KR101304625B1 - Apparatus and method for preventing collision of vehicles - Google Patents

Abstract

PURPOSE: An intelligent vehicle collision prevention apparatus and a method are provided to be able to help a driver driving a car to avoid colliding with another car by detecting tail lamps of the car in front of the driver's car and detecting the driving information with an electric signal of a photo diode corresponding to the coordinate of the acknowledged tail lamps. CONSTITUTION: An intelligent vehicle collision prevention apparatus comprises an image sensor which takes a photograph of a rear image of a preceding vehicle, equipped with a transmit block which modulates the driving information of the preceding vehicle into a binary bit, and controls the on-off operation of the tail lamps upon the status of the binary bits, a tail lamp detection unit which detects the tail lamps of the preceding vehicle from the taken image; a vehicle recognition unit which recognizes a vehicle in front of it by using the detected tail lamp part and acquires the coordinate of the tail lamps in the taken image; a photo diode selection unit which selects at least one photo diode corresponding to a region corresponding to the obtained coordinate among photo diode arrays equipped in the image sensor; and a driving signal demodulator which demodulates a communication signal corresponding to the driving information of the preceding vehicle by processing an electric signal of the selected photo diode. [Reference numerals] (AA) Start; (BB) End; (S410) Taking a photograph of a rear image of a preceding vehicle by an image sensor; (S420) Detecting the tail lamps of the preceding vehicle from the taken image; (S430) Recognizing the preceding vehicle by using the detected tail lamps and acquiring the coordinate of the tail lamps in the taken image; (S440) Selecting at least one photo diode corresponding to a region corresponding to the obtained coordinate among photo diode arrays; (S450) Demodulating a communication signal corresponding to the driving information of the preceding vehicle by processing an electric signal of the selected photo diode; (S460) Detecting the driving information of the preceding vehicle from the demodulated communication signal to transfer the information to a display module installed in the vehicle; (S470) Comparing the detected driving information to the driving information of the vehicle to evading control the drive of the vehicle about the preceding vehicle

Description

Apparatus and method for preventing collision of vehicles}

The present invention relates to an intelligent vehicle collision avoidance apparatus and method, and more particularly, an intelligent vehicle collision avoidance apparatus capable of detecting driving information transmitted from a tail light of a preceding vehicle to prevent collision with a preceding vehicle and controlling accident avoidance. And to a method.

In general, the majority of car accidents are due to the driver's misunderstanding or delay in finding an accident factor. In order to prevent such a problem, a system for providing information or warning to a driver by detecting a risk factor of an accident in advance has been developed.

Among them, accident avoidance technology is a technology for controlling a vehicle to actively avoid an accident in a situation that can be connected to various accidents. In case of the conventional accident avoidance technology, a risk factor is detected by using a radar (RADAR), a laser radar (LIDAR), a CCD sensor, and the like, an optimal judgment is performed on the detected factors, and the vehicle behavior is controlled. Actuators and brakes are used to prevent collisions in advance or to assist the driver in safe driving with automatic avoidance maneuvers.

As a background technology for preventing a collision of vehicles, Korean Patent Laid-Open No. 2012-0031784 has a configuration for synthesizing a photographed image of a preceding vehicle photographed through two cameras and measuring a distance from the preceding vehicle to prevent a vehicle collision. Is disclosed. However, such a background art does not consider the actual driving information of the preceding vehicle and thus its reliability is low.

In addition, in the case of the accident avoidance method using a radar or a rider, the accident avoidance is started by simply determining whether there is a risk factor caused by a preceding vehicle.In the case of a radar, an electromagnetic interference phenomenon caused by RF and a malfunction thereof may be caused. In case of danger to humans. Moreover, the collision avoidance and accident avoidance technology of the vehicle acts as a core technology in the unmanned autonomous vehicle, but due to the high parts price of the radar and the rider, it is difficult to mass-produce the unmanned autonomous vehicle.

