KR101242087B1 - The Alarming System of Vehicle And Method There of - Google Patents

The Alarming System of Vehicle And Method There of Download PDF

Info

Publication number
KR101242087B1
KR101242087B1 KR1020100116418A KR20100116418A KR101242087B1 KR 101242087 B1 KR101242087 B1 KR 101242087B1 KR 1020100116418 A KR1020100116418 A KR 1020100116418A KR 20100116418 A KR20100116418 A KR 20100116418A KR 101242087 B1 KR101242087 B1 KR 101242087B1
Authority
KR
South Korea
Prior art keywords
reference
distance
shape
unit
shape pattern
Prior art date
Application number
KR1020100116418A
Other languages
Korean (ko)
Other versions
KR20120054983A (en
Inventor
이미향
Original Assignee
엘지이노텍 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 엘지이노텍 주식회사 filed Critical 엘지이노텍 주식회사
Priority to KR1020100116418A priority Critical patent/KR101242087B1/en
Publication of KR20120054983A publication Critical patent/KR20120054983A/en
Application granted granted Critical
Publication of KR101242087B1 publication Critical patent/KR101242087B1/en

Links

Images

Abstract

The vehicle alarm apparatus according to an exemplary embodiment of the present invention includes an image information generator for generating two image information using a stereo camera to perform distance measurement, a data storage unit storing reference shape pattern data and a reference distance, and the image. A shape recognition unit for recognizing a shape pattern by comparing the image information generated by the information generation unit with shape pattern data stored in the data storage unit, and for measuring a distance of the shape pattern recognized by the shape recognition unit, the camera module unit A distance measuring unit performing distance measurement by using binocular disparity between two image information generated by the reference, and the distance measured by the distance measuring unit for the shape pattern recognized by the shape recognizing unit is stored in the data storage unit Signal generation determination unit for generating a warning signal when it is determined to be within the distance and the signal generation It includes parts for receiving the warning signal generated by the alarm generation determination unit for generating a warning sound. According to the present invention, it is possible to distinguish the type of the object in front, and to give an alarm to the driver when the object is approached only within a certain distance.

Description

The alarming system of vehicle and method there of

The present invention relates to a vehicle warning device and an alarm method.

In order to reach the desired destination within a short time without accident, the driver must operate the vehicle while grasping the surrounding conditions, the flow of the road and surrounding vehicles, and the equalization of the traffic lights.

 In this case, if the driver makes a short glance or carelessly checks the traffic flow or the traffic light, there is a danger of accidentally entering the road or crashing.

 Therefore, in recent years, researches on assistive devices that assist drivers in driving a vehicle, for example, a device that warns a collision when an object in front of the vehicle approaches within a predetermined distance, are actively researched.

Conventional vehicle warning apparatus is configured to generate an alarm when an obstacle or another vehicle or human body approaches within a certain distance by using a sensor to prevent collision with an obstacle or another vehicle or human body.

However, the conventional vehicle warning device merely detects whether an object is within a certain distance and does not identify the type of the object.

An object of the present invention is to provide a technology for alerting a driver when a type of an object in front of the vehicle is approached within a predetermined distance only for a desired object.

The vehicle alarm apparatus according to an exemplary embodiment of the present invention includes an image information generator for generating two image information using a stereo camera to perform distance measurement, a data storage unit storing reference shape pattern data and a reference distance, and the image. A shape recognition unit for recognizing a shape pattern by comparing the image information generated by the information generation unit with shape pattern data stored in the data storage unit, and for measuring a distance of the shape pattern recognized by the shape recognition unit, the camera module unit A distance measuring unit performing distance measurement by using binocular disparity between two image information generated by the reference, and the distance measured by the distance measuring unit for the shape pattern recognized by the shape recognizing unit is stored in the data storage unit Signal generation determination unit for generating a warning signal when it is determined to be within the distance and the signal generation It includes parts for receiving the warning signal generated by the alarm generation determination unit for generating a warning sound.

In the vehicle warning apparatus according to an embodiment of the present invention, the data storage unit may have data for a plurality of reference shape patterns.

