KR102463498B1 - Monitoring system based on radar sensor for enhancing collision protecting efficiency of two-wheeled movable means - Google Patents

Abstract

The present invention is configured to predict whether or not a collision will occur using the relative velocity (Δv) and distance (Δd) to the sensing object when detecting a rear object, thereby increasing the accuracy and reliability of collision prediction, a phenomenon that is not related to an actual collision in the prior art Due to the alarm, the accuracy and reliability of the warning alarm are lowered, and the problem that safety is rather reduced can be solved, and a camera is installed in the rear, and a display means is installed in which the image obtained by shooting the camera is displayed in the front At the same time, when a collision is predicted, power is supplied to the camera and display means to take pictures and output images, so that when a collision is predicted, the rider can quickly and accurately recognize the state of the rear and only shoot the camera when a collision is predicted. And it relates to a monitoring system that reduces unnecessary power consumption by displaying video and improves the effect of preventing rear-end collisions of two-wheeled vehicles capable of low-power operation.

Description

Monitoring system based on radar sensor for enhancing collision protecting efficiency of two-wheeled movable means

The present invention relates to a radar sensor-based monitoring system that improves the rear collision prevention effect of a two-wheeled vehicle. Specifically, when detecting a rear object, a collision using the relative speed (Δv) and distance (Δd) with the sensing object is used. At the same time as predicting whether or not a collision is expected, it is configured to supply power to the camera and display means to record and output images, thereby increasing the accuracy and reliability of collision prediction and warning due to an alarm for phenomena unrelated to actual collisions. In addition to solving the problem of lowering safety due to the lack of accuracy and reliability of the alarm, camera shooting and video display are performed only when a collision is predicted, thereby reducing unnecessary power consumption and preventing rear collision of a two-wheeled vehicle capable of low-power operation It relates to a radar sensor-based monitoring system that has increased

In recent years, as the quality of life has improved and interest in sports has increased rapidly and the bicycle road infrastructure has been expanded, the number of users of two-wheeled means of transportation such as bicycles, motorized bicycles, and bicycles has increased exponentially and the penetration rate of bicycles has increased exponentially.

In particular, as the 'smart mobility' industry in which consumers share a shared electric bicycle for as long as they need through a platform for personal transportation, the trend of using shared electric bicycles for various purposes such as hobbies, commuting and short-distance movement is rapidly increasing. are doing

These electric bicycles have a very fast top speed compared to general bicycles, and because they run not only on bicycle roads but also on general roads with complicated driving environments, the risk of collision is very vulnerable, and the rider's body is protected by the body like a vehicle. Because it is exposed to the outside rather than receiving it, it has the disadvantage that it can lead to a large-scale fatal accident in the event of a crash.

Accordingly, efforts are being made to display an alarm when an object is approached in the vicinity using various sensors on the bicycle so that the driver recognizes it in advance, or to obtain a video evidence of a crash by installing an action cam. In the case of a large number of cyclists and pedestrians around, the warning alarm method using , sensor reduces accuracy, practicality and efficiency as an alarm is output indiscriminately. It has a structural limitation in which there is no effect of preventing collision accidents.

1 is a block diagram illustrating bicycle collision prevention disclosed in Korean Patent Registration No. 10-1743721 (Title of the Invention: Bicycle Collision Prevention Device).

The bicycle collision avoidance device (hereinafter referred to as the prior art) 100 of FIG. 1 is installed at the rear of the bicycle to measure the distance to another object located at the rear of the bicycle, but to measure the distance to another object from the rear The radar sensor unit 110 to which the sensing distance range is adjusted; the rotation variable resistance adjusting unit 120 to adjust the sensing distance range of the radar sensor unit 110 by adjusting the resistance value by left and right rotation; and the radar sensor unit A power supply unit 130 that supplies power required for the radar sensor of 110 to be radiated to another object, and increases/decreases power required based on the adjusted measurement range and supplies it to the radar sensor, and the radar sensor unit 110 When the distance between the bicycle and another object measured from the bicycle enters within the detection distance range, the collision avoidance unit 140 outputs a warning alarm, but increases the size or octave of the warning sound as the distance to the other object increases. is made of

