KR101671993B1 - Safety system for vehicle - Google Patents

Abstract

The present invention relates to a vehicle safety system, and more particularly, to a vehicle safety system that prevents a collision with a preceding vehicle and warns a user by detecting a color of a traffic light and prevents collision with an object around the user's vehicle. The present invention can prevent the collision with the preceding vehicle by calculating the distance between the preceding vehicle and the user vehicle based on the intensity of light emitted from the tail lamp of the preceding vehicle. In addition, the present invention can detect a color of a traffic signal light in front of a user vehicle and ventilate the traffic light to the user, thereby enhancing the safety of the user. In addition, according to the present invention, when the color of the traffic signal light in front of the user vehicle is red, the user vehicle can be stopped to secure the safety of the user. In addition, the present invention can calculate the distance between the user's vehicle and the user's vehicle from the image around the user's vehicle and the infrared sensor, and stop the vehicle when the distance is within a certain distance, thereby preventing the user's vehicle from colliding with the object.

Description

[0001] SAFETY SYSTEM FOR VEHICLE [0002]

The present invention relates to a vehicle safety system, and more particularly, to a vehicle safety system that prevents a collision with a preceding vehicle and warns a user by detecting a color of a traffic light and prevents collision with an object around the user's vehicle.

Ultimately, the safest vehicle is an autonomous vehicle or a driverless vehicle that can prevent man-made mistakes or negligent accidents. Unmanned automobiles are automobiles that can recognize the driving environment and operate to the target point without the driver's operation. As a result of the development of advanced technologies such as robotics, computer engineering, GPS, precision sensors and electronic control, There is. Recently, there has been a tendency for the driver to install various intelligent sensors in the vehicle in order to prevent incidents in case of absence or carelessness. The car is developing to work more like a human sensory function, such as image processing using a camera, distance maintenance with an ultrasonic sensor, and a radar sensor to prevent collision. The most important point of the unmanned autonomous navigation system is safety. The success of an unmanned vehicle depends on how much safety the system provides to the user. Volvo introduced a "City Safety" system using an infrared sensor to prevent vehicle collision at low speeds. Daimler AG said Daimler AG has succeeded in experimenting with a camera, a radar, and other sensors inside the vehicle, so that it can run a distance of 100km without any operator intervention.

However, currently, these technologies are not in the experimental stage or are not very safe to be practically applied, and a system that can provide users with higher stability is required.

Korean Patent Registration No. 10-0352423 (published on Jan. 26, 1996)

It is an object of the present invention to provide a vehicle safety system capable of ensuring the safety of a vehicle from external factors.

According to an aspect of the present invention, there is provided a light emitting module for a vehicle, comprising: a light receiving module for receiving light emitted from a tail lamp of a preceding vehicle and provided in a user vehicle; And a collision avoidance distance calculating module that calculates a collision avoidance distance calculating module.

The light receiving module includes a photodiode, and a collimator lens is provided on the photodiode.

)는

이며, 상기

는 상기 수광 모듈의 센서값이다.The distance between the preceding vehicle and the user vehicle calculated by the intensity of the light received by the light receiving module

)

, And

Is a sensor value of the light receiving module.

And a vehicle control module for controlling the speed of the user vehicle according to the distance between the preceding vehicle and the user vehicle. The vehicle control module may further include a speed setting module that receives a user vehicle speed according to a distance between the preceding vehicle and the user vehicle from the user and a speed setting module that sets a user vehicle speed according to a distance between the preceding vehicle and the user vehicle, And a vehicle speed control module for controlling the speed of the user vehicle by matching the distance between the preceding vehicle and the user vehicle calculated by the collision avoidance distance calculation module with the distance information table.

And a traffic signal light sensing module for sensing a lighting color of a traffic signal located in front of the user vehicle. Here, the traffic light detection module may include a traffic signal light camera module for acquiring the front image information of the user vehicle, and a traffic signal lamp for searching the traffic light from the image information acquired from the traffic signal light sensor camera module, Sensing color sensing module.

The color detection module sets the color of the traffic signal light to a range and determines a certain range of colors detected by the color sensing module as one color. The traffic signal light sensing module may further include a color display module for displaying the detected color to a user. The color display module displays a traffic signal light color area in the image information obtained from the traffic signal light sensing camera module.

