KR20130021986A - Pedestrian recognition apparatus and method adapting to environment - Google Patents

Pedestrian recognition apparatus and method adapting to environment Download PDF

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Publication number
KR20130021986A
KR20130021986A KR1020110084593A KR20110084593A KR20130021986A KR 20130021986 A KR20130021986 A KR 20130021986A KR 1020110084593 A KR1020110084593 A KR 1020110084593A KR 20110084593 A KR20110084593 A KR 20110084593A KR 20130021986 A KR20130021986 A KR 20130021986A
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environment
pedestrian
sensor
vehicle
detected
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KR1020110084593A
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Korean (ko)
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김명관
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현대모비스 주식회사
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Priority to KR1020110084593A priority Critical patent/KR20130021986A/en
Priority to CN2012103007060A priority patent/CN102955938A/en
Publication of KR20130021986A publication Critical patent/KR20130021986A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
    • B60R2021/346—Protecting non-occupants of a vehicle, e.g. pedestrians means outside vehicle body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

PURPOSE: An environmental adaptation type pedestrian recognition device and a method thereof are provided to allow an environmental recognition part to recognize the peripheral environment of a vehicle on the basis of a light amount and a rainfall amount detected by sensors, thereby recognizing pedestrians depending on a poor environment such as nighttime and rainy weather. CONSTITUTION: An environmental adaptation type pedestrian recognition device includes a sensor part(110), an environment recognition part(120), and a pedestrian recognition part(130). The sensor part detects the peripheral environment of a vehicle and pedestrians. The environment recognition part recognizes the peripheral environment of the vehicle on the basis of the environmental information detected by the sensor part, and transmits pedestrian information corresponding to the environmental information recognized by the environment recognition part to the pedestrian recognition part. The pedestrian recognition part recognizes pedestrians in the peripheral environment of the vehicle on the basis of the pedestrian information transmitted from the environment recognition part. The sensor part includes an infrared sensor(111), an image sensor(112), a light amount sensor(113), and a rain sensor(114). The environment recognition part recognizes the peripheral environment of the vehicle on the basis of a light amount detected by the light amount sensor and a rainfall amount detected by the rain sensor. The environment recognition part determines the peripheral environment of the vehicle as daytime or clear when the detected light amount is greater than or equal to a predetermined threshold, or the detected rainfall amount is less than a predetermined threshold. The environment recognition part determines the peripheral environment of the vehicle as nighttime or rainy when the detected light amount is less than the predetermined threshold, or the detected rainfall amount is greater than or equal to the predetermined threshold. [Reference numerals] (111) Infrared sensor; (112) Image sensor; (113) Light amount sensor; (114) Rain sensor; (120) Environment recognition part; (130) Pedestrian recognition part; (131) Recognition chip; (140) Interface unit; (AA) Digital image signal; (BB) Pedestrian recognition result signal; (CC) Driver

Description

환경 적응형 보행자 인식 장치 및 방법{Pedestrian Recognition Apparatus And Method Adapting to Environment}Pedestrian Recognition Apparatus And Method Adapting to Environment

본 발명은 환경 적응형 보행자 인식 장치 및 방법에 관한 것으로서, 보다 구체적으로는 환경에 적합하게 보행자를 인식하는 장치 및 방법에 관한 것이다.The present invention relates to an environment-adaptive pedestrian recognition apparatus and method, and more particularly, to an apparatus and method for recognizing a pedestrian suitable for the environment.

종래의 보행자 인식 장치는 이미지 센서(image sensor)를 이용하여 보행자를 인식하였다.A conventional pedestrian recognition device recognizes a pedestrian by using an image sensor.

그러나, 이미지 센서를 이용하여 보행자를 인식할 경우, 이미지 센서의 특성상 광량이 풍부한 낮에는 보행자를 잘 인식하지만, 도 1 및 도 2에 도시된 바와 같이 광량이 부족한 비오는 날이나 밤에는 보행자 인식 성능이 저하되는 문제점이 있다.However, when the pedestrian is recognized using the image sensor, the pedestrian recognition performance is well recognized during the day when the amount of light is rich due to the characteristics of the image sensor, but as shown in FIGS. There is a problem of deterioration.

