KR101535722B1 - Driver assistance systems and controlling method for the same - Google Patents

Abstract

The present invention relates to a position detection module, which is mounted on an automobile and provides road information on which the automobile travels, a first camera for photographing an object on the road to obtain first image information, And a distance measuring unit measuring a distance r between the first camera and the second camera based on the first image information and the second image information, A controller for determining whether the road is a reverse road or not, and a controller for determining whether the road surface is a reverse road, whether a speed overshoot exists in the first image information or the second image information, , And when there is an overspeed preventing jaw on the road, the speed of the automobile is calculated based on the distance (r) between the object measured by the distance measuring unit This power / brake comprises a module, and the distance (r) of the gaekchae as measured by the distance measuring unit, to a speed bump detection apparatus using stereo vision is calculated by the equation (1) below.

Description

Technical Field [0001] The present invention relates to a speed bust detection apparatus using a stereo vision,

More particularly, the present invention relates to an overspeed detection apparatus using a stereoscopic vision that warns a driver when a speed braking tack is detected on a back road and controls a vehicle speed, And a control method.

The driver assistance system is designed to detect the danger and detect the risk of accident through visual, auditory and tactile factors, as well as speed deceleration for avoiding front collision or vehicle safety Device. In addition, the driving assistance system can perform lane departure warning, blind spot monitoring, and improved rearward surveillance.

The driving assist system is divided into various types according to its functions. The Forward Collision Warning System (FCW) is a system that provides visual, auditory, and tactile warning to drivers for the purpose of avoiding collision with the forward vehicle by detecting the vehicle in the same direction ahead of the driving lane to be.

The Advanced Emergency Braking System (AEBS) detects the possibility of collision with a vehicle located in front of the driving lane and warns the driver. If the driver does not respond or it is determined that a collision is inevitable, the collision can be alleviated and avoided It is a system for automatically decelerating a car for the purpose.

The Adaptive Cruise Control (ACC) automatically detects the vehicle in the same direction in front of the driving lane according to the driver's setting conditions and automatically accelerates or decelerates according to the speed of the vehicle and maintains the safety distance And automatically runs at the target speed.

In addition, the driving assistance system includes a lane departure warning system (LDWS), a lane keeping assist system (LKAS), blind spot detection (BSD) -end Collision Warning System, RCW).

Navigation usually informs you when your car is driving on a road with speed bumps. However, there is a case where the speed limiting braking information stored in the navigation does not match the actual speed braking tack. In fact, even if there is a speed limiter, the driver does not recognize the speed limiter. In addition, there may be a problem of inconvenience to passengers of a car.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an overspeed protection device using a stereoscopic vision that automatically senses a speed restriction protector on a back road to reduce the speed of the vehicle.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an overspeed protection threshold sensing apparatus using stereovision, comprising: a position sensing module mounted on an automobile and providing road information on which the automobile travels; A second camera for acquiring second image information by photographing an object on the road at an angle different from that of the first camera, and a second camera for acquiring second image information based on the first image information and the second image information, And a distance measuring unit for measuring a distance r to the object, wherein the vision module is mounted on the vehicle, the type of the road is determined from the road information, and when the road is a back road, A controller for determining whether an overspeed prevention jaw exists in the second image information, And a power / braking module for reducing the speed of the automobile based on the distance r to the object measured by the distance measuring unit, wherein the distance r from the object measured by the distance measuring unit is Is calculated by the following equation (1).

The details of other embodiments are included in the detailed description and drawings.

According to the present invention, there is provided one or more of the following effects according to an overspeed-up-tact detection apparatus using a stereovision and a control method thereof.

First, there is an advantage that it is possible to measure the distance between the speed limiter and the speed limiter using stereo vision, and to notify the driver of the speed limiter.

Secondly, there is an advantage that accurate information on the speed braking assist can be obtained even when information on the speed braking assist obtained by navigation is not accurate.

