KR970026235A

KR970026235A - Car fall prevention system using vision

Info

Publication number: KR970026235A
Application number: KR1019950041774A
Authority: KR
Inventors: 변성광
Original assignee: 배순훈; 대우전자 주식회사
Priority date: 1995-11-17
Filing date: 1995-11-17
Publication date: 1997-06-24

Abstract

CCD 카메라를 이용하여 도로의 곡률과 낭떠러지를 감지하고 이에 따라 제한속도이하로 자동차의 주행속도를 유지시킴으로써 낭떠러지로의 추락을 방지시킬 수 있는 비전을 이용한 자동차의 추락방지시스템을 제공한다.By using CCD camera to detect the curvature of the road and the cliff accordingly to maintain the speed of the car below the speed limit to provide a car fall prevention system using the vision that can prevent falling to the cliff.

본 발명은, 자동차의 전방에 장착되어 주행전방의 비전을 검출하는 CCD 카메라(1); 그 CCD 카메라로부터 에지추출을 위한 일련의 픽셀의 밝기신호를 포착하는 CCD 픽셀 그래버(2); 그 CCD 픽셀 그래버에서 포착된 일련의 픽셀의 밝기신호를 디지탈화하는 신호처리부(3); 차량의 현재속도를 감지하여 마이크로콘트롤러에 출력하는 차속감지센서(4); 그 신호처리부에서 디지탈화된 픽셀의 밝기신호를 입력받아 에지를 추출하고, 그 추출된 에지로부터 그 에지의 곡률값을 산출하며, 그 곡륭값에 해당하는 제한속도와 차량의 현재속도를 비교하여 현재속도가 크면 브레이크구동신호를 출력하는 마이크로 콘트롤러(5); 그리고 그 브레이크구동신호를 입력받아 제동력을 부여하는 브레이크구동수단(7)을 포함하는 것을 특징으로 하는 비전을 이용한 자동차 추락방지시스템을 제공한다.The present invention includes a CCD camera (1) mounted to the front of the vehicle for detecting the vision of the front of the vehicle; A CCD pixel grabber 2 which captures a brightness signal of a series of pixels for edge extraction from the CCD camera; A signal processor 3 for digitizing the brightness signals of the series of pixels captured by the CCD pixel grabber; A vehicle speed sensor 4 for detecting a current speed of the vehicle and outputting the detected speed to the microcontroller; The signal processor receives the brightness signal of the digitalized pixel, extracts the edge, calculates the curvature of the edge from the extracted edge, and compares the current speed of the vehicle with the speed limit corresponding to the good value. A large microcontroller 5 for outputting a brake drive signal if large; And it provides a vehicle fall prevention system using a vision, characterized in that it comprises a brake drive means (7) for receiving the brake drive signal to give a braking force.

이에 따라, 차량의 속도가 그 제한속도보다 크면, 가속페달의 작동과 무관하게 엔진브레이크와 차륜브레이크를 작동시키고 나아가 조향핸들각도를 제어함으로써 커브길에서 중앙선을 넘어 주행하거나 낭떠러지로 추락하게 되는 등의 위험을 제거할 수 있는 효과가 있다.Accordingly, if the speed of the vehicle is greater than the speed limit, the engine brake and the wheel brake are operated irrespective of the operation of the accelerator pedal, and the steering wheel angle is controlled to drive over the center line or fall off the cliff. It has the effect of eliminating the risk.

Description

Car fall prevention system using vision

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제2도는 제1도에서 차도 C를 주행하는 자동차의 CCD 카메라에 의한 모니터의 화상을 도시한 정면도,FIG. 2 is a front view showing an image of a monitor by a CCD camera of a car driving on the road C in FIG. 1;

제3도는 자동차의 커브길에서의 주행제한속도를 설명하기 의한 개략정면도,3 is a schematic front view for explaining the speed limit on the curve of the vehicle,

제4도는 본 발명에 따른 자동차 추락방지시스템의 주요 구성블럭도,4 is a main block diagram of the vehicle fall prevention system according to the present invention,

제5도는 커브길에서의 본 발명에 따른 자동차추락방지방법의 일예를 도시한 동작 흐름도.5 is an operation flowchart showing an example of the vehicle fall prevention method according to the present invention on a curve road.

Claims

A CCD camera (1) mounted to the front of the vehicle and detecting the vision in front of the vehicle; A CCD pixel grabber 2 which captures a brightness signal of a series of pixels for edge extraction from the CCD camera; A signal processor 3 for digitizing the brightness signals of the series of pixels captured by the CCD pixel grabber; A vehicle speed sensor 4 for detecting a current speed of the vehicle and outputting the detected speed to the microcontroller; The signal processor receives the brightness signal of the digitized pixel, extracts the edge, calculates the curvature value of the edge from the extracted edge, compares the current speed of the vehicle with the speed limit corresponding to the curvature value and the current speed. A large microcontroller 5 for outputting a brake drive signal if large; And a brake driving means (7) for receiving a brake driving signal to give a braking force.

The brake driving signal output from the microcontroller 5 is a pulse signal corresponding to the difference between the current speed and the speed limit, and the brake driving means 7 is braked according to the number of pulses. The vehicle fall prevention system using vision, which is operated by the stem motor 6 so that the increase and decrease is possible.

2. The vehicle fall prevention system using vision according to claim 1, wherein the microcontroller outputs an engine control signal to an engine ECU (8) to simultaneously operate an engine brake when the brake drive signal is output from the microcontroller.

A method by using a vision to prevent a fall of a motor vehicle; Inputting between the speeds of the vehicle from the vehicle speed sensor (11); A signal processing step (12) of detecting a vision in front of the driving by a CCD camera and digitizing the brightness of a series of pixels for edge extraction; An edge extraction step (13) of extracting edges of the yellow lane and the air by an edge operator from the digitized brightness value; A curvature calculation step (14) of obtaining an approximate elliptic equation by Hough transforming the extracted yellow lane and the edge of the empty space; Obtaining a speed limit (V1) from data (r ₁ , r ₂ ) of the vehicle and the curvature (R), and comparing the speed limit (V1) with the current speed (V); And outputting a pulse to the step motor for brake braking when the present speed (V) is greater than the speed limit (V1).

※ Note: The disclosure is based on the initial application.