이미지 센서는 전술한 바와 같이, 그 특성상 광량이 부족한 밤에는 보행자를 잘 인식하지 못하는 문제가 있으므로, 이러한 문제를 해결하기 위해 도 3에 도시된 바와 같이 보행자 인식 장치에 적외선 센서를 이용하여 보행자를 인식하도록 하였다.As described above, the image sensor may not recognize the pedestrian well at night when the amount of light is insufficient due to its characteristics. Thus, as illustrated in FIG. 3, the image sensor recognizes the pedestrian by using an infrared sensor in the pedestrian recognition device. It was made.

그러나, 적외선 센서를 이용하여 보행자를 인식할 경우, 광량이 풍부한 낮에는 주변 환경의 온도가 따뜻해지기 때문에 적외선 센서의 보행자 인식 성능이 저하되는 문제점이 있다.However, when the pedestrian is recognized using the infrared sensor, the pedestrian recognition performance of the infrared sensor is deteriorated because the temperature of the surrounding environment becomes warm during the day when the light amount is abundant.

본 발명은 상기와 같은 문제점을 감안하여 창출한 것으로서, 차량의 주변환경을 인식하고, 인식된 주변 환경에 따라 그에 대응되는 보행자 정보를 토대로 보행자를 인식하여 보행자 인식 성능을 향상시키는 환경 적응형 보행자 인식 장치 및 방법을 제공하는 데 그 목적이 있다.The present invention has been created in view of the above problems, and recognizes the surrounding environment of the vehicle, and recognizes the pedestrian based on the pedestrian information corresponding thereto according to the recognized surrounding environment to improve the pedestrian recognition performance of the environment adaptive pedestrian recognition It is an object of the present invention to provide an apparatus and method.

전술한 목적을 달성하기 위하여, 본 발명의 일면에 따른 환경 적응형 보행자 인식 장치는 차량 주변의 환경과 보행자를 감지하는 센서부; 상기 센서부에 의해 감지된 환경 정보를 토대로 상기 차량 주변의 환경을 인식하고, 인식된 환경 정보를 토대로 그에 대응되는 보행자 정보를 전달하는 환경 인식부; 및 상기 환경 인식부로부터 전달된 상기 보행자 정보를 토대로 상기 차량 주변의 보행자를 인식하는 보행자 인식부를 포함한다.In order to achieve the above object, the environment-adaptive pedestrian recognition device according to an aspect of the present invention comprises a sensor unit for sensing the environment and pedestrians around the vehicle; An environment recognition unit recognizing an environment around the vehicle based on the environment information sensed by the sensor unit, and transferring pedestrian information corresponding thereto based on the recognized environment information; And a pedestrian recognition unit that recognizes pedestrians around the vehicle based on the pedestrian information transmitted from the environment recognition unit.

본 발명의 다른 면에 따른 환경 적응형 보행자 인식 방법은 차량 주변의 환경과 보행자를 감지하는 단계; 감지된 환경 정보를 토대로 상기 차량 주변의 환경을 인식하는 단계; 및 인식된 환경 정보에 따라 그에 대응되는 보행자 정보를 토대로 보행자를 인식하는 단계를 포함한다.According to another aspect of the present invention, there is provided an environment-adaptable pedestrian recognition method comprising: detecting an environment and a pedestrian around a vehicle; Recognizing an environment around the vehicle based on the sensed environment information; And recognizing the pedestrian based on the pedestrian information corresponding to the recognized environmental information.

본 발명에 따르면, 밤, 우천 등의 열악한 환경에서도 보행자를 인식할 수 있다.According to the present invention, pedestrians can be recognized even in harsh environments such as at night and in rainy weather.

운전자에 의한 별도의 조작 없이 밤, 우천 등의 열악한 환경에 따라 보행자를 인식할 수 있다.Pedestrians can be recognized in harsh environments, such as at night or in rainy weather, without any additional manipulation by the driver.

도 1 내지 도 3은 종래의 보행자 인식 장치를 설명하기 위한 도면.
도 4는 본 발명의 일 실시예에 따른 환경 적응형 보행자 인식 장치를 설명하기 위한 블럭도.
도 5는 본 발명의 일 실시예에 따른 환경 적응형 보행자 인식 방법을 설명하기 위한 흐름도.1 to 3 are views for explaining a conventional pedestrian recognition device.
4 is a block diagram illustrating an environment-adaptive pedestrian recognition apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating an environment adaptive pedestrian recognition method according to an embodiment of the present invention.

