KR100290375B1 - System for recognizing traveling direction of vehicle - Google Patents

System for recognizing traveling direction of vehicle Download PDF

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Publication number
KR100290375B1
KR100290375B1 KR1019960056526A KR19960056526A KR100290375B1 KR 100290375 B1 KR100290375 B1 KR 100290375B1 KR 1019960056526 A KR1019960056526 A KR 1019960056526A KR 19960056526 A KR19960056526 A KR 19960056526A KR 100290375 B1 KR100290375 B1 KR 100290375B1
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South Korea
Prior art keywords
vehicle
traveling direction
lane
driver
signal
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KR1019960056526A
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Korean (ko)
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KR19980037730A (en
Inventor
이종욱
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이계안
현대자동차주식회사
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Priority to KR1019960056526A priority Critical patent/KR100290375B1/en
Publication of KR19980037730A publication Critical patent/KR19980037730A/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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • 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
    • B60W2050/143—Alarm 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
    • 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 or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Abstract

PURPOSE: A system for recognizing the traveling direction of a vehicle is provided to offer safety to the vehicle travel by informing the available traveling direction to a driver and by making the driver change a lane ahead an intersection. CONSTITUTION: A system for recognizing the traveling direction of a vehicle comprises a CCD(Charge Coupled Device) camera(10) installed in a vehicle to pickup the image of a traveling directional line marked on a road, a control unit(20) to detect one of directional lines indicating left turn, right turn, advancing or U turn by analyzing the video signals obtained by the CCD camera, and a display unit(30) to display the signal corresponding to the directional line. A driver recognizes the available traveling direction through the display unit and changes a lane for traveling in a desired direction.

Description

자동차의 주행방향 인식 시스템Automobile direction recognition system

본 발명은 차량의 경보장치에 관한 것으로, 더욱 상세하게는 차량의 운행중 도로상에 표시된 주행방향 표시선을 감지하여 표시하도록 함으로써 교차로 진입전에 미리 차량의 차선을 변경하여 안전 운행을 하도록 하는 자동차의 진행방향 인식 시스템에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a warning device for a vehicle, and more particularly, to an alarm device for a vehicle, which detects and displays a driving direction indication line displayed on a road during a vehicle operation, Recognition system.

일반적으로 차량이 교차로 등을 운행할 때 운전자가 원하는 소정의 방향으로 진행하기 위해서는 주행중인 도로상에 표시된 진행 가능한 주행방향 표시선 또는 교통 표지판의 정보에 따라 진행 가능한 차선으로 차량의 차선 변경을 한 뒤 계속적인 주행을 하였다.Generally, in order to proceed in a predetermined direction desired by a driver when the vehicle is traveling at an intersection, etc., the lane of the vehicle is changed to a lane capable of proceeding according to the information of the progressive travel direction indicator or the traffic sign displayed on the road underway, .

종래에는 초행 운전자 또는 초보 운전자가 차량 운행중 교차로 등을 진입할 때 미처 주행방향 차선을 인식하지 못하여 진행 가능한 차선으로 차량의 차선 변경을 하지 못하여 원하는 방향으로 주행을 하지 못하는 경우가 종종 발생하였다.Conventionally, when a novice driver or a novice driver does not recognize a lane in an undisciplined direction when entering an intersection during a vehicle operation, the lane of the lane can not be changed to a lane in which the lane of the vehicle can not be changed.

또한, 미처 진행 가능한 차선으로 차량의 차선 변경을 하지 못한 경우 무리하게 차선을 변경하려고 하여 교차로 등에서 차량의 접촉사고 또는 차량 정체가 빈번히 발생하고 있다.Further, when the lane change of the vehicle can not be made in the lane where the lane can not be traced, the lane of the lane is forcibly changed and the vehicle accident or vehicle stagnation frequently occurs at the intersection.

본 발명인 자동차의 주행방향 인식 시스템은 이와 같은 문제점을 해결하기 위하여 안출한 것으로, 그 목적은 교차로 진입전 진행 가능한 주행방향 차선을 운전자가 미리 알 수 있도록 하여 초행 운전자 또는 초보 운전자들이 안전 운행을 할 수 있도록 하는 것이다.The object of the present invention is to provide a driving direction recognition system for a motor vehicle, which enables a driver to know in advance a driving lane capable of proceeding before entering an intersection so that a starting driver or a novice driver can safely operate .

