KR101671191B1 - Method for measuring distance between vehicles and apparatus thereof - Google Patents

Method for measuring distance between vehicles and apparatus thereof Download PDF

Info

Publication number
KR101671191B1
KR101671191B1 KR1020150073017A KR20150073017A KR101671191B1 KR 101671191 B1 KR101671191 B1 KR 101671191B1 KR 1020150073017 A KR1020150073017 A KR 1020150073017A KR 20150073017 A KR20150073017 A KR 20150073017A KR 101671191 B1 KR101671191 B1 KR 101671191B1
Authority
KR
South Korea
Prior art keywords
vehicle
distance
detection
inter
reference point
Prior art date
Application number
KR1020150073017A
Other languages
Korean (ko)
Inventor
안순현
Original Assignee
렉스젠(주)
안순현
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 렉스젠(주), 안순현 filed Critical 렉스젠(주)
Priority to KR1020150073017A priority Critical patent/KR101671191B1/en
Application granted granted Critical
Publication of KR101671191B1 publication Critical patent/KR101671191B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S13/00—Systems 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Abstract

The present invention relates to a method for measuring an inter-vehicle distance and an apparatus therefor. According to the present invention, there is provided a method of measuring an inter-vehicle distance of an inter-vehicle distance measuring apparatus, comprising: obtaining a detection time point of a first vehicle by using first detection means provided at a reference point of the road; Detecting a position of a second vehicle existing ahead of or behind the reference point at the time of detection of the first vehicle and measuring a distance between the first vehicle and the second vehicle; Capturing an image of the second vehicle and acquiring an image of the second vehicle; and storing the measured distance value and the captured image in a matching manner.
According to the inter-vehicle distance measuring method and apparatus therefor, it is possible to effectively intercept a vehicle that violates the safety distance by measuring the inter-vehicle distance with respect to the vehicles running on the road and acquiring the vehicle image.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring distance between vehicles,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of measuring an inter-vehicle distance and an apparatus therefor, and more particularly, to a method and apparatus for measuring an inter-vehicle distance capable of calculating a distance between front and rear vehicles in a road.

It is known that accidents that occur while driving a vehicle are caused by a lack of safe driving distance between the vehicle and the driver. Although the current Road Traffic Act stipulates that a safety distance must be ensured to avoid collision with a car ahead of the vehicle ahead, there is no case in which the safety distance standard is ambiguous, There are not many cars to do.

Recently, an inter-vehicle distance control system capable of detecting a distance to a preceding vehicle and a relative speed during traveling to maintain a safety distance from the preceding vehicle has been developed. The inter-vehicle distance control system increases the inter-vehicle distance and prevents collision by controlling the brakes of the vehicle when the inter-vehicle distance is narrowed enough to cause collision with the front vehicle.

However, the existing inter-vehicle distance control system is installed in a vehicle and is used for securing a safe distance from the preceding vehicle. In fact, it is possible to monitor a vehicle that violates the safety distance for any vehicle that is actually running on the road It can not be used for interception. That is, the current inter-vehicle distance control system is provided directly to the vehicle for the convenience and safety of the driver, and is far from the purpose of controlling the vehicle that violates the inter-vehicle distance.

Therefore, it is necessary to develop a system capable of constantly interrupting a vehicle that violates a vehicle distance on the road in order to recognize the importance of securing the safety distance to the driver while preventing a collision that may occur during operation.

The technology of the background of the present invention is disclosed in Korean Patent Publication No. 1999-0010768 (published on Feb. 18, 1999).

An object of the present invention is to provide an inter-vehicle distance measuring method and apparatus for measuring the inter-vehicle distance with respect to vehicles traveling on the road.

The present invention relates to a method of measuring an inter-vehicle distance of an inter-vehicle distance measuring apparatus, the method comprising: acquiring a detection time point of a first vehicle by using first detection means provided at a reference point of the road; 1) detecting a position of a second vehicle existing in front of or behind the reference point at the time of detection of the vehicle, and measuring a distance between the first vehicle and the second vehicle; A step of photographing a second vehicle to acquire a photographed image, and a step of matching and storing the measured distance value and the photographed image.