Third, there is an advantage of preventing the damage of the vehicle due to the detection of a more accurate speed bump and improving the ride quality.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a block diagram of a driving assistance system according to an embodiment of the present invention.
2 is a diagram illustrating the operation of a vision module and a radar module of a driving assistance system according to an embodiment of the present invention.
FIG. 3 is a block diagram of an overspeed inhibition threshold sensing apparatus using stereo vision according to an embodiment of the present invention.
4 is a configuration diagram of a vision module according to an embodiment of the present invention.
5 is a view for explaining distance measurement according to an embodiment of the present invention.
6 is a flowchart according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

The suffix "module" and "part" for constituent elements used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the drawings for explaining an overspeed protection tactile device using stereo vision and a control method thereof according to embodiments of the present invention.

FIG. 1 is a block diagram of a driving assistance system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an operation of a vision module and a radar module of a driving assist system according to an embodiment of the present invention.

The driving assistance system according to an embodiment of the present invention includes an acceleration input module 10, a brake input module 20, a vision module 220, a radar module 40, a velocity sensing module 50, A position sensing module 210, a controller 200, a memory 150, a warning module 240, and a power / braking module 230.

The acceleration input module 10 is a user's operation device for increasing the speed of the vehicle. The acceleration input module 10 increases the power of the power / braking module 230 to increase the speed of the vehicle. Generally, the acceleration input module 10 increases the speed of the vehicle by increasing the rotation of the vehicle engine. The acceleration input module 10 is generally provided as an accelerator pedal in the form of a pedal below the driver's seat of the vehicle.

Acceleration input module 10 may be inputted with an acceleration degree in accordance with a user's operation. If the acceleration input module 10 is an accelerator pedal, the degree of acceleration may be input according to the pedal pressure.

When the user operates the acceleration input module 10, the acceleration input module 10 outputs an acceleration signal including the degree of acceleration to the controller 200. The controller 200 controls the power / braking module 230 according to the input acceleration signal to accelerate the vehicle. According to the embodiment, the acceleration input module 10 can directly control the power / braking module 230 to accelerate the vehicle.

The braking input module 20 is a user's operating device for reducing the speed of the vehicle or for stopping the vehicle. The braking input module 20 reduces the power of the power / braking module 230 or generates a braking force to decelerate or stop the vehicle. Generally, the braking input module 20 operates a brake that applies a frictional force to a disk of a wheel of a vehicle to reduce the speed of the vehicle. Depending on the embodiment, the braking input module 20 may directly reduce the rotation of the vehicle engine or operate a reduction device such as a retarder. The braking input module 20 is generally provided as a brake pedal in the form of a pedal below the driver's seat of the vehicle.

The braking input module 20 can be inputted with the degree of deceleration according to the operation of the user. If the braking input module 20 is a brake pedal, the degree of deceleration may be inputted according to the pedal pressure.

When the user operates the braking input module 20, the braking input module 20 outputs the braking signal including the deceleration degree to the controller 200. [ The controller 200 controls the power / braking module 230 according to the input braking signal to decelerate or stop the vehicle. The braking input module 20 may directly control the power / braking module 230 to decelerate or stop the vehicle.

The speed sensing module 50 senses the current speed of the vehicle. The speed sensing module 50 senses the rotation speed of the wheels of the vehicle or senses the rotation speed of the output shaft of the transmission connected to the engine of the vehicle to calculate the current speed of the vehicle. The speed sensing module 50 may include a speed sensor for sensing a rotation speed and a processor for calculating a current speed value of the vehicle.

The speed sensing module 50 outputs the sensed speed value of the vehicle to the controller 200.

The posture sensing module 60 senses the posture variation of the vehicle. The posture sensing module 60 senses a variation of at least one of a pitch axis, a yaw axis, and a roll axis, and senses a yaw rate in the present embodiment. That is, in the present embodiment, the attitude sensing module 60 senses the yaw rate of the vehicle and senses the degree of rotation of the vehicle. The attitude detection module 60 may include a gyro sensor or an acceleration sensor for detecting the attitude change, a processor for calculating the variation value, and the like.