According to an embodiment of the present invention, a rear image of a preceding vehicle that emits driving information with an encoded code is detected through an image sensor to detect a taillight of a preceding vehicle, and then correspond to the coordinates of the recognized taillight among photodiode arrays provided in the image sensor. The present invention relates to an intelligent vehicle collision preventing apparatus and method capable of effectively preventing collisions between vehicles by detecting the driving information using an electrical signal of a photodiode.

The present invention provides an intelligent vehicle collision avoidance device installed in a vehicle for preventing collision with a preceding vehicle, comprising a transmission block for modulating driving information into binary bits to control on / off operation of a tail light according to the states of the binary bits. An image sensor for photographing a rear image of the preceding vehicle, a rear light detecting unit for detecting a rear light portion of the preceding vehicle from the photographed image, and the detected rear light portion to recognize the preceding vehicle by using the detected image A vehicle recognition unit for acquiring the coordinates of the tail light in the inside, a photodiode selecting unit for selecting at least one photodiode corresponding to the area corresponding to the obtained coordinates from the photodiode array provided in the image sensor, and The preceding vehicle by processing an electrical signal of the selected photodiode It provides an intelligent vehicle anti-collision device that includes a driving signal demodulator for demodulating a communication signal corresponding to the driving information.

Here, the driving information detector detects the driving information of the preceding vehicle from the demodulated communication signal and transmits the driving information to the display module installed in the vehicle, and the dangerous information is generated by comparing the detected driving information with the driving information of the vehicle. In this case, the vehicle may further include a driving controller for avoiding driving of the vehicle with respect to the preceding vehicle.

The transmission block may include a binary signal generator for acquiring driving information of the preceding vehicle and converting the binary information into a binary signal, a signal modulator for modulating the binary signal to generate the binary bits, and high or high values of the binary bits. The rear light controller may be configured to control the on or off operation of the tail light of the preceding vehicle in response to a low state.

Here, the transmission block may modulate driving information of the preceding vehicle by a pulse position modulation (PPM) method.

The transmission block may combine driving information of the preceding vehicle and driving information or emergency situation information detected from a tail light provided in the front vehicle of the preceding vehicle into one traffic condition information and modulate the binary information into the binary bit. .

The intelligent vehicle collision avoidance device may further include a DB unit which pre-stores interval information between left and right rear lights of the preceding vehicle for each separation distance from the preceding vehicle, and the vehicle recognition unit further comprises a gap between the detected left and right rear lights. Calculates and compares the calculated interval information with the interval information stored in the DB to recognize the preceding vehicle, assigns a unique ID to the recognized at least one preceding vehicle, and sets the coordinates for each unique ID. Can be obtained.

In addition, when a plurality of photodiodes corresponding to the area corresponding to the obtained coordinates are selected among the photodiode arrays, the driving signal demodulator may generate the communication signals using the summed electrical signals for the selected plurality of diodes. It can be demodulated.

The present invention provides an intelligent vehicle collision avoidance method using an intelligent vehicle collision avoidance device installed in a vehicle to prevent collision with a preceding vehicle, and modulates driving information into binary bits to turn on or off a tail light according to the states of the binary bits. Photographing a rear image of the preceding vehicle having a transmission block controlling an operation with an image sensor, detecting a tail light portion of the preceding vehicle from the photographed image, and using the detected tail light portion Recognizing a preceding vehicle and acquiring coordinates of the tail light in the captured image, and selecting at least one photodiode corresponding to an area corresponding to the acquired coordinates from a photodiode array provided in the image sensor And processing the electrical signal of the selected photodiode. The present invention provides an intelligent vehicle collision avoidance method comprising demodulating a communication signal corresponding to driving information of the preceding vehicle.

The intelligent vehicle collision prevention method may include detecting driving information of the preceding vehicle from the demodulated communication signal and transmitting the detected driving information to a display module installed in the vehicle, and comparing the detected driving information with driving information of the vehicle. When dangerous information occurs, the method may further include avoiding driving of the vehicle with respect to the preceding vehicle.