The vehicle speed control module stops the user vehicle when the color of the traffic signal detected by the color sensing module is red and the distance between the traffic light and the user vehicle is within a predetermined distance.

The peripheral surveillance module may further include a peripheral surveillance camera module for acquiring an image from the periphery of the user vehicle, A peripheral surveillance sensor module for detecting an object located in the vicinity of the user, and a peripheral distance calculation unit for calculating a distance between the user vehicle and the object based on the image acquired from the peripheral surveillance camera module and the sensor value acquired from the peripheral surveillance sensor module, Module.

)는

이며, 상기

는 물체가 인식된 사각형의 넓이이다.The peripheral distance computing module searches blocks of the image obtained from the peripheral surveillance camera module by size, divides them into brightness differences of the areas, classifies them using the AdaBoost algorithm, assigns weights to the classifiers, Combines to generate strong classifiers. The distance between the peripheral surveillance camera module and the object

)

, And

Is the width of the rectangle in which the object is recognized.

The vehicle speed control module stops the user vehicle when the distance between the object detected by the peripheral distance computing module and the user vehicle is within a certain range.

The present invention can provide a vehicle safety system capable of preventing a collision with a preceding vehicle by calculating the distance between the preceding vehicle and the user vehicle based on the intensity of light emitted from the tail lamp of the preceding vehicle.

In addition, the present invention can provide a vehicle safety system capable of sensing the color of a traffic signal light in front of a user vehicle and ventilating it to a user to secure the safety of the user.

Further, the present invention can provide a vehicle safety system capable of stopping the user vehicle and assuring the safety of the user when the color of the traffic signal light in front of the user vehicle is red.

The present invention also relates to a vehicle safety system capable of calculating a distance between an image of a user's vehicle and an object near the user's vehicle from an infrared sensor and stopping the vehicle when the distance is within a predetermined distance, Can be provided.

1 is a block diagram of a vehicle safety system in accordance with the present invention;
2 is a hardware block diagram of a vehicle safety system according to the present invention.
3 is a schematic cross-sectional view of a photodiode applied to a vehicle safety system according to the present invention.
4 is a graph of a distance between a preceding vehicle and a user vehicle according to sensor values in a vehicle safety system according to the present invention.
5 shows an experimental environment of a vehicle safety system according to the present invention.
6 is a graph showing a measurable range according to the number of LEDs in a vehicle safety system according to the present invention.
7 shows a color display module in a vehicle safety system according to the present invention.
8 is a conceptual diagram of the distance calculation algorithm of the peripheral distance calculation module in the vehicle safety system according to the present invention.
9 is a diagram illustrating an example of distance detection and human detection when a user vehicle makes a right turn in the vehicle safety system according to the present invention.
10 is a graph of a distance value measurement according to a recognition area in a vehicle safety system according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. Like reference numerals refer to like elements throughout.

FIG. 1 is a block diagram of a vehicle safety system according to the present invention, and FIG. 2 is a hardware block diagram of a vehicle safety system according to the present invention.

1, a vehicle safety system according to the present invention includes a collision avoidance module 100 for calculating a distance between a preceding vehicle and a user's vehicle, a traffic signal light sensing module 200 for sensing the color of a traffic light, A peripheral traffic monitoring module 300 for detecting a surrounding object of the vehicle and a user vehicle based on the information collected from at least one of the collision avoidance module 100, the traffic signal light detection module 200 and the peripheral surveillance module 300. [ And a vehicle control module 400 for controlling the vehicle. 2, the photodiode sensor value mounted on the exterior of the user vehicle is transmitted to the MCU (Micro Controller Unit) of the vehicle, and the MCU converts the sensor value to the distance and transmits the distance to the smartphone through Bluetooth communication do. The image information of the Dual UCV Camera connected with the camera built in the smart phone itself and the OTG (On The Go) cable is transmitted to the AP (Application Processor of the smartphone, here, using Tegra 3 T30L of Nvidia) It is configured to collectively process the values and warn about the danger.

The collision avoidance module calculates the distance from the preceding vehicle to the light irradiated from the tail lamp of the preceding vehicle to prevent collision. To this end, the collision avoidance module includes a collision avoidance sensor module 110 and a collision avoidance distance calculation module 120.

The collision avoidance sensor module 110 is for collecting information for calculating the distance to the preceding vehicle, and includes a light receiving module for receiving light emitted from the tail lamp of the preceding vehicle.