The attitude detection module (60) outputs the detected attitude variation value of the vehicle to the controller (200).

The position sensing module 210 senses the position of the vehicle. The position sensing module 210 is a receiver of a global positioning system (GPS), and receives latitude and longitude values from a satellite to calculate the position of the vehicle. According to the embodiment, the position sensing module 210 may replace the speed sensing module 50 by calculating the speed of the vehicle. According to an embodiment, the location sensing module 210 may include navigation to provide road information for the vehicle to travel. The position sensing module 210 may receive information on the road from navigation and provide information on whether the road in which the automobile is traveling is a straight road or a curved road. In addition, the position sensing module 210 may provide information on the lane of the road or information on whether there is a speed braking obstacle on the road during driving. The information provided by the position sensing module 210 is transmitted to the controller 200.

The vision module 220 is a device that recognizes an object outside the vehicle by photographing an image outside the vehicle and discriminates the type of the object. The vision module 220 is generally disposed at the front end of the vehicle and photographs an image of the front of the vehicle.

As shown in FIG. 2 (a), the vision module 220 can distinguish the road R and recognize various objects O on the road R to recognize and distinguish the objects. The vision module 220 can recognize whether the object O is a vehicle, a person, or a simple object by recognizing the shape of the object O. In the case of a vehicle, the vision module 220 can discriminate whether it is a passenger car, a truck, or a two-wheeled vehicle.

The vision module 220 can recognize the lane L on the road R and discriminate whether the lane L is a general lane, a center line, a curb line, or a divided lane. In addition, the vision module 220 can recognize and distinguish a curb or a walk on the road.

The vision module 220 can recognize the lane N between the lane L and the lane L through the recognized lane L. [ The vision module 220 can recognize the lane N in which the subject vehicle H equipped with the vision module 220 is running. In addition, the vision module 220 can recognize which lane N the recognized object O is located on, or whether the recognized object O lies on the lane L.

The recognition and identification of the object O can be performed in the vision module 220 itself or in the controller 200 through the image photographed by the vision module 220.

The vision module 220 has a constant field of view. As shown in FIG. 2 (a), the vision module 220 photographs the objects O in the clock F. FIG. According to the embodiment, the vision module 220 can change the photographing direction up and down and / or left and right. That is, the vision module 220 can change the center of the clock F up and down and / or right and left.

The vision module 220 may include a camera that captures an image, a processor that processes the captured image, and a memory that stores data. According to an embodiment, the vision module 220 may include a driving device capable of changing the shooting direction of the camera.

The vision module 220 may output photographed image data to the controller 200 or output information of the recognized object O to the controller 200. [

The radar module 40 is a device that emits an electromagnetic wave to a specific object O and then receives an electromagnetic wave reflected from the object O to sense distance to the object O, The radar module 40 is generally disposed at the front end of the vehicle to calculate the distance to a specific object O in front of the vehicle, and the like. According to an embodiment, the radar module 40 may be a lidar that fires a laser at the object O.

The radar module 40 detects the distance, position, angle, relative speed, etc. to the target vehicle T, which is a specified object among the various objects O as shown in FIG. The target vehicle T is selected from the data detected by the radar module 40 and the vision module 220 as the object O to be tracked by the controller 200 and is generally set to the radar module 40 and the vision module 220, Is an object O recognized as a vehicle at a distance closest to the front of the subject vehicle H on the lane N in which the subject vehicle H is installed.

The radar module 40 may include a radar that emits electromagnetic waves, a processor that processes information about the electromagnetic waves received by the radar, and a memory that stores data.

The radar module 40 outputs information such as the distance to the object O, the position, the angle, and the relative speed to the controller 200.