According to the intelligent vehicle collision avoidance apparatus and method according to the present invention, after photographing the rear image of the preceding vehicle that emits the driving information by the coded code through the image sensor to detect the tail light of the preceding vehicle and then the photodiode provided in the image sensor There is an advantage in that collision between vehicles can be effectively prevented by detecting the driving information using an electrical signal of a photodiode corresponding to the coordinates of the recognized tail light in the array.

1 is a conceptual diagram of an intelligent vehicle collision prevention apparatus according to an embodiment of the present invention.
2 is a block diagram of a transmission block provided in the preceding vehicle of FIG. 1.
3 is a block diagram of an intelligent vehicle collision prevention apparatus according to an embodiment of the present invention.
4 is a flowchart of an intelligent vehicle collision prevention method using FIG. 3.
5 is a schematic diagram corresponding to the flowchart of FIG. 4.
FIG. 6 illustrates a taillight detection image according to step S420 of FIG. 4.
FIG. 7 is an image illustrating an embodiment of step S430 of FIG. 4.
8 is a configuration diagram illustrating an embodiment of step S440 of FIG. 4.
9 is a configuration diagram illustrating an embodiment of step S450 of FIG. 4.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention.

1 is a conceptual diagram of an intelligent vehicle collision prevention apparatus according to an embodiment of the present invention. The preceding vehicle 10 emits its own driving information by the code code through the rear lamp 11. The trailing vehicle 20 detects driving information of the preceding vehicle 10 by using the light emission state of the rear lamp 11 that is turned on and off in correspondence with the driving information of the preceding vehicle 10.

The preceding vehicle 10 includes a transmission block that modulates the driving information into binary bits to control the on / off operation of the taillight 11 according to the states of the binary bits. 2 is a block diagram of a transmission block provided in the preceding vehicle of FIG. 1. The transmission block 12 includes a binary signal generator 13, a signal modulator 14, and a taillight controller 15.

The binary signal generator 13 acquires driving information of the preceding vehicle 10 through an ECU, a GPS sensor, and the like, and converts the driving information into a binary signal. Here, the driving information may include a speed, a position, a brake state, an acceleration / deceleration state, and the like. This binary signal corresponds to a transmission signal towards the trailing vehicle.

After modulation of the binary signal, the signal modulator 14 modulates the binary signal to generate binary bits for driving the taillight 11 of the preceding vehicle 10. In this case, a pulse position modulation (PPM) method may be used as the modulation method, and in particular, 8-PPM modulation may be used.

The rear light control unit 15 controls the on or off operation of the rear light 11 of the preceding vehicle 10 in response to the high or low state of the binary bits. Since the rear light 11 is driven on and off at very short time intervals (not visible speed visually), the rear light 11 will always appear to be turned on as normal taillight function.

That is, the preceding vehicle 10 serially transmits a modulation signal for the current driving information consisting of binary bits to the rear light 11 and the rear light 11 is turned on or off in the order of the received high or low bits. (Flashing) It is driven. That is, the taillight 11 of the preceding vehicle 10 operates on (corresponding to High) or off (corresponding to Low) corresponding to the high or low state of the modulated binary bits.

The reason why 8-PPM is used among many modulation schemes is as follows. In general, the tail light is a combination of a brake light and a night tail light, and the two motions are divided by the brightness of the tail light. Normal brake lights use 100% of the light and night taillights use about 7%.

The LED taillight of the present invention should also distinguish the brake and night taillights by the amount of light. Here, when controlled by 8-PPM, the night tail light can be adjusted to 12.5% light and the brake light can be adjusted to 87.5% light. It is also possible to provide driving information to the vehicle 20 side.

As an example, in the case of a night tail light, the modulation signal is configured as "00010000 00100000 ...", and if there is one "1" every 8 bits, it corresponds to 1/8 of 100% light quantity and thus has 12.5% light quantity. In addition, in the case of a brake lamp, the modulation signal is composed of the inverted signal "11101111 11011111 ..." which corresponds to 7/8 of the 100% light amount and thus has a light amount of 87.5%.

The transmission block 12 as described above integrates the driving information and the emergency situation information detected from the tail light provided in the front vehicle of the preceding vehicle 10 as well as the driving information of the preceding vehicle 10 into one traffic condition information. Can be modulated with the binary bits. The modulated binary bit consists of a frame containing a start signal and an end signal.