본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 용이하게 이해할 수 있도록 제공되는 것이며, 본 발명은 청구항의 기재에 의해 정의된다. 한편, 본 명세서에서 사용된 용어는 실시예들을 설명하기 위한 것이며 본 발명을 제한하고자 하는 것은 아니다. 본 명세서에서, 단수형은 문구에서 특별히 언급하지 않는 한 복수형도 포함한다. 명세서에서 사용되는 "포함한다(comprises)" 또는 "포함하는(comprising)"은 언급된 구성요소, 단계, 동작 및/또는 소자 이외의 하나 이상의 다른 구성요소, 단계, 동작 및/또는 소자의 존재 또는 추가를 배제하지 않는다.Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. And is intended to enable a person skilled in the art to readily understand the scope of the invention, and the invention is defined by the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that " comprises, " or "comprising," as used herein, means the presence or absence of one or more other components, steps, operations, and / Do not exclude the addition.

이하, 도 4를 참조하여 본 발명의 일 실시예에 따른 환경 적응형 보행자 인식 장치를 설명한다. 도 4는 본 발명의 일 실시예에 따른 환경 적응형 보행자 인식 장치를 설명하기 위한 블럭도이다.Hereinafter, an environment-adaptive pedestrian recognition apparatus according to an embodiment of the present invention will be described with reference to FIG. 4. 4 is a block diagram illustrating an environment-adaptive pedestrian recognition apparatus according to an embodiment of the present invention.

도 4에 도시된 바와 같이, 본 발명의 환경 적응형 보행자 인식 장치는 센서부(110), 환경 인식부(120), 보행자 인식부(130) 및 인터페이스부(140)를 포함한다.As shown in FIG. 4, the environmentally adaptive pedestrian recognition device of the present invention includes a sensor unit 110, an environment recognition unit 120, a pedestrian recognition unit 130, and an interface unit 140.

센서부(110)는 적외선 센서(111), 이미지 센서(112), 광량 센서(113) 및 레인 센서(114)를 포함하고, 차량 주변의 보행자 정보, 차량의 주변 환경 정보를 감지하며, 감지된 정보를 환경 인식부(120)에 전달한다.The sensor unit 110 includes an infrared sensor 111, an image sensor 112, a light amount sensor 113, and a rain sensor 114. The sensor unit 110 detects pedestrian information around the vehicle and surrounding environment information of the vehicle. The information is transmitted to the environment recognition unit 120.

예컨대, 적외선 센서(111)는 적외선을 이용하여 차량 주변의 보행자를 감지하고, 이미지 센서(112)는 이미지를 이용하여 차량 주변의 보행자를 감지하며, 각 센서(111, 112)는 감지된 정보(보행자 정보)를 환경 인식부(120)에 전달한다.For example, the infrared sensor 111 detects pedestrians around the vehicle by using infrared rays, the image sensor 112 detects pedestrians around the vehicle by using an image, and each of the sensors 111 and 112 detects the detected information ( Pedestrian information) to the environment recognition unit 120.

또한, 광량 센서(113)는 차량 주변의 광량을 감지하고, 레인 센서(114)는 차량 외부에 내리는 비를 감지하며, 각 센서(113, 114)는 감지된 정보(환경 정보)를 환경 인식부(120)에 전달한다.In addition, the light amount sensor 113 detects the amount of light around the vehicle, the rain sensor 114 detects the rain falling on the outside of the vehicle, each sensor (113, 114) the detected information (environmental information) to the environment recognition unit Forward to 120.

환경 인식부(120)는 센서부(110)로부터 감지 정보(보행자 정보, 환경 정보)를 전달받고, 전달된 환경 정보를 토대로 차량의 주변 환경을 인식하며, 인식결과에 따라 인식된 주변 환경에 대응되는 보행자 정보를 보행자 인식부(130)에 전달한다.The environment recognition unit 120 receives sensing information (pedestrian information and environment information) from the sensor unit 110, recognizes the surrounding environment of the vehicle based on the transmitted environment information, and responds to the recognized surrounding environment according to the recognition result. The pedestrian information is transmitted to the pedestrian recognition unit 130.

