KR20190046551A - Apparatus and method for drive controlling of vehicle - Google Patents

Abstract

According to the present invention, a vehicle driving control apparatus comprises: an SVM camera for acquiring an image around a subject vehicle; a control unit for generating a rotation image by correcting the acquired image, detecting an effective tire from the rotation image, and tracking the detected effective tire to detect a position of a target vehicle; and a speed autonomy control unit for determining whether or not the target vehicle cuts in front of the subject vehicle, and changing a vehicle to be controlled from a front driving vehicle to the target vehicle to control acceleration and deceleration of the subject vehicle. Therefore, malfunction and false operation of a speed autonomy control system can be reduced by recognizing a target vehicle in lateral and front areas, wherein the target vehicle is not detected with a conventional front radar-based system.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and a method for driving a vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a vehicle driving control apparatus and method, and more particularly, to a vehicle driving control apparatus and method capable of detecting a vehicle (cut-in vehicle)

In recent years, ADAS (Advanced Driver Assistance System), which is a system that provides vehicle status, driver status, and surrounding environment information or actively controls the vehicle, is installed in order to reduce the burden on the driver and enhance convenience.

The ADAS on board the vehicle includes BSD (Blind Spot Detection) to warn of the risk of accidents occurring in blind spots, Forward Collision Warning System (FWC) to alert passengers, including drivers, AEBS (Advanced Emergency Braking System) for automatic deceleration according to the possibility of collision, SCC (Smart Cruise Control) for automatic acceleration and deceleration in relation to the preceding vehicle, warning of lane departure to the occupant including the driver , A Lane Keeping Assist System (LKAS) to prevent departure of the lane in the current lane, and an RCW (Rear-end Collision Warning) warning to the occupant including the driver, System).

The SCC system uses various sensors to detect the vehicle ahead and calculate the distance between the vehicle ahead and the vehicle in front, so that the driver can control the acceleration / deceleration automatically without having to operate the accelerator pedal or the brake pedal, Provides the ability to maintain distance. Since the SCC detects the vehicle ahead based on the radar, there is a limit to slow response to cut-in vehicles at close range. Even if the target vehicle is present in the field of view (FOV), there is a limit in which the performance corresponding to the low speed or the stop target is insufficient.

SUMMARY OF THE INVENTION It is an object of the present invention to overcome the above-mentioned limitations and to provide a vehicle running control apparatus and method capable of easily detecting a cut-in vehicle.

A vehicle running control apparatus of the present invention includes: a camera for acquiring an image of a subject vehicle;

A control unit for generating a rotation image by correcting the obtained image, detecting an effective tire from the rotation image, and tracking the detected effective tire to detect the position of the target vehicle; And

And a speed autonomy control unit for determining whether or not the target vehicle is pinched in front of the child vehicle and changing the control target vehicle from the forward driving vehicle to the target vehicle to control the acceleration / deceleration of the child vehicle .

The control unit may rotate the obtained image by a predetermined angle to generate the rotated image.

The control unit detects tires from the vehicle around the vehicle from the rotation image, and projects the detected tires into a space.

The SVM control unit may detect a tire that meets the physical condition of the vehicle among the tires detected in the vehicle near the vehicle by the effective tire.

The physical condition of the vehicle is characterized in that the distances between the front wheels and the rear wheels of the detected tires are within a critical range.

The control unit tracks the position of the tire detected from the currently acquired image and the valid tire by fusing each other when the position of the detected tire is less than a predetermined distance, .

The control unit detects a point of contact between the tracked tire and the ground within a distance closest to the vehicle, as a position of the target vehicle.

The velocity autonomic control unit may determine whether the target vehicle is pushed forward of the child vehicle based on an angle formed by a straight line connecting the front wheel and the rear wheel of the target vehicle and an arbitrary line parallel to the traveling direction of the child vehicle .

The velocity autonomy control unit determines that the target vehicle is not pinched toward the front of the child vehicle when the angle is equal to or greater than the threshold value and when the angle is less than the threshold value, .

A method for controlling a vehicle running according to the present invention includes the steps of: acquiring an image around a subject vehicle; generating a rotated image by correcting the obtained image; detecting an effective tire from the rotated image; The method comprising the steps of: detecting a position of a target vehicle by tracing a tire; determining whether the target vehicle is pinched in front of the subject vehicle; and, when determining that the target vehicle is pinched toward the front of the child vehicle, And controlling the acceleration / deceleration of the subject vehicle by changing the vehicle from the forward driving vehicle to the target vehicle.

