KR101652798B1 - Unexpected incident detecting method - Google Patents

Unexpected incident detecting method Download PDF

Info

Publication number
KR101652798B1
KR101652798B1 KR1020150059005A KR20150059005A KR101652798B1 KR 101652798 B1 KR101652798 B1 KR 101652798B1 KR 1020150059005 A KR1020150059005 A KR 1020150059005A KR 20150059005 A KR20150059005 A KR 20150059005A KR 101652798 B1 KR101652798 B1 KR 101652798B1
Authority
KR
South Korea
Prior art keywords
speed
target object
separated
object
control unit
Prior art date
Application number
KR1020150059005A
Other languages
Korean (ko)
Inventor
박재형
이재균
Original Assignee
메타빌드주식회사
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 메타빌드주식회사 filed Critical 메타빌드주식회사
Priority to KR1020150059005A priority Critical patent/KR101652798B1/en
Application granted granted Critical
Publication of KR101652798B1 publication Critical patent/KR101652798B1/en

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66Radar-tracking systems; Analogous systems where the wavelength or the kind of wave is irrelevant
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00Methods or arrangements for effecting co-operative working between equipments covered by two or more of the preceding main groups, e.g. automatic card files incorporating conveying and reading operations

Abstract

In the present invention, a main identification ID is given to one target object, and while the target object is tracked, it is detected that the radio signal for the target object is separated at a predetermined position, and the auxiliary identification IDs The distance between the separated objects, the speed and the size of the separated objects are determined, so that the occurrence of the falling objects falling on the target object can be grasped more quickly and accurately.

Description

Unexpected incident detecting method [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unexpected situation detection method, and more particularly, to an unexpected situation detection method capable of detecting a falling object falling from a vehicle more quickly.

There is always potential for accidents in the road traffic used by vehicles and people, and in fact, many traffic accidents and dangerous situations occur throughout the country day by day. Especially, in a high-speed driving environment such as a highway or at night, there is a great possibility that the ability of the driver to perceive the surrounding situation is significantly deteriorated, which may lead to a large traffic accident. Various technologies for detecting a situation on the road have been proposed. However, in the related art, it is limited to a technology for detecting an object ahead and using an infrared camera installed on a road or a vehicle, have.

In recent years, there has been an increasing interest in techniques for grasping the road surface state of roads, detecting vehicles, pedestrians, and falling objects on the roads.

Korean Patent No. 10-0987177

An object of the present invention is to provide an unexpected situation detection method capable of detecting an unexpected situation occurring on the road more quickly.

A method for detecting an unexpected situation according to the present invention comprises the steps of: a radar device transmitting a radio signal on a road and receiving a radio signal reflected from the target object; The control unit gives a unique main identification ID to the target object according to the radio signal received by the radar device, generates target object detection information including the position, speed and size of the main identification ID, Tracking the target object according to object detection information; Determining whether a radio signal for the main identification ID is divided into a plurality of radio signals at a predetermined position while the control unit tracks the target object; Wherein the control unit determines that the target object is separated into a plurality of separated objects when the plurality of radio signals for the main identification ID are separated and assigns different auxiliary identification IDs to the plurality of radio signals, Generating separated object detection information including each position, speed and size of the separated objects corresponding to the auxiliary identification IDs; Wherein the control unit compares a distance between the separated objects with a predetermined threshold distance according to the separated object detection information; Comparing the speed and the size of the separated objects with a preset threshold according to the sensing information if the distance between the separated objects is greater than or equal to the critical distance; Wherein the control unit determines that the separated object having a speed less than a predetermined threshold speed and a size smaller than a predetermined threshold size is a falling object falling from the target object and stores positional information on the falling object ; And the control unit includes a step of transmitting location information and an alarm to the external terminal