예컨대, 환경 인식부(120)는 전달된 환경 정보를 토대로 비가 오거나 밤일 경우, 적에선 센서(111)에 의해 감지된 보행자 정보를 보행자 인식부(130)에 전달하고, 전달된 환경 정보를 토대로 비가 오지 않거나 낮일 경우, 이미지 센서(112)에 의해 감지된 보행자 정보를 보행자 인식부(130)에 전달한다.For example, when the rain or night is based on the transmitted environmental information, the environment recognition unit 120 transmits the pedestrian information detected by the sensor 111 to the pedestrian recognition unit 130 and rains based on the transmitted environmental information. If it is not coming or low, the pedestrian information sensed by the image sensor 112 is transmitted to the pedestrian recognition unit 130.

보행자 인식부(130)는 인식 칩(131)을 포함하고, 환경 인식부(120)로부터 전달된 보행자 정보를 인식 칩(131)에 입력시켜 차량 주변의 보행자를 인식하고, 인식된 정보를 인터페이스부(140)에 전달한다.The pedestrian recognition unit 130 includes a recognition chip 131, and inputs pedestrian information transmitted from the environment recognition unit 120 to the recognition chip 131 to recognize pedestrians around the vehicle, and recognizes the recognized information as an interface unit. Forward to 140.

인터페이스부(140)는 차량 주변에 보행자가 존재하는 것을 알려 운전자의 안전 운전을 유도하기 위해 보행자 인식부(130)로부터 전달된 인식 정보를 화면에 표시한다.The interface unit 140 notifies that the pedestrian exists around the vehicle and displays the recognition information transmitted from the pedestrian recognition unit 130 on the screen to induce the driver to drive safely.

전술한 바와 같이, 본 발명에 따르면, 밤, 우천 등의 열악한 환경에서도 보행자를 인식할 수 있고, 운전자에 의한 별도의 조작 없이 밤, 우천 등의 열악한 환경에 따라 보행자를 인식할 수 있어서 운전자의 안전 운전을 유도할 수 있다.As described above, according to the present invention, pedestrians can be recognized even in poor environments such as night and rain, and pedestrians can be recognized according to poor environments such as night and rain without a separate operation by the driver. Can drive.

이상, 도 4를 참조하여 본 발명의 일 실시예에 따른 환경 적응형 보행자 인식 장치를 설명하였고, 이하에서는 도 5를 참조하여 본 발명의 일 실시예에 따른 환경 적응형 보행자 인식 방법을 설명한다. 도 5는 본 발명의 일 실시예에 따른 환경 적응형 보행자 인식 방법을 설명하기 위한 흐름도이다.The environment-adaptable pedestrian recognition apparatus according to the embodiment of the present invention has been described above with reference to FIG. 4, and the environment-adaptable pedestrian recognition method according to the embodiment of the present invention is described below with reference to FIG. 5. 5 is a flowchart illustrating an environment-adaptive pedestrian recognition method according to an embodiment of the present invention.

도 5에 도시된 바와 같이, 광량 센서(113)로부터 감지된 정보(광량)가 전달되면(S500), 감지된 광량이 기설정된 임계치보다 큰지 여부를 판단한다(S501).As shown in FIG. 5, when information (light quantity) detected from the light quantity sensor 113 is transmitted (S500), it is determined whether the detected light quantity is greater than a preset threshold (S501).

판단결과, 감지된 광량이 기설정된 임계치보다 크거나 같을 경우 낮인 것으로 판단하고, 레인 센서(114)로부터 감지된 정보(우량)가 전달되면(S502), 감지된 우량이 기설정된 임계치보다 큰지 여부를 판단한다(S503).As a result of the determination, it is determined that the detected light quantity is greater than or equal to the preset threshold, and when the detected information (goodness) is transmitted from the rain sensor 114 (S502), it is determined whether the detected rainfall is greater than the preset threshold. It is determined (S503).

판단결과, 감지된 우량이 기설정된 임계치보다 크거나 같을 경우 우천시인 것으로 판단하고, 적외선 센서(111)에 의해 감지된 보행자 정보를 인식 칩(131)에 입력한다(S504).As a result of the determination, when the detected rain is greater than or equal to the preset threshold, it is determined that it is rainy, and the pedestrian information detected by the infrared sensor 111 is input to the recognition chip 131 (S504).

그러나, 판단결과, 감지된 우량이 기설정된 임계치보다 작을 경우, 우천시가 아닌 것으로 판단하고, 이미지 센서(112)에 의해 감지된 보행자 정보를 인식 칩(131)에 입력한다(S505).However, as a result of the determination, when the detected rain is less than the preset threshold, it is determined that the rain is not rainy, and the pedestrian information detected by the image sensor 112 is input to the recognition chip 131 (S505).

