# US 9,519,832 B2 · Parking camera system and method of driving the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,519,832 B2 - Document ID: US9519832B2 - Status: Granted - Kind: B2 - Application number: 14/116,679 - Filed: 2012-05-09 - Published: 2014-03-27 - Granted: 2016-12-13 - Earliest claimed: 2011-05-09 - Assignees: LG Innotek Co., Ltd. - Applicants: Sangyong Lee - Inventors: Sangyong Lee - Web page: https://patentgrep.com/patent/US9519832B2 ## CPC - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - B62D 15/0275: {by overlaying a vehicle path based on present steering angle over an image without processing that image} - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - B60R 2300/302: combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data - B60R 2300/303: using joined images, e.g. multiple camera images - B60R 2300/305: merging camera image with lines or icons - B60R 2300/806: for aiding parking - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A parking camera system and a method of driving the same includes a plurality of cameras equipped with a vehicle, an image synthesizer for synthesizing images photographed by the plurality of cameras, and an estimated travel trajectory generating and overlaying processor for generating an estimated travel trajectory of the vehicle by receiving steering angle information of the vehicle, and synthesizing the estimated travel trajectory of the vehicle with the images synthesized by the image synthesizer. ## Claims ### Claim 1 A parking camera system, the system including: a plurality of cameras equipped with a vehicle; an image synthesizer for synthesizing images photographed by the plurality of cameras; a memory storing a parking guide line of the vehicle, a parking area image and a vehicle image; an input unit allowing the driver to select and input a parking mode including a parallel parking or a right angle parking; and an estimated travel trajectory generating and overlaying processor for generating an estimated travel trajectory of the vehicle by receiving steering angle information of the vehicle, and synthesizing the estimated travel trajectory of the vehicle with the images synthesized by the image synthesizer, wherein the memory outputs to the image synthesizer the parking guide line or the parking area image according to the selected parking mode, and wherein the image synthesizer synthesizes at least one or more of the parking guide line, the parking area image and the vehicle image with images photographed by the cameras. ### Claim 2 (depends on 1) The parking camera system of claim 1, wherein the plurality of cameras includes a first camera installed in front of the vehicle, a second camera installed at a rear of the vehicle, a third camera installed at a left side of the vehicle, and a fourth camera installed at a right side of the vehicle. ### Claim 3 (depends on 1) The parking camera system of claim 1, further including a memory stored with a parking guide line of the vehicle, a parking area image and a vehicle image. ### Claim 4 (depends on 3) The parking camera system of claim 3, wherein the memory is further stored with a parking mode image, a parking direction image and a warning phrase image. ### Claim 5 (depends on 3) The parking camera system of claim 3, wherein the image synthesizer synthesizes at least one or more of the parking guide line, the parking area image and vehicle image stored in the memory with images photographed by the cameras. ### Claim 6 (depends on 2) The parking camera system of claim 2, wherein the estimated travel trajectory generating and overlaying processor is connected to a display unit displaying an ambient image of vehicle synthesized with the estimated travel trace of the vehicle. ### Claim 7 (depends on 6) The parking camera system of claim 6, wherein the ambient images of vehicle synthesized with the estimated travel trajectory of the vehicle are displayed about the vehicle image on the display unit, wherein an image photographed by the first camera is positioned at the front of the vehicle image, an image photographed by the second camera is positioned at the rear of the vehicle image, an image photographed by the third camera is positioned at the left side of the vehicle image, and an image photographed by the fourth camera is positioned at the right side of the vehicle image. ### Claim 8 (depends on 1) The parking camera system of claim 1, wherein the estimated travel trajectory of the vehicle is displayed on the display unit in the form of a polygon or a direction indication. ### Claim 9 (depends on 8) The parking camera system of claim 8, wherein the estimated travel trajectory is displayed on the display unit changed in real time in response to change of a steering angle of vehicle. ### Claim 10 (depends on 1) The parking camera system of claim 1, wherein the estimated travel trajectory generating and overlaying processor is such that the steering wheel of the vehicle calculates coordinates turned to a predetermined steering angle between a maximum steering angle and a minimum steering angle, and dotted lines connecting the coordinates generate the estimated travel trajectory of the vehicle. ### Claim 11 A method of driving a parking camera system, the method including: synthesizing images photographed by a plurality of cameras equipped with a vehicle; generating an estimated travel trajectory of the vehicle by receiving steering angle information of the vehicle; selecting a parking mode including a parallel parking or a right angle parking; outputting to an image synthesizer a parking guide line or a parking area image according to the selected parking mode; and synthesizing at least one or more of the estimated travel trajectory, the parking guide line, the parking area image and a vehicle image with images photographed by the cameras. ### Claim 12 (depends on 11) The method of driving a parking camera system of claim 11, further including displaying the synthesized images and an image synthesized with the estimated travel trajectory on a display unit, after the step of synthesizing the estimated travel trajectory with the synthesized images. ### Claim 13 (depends on 12) The method of driving a parking camera system of claim 12, wherein the estimated travel trajectory of the vehicle is displayed on the display unit by being changed in real time in response to change of a steering angle of vehicle. ### Claim 14 (depends on 11) The method of driving a parking camera system of claim 11, wherein the images synthesized with images photographed by the plurality of cameras are images of substantially all-around views. ### Claim 15 A method of driving a parking camera system, the method including: selecting a parking image from images of all-around views of a vehicle; combining an estimated travel trajectory of a vehicle generated by steering angle information of the vehicle with a parking area of the all-around views of the vehicle; selecting a parking mode including a parallel parking or a right angle parking; outputting to an image synthesizer a parking guide line or a parking area image according to the selected parking mode; and synthesizing at least one or more of the estimated travel trajectory, the parking guide line, the parking area image and a vehicle image with images photographed by the cameras. ### Claim 16 (depends on 15) The method of driving a parking camera system of claim 15, wherein the all-around views of the vehicle are made by synthesizing images photographed by a plurality of cameras equipped with the vehicle and are substantially all-around views of the vehicle. ### Claim 17 (depends on 15) The method of driving a parking camera system of claim 15, wherein the parking mode includes a parallel parking and a right angle parking. ### Claim 18 (depends on 15) The method of driving a parking camera system of claim 15, wherein the selected parking area is combined with parking guide line information, in case the parking area is selected. ### Claim 19 (depends on 18) The method of driving a parking camera system of claim 18, wherein colors of estimated travel trajectory of vehicle are different, when the estimated travel trajectory matches the parking guide line and when the estimated travel trajectory does not match the parking guide line.