Here, the step of acquiring the captured image may photograph the first vehicle or the second vehicle at the time of detection of the first vehicle using the camera.

The step of acquiring the photographed image may further include photographing the first vehicle at the time of detection of the first vehicle by using the camera or photographing the first vehicle at a time point when the second vehicle is detected by the first detection means, The vehicle can be photographed.

The vehicle-to-vehicle distance measuring apparatus may further include a step of analyzing the photographed image to recognize the vehicle number of the first vehicle or the second vehicle, and the step of matching the recognized vehicle number, the measured distance value, And storing the data.

The vehicle-to-vehicle distance measuring apparatus may further include a display step of displaying at least one of the vehicle number, the measured distance value, the shot image, the inter-vehicle distance violation notification information, and the inter- As shown in FIG.

The second detection means may be disposed on the road at regular intervals, and the distance values from the reference point may be matched.

The step of measuring the distance may include calculating a distance between the first vehicle and the second vehicle by using a distance value matched to a sensing module closest to the reference point among at least one of the sensing modules, Distance can be estimated.

Each of the first detection means and the second detection means may be at least one of a loop sensor, a geomagnetism sensor, a laser, a radar, a piezoelectric sensor, and a video detection sensor.

The method further includes the step of capturing and providing the progress of the first vehicle or the second vehicle from the time of measuring the inter-vehicle distance.

The present invention is characterized by comprising a detection point acquiring section for acquiring a detection point of time of a first vehicle by using first detection means provided at a reference point of a road, A distance measuring unit for detecting a position of a second vehicle existing ahead of or behind the reference point and measuring a distance between the first vehicle and the second vehicle; An image acquiring unit that acquires a photographed image by photographing a vehicle or the second vehicle, and a control unit that stores and stores the measured distance value and the photographed image.

The control unit analyzes the photographed image to recognize the vehicle number of the first vehicle or the second vehicle, and the vehicle-to-vehicle distance measuring apparatus determines the vehicle number of the first vehicle or the second vehicle based on the recognized vehicle number, And a storage unit for storing the matched data.

Also, the control unit may display at least one of the vehicle number, the measured distance value, the shot image, the inter-vehicle distance violation notification information, and the inter-vehicle distance related guidance text using the display means installed on the road.

Also, the image acquiring unit can supplementarily photograph the progress of the first vehicle or the second vehicle through the auxiliary camera from the time when the inter-vehicle distance is measured.

According to the method and apparatus for measuring the distance between vehicles according to the present invention, an inter-vehicle distance is measured with respect to vehicles running on the road, and the vehicle image is acquired, thereby providing an advantage of effectively interrupting the vehicle in violation of the safety distance .

1 is a block diagram of an apparatus for measuring an inter-vehicle distance according to a first embodiment of the present invention.
FIG. 2 is a flowchart of a method of measuring an inter-vehicle distance using the apparatus shown in FIG.
3 is a view for explaining the method of FIG.
FIG. 4 is a block diagram of an apparatus for measuring an inter-vehicle distance according to a second embodiment of the present invention.
5 is a flowchart of a headway distance measurement method using the apparatus shown in FIG.
FIG. 6 is a diagram for explaining the method of FIG. 5. FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

The present invention relates to a method of measuring an inter-vehicle distance, and more particularly, it relates to a method of measuring an inter-vehicle distance and a vehicle,

In the embodiment of the present invention, detection means for detecting the passage of the vehicle is provided at a predetermined reference point portion on the road. In the embodiment of the present invention, as soon as the vehicle is detected at the reference point of the road, the position of the trailing or preceding vehicle can be secured on the basis of the vehicle, and the vehicle distance can be measured. In addition, And can be stored in a matching manner.