The warning module 240 is a device for giving a warning to a driver who drives the vehicle, and can warn various audiences, audiences, and tactiles according to embodiments. The warning module 240 may display a warning on a dash panel of a driver's seat, a head-up display, navigation, an integrated information display device, and the like. The warning module 240 can provide a warning through the speaker of the vehicle. The warning module 240 can warn the driver by vibrating the steering wheel of the vehicle or tightening the seat belt.

The warning module 240 operates according to the control of the controller 200 to alert the driver.

The power / braking module 230 is a device for accelerating, decelerating or stopping the vehicle. The power / brake module 230 may include an engine and / or a motor that generates a rotational force to rotate the wheels of the vehicle, and a transmission that changes the rotation ratio of the engine and / or the motor. The power / brake module 230 may include a brake and / or retarder that generates braking force or reduces rotation of the engine and / or motor.

The power / braking module 230 may operate under the control of the controller 200 or may be operated by the acceleration input module 10 or the braking input module 20.

The controller 200 includes an acceleration input module 10, a braking input module 20, a vision module 220, a radar module 40, a velocity sensing module 50, a position sensing module 60 and a position sensing module 210 And controls the warning module 240 and the power / braking module 230 according to the processed result. The controller 200 may include a CAN (Controller Area Network) for data communication with each module. On the other hand, the scope of the present invention is not limited to the communication using the CAN (Controller Area Network), and the communication method used in the automobile network is included in the scope of the present invention.

Memory 150 stores programs, instructions, and data. The controller 200 stores data in the memory 150 or calls programs, commands, or data stored in the memory 150. [

FIG. 3 is a block diagram of an overspeed inhibition threshold sensing apparatus using stereo vision according to an embodiment of the present invention.

Referring to FIG. 3, an overspeed detection device using stereo vision may include a controller 200, a position sensing module 210, a vision module 220, a power / braking module 230, and a warning module 240 have.

The position sensing module 210 may provide information on the road on which the vehicle is traveling. The position sensing module 210 may be mounted in a vehicle. The location sensing module 210 may include navigation to provide road information that the vehicle travels. The position sensing module 210 may provide information on whether the road in which the vehicle is traveling is a back road, a highway, or a national road. The position sensing module 210 may receive information on the road from navigation and provide information on whether the road in which the automobile is traveling is a straight road or a curved road. In addition, the position sensing module 210 may provide information on the lane of the road during driving, or information on whether a speed braking tack exists on the road during driving. The information provided by the position sensing module 210 is transmitted to the controller 200.

The vision module 220 may acquire first image information of the front of the automobile through the first camera and second image information of the front of the automobile through the second camera. There are roads and objects in the acquired first image information or second image information. Here, the object may be an overspeed inhibiting jaw. The first image information or the second image information acquired by the vision module 220 is transmitted to the controller 200. That is, when the vision module 220 acquires image information on the overspeed prevention jaw, the image information is transmitted to the controller 200. According to the embodiment, the first image information or the second image information acquired by the vision module 220 may be stored in the memory 150. [ For example, the image of the excessive speed bump obtained in the vision module 220 may be stored in the memory 150. [

Meanwhile, the vision module 220 may include a processor capable of processing the acquired image information. For example, when the object included in the image information acquired by the vision module is a speed braking jaw, the processor can calculate the width and height of the overbraking braking jaw. In the present embodiment, the processor included in the vision module 220 processes image information, but the present invention is not limited thereto. The processing of the image information acquired by the vision module 220 may be performed by the controller 200. [

Meanwhile, the vision module 220 may include a first camera, a second camera, and a distance measuring unit. A detailed description of the configuration of the vision module 220 will be described with reference to FIG.

The controller 200 receives road information from the position sensing module 210. For example, the controller 200 may receive information on the overspeed inhibition from the position sensing module 210. For example, The controller 200 receives the first image information or the second image information from the vision module 220. For example, the controller 200 may receive image information on the overspeed preventing jaw from the vision module 220.

