Camera device for vehicle

• US 10,445,596 B2
• Filed: 07/22/2016
• Issued: 10/15/2019
• Est. Priority Date: 07/29/2015
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation
• Inventors: Sim, Sang Kyun
• Primary Examiner(s): Kelley, Christopher S
• Assistant Examiner(s): Tarko, Asmamaw G
• Application Number:
  US15/216,693
• Publication Number:
  US 20170032197A1
• Time in Patent Office: 1,180 Days
• Field of Search: 348148
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/602 with an adjustable viewpoint
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

The present disclosure relates to a camera device of a vehicle, including at least: a first image generating unit that photographs a first area, which includes a first sub-area and a second sub-area, and generates a first image that includes a first sub-image associated with the first sub-area and a second sub-image associated with the second sub-area; a second image generating unit that photographs a second area, which includes the second sub-area and a third sub-area, and generates a second image that includes a third sub-image associated with the second sub-area and a fourth sub-image associated with the third sub-area; and an image analyzing unit that recognizes a first forward object by analyzing the first sub-image, recognizes a lateral object by analyzing the fourth sub-image, recognizes a second forward object by analyzing the second sub-image and the third sub-image, and measures a distance to the second forward object.

Claims

1. A camera device of a vehicle, the camera device comprising:

an imager module that includes two or more cameras, each camera including a first lens and a second lens having different angles of field and different focal lengths each other,

wherein the imager module includes;

a first camera that includes a first lens, which has a first angle of field and a first focal length, and a first imager that obtains an first image through the first lens; and

a second camera that includes a second lens, which has a second angle of field that is wider than the first angle of field and a second focal length that is shorter than the first focal length, and a second imager that obtains an second image through the second lens;

an image processing module that processes the first and second images that are obtained from the first camera and the second camera the imager module; and

a detector that detects an object or a vehicle existing on the outside by using a result of processing for analyzing the first image and the second image performed by the image processing module, in a manner of

recognizing a first forward object or a first forward vehicle existing in the first image,

recognizing a lateral object or a lateral vehicle existing in the second image, and

recognizing a second forward object or a second forward vehicle existing in a common area between the first image and the second image,

wherein the detector performs at least one of;

a lane detection operation that detects a traffic lane of a road;

a cut-in vehicle detection operation that detects a vehicle that cuts in front of the owner'"'"'s vehicle;

a pedestrian detection operation that detects a pedestrian around the vehicle;

a sharp curve lane detection operation that detects a traffic lane of which a curvature is less than or equal to a predetermined threshold radius curvature;

a long range vehicle detection operation that detects another vehicle at a long distance;

a crossing cyclist detection operation that detects a bicycle or a two-wheeled vehicle that cuts across a road in front of the owner'"'"'s vehicle;

a traffic sign detection operation that detects a traffic sign located around a traffic lane or existing on a road;

a crossing vehicle detection operation that detects another vehicle that cuts across a road in front of the owner'"'"'s vehicle;

a general object detection operation that detects a general object;

a traffic light detection operation that detects a traffic light;

a road depth detection operation that measures a depth of a forward road;

a free space detection operation that detects an empty space around the vehicle.

2. The camera device of claim 1, wherein the image processing module includes:

a single processor that processes only data obtained from one of two cameras included in the imager module; and

a multi-processor that processes, together, data obtained from all of the two cameras.

3. The camera device of claim 1, wherein the imager module further includes:

a third camera that includes;

a third lens having a third angle of field that ranges between the first angle of field and the second angle of field, and having a third focal length that ranges between the first focal length and the second focal length; and

a third imager that obtains an image through the third lens.

4. The camera device of claim 1, wherein, when a traffic lane detected by the lane detection operation based on an image that is obtained through the first camera has a radius curvature that is less than or equal to a predetermined threshold radius curvature, the sharp curve lane detection operation of the detector includes detecting a traffic lane using an image obtained from the second camera.

5. The camera device of claim 1, wherein, when the detector configured to perform the lane detection operation detects a traffic lane using the first camera and detects that the detected traffic lane is not recognized during at least a predetermined distance, or detects that the detected traffic lane is disconnected during at least a predetermined distance, the lane detection operation includes determining the corresponding part as a crossroad area;

and

when the corresponding part is determined as the crossroad area, the lane detection operation further includes recognizing a right-and-left crossing lane that extends to the right and to the left at the crossroad, from an image obtained from the second camera.

6. The camera device of claim 5, wherein the lane detection operation further includes detecting a long-distance lane that extends in a forward area beyond the crossroad area by using an image obtained from the first camera.

7. The camera device of claim 1, wherein, when the detector configured to perform the lane detection operation detects a traffic lane using the first camera and detects that the detected traffic lane is not recognized during at least a predetermined distance, or detects that the detected traffic lane is disconnected during at least a predetermined distance, the lane detection operation includes determining the corresponding part as a crossroad area;

and

when the corresponding part is determined as the crossroad area, the crossing cyclist detection operation or crossing vehicle detection operation includes detecting a bicycle or another vehicle that cuts across a road in front of the owner'"'"'s vehicle using an image obtained from the second camera.

8. The camera device of claim 1, wherein, when it is determined that the vehicle enters the crossroad, and a right turn indicator of the vehicle is turned on, the traffic sign detection operation includes detecting a crosswalk mark existing in a course along the right side by using an image obtained from the second camera;

or

the traffic light detection operation includes determining a state of a crosswalk traffic light existing in the course along the right side by using the image obtained from the second camera.

9. The camera device of claim 8, wherein the pedestrian detection operation further includes distinguishing a pedestrian existing on or around the crosswalk by using the image obtained from the second camera that includes a wide lens.

10. The camera device of claim 9, wherein, when the detector configured to perform the traffic sign detection operation detects a crosswalk mark existing in the course along the right side using the image obtained from the second camera, the camera device sets a pedestrian detection sensitivity for the pedestrian detection operation to be high, and increases a brake pressure for automatic emergency braking.

11. The camera device of claim 1, wherein, when the detector configured to perform the traffic sign detection operation detects a direction indicating mark that exists on a running road in front of the vehicle by using the first camera, the camera device further recognizes a direction indicating mark existing in the right and left lanes of a running lane by using an image from the second camera, at the same time of the detection or a predetermined period of time thereafter.