The embodiment of the present invention is specifically divided into two examples. The first embodiment is a method of measuring an inter-vehicle distance using the position of a trailing vehicle measured at a moment when the preceding vehicle is detected at a reference point, and the second embodiment is a method of measuring the distance between the trailing vehicle and the preceding vehicle Position of the vehicle.

Hereinafter, a first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 3. FIG. 1 is a block diagram of an apparatus for measuring an inter-vehicle distance according to a first embodiment of the present invention. 1, an apparatus 100 for measuring an inter-vehicle distance according to a first embodiment of the present invention includes a detection point obtaining unit 110, a distance measuring unit 120, an image obtaining unit 130, and a control unit 140 .

The detection point acquisition section 110 acquires the detection point of time of the preceding vehicle (first vehicle) passing through the reference point by using the first detection means 10 provided at the reference point of the road. At this time, it is preferable to detect the rear end of the preceding vehicle at the time of detection of the preceding vehicle. Hereinafter, for convenience of explanation in FIGS. 1 to 3, it is described that the preceding vehicle is detected.

The distance measuring unit 120 detects the position of the trailing vehicle (second vehicle) behind the reference point at the time of detection of the preceding vehicle by using the second detecting means 20 and measures the distance between the preceding vehicle and the trailing vehicle do.

The image acquisition unit 130 acquires the photographed image of the trailing vehicle by using the camera 30 that photographs the trailing vehicle (second vehicle) corresponding to the detection time of the preceding vehicle. Of course, the image acquiring unit 130 may also acquire the photographed image by photographing the trailing vehicle (second vehicle) at the time when the trailing vehicle (second vehicle) is detected by the first detecting means 10. [

As described above, according to the first embodiment of the present invention, when the preceding vehicle is detected by the first detection means 10, the second detection means 20 controls the detection of the position of the following vehicle relative to the preceding vehicle, ) Controls the photographing of the trailing vehicle.

On the other hand, the image acquisition unit 130 may receive the progress information from an auxiliary camera (not shown) that can supplement the progress of the vehicle from the time of measuring the inter-vehicle distance, and may store the progress information in a storage unit (not shown). At this time, it is preferable that the progress information is stored based on the vehicle number extracted by the controller 140.

The control unit 140 matches the measured distance value with the photographed image of the trailing vehicle and stores the photographed image in a storage unit (not shown). At this time, if the measured distance value is smaller than the set reference distance, the control unit 140 determines that the following distance is uncertain, and further extracts the vehicle number and the like from the image of the following vehicle through image processing, do. The control unit 140 may provide the stored information to the manager so as to notify the vehicle of the violation of the safety distance.

In addition, the apparatus for measuring an inter-vehicle distance according to an embodiment of the present invention includes an auxiliary camera (not shown) capable of supplementally photographing an image including the progress of the vehicle from the time when the inter-vehicle distance is measured, (Not shown) capable of displaying at least one of the measured distance value, the shot image, the inter-vehicle distance violation notification information, and the inter-vehicle distance related guidance text.

Meanwhile, the reference distance according to the embodiment of the present invention may be flexibly changed according to the safety speed set on the road, the road congestion situation, and the like.

Hereinafter, a method for measuring a headway distance according to a first embodiment of the present invention will be described in detail with reference to FIGS. 2 and 3. FIG. FIG. 2 is a flowchart of a headway distance measurement method using the apparatus shown in FIG. 1, and FIG. 3 is a view for explaining the method of FIG.

First, the detection point obtaining section 110 obtains the detection point of the preceding vehicle A passing through the reference point by using the first detecting section 10 provided at the reference point of the road (S210).

Here, the reference point of the road may mean a target point for which measurement of the inter-vehicle distance is required. For example, the reference point may correspond to a point where accidents occur frequently on a road, a point where an accident risk is high, and the like.

The first detection means 10 includes various means for detecting a vehicle such as a loop sensor, a geomagnetism sensor, a laser, a radar, a piezoelectric sensor, and a video detection sensor. The first detection means 10 may be provided on the ground corresponding to the reference point of the road, or may be embedded in the lower portion of the ground.