According to another aspect of the present invention, there is provided a method for detecting an unexpected situation, comprising: receiving a radio signal on a road and receiving a radio signal reflected from a target object; The control unit gives a unique main identification ID to the target object according to the radio signal received by the radar device, generates target object detection information including the position, speed and size of the main identification ID, Tracking the target object according to object detection information; Determining whether a radio signal for the main identification ID is divided into a plurality of radio signals at a predetermined position while the control unit tracks the target object; Wherein the control unit determines that the target object is separated into a plurality of separated objects when the plurality of radio signals for the main identification ID are separated and assigns different auxiliary identification IDs to the plurality of radio signals, Generating separated object detection information including each position, speed and size of the separated objects corresponding to the auxiliary identification IDs; Wherein the control unit compares a distance between the separated objects with a predetermined threshold distance according to the separated object detection information; Wherein the control unit clusters the plurality of radio signals into a single target object when the distance between the separated objects is less than the critical distance, and when the distance between the separated objects is equal to or greater than the critical distance, Comparing the speed and size of the separated objects with a preset threshold value; Wherein the control unit determines that the separated object having a speed less than a predetermined threshold speed and a size smaller than a predetermined threshold size is a falling object falling from the target object and stores positional information on the falling object ; The control unit may transmit positional information and an alarm to the external terminal about the falling object; The control unit may determine that the falling object has been removed when the speed of the object falls below the critical speed after releasing the alarm for the object. Comparing the speed of the target object with a predetermined threshold speed if the radio signals for the main identification ID are not separated into a plurality of predetermined positions while the control unit tracks the target object; Wherein the control unit determines that the target object is a stationary vehicle if the velocity of the target object is less than the critical velocity, stores position information on the stationary vehicle, transmits position information and an alarm to the stationary vehicle ; Wherein the control unit stores positional information on the stopped vehicle and then compares the speed of the stopped vehicle at the stored position with the critical speed and if the speed of the stopped vehicle exceeds the critical speed, And releasing the alarm for the stopped vehicle.

In the present invention, a main identification ID is given to one target object, and while the target object is tracked, it is detected that the radio signal for the target object is separated at a predetermined position, and the auxiliary identification IDs The distance between the separated objects, the speed and the size of the separated objects are determined, so that the occurrence of the falling objects falling on the target object can be grasped more quickly and accurately.

Further, according to the present invention, even if a radio signal for a target object is separated at a predetermined position, if the distance between the separated objects is less than the threshold distance, a plurality of radio signals are clustered and unified into one target object, .

1 is a schematic diagram of an erratic detection system for explaining an erratic method according to an embodiment of the present invention.
2 and 3 are flowcharts illustrating an unexpected method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

Referring to FIG. 1, an outbreak detection system according to an embodiment of the present invention includes a radar device 10 and a control unit 20.

The radar device 10 is a sensor for transmitting a radio signal to the outside or receiving a radio signal. The radar apparatus 10 may control a radio signal transmitted to the outside or may transmit a radio signal reflected by an object to the controller 20. A plurality of radar apparatuses 10 may be installed at positions spaced a predetermined distance around the road, and each radar apparatus 10 may include a plurality of antennas. In addition, the radar device 10 may further include a camera (not shown) capable of photographing an unexpected situation or the like.

The control unit 20 is a control device connected to the radar device 10 in a communicable manner. The control unit 20 includes a radar interface (not shown) that receives a signal from the radar device 10 and transmits a control command to the radar device 10, A data generator (not shown) for converting the received data into a signal or converting received data into signals, receiving and classifying the data converted by the radar device 10 and generating sensing information, (Not shown) for tracking or tracking an unexpected situation or extracting traffic information, a terminal interface (not shown) for transmitting / receiving an external terminal signal such as a traffic situation control center to be described later, And a database (not shown) that stores sensing information generated in a data processing unit (not shown) or information processed in the data processing unit (not shown). The control unit 20 senses the target object T according to the radio signals received from the radar device 10 and gives a unique identification ID to the target object T, So that the target object T can be tracked. It is possible to track the target object (T) in a wide area by receiving the identification ID between the plurality of radar devices (10).