The step of correcting the obtained image to generate a rotated image may be to rotate the obtained image by a predetermined angle.

The step of detecting an effective tire from the rotation image may include the steps of: detecting a tire from the rotated image in the vehicle near the vehicle; projecting the detected tire into a space; And detecting a tire satisfying the condition.

The physical condition of the vehicle is characterized in that the distances between the front wheels and the rear wheels of the detected tires are within a critical range.

The step of tracking the detected valid tire and detecting the position of the target vehicle may include detecting the position of the tire detected from the currently acquired image and the position of the tire detected and detected until a present time from the predetermined time by applying the Kalman filter And if they are less than the predetermined distance, they are fused with each other to track the effective tire.

The step of detecting the position of the target vehicle by tracking the detected valid tire is characterized by detecting a point at which the target touches the ground with the tracked tire within a distance closest to the subject vehicle.

The step of determining whether or not the target vehicle is pinched in front of the subject vehicle is based on an angle formed by a straight line for forgetting the front and rear wheels of the target vehicle and an arbitrary line parallel to the traveling direction of the subject vehicle .

The step of determining whether or not the target vehicle is pinched in front of the subject vehicle determines that the target vehicle is not pinched in front of the subject vehicle when the angle is equal to or greater than the threshold value, The control unit determines that the target vehicle is pinched in front of the child vehicle.

The present invention can reduce the malfunction and malfunction of the smart cruise control device by recognizing the target vehicle in the lateral and frontal areas which can not be detected by the front radar based system.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a configuration diagram showing a vehicle running control apparatus according to the present invention; Fig.
2 is a diagram illustrating a virtual rotation image generated according to an embodiment of the present invention.
Figure 3 shows a tire detected in accordance with an embodiment of the present invention.
4 is a front camera image showing the position of a detected target vehicle according to an embodiment of the present invention.
5 illustrates a region around a vehicle in accordance with an embodiment of the present invention.
6 is a view showing whether or not a vehicle is caught in front of a vehicle based on the angle of the target vehicle according to the embodiment of the present invention.
7 is a flowchart showing a vehicle driving control method according to the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

1 is a configuration diagram showing a vehicle running control apparatus according to the present invention.

1, the vehicle driving control apparatus of the present invention may include a camera 10, a control unit 20, and a velocity autonomic control unit 30.

The camera 10 can photograph the periphery of the vehicle and acquire an image. The SVM camera 10 is a camera for a SVM (Surround View Monitor), and may include front and rear cameras, a right-side camera, and a left-side camera. More specifically, the camera 10 may be provided between the radiator grill of the vehicle, the left and right side mirrors, and the rear lid and the rear bumper.

The camera 10 of the present invention can acquire front and rear camera images, right side camera images, and left side camera images. The camera 10 may include an ultra-wide angle camera, and may basically include a camera having an angle of view of 180 degrees or more.

For reference, the ultra-wide-angle lens is also called a fisho-eye lens, an all-sky lens or a sky lens, and differs from ordinary wide-angle lenses in that the image is imbedded, that is, An even image can be formed on the screen. The ultra-wide-angle lens is called a fisheye lens because it is considered to have a 180-degree field of view when the water is seen in the water because the light is refracted when the light enters into the water. Typically, a fisheye lens is made for a 35mm single-lens reflex camera, which has a 180 degree diagonal lens and an image in a round shape on the screen. A special description with the curvature of the fisheye lens is sometimes used for general photography, but it is originally a lens used to record the amount of cloud of all heaven in the field of meteorology.

 Therefore, the camera 10 can photograph an image of the surroundings of the vehicle 360 degrees ahead of the vehicle.

The control unit 20 may perform image distortion correction on the camera image acquired from the camera 10 to generate a rotated image. See FIG. 2 for a detailed description of the rotated image.

2 is a view showing a virtual rotation image generated according to an embodiment of the present invention.

Since the camera 10 is obliquely mounted in the direction of looking at the ground, the image obtained from the camera 10 is acquired around the ground, as shown in Figs. 2A and 2B. 2 (a) is an image obtained from a front camera, and (b) is an image obtained from a right-side camera.