The second detection means 20 detects the position of the trailing vehicle B behind the reference point and at the same time the camera 30 detects the position of the trailing vehicle B as soon as the first detection means 10 detects passage of the preceding vehicle A, And captures the trailing vehicle B to acquire an image.

Thereafter, the distance measuring unit 120 uses the position of the trailing vehicle B detected by the second detecting unit 20 corresponding to the detection time of the preceding vehicle A, (B) is measured (S220).

Here, the second detection means 20 includes various means for detecting a vehicle such as a loop sensor, a geomagnetism sensor, a laser, a radar, a piezoelectric sensor, and a video detection sensor.

3 (a) shows a case where the second detection means 20 is a laser module or a radar module 20a, and Fig. 3 (b) shows a case where the second detection means 20 is a loop sensor, And a sensing module 20b.

3 (a), the laser module 20a irradiates the laser beam toward the rear of the reference point immediately after the preceding vehicle A passes through the first detection means 10, . At this time, the laser module 20a measures the distance from the front surface of the trailing vehicle B. Further, the mounting position of the laser module 20a is not limited to the illustrated one.

In the embodiment of the present invention, the laser module 20a may be located on the same line as the reference point or may be located at a distance from the reference point. It is assumed that the distance measuring unit 120 knows the relative position of the laser module 20a with respect to the reference point. Therefore, if the distance between the laser module 20a and the trailing vehicle B is known, the distance measuring unit 120 can easily know the distance between the trailing vehicle B and the reference point.

In the case of FIG. 3 (b), a plurality of sensing modules 20b are arranged at regular intervals behind the reference points on the road, and the distance values of the sensing modules 20b are spaced apart from the reference point . That is, when sensing information is generated in the sensing module 20b, it means that the following vehicle B is detected by the sensing module 20b, and the distance value matched to the sensing module 20b, (B).

 Here, as soon as the preceding vehicle A is detected by the first detecting means 10, at least one of the sensing modules 20b generating the sensing information by the following vehicle B may be used. For example, if there is at least one trailing vehicle and another following trailing vehicle within the area where the plurality of sensing modules 20b are installed, the sensing information of at least two sensing modules 20b may be received. In addition, if the sensing module 20b is closely arranged on the road at a smaller interval than an ordinary vehicle body, sensing information of a plurality of sensing modules 20b may be received for one vehicle.

In this case, the distance value matched to the sensing module 20b closest to the reference point among the at least one sensing module 20b in which the sensing information is generated at the detection time of the preceding vehicle A is set to the position of the following vehicle B Can be obtained.

3 (b), it can be seen that the position of the trailing vehicle B detected by the second detection means 20 is information corresponding to the distance between the reference point and the trailing vehicle B. [ The distance between the reference point and the trailing vehicle B is information corresponding to the distance between the preceding vehicle A and the trailing vehicle B, as described above.

3 (a) and 3 (b), the image acquisition unit 130 may calculate the distance between the reference point and the trailing vehicle B using image sensing technology. That is, it is also possible to estimate the distance using a point on the road surface where the mark of the road surface is not visible at the point where the vehicle exists.

For example, the road surface may be marked at intervals of 10 m from the reference point, the number of landmarks may be calculated using the photographed image, and the number of the landmarks may be used as the vehicle distance. At this time, when the trailing vehicle B travels on the mark, the marking is not detected, so that it can be utilized for the measurement of the inter-vehicle distance.

Next, the image acquiring unit 130 acquires the photographed image by photographing the trailing vehicle B using the camera 30 at the detection time of the preceding vehicle A (S230). Of course, the image acquiring unit 130 can photograph the trailing vehicle (second vehicle) at the time when the trailing vehicle B advances forward and is detected by the first detecting means 10. [ That is, the captured image acquisition of the trailing vehicle B may correspond to a time point at which the preceding vehicle A passes the reference point or a point at which the trailing vehicle B passes the reference point.