The control unit 20 judges an unexpected situation including a falling object or a stopped vehicle according to a radio signal received by the radar device 10, and when the unexpected condition is determined, And can be transmitted to an external terminal such as a traffic situation control center to be managed.

A method of detecting an unintentional operation of the unintentional detection system will now be described.

2 and 3, the radar apparatus 10 transmits a radio signal on the road, and receives a radio signal reflected from the target object T when the target object T is present on the road. (S1) Here, a plurality of radio signals reflected from the target object (T) may be composed of a plurality of radio signals. One of the plurality of radio signals for one target object (T) And recognizes it as a single wireless signal. Therefore, it is assumed that the radio signal for one target object T is a single radio signal.

The control unit 20 assigns a unique main identification ID to the target object T in accordance with the radio signal received by the radar device 10. In S2,

If the main identification ID for the target object T is given, the control unit 20 generates target object detection information including the position, velocity and size of the target object T. It is possible to confirm whether the target object T is a vehicle or a pedestrian through the target object detection information. The position, speed, and size of the target object T are compared with preset setting conditions, and the target object T can be classified accordingly. In the present embodiment, the target object T is a vehicle, for example. (S3)

Tracking the target object T on the basis of the sensing information when the sensing information on the target object T is generated. And receiving the signal for the target object (T) without generating the sensed information.

During the tracking of the target object T, it is determined whether or not a radio signal for the main identification ID is separated into a plurality of radio signals at a predetermined position (S5). A radio signal for one main identification ID is divided into a plurality of The control unit 20 determines that the target object T is separated into the first and second separated objects T1 and T2. At this time, it is determined whether a plurality of radio signals for the main identification ID are separated at the same position. Hereinafter, in the present embodiment, a radio signal for one target object T is separated into two radio signals. Accordingly, the control unit 20 can determine that the one target object T is separated into the two first and second separated objects T1 and T2.

If it is determined that the two radio signals are separated, the control unit 20 assigns different auxiliary identification IDs to the two radio signals. (S6) The first and second separated objects T1, Speed and size for each of the secondary identification IDs, when the secondary identification IDs for the secondary identification IDs are assigned to the secondary identification IDs, respectively.

The controller 20 compares the distance between the first and second separated objects T1 and T2 with a predetermined threshold distance according to the separated object detection information.

When the distance between the first separated object T1 and the second separated object T2 is less than the critical distance, the controller 20 controls the first separated object T1 and the second separated object T2, (S8). That is, if the distance between the first separated object (T1) and the second separated object (T2) is less than the critical distance, the one target object It can be determined that the first and second separated objects T1 and T2 are not completely separated from the first and second separated objects T1 and T2 or that the radar device 10 is defective. Therefore, the control unit 20 clusters the two radio signals and unifies them into one target object T. Therefore, it is possible to prevent an unexpected sensation of an unexpected situation.

On the other hand, if the distance between the first separated object T1 and the second separated object T2 is equal to or greater than the critical distance, the control unit 20 determines that the first and second separated objects T1, The respective velocities are compared with preset threshold velocities and the magnitudes of the first and second separated objects T1 and T2 are compared with a preset threshold magnitude.

If the speed of the second separated body T2 among the first and second separated bodies T1 and T2 is smaller than the critical speed and the size of the second separated body T2 is smaller than the critical size, (S10) At this time, the velocity of the first separated object (T1) is equal to or higher than the critical velocity, and the size of the first separated object (T1) , The first separated object T1 can be determined as a vehicle that is the existing target object T. [ Since a state where the vehicle falls from the vehicle and the vehicle suddenly decreases or there is little speed, it is possible to determine that the vehicle is a fallen object as compared with the critical speed. In addition, since the size of the fallen object is smaller than the size of the vehicle, it can be determined that the fallen object is in comparison with the preset threshold size. That is, it can be determined that the second separated object T2 is a drop falling from the first separated object T1 and that the first separated object T1 is the target object T.

