KR20100072994A - In-vehicle terminal for control forward looking infrared camera and method thereof - Google Patents

Abstract

PURPOSE: A terminal for a vehicle, for controlling a front monitoring camera and a method thereof are provided to reduce the visual fatigue of a driver by supplying stable image by maintaining the uniform direction of a camera. CONSTITUTION: A terminal for a vehicle comprises an infrared camera(34), an angular displacement calculating unit(49), a rotational degree sensing unit(42), a controller(60), and a driving part(46). The infrared camera gets an image of the front of a vehicle. The angular displacement calculating unit measures the angular velocity to the pitch rotation of the axis, and produces the pitch angle displacement of a gimbal(38). The rotation quantity sensor measures the rotation angle displacement of the infrared camera to the gimbal. The controller outputs the control signal for controlling a sight direction of the infrared camera by using the pitch angle displacement and rotation angle displacement. The driving part makes the infrared camera pitch-pivoting and controls sight directions of the infrared camera.

Description

In-vehicle terminal for control forward looking infrared camera and method

The present invention relates to a vehicle terminal equipped with a front surveillance camera of a vehicle and a method of operating the front surveillance camera in a vehicle terminal. More specifically, the present invention relates to a vehicle terminal and a method for stably maintaining a gaze direction of a front surveillance camera in accordance with a traveling direction of a vehicle.

The present invention is derived from the research conducted as part of the IT growth engine technology development project of the Ministry of Knowledge Economy and the Ministry of Information and Communication Research and Development. [Task management number: 2008-S-022-01, Task name: Service-oriented customized mobile middleware technology development] ].

Recently, a vehicle navigation terminal capable of guiding a driver's current location and driving route in real time to a driver using a GPS receiver is rapidly spreading. Car navigation terminals are being distributed to the market at a relatively low price compared to the initial release due to the recent sharp price drop. Therefore, the market is expected to saturate soon, the vehicle navigation terminal manufacturers are focusing the research force of the manufacturer on the development of the vehicle navigation terminal having a distinctive features.

In addition, in Korea, the demand for information activities such as wireless Internet, electronic commerce, entertainment, etc. using CDMA and Wibro in vehicles is increasing due to the rapid expansion of information communication activities and increasing requirements. In response to this trend, in order to support this, the dissemination of vehicle telematics terminals having an environment similar to that of the PC environment used at home is being actively conducted. Unlike general vehicle navigation terminals, vehicle telematics terminals are shipped in a finished vehicle and can access, acquire, and share a variety of information using the CDMA 1x-EVDO network as a basic communication medium to access a broadband wireless network in a vehicle. Let's do it. In addition, it has a video playback function using its own built-in LCD screen and DVD decoding chip.

In addition, the vehicle telematics terminal has a built-in navigation function. Such a vehicle telematics terminal performs a GPS navigation function by using built-in map data during an actual operation, and there is a model that performs a navigation function by using data transmitted wirelessly according to the telematics terminal. In addition to the domestic and globally, the telematics terminal or the terminal of a similar concept may be a basic development trend of an embedded system for a vehicle in the future.

Automotive telematics terminals require very high hardware due to the variety of application services. In terms of computing power, various automotive telematics terminals are currently being designed by Hitachi's SuperH and Motorola's PowerPC family of processes. In addition, it requires not only high-speed CPU performance but also an interface such as a 2D accelerator for video playback, a wireless network such as CDMA, and various control buses such as IO and MOST (Media Oriented System Transport).

That is, high performance hardware having a higher computing power than a specification required for a conventional vehicle navigation dedicated terminal is required. In fact, BMW's iDrive system is equipped with most of the high-end hardware mentioned above.

Due to the rapid spread of the vehicle navigation terminal, the driver can now move quickly and efficiently to the desired destination wherever the vehicle exists.

However, when the driver travels by using the vehicle navigation terminal, risks due to various weather and weather conditions that occur while driving the vehicle still exist. For example, a sudden decrease in the driver's field of view due to heavy fog is likely to be directly linked to an accident, and the driver may feel extreme mental burden because of the sudden appearance of the fog. In addition, when driving at night in a rainy situation, even if not a large amount of rainfall, the driver's clock is shortened because the headlights of the vehicle are absorbed to the road due to the total reflection effect of the road due to moisture. In this case, the driver is very embarrassed and often does not recognize the situation ahead of time and often leads to an accident. Drivers may well understand that the driver's watch is declining so that it no longer needs to be mentioned under heavy rain.