한편, 단계(S501) 판단결과, 감지된 광량이 기설정된 임계치보다 작을 경우, 밤인 것으로 판단하고, 적외선 센서(111)에 의해 감지된 보행자 정보를 인식 칩(131)에 입력한다(S506).On the other hand, if it is determined in step S501 that the detected amount of light is smaller than the preset threshold, it is determined that it is night, and the pedestrian information detected by the infrared sensor 111 is input to the recognition chip 131 (S506).

인식 칩(131)은 입력된 보행자 정보를 인식하고(S507), 인식된 정보를 화면에 표시하여 차량 주변에 보행자가 존재하는 것을 운전자에게 알려 안전 운전을 유도한다(S508).The recognition chip 131 recognizes the input pedestrian information (S507), and displays the recognized information on the screen to inform the driver that the pedestrian is present around the vehicle (S508).

이상 바람직한 실시예와 첨부도면을 참조하여 본 발명의 구성에 관해 구체적으로 설명하였으나, 이는 예시에 불과한 것으로 본 발명의 기술적 사상을 벗어나지 않는 범주내에서 여러 가지 변형이 가능함은 물론이다. 그러므로 본 발명의 범위는 설명된 실시예에 국한되어 정해져서는 안되며 후술하는 특허청구의 범위뿐만 아니라 이 특허청구의 범위와 균등한 것들에 의해 정해져야 한다.
Although the configuration of the present invention has been described in detail with reference to the preferred embodiments and the accompanying drawings, this is only an example, and various modifications are possible within the scope without departing from the spirit of the present invention. Therefore, the scope of the present invention should not be limited by the illustrated embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

110 : 센서부 111 : 적외선 센서
112 : 이미지 센서 113 : 광량 센서
114 : 레인 센서 120 : 환경 인식부
130 : 보행자 인식부 131 : 인식 칩
140 : 인터페이스부110: sensor unit 111: infrared sensor
112: image sensor 113: light amount sensor
114: rain sensor 120: environmental recognition unit
130: pedestrian recognition unit 131: recognition chip
140: interface unit

Claims (6)

차량 주변의 환경과 보행자를 감지하는 센서부;
상기 센서부에 의해 감지된 환경 정보를 토대로 상기 차량 주변의 환경을 인식하고, 인식된 환경 정보를 토대로 그에 대응되는 보행자 정보를 전달하는 환경 인식부; 및
상기 환경 인식부로부터 전달된 상기 보행자 정보를 토대로 상기 차량 주변의 보행자를 인식하는 보행자 인식부
를 포함하는 환경 적응형 보행자 인식 장치.Sensor unit for detecting the environment and pedestrians around the vehicle;
An environment recognition unit recognizing an environment around the vehicle based on the environment information sensed by the sensor unit, and transferring pedestrian information corresponding thereto based on the recognized environment information; And
Pedestrian recognition unit for recognizing the pedestrian around the vehicle based on the pedestrian information transmitted from the environment recognition unit
Environment adaptive pedestrian recognition device comprising a. 제1항에 있어서,
상기 센서부는 적외선 센서, 이미지 센서, 광량 센서 및 레인 센서를 포함하고,
상기 환경 인식부는
상기 광량 센서에 의해 감지된 광량과 상기 레인 센서에 의해 감지된 우량을 토대로 상기 차량 주변의 환경을 인식하되,
감지된 상기 광량이 기설정된 임계치보다 크거나 같을 경우 또는 상기 우량이 기설정된 임계치보다 작을 경우, 상기 차량의 주변 환경을 낮이나 맑은 것으로 판단하고, 감지된 상기 광량이 기설정된 임계치보다 작을 경우 또는 상기 우량이 기설정된 임계치보다 크거나 같을 경우, 상기 차량의 주변 환경을 밤이나 우천시인 것으로 판단하는 것
인 환경 적응형 보행자 인식 장치.The method of claim 1,
The sensor unit includes an infrared sensor, an image sensor, a light amount sensor, and a rain sensor,
The environmental recognition unit
Recognizes the environment around the vehicle based on the amount of light detected by the light amount sensor and the amount of rain detected by the rain sensor,
When the detected amount of light is greater than or equal to a preset threshold or when the rain is less than a preset threshold, it is determined that the surrounding environment of the vehicle is low or clear, and the detected amount of light is smaller than a preset threshold or the When the rainfall is greater than or equal to a preset threshold, determining that the surrounding environment of the vehicle is night or rain
Environmental adaptive pedestrian recognition device. 제2항에 있어서,
상기 환경 인식부는 상기 차량의 주변 환경을 낮이나 맑은 것으로 판단한 경우, 상기 이미지 센서에 의해 감지된 보행자 정보를 상기 보행자 인식부에 전달하며, 상기 차량의 주변 환경을 밤이나 우천시인 것으로 판단한 경우, 상기 적외선 센서에 의해 감지된 보행자 정보를 상기 보행자 인식부에 전달하는 것
인 환경 적응형 보행자 인식 장치.The method of claim 2,
The environmental recognition unit transmits the pedestrian information detected by the image sensor to the pedestrian recognition unit when it is determined that the surrounding environment of the vehicle is day or sunny, and determines that the surrounding environment of the vehicle is night or rainy weather. Delivering pedestrian information detected by an infrared sensor to the pedestrian recognition unit;
Environmental adaptive pedestrian recognition device. 차량 주변의 환경과 보행자를 감지하는 단계;
감지된 환경 정보를 토대로 상기 차량 주변의 환경을 인식하는 단계; 및
인식된 환경 정보에 따라 그에 대응되는 보행자 정보를 토대로 보행자를 인식하는 단계
를 포함하는 환경 적응형 보행자 인식 방법.Detecting an environment and a pedestrian around the vehicle;
Recognizing an environment around the vehicle based on the sensed environment information; And
Recognizing the pedestrian based on the pedestrian information corresponding to the recognized environmental information
Environmentally adaptive pedestrian recognition method comprising a. 제4항에 있어서,
상기 감지하는 단계는 상기 차량에 장착된 적외선 센서, 이미지 센서, 광량 센서 및 레인 센서를 통해 상기 차량 주변의 환경과 보행자를 감지하는 단계를 포함하고,
상기 환경을 인식하는 단계는
상기 광량 센서에 의해 감지된 광량이 기설정된 임계치보다 크거나 같을 경우 또는 상기 레인 센서에 의해 감지된 우량이 기설정된 임계치보다 작을 경우, 상기 차량의 주변 환경을 낮이나 맑은 것으로 판단하는 단계; 및
감지된 상기 광량이 기설정된 임계치보다 작을 경우 또는 감지된 상기 우량이 기설정된 임계치보다 크거나 같을 경우, 상기 차량의 주변 환경을 밤이나 우천시인 것으로 판단하는 단계를 포함하는 것
인 환경 적응형 보행자 인식 방법.5. The method of claim 4,
The detecting may include detecting an environment and a pedestrian around the vehicle through an infrared sensor, an image sensor, a light amount sensor, and a rain sensor mounted on the vehicle,
Recognizing the environment
Determining that the surrounding environment of the vehicle is low or clear when the amount of light detected by the light amount sensor is greater than or equal to a preset threshold or when the amount of rain detected by the rain sensor is smaller than a preset threshold; And
Determining that the surrounding environment of the vehicle is night or rainy when the detected amount of light is less than a preset threshold or when the detected amount of rain is greater than or equal to a preset threshold.
Environmental adaptive pedestrian recognition method. 제5항에 있어서, 상기 보행자를 인식하는 단계는,
상기 차량의 주변 환경을 낮이나 맑은 것으로 판단한 경우, 상기 이미지 센서에 의해 감지된 보행자 정보를 토대로 보행자를 인식하는 단계; 및
상기 차량의 주변 환경을 밤이나 우천시인 것으로 판단한 경우, 상기 적외선 센서에 의해 감지된 보행자 정보를 토대로 보행자를 인식하는 단계를 포함하는 것
인 환경 적응형 보행자 인식 방법.The method of claim 5, wherein the step of recognizing the pedestrian,
Recognizing a pedestrian based on the pedestrian information detected by the image sensor when it is determined that the surrounding environment of the vehicle is day or sunny; And
If it is determined that the surrounding environment of the vehicle at night or rainy weather, the step of recognizing the pedestrian based on the pedestrian information detected by the infrared sensor
Environmental adaptive pedestrian recognition method.
KR1020110084593A 2011-08-24 2011-08-24 Pedestrian recognition apparatus and method adapting to environment KR20130021986A (en)

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