The present invention provides a camera system notifying an error of predetermined calibration information to the camera system. The camera system comprises: an image information sensing part sensing distance information to a traffic lane, curvature information of the traffic lane and an intersection of the traffic lane based on generated front image information; a vehicle information sensing part sensing heading angle information of a vehicle; an estimating part estimating curvature driving information of the vehicle; a calculating part calculating an estimating intersection of the traffic lane from the front image information by using the curvature information of the traffic lane, the heading angle information of the vehicle, and the distance information to the traffic lane, when a change amount of the curvature driving information of the vehicle is less than or equal to predetermined threshold curvature driving information and a change amount of the distance information to the traffic lane is less than or equal to predetermined threshold distance information; and a notifying part notifying that predetermined existing calibration information is the error, if a difference between the intersection of the traffic lane and the estimating intersection of the traffic lane exceeds a preset limit.
본 발명은 생성된 전방영상정보에 기초하여 차선과의 거리정보, 차선의 곡률정보 및 차선의 교차점을 감지하는 영상정보 감지부와 차량의 헤딩각정보를 감지하는 차량정보 감지부와 차량의 곡률주행정보를 추정하는 추정부와 차량의 곡률주행정보의 변화량이 미리 설정된 임계곡률주행정보 이하이고 차선과의 거리정보의 변화량이 미리 설정된 임계거리정보 이하이면, 차선의 곡률정보, 차량의 헤딩각정보 및 차선과의 거리정보를 이용하여 전방영상정보에서 차선의 추정교차점을 산출하는 산출부 및 차선의 교차점과 차선의 추정교차점의 차이가 미리 설정된 허용치를 초과하면, 미리 설정된 기존 캘리브레이션정보가 에러임을 알리는 알림부를 포함하는 카메라 시스템에 관한 것이다.
CAMERA SYSTEM AND CAMERA SYSTEM INCLUDED CALIBRATION ADJUSTING METHOD
카메라 시스템 및 카메라 시스템의 캘리브레이션정보 조정방법
2018-08-09
Patent
Electronic Resource
Korean
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08B SIGNALLING OR CALLING SYSTEMS , Signalisier- oder Rufsysteme / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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