In order to solve such a problem, some automobile companies attach a front surveillance infrared camera to the front of the vehicle so that the front situation can be displayed as screen information through a dedicated monitor mounted on the dashboard of the vehicle. Since infrared cameras acquire images through infrared wavelengths near 940 nm, they are relatively widely used in the industry because they can acquire images of cameras very effectively even in the absence of visible light. For many years, Mercedes-Benz and Chrysler have sold their flagship vehicles with front surveillance infrared cameras. However, such a vehicle front monitoring device is very expensive because it uses a dedicated infrared camera, a display device, and a signal processing device.

In addition, most vehicle front monitoring apparatuses perform the function of monitoring the front of the vehicle based solely on the suspension of the vehicle and the reduction of its own vibration against vibrations or high and low directions generated in the driving situation of the vehicle.

Therefore, the application is very long in the general vehicle, and its own vibration and high-low vibration suppression ability is inevitably limited. Therefore, when the driver uses the vehicle front monitoring device for a long time, the driver's vision may be further deteriorated due to the shaking of the image, which may result in a more dangerous situation. Experiments show that the human eye's ability to identify objects is almost lost when the eyes are shaken for about 20 minutes. Such a result may also appear in a display image of the vehicle front monitoring apparatus in which the vibration of the vehicle is reflected as it is, and this problem may put the driver using the vehicle front monitoring apparatus in a more dangerous situation.

The present invention is designed to solve the above problems,

When operating the front surveillance camera in the vehicle terminal, it effectively blocks the external vibration of the vehicle to provide the driver with the image displayed in front of the vehicle stably, thereby greatly reducing the visual fatigue of the driver watching the image and The purpose is to make the information more clear.

The vehicle terminal operating the infrared camera of the present invention, an infrared camera mounted on the gimbal to obtain an image of the front of the vehicle; An angular displacement calculator configured to measure an angular velocity with respect to pitch axis rotation and calculate a pitch angular displacement of the gimbal; A rotation amount detector for measuring a rotation angle displacement of the infrared camera with respect to the gimbal; A controller for outputting a control signal for adjusting the gaze direction of the infrared camera by using the pitch angle displacement calculated by the angular displacement calculator and the rotation angle displacement measured by the rotation amount detector; And a driving unit configured to adjust the line direction of the infrared camera by rotating the infrared camera according to the control signal.

In particular, further comprising an infrared radiation unit for emitting infrared rays, the infrared camera, after the infrared radiation is emitted through the infrared radiation unit, it is characterized in that to obtain an image of the front of the vehicle by detecting the reflected infrared region.

In addition, the infrared camera, it characterized in that the built-in infrared detection filter for detecting the infrared ray in front of the vehicle.

The angular displacement calculator is fixed to the gimbal.

The apparatus may further include an interaction unit configured to display an image acquired through the infrared camera to a user, and the interaction unit may be implemented as a touch screen.

The gimbal is fixed to the vehicle terminal by a plurality of fixing pedestals provided on both sides.

The apparatus may further include a voice output unit configured to receive at least one of driving information, driving state information, component state information, and consumable exchange information from the controller, and generate a warning notification voice based on the at least one of the information. It is done.

The apparatus may further include a storage unit for storing map data for a nationwide map, route guidance data associated with the map data, and a route guidance control program, wherein the controller controls execution of a user interface for route search and route setting, and stored maps. A route guide object for guiding a route to a destination selected by the driver is generated using data and a route guidance control program.

The storage unit may divide the nationwide map into a grid of a predetermined size, store map data for each grid, and store index information indexed for each grid. .

Method for operating an infrared camera of the vehicle terminal of the present invention, an angular displacement calculation unit for calculating the pitch angle displacement of the gimbal by measuring the angular velocity with respect to the pitch axis rotation, the rotation angle displacement of the infrared camera with respect to the gimbal A method of operating an infrared camera of a vehicle terminal using a whole quantity detecting unit and a control unit for adjusting a direction of a line of sight of the infrared camera by using the pitch angle displacement and the rotation angle displacement, the angular velocity of the gimbal with respect to the pitch axis rotation is measured. Calculating a pitch angle displacement; Pitch-rotating the infrared camera by the pitch angle displacement in a direction opposite to the calculated pitch angle displacement; Measuring a rotation angle displacement of the infrared camera with respect to the gimbal; And correcting a gaze direction of the infrared camera by using the measured rotation angle displacement.