Here, the trailing vehicle 20 also emits its own driving information through the taillight 11 as in the preceding vehicle 10 with the coded code, and of course, the driving information can be transmitted to the other trailing vehicle behind it. .

The taillight 11 may be composed of one LED or several LEDs. When composed of multiple LEDs, multiple LEDs are turned on and off at the same time, thereby improving visibility. In the present embodiment, even when the distance between the preceding vehicle 10 and the trailing vehicle 20 is far, the on-off state of the tail light 11 of the preceding vehicle 10 is obtained by photographing the trailing vehicle 20 on the side. Just do it. Therefore, the signal can be detected if only the LED light source of the tail light of the preceding vehicle 10 exists in the received image regardless of the distance to the opponent vehicle. In addition, since the trailing vehicle 20 only needs to detect the tail light of the preceding vehicle, it is also possible to use a camera for general purpose (eg, 30 frames per second) for tail light detection.

3 is a block diagram of an intelligent vehicle collision prevention apparatus according to an embodiment of the present invention. The intelligent vehicle collision prevention apparatus 100 may detect driving information of the preceding vehicle 10 which is installed at the trailing vehicle 20 side of FIG. 1 and emits light from the tail light 11 of the preceding vehicle 10. Avoidance control for collision avoidance between vehicles can be performed.

Of course, such an intelligent vehicle collision prevention apparatus 100 may be installed and operated in all vehicles, and for the convenience of description, the following description will be made based on the apparatus 100 installed in the following vehicle 20.

The apparatus 100 may include an image sensor 110, a rear light detector 120, a vehicle recognition unit 130, a photodiode selector 140, a driving signal demodulator 150, a driving information detector 160, and a driving controller. 170, the DB unit 180 is included.

The vehicle recognition unit 130 is a part of photographing a rear image of the preceding vehicle 10. As described above, the preceding vehicle 10 includes a transmission block that modulates its driving information into binary bits to control on / off operation of a tail light according to the states of the binary bits.

The rear light detector 120 detects a rear light portion of the preceding vehicle 10 from the captured image. Here, the taillight 11 may correspond to both the left and right taillights of the vehicle. The detection of such taillights 11 uses known image processing procedures.

The vehicle recognizing unit 130 recognizes the preceding vehicle 10 by using the detected taillight portion and acquires coordinates of the taillight 11 in the captured image.

Although the preceding vehicle 10 can be recognized only by detecting the tail light, it is also possible to recognize the preceding vehicle 10 by comparing the interval between the left and right tail lights with previously stored interval information. That is, the vehicle recognition unit 130 calculates the interval between the detected left and right tail lights, and then recognizes the preceding vehicle 10 by comparing the calculated interval information with the interval information stored in the DB unit 180. . Here, the DB unit 180 previously stores interval information between left and right taillights of the preceding vehicle 10 for each distance from the preceding vehicle 10. Through this, the target vehicle 10 that is the target can be continuously recognized with the same ID.

In this case, when there are a plurality of preceding vehicles 10 recognized in front, a unique ID is assigned to each of the identification numbers to perform coordinate calculation for each ID. That is, the vehicle recognition unit 130 obtains the coordinates for each unique ID by assigning a unique ID to the recognized at least one preceding vehicle 10.

The photodiode selector 140 selects at least one photodiode corresponding to the region corresponding to the obtained coordinates from the photodiode array provided in the image sensor 110. The photodiode array is a plurality of photodiodes arranged in an array form.

According to the present invention, as the photodiode of the region corresponding to the coordinates of the rear light 11 on the previously photographed image is selected among the plurality of photodiodes, driving of the preceding vehicle 10 using only the electrical signal of the selected photodiode. Allow information detection to be performed. Here, the number of photodiodes selected for each vehicle ID may be one or more. This is because the coordinates of the two rear lights 11 of the preceding vehicle 10 may be located for several diode regions.