In the vehicle warning apparatus according to an exemplary embodiment of the present disclosure, the data storage unit may have a plurality of reference distances respectively corresponding to the plurality of reference shape patterns.

In the vehicle warning apparatus according to an exemplary embodiment of the present disclosure, the signal generation determining unit may calculate a reference distance corresponding to the recognized shape pattern with reference to the data storage unit.

In the vehicular alarm apparatus according to an embodiment of the present invention, the reference shape pattern data stored in the data storage unit may include data regarding at least one of a lane, a traffic light, and a person.

In the vehicular alarm apparatus according to an embodiment of the present invention, the data regarding the traffic light may be color pattern data for distinguishing whether a red light or an orange light is turned on.

According to an exemplary embodiment of the present disclosure, a vehicle warning method includes storing reference shape pattern data and a reference distance as a reference for recognizing a shape pattern, in a data storage unit, and generating two image information using a stereo camera. And recognizing a shape pattern by comparing the image information with reference shape pattern data stored in the data storage unit, and using the binocular disparity between the two image information to determine the distance of the shape pattern recognized in the shape pattern recognition step. Measuring a step of generating a warning signal when the distance of the shape pattern measured in the distance measuring step is within a reference distance compared to the reference distance stored in the data storage unit and generating a warning sound by the generated warning signal. Steps.

In the vehicle warning method according to an embodiment of the present invention, the data storage unit may have data for a plurality of reference shape patterns.

In the vehicle warning method according to an embodiment of the present invention, the data storage unit may have a plurality of reference distances corresponding to the plurality of reference shape patterns, respectively.

In the vehicle warning method according to an embodiment of the present invention, the reference distance corresponding to the recognized shape pattern may be calculated with reference to the data storage unit in the warning signal generation step.

In the vehicle warning method according to an embodiment of the present invention, the reference shape pattern data stored in the data storage unit may include data regarding at least one of a lane, a traffic light, and a person.

In the vehicle warning method according to an embodiment of the present invention, the data related to the traffic light may be color pattern data that distinguishes whether the red light or the orange light of the traffic light is turned on.

According to the present invention, it is possible to distinguish the type of the object in front, and to give an alarm to the driver when the object is approached only within a certain distance.

1 is a schematic configuration diagram of a vehicle warning apparatus according to an embodiment of the present invention.
2 is a flowchart showing a vehicle warning method according to an embodiment of the present invention.
3 is a flowchart illustrating a vehicle warning method when a vehicle shape pattern is recognized in a shape recognition step in the vehicle warning method according to an embodiment of the present invention.
4 is a flowchart illustrating a vehicle warning method when a traffic light shape pattern is recognized in a shape recognition step in the vehicle warning method according to an embodiment of the present invention.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the second component may be referred to as a first component, and similarly, the first component may also be referred to as a second component.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Now, a vehicle warning apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings, and the same or corresponding components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. .

1 is a schematic configuration diagram of a vehicle warning apparatus according to an embodiment of the present invention. Referring to FIG. 1, a vehicle warning apparatus according to an exemplary embodiment of the present invention may include an image information generating unit 100, a data storage unit 110, a shape recognition unit 120, a distance measuring unit 130, and signal generation determination. The unit 140 and the warning sound generating unit 150 is included.

The image information generating unit 100 generates two image information captured by each camera by using a stereo camera.

The data storage unit 110 stores the reference shape pattern data and the reference distance. The reference shape pattern data is configured to form a standard shape of an object designated as a target for which a driver should pay attention while driving as a pattern, and to store the reference shape pattern data for comparison with the data generated by the image information generator 100. Examples of the reference shape pattern composed of such a pattern include a vehicle, a traffic light, a person, and the like.

In addition, in addition to the shape of the object designated as the target of the reference shape pattern, color elements of the object may be added. The color pattern may not only provide a shape reference of a traffic light or a vehicle, but also may be used to read whether a lamp is turned on or not, such as a brake of a car.