The light receiving module includes a photo diode and receives light emitted from the tail lamp of the preceding vehicle. Generally, as the distance from the light source increases, the intensity of light decreases. In addition, the photodiode has characteristics that the voltage varies depending on the intensity of light. Accordingly, the analog output of the photodiode is transmitted to the collision avoidance distance calculation module 120, and the collision avoidance distance calculation module 120 processes the analog output.

3 is a schematic cross-sectional view of a photodiode applied to a vehicle safety system according to the present invention.

In addition, as shown in FIG. 3, the present invention can include a collimate lens 112 on a photodiode 110, which is a light receiving module, to concentrate the amount of collected light. 3, the diameter of the collimator lens increases from the lower portion to the upper portion where the photodiode is provided, the upper surface is flat, the lower surface is columnar, and the concave portion having the photodiode is formed therein And the upper surface of the concave portion has a convex lens shape.

4 is a graph of the distance between the preceding vehicle and the user vehicle according to the sensor value in the vehicle safety system according to the present invention.

), 즉, 선행 차량과의 거리는 도 4와 같이 나타났으며, 이를 수학식으로 나타내면 아래의 수학식 1과 같다.The collision avoidance distance calculation module 120 calculates the distance between the preceding vehicle and the user vehicle based on the information collected from the sensor module. Here, the distance between the light source and the sensor

), That is, the distance from the preceding vehicle is shown in FIG. 4, and it can be expressed by the following equation (1).

는 센서 값이다.In Equation (1)

Is the sensor value.

In the present invention, the collision avoidance distance calculation module 120 may use the MCU of the vehicle.

5 is a diagram showing an experimental environment of a vehicle safety system according to the present invention.

In order to confirm the accuracy and reliability of Equation (1), the present invention constitutes an experimental environment as shown in FIG. The distance between the LED which is the tail lamp of the preceding vehicle and the photodiode of the user vehicle is changed from 20 cm to 100 cm and the distance calculated by Equation 1 is outputted to the LCD. FIG. 5 shows a case in which the distance is 50 cm during several tests conducted. In this case as well as the results measured at different distances, the error was not large. This means that the LED and photodiode can be used to calculate the distance.

6 is a graph showing a measurable range according to the number of LEDs in the vehicle safety system according to the present invention.

In order to be applied to a real vehicle, a measurable range should be guaranteed to some extent. Referring to FIG. 6, the larger the number of LEDs used, the greater the measurement distance. In addition, since all of the derived graphs show an exponential graph, it shows that it is possible to extend the measurable distance through several LEDs.

The vehicle control module 400 controls the user vehicle based on the distance to the preceding vehicle calculated in the distance calculation module. The vehicle control module 400 includes a speed setting module, a distance information table, and a vehicle speed control module.

The speed setting module receives and sets the user vehicle speed according to the distance from the user to the preceding vehicle. That is, the speed of the user vehicle is defined according to the distance from the preceding vehicle. For example, when the distance between the user vehicle and the preceding vehicle is 50 meters to 70 meters, the speed of the user vehicle is set to 50 kilometers per hour. When the distance between the user vehicle and the preceding vehicle is 30 meters to 50 meters, The speed can be set to be 30 km / h. Further, for example, when the distance between the user vehicle and the preceding vehicle is within 10 meters, the speed of the user vehicle can be set to 0 Km per hour, that is, an emergency stop. Of course, it is preferable that the emergency light flashes in order to call attention of the rear vehicle at the time of emergency stop.

The distance information table stores the speed of the user vehicle according to the distance between the user vehicle and the preceding vehicle set in the speed setting module.

The vehicle speed control module controls the speed of the user vehicle based on the distance from the preceding vehicle calculated in the distance calculation module. In detail, the vehicle speed control module controls the vehicle speed by comparing the distance to the preceding vehicle calculated in the distance calculation module with the speed of the user vehicle according to the distance between the user vehicle and the preceding vehicle stored in the distance information table.

The traffic light detection module 200 detects a traffic light and controls the user vehicle based on the color of the traffic light detected. Accordingly, the traffic signal light sensing module 200 includes a traffic signal light sensing camera module 210 for sensing a traffic light, a color sensing module 220 for sensing a color of the traffic signal light sensed by the traffic signal light sensing camera module 210, .