In particular, obtaining an image through the infrared camera; And displaying the acquired image to the user.

In addition, the step of acquiring an image through the infrared camera, characterized in that to obtain an image of the front of the vehicle by detecting the infrared region reflected after the infrared radiation.

The acquiring of the image through the infrared camera may include detecting an infrared ray in front of the vehicle using an infrared detection filter to obtain an image in front of the vehicle.

The angular displacement calculator is fixed to the gimbal.

According to the present invention has the following effects.

In case of bad weather or poor visibility, the gaze direction of the front surveillance infrared camera, which is used for forward sighting, can be stably maintained according to the traveling direction of the vehicle. That is, by canceling the vibration from the outside generated during the movement of the vehicle and by maintaining a constant direction of the camera according to the direction of the vehicle to obtain a stable image, it is possible to provide a driver-free image, Visual fatigue can be greatly reduced.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. Here, the repeated description, well-known functions and configurations that may unnecessarily obscure the subject matter of the present invention, and detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more completely describe the present invention to those skilled in the art. Accordingly, the shape and size of elements in the drawings may be exaggerated for clarity.

1 is a block diagram illustrating a vehicle terminal for operating a front surveillance camera according to the present invention.

The vehicle terminal operating the front surveillance camera according to the present invention is the front photographing unit 20, infrared radiation unit 22, position control unit 50, control unit 60, interaction unit 70, voice output unit 80 ), A GPS receiver 82, and a storage 84.

The front photographing unit 20 is provided on one side of the vehicle terminal according to the present invention and includes an infrared camera 34. The front photographing unit 20 cancels the vibration from the outside so that the line of sight of the infrared camera 34 can be stably maintained in accordance with the traveling direction of the vehicle.

In more detail, the front photographing unit 20 rotates the infrared camera 34 mounted on the mechanical gimbal 38 and the gimbal, and the gimbal 38 by axially rotating the gimbal 38. 34 is a drive unit 46 for adjusting the direction of the eye, the angular displacement calculation unit 49 for calculating the pitch angular displacement by measuring the angular velocity of the pitch axis rotation of the vehicle terminal according to the present invention, the infrared camera 34 interlocked with While having a rotation amount detection unit 42 for measuring the rotation angle displacement of the infrared camera 34 with respect to the gimbal 38.

2 is a front view for explaining a mechanical configuration of the front photographing unit 20 applied to the vehicle terminal according to the present invention, Figure 3 is a side view showing the side of FIG.

As shown in FIGS. 2 and 3, the infrared camera 34 is mounted on a mechanical gimbal 38. More specifically, the infrared camera 34 is fixedly supported by the camera support 34 connected to the gimbal 38, and the camera support 34 supporting the infrared camera 34 is pitched by the driving unit 46. (Pitch) Performs the axis rotation movement. In Fig. 2, reference numeral 32 denotes a lens of the infrared camera 34.

And gimbal 38 is fixedly installed in the vehicle terminal of the present invention by a plurality of fixing pedestals 48 provided on both sides.

The infrared camera 34 accommodated in the gimbal 38 and supported by the camera support 36 performs the pitch axis rotation (high and low direction rotation) movement by the driving unit 46. In FIG. 3, reference numeral 52 denotes a connector for outputting an image signal, and reference numeral 54 denotes a camera control signal interface provided to control a function of the infrared camera 34 through a control signal output from the controller 50. For example, the zoom-in, zoom-out function, etc. of the camera can be controlled through the camera control signal interface unit.

The drive part 46 is provided in one side of the gimbal 38, and pitch-rotates the camera support 36 provided in the inside of the gimbal 38 according to the position control signal from the position control part 50. FIG. Accordingly, the infrared camera 34 in cooperation with the camera support 36 performs the pitch axis rotation movement. The drive unit 46 is basically provided with a pitch axis rotation motor for driving the pitch axis rotation of the infrared camera 34 and a motor drive for driving the pitch axis rotation motor.