In the case of FIG. 3, the camera 30 has a field of view in a direction in which the rear of the reference point can be photographed. The installation position of the camera 30 is not limited to the illustrated one. In addition, in the example of FIG. 5A, the camera 30 may be installed separately from the laser module 20a.

Thereafter, the controller 140 matches the measured distance value with the photographed image of the trailing vehicle B and stores it in a storage unit (S240). Here, the distance value and the image information may be matched and stored only when the measured distance value is equal to or greater than the reference distance. Of course, the control unit 140 may analyze the photographed image to recognize the vehicle number of the trailing vehicle, and may match and store the recognized vehicle number, the measured distance value, and the photographed image.

The control unit 140 may display at least one of the vehicle number, the measured distance value, the shot image, the inter-vehicle distance violation notification information, and the inter-vehicle distance related guidance text through display means (not shown) installed on the road. Such a display means (not shown) may be located at a set distance ahead of the reference point.

Hereinafter, a second embodiment of the present invention will be described in detail with reference to FIGS. 4 to 6. FIG. FIG. 4 is a block diagram of an apparatus for measuring an inter-vehicle distance according to a second embodiment of the present invention. 4, an apparatus 200 for measuring an inter-vehicle distance according to a second embodiment of the present invention includes a detection point obtaining unit 210, a distance measuring unit 220, an image obtaining unit 230, and a control unit 240 .

The detection point acquisition section 210 acquires the detection point of the trailing vehicle (first vehicle) passing through the reference point by using the first detection means 40 provided at the reference point of the road. At this time, it is preferable to detect the trailing end of the trailing vehicle at the time of detection of the trailing vehicle. Hereinafter, for the sake of convenience of explanation in FIGS. 4 to 6, it is described that the trailing vehicle is detected.

The distance measuring unit 220 detects the position of the preceding vehicle (second vehicle) existing ahead of the reference point at the time of detection of the trailing vehicle by using the second detecting means 50 and determines the distance between the trailing vehicle and the preceding vehicle as . In the second embodiment, the front-rear positional relationship between the first vehicle and the second vehicle is opposite to that in the first embodiment.

The image acquiring unit 230 acquires the photographed image of the trailing vehicle using the camera 60 that photographs the trailing vehicle (first vehicle) in response to the detection timing of the trailing vehicle.

As described above, in the second embodiment of the present invention, when the trailing vehicle is detected by the first detection means 40, the second detection means 50 controls the detection of the position of the preceding vehicle relative to the trailing vehicle, 60 to shoot the image of the trailing vehicle.

The control unit 240 matches the measured distance value with the photographed image of the trailing vehicle and stores the photographed image in a storage unit (not shown). At this time, the configuration of the control unit 240 is the same as that of the first embodiment.

Hereinafter, a method for measuring a headway distance according to a second embodiment of the present invention will be described in detail with reference to FIGS. 5 and 6. FIG. FIG. 5 is a flowchart of a headway distance measurement method using the apparatus shown in FIG. 4, and FIG. 6 is a diagram for explaining the method of FIG.

First, the detection point acquisition section 210 acquires the detection point of the trailing vehicle B passing through the reference point by using the first detection means 10 provided at the reference point of the road (S510).

This second embodiment shows a case where the preceding vehicle A with respect to the following vehicle B has already passed the reference point. The first detection means 40 includes various means for detecting a vehicle such as a loop sensor, a geomagnetism sensor, a laser, a radar, a piezoelectric sensor, and a video detection as in the first embodiment described above.

The second detection means 50 detects the position of the preceding vehicle A in front of the reference point and at the same time the camera 60 detects the position of the preceding vehicle A, And photographs the vehicle B to acquire an image.

The distance measuring unit 220 then calculates the distance between the trailing vehicle B and the preceding vehicle B using the position of the preceding vehicle A detected by the second detecting means 20 in correspondence with the detection time of the trailing vehicle B, (A) is measured (S520).