In addition, the radar sensor unit 110 detects a rear detection mode for detecting another object located on the front and rear side of the bicycle, a right rear detection mode for detecting another object located on the right rear side of the bicycle, and detects another object located on the left side of the bicycle Including a left rear detection mode, the output informing the collision avoidance unit 140 of the left rear detection mode, the rear detection mode and the right rear detection mode is arranged from left to right to determine from which direction the object is approaching. there will be

The prior art 100 configured as described above detects a rear object using a radar sensor and can adjust the distance at which the rear object can be detected as an identification or detection distance, and when an object is located within the identification distance, continuously Since it is a case of chasing, it has the advantage of prolonging the life of the battery because it can sound an alarm artificially after determining whether an alarm should be sounded or not.

In general, transportation means such as a bicycle have different speeds depending on the driving condition of the rider, so even if the bicycle is located within the rear sensing distance, whether or not a collision occurs is determined according to the user's speed and the speed of the rear bicycle. For example, assuming that your speed is '18km/h' and the speeds of bicycles 'A' and 'B' within the rear sensing distance are '15km/h' and '25km', rear bicycle 'A' Even if it is located within the rear detection distance, there is no risk of a crash because the speed is lower than that of the person, but the rear bicycle 'A' has a risk of a crash because the speed is faster than the person.

However, the prior art 100 does not take into account the relative speed and the characteristics of the collision accident at all, and when the distance to the object detected by the radar sensor unit 110 simply enters within the detection distance range, a warning alarm is issued. Because it is configured to output, the accuracy of the warning alarm is lowered, and the repetition of the output of such a false warning alarm lowers the rider's awareness, rather increases the insensitivity to danger and reduces the safety of crash accidents.

In addition, in the prior art 100, since a warning alarm is output through a warning sound, the rider cannot intuitively recognize the situation in the rear, so it is not possible to flexibly respond to a collision, and due to the warning alarm, while driving, It has a disadvantage that a driving accident may occur due to such actions.

In order to solve this problem, it is necessary to install a camera in the rear and a display means such as a smartphone in the front. A difficult problem arises.

The present invention is to solve this problem, and the task of the present invention is to predict collision by using the relative velocity (Δv) and distance (Δd) to the sensing object when detecting a rear object to predict whether there is a collision. An object of the present invention is to provide a monitoring system that can solve the problem that the accuracy and reliability of a warning alarm are lowered due to an alarm for a phenomenon unrelated to an actual collision in the prior art by increasing the accuracy and reliability of the system, and the safety is lowered.

In addition, another solution to the present invention is that a camera is installed in the rear, a display means for displaying images obtained by photographing the camera is installed in the front, and at the same time a collision is predicted, power is supplied to the camera and the display means to shoot and image As the output is configured so that the rider can quickly and accurately recognize the state of the rear when a collision is predicted, camera shooting and video display are performed only when a collision is predicted, thereby reducing unnecessary power consumption and enabling low-power operation is to provide

The solution of the present invention for solving the above problems is a speed sensing means, a camera installed behind the two-wheeled moving means to photograph the rear, an object detecting means for detecting an object behind the two-wheeled moving means, and a front of the two-wheeled moving means A monitoring system comprising: a display means installed to display an image obtained by photographing a camera; and a controller: wherein the controller uses the detection information detected by the speed detection means to determine the speed (v) of the corresponding two-wheeled moving means ) a speed detection unit to detect; an object detection unit that detects an object by analyzing the detection signal detected by the object detection means, and then detects distance (d) information from the object; After calculating the speed (v') of the object detected by the object detection unit, if the speed (v) detected by the speed detection unit (v) is slower than the speed (v') of the sensing object, predicting a collision collision prediction unit; a power supply unit for supplying power to the camera and the display means when a collision is predicted by the collision prediction unit; and a control unit for operating the camera and simultaneously outputting an image obtained by photographing the camera to the display means when a collision is predicted by the collision prediction unit, wherein the collision prediction unit is inputted from the object detection unit a sensing object tracking module for tracking the sensing object through the distance (d) information of the detected sensing object; a rear object determination module for filtering the objects having a distance (d) away from the detected object tracking module and determining the remaining detected objects as rear objects; After calculating the velocity (v') of the rear object by using the speed (v) detected by the velocity detector and the distance (d) of the rear object determined by the rear object determination module, the relative a rear object velocity calculation module for calculating velocity (Δv); The collision prediction time calculation for calculating the collision prediction time (Δt), which is the time required to collide with the rear object, using the relative velocity (Δv) and the distance (d) of the rear object by the rear object speed calculation module module; a comparison module for comparing the predicted collision time (Δt) calculated by the collision prediction time calculation module with a preset set time (TH); In the comparison module, 1) if the collision prediction time (Δt) exceeds the set time (TH), it is determined that no collision will occur, and 2) if the collision prediction time (Δt) is less than the set time (TH) , it will further include a collision prediction and determination module that determines that a collision will occur.