The controller 200 determines the type of the road on which the automobile is traveling based on the road information provided from the position sensing module 210. For example, the controller 200 can determine whether the road on which the vehicle is traveling is a back road, a highway, or a national road.

The controller 200 determines whether the road on which the vehicle is traveling is on the back road from the road information received from the position sensing module 210. The back road may be a road without a distinction of a round trip lane. As a result of the determination, if the road surface is a back road, the controller 200 determines whether a speed braking obstacle exists in the first image information or the second image information received by the vision module 220. As a result of the determination, when there is an overspeed prevention jaw, the controller 200 automatically controls the power / braking module to reduce the speed of the vehicle.

Also, the controller 200 determines whether the road on which the vehicle is traveling is a highway or a national road, based on the road information received from the position sensing module 210. If it is determined that the vehicle is a highway or a highway, the controller 200 determines whether there is a speed limit jaw in the image information received by the vision module 220. When there is an overspeed inhibition jaw, the controller 200 controls the power / brake module to automatically reduce the speed of the vehicle.

The controller 200 may determine whether the object is an overspeed inhibition based on the width and height of the object existing in the first image information or the second image information received from the vision module 220. [ According to the embodiment, the width and height of the speed limit braking force obtained from the existing vision module 220 and stored in the memory 150 and the width and height of the object are compared with each other in the image obtained from the current road, , The controller 200 can determine that it is the overspeed inhibition threshold. According to the embodiment, when the width and the height of the object fall within a predetermined range, the controller 200 can determine that the object is the overspeed inhibition jaw.

The power / braking module 230 reduces the speed of the vehicle under the control of the controller 200.

The warning module 240 is under the control of the controller 200. The warning module 240 may generate a visual, audible or tactile alarm in the presence of an overspeed braking obstacle on the road where the vehicle is running.

4 is a configuration diagram of a vision module according to an embodiment of the present invention.

Referring to FIG. 4, the vision module 220 may include a first camera 221, a second camera 222, and a distance measurement unit 223.

The first camera 221 can be mounted in front of the automobile and can photograph an object on the road or a road.

The second camera 222 may be mounted in front of the vehicle and may take an object on the road or an object on the road at a different angle from the first camera 221.

For example, the first camera 221 can be mounted on the front left side of the automobile to photograph an object on the road, and the second camera 222 can be mounted on the front right side of the automobile, You can shoot objects on the road.

The distance measuring unit 223 may measure the distance from the object on the road from the first image information acquired by the first camera 221 and the second image information acquired by the second camera 222. [ The distance measurement method can be based on a disparity map. The distance measuring method will be described with reference to FIG.

The controller 200 may control the power / braking module 230 to automatically reduce the vehicle speed in accordance with the distance from the object measured by the distance measuring unit 223. [ That is, under the control of the controller 200, the power / braking module 230 can automatically reduce the speed of the vehicle in accordance with the distance measured by the distance measuring unit 223. For example, the distance measuring unit 223 measures the distance from the automobile to the overspeed prevention threshold present in the image photographed by the first camera 221 and the second camera 222. The controller 200 controls the power / braking module 230 so as to reduce the speed of the vehicle in accordance with the distance from the vehicle measured by the distance measuring unit 223 to the overspeed inhibition threshold.

5 is a view for explaining distance measurement according to an embodiment of the present invention.

Generally, there are two methods of measuring the distance to an object: a method using stereo matching (Stereo Matching) and a method using only a mono image.

The perspective is a method to estimate the distance by using the approximate proportional relationship and the property that the object looks small as the distance increases and the object becomes closer as the object approaches. However, in the case of using only one image, Dimensional object such as a three-dimensional object, or a complex algorithm to detect a three-dimensional object with only two-dimensional information. In addition, there is a problem in that a method using one image causes an error according to the size of the object, and particularly, it shows a lot of errors in a hill or a downhill where the vertical position of the object and the camera are not the same.