The driving signal demodulator 150 demodulates a communication signal corresponding to the driving information of the preceding vehicle 10 by processing an electrical signal of the selected photodiode. In this case, when the number of the selected photodiodes is plural, the electrical signals of the selected photodiodes are summed and used to detect driving information of the preceding vehicle 10.

The driving information detector 160 detects driving information of the preceding vehicle 10 from the demodulated communication signal and transmits the driving information to a display module (not shown) installed in the following vehicle 20. The display module may be variously built in or external to a vehicle, such as a navigation display and a general display.

The driving controller 170 compares the detected driving information with the driving information of the following vehicle 20, which is its own vehicle, and as a result, when the dangerous information (eg, accident risk information) occurs, the preceding vehicle 10 Control of the vehicle is avoided. For example, lane change, brake drive, steering device rotation, speed adjustment, and the like are performed. The driving controller 170 may induce a safety distance or an appropriate distance by adjusting the distance with the preceding vehicle 10 through the driving control described above.

Hereinafter, an intelligent vehicle collision prevention method of a vehicle will be described based on the above configuration. 4 is a flowchart of an intelligent vehicle collision prevention method using FIG. 3. 5 is a schematic diagram corresponding to the flowchart of FIG. 4.

First, the image sensor 110 captures a rear image of the preceding vehicle 10 (S410). Such an image sensor may correspond to a CMOS image sensor.

Thereafter, the taillight detection unit 120 detects the taillight portion of the preceding vehicle 10 from the photographed image (S420). The S420 step is performed by converting an image to color space (RGB to YCbCr Format). In the case of LED taillights, the original RGB image is converted to YCbCr color space to extract only this red color because it is represented by red color with high luminance value in the image.

FIG. 6 illustrates a taillight detection image according to step S420 of FIG. 4. Referring to FIG. 6, in the present embodiment, the original image photographed at step S410 may be converted into a YCbCr color space, and then only a portion of the LED tail light may be easily detected using the Cr component image. Specifically, after the binarization image is made using the adaptive threshold method in the Cr component image, an area smaller than the size of the tail light in the image is removed through erosion and dilation of the morphology, and thus the tail light Detect the part. Here, the detected tail lights include the left and right tail lights of the preceding vehicle 10.

After detecting the tail light of the preceding vehicle 10 as described above, the vehicle recognition unit 130 recognizes the preceding vehicle 10 by using the detected tail light portion and the tail light in the captured image ( Acquire a coordinate of 11) (S430).

Here, it can be recognized that the object is the preceding vehicle 10 only by the presence of the left and right tail lights. In addition, the presence of the preceding vehicle 10 may be recognized by comparing the interval between the two tail lights with previously stored interval information.

FIG. 7 is an image illustrating an embodiment of step S430 of FIG. 4. In operation S430, the distance information between the left and right tail lights may be calculated by obtaining a distance d between the center point coordinates of the left and right tail lights.

The DB unit 180 stores interval information between left and right taillights of the preceding vehicle 10 for each distance of the preceding vehicle 10 with respect to the following vehicle 20. The distance between the two taillights on the image varies depending on the distance of the vehicle. For example, the greater the distance, the narrower the distance between the two taillights. At this time, since the interval information between left and right taillights differs according to the vehicle type or size, a database may be formed for various interval cases.

In the step S430, the target object is compared with the distance information for each distance stored in the DB unit 180 based on the distance between the calculated left and right tail lights based on the current distance from the preceding vehicle 10. Recognize that the vehicle is detected continuously.

In addition, the recognized coordinates of the rear lights 11 represent the coordinates of the center points of the left and right tail lights, respectively. That is, in step S430 to continuously detect and update the coordinates of the center point of each of the two rear lights 11 in the photographed image.

Here, since there may be several preceding vehicles 10 in the image, a unique ID is assigned to the recognized at least one preceding vehicle 10 to obtain center point coordinates of the two tail lights for each unique ID. This unique ID corresponds to the identification number of the preceding vehicle 10. The coordinates are used later to select the corresponding photodiode of the photodiode array.

That is, the photodiode selector 140 selects at least one photodiode corresponding to the region corresponding to the obtained coordinates from the photodiode array provided in the image sensor (S440).

8 is a configuration diagram illustrating an embodiment of step S440 of FIG. 4. The selection method of the photodiode may be performed by dividing the photographed image into a uniform area by the number of photodiodes included in the photodiode array, and then selecting a corresponding region corresponding to the obtained coordinates. As an example, it can be seen that the two taillight coordinates of the preceding vehicle 10 corresponding to ID_1 correspond to the regions of PD6 and PD7.

Thereafter, the driving signal demodulator 150 processes the electrical signal of the selected photodiode to demodulate a communication signal corresponding to the driving information of the preceding vehicle 10 (S450).

Here, when there are a plurality of selected photodiodes as in the above example, the electrical signals of the two photodiodes are summed, and the communication signals are demodulated using the summed electrical signals. Demodulation of the communication signal reverses the previous modulation process as in the general case.

9 is a configuration diagram illustrating an embodiment of step S450 of FIG. 4. As described above, when the tail lamp exists in one or more regions, the electrical signals of the photodiodes in each region are summed. This signal summation enables higher amplitude electrical signals compared to a single photodiode and primarily filters other external light signals, increasing the signal-to-noise ratio (S / N) of the communications signal.

The demodulation process is briefly described as follows. In order to distinguish a certain communication signal from the summed electrical signal, the summed electric signal is amplified and subjected to a band pass filter and two low pass filters. If you perform the amplification and filtering three or more times, you can make a clear communication signal without noise.

And, to make it into a digital signal, it goes through a sampling process and a quantization process. As an example, a desired digital communication signal may be generated as the noise-free signal is first sampled at 1 MHz and then quantized using two comparators.

The demodulation process of the communication signal thus obtained is performed by performing the inverse process of the previous modulator to obtain a signal of 8-PPM. Just analyze the signal.

Next, the driving information detector 160 detects driving information of the preceding vehicle 10 from the demodulated communication signal and transmits the driving information to the display module installed in the vehicle (S460). Accordingly, the driver can recognize the driving information of the preceding vehicle 10.

In addition, the driving controller 170 automatically compares the detected driving information with the driving information of the vehicle and automatically runs the trailing vehicle 20 with respect to the preceding vehicle 10 when danger information occurs in an emergency situation. The evacuation maneuver is made (S470).

The present invention as described above has the advantage of intelligently performing collision avoidance and accident avoidance maneuver of vehicles by detecting one or more LED taillights using an image sensor and performing decoding of multiple communication signals using a photodiode array. have.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: leading vehicle 11: taillight
12: transmission block 13: binary signal generator
14: signal modulator 15: tail light control unit
20: trailing vehicle 100: vehicle collision avoidance device
110: image sensor 120: tail light detection unit
130: vehicle recognition unit 140: photodiode selection unit
150: driving signal demodulation unit 160: driving information detection unit
170: driving control unit 180: DB unit

Claims (14)