Also, in the present invention, it is preferable that the speed detecting means is a gyro sensor, and the object detecting means is a radar device.

delete

In addition, in the present invention, the display means preferably outputs a warning alarm when displaying the image received from the controller.

In addition, in the present invention, the two-wheeled moving means includes a battery, the power supply unit includes a capacitor for charging by receiving power from the battery, and when a collision is predicted by the collision prediction unit, the power charged in the capacitor is preferably supplied to the camera and the display means.

)를 산출하는 평균속도 산출모듈; 상기 메모리에 저장된 기준테이브을 추출한 후, 추출된 기준테이블을 탐색하여 상기 평균속도 산출모듈에 의해 산출된 평균속도(

)에 매칭되는 설정시간(TH’)을 추출하는 기준테이블 추출 및 탐색모듈; 상기 기준테이블 추출 및 탐색모듈에 의해 추출된 설정시간(TH’)을 다음 주기(T)의 설정시간(TH)으로 결정하는 설정시간 설정모듈을 더 포함하고, 상기 비교모듈은 데이터 비교 시, 상기 충돌예측시간 산출모듈에 의해 산출된 충돌예측시간(△t)을 상기 설정시간 설정모듈에 의해 설정된 설정시간(TH)과 비교하고, 상기 기준테이블에는 평균속도 범위가 클수록 매칭된 설정시간(TH)이 큰 것이 바람직하다.In addition, in the present invention, the controller stores a reference table in which the set time (TH) is matched for each range of the average speed of the rear object, and the velocity v' of the rear object calculated by the rear object speed calculation module is temporarily stored. memory being; Further comprising a set time setting unit that is executed at every preset period (T) to set a set time (TH), wherein the set time setting unit is detected during the period (T) and stored in the memory for the speed (v') of the rear object a rear object velocity collection module for collecting information; The average velocity (v') which is the average value of the velocities (v') of the rear object collected by the rear object velocity collection module

) average speed calculation module for calculating; After extracting the reference tape stored in the memory, the average speed calculated by the average speed calculation module (

) a reference table extraction and search module for extracting a matching set time (TH'); Further comprising a set time setting module for determining the set time (TH') extracted by the reference table extraction and search module as the set time (TH) of the next period (T), wherein the comparison module is configured to: The collision prediction time (Δt) calculated by the collision prediction time calculation module is compared with the set time (TH) set by the set time setting module, and in the reference table, the larger the average speed range, the more matched set time (TH) This large one is preferable.

According to the present invention having the above problems and solutions, when detecting a rear object, it is configured to predict whether a collision exists by using the relative velocity (Δv) and distance (Δd) with the sensing object, thereby increasing the accuracy and reliability of collision prediction Conventionally, due to an alarm for a phenomenon irrelevant to an actual collision, the accuracy and reliability of the warning alarm are lowered, so that it is possible to solve a problem in which safety is deteriorated.