The control unit 20 can generate a rotated image from Figs. 2 (a) and 2 (b). The rotated image may be an image in which the vehicle included in the surrounding image is not distorted and the vehicle is corrected as if it is viewed vertically. It is understood that generating the rotated image is understood to generate a virtual image by rotating the image obtained from the camera by a predetermined angle in order to facilitate recognition of the tire.

According to the embodiment, as shown in Fig. 2A, an image obtained by actually photographing the front side and the ground from the front camera can be obtained. The control unit 20 rotates the image a obtained from the front camera by a predetermined angle to obtain a corrected rotation image such as the one captured from the front as viewed from the right side as shown in (a-1) and (a- Can be generated. 2 (a-1) is an image obtained by rotating the right side of the image obtained from the forward camera by -85 degrees, and (a-2) is an image obtained by rotating the right side of the image obtained from the forward camera by -75 degrees.

According to yet another embodiment, as shown in Fig. 2B, an image obtained by actually photographing the right side room and the ground from the right side room camera can be obtained. The control unit 20 rotates the image b obtained from the right side camera at a predetermined angle to obtain the corrected image as if the right side was photographed in the front view as shown in (b-1) and (b-2) A rotation image can be generated. 2 (b-1) is an image obtained by rotating the image obtained from the right side camera 15 degrees and (b-2) is an image obtained by rotating the image obtained from the right side camera 0 degrees.

The control unit 20 can detect and recognize the tire of the surrounding vehicle from the rotated image. As a result of recognizing a tire from each image, a pair of tires can be generated by integrating the position of the tire into one three-dimensional space. Here, a pair of tires may include front wheels and rear wheels of the same vehicle. See FIG. 3 for a more detailed description.

3 is a diagram showing tires detected in accordance with an embodiment of the present invention.

As shown in FIG. 3, for example, a tire detected around a car on the basis of a car can be projected in one space, and each detected tire can be expressed as L1, R3, R1, L2 .

The control unit 20 can extract an effective tire among the detected tires. Valid tires can be extracted based on the physical conditions of the vehicle. For example, whether the distance between the axes of the front wheels and the rear wheels of the tire is within the critical range, whether the front wheels are present before the rear wheels, and the vehicle and the other vehicle can be extracted based on physical conditions that can not exist at the same position. According to the embodiment, among the detected tires L1, R3, R1 and L2 in Fig. 3, the effective tires satisfying the above physical conditions can be extracted as R3 and R1.

The control unit 20 tracks the extracted effective tire. The Kalman filter of the constant velocity model is applied to the tracking method. The position of the tire detected from the currently obtained image and the position of the detected tire tracked from the predetermined time to the present by applying the Kalman filter are less than a predetermined distance, the effective tire can be tracked by fusing with each other.

For example, the tire is recognized within the t-th image frame at the present time t and the distance is calculated. Separately, apply a Kalman filter to ... t-4, t-3, t-2, t-1, t, ... to track the tire continuously. Generally, since a vehicle performs a constant velocity, an equivalent deceleration, or the like on a road, the probability that a position of a vehicle is physically changed suddenly is rarely small. However, since the position may be erroneously recognized in the t-th frame, the result of tracking the position of the tire up to the predicted t-point by applying the Kalman filter from the previous point of time and the tire position recognition result at the t- If the difference between the two is not large, it is determined that there is no large error in recognizing the point t, and these two coordinates are combined into one. According to the embodiment, either one of the two coordinates can be selected and an average of the two coordinate values can be taken.

The control unit 20 recognizes the extracted valid tire and the rotated image, verifies the target vehicle, and detects the position of the target vehicle. The position of the target vehicle can be detected as a point at which the ground contact with the tracked tire within a distance closest to the vehicle. The position of the detected target vehicle may more specifically indicate the position of the side surface of the target vehicle. The location of the detected target vehicle is shown in Fig.

4 is a front camera image showing a position of a target vehicle according to an embodiment of the present invention. As shown in FIG. 4, the position of the target vehicle may be denoted by R3 and R1.

The control unit 20 can extract a valid vehicle that satisfies the physical condition when there are two or more target vehicles. The valid vehicle may be a vehicle that is located closest to the vehicle and in which the tire is detected.