In an intelligent vehicle collision prevention device installed in a vehicle to prevent a collision with a preceding vehicle,
An image sensor for capturing a rear image of the preceding vehicle having a transmission block for modulating driving information of the preceding vehicle into binary bits to control an on / off operation of a tail light according to the states of the binary bits;
A rear light detector detecting a rear light portion of the preceding vehicle from the captured image;
A vehicle recognition unit for recognizing the preceding vehicle using the detected tail light portion and obtaining coordinates of the tail light in the captured image;
A photodiode selector for selecting at least one photodiode corresponding to the region corresponding to the obtained coordinates from among the photodiode arrays provided in the image sensor; And
And a driving signal demodulator for processing an electrical signal of the selected photodiode to demodulate a communication signal corresponding to driving information of the preceding vehicle. The method according to claim 1,
A driving information detector for detecting driving information of the preceding vehicle from the demodulated communication signal and transmitting the detected driving information to a display module installed in the vehicle; And
And a driving controller configured to avoid driving of the vehicle with respect to the preceding vehicle when dangerous information is generated by comparing the detected driving information with the driving information of the vehicle. The method according to claim 1,
The transmission block,
A binary signal generator which acquires driving information of the preceding vehicle and converts the driving information into a binary signal;
A signal modulator for generating the binary bits by modulating the binary signal; And
And a tail light controller for temporally controlling an on or off operation of a tail light of the preceding vehicle in response to a high or low state of the binary bits. The method according to claim 1 or 3,
The transmission block,
Intelligent vehicle collision prevention device for modulating the driving information of the preceding vehicle by a pulse position modulation (PPM) method. The method according to claim 1 or 3,
The transmission block,
And the driving information or the emergency situation information detected from the tail light provided in the front vehicle of the preceding vehicle and integrated into one traffic condition information and modulated into the binary bit. The method according to claim 1,
It further comprises a DB unit for pre-stored the interval information between the left and right taillights for the preceding vehicle for each separation distance with the preceding vehicle,
The vehicle recognition unit,
After calculating the interval between the detected left and right taillights, the calculated interval information and the interval information stored in the DB unit are compared with each other to recognize the preceding vehicle, and a unique ID is assigned to the recognized at least one preceding vehicle. Intelligent vehicle collision avoidance device for acquiring the coordinates for each unique ID. The method according to claim 1,
When a plurality of photodiodes corresponding to the area corresponding to the obtained coordinates are selected from the photodiode array,
The driving signal demodulation unit,
Intelligent vehicle collision avoidance apparatus for demodulating the communication signal using the summed electrical signal for the selected plurality of diodes. In an intelligent vehicle collision prevention method using an intelligent vehicle collision prevention device installed in a vehicle to prevent a collision with a preceding vehicle,
Photographing a rear image of the preceding vehicle having a transmission block which modulates driving information of the preceding vehicle into a binary bit and controls an on / off operation of a tail light according to the states of the binary bits with an image sensor;
Detecting a rear light portion of the preceding vehicle from the captured image;
Recognizing the preceding vehicle using the detected tail light portion and acquiring coordinates of the tail light in the photographed image;
Selecting at least one photodiode corresponding to an area corresponding to the obtained coordinates from among photodiode arrays provided in the image sensor; And
And demodulating a communication signal corresponding to driving information of the preceding vehicle by processing an electrical signal of the selected photodiode. The method according to claim 8,
Detecting driving information of the preceding vehicle from the demodulated communication signal and transmitting the detected driving information to a display module installed in the vehicle; And
And avoiding driving of the vehicle with respect to the preceding vehicle when dangerous information is generated by comparing the detected driving information with the driving information of the vehicle. The method according to claim 8,
The transmission block,
After the driving information of the preceding vehicle is obtained and converted into a binary signal, the binary signal is modulated to generate the binary bits, and then the tail light of the preceding vehicle is turned on or off in response to the high or low state of the binary bits. Intelligent vehicle collision avoidance method that controls motion in time. The method according to claim 8 or 10,
The transmission block,
Intelligent vehicle collision prevention method for modulating the driving information of the preceding vehicle by a pulse position modulation (PPM) method. The method according to claim 8 or 10,
The transmission block,
And driving information of the preceding vehicle and driving information or emergency situation information detected from a tail light provided in the front vehicle of the preceding vehicle into one traffic condition information and modulated into the binary bit. The method according to claim 8,
Recognizing the preceding vehicle and obtaining the coordinates of the tail light,
After calculating the interval between the detected left and right taillights, the calculated interval information and the interval information stored in the DB unit are compared with each other to recognize the preceding vehicle, and the unique ID is assigned to the recognized at least one preceding vehicle. Obtaining the coordinates for each unique ID,
The DB unit,
Intelligent vehicle collision prevention method that pre-stored the interval information between the left and right taillights for the preceding vehicle for each separation distance with the preceding vehicle. The method according to claim 8,
When a plurality of photodiodes corresponding to the area corresponding to the obtained coordinates are selected from the photodiode array,
Demodulating the communication signal corresponding to the driving information of the preceding vehicle,
And demodulating the communication signal using the summed electrical signals for the selected plurality of diodes.

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