The traffic signal light detection camera module 210 collects image information from the front of the vehicle.

The color sensing module 220 senses a traffic light from the image information collected by the traffic signal light sensing camera module 210 and discriminates the color of the sensed traffic light. For this purpose, the color sensing module 220 discriminates the color of the traffic light from the color table in which the color is stored in advance. The color table stores the final color value for the range of colors identified by the color sensing module 220. Accordingly, by setting the colors of the non-uniform traffic signals as ranges, all of the colors within a certain range detected by the color sensing module 220 are determined as one color.

In addition, the traffic signal light sensing module 200 according to the present invention may further include a color display module for displaying the sensed colors to a user.

7 shows a color display module in a vehicle safety system according to the present invention.

The color display module displays the traffic light color to the user as shown in FIG. 7 after the traffic light detection module 200 detects the final traffic light color from the image information. At this time, the color display module does not arbitrarily generate and display a color but displays a traffic signal light color area from the acquired image information. Also, it is effective to blink the displayed traffic signal light color area in order to attract the user's attention. In the present invention, the color display module displays only the traffic signal light color region in the image information acquired by the traffic signal light detection camera module 210 to allow the user to finally confirm the traffic light color.

In addition, the present invention includes a traffic signal light distance calculating module for calculating a distance between a user vehicle and a traffic light. Here, the traffic signal light distance calculating module calculates the distance between the detected traffic light and the user vehicle when the traffic light is detected from the acquired image information. The vehicle speed control module may stop the user vehicle when the traffic light is determined to be red in the color detection module 220 and the distance between the traffic light and the user vehicle is within a predetermined distance in the traffic light distance calculation module. The color of the traffic light is detected by the traffic signal lamp camera module 210 because the corresponding traffic light is close to the user's vehicle. Therefore, the present invention can omit the traffic signal light distance calculation module, The vehicle speed control module may stop the user vehicle.

Meanwhile, the present embodiment uses a smartphone as the traffic signal light sensing module 200. Accordingly, the above-described traffic signal light sensing camera module 210 uses a camera provided at the rear of the smart phone, and the color sensing module 220 is provided in the form of an application in a smart phone. Of course, the present invention is not limited thereto, and the traffic signal light sensing module 200 may be built in a vehicle (e.g., an MCU) without being provided in a separate smart phone.

The peripheral surveillance module 300 is for monitoring the surroundings when the vehicle rotates. The peripheral surveillance module 300 includes a peripheral surveillance camera module 310 for collecting image information from the surroundings of the vehicle, a peripheral surveillance sensor module 320 for sensing objects around the vehicle, And a peripheral distance calculating module 330 for calculating the distance to the user vehicle based on the collected information.

The peripheral surveillance camera module 310 collects image information from the periphery of the vehicle and illustrates two UVC cameras installed in the exterior of the vehicle as the peripheral surveillance camera module 310 in this embodiment. However, the present invention is not limited thereto, and the traffic signal light sensing camera module 210 described above may be used in the peripheral surveillance camera module 310. [ Of course, it is effective to use the UCV camera together with the traffic signal light sensing camera module 210 because the traffic signal light sensor camera module 210 has a limitation in monitoring the user's vehicle periphery.

The peripheral surveillance sensor module 320, together with the peripheral surveillance camera module 310, detects an object around the vehicle, and includes an infrared sensor. Here, the peripheral surveillance sensor module 320 may also use the collision avoidance sensor module 110 described above.

8 is a conceptual diagram of a distance calculation algorithm of the peripheral distance calculation module 330 in the vehicle safety system according to the present invention.

The peripheral distance computing module 330 calculates the distance to the user vehicle based on the image information obtained from the peripheral surveillance camera module 310 and the information acquired from the peripheral surveillance sensor module 320. In the present invention, the face is detected from the acquired image for the surveillance. As shown in FIG. 8, the face detection process is performed by using blocks to search the whole screen by size and classifying it into brightness differences of regions. We then assign a weight using the AdaBoost algorithm and combine weak classifiers to generate strong classifiers. The present invention is capable of collecting data in a short period of time by this method, so that the video is extremely useful.

FIG. 9 is a view illustrating an example of a person detection and a distance calculation when a user vehicle makes a right turn in the vehicle safety system according to the present invention, and FIG. 10 is a graph illustrating a distance value measurement according to a recognition area in the vehicle safety system according to the present invention.

As shown in FIG. 9, the present invention detects an object around a user vehicle, calculates a distance, and uses the data to divide a recognized person into distances based on previously created data. Thus, Can be ventilated.

The width of the detected region and the distance between the object and the camera using the value of the upper left portion of the person recognized in FIG. 9 and the coordinates of the lower right portion are expressed by Equation (2) below.

는 사람과 카메라 간의 거리이며,

는 사람이 인식된 사각형의 넓이이다. 수학식 2를 이용하여 도 10과 같이 거리와 사각형 넓이와의 신뢰성 높은 결과를 얻을 수 있었다.In Equation 2,

Is the distance between the person and the camera,

Is the width of the rectangle in which the person is recognized. Using Equation (2), a reliable result of the distance and the square width can be obtained as shown in FIG.

Referring to FIG. 10, it can be seen that there is no large difference in the average results of the detection areas according to the distance in the linear result. Using this function, it is possible to measure the distance between the camera and the object, and by processing this information, it is possible to effectively inform the driver about the surroundings of the vehicle, especially the blind spot. In addition, when the distance between the user vehicle and the object is within a certain range, it is preferable that the vehicle speed control module described above stops the vehicle.

Although the present invention is implemented as a warning system according to the distance of an approaching object, based on such information, it is ultimately necessary to be able to control the speed of the vehicle by recognizing a dangerous situation.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the appended claims. You will understand.

100: collision prevention module 110: collision prevention sensor module
111: photodiode 112: collimate lens
120: Collision avoidance distance calculation module 200: Traffic light detection module
210: Traffic light detection camera module 220: Color detection module
300: peripheral surveillance module 310: peripheral surveillance camera module
320: Surveillance sensor module 330: Surrounding distance calculation module
400: vehicle control module

Claims (16)

A photodiode for receiving light emitted from the tail lamp of the preceding vehicle and provided in the user vehicle,
A collision avoidance distance calculating module for calculating a distance between the preceding vehicle and the user vehicle based on the intensity of the light received by the photodiode,
A distance information table for storing the user vehicle speed according to the distance between the preceding vehicle and the user vehicle received from the speed setting module, And a vehicle speed control module for controlling the speed of the user vehicle by matching the distance between the preceding vehicle and the user vehicle calculated by the collision-avoidance distance calculation module with the distance information table,
And a color detection module for detecting a color of the traffic light detected in the search for the traffic light in the image information obtained from the traffic light detection camera module, Traffic light detection module,
A color display module for displaying the detected color to a user,
A peripheral surveillance camera module for acquiring an image from the periphery of the user vehicle; an ambient surveillance sensor module for detecting an object located in the vicinity of the user vehicle; And a peripheral distance calculating module for calculating a distance between the user vehicle and the object based on the sensor value,
A diameter of the photodiode is increased from the lower portion to the upper portion, the upper surface is flat, the lower surface is columnar, the recessed portion having the photodiode is formed therein, and the upper surface of the recessed portion is formed as a convex lens- Mate lens,
Wherein the color detection module sets the color of the traffic signal light to a range, determines a certain range of colors detected by the color sensing module as one color,
Wherein the color display module displays a traffic signal light color area in the image information obtained from the traffic light detection camera module,
Wherein the vehicle speed control module stops the user vehicle and blinks the emergency light when the color of the traffic light detected by the color sensing module is red and the distance between the traffic light and the user vehicle is within a predetermined distance, When the distance between the object detected by the operation module and the user vehicle is within a certain range, the user vehicle is stopped and the emergency light is blinked,
The peripheral distance computing module searches blocks of the image obtained from the peripheral surveillance camera module by size, divides them into brightness differences of the areas, classifies them using the AdaBoost algorithm, assigns weights to the classifiers, And generates a strong classifier to detect a pedestrian face in the image. When a pedestrian face is detected, a warning message is sent when the distance between the pedestrian and the user vehicle is within a certain range. delete The method according to claim 1,
The distance between the preceding vehicle and the user vehicle calculated by the intensity of the light received by the photodiode

)

Lt;
remind

Is a sensor value of said photodiode. delete delete delete delete delete delete delete delete delete delete delete The method of claim 3,
The distance between the peripheral surveillance camera module and the object

)

Lt;
remind

Is an area of the rectangle in which the object is recognized. delete

Images