Here, the second detection means 50 includes various means for detecting the vehicle such as a loop sensor, a geomagnetism sensor, a laser, a radar, a piezoelectric sensor, and a video detection. 6A shows a case where the second detection means 50 is a laser module 50a or a radar module and FIG. 6B shows a case where the second detection means 50 is a sensing module such as a loop sensor, a geomagnetism sensor, (50b).

5A, the laser module 50a irradiates the laser beam toward the front of the reference point immediately after the trailing vehicle B passes through the first detection means 40, . At this time, the laser module 50a measures the distance from the rear surface of the preceding vehicle A. Further, the mounting position of the laser module 20a is not limited to the illustrated one.

In this second embodiment, it is also assumed that the distance measuring unit 220 knows the relative position of the laser module 50a with respect to the reference point. Therefore, if the distance between the laser module 50a and the preceding vehicle A is known, the distance measuring unit 220 can calculate the distance between the reference point and the preceding vehicle A easily.

In the case of FIG. 5B, a plurality of sensing modules 50b are arranged at predetermined intervals in front of the reference points on the road, and the distance values of the sensing modules 50b are spaced apart from the reference point . Therefore, when sensing information is generated in the sensing module 50b, it means that the preceding vehicle A is detected by the sensing module 50b, and the distance value matched to the sensing module 50b, in which the sensing information is generated, (A).

 Here, at least one of the sensing modules 50b for generating the sensing information by the preceding vehicle A immediately after the detection of the following vehicle B by the first sensing means 40 is possible. In this case, among the at least one sensing module 50b in which sensing information is generated at the detection time of the following vehicle B, the sensing module 50b matching the sensing module 50b closest to the reference point It is possible to obtain the distance value to the position of the preceding vehicle A. [

In the case of FIG. 5B, the position of the preceding vehicle A detected by the second detecting means 50 is information corresponding to the distance between the reference point and the preceding vehicle A. The distance between the reference point and the preceding vehicle A is information corresponding to the distance between the following vehicle B and the preceding vehicle A. [

5A and 5B, the image obtaining unit 230 may calculate the distance between the reference point and the preceding vehicle A using an image sensing technique. That is, it is also possible to estimate the distance using a point on the road surface where the mark of the road surface is not visible at the point where the vehicle exists.

For example, the road surface may be marked at intervals of 10 m from the reference point, the number of landmarks may be calculated using the photographed image, and the number of the landmarks may be used as the vehicle distance. At this time, if the preceding vehicle (A) runs on the markers, the corresponding mark is not detected, so that it can be utilized for the measurement of the inter-vehicle distance.

The image acquisition unit 230 acquires the captured image by capturing the trailing vehicle B using the camera 60 at the detection time of the trailing vehicle B (S530) . In the second embodiment, the camera 60 is installed at a position where the front or rear of the trailing vehicle B can be photographed, and can capture a vehicle image including the vehicle number. In the case of FIG. 5, the case where the camera 60 is located in front of the reference point and images the front portion of the trailing vehicle B are photographed.

Thereafter, the control unit 240 stores the measured distance value and the captured image of the following vehicle B in a matching manner (S540). Here, the distance value and the image information may be matched and stored only when the measured distance value is equal to or greater than the reference distance. Of course, the control unit 240 may analyze the photographed image to recognize the vehicle number of the trailing vehicle, and may store and store the recognized vehicle number, the measured distance value, and the photographed image.

Also, the control unit 240 may display at least one of the vehicle number, the measured distance value, the shot image, the inter-vehicle distance violation notification information, and the inter-vehicle distance related guidance text through display means (not shown) installed on the road. Such a display means (not shown) may be located at a set distance ahead of the reference point.

According to the vehicle distance measuring method and apparatus of the present invention as described above, it is possible to measure the distance between vehicles with respect to vehicles running on the road and to acquire a vehicle image, thereby advantageously controlling the vehicle in violation of the safety distance . In addition, the driver can recognize the importance of securing the safety distance and contribute to reduction and prevention of collision between vehicles.