An angular displacement calculator 49 is provided at the upper end of the gimbal 38. The angular displacement calculator 49 calculates the pitch angular displacement by measuring the angular velocity or the angular change with respect to the pitch axis of the vehicle terminal according to the present invention. In general, since the angular displacement calculator (eg, a gyroscope) may be manufactured in various forms and widely commercialized, a detailed description thereof will be omitted.

In the present invention, any means can be used as long as it can calculate the pitch angle with respect to the pitch axis rotation of the vehicle terminal. Thus, it is possible to implement the present invention at a relatively low cost. That is, since it is relatively inexpensive compared to the means for detecting both the angular and pitch axis angle changes, it is possible to reduce the production cost used to produce the vehicle terminal according to the present invention, and commercialize various vehicles It becomes possible to apply to.

In addition, in the present invention, the pitch angle displacement is calculated using the angular displacement calculation unit 49, the pitch is rotated by the infrared camera based on the calculated pitch angle displacement, and then measured by the rotation amount detecting unit 42. Since the visual direction of the infrared camera 34 is corrected by using the relative position of the infrared camera 34 with respect to the gimbal 38, there is a slight difference in dynamic characteristics from the control loop made through a conventional servo control system.

In addition, in one embodiment of the present invention, the angular displacement calculator 49 is illustrated and described as being attached to one side upper end of the gimbal 38, but is not limited thereto. That is, the above-described angular displacement calculator 49 may be any position as long as it is mounted on one side of the vehicle terminal to effectively detect an angle change with respect to the pitch axis rotation.

The rotation amount detecting unit 42 is mounted on the gimbal 38 and measures the rotation angle displacement of the infrared camera 34 with respect to the gimbal while interlocking with the camera support 36.

The infrared camera 34 is mounted on the mechanical gimbal 38, and provides an image obtained by acquiring an image of the front of the vehicle to the controller 60. In general, the infrared camera 34 is a camera photographing by using an infrared dry plate, and is used for distant photography, thermal photography by a special thermal element, measurement of radiation, and detection of minute temperature differences. The infrared camera 34 applied to the present invention will be described in more detail with reference to the following description.

The position controller 50 receives the pitch angle displacement from the angular displacement calculation unit 49 and controls the direction of the eye of the infrared camera 34 based on the displacement angle calculation unit 49, and the infrared camera 34 for the gimbal from the rotation amount detecting unit 42. By receiving the rotation angle displacement amount of the infrared camera 34 to correct the direction of the eye. The position controller 50 outputs a control signal for causing the infrared camera 34 to rotate on the pitch axis to the driver 46 so that the gaze direction of the infrared camera 34 can be stably maintained.

More specifically, the position controller 50 receives the digit displacement from the angular displacement calculation unit 49 with respect to the pitch axis rotation of the gimbal, and digitizes it, and reverses the pitch angle displacement generated based on the digitized pitch angle displacement. A control signal for causing the infrared camera 34 to be rotated by the pitch axis by the same pitch angle displacement in the direction is output to the driver 46 to control the gaze direction of the infrared camera. In addition, the position controller 50 receives the rotation angle displacement of the infrared camera 34 with respect to the gimbal 38 measured by the rotation amount detecting unit 42, and corrects the visual direction of the infrared camera 34.

That is, the position controller 50 controls the direction of the line of sight of the infrared camera 34 based on the pitch angle displacement measured by the angular displacement calculator 49, and then the gimbal measured by the rotation amount detector 42. By correcting the visual direction of the infrared camera 34 based on the relative position of the infrared camera 34 with respect to 38, the movement can be completely canceled against external vibration. As a result, according to the present invention, the image obtained through the infrared camera 34 can obtain the same result as when the external vibration hardly occurs.

Meanwhile, in FIG. 1, the position controller 50 is shown as a separate configuration, but this is for convenience of description, and the position controller 50 of FIG. 1 is integrated into the controller 60 of the vehicle terminal through separate programming. Of course, it can be implemented.

The controller 60 controls the function of the infrared camera 34 through a control signal. The controller 60 receives an image signal captured by the front photographing unit 20, processes the image signal, and displays the processed image signal to the user through the interaction unit 70.

In addition, the controller 60 controls the overall operation of the navigation system to provide a route guidance function to the user (driver). To this end, the control unit 60 includes a path guide unit 64.