 The reference distance is the distance required for the driver to start paying special attention when a certain object is within a certain distance from the driving vehicle. The same reference distance may be used for all the reference shape patterns, or the reference distance may be set differently for each object of the reference shape pattern. In this case, a plurality of reference distances as many as the number of reference shape patterns is stored.

The shape recognizing unit 120 compares the image information generated by the image information generating unit 100 with reference shape pattern data stored in the data storage unit 110 to distinguish the type of the object shown in the image information, and thus the object of interest. Whether the object is a distance measurement.

The distance measurer 130 measures binocular disparity between two image information generated by the image information generator 100 in order to measure the distance of an object recognized as the shape of the object desired by the shape recognizer 120. Measure the distance by using triangulation method.

The signal generation determining unit 140 stores the distance measured by the distance measuring unit 130 with respect to the shape pattern recognized by the shape recognition unit 120 as the shape of the object in the data storage unit 110. If it is determined that the distance is within the warning signal.

However, since the plurality of reference shape patterns and the plurality of reference distances corresponding to the respective reference shape patterns exist in the data storage unit 110, the signal generation determining unit 140 recognizes the shape recognized by the shape recognition unit 120. Comparing the pattern with the reference shape pattern to determine which reference shape pattern corresponds to, calculate the reference distance corresponding to the reference shape pattern, and compare the calculated reference distance with the distance measured by the distance measuring unit 130 If it is determined that the reference distance is within the warning signal is generated.

The warning sound generating unit 150 receives the warning signal generated by the signal generation determining unit 140 and generates a warning sound.

2 is a flowchart illustrating a vehicle warning method according to an embodiment of the present invention.

Referring to FIG. 2, reference shape pattern data and a reference distance, which are reference for recognizing a shape pattern, are stored in the data storage unit (S201).

Two image information is generated using a stereo camera (S202).

A shape pattern is recognized by comparing the image information with reference shape pattern data stored in the data storage unit (S203).

The distance of the shape pattern recognized in the shape pattern recognition step is measured using the binocular disparity between the two image information (S204).

When the distance of the shape pattern measured in the distance measuring step is within the reference distance compared with the reference distance stored in the data storage unit, a warning signal is generated (S205).

The warning sound is generated by the generated warning signal (S206).

3 is a flowchart illustrating a vehicle warning method when a vehicle is recognized in a shape recognition step according to an embodiment of the present invention, and FIG. 4 is a vehicle warning method according to an embodiment of the present invention. WHEREIN: The flowchart which shows the vehicle alert method when a traffic light is recognized in the shape recognition step.

Referring to FIG. 3, the vehicle is recognized by comparing the image information generated by the stereo camera with reference shape pattern data stored in the data storage unit (S301).

The distance from the vehicle recognized in the shape pattern recognition step is measured using the binocular disparity between the two image information generated by the stereo camera (S302).

In operation S303, a warning signal is generated when the distance from the vehicle measured in the distance measuring step is within the reference distance by comparing with the reference distance stored in the data storage unit.

The warning sound is generated by the generated warning signal (S304).

Referring to FIG. 4, the traffic light is recognized by comparing the image information generated by the stereo camera based on the reference shape pattern data stored in the data storage unit and the black and white image (S401).

The distance from the signal lamp recognized in the shape pattern recognition step is measured by using binocular parallax between two image information generated by the stereo camera (S402).

The distance with the traffic light measured in the distance measuring step is compared with the reference distance stored in the data storage unit to check whether it is within the reference distance (S403).

 When the distance to the traffic light measured in the distance measuring step is within the reference distance, the color of the position corresponding to the red or orange light of the traffic light is checked (S404).

If the color of the red light or orange light position of the recognized traffic light is matched with the corresponding color generates a warning signal (S405).

The warning sound is generated by the generated warning signal (S406).

One embodiment of the present invention described above should not be construed as limiting the technical spirit of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Therefore, such improvements and modifications will fall within the protection scope of the present invention as long as it will be apparent to those skilled in the art.