Stereo matching using two images is a technique of extracting stereoscopic image information from two images input to the first camera and the second camera.

This stereo matching detects whether a pattern at a specific position in one image is located at an attitude position in the other image, as in a method in which two eyes of a person acquire distance information to a specific object or image pattern, By extracting the disparity, the distance from the camera to the actual position of the pattern is directly calculated.

Referring to FIG. 5, a formula for measuring a distance to an object using stereo matching is described. R is a distance to an object. f is the focal length of the first camera 221 or the second camera 222. [ and b is the distance between the first camera 221 and the second camera 222. dl is the x-axis distance of the object from the center of the image acquired by the first camera 221. [ and dr is the x-axis distance of the object from the center of the image acquired by the second camera 222. [ d is the value obtained by subtracting dr from dl. The distance r to the object is the product of the focal length f and the distance between the first camera 221 and the second camera 222 divided by dl minus dr.

6 is a flowchart according to an embodiment of the present invention.

Referring to FIG. 6, the controller 200 receives the road information of the vehicle running from the position sensing module 210 (S310). Here, the position sensing module 210 may be navigation mounted on the vehicle, and the road information may be whether the road on which the automobile is traveling is a straight road, a curved road or a back road. The road information may also include whether or not a speed bump exists on the road on which the automobile is traveling.

The controller 200 may acquire image information of an object on a road or a road from the vision module 220 (S320). Here, the vision module 220 may include a first camera 221, a second camera 222, and a distance measurement unit 223.

The first camera 221 can be mounted in front of the automobile and can photograph an object on the road or a road. That is, the vision module 220 can acquire the first image information about the object on the road through the first camera 221.

The second camera 222 may be mounted in front of the vehicle and may take an object on the road or an object on the road at a different angle from the first camera 221. That is, the vision module 220 can acquire the second image information about the object on the road through the second camera 222.

For example, the first camera 221 can be mounted on the front left side of the automobile to photograph an object on the road, and the second camera 222 can be mounted on the front right side of the automobile, You can shoot objects on the road.

The distance measuring unit 223 may measure the distance from the object on the road from the first image information acquired by the first camera 221 and the second image information acquired by the second camera 222. [

In this embodiment, it is described that the step of acquiring image information (S320) is performed after the step of receiving the road information (S310), but is not limited thereto. Step S320 may be performed before step S310.

The controller 200 determines the type of the road on which the vehicle is traveling based on the road information received by the position sensing module 210. For example, the controller 200 determines whether the road on which the automobile is traveling is on the back road (S330). If the road surface is a back road, the controller 200 determines whether a speed bump exists in the image information received by the vision module 220 (S340). The controller 200 can determine whether the object is an overspeed inhibition based on the width and height of an object existing in the image information received from the vision module 220. [ According to the embodiment, the width and height of the speed limit braking force obtained from the existing vision module 220 and stored in the memory 150 and the width and height of the object are compared with each other in the image obtained from the current road, , The controller 200 can determine that it is the overspeed inhibition threshold. According to the embodiment, when the width and the height of the object fall within a predetermined range, the controller 200 can determine that the object is the overspeed inhibition jaw.

The controller 200 controls the warning module 240 based on the distance to the object measured by the distance measuring unit 223 to generate an alarm or to output the alarm to the power / The speed of the vehicle can be reduced.

At this point, it will be appreciated that the combinations of blocks and flowchart illustrations in the process flow diagrams may be performed by computer program instructions. These computer program instructions may be loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, so that those instructions, which are executed through a processor of a computer or other programmable data processing apparatus, Thereby creating means for performing functions. These computer program instructions may also be stored in a computer usable or computer readable memory capable of directing a computer or other programmable data processing apparatus to implement the functionality in a particular manner so that the computer usable or computer readable memory The instructions stored in the block diagram (s) are also capable of producing manufacturing items containing instruction means for performing the functions described in the flowchart block (s). Computer program instructions may also be stored on a computer or other programmable data processing equipment so that a series of operating steps may be performed on a computer or other programmable data processing equipment to create a computer- It is also possible for the instructions to perform the processing equipment to provide steps for executing the functions described in the flowchart block (s).