In addition, according to the present invention, a camera is installed in the rear, a display means for displaying an image obtained by photographing the camera is installed in the front, and at the same time when a collision is predicted, power is supplied to the camera and the display means to take pictures and output images. When a collision is predicted, not only can the rider quickly and accurately recognize the state of the rear, but also camera shooting and video display are performed only when a collision is predicted, thereby reducing unnecessary power consumption and enabling low-power operation.

1 is a block diagram illustrating bicycle collision prevention disclosed in Korean Patent Registration No. 10-1743721 (Title of the Invention: Bicycle Collision Prevention Device).
2 is a block diagram illustrating a monitoring system that enhances the bicycle rear collision prevention effect, which is an embodiment of the present invention.
FIG. 3 is an exemplary configuration diagram of FIG. 2 .
FIG. 4 is an exemplary view showing the display means of FIG. 2 .
FIG. 5 is a block diagram illustrating the controller of FIG. 2 .
6 is a block diagram illustrating a collision prediction unit of FIG. 5 .
7 is a block diagram illustrating a set time setting unit of FIG. 5 .

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

2 is a block diagram illustrating a monitoring system that enhances the bicycle rear collision prevention effect, which is an embodiment of the present invention, and FIG. 3 is an exemplary configuration diagram of FIG. 2 .

The monitoring system 1, which is an embodiment of the present invention, which improves the rear collision prevention effect of a bicycle, predicts whether or not a collision occurs by using the relative speed (Δv) and distance (Δd) with respect to the sensing object when detecting a rear object. When predicting a collision, by supplying power to the camera and display means to take pictures and output images, the accuracy and reliability of collision prediction are increased, and the accuracy and reliability of warning alarms due to alarms for phenomena unrelated to actual collisions in the prior art This is not only to solve the problem of lowering safety due to the fall of the vehicle, but also to reduce unnecessary power consumption and enable low-power operation because camera shooting and video display are performed only when a collision is predicted.

In addition, as shown in FIGS. 2 and 3, the monitoring system 1, which improves the rear collision prevention effect of the bicycle, includes a bicycle battery 7 for supplying power and a gyro sensor installed on the body 21 of the bicycle 20 ( 6), a radar device installed in the rear of the body 21 of the bicycle 20 to transmit a radar signal to the rear of the bicycle, and a radar device 5 that collects a reflected signal, and a radar transmitted and received by the radar device 5 At the same time predicting a collision by analyzing the signal and angular velocity information detected by the gyro sensor 6, power is supplied to the camera 4 and display means 8, which will be described later, and a trigger signal to the camera 4 (Trigger signal) is installed at the rear of the body 21 of the bicycle 20, and when a collision is predicted, power is supplied from the controller 3 and the trigger signal is received at the same time to perform shooting. A camera 4 for acquiring an image, installed in front of the vehicle body 21 of the bicycle 20, receives an image acquired by shooting the camera 4 from the controller 3, displays it, and sends a route alarm at the same time It consists of a display means (8) for outputting.

At this time, in the present invention, for convenience of explanation, it has been described that the two-wheeled moving means is a bicycle 20, but the type of two-wheeled moving means is not limited thereto, and various known types such as motorized bicycles and bicycles may be applied. It is natural to have

At this time, in the present invention, for convenience of explanation, the display means 8 for displaying the image obtained by shooting the camera 4 is separately configured as an example, but the display means 8 is a smartphone, It is of course that it can be configured as an application installed on a smartphone and interlocking with the controller 3 .

In addition, in FIGS. 2 and 3, the controller 3 and the camera 4 are independently configured as an example, but the controller 3 and the camera 4 are integrally manufactured to be mounted on the body 21 of the bicycle 20. It can be configured to be installed.

Also, in the present invention, for convenience of explanation, the controller 3 uses the angular velocity detected by the gyro sensor 6 to detect the speed v of the corresponding bicycle 20 as an example. (3) may be configured to detect the speed (v) of the bicycle (20) through the GPS location information received from the smartphone when a smartphone is installed as a display means (8) or has a built-in GPS module itself can

In addition, although not shown in the drawing, the controller 3 and the display means 8 are connected by a wired cable or transmit and receive data through short-range communication such as Bluetooth.