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, 40: first detection means 20, 50: second detection means
20a, 50a: laser module 20b, 50b: sensing module
30,60: Camera 100,200: Vehicle distance measuring device
110, 210: Detection point acquiring unit 120, 220:
130, 230: Image acquisition unit 140, 240:

Claims (18)

A method for measuring an inter-vehicle distance of an inter-vehicle distance measuring apparatus,
Obtaining a detection time point of the first vehicle by using a first detection means provided at a reference point of the road;
The position of the second vehicle existing in front of or behind the reference point is detected by the second detection means at the time of detection of the first vehicle and the distance from the reference point to the detected position of the second vehicle is measured step;
Photographing the first vehicle or the second vehicle through a camera to acquire a photographed image at the time of detection of the first vehicle; And
And storing the measured distance value and the captured image in a matching manner. delete The method according to claim 1,
The step of acquiring the photographed image comprises:
The first vehicle is photographed at the time of detection of the first vehicle by using the camera or the second vehicle is photographed at the time when the second vehicle is detected by the first detection means. The method according to claim 1,
Analyzing the photographed image to recognize the vehicle number of the first vehicle or the second vehicle; And
Further comprising the step of matching and storing the recognized vehicle number, the measured distance value, and the captured image. The method of claim 4,
And displaying at least one of the vehicle number, the measured distance value, the photographed image, the inter-vehicle distance violation notification information, and the inter-vehicle distance related guidance phrase using the display means installed on the road. The method according to claim 1,
And the second detection means
And a plurality of sensing modules disposed at predetermined intervals on the road, wherein the sensing module is matched with a distance value from the reference point. The method of claim 6,
Wherein the measuring the distance comprises:
And estimating a distance between the first vehicle and the second vehicle using a distance value matched to a sensing module closest to the reference point among at least one of the sensing modules in which sensing information is generated at the sensing time. The method according to any one of claims 1 to 7,
Wherein each of the first detection means and the second detection means includes:
A method for measuring an inter-vehicle distance, which is at least one of a loop sensor, a geomagnetism sensor, a laser, a radar, a piezoelectric sensor, and an image detection sensor. The method according to claim 1,
Further comprising capturing and providing a progress of the first vehicle or the second vehicle from the time of measuring the inter-vehicle distance. A detection point acquiring unit that acquires a detection point of time of the first vehicle by using first detection means provided at a reference point of the road;
The position of the second vehicle existing in front of or behind the reference point is detected by the second detection means at the time of detection of the first vehicle and the distance from the reference point to the detected position of the second vehicle is measured Distance measuring unit;
An image acquiring unit for photographing the first vehicle or the second vehicle through a camera to acquire a photographed image at the time of detection of the first vehicle; And
And a controller for matching and storing the measured distance value and the photographed image. delete The method of claim 10,
The first vehicle is photographed at the time of detection of the first vehicle by using the camera or the second vehicle is photographed at the time when the second vehicle is detected by the first detection means. The method of claim 10,
Wherein,
Recognizes the vehicle number of the first vehicle or the second vehicle by analyzing the photographed image,
And a storage unit for storing the recognized vehicle number, the measured distance value, and the photographed image. 14. The method of claim 13,
Wherein,
And displays at least one of the vehicle number, the measured distance value, the photographed image, the inter-vehicle distance violation notification information, and the inter-vehicle distance related guidance text using the display means installed on the road. The method of claim 10,
And the second detection means
And a plurality of sensing modules arranged at predetermined intervals on the road, wherein the sensing module is matched with a distance value from the reference point. 16. The method of claim 15,
The distance measuring unit may measure,
And estimates a distance between the first vehicle and the second vehicle using a distance value matched to a sensing module closest to the reference point among at least one of the sensing modules in which sensing information is generated at the detection time. The method of claim 10, claim 12,
Wherein each of the first detection means and the second detection means includes:
An inter-vehicle distance measuring device, which is at least one of a loop sensor, a geomagnetic sensor, a laser, a radar, a piezoelectric sensor and a video image sensor. The method of claim 10,
The image acquiring unit may acquire,
And an assistant camera captures the progress of the first vehicle or the second vehicle from the time when the inter-vehicle distance is measured.
KR1020150073017A 2015-05-26 2015-05-26 Method for measuring distance between vehicles and apparatus thereof KR101671191B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150073017A KR101671191B1 (en) 2015-05-26 2015-05-26 Method for measuring distance between vehicles and apparatus thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150073017A KR101671191B1 (en) 2015-05-26 2015-05-26 Method for measuring distance between vehicles and apparatus thereof