100: image information generating unit 110: data storage unit
120: shape recognition unit 130: distance measuring unit
140: signal generation determination unit 150: warning sound generation unit

Claims (16)

  1. An image information generator for generating two image information using a stereo camera;
    A data storage unit for storing reference shape pattern data and a reference distance;
    A shape recognition unit which recognizes a shape pattern of an object corresponding to the reference shape pattern data by comparing the image information generated by the image information generation unit with the reference shape pattern data stored in the data storage unit;
    A distance measuring unit configured to measure distance by using binocular disparity between two image information generated by the image information generating unit to measure a distance from an object recognized by the shape recognizing unit as a shape of an object;
    A signal generation determining unit generating a warning signal when it is determined that the distance measured by the distance measuring unit is within a reference distance stored in the data storage unit with respect to the shape pattern recognized by the shape recognition unit as the object shape; And
    And a warning sound generating unit configured to receive a warning signal generated by the signal generation determining unit and generate a warning sound.
  2. The method of claim 1,
    And the data storage unit has data for a plurality of reference shape patterns.
  3. The method of claim 2,
    And the data storage unit has a plurality of reference distances respectively corresponding to the plurality of reference shape patterns.
  4. The method of claim 3, wherein
    And the signal generation determining unit calculates a reference distance corresponding to the recognized shape pattern with reference to the data storage unit.
  5. The method according to any one of claims 1 to 4,
    And reference shape pattern data stored in the data storage unit includes data relating to at least one of a lane, a traffic light, and a person.
  6. The method of claim 5, wherein
    And said data relating to said traffic light are color pattern data for discriminating whether a red light or an orange light is turned on.
  7. The method of claim 1,
    The reference shape pattern data is a vehicle warning device in which the standard shape of the object is patterned.
  8. The method of claim 1,
    The shape recognition unit is a vehicle warning device for recognizing the shape pattern of the object by distinguishing the type of the object.
  9. Generating two image information using a stereo camera;
    Recognizing a shape pattern of an object corresponding to the reference shape pattern data by comparing the reference shape pattern data previously stored in a data storage unit with the image information;
    Measuring a distance to a target object recognized in the step of recognizing the shape pattern using binocular disparity between the two image information;
    Generating a warning signal when the distance from the target object measured in the distance measuring step is within a reference distance by comparing with the reference distance stored in the data storage unit; And
    Generating a warning sound according to the generated warning signal.
  10. The method of claim 9,
    And the data storage unit has data for a plurality of reference shape patterns.
  11. 11. The method of claim 10,
    And the data storage unit has a plurality of reference distances respectively corresponding to the plurality of reference shape patterns.
  12. The method of claim 11,
    And a reference distance corresponding to the recognized shape pattern with reference to the data storage unit in the warning signal generation step.
  13. 13. The method according to any one of claims 9 to 12,
    And reference shape pattern data stored in the data storage unit includes data relating to at least one of a lane, a traffic light, and a person.
  14. The method of claim 13,
    And the data relating to the traffic light is color pattern data for distinguishing whether a red light or an orange light of a traffic light is lit.
  15. 10. The method of claim 9,
    The reference shape pattern data is a vehicle warning method in which the standard shape of the object is patterned.
  16. 10. The method of claim 9,
    Recognizing the shape pattern is a vehicle warning method for recognizing the shape pattern of the object by classifying the type of the object.
KR1020100116418A 2010-11-22 2010-11-22 The Alarming System of Vehicle And Method There of KR101242087B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020100116418A KR101242087B1 (en) 2010-11-22 2010-11-22 The Alarming System of Vehicle And Method There of

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100116418A KR101242087B1 (en) 2010-11-22 2010-11-22 The Alarming System of Vehicle And Method There of

Publications (2)

Publication Number Publication Date
KR20120054983A KR20120054983A (en) 2012-05-31
KR101242087B1 true KR101242087B1 (en) 2013-03-11

Family

ID=46270629

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100116418A KR101242087B1 (en) 2010-11-22 2010-11-22 The Alarming System of Vehicle And Method There of

Country Status (1)

Country Link
KR (1) KR101242087B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9365195B2 (en) 2013-12-17 2016-06-14 Hyundai Motor Company Monitoring method of vehicle and automatic braking apparatus
KR20160103230A (en) 2015-02-23 2016-09-01 부경대학교 산학협력단 Object proximate detection apparatus and method using the rate of negative disparity change in a stereoscopic image

