Around view monitoring apparatus and method thereof

• US 9,864,915 B2
• Filed: 11/11/2014
• Issued: 01/09/2018
• Est. Priority Date: 08/04/2014
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Lee, Seong soo
• Primary Examiner(s): WILLIAMS, JEFFERY A
• Application Number:
  US14/538,491
• Publication Number:
  US 20160034768A1
• Time in Patent Office: 1,155 Days
• Field of Search: 348 38
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/102 using 360 degree surveillance camera system
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: G03B 37/04 with cameras or projectors providing touching or overlapping fields of view
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• CPC Class Codes: G06T 7/0002 Inspection of images, e.g. flaw detection
• CPC Class Codes: G06T 7/13 Edge detection
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: H04N 23/63 by using electronic viewfinders
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

An around-view monitoring (AVM) apparatus including a camera module for obtaining a plurality of video images from around a vehicle; a display unit for displaying an around-view video image; and a control unit for composing the plurality of video images to generate an around-view video image, detecting a first parking line and a second parking line from the around-view video image, tracking the detected first and second parking lines, and generating an imaginary parking line when any one of the first and second parking lines is not tracked to control the display unit to output the around-view video image.

Claims

1. An around-view monitoring (AVM) apparatus, comprising:

a camera module configured to obtain a plurality of video images from around a vehicle;

a display configured to display an around-view video image; and

a controller configured to compose the plurality of video images to generate an around-view video image, detect a first parking line and a second parking line from the around-view video image, track the detected first and second parking lines, and generate an imaginary parking line when any one of the first and second parking lines is not tracked to control the display to output the around-view video image,

wherein;

the controller comprises;

a video composer configured to compose the plurality of video images to generate an around-view video image;

a detector configured to detect a first parking line and a second parking line from the around-view video image;

a tracker configured to track the first parking line and the second parking line; and

a predictor configured to generate an imaginary parking line when one of the first and second parking lines is not tracked;

the detector comprises an inter-line interval determiner configured to determine an inter-line interval between the first and second parking lines;

the predictor is configured to predict the first parking line based on the second parking line and the inter-line interval when the first parking line is not tracked, and to predict the second parking line based on the first parking line and the inter-line interval when the second parking line is not tracked; and

the tracking unit is configured to track the first and second parking lines based on the difference of angles between first and second parking lines in a previous video image and a present video image.

2. The AVM apparatus of claim 1, further comprising a memory configured to store a look-up table,

wherein the controller is configured to generate the around-view video image using the look-up table.

3. The AVM apparatus of claim 1, wherein the detector comprises:

a video converter configured to convert the around-view video image into a grayscale video image;

a top hat filter configured to extract a plurality of feature points using an illumination deviation of the grayscale video image; and

a parking line recognizer configured to extract line components for the plurality of feature points to recognize the first and second parking lines.

4. The AVM apparatus of claim 1, wherein the predictor comprises:

a parking line generator which, when any one of the first and second parking lines is not tracked, is configured to generate an imaginary parking line which is not tracked; and

a video applier configured to apply the imaginary parking line generated by the parking line generator to the around-view video image.

5. The AVM apparatus of claim 1, wherein:

the camera module comprises;

a first camera disposed on the front side of the vehicle and configured to obtain a front surrounding video image of the vehicle;

a second camera disposed on the rear side of the vehicle and configured to obtain a rear surrounding video image of the vehicle;

a third camera disposed on the left side of the vehicle and configured to obtain a video image from around the left side of the vehicle; and

a fourth camera disposed at the right side of the vehicle and configured to obtain a video image from around the right side of the vehicle.

6. The AVM apparatus of claim 1, wherein the display comprises an audio video navigation (AVN) module, which is mounted on the vehicle.

7. A vehicle comprising the AVM apparatus of claim 1.

8. An operating method of an around-view monitoring (AVM) apparatus, comprising:

obtaining a plurality of video images from around a vehicle;

generating an around-view video image by composing the video images;

detecting a first parking line and a second parking line from the around-view video image;

tracking the first and second parking lines;

predicting an imaginary parking line when one of the first and second parking lines is not tracked; and

displaying an AVM image comprising the imaginary parking line,

wherein;

the detecting comprises determining an inter-line interval between the first and second parking lines;

the predicting comprises predicting the first parking line based on the second parking line and the inter-line interval when the first parking line is not tracked, and predicting the second parking line based on the first parking line and the inter-line interval when the second parking line is not tracked; and

the tracking comprises tracking the first and second parking lines based on a difference of angles between the first and second parking lines in a previous video image and a present video image.

9. The operating method of claim 8, wherein the generating comprises:

generating the around-view video image using a look-up table stored in a memory.

10. The operating method of claim 8, wherein the detecting further comprises:

converting the around-view video image into a grayscale video image;

extracting a plurality of feature points using an illumination deviation of the grayscale video image; and

extracting line components for the plurality of feature points to recognize the first and second parking lines.

11. The operating method of claim 8, wherein the predicting comprises:

generating an imaginary parking line which is not tracked, when one of the first and second parking lines is not tracked; and

applying the generated imaginary parking line to the around-view video image.