The gyro sensor 6 is installed on the body 21 of the bicycle 20 , specifically, the hub of the wheel 23 , detects the angular velocity, and outputs the detected angular velocity information to the controller 3 .

After transmitting the radar signal to the rear, the radar device 5 receives the reflected signal.

In addition, the radar device 5 outputs the transmitted and received radar signal information to the controller 3 .

The camera 4 is installed at the rear of the vehicle body 21 of the bicycle 20 .

In addition, the camera 4 does not perform shooting because the power is cut off in normal times, but when a collision is predicted, when a trigger signal is transmitted from the controller 3, the bicycle battery 7 according to the control of the controller 3 An image is acquired by receiving power from the camera and performing photography.

In addition, the camera 4 transmits the image obtained by shooting to the controller 3 . At this time, the controller 3 transmits the image received from the camera 4 to the display means 8, and the display means 8 displays the image received from the controller 3, so that the rider (driver) can display the image on the display means 8 ), through the viewing of the displayed image, the rear condition can be accurately and quickly recognized, so that suitable driving can be made in preparation for a collision accident.

FIG. 4 is an exemplary view showing the display means of FIG. 2 .

The display means 8 of FIG. 4 is installed in front of the vehicle body 21 of the bicycle 20 , in detail, at a midpoint of the handlebar 22 .

In addition, the display means 8 does not perform a separate operation because the power is cut off in normal times, but when a collision is predicted by the controller 3, power is supplied from the controller 3 and transmitted from the controller 3 at the same time Display the received image. At this time, the display means 8 displays the image only when the collision is predicted by the controller 3, so that the rider can not only immediately recognize the collision prediction, but also accurately recognize the rear state so that suitable driving can be made. .

Also, the display means 8 outputs a warning sound or a warning alarm when receiving the image from the controller 3 .

FIG. 5 is a block diagram illustrating the controller of FIG. 2 .

The controller 3 of FIG. 5 is a controller for providing a rear collision avoidance service to the rider by managing and controlling the gyro sensor 6 , the camera 4 and the display means 8 .

In addition, as shown in FIG. 5 , the controller 3 includes a control unit 31 , a memory 32 , a communication interface unit 33 , a power supply unit 34 , a speed detection unit 35 , and a radar signal analysis unit 36 . ), an object detection unit 37 , a collision prediction unit 38 , a trigger signal generation unit 39 , and a set time setting unit 40 .

The control unit 31 is an operating system (OS) of the controller 3, and is a control target (32), (33), (34), (35), (36), (37), (38), (39) , (40) are managed and controlled.

In addition, when it is determined that a collision is predicted by the collision prediction unit 38 , the control unit 31 executes the power supply unit 34 so that the power stored by the power supply unit 34 is transferred to the camera 4 and the display unit 8 . ) to be supplied.

In addition, when it is determined that a collision is predicted by the collision prediction unit 38 , the control unit 31 executes the trigger signal generation unit 39 , and the trigger signal generated by the trigger signal generation unit 39 is transmitted to the camera 4 . ) and control the communication interface unit 33 to be transmitted to the display means (8).

In addition, the control unit 31 inputs the angular velocity information received from the gyro sensor 6 through the communication interface unit 33 to the velocity detection unit 35, and the radar signal information received from the radar device 5 is analyzed by the radar signal analysis unit. Enter (36).

In addition, the control unit 31 executes the setting time setting unit 40 for each preset period (T).

The memory 32 temporarily stores the image captured by the camera 4 and information on the speed v detected by the speed detecting unit 35 .

In addition, a preset signal analysis algorithm is stored in the memory 32 . In this case, the signal analysis algorithm is an algorithm that detects an object through transmitted and received radar signal information, and the object detection technology and method using such a radar signal are commonly used technologies and methods, and thus a detailed description thereof will be omitted.

Also, the memory 32 temporarily stores information on the speed v′ and the distance difference Δd of the rear object detected by the collision prediction unit 38 .

In addition, a reference table in which the set time TH is matched for each range of the average speed of the rear object is preset and stored in the memory 32 .