The control unit 20 transmits the location information of the falling object and an alarm informing that the falling object has occurred to the external terminal (S11)

The traffic situation control center can receive location information and alerts from the control unit 20 and take measures to process the falling objects.

Meanwhile, after the controller 20 transmits the position information and the alarm about the falling object, the velocity of the first separated object T1, which is the falling object, is compared with the critical velocity again at the stored position (S12)

If the speed of the falling object exceeds the threshold speed, it can be determined that the speed is generated while the falling object moves. That is, it is determined that the falling object has been moved for removal. Accordingly, the control unit 20 can release the alarm for the falling object. (S13)

If the speed of each of the first and second separated bodies T1 and T2 is greater than the critical speed and the size of the first and second separated bodies T1 and T2 is greater than or equal to the critical size, 20 can track the first and second separated objects T1 and T2, respectively (S14)

Meanwhile, during the tracking of the target object T, it is not sensed that the radio signal for the main identification ID is separated from the predetermined position, and the controller 20 sets the speed of the target object T to the critical (S15).

If the speed of the target object T is less than the critical speed, the control unit 20 determines the vehicle as the target object T as a stop vehicle. (S16) Here, And may include a deceleration state.

The control unit stores positional information on the stopped vehicle, and transmits an alarm for notifying the position information and the stopped vehicle to the external terminal. (S17)

The traffic situation control center receives the location information and the alarm from the control unit 20, and can take measures to process the stopped vehicle.

The control unit 20 compares the speed of the target object T, which is the stopped vehicle, with the critical speed at a stored position after transmitting the position information and the alarm to the stopped vehicle.

If the speed of the target object T exceeds the critical speed, the control unit 20 can determine that the stopped vehicle has been moved and removed. Therefore, the control unit 20 cancels the alarm for the stopped vehicle (S19)

Accordingly, while one target object T is being tracked, it is possible to detect the separation of the radio signal for the target object T, thereby detecting an unexpected situation such as a falling object falling from the vehicle or the generation of a stationary vehicle, There is an advantage that the vehicle can be quickly judged at the time of occurrence of the vehicle.

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 exemplary 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: radar device 20:
T: target object T1: first separated object
T2: the second separated object

Claims (7)

