reference point as described with reference to FIGS. 4a to 4e, and the cropping area to be displayed on the display (130) is determined according to the reference point. At this time, the cropping area may be set to be spaced apart from the reference point by equal distances in the up-down and left-right directions, or the left-right directions may be spaced apart by equal distances, and the up-down directions may be spaced apart by a predefined ratio. For example, the distance from the center point to both left-right ends may be set to 5:5, and the distance from the center point to both top-bottom ends may be set to 2:3.

[0057] Meanwhile, when a reference point for the rear image is set, the processor (121) adaptively determines the reference point for the rear image in real time during operation to reset the cropping area and outputs the reset cropping area through the display (130).

[0058] Figures 6a to 6c are drawings illustrating a method for resetting a cropping area.

[0059] First, as shown in Fig. 6a, when a vehicle travels on a curved lane, image processing is performed on the rear image to extract edges, and the lane is extracted from the edges.

[0060] After that, multiple parallel virtual lines are drawn connecting both ends of the lane, and the center points (ax1, ax2, ax3) of each line are determined. Then, the average coordinates of the multiple center points are calculated to establish a modified horizontal reference point (AX). At this time, the difference between the horizontal reference point (SX) obtained through the above-mentioned FIGS. 4a to 4e and the modified horizontal reference point (AX) obtained by referring to FIG. 6a is set as the horizontal displacement dx (= SX-AX). At this time, those skilled in the art will know that the greater the curvature of the lane on which the vehicle travels, the greater the horizontal displacement.

[0061] Likewise, as illustrated in FIG. 6b, when a rear view is input while driving on a hill, the processor (121) performs image processing on the rear view to extract the horizon.

[0062] After that, multiple virtual lines parallel to each other in the vertical direction are drawn at regular intervals, and points (by1, by2, by3) where each line touches the horizon are found, and the average coordinates of the multiple points are calculated to set a modified vertical reference point (BY). At this time, the difference between the vertical reference point (SY) obtained through the above-mentioned FIGS. 4a to 4e and the modified vertical reference point (BY) obtained by referring to FIG. 6b is set as the horizontal displacement dy (= SY-BY).

[0063] Finally, as illustrated in FIG. 6c, the processor (121) re-establishes the modified reference point (AX,BY) in the rear image using the modified horizontal reference point (AX) and the modified vertical reference point (BY), sets up left, right, up, and down lines by a predefined distance from the modified reference point (AX,BY) to crop the area to be displayed by the display (130), and outputs the cropped area through the display (130).

[0064] FIG. 7 is a drawing illustrating a rear-view mirror tracking method performed according to a preferred embodiment of the present invention.

[0065] Hereinafter, with further reference to FIG. 7, the function of the rear-view mirror of the present invention and the rear tracking method performed in the rear-view mirror will be described.

[0066] First, the processor (121) stores the coordinate values ​​(SX,SY) of the initial reference point of the rear image, which are set in advance, in memory (S710). The coordinate values ​​(SX,SY) of the initial reference point of the rear image may be set directly by the processor (121) by performing the process described above with reference to FIGS. 4a to 4e and stored in memory, or the coordinate values ​​(SX,SY) of the initial reference point of the rear image, which are set in advance through experiments, etc., may be received as input and stored in memory.

[0067] After that, when the vehicle starts driving, the processor (121) checks the display mode set by the user (S720), and if it is mirror mode, turns off the display (130), lowers the transmittance of the mirror module (EC film) (140) below a threshold point, and raises the reflectance above a threshold point so that the rear situation is reflected through the mirror module (140) and shown to the driver (S730).

[0068] If the display mode is the display mode, the processor (121) activates the rear camera (111) and turns on the display (130) (S740).

[0069] After that, the processor (121) receives a rear image from the rear camera (111) (S751) and performs image processing on the rear image to extract the edge lines of the objects (S753).

[0070] When an edge line is extracted, as described above with reference to FIGS. 6a and 6b, the processor (121) obtains a modified reference point (AX,BY) from the rear image input to the rear camera (111) (S755) and calculates the displacement (dx,dy) from the previously set initial reference point (SX,SY) (S757).

[0071] After that, the processor (121) accumulates displacements equal to the number of frames of the rear image defined in advance, determines whether the accumulated displacement value is greater than or equal to a predefined threshold value, and if it is not greater than or equal to the threshold value, proceeds to the above-described step S751 (S760).

[0072] If the accumulated value of the displacement is not above a predefined threshold, it is because the shooting angle of the rear image has temporarily changed (e.g., passing over a speed bump, driving to avoid obstacles, etc.). In such cases, if the rear tracking process described later is performed to change the area displayed on the display (130) in real time, this is unsuitable as it can cause confusion for the driver due to the frequent changes in the display area.

[0073] If the accumulated displacement value is greater than a predefined threshold, this corresponds to a case where the vehicle is driving on a large curved road or the vehicle is going up or down a hill, so the processor (121) crops the area to be displayed according to the modified reference point (AX,BY) of the rear image (S770).

[0074] After that, the processor (121) outputs the cropped area to the display (130) (S780).

[0075] Meanwhile, in the case of a preferred embodiment of the present invention, in step S770, the cropping area is described as being moved by the displacement of the initial reference point (SX,SY) and the modified reference point (AX,BY); however, in this case, depending on the user, it may feel that the area displayed on the rear-view mirror changes too abruptly.

[0076] To solve these problems, another preferred embodiment of the present invention may set a constant weight between 0 and 1, apply the corresponding weight to the displacement to set a cropping center value, and then set an area to be cropped according to the cropping center value.

[0077] For example, when the initial reference point (SX,SY) stored in memory is (960,540) and the modified reference point (AX,BY) is (1060,640), if no weights are applied, the cropping area must be moved 100 pixels horizontally and 100 pixels vertically, which causes a sudden change in the rear image and may cause confusion for the driver due to the sudden movement of the image.