상기와 같은 목적을 달성하기 위한 본 발명인 자동차의 주행방향 인식 시스템은, 차량의 운행중 전방 도로상에 표시되어 있는 진행방향 표시선을 촬영하기 위해 차량에 설치되는 CCD 카메라와; 상기 촬영된 영상이 입력되고 그에 따른 영상신호를 분석하여 진행방향 표시선 중 좌회전, 우회전, 직진 또는 유턴 표시 중의 어느 하나를 검출하는 제어부와; 상기 제어부의 진행방향 표시선 중 어느 하나에 해당하는 신호가 차량 내부에서 표시되어 운전자가 알 수 있도록 지시하는 표시부를 포함하여 이루어지는 것을 특징으로 한다.According to an aspect of the present invention, there is provided a driving direction recognition system for a vehicle, including: a CCD camera installed in a vehicle for photographing a progress direction indicating line displayed on a road ahead of the vehicle; A controller for inputting the photographed image and analyzing a corresponding image signal to detect any one of a leftward rotation, a rightward rotation, a straight rotation, or a U-turn display in a progress direction indicating line; And a display unit for displaying a signal corresponding to one of the progress direction indicating lines of the control unit so that the driver can recognize the displayed signal in the vehicle.

도 1은 본 발명인 자동차의 주행방향 인식 시스템의 일 실시예를 개략적으로 도시한 블록 구성도이고,1 is a block diagram schematically showing an embodiment of a running direction recognition system for a motor vehicle according to the present invention,

도 2는 본 발명인 자동차와 주행방향 인식 장치의 사용 상태도이다.FIG. 2 is a view showing the state of use of the automobile and the running direction recognizing apparatus according to the present invention.

이하, 첨부된 도면을 참조로 하여 본 발명인 자동차의 주행방향 인식 시스템의 바람직한 일 실시예를 설명하면 다음과 같다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

도 1 에서 알 수 있는 바와 같이 본 발명인 자동차의 주행방향 인식 시스템의 일 실시예는 주행방향 감지부(10)와, 제어부(20), 표시부(30)로 이루어진다.As shown in FIG. 1, the driving direction recognition system of the present invention includes a traveling direction sensing unit 10, a control unit 20, and a display unit 30.

주행방향 감지부(10)는 CCD 카메라로 이루어져 차량의 전방에 설치되며, 차량의 운행중 전방 도로상에 표시되어 있는 진행방향 표시선인 좌회전, 우회전, 직진 및 유턴(U-turn) 표시를 촬영한다.The driving direction sensing unit 10 is formed of a CCD camera and is installed in front of the vehicle. The driving direction sensing unit 10 photographs a progressive direction display line, which is displayed on the road ahead of the vehicle, in the form of a left turn, a right turn, a straight line and a U-turn.

상기 CCD 카메라에 의해 촬영된 영상이 전기적 신호(이하 영상신호라 칭함)로 입력되는 제어부(20)는 입력된 영상신호를 분석하여 각각의 진행방향 표시선에 해당하는 테두리선을 추출하여 진행방향 표시선을 검출한 다음 그에 따른 전기적 신호인 표시신호를 출력한다.The control unit 20, which receives an image photographed by the CCD camera as an electrical signal (hereinafter referred to as a video signal), analyzes the input image signal, extracts a frame line corresponding to each progress direction display line, And outputs a display signal which is an electrical signal corresponding to the detected signal.

여기서, 진행방향 표시선은 도로 표면과 색상이나 명암이 상이함으로 이를 촬영하여 이미지화한 후 진행방향 표시선의 종류를 판단하게 된다.Here, the traveling direction indicating line is different from the road surface in color or lightness, and is photographed and imaged to determine the type of the traveling direction indicating line.

표시부(30)는 차량의 클러스트에 설치되며, 상기 좌회전, 우회전, 직진 또는 유턴에 해당하는 표시를 클러스트에 설치하여 상기 제어부(20)의 표시신호에 따라 상기 표시 중 어느 하나에 표시가 이루어지면 운전자가 현재 진행하고 있는 차선의진행방향을 미리 인지시킨다.When a display corresponding to the left turn, the right turn, the straight turn or the turn is installed on the clusters so that the display is displayed on any one of the displays according to the display signal of the controller 20, Recognizes the traveling direction of the present lane in advance.

그 결과, 운전자가 현재 진행 중인 주행방향으로 차선을 계속 유지할 것인지 아니면 다른 차선으로 차선을 변경할 것인지를 판단하여 진행하고자 하는 주행차로 차선을 미리 변겨안 후 교차로에 진입할 수 있게 된다.As a result, it is possible to judge whether the driver keeps the lane in the current running direction or change the lane to another lane, and enter the intersection after changing the lane with the driving lane in which the driver intends to proceed.

상기와 같이 구성된 본 발명인 자동차의 주행방향 인식 시스템의 일 실시예를 도 2를 참조로 하여 동작 과정에 따라 상세히 설명하면 다음과 같다.An embodiment of a running direction recognition system for a motor vehicle according to the present invention will be described in detail with reference to FIG.

차량의 운행중 교차로 등에 진입하기 전에 차량의 전방부에 설치된 CCD 카메라로 도로상에 표시된 진행방향 표시선을 촬영하고, 촬영된 영상신호가 제어부로 입력되면 제어부(20)에서는 상기 CCD 카메라의 영상신호를 이미지화한 후 아날로그 신호를 디지탈 신호로 변환한다.When the captured image signal is input to the control unit, the control unit 20 implements the imaging of the image signal of the CCD camera, And then converts the analog signal into a digital signal.

그리고 나서, 제어부(20)는 영상 처리된 디지탈 신호로부터 명암대비 또는 색상 대비로 진행방향 표시선의 테두리선을 추출하고, 그 결과로 좌회전, 우회전, 직진 또는 유턴 중 어느 하나에 해당하는 진행방향 표시선을 검출하여 그에 따른 표시신호를 출력한다.Then, the control unit 20 extracts a border line of the progress direction line from the digital signal subjected to image processing to contrast or color contrast, and as a result, displays a progress direction line corresponding to any one of left turn, right turn, And outputs a display signal corresponding thereto.

이때 차량의 클러스트에 설치된 표시부(30)에서는 상기 제어부(20)의 신호에 따라 운전자가 진행 가능한 주행방향을 인지할 수 있도록 소정의 신호를 출력하여 운저자가 교차로 진입전에 미리 원하는 방향으로 진입하기 위하여 차선을 변경할 수 있도록 한다.At this time, in the display unit 30 installed on the clusters of the vehicle, a predetermined signal is outputted so that the driver can recognize the traveling direction in accordance with the signal of the controller 20, so that the driver enters the desired direction in advance before entering the intersection Allow the lane to change.

상기와 같은 본 발명의 차량이 교차로 등을 운행할 때 운전자가 진행 가능한 주행방향을 알 수 있도록 하여 교차로 진입전에 미리 차선을 변경함으로써 차량 주행에 안정성을 제공한다.The vehicle of the present invention as described above allows the driver to know the direction in which the driver can proceed when the intersection or the like is operated, thereby providing stability in driving the vehicle by changing the lane in advance before entering the intersection.

Claims (2)

차량의 경보장치에 있어서, 차량의 운행중 전방 도로상에 표시되어 있는 진행방향 표시선을 촬영하기 위해 차량에 설치되는 CCD 카메라와; 상기 촬영된 영상이 입력되고 그에 따른 영상신호를 분석하여 진행방향 표시선 중 좌회전, 우회전, 직진 또는 유턴 표시 중의 어느 하나를 검출하는 제어부와; 상기 제어부의 진행방향 표시선 중 어느 하나에 해당하는 신호가 차량 내부에서 표시되어 운전자가 알 수 있도록 지시하는 표시부를 포함하여 이루어지는 것을 특징으로 하는 자동차의 주행방향 인식 시스템.A warning device for a vehicle, comprising: a CCD camera installed in a vehicle for photographing a progress direction indicating line displayed on a road ahead of the vehicle; A controller for inputting the photographed image and analyzing a corresponding image signal to detect any one of a leftward rotation, a rightward rotation, a straight rotation, or a U-turn display in a progress direction indicating line; And a display unit for displaying a signal corresponding to one of the progress direction indicating lines of the control unit so that the driver can recognize the displayed signal in the vehicle. 청구항 1에 있어서, 상기 표시부는 차량의 클러스트에 설치되는 것을 특징으로 하는 자동차의 주행방향 인식 시스템.The traveling direction recognition system of a vehicle according to claim 1, wherein the display unit is installed in a cluster of a vehicle.
KR1019960056526A 1996-11-22 1996-11-22 System for recognizing traveling direction of vehicle KR100290375B1 (en)

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KR100290375B1 true KR100290375B1 (en) 2001-09-17

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FR2816264B1 (en) * 2000-11-09 2003-02-21 Thomas Bleiner VISUAL SIGNALING DEVICE ADAPTABLE TO A VEHICLE

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