Publications (1)

Publication Number Publication Date
KR101671191B1 true KR101671191B1 (en) 2016-11-01

Family

ID=57484785

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150073017A KR101671191B1 (en) 2015-05-26 2015-05-26 Method for measuring distance between vehicles and apparatus thereof

Country Status (1)

Country Link
KR (1) KR101671191B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020101071A1 (en) * 2018-11-14 2020-05-22 휴먼플러스(주) Traffic monitoring system using lidar capable of providing notification of road obstacle and tracking vehicle

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0836691A (en) * 1994-07-22 1996-02-06 Toyota Motor Corp Supervisory controller for automatic travelling car
KR100255997B1 (en) * 1997-11-26 2000-05-01 양승훈 Video image detector by cctv
KR101342613B1 (en) * 2012-06-07 2014-01-03 휴앤에스(주) Enforcement system for illegal car of safe distance

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0836691A (en) * 1994-07-22 1996-02-06 Toyota Motor Corp Supervisory controller for automatic travelling car
KR100255997B1 (en) * 1997-11-26 2000-05-01 양승훈 Video image detector by cctv
KR101342613B1 (en) * 2012-06-07 2014-01-03 휴앤에스(주) Enforcement system for illegal car of safe distance

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020101071A1 (en) * 2018-11-14 2020-05-22 휴먼플러스(주) Traffic monitoring system using lidar capable of providing notification of road obstacle and tracking vehicle

Similar Documents

Publication Publication Date Title
CN105128836B (en) Autonomous emergency braking system and the wherein method of identifying rows people
CN106463064B (en) Object recognition device and vehicle travel control device using same
JP5281664B2 (en) Lane departure warning device and lane departure warning system
JP4420011B2 (en) Object detection device
US10276040B2 (en) Method for tracking a target vehicle approaching a motor vehicle by means of a camera system of the motor vehicle, camera system and motor vehicle
EP3176062B1 (en) Information providing device and program for motorcycle
EP3705371A1 (en) Obstacle detecting device
JP6787157B2 (en) Vehicle control device
CN111645679B (en) Side collision risk estimation system for vehicle
JP2009251953A (en) Moving object trajectory estimating device
KR20150017096A (en) Apparatus and Method for Controlling of Navigation
JP2013225295A5 (en)
KR101249366B1 (en) Apparatus for detecting lane and control method of it
JP6129268B2 (en) Vehicle driving support system and driving support method
JP2015087969A (en) Column traveling device and traffic accident prevention device
KR20150096924A (en) System and method for selecting far forward collision vehicle using lane expansion
JP4948338B2 (en) Inter-vehicle distance measuring device
JP5097681B2 (en) Feature position recognition device
KR101628547B1 (en) Apparatus and Method for Checking of Driving Load
KR101671191B1 (en) Method for measuring distance between vehicles and apparatus thereof
KR102158169B1 (en) Lane detection apparatus
JP2011103058A (en) Erroneous recognition prevention device
EP4177833A1 (en) Vision system and method for a motor vehicle
JP6200780B2 (en) Lane recognition determination device
KR101836810B1 (en) Apparatus for detecting carriageway

Legal Events

Date Code Title Description
E90F Notification of reason for final refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant