KR101393887B1 - Driver assistance system - Google Patents

Abstract

The turning radius R of the spiral ramp calculated on the basis of the screen captured on the front camera is compared with the turning radius R of the vehicle calculated based on the steering information detected by the steering angle detecting sensor, A driver assistance system is introduced that provides safety control to avoid departing from the turning radius of the access road. According to this system, even if the driver is somewhat inadequate, it is possible to carry out the helicopter access road passage more conveniently and safely for parking in the parking lot on the roof or on the roof.

Driving assistance system, parking, underground

Description

[0001] DRIVER ASSISTANCE SYSTEM [0002]

The present invention relates to a driver assistance system, and more particularly, to a driver assistance system for assisting a driver of a vehicle traveling along a spiral ramp on a building site or a roof.

Generally, when parking is provided on a building or on the roof, the driver must pass through a narrow spiral ramp with a small turning radius. In this case, the novice driver or other driver with poor driving ability is not only difficult to steer the vehicle, but also occasionally scratches the vehicle by being caught by the side jaw of the driveway during rotation.

On the other hand, the driver assistance system is a system that prevents the accident by providing driving information, danger warning, or active intervention to make the driver more convenient and safe driving. Various systems such as lane departure alarm, However, there has not yet been developed a system for assisting a driver of a vehicle traveling on a narrow spiral ramp having a small turning radius as described above.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned problems, and it is an object of the present invention to provide a driver assistance system for assisting a driver in driving a vehicle along a narrow spiral approach road with a small turning radius.

According to an aspect of the present invention, there is provided a driver assistance system including a front camera, a steering angle detection sensor, a rotation radius (R ') of a helical access road calculated based on a screen captured on a front camera, And compares the turning radius R of the vehicle calculated on the basis of the steering information obtained by the control unit so that at least the turning radius of the vehicle does not exceed the turning radius of the spiral entry road.

The turning radius R 'of the helical access road can be estimated using the intersection of the edge line corresponding to the boundary between the entrance road and the wall obtained through the binarization processing of the screen captured by the front camera and the system horizontal reference line as reference points, As a reference point, it is preferable to use an intersection point between the outer edge line and the system horizontal reference line.

Meanwhile, the safety control may include at least one of warning generation and chassis control.

According to the driver assistance system as described above, it is possible to more conveniently and safely pass the spiral entry road for parking in the parking lot on the roof or on the roof even if the driver has a somewhat poor driving ability.

Hereinafter, a driver assistance system according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in Fig. 1, the system according to the embodiment includes at least a front camera, a steering angle detection sensor, and a control unit.

The front camera is for acquiring the forward image when the vehicle enters the helical access road for parking, and a camera for road lane detection of the lane departure warning system or the like can be used.

The steering angle detection sensor is for detecting the angle of the steering wheel, and a normal steering angle sensor may be used and may include a steering torque sensor.

The control unit binarizes the image of the spiral entrance road imprinted on the front camera to calculate the turning radius R 'of the spiral entrance road on which the vehicle will travel. In the case of the helical access road, it is different from the general road environment because it is constituted by a passage (see Figs. 3 and 4) which is not open at the front and is surrounded by walls. In this case, the edge between the access road and the wall is extracted, An approximate turning radius can be obtained. The edge appears as a part where the brightness of the image is abruptly changed. It is presumed that if the brightness between the two pixels is changed by a change of the pixel brightness, the edge exists between the two pixels.

Further, the control unit calculates the anticipated vehicle turning radius R when the vehicle travels through the helical access road through the following equation (1) using the steering information received from the steering angle detection sensor, in particular, the steering angle. Refer to Fig. 2 for the vehicle turning radius.

D: Distance between the central angle of the king pin and the camber rotation angle

θ: steering angle

L: Subway distance

On the other hand, the control unit compares the car running radius (R) with the car running radius (R) calculated as described above, and warns the driver of the danger if the vehicle turning radius is larger than or significantly less than the entrance turning radius And / or controls the chassis, particularly the steering and braking, so that the vehicle turning radius is within an approximate range of the entry road turning radius. Here, the warning may be displayed on a warning sound or a warning light or on a display, and the chassis control may be performed in such a manner as to drive a steering motor (in the case of an MDPS system) to generate an inverse torque (reaction to the current steering echo) .

A method of calculating the turning radius of the helical access road will be described with reference to FIGS. 3 to 6. FIG.