  1. The radar device emitting a radio signal on the road and receiving a radio signal reflected from the target object;
    The control unit gives a unique main identification ID to the target object according to the radio signal received by the radar device, generates target object detection information including the position, speed and size of the main identification ID, Tracking the target object according to object detection information;
    Determining whether a radio signal for the main identification ID is divided into a plurality of radio signals at a predetermined position while the control unit tracks the target object;
    Wherein the control unit determines that the target object is separated into a plurality of separated objects when the plurality of radio signals for the main identification ID are separated and assigns different auxiliary identification IDs to the plurality of radio signals, Generating separated object detection information including each position, speed and size of the separated objects corresponding to the auxiliary identification IDs;
    Wherein the control unit compares a distance between the separated objects with a predetermined threshold distance according to the separated object detection information;
    Comparing the speed and the size of the separated objects with a preset threshold according to the sensing information if the distance between the separated objects is greater than or equal to the critical distance;
    Wherein the control unit determines that the separated object having a speed less than a predetermined threshold speed and a size smaller than a predetermined threshold size is a falling object falling from the target object and stores positional information on the falling object ;
    Wherein the control unit transmits positional information and an alarm to the external terminal about the falling object.
  2. The method according to claim 1,
    Wherein,
    Wherein the separated object is determined as the target object when the speed of the separated objects is equal to or greater than the critical speed and the size of the separated objects is equal to or greater than the critical size.
  3. The method according to claim 1,
    If the distance between the separated objects is less than the critical distance,
    And clustering the plurality of radio signals into a single target object.
  4. The method according to claim 1,
    Wherein,
    Comparing the speed of the falling object with the critical speed while tracking the falling object at the stored position after storing the positional information on the falling object,
    And when the speed of the falling object exceeds the threshold speed, determining that the falling object has been removed and releasing the alarm for the falling object.
  5. The method according to claim 1,
    Comparing the speed of the target object with the threshold speed if the radio signals for the main identification ID are not separated into a plurality of positions at a predetermined position while the control unit tracks the target object;
    Determining that the target object is a stationary vehicle if the velocity of the target object is less than the critical velocity and storing position information on the stationary vehicle;
    And transmitting location information and an alarm to the external terminal.
  6. The method of claim 5,
    Wherein,
    After storing positional information for the stationary vehicle, comparing the speed of the stationary vehicle with the critical speed while tracking the stationary vehicle at the stored position,
    And when the speed of the stopped vehicle exceeds the threshold speed, determining that the stopped vehicle has been removed and releasing the alarm for the stopped vehicle.
  7. The radar device emitting a radio signal on the road and receiving a radio signal reflected from the target object;
    The control unit gives a unique main identification ID to the target object according to the radio signal received by the radar device, generates target object detection information including the position, speed and size of the main identification ID, Tracking the target object according to object detection information;
    Determining whether a radio signal for the main identification ID is divided into a plurality of radio signals at a predetermined position while the control unit tracks the target object;
    Wherein the control unit determines that the target object is separated into a plurality of separated objects when the plurality of radio signals for the main identification ID are separated and assigns different auxiliary identification IDs to the plurality of radio signals, Generating separated object detection information including each position, speed and size of the separated objects corresponding to the auxiliary identification IDs;
    Wherein the control unit compares a distance between the separated objects with a predetermined threshold distance according to the separated object detection information;
    Wherein the control unit clusters the plurality of radio signals into a single target object when the distance between the separated objects is less than the critical distance, and when the distance between the separated objects is equal to or greater than the critical distance, Comparing the speed and size of the separated objects with a preset threshold value;
    Wherein the control unit determines that the separated object having a speed less than a predetermined threshold speed and a size smaller than a predetermined threshold size is a falling object falling from the target object and stores positional information on the falling object ;
    The control unit may transmit positional information and an alarm to the external terminal about the falling object;
    Wherein the control unit tracks the falling object after transmitting the positional information and the alarm, compares the speed of the falling object with the critical speed again, and determines that the falling object is removed when the speed of the falling object exceeds the critical speed Releasing an alarm for the falling object;
    Comparing the speed of the target object with the threshold speed if the radio signals for the main identification ID are not separated into a plurality of positions at a predetermined position while the control unit tracks the target object;
    The control unit determines that the target object is a stationary vehicle if the velocity of the target object is less than the critical velocity, stores position information on the stationary vehicle, and transmits position information and an alarm to the stationary vehicle ;
    Wherein the control unit stores the positional information for the stopped vehicle and then traces the stopped vehicle at the stored position to again compare the speed of the stopped vehicle with the critical speed and if the speed of the stopped vehicle exceeds the critical speed Determining that the stopped vehicle has been removed, and releasing an alarm for the stopped vehicle.
KR1020150059005A 2015-04-27 2015-04-27 Unexpected incident detecting method KR101652798B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150059005A KR101652798B1 (en) 2015-04-27 2015-04-27 Unexpected incident detecting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150059005A KR101652798B1 (en) 2015-04-27 2015-04-27 Unexpected incident detecting method

Publications (1)

Publication Number Publication Date
KR101652798B1 true KR101652798B1 (en) 2016-09-01

Family

ID=56942690

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150059005A KR101652798B1 (en) 2015-04-27 2015-04-27 Unexpected incident detecting method

Country Status (1)

Country Link
KR (1) KR101652798B1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101752858B1 (en) * 2016-12-09 2017-07-19 메타빌드주식회사 Radar-based high-precision unexpected incident detecting system
KR101905064B1 (en) * 2018-04-18 2018-10-05 메타빌드 주식회사 Target detecting method and system using multi antenna
KR101977805B1 (en) * 2018-12-20 2019-05-14 한국건설기술연구원 System and method for unexpected situation scenario implementation for maintenance and performance evaluation of traffic information collection device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001124848A (en) * 1999-10-25 2001-05-11 Hitachi Car Eng Co Ltd Millimeter wave radar system
JP2001216596A (en) * 2000-01-31 2001-08-10 Mitsubishi Electric Corp Road detector and automatic vehicle
KR100987177B1 (en) 2009-06-03 2010-10-11 메타빌드주식회사 Road mornitoring method using radar and apparatus thereof
KR20130138392A (en) * 2012-06-11 2013-12-19 휴앤에스(주) System for detecting unexpected accident
KR20140123270A (en) * 2013-04-12 2014-10-22 메타빌드주식회사 Apparatus, method and system for detecting objects using radar device and image mapping

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001124848A (en) * 1999-10-25 2001-05-11 Hitachi Car Eng Co Ltd Millimeter wave radar system
JP2001216596A (en) * 2000-01-31 2001-08-10 Mitsubishi Electric Corp Road detector and automatic vehicle
KR100987177B1 (en) 2009-06-03 2010-10-11 메타빌드주식회사 Road mornitoring method using radar and apparatus thereof
KR20130138392A (en) * 2012-06-11 2013-12-19 휴앤에스(주) System for detecting unexpected accident
KR20140123270A (en) * 2013-04-12 2014-10-22 메타빌드주식회사 Apparatus, method and system for detecting objects using radar device and image mapping

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101752858B1 (en) * 2016-12-09 2017-07-19 메타빌드주식회사 Radar-based high-precision unexpected incident detecting system
WO2018105842A1 (en) * 2016-12-09 2018-06-14 메타빌드(주) Radar-based high-precision incident detection system
KR101905064B1 (en) * 2018-04-18 2018-10-05 메타빌드 주식회사 Target detecting method and system using multi antenna
KR101977805B1 (en) * 2018-12-20 2019-05-14 한국건설기술연구원 System and method for unexpected situation scenario implementation for maintenance and performance evaluation of traffic information collection device

Similar Documents

Publication Publication Date Title
EP2291836B1 (en) Driver assistance system for preventing a vehicle colliding with pedestrians
ES2602492T3 (en) Methods to determine threat levels in different areas
KR101860966B1 (en) Method and system for accelerated object recognition and/or accelerated object attribute recognition and use of said method
DE102012015968A1 (en) Method for the driverless movement of a vehicle on a parking area
US7994902B2 (en) Cooperative sensor-sharing vehicle traffic safety system
JP4883248B2 (en) Vehicle periphery monitoring device
EP1554604B2 (en) Method and device for preventing a collision of vehicles
EP2878507A1 (en) Drive assist device
US7616101B2 (en) Device for monitoring the surroundings of a vehicle
JP4939564B2 (en) Vehicle information providing device
WO2010035434A1 (en) Blind-corner vehicle detection device and method thereof
US20130060400A1 (en) Detection apparatus and method for detecting a carrier of a transceiver, motor vehicle
DE10336638A1 (en) Apparatus for classifying at least one object in a vehicle environment
EP1796939B1 (en) Driver assisting method and device
EP2484573A1 (en) Method for reducing the risk of a collision between a vehicle and a first external object
WO2004047047A1 (en) Method and system for avoiding traffic collisions
JP2008308024A (en) Collision reducing device
CN101241188B (en) Collision avoidance system and method of detecting overpass locations using data fusion
CN104960509B (en) For minimizing the method that automatic braking is invaded and harassed based on collision confidence level
JP2005202878A (en) Object detector
DE102009034386A1 (en) Driving assistance device for a vehicle
WO2014192137A1 (en) Movement trajectory prediction device, and movement trajectory prediction method
JP2008516851A (en) How to check related objects
EP2302412B1 (en) System and method for evaluation of an automotive vehicle forward collision threat
KR20120034352A (en) System and method for detecting obstacle applying to vehicle

Legal Events

Date Code Title Description
E701 Decision to grant or registration of patent right
GRNT Written decision to grant