The route guide unit 64 controls the overall operation of the navigation system including the route guide function by using the route guide control program and the map data stored in the storage 84. In addition, the route guide unit 64 uses a graphical user interface (GUI) control program for controlling the execution of a user interface for route search and route setting, and a GPS signal received through the GPS receiver to map the destination selected by the driver. Creates a route guidance object to be displayed through the interaction unit 70.

The voice output unit 80 receives the driving information, the driving status information, the parts status information, the information on the replacement of consumables, and the like from the controller 60, and can generate a voice such as a warning notification based on this. It is a mechanical or electronic voice generator.

The storage unit 84 stores programs and data necessary to be implemented in the present invention.

In addition, the storage unit 84 stores 2D or 3D map data so that the vehicle terminal can provide a navigation function. The storage unit 84 stores map data for nationwide maps and data on which route guidance data associated with map data are constructed. In addition, a route guidance control program for controlling the overall operation of the navigation system including a route guidance function, a graphical user interface (GUI) control program for controlling execution of a user interface for route search and route setting, and a search route Store a search control program that controls facility search for at least one item. The storage unit 84 divides the national map into a grid of a certain size and stores map data for each grid. In addition, by assigning an index for each grid and storing the index in index information, it is possible to manage and access map data for each grid through the index information. In particular, in the present invention, facility information classified into various facilities existing on the map, such as hospitals, pharmacies, gas stations, parking lots, banks, lodgings, restaurants, convenience stores, subways, and the like, is stored as information in bit units. It is preferable to store in the index information of the section 84. In addition, various programs may be stored. For example, programs may be stored to perform functions of a book book, a game, a movie player, and an MP3 player.

Figure 4 (a) is a front view of the vehicle terminal 10 according to the invention equipped with an infrared camera for front monitoring, Figure 4 (b) is a vehicle according to the invention equipped with an infrared camera for front monitoring It is a rear view of the terminal 10.

The vehicle terminal 10 according to the present invention is provided with an interaction unit 70 for a user interface inside the outer case 12. The interaction unit 70 displays an image acquired through the infrared camera to a user (driver). The interaction unit 70 queries the user through a graphical user interface (GUI) and receives a user selection accordingly.

Referring to FIG. 4, an infrared camera 20 and an infrared radiator 22 are mounted on the rear surface of the vehicle terminal 10.

Infrared camera 22 according to the present invention can be generally implemented in an active (active) and passive (Passive) method.

In the case of an active infrared camera, the infrared radiation unit emits a predetermined amount of infrared rays, and detects the reflected infrared region to obtain an image thereof.

In the case of a passive infrared camera, a high-performance infrared detection filter is built in itself to detect and display infrared rays in a very fine area without having to provide a separate infrared radiator.

The active method has an advantage that it can be implemented at low cost, but there is a disadvantage in that the sensing distance is limited because an infrared emitter capable of emitting infrared light must be provided.

On the other hand, the passive method has a long sensing distance and precision advantages, but in order to maintain precision, an infrared sensing filter must always be kept at a low temperature, and thus an auxiliary device such as a cooler is required at the time of implementation. Since a separate circuit is required for signal processing of an image, there is a problem in that additional cost is generated at the time of implementation.

The infrared camera 20 applied to the present invention may correspond to either an active or passive infrared camera, and when the infrared camera 20 is implemented in a passive manner, the infrared room shown in FIGS. 1 and 4. The dead part 22 may be omitted.

As described above, the specific idea of the present invention has been described in detail, and the present invention may be embodied in various forms. Before Market Telematics terminal for OEM vehicle can be mounted in a specific position of the vehicle by storing the infrared camera and gimbal in a separate case, this example is a simple technical of the central idea described in the present invention It's just an example of implementation.

In addition, in the case of automobiles, pitch axis rotational motion is superior to left and right yaw rotational motions, and thus, in the embodiment of the present invention, a method of controlling the gaze direction of the infrared camera by considering only the pitch axis rotational motion and The structure of the gimbal is shown.

However, it can be easily understood by a person with ordinary electronic control knowledge that a structure capable of additionally compensating yaw axis vibration is merely a mechanical and electronic extension of the compensation method according to the pitch axis vibration. will be.