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101632179B1 (en) * 2013-12-24 2016-07-01 엘지전자 주식회사 Driver assistance apparatus and Vehicle including the same
US20170287217A1 (en) * 2016-03-30 2017-10-05 Kahyun Kim Preceding traffic alert system and method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19990026799U (en) * 1997-12-20 1999-07-15 양재신 Obstacle approach warning apparatus according to the image comparison of the vehicle
KR100451295B1 (en) 2002-05-10 2004-10-06 삼립산업 주식회사 A vision system for car
KR20060089350A (en) * 2005-02-04 2006-08-09 현대자동차주식회사 Collision avoidance system for vehicle and method for controlling the same
JP2010191666A (en) 2009-02-18 2010-09-02 Honda Motor Co Ltd Vehicle periphery monitoring apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19990026799U (en) * 1997-12-20 1999-07-15 양재신 Obstacle approach warning apparatus according to the image comparison of the vehicle
KR100451295B1 (en) 2002-05-10 2004-10-06 삼립산업 주식회사 A vision system for car
KR20060089350A (en) * 2005-02-04 2006-08-09 현대자동차주식회사 Collision avoidance system for vehicle and method for controlling the same
JP2010191666A (en) 2009-02-18 2010-09-02 Honda Motor Co Ltd Vehicle periphery monitoring apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9365195B2 (en) 2013-12-17 2016-06-14 Hyundai Motor Company Monitoring method of vehicle and automatic braking apparatus
KR20160103230A (en) 2015-02-23 2016-09-01 부경대학교 산학협력단 Object proximate detection apparatus and method using the rate of negative disparity change in a stereoscopic image

Also Published As

Publication number Publication date
KR20120054983A (en) 2012-05-31

Similar Documents

Publication Publication Date Title
JP5345350B2 (en) Vehicle driving support device
JP5649568B2 (en) Driver assistance system for avoiding collision between vehicle and pedestrian
JP2006096312A (en) Parking support system
DE60122963T2 (en) Navigation device
DE102011086241A1 (en) Method for the safe parking of a vehicle
US8301344B2 (en) Device for classifying at least one object in the surrounding field of a vehicle
EP2583263B1 (en) Method for combining a road sign recognition system and a lane detection system of a motor vehicle
JP2009037622A (en) Method and device for evaluating image
CN101356078B (en) Safety-travel assistance device
JP4138868B2 (en) Driving support system and driving support method
EP2063406B1 (en) Method and apparatus for warning about obstacles which are not high and/or wide enough to drive through
ES2398004T3 (en) Driver assistance system to monitor driving safety and corresponding procedure to record and assess vehicle movement
DE102010061922A1 (en) A driver coupled system and method for alerting a frontal impact hazard and a vehicle using the same
US9776644B2 (en) On-vehicle situation detection apparatus and method
JP2010086269A (en) Vehicle identification device and drive support device using the same
EP2352136B1 (en) System for monitoring the area around a vehicle
DE102010052304A1 (en) Method and device for assisting a driver of a motor vehicle when parking out of a parking space and motor vehicle
US8175797B2 (en) Vehicle drive assist system
CN104584102A (en) Method for supplementing object information assigned to an object and method for selecting objects in surroundings of a vehicle
DE102006000077A1 (en) Vehicle information notification device
CN104217590A (en) On-board traffic density estimator
JP4846426B2 (en) Vehicle perimeter monitoring device
EP1516301B2 (en) Method and device for driver information and to react to leaving the lane
JP4415856B2 (en) Method for detecting the forward perimeter of a road vehicle by a perimeter sensing system
JP4055070B2 (en) Vehicle alarm device

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20160205

Year of fee payment: 4

FPAY Annual fee payment

Payment date: 20170207

Year of fee payment: 5

FPAY Annual fee payment

Payment date: 20180205

Year of fee payment: 6

FPAY Annual fee payment

Payment date: 20190213

Year of fee payment: 7