The speed autonomic control unit 30 can autonomously control the speed of the vehicle by determining whether the valid vehicle extracted from the SVM control unit 20 is cut-in forward. Here, whether or not the vehicle is interrupted forward can be determined by whether the valid vehicle has entered the cut-in area A or not. The cut-in area A will be described with reference to Fig.

5 is a view illustrating a peripheral area of a vehicle according to an embodiment of the present invention.

As shown in FIG. 5, the cut-in area A may extend left and right at a predetermined distance based on the vehicle, and may include a predetermined distance forward. In more detail, the cut-in area A may extend horizontally by 30 cm on the basis of the vehicle, and may include an area within a distance of 5 m ahead.

The speed autonomic control unit 30 can determine that the target vehicle is pinched ahead of the target vehicle when the target vehicle has entered into the area outside the cut-in area. When it is determined that the target vehicle is caught in front of the vehicle, a warning sound can be output through an output unit (not shown).

According to the embodiment, when there is only one detected tire, it is possible to judge whether or not the target vehicle is caught in front of the vehicle by only the detected tire. If a tire detected outside the first cut-in area is tracked for more than a predetermined frame, and the tire detected even within the cut-in area is traced for more than a predetermined frame, it is determined that the target vehicle is pinched ahead of the vehicle and an alarm sound can be output.

Further, when the pair of detected tires is a pair, it is possible to track the target vehicle and judge whether or not the vehicle is pushed forward. When the target vehicle is recognized outside the first cut-in area and the target vehicle is tracked as entering the cut-in area, it can be determined that the target vehicle is pinched ahead of the vehicle and an alarm sound can be output.

The velocity autonomic control unit 30 can determine whether or not the vehicle is interrupted forward based on the angle of the target vehicle. This will be described with reference to FIG. It is possible to determine whether the target vehicle is a cut-in area based on the angle (traveling direction) of the target vehicle in addition to the condition of the above-described " pair of detected tires " If the direction deviates by more than the threshold angle, the target vehicle does not warn that it is caught in front of the car.

6 is a view showing whether or not a target vehicle is interrupted forward of the vehicle based on the angle of the target vehicle according to the embodiment of the present invention. 6 is a view showing a case where the target vehicle does not judge to be a cut-in because it is outside the cut-in area.

The traveling direction of the target vehicle can be determined based on a straight line connecting the front wheel and the rear wheel of the target vehicle and an angle x formed by an arbitrary line parallel to the traveling direction of the vehicle. It is possible to judge whether the target vehicle is cut-in to the cut-in area or out of the cut-in area based on the traveling direction of the target vehicle. If the angle x is equal to or greater than the threshold value, it is determined that the target vehicle is out of the cut-in area and the target vehicle does not judge that the target vehicle is pushed forward. If the angle x is less than the threshold value, .

Conventionally, a vehicle on which a smart cruise control is operating is detected by a radar sensor (not shown) installed in front of the vehicle, and is maintained at a predetermined interval set in advance with the preceding vehicle, Control to enable automatic operation. However, when another vehicle intervenes in front of the vehicle between the vehicle and the preceding vehicle, the vehicle that is ahead of the vehicle is not recognized as the target due to the limitation of the radar, and the preceding vehicle is continuously set as the target. In this case, the car eventually collides with the vehicle that is ahead of the car.

Therefore, the speed autonomy control unit 30 of the present invention changes the control target to a vehicle that is ahead of the preceding vehicle in the front preceding vehicle and controls the acceleration / deceleration according to the target vehicle to prevent collision with the vehicle do.

7 is a flowchart showing a vehicle running control method according to the present invention.

As shown in FIG. 7, the surroundings of the vehicle are photographed to acquire an image (S100). In step S100, images of the front and rear sides, left and right sides of the vehicle can be acquired using the camera, and images can be acquired by photographing the vehicle 360 degrees in all directions around the vehicle. For reference, the camera includes a front camera, a right-side camera, and a left-side camera, and may be provided between a radiator grill of the vehicle, left and right side mirrors, and a rear lid and a rear bumper.

The camera image obtained from the camera is subjected to image distortion correction to generate a rotated image (S110). In step S110, the vehicle included in the surrounding image may not be seen as distorted, but may be corrected as if the vehicle is viewed vertically to generate a rotated image. It is understood that the rotated image is understood to generate a virtual image by rotating the image obtained from the camera by a predetermined angle in order to facilitate recognition of the tire.

The tire of the surrounding vehicle is detected from the rotated image (S120). The detected tires can be integrated into one three-dimensional space, and preferably a pair of tires can be detected. Here, a pair of tires may include front wheels and rear wheels of the same vehicle. See FIG. 3 for a more detailed description.

An effective tire among the detected tires is extracted (S130). Valid tires can be extracted based on the physical conditions of the vehicle. For example, whether the distance between the axes of the front wheels and the rear wheels of the tire is within the critical range, whether the front wheels are present before the rear wheels, and the vehicle and the other vehicle can be extracted based on physical conditions that can not exist at the same position.

The extracted effective tire is tracked (S140). Step S140 may be performed by applying a Kalman filter of a constant velocity model. The position of the tire detected from the currently obtained image and the position of the detected tire tracked from the predetermined time to the present by applying the Kalman filter are less than a predetermined distance, the effective tire can be tracked by fusing with each other.

For example, the tire is recognized within the t-th image frame at the present time t and the distance is calculated. Separately ... t-4, t-3, t-2, t-1, t, ... keep track of the tire. Generally, since a vehicle performs a constant velocity, an equivalent deceleration, or the like on a road, the probability that a position of a vehicle is physically changed suddenly is rarely small. However, since the position may be misrecognized in the t-th frame, the Kalman filter is applied to compare the result of tracking the position of the tire from the previous point of time to the point of t and the result of recognizing the tire position of the point of time t, If the difference is not large, it is determined that there is no large error in recognizing the point-in-time, and these two coordinates are combined into one. According to the embodiment, either one of the two coordinates can be selected and an average of the two coordinate values can be taken.

The extracted valid tire and the rotated image are recognized to verify the target vehicle, and the position of the target vehicle is detected (S150). The position of the target vehicle can be detected as a point at which the ground contact with the tracked tire within a distance closest to the vehicle. The position of the detected target vehicle may more specifically indicate the position of the side surface of the target vehicle. The location of the detected target vehicle is shown in Fig.

It is determined whether the target vehicle is pushed forward of the vehicle based on the position of the target vehicle (S160). Step S160 may determine whether the target vehicle has entered the cut-in area, and determine whether the target vehicle is in front of the vehicle. Here, the cut-in area refers to Fig. The cut-in area A may extend leftward and rightward by a predetermined distance based on the vehicle, and may include a predetermined distance forward. In more detail, the cut-in area A may extend horizontally by 30 cm on the basis of the vehicle, and may include an area within a distance of 5 m ahead. It can be determined that the target vehicle is pinched forward of the vehicle when the target vehicle has entered inside from outside the cut-in area. When it is determined that the target vehicle is caught in front of the vehicle, the warning sound can be output through the output unit (not shown).

According to the embodiment, when there is only one detected tire, it can be determined whether or not the target vehicle is caught in front of the vehicle by only the detected tire. It is possible to determine that the target vehicle is caught in front of the car when the detected tire is tracked for more than a predetermined frame even in the cut-in area after the tire detected outside the first cut-in area is tracked for more than a predetermined frame.

In addition, when the pair of detected tires is a pair, it is possible to track the target vehicle and judge whether or not the target vehicle is caught in front of the car. When the target vehicle is recognized outside the first cut-in area and the target vehicle is tracked as entering into the cut-in area, it can be determined that the target vehicle is caught in front of the car and the alarm sound can be output.

According to another embodiment, it is possible to determine whether the target vehicle is pushed forward of the vehicle based on the angle of the target vehicle. See FIG. 6 for a more detailed description. The traveling direction of the target vehicle can be determined based on a straight line connecting the front wheel and the rear wheel of the target vehicle and an angle x formed by an arbitrary line parallel to the traveling direction of the vehicle. It is possible to judge whether the target vehicle enters the cut-in area or the cut-in area based on the traveling direction of the target vehicle. If the angle x is equal to or greater than the threshold value, it is determined that the cut-in area is out of range. If the angle x is less than the threshold value, it can be determined that the target vehicle is pushed forward.

If it is determined that the target vehicle is ahead of the vehicle, the speed control is performed (S170). In step S170, the control target is changed from a front preceding vehicle to a vehicle which is pinched in front of the preceding vehicle, and acceleration / deceleration is controlled in accordance with the target vehicle so as to prevent collision with a vehicle that intercepts the vehicle ahead.