 As described above, the best embodiment has been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not used to limit the scope of the present invention as defined in the meaning or claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

1 is a block diagram illustrating a vehicle terminal for operating a front surveillance camera according to the present invention.

2 is a front view illustrating the mechanical configuration of the front photographing unit 20 applied to the vehicle terminal according to the present invention.

3 is a side view showing the side of FIG.

Figure 4 (a) is a front view of the vehicle terminal 10 according to the present invention equipped with an infrared camera for the front surveillance.

Figure 4 (b) is a rear view of the vehicle terminal 10 according to the present invention equipped with an infrared camera for the front surveillance.

Claims (14)

In the vehicle terminal operating the infrared camera, An infrared camera mounted on the gimbal and acquiring an image in front of the vehicle; An angular displacement calculator configured to measure an angular velocity with respect to pitch axis rotation and calculate a pitch angular displacement of the gimbal; A rotation amount detector for measuring a rotation angle displacement of the infrared camera with respect to the gimbal; A controller for outputting a control signal for adjusting the gaze direction of the infrared camera by using the pitch angle displacement calculated by the angular displacement calculator and the rotation angle displacement measured by the rotation amount detector; And The vehicle terminal having a driving unit for adjusting the line of sight of the infrared camera by rotating the infrared camera in accordance with the control signal. The method according to claim 1, Further comprising an infrared radiation unit for emitting infrared rays, The infrared camera, After the infrared radiation is emitted through the infrared radiation unit, the vehicle terminal, characterized in that to obtain an image of the front of the vehicle by detecting the reflected infrared region. The method according to claim 1, The infrared camera, Vehicle terminal, characterized in that the built-in infrared detection filter for detecting the infrared ray in front of the vehicle. The method according to claim 1, The angular displacement calculation unit, Vehicle terminal, characterized in that fixed to the gimbal. The method according to claim 1, Further comprising an interaction unit for displaying an image obtained through the infrared camera to the user, The interaction unit is a vehicle terminal, characterized in that implemented as a touch screen. The method according to claim 1, The gimbal is, A vehicle terminal, which is fixed to the vehicle terminal by a plurality of fixing pedestals provided on both sides. The method according to claim 1, And a voice output unit configured to receive at least one of driving information, driving state information, component state information, and consumable exchange information from the control unit, and generate a warning notification sound based on the input. Vehicle terminal. The method according to claim 1, And a storage unit for storing map data for the national map, route guidance data associated with the map data, and route guidance control program. The control unit controls the execution of the user interface for route search and route setting, and generates a route guidance object for guiding a route to a destination selected by the driver using stored map data and route guidance control program. . The method according to claim 8, The storage unit, And dividing the nationwide map into a grid of a certain size, storing map data for each grid, and storing index information for assigning an index for each grid. Angular displacement calculation unit for calculating the pitch angle displacement of the gimbal by measuring the angular velocity with respect to the pitch axis rotation, rotation amount sensing unit for measuring the rotation angle displacement of the infrared camera with respect to the gimbal, using the pitch angle displacement and the rotation angle displacement As a method for operating an infrared camera of a vehicle terminal using a control unit for adjusting the direction of the line of sight of the infrared camera, Calculating a pitch angular displacement by measuring the angular velocity with respect to the pitch axis rotation of the gimbal; Pitch-rotating the infrared camera by the pitch angle displacement in a direction opposite to the calculated pitch angle displacement; Measuring a rotation angle displacement of the infrared camera with respect to the gimbal; And And correcting the visual direction of the infrared camera by using the measured rotation angle displacement. The method according to claim 10, Acquiring an image through the infrared camera; And A method of operating an infrared camera of a vehicle terminal, characterized by further comprising the step of displaying the acquired image to the user. The method of claim 11, Acquiring an image through the infrared camera, Method of operating an infrared camera of a vehicle terminal, characterized in that to obtain an image of the front of the vehicle by detecting the infrared region reflected after the infrared radiation. The method of claim 11, Acquiring an image through the infrared camera, A method for operating an infrared camera of a vehicle terminal, characterized in that to obtain an image of the front of the vehicle by detecting an infrared ray in front of the vehicle using an infrared detection filter. The method according to claim 10, The angular displacement calculation unit, Method for operating an infrared camera of the vehicle terminal, characterized in that fixed to the gimbal.

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