[0078] Therefore, by setting the weight to 0.5, the processor (121) moves only 50 pixels, which is 50% of the displacement of 100 pixels, thereby reducing the movement of the image somewhat and preventing user confusion.

[0079]

[0080] The rear tracking method according to the preferred embodiment of the present invention described above can be implemented as a computer program stored on a non-transient storage medium by being implemented as computer-executable instructions. Additionally, the present invention makes it possible to implement the rear tracking method as computer-readable code on a computer-readable non-transient recording medium.

[0081] Storage media include all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable storage media include non-volatile memory, ROM, CD-ROM, and optical data storage devices. Additionally, computer-readable storage media are distributed across networked computer systems, allowing computer-readable code to be stored and executed in a distributed manner.

[0082] The present invention has been described above with reference to its preferred embodiments. Those skilled in the art will understand that the present invention may be embodied in modified forms without departing from the essential characteristics of the invention. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the invention is defined by the claims, not by the foregoing description, and all variations within the scope of the claims should be interpreted as being included in the invention.

Claims

1. A camera module including a rear camera that photographs the rear of a vehicle; A display that outputs an image; A mirror module installed in front of the above display and adjusting reflectivity and transmittance according to a control signal; and It includes a circuit section including a processor and memory, and The processor that executed the instruction stored in the memory above (a) A step of storing the initial reference point of the rear image in memory; (b) receiving a rear image from the rear camera and performing image processing on the rear image to extract edge lines of objects; (c) A step of obtaining a correction reference point for the rear image using the lane and horizon of the edge line when the edge line is extracted; (d) a step of cropping the area to be displayed according to the correction reference point of the rear image; and (e) A rear-view mirror characterized by performing the step of outputting the cropped area through a display.

2. In Paragraph 1, In step (d) above, the processor Calculate the displacement between the above modification reference point and the above initial reference point, and A rear-view mirror characterized by accumulating displacement by a predefined number of frames of a rear image, and cropping the area to be displayed according to a correction reference point of the rear image if the accumulated displacement value is greater than or equal to a predefined threshold.

3. In Paragraph 1, In step (d) above, the processor Calculate the displacement between the above modification reference point and the above initial reference point, and A rear-view mirror characterized by applying weights to the above displacement to obtain a cropping center value, and cropping the area to be displayed according to the cropping center value.

4. In Paragraph 1, In step (c) above, the processor Draw multiple imaginary lines parallel to each other connecting the lanes in a horizontal direction, and A rear-view mirror characterized by determining the horizontal coordinates of the correction reference point by calculating the average of the coordinate values ​​of the center points of the plurality of virtual lines.

5. In Paragraph 1, In step (c) above, the processor Draw multiple imaginary lines parallel to each other at regular intervals in a vertical direction, and A rear-view mirror characterized by determining the vertical coordinates of the correction reference point by calculating the average of the coordinate values ​​of the points where the plurality of virtual lines meet the horizon.

6. In Paragraph 1, The above processor is prior to step (a) above By examining the display mode set on the rear-view mirror, If the display mode is mirror mode, the display is turned off and the reflectivity of the mirror module is increased, and further steps are performed. A rear-view mirror characterized by turning on the display and increasing the transmittance of the mirror module when the display mode is a display mode, and performing steps (a) through (e).

7. A rear-view mirror tracking method performed in a rear-view mirror comprising a rear camera, a display, a mirror module installed in front of the display to adjust reflectivity and transmittance according to a control signal, and a circuit unit including a processor and a memory, wherein (a) A step of storing an initial reference point of the rear image in the memory; (b) A step in which the processor receives a rear image from the rear camera and performs image processing on the rear image to extract edge lines of objects; (c) When an edge line is extracted, the processor obtains a correction reference point for the rear image using the lane and horizon of the edge line; (d) a step in which the processor crops an area to be displayed according to a correction reference point of the rear image; and (e) A rear-view mirror rear tracking method characterized by including the step of the processor outputting the cropped area through the display.

8. In Paragraph 7, The above (d) step Calculate the displacement between the above modification reference point and the above initial reference point, and A rear-view mirror rear tracking method characterized by accumulating displacement by a predetermined number of rear image frames, and cropping the area to be displayed according to a correction reference point of the rear image when the accumulated displacement value is greater than or equal to a predetermined threshold.

9. In Paragraph 7, The above (d) step Calculate the displacement between the above modification reference point and the above initial reference point, and A rear-view mirror tracking method characterized by applying weights to the above displacement to obtain a cropping center value, and cropping the area to be displayed according to the cropping center value.

10. In Paragraph 7, The above (c) step Draw multiple imaginary lines parallel to each other connecting the lanes in a horizontal direction, and A rear-view mirror tracking method characterized by determining the horizontal coordinates of the correction reference point by calculating the average of the coordinate values ​​of the center points of the plurality of virtual lines.

11. In Paragraph 7, The above (c) step Draw multiple imaginary lines parallel to each other at regular intervals in a vertical direction, and A rear-view mirror tracking method characterized by determining the vertical coordinates of the correction reference point by calculating the average of the coordinate values ​​of the points where the above-mentioned plurality of virtual lines meet the horizon.

12. In Paragraph 7, Prior to the above (a) step Step of examining the display mode set in the rear-view mirror; and If the display mode is mirror mode, it further includes the step of turning off the display and increasing the reflectivity of the mirror module, A rear-view mirror rear tracking method characterized by turning on the display and increasing the transmittance of the mirror module when the display mode is a display mode, and then performing steps (a) through (e).

13. A non-transient recording medium that records the rear tracking method of claim 7 as computer-readable and computer-executable program code.

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