As shown in FIG. 3, when the image of the entranceway of the underground parking lot which is left turning (turning leftward) is binarized, one edge line (boundary line between the entrance road and the wall) is extracted to both sides of the entrance road. Of these, the inner (left) edge line is short and the outer (right) edge line is long. In particular, a long outer edge line is used as a road reference judgment line for calculating the turning radius. This is because the longer outer edge line shows the curvature of the access road more clearly. The vertical line on the center of the image is the system vertical reference line passing through the center of view angle of the camera in the left and right direction.

As shown in Fig. 4, when the edge line is extracted by binarizing the image of the entranceway of the underground parking lot which is going to make a right turn (turning rightward), the inside (right) is short and the outside Two long edge lines are extracted. Naturally, the outer edge line is used as the road reference judgment line.

FIG. 5 is a view showing a system horizontal reference line corresponding to a horizontal line drawn at a predetermined position in front of the vehicle, together with the two edge lines and the system vertical reference line shown in FIG.

As shown in FIG. 5, the two edge lines intersect the system horizontal reference line to create two system reference points (left and right). In particular, the system reference point (right) intersecting with the road reference judgment line, which is the outer edge line, is adopted as a reference point for estimating the turning radius of the entrance road. Since the road reference decision line can be approximated by drawing a rough curve from this reference point, it can be used to model the road reference decision line to extract the curvature and curvature radius or the turning radius of the helical access road. As an example, the turning radius of the entrance road can be extracted by looking for a root curve that matches the locus of the road reference judgment line from the reference point to the point where the road reference judgment line crosses the system vertical reference line. Naturally, since the locus of the road reference judgment line and the root curve do not exactly match, the root curve type will include the correction factor, and the curvature of the road reference judgment line is extracted using the relationship between the road reference judgment line and the root curve type through various experiments Data that can be stored can be accumulated.

The operational flow of the driver assistance system will be described with reference to FIG.

According to the system on signal, the control unit drives the front camera to acquire an access road image, calculates the access road turning radius R 'from the image, receives the current steering angle from the steering angle detecting sensor, R '). In this case, it is preferable that the vehicle is located in the entrance road at the beginning of the entrance road.

When the turning radius R ', R is calculated as above, the control unit judges whether or not R < R &gt; associated with whether the vehicle turning radius is within the range of the turning radius of the entering road. If the vehicle turning radius R is larger than the entry road turning radius R ', it is judged as dangerous, and the alarm is generated and / or the steering (such as generation of the reverse driving torque) and the brake (once stopping) (R ') within a predetermined range.

If the condition of R < R &gt; is satisfied, it is again determined whether or not the condition of R > R & Minimum turning radius. In such a case (yes), it is judged as safe and monitoring whether a change of the vehicle turning radius (R) occurs, and if not, it is judged as dangerous and the safety control is performed. After the execution of the safety control, it is judged again whether or not the change of the vehicle turning radius R occurs, so that the vehicle can be safely operated within the range of the entering road turning radius R '.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It is to be understood that the invention may be variously modified and changed.

1 is a block diagram of a driver assistance system according to an embodiment of the present invention;

2 is a view showing a turning radius of a vehicle running in a rotation section,

Fig. 3 shows an image of an entranceway of a building underground parking lot,

Fig. 4 shows an image of an entranceway of a building underground parking lot,

5 is a diagram for explaining a method of calculating a turning radius of an access road from the image shown in Fig. 3,

6 is an operational flowchart of the driver assistance system according to the embodiment of the present invention.

Claims (4)

A driver assistance system to assist a driver of a vehicle traveling along a spiral ramp from a building site or rooftop, (R ') of the spiral ramp calculated on the basis of a line having a larger turning radius among the lines on both sides of the entrance, based on the screen captured by the front camera, and the steering angle detected by the steering angle detection sensor And a control unit that compares the turning radius (R) of the vehicle calculated based on the information so that at least the turning radius of the vehicle does not exceed the turning radius of the spiral entry road, The control unit performs safety control in the case where the vehicle turning radius R is larger than the entry road turning radius R 'or smaller than the minimum turning radius R ", and the minimum turning radius R' ) Is a turning radius at which the vehicle runs on the opposite lane over the median line of the access road. Driver assistance system. 2. The method as claimed in claim 1, wherein the turning radius R 'of the helical access road is estimated using an intersection between an edge line corresponding to a boundary between an entrance road and a wall obtained through a binarization process of a screen captured by a front camera and a system horizontal reference line, The driver assistance system comprising: The driver assistance system of claim 2, wherein the intersection point between the outer edge line and the system horizontal reference line is used as the reference point. The driver assistance system according to claim 1, wherein the safety control includes at least one of warning generation and chassis control.

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