In addition, the set time (TH, Threshold) set by the set time setting module 40 is stored in the memory 32 .

The communication interface unit 33 transmits/receives data to and from the camera 4 , the radar unit 5 , the gyro sensor 6 , and the display unit 7 .

The power supply unit 34 is provided with a separate capacitor such as a battery to receive power from the bicycle battery 7 in normal times to charge it.

In addition, when it is determined that a collision is predicted by the collision prediction unit 38 , the power supply unit 34 supplies the power charged in the capacitor to the camera 4 and the display unit 8 under the control of the control unit 31 . control the switch.

The speed detection unit 35 receives the angular velocity information transmitted from the gyro sensor 6 through the communication interface unit 33 under the control of the control unit 31 .

Also, the speed detecting unit 35 analyzes the input angular speed information to detect the speed v of the corresponding bicycle 20 , and inputs the detected speed v information to the collision prediction unit 38 .

The radar signal analysis unit 36 receives the radar signal information transmitted from the radar device 5 through the communication interface unit 33 under the control of the control unit 31 , and analyzes the input radar signal.

The object detection unit 37 detects an object through the analysis data detected by the radar signal analysis unit 36 , and inputs distance (d) information of the detected object to the collision prediction unit 38 .

6 is a block diagram illustrating a collision prediction unit of FIG. 5 .

As shown in FIG. 6, the collision prediction unit 38 includes a data input module 381, a detection object tracking module 382, a rear object determination module 383, a rear object velocity calculation module 384, and a collision prediction It consists of a time calculation module 385 , a comparison module 386 , and a collision prediction and determination module 387 .

The data input module 381 receives speed (v) information from the speed detection unit 35 and receives distance (d) information of the sensing object from the object detection unit 37 .

The sensing object tracking module 382 tracks the sensing object through the distance (d) information of the sensing object input from the object sensing unit 37 .

The rear object determination module 383 determines the remaining detected objects as rear objects after filtering the objects having a distance d away by the detection object tracking module 382 .

That is, the rear object determination module 383 1) filters the detection object because the risk of collision is low when the detection object is traveling at a lower speed than the bicycle 20, and 2) the detection object is not a bicycle or vehicle. In the case of other objects, it is possible to reduce the operation processing speed and time by omitting operation processing for detection objects free of collision by filtering them and determining the remaining detection objects as rear objects.

The rear object speed calculation module 384 includes the speed (v) information of the corresponding bicycle 20 input by the data input module 381 and the distance (d) information of the rear object determined by the rear object determining module 383 . After calculating the speed (v') of the rear object using

The collision prediction time calculation module 385 utilizes the relative velocity Δv calculated by the rear object velocity calculation module 384 and the distance d of the rear object to determine the time required to collide with the rear object. Calculate the predicted time (Δt).

For example, the collision prediction time calculation module 385 converts the distance difference d to the relative speed Δv when the relative speed Δv with the rear object is 3 m/s and the distance difference d is 12 m. ) to calculate the collision prediction time (Δt) '4 seconds'.

The comparison module 386 includes the collision prediction time Δt calculated by the collision prediction time calculation module 385 and the setting time TH set by the setting time setting module 40 to be described later and stored in the memory 32 . ) are compared.

In the comparison module 386, the collision prediction determination module 387 determines that 1) a collision will not occur when the collision prediction time Δt exceeds the set time TH, and 2) the collision prediction time Δ If t) is less than or equal to the set time TH, it is determined that a collision will occur.

In general, since the bicycle has the characteristic that the rider's speed changes frequently due to various variables such as the surrounding conflict state, road shape, and road surface condition, even if the speed (v') of the rear object is faster than the speed (v) of the bicycle , if the collision prediction time Δt, which is the time required to collide, is predicted until the collision prediction time Δt is equal to or greater than the set time TH, the accuracy and reliability of collision prediction deteriorate.

For example, the rider of the rear object having a collision prediction time (Δt) exceeding the set time (TH) has a relatively free time, so it is recognized in advance and has the capacity to safely drive, such as reducing the speed. Although sufficient enough to reduce the risk of collision, the rider of the rear object with a collision prediction time (Δt) less than the set time (TH) does not have enough room to safely drive in advance due to the relatively short time, so the risk of collision increases. .

In order to solve this problem, the present invention predicts that a collision will occur only when the collision prediction time Δt is less than or equal to the set time TH by the collision prediction determination module 387, thereby filtering unnecessary collision prediction in advance. It is possible to further increase the accuracy and reliability of prediction.

In addition, when a collision is predicted by the collision prediction determination module 387, the control unit 31 executes the power supply unit 34 so that power is supplied to the camera 4 and the display unit 8, and at the same time a trigger signal generation unit (39) is executed.

The trigger signal generating unit 39 is executed when it is determined that a collision is predicted by the collision prediction determination module 387, and generates a trigger signal. At this time, the trigger signal generated by the trigger signal generating unit 39 is transmitted to the camera 4 through the communication interface unit 33 under the control of the control unit 31 and simultaneously transmitted to the display unit 8 .

7 is a block diagram illustrating a set time setting unit of FIG. 5 .

The set time setting unit 40 of FIG. 7 is executed every preset period T under the control of the control unit 31 .

In addition, as shown in FIG. 7, the setting time setting unit 40 includes a rear object velocity collection module 401, an average velocity calculation module 402, a reference table extraction and search module 403, and a setting time setting module ( 404).

The rear object velocity collection module 401 collects information about the velocity v′ of the rear object detected during the period T and stored in the memory 32 .

)를 산출한다.The average velocity calculation module 402 is an average velocity (average value) of the velocity v' of the rear object collected by the rear object velocity collection module 401.

) is calculated.

)에 매칭되는 설정시간(TH’)을 추출한다.The reference table extraction and search module 403 extracts the reference table stored in the memory 32, searches the extracted reference table, and the average speed calculated by the average speed calculation module 402 (

) to extract the set time (TH') matching the

In this case, the set time TH is matched and stored for each range of the average speed in the reference table, and the set time TH of the reference table becomes higher as the range of the average speed increases.

For example, in the reference table, the set time (TH1) of the average speed range is '30 ~ 50 km/s', and the set time (TH2) of the average speed range is '10 ~ 15 km/s' (TH2). ) has a higher size.

In general, in the case of a bicycle road and the first condition in which there are many collisions between people and bicycles, the average speed of the bicycle as a whole is made very slow, and in such an environment where the average speed is slow, the risk of a collision is significantly reduced compared to the same collision prediction time. Therefore, if the set time (TH) is excessively high, even if a rear object with no real risk of collision is detected, it is judged as a collision prediction and the accuracy and reliability of the collision prediction are lowered. In the case of the second condition, the set time TH should be set to be larger than the first condition because the risk of a collision accident is higher than the collision prediction time compared to the first condition.

Also, in the case of the third condition, which is a very fast road compared to a bicycle, when the set time (TH) is set low because the vehicle moves at a very high speed, the rider recognizes the rear state through viewing the video and drives safely In the case of the third condition, the set time (TH) must be set very high as safety is significantly lowered because the vehicle has already passed before the operation.

The setting time setting module 404 determines the setting time TH' extracted by the reference table extraction and search module 403 as the setting time TH of the next period T.

As such, the monitoring system 1, which is an embodiment of the present invention, is configured to predict whether a collision occurs by using the relative velocity (Δv) and distance (Δd) with respect to the sensing object when detecting a rear object, thereby improving the accuracy of collision prediction and By increasing the reliability, it is possible to solve the problem that the accuracy and reliability of the warning alarm are lowered due to the conventional alarm for a phenomenon irrelevant to the actual collision, and the safety is deteriorated.

In addition, in the monitoring system 1 of the present invention, a camera is installed in the rear, a display means for displaying an image obtained by photographing a camera is installed in the front, and at the same time when a collision is predicted, power is supplied to the camera and the display means to shoot And image output is configured so that the rider can quickly and accurately recognize the state of the rear when a collision is predicted, as well as camera shooting and video display only when a collision is predicted, thereby reducing unnecessary power consumption and enabling low-power operation will do

1: Monitoring system that improves the effect of preventing rear-end collisions
3: Controller 4: Camera
5: Radar 6: Gyro sensor
7: Bicycle battery 8: Display means
20: bicycle 21: body
22: handlebar 23: wheel
31: control unit 32: memory
33: communication interface unit 34: power supply unit
35: speed detection unit 36: radar signal analysis unit
37: object detection unit 38: collision prediction unit
39: trigger signal generation unit 40: set time setting unit

Claims (6)

A speed detecting means, a camera installed behind the two-wheeled moving means to photograph the rear, an object detecting means for detecting an object behind the two-wheeled moving means, and an image obtained by the camera installed in front of the two-wheeled moving means are displayed In the monitoring system comprising a display means and a controller:
the controller is
a speed detector for detecting the speed v of the corresponding two-wheeled moving means using the detected information detected by the speed detecting means;
an object detection unit that detects an object by analyzing the detection signal detected by the object detection means, and then detects distance (d) information from the object;
After calculating the speed (v') of the object detected by the object detection unit, if the speed (v) detected by the speed detection unit (v) is slower than the speed (v') of the sensing object, predicting a collision collision prediction unit;
a power supply unit for supplying power to the camera and the display means when a collision is predicted by the collision prediction unit;
When a collision is predicted by the collision prediction unit, comprising a control unit that operates the camera and outputs an image obtained by photographing the camera to the display means,
The collision prediction unit
a sensing object tracking module for tracking the sensing object through the distance (d) information of the sensing object input from the object sensing unit;
a rear object determination module for filtering the objects having a distance (d) away from the detected object tracking module and determining the remaining detected objects as rear objects;
After calculating the velocity (v') of the rear object by using the speed (v) detected by the velocity detector and the distance (d) of the rear object determined by the rear object determination module, the relative a rear object velocity calculation module for calculating velocity (Δv);
The collision prediction time calculation for calculating the collision prediction time (Δt), which is the time required to collide with the rear object, using the relative velocity (Δv) and the distance (d) of the rear object by the rear object speed calculation module module;
a comparison module for comparing the predicted collision time (Δt) calculated by the collision prediction time calculation module with a preset set time (TH);
In the comparison module, 1) if the collision prediction time (Δt) exceeds the set time (TH), it is determined that no collision will occur, and 2) if the collision prediction time (Δt) is less than the set time (TH) , Monitoring system, characterized in that it further comprises a collision prediction and determination module for determining that a collision will occur. The monitoring system according to claim 1, wherein the speed detecting means is a gyro sensor, and the object detecting means is a radar device. delete The monitoring system according to claim 1 or 2, wherein the display unit outputs a warning alarm when displaying the image received from the controller. According to claim 4, wherein the two-wheeled moving means is provided with a battery,
The power supply unit
and a capacitor for charging by receiving power from the battery, wherein when a collision is predicted by the collision prediction unit, the power charged in the capacitor is supplied to the camera and the display means. The method of claim 5, wherein the controller
a memory for storing a reference table matching a set time (TH) for each range of the average speed of the rear object, and temporarily storing the speed (v') of the rear object calculated by the rear object speed calculation module;
Further comprising a set time setting unit that is executed every preset period (T) to set a set time (TH),
The set time setting unit
a rear object velocity collection module for collecting velocity (v') information of the rear object detected during the period (T) and stored in the memory;
The average velocity (v') which is the average value of the velocities (v') of the rear object collected by the rear object velocity collection module

) average speed calculation module for calculating;
After extracting the reference tape stored in the memory, the average speed calculated by the average speed calculation module (

) a reference table extraction and search module for extracting a matching set time (TH');
Further comprising a set time setting module for determining the set time (TH') extracted by the reference table extraction and search module as the set time (TH) of the next period (T),
The comparison module
When comparing data, the collision prediction time (Δt) calculated by the collision prediction time calculation module is compared with the set time (TH) set by the set time setting module,
In the reference table, the larger the average speed range, the greater the matched set time (TH).

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