In addition, each block may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative implementations, the functions mentioned in the blocks may occur out of order. For example, two blocks shown in succession may actually be executed substantially concurrently, or the blocks may sometimes be performed in reverse order according to the corresponding function.

The term " module " used in this embodiment means a hardware component such as software or an FPGA or an ASIC, and the module performs certain roles. However, a module is not limited to software or hardware. A module may be configured to reside on an addressable storage medium and configured to play back one or more processors. Thus, by way of example, a module may include components such as software components, object-oriented software components, class components and task components, and processes, functions, attributes, procedures, Microcode, circuitry, data, databases, data structures, tables, arrays, and variables, as will be appreciated by those skilled in the art. The functionality provided within the components and modules may be combined into a smaller number of components and modules or further separated into additional components and modules. In addition, the components and modules may be implemented to play back one or more CPUs in a device or a secure multimedia card.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

200: controller
210: Position sensing module
220: Vision module
230: Power / Brake Module
240: Warning module

Claims (7)

A position sensing module mounted on the vehicle and providing road information on which the vehicle travels;
A first camera for photographing an object on the road to acquire first image information, a second camera for photographing an object on the road at a different angle from the first camera to acquire second image information, And a distance measuring unit for measuring a distance (r) to the object based on the second image information, the vision module being mounted on the vehicle;
A controller for determining the type of the road from the road information, and determining whether a speed overshoot exists in the first image information or the second image information when the road is a back road; And
And a power / braking module for reducing a speed of the automobile based on a distance r from the object measured by the distance measuring unit when the road is a back road and an overspeed prevention jaw exists on the road,
The distance r to the object measured by the distance measuring unit is calculated by the following equation (1)
Wherein the controller determines whether the object is an overspeed preventing threshold based on a width and a height of an object existing in the first image information or the second image information.
[Equation 1]

r: distance to object
f: focal length of the first camera and the second camera
b: distance between the first camera and the second camera
d is a length obtained by subtracting the x-axis distance of the object input to the second camera from the x-axis distance of the object input to the first camera, delete The method according to claim 1,
And a warning module for generating a visual, audible or tactile alarm based on the distance r from the object measured by the distance measuring unit when the road is a back road and an overspeed preventing jaw exists on the road Speed vision sensor with stereo vision. The method according to claim 1,
The controller comprising:
Determining whether a speed braking force is present in the first image information or the second image information when the road is an expressway or a national road,
The power / braking module includes:
Wherein the vehicle speed is reduced based on the distance r to the object measured by the distance measuring unit when the road is an expressway or a national road and an overspeed preventing jaw exists on the road, . Receiving road information through a position sensing module;
Acquiring first image information on an object on the road through a first camera;
Acquiring second image information for an object on the road at a different angle than the first camera through a second camera;
Measuring a distance (r) to the object based on the first image information and the second image information;
Determining a type of the road from the road information, and determining whether the road surface is a road surface, based on the width and height of the object existing in the first image information or the second image information;
And automatically reducing the speed of the automobile on the basis of the distance r from the measured object when the road is a back road and a speed braking obstacle is present on the road,
Wherein the distance r from the object measured by the distance measuring unit is calculated by Equation (1) below.
[Equation 1]

r: distance to object
f: focal length of the first camera and the second camera
b: distance between the first camera and the second camera
d is a length obtained by subtracting the x-axis distance of the object input to the second camera from the x-axis distance of the object input to the first camera, delete 6. The method of claim 5,
Further comprising the step of generating a visual, auditory or tactile alarm based on the distance r to the measured object when the road is a back road and the object on the road is an overspeed braking obstacle, Speed overshoot detection control method.

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