The present invention recognizes a tire of a nearby vehicle without installing an additional sensor and detects the position of the vehicle and determines whether or not the vehicle is caught in front of the vehicle based on the detected position. By performing the autonomous control, the speed autonomous control system is prevented from malfunctioning or malfunctioning against the vehicle which is pushed forward of the automobile.

Camera 10
The control unit 20
Speed autonomic control unit 30

Claims (17)

A camera for acquiring images of the surroundings of the vehicle;
A control unit for generating a rotation image by correcting the obtained image, detecting an effective tire from the rotation image, and tracking the detected effective tire to detect the position of the target vehicle; And
And a speed autonomy control unit for determining whether or not the target vehicle is pinched in front of the child vehicle and changing the control target vehicle from the forward driving vehicle to the target vehicle so as to control acceleration / deceleration of the child vehicle. A vehicle drive control device. The method according to claim 1,
The control unit
And the rotation image is generated by rotating the obtained image by a predetermined angle. The method according to claim 1,
The control unit
And detects a tire from the vehicle around the vehicle based on the rotation image, and projects the detected tire into a space. The method of claim 3,
The SVM control unit
And detects a tire satisfying a physical condition of the vehicle among the tires detected in the vehicle near the vehicle by the effective tire. The method of claim 4,
The physical condition of the vehicle
Wherein a distance between the front wheels and the rear wheels of the detected tires is within a critical range. The method according to claim 1,
The control unit
Wherein when the position of the tire detected from the currently obtained image and the position of the detected tire tracked from the predetermined time to the present by applying the Kalman filter are less than a predetermined distance, controller. The method according to claim 1,
The control unit
And detects a point of contact between the tracked tire and the ground within a distance closest to the vehicle, as a position of the target vehicle. The method according to claim 1,
The velocity autonomic control unit
And determines whether or not the target vehicle is pushed forward of the child vehicle based on an angle formed by a straight line connecting the front wheel and the rear wheel of the target vehicle and an arbitrary line parallel to the traveling direction of the child vehicle. A drive control device; The method of claim 8,
The velocity autonomic control unit
And determines that the target vehicle is not pinched toward the front of the child vehicle if the angle is greater than or equal to the threshold value and determines that the target vehicle is pushed to the front of the child vehicle when the angle is less than the threshold value A drive control device; Acquiring an image of the vehicle around the vehicle;
Generating a rotated image by correcting the obtained image;
Detecting an effective tire from the rotated image;
Tracking the detected valid tire to detect the position of the target vehicle;
Determining whether the target vehicle is in front of the child vehicle; And
And controlling the acceleration / deceleration of the subject vehicle by changing the controlled vehicle from the preceding vehicle to the target vehicle when it is determined that the target vehicle is pinched toward the front of the subject vehicle Way. The method of claim 10,
The step of generating the rotated image by correcting the obtained image
And rotating the obtained image by a predetermined angle. The method of claim 10,
The step of detecting an effective tire from the rotation image
Detecting a tire in the vehicle near the vehicle from the rotated image;
Projecting the detected tire into a space; And
And detecting a tire satisfying a physical condition of the vehicle among the detected tires. The method of claim 12,
The physical condition of the vehicle
Wherein a distance between the front wheels and the rear wheels of the detected tires is within a critical range. The method of claim 10,
The step of tracking the detected valid tire to detect the position of the target vehicle
Wherein when the position of the tire detected from the currently obtained image and the position of the detected tire tracked from the predetermined time to the present by applying the Kalman filter are less than a predetermined distance, Control method. The method of claim 10,
The step of tracking the detected valid tire to detect the position of the target vehicle
And a point of contact between the tracked tire and the ground within a distance closest to the subject vehicle is detected as the position of the target vehicle. The method of claim 10,
Wherein the step of determining whether the target vehicle is interrupted forward of the child vehicle
Wherein the determination is made based on an angle formed by a straight line for forgetting the front and rear wheels of the target vehicle and an arbitrary line parallel to the traveling direction of the subject vehicle. The method of claim 10,
Wherein the step of determining whether the target vehicle is interrupted forward of the child vehicle
And determines that the target vehicle is not pinched toward the front of the child vehicle if the angle is greater than or equal to the threshold value and determines that the target vehicle is pushed to the front of the child vehicle when the angle is less than the threshold value Driving control method.

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