KR101731789B1

KR101731789B1 - ADAS controlling method using road recognition and control system

Info

Publication number: KR101731789B1
Application number: KR1020150160541A
Authority: KR
Inventors: 이재민
Original assignee: (주)캠시스
Priority date: 2015-11-16
Filing date: 2015-11-16
Publication date: 2017-05-04

Abstract

Disclosed are an ADAS control method using road recognition and a control system. According to an aspect of the present invention, the advanced driver assistance system (ADAS) control method comprises the following steps of: identifying a type of a road by analyzing an image by at least one camera photographing the outside; and restricting operation of a preset ADAS function when a type of the road is a specific road including an expressway or a high speed road.

Description

Technical Field [0001] The present invention relates to a method and system for controlling an intelligent driver assistance system using road recognition,

The present invention relates to a method and system for controlling Advanced Driver Assistance Systems (ADAS) in accordance with the recognition of roads in operation.

Recently, an ADAS (Advanced Driver Assistance Systems) is installed in a vehicle to increase the safety of driving. ADAS includes lane departure warning system (LDWS), forward collision warning system (FCWS), driver drowsiness detection system, pedestrian detection system (PD), traffic sign (TSR, Traffic Sign Recognition), Blind Spot Detection (BSD) and so on.

Most of the systems for ADAS use images taken by a camera that photographed outside or inside of a vehicle. Since the image processing is performed in real time, a large amount of current is consumed and a high heat is generated accordingly. If a large number of ADAS systems are provided, a large number of programs are executed at the same time for the operation of the respective systems, and the processing speed of the CPU is lowered. In order to distribute resources, A problem arises.

Such ADAS is driven irrespective of the driving road. Even in the case where a car is operated at a high speed such as a highway or a high speed road, a pedestrian sensing device (PD), a blind zone warning device (BSD) or stereoscopic vision (Stereo Vision) are driven and wasted unnecessary resources.

Korean Registered Patent 1454127 (Published on October 16, 2014) Providing warning system for detecting movement of pedestrian and vehicle

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide an intelligent driver assistance system control method and system that can reduce unnecessary resource consumption by driving an ADAS by identifying roads during driving.

Other objects of the present invention will become more apparent through the following preferred embodiments.

According to an aspect of the present invention, there is provided a method of controlling an ADAS (Intelligent Driver Assistance System), comprising the steps of: analyzing an image by at least one camera photographing an exterior to identify a type of road; And limiting the driving of the ADAS function set in advance when the type of the road is a special road including a highway or an accelerated road, and a recording medium on which a program for executing the method is recorded is provided

Here, in the step of identifying the type of the road, if the presence of a traffic light or a pedestrian crossing on the road is recognized, or the pedestrian sensing device is judged to be a special road by analyzing the text of the sign, The type of the road can be determined to be the special road.

A method of controlling an ADAS (Intelligent Driver Assistance System) includes: receiving an external sound source; Analyzing the text by the conversion of the external sound source and determining whether the type of the road being driven is a special road or an ordinary road including a highway or an accelerated road using whether or not a predetermined word or phrase exists in advance; And restricting the driving of a predetermined ADAS function when the type of the road is the special road, and a recording medium on which a program for executing the method is recorded is provided

Here, the external sound source analysis can be performed only when the measured traveling speed has a predetermined threshold or more for a predetermined time or longer.

If the type of the road is determined to be the special road, the step of analyzing the text of the signboard existing in the image by the one or more cameras photographing the outside may further include checking whether the road is the special road .

According to another aspect of the present invention, there is provided a sound output apparatus including: a sound source input unit for receiving an external sound source; A sound source converting unit for identifying a sound included in the external sound source and converting the sound into text; A road identification unit for analyzing the text and determining whether the type of the road being driven is a special road or an ordinary road including a highway or an accelerated road by using whether or not a predetermined word or phrase exists; And a control unit for limiting the driving of a preset ADAS function when the type of the road is the special road.

Here, the sound source input unit may be driven only when the traveling speed is greater than or equal to a preset threshold value for a predetermined time or longer.

In addition, if the type of the road is determined to be the special road, the road identification unit may further analyze whether the road is a special road by analyzing a text of a signboard existing in an image by one or more cameras photographing the outside.

According to the present invention, by selectively driving only the necessary ADAS on the identified travel road, the risk that the necessary function is not driven by the load of the CPU can be reduced.

1 and 2 are block diagrams showing a configuration of an ADAS control system according to each embodiment of the present invention.
3 is a flowchart illustrating a process of controlling an intelligent driver assistance system (ADAS) using traveling road recognition according to an embodiment of the present invention.
4 and 5 are flowcharts illustrating a process of identifying a running road according to each embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, terms such as a first threshold value, a second threshold value, and the like which will be described later may be previously designated with threshold values that are substantially different from each other or some of which are the same value, Because there is room, the terms such as the first and the second are to be mentioned for convenience of division.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

It is to be understood that the components of the embodiments described with reference to the drawings are not limited to the embodiments and may be embodied in other embodiments without departing from the spirit of the invention. It is to be understood that although the description is omitted, multiple embodiments may be implemented again in one integrated embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

1 and 2 are block diagrams showing the configuration of an ADAS control system according to each embodiment of the present invention.

1, an overall system according to an exemplary embodiment of the present invention includes at least one ADAS 110, 120, and 130, a road identifier 150, and a controller 140.

The road identification unit 150 determines whether the road being driven is an ordinary road or a special road (a highway or an accelerated road). That is, it is to identify a road that is a special road that can not be used other than a vehicle or a general road that can be used for a pedestrian, a two-wheeled vehicle, etc., so that the vehicles can safely carry out a high- The manner of identifying the type of roads will be described later.

The control unit 140 controls the driving of each of the ADASs 110, 120 and 130 using information on the type of the identified driving road. Here, the road identification unit 150 and the ADASs 110, 120, and 130 are not necessarily hardware devices and may be implemented in software as a program.

The ADAS control system according to the present embodiment may be provided in the vehicle itself, or may be implemented as a separate additional device (e.g., an AVM (Around View Monitor) system, etc.) have. For example, when the vehicle is installed in the vehicle itself, it controls the ADAS of various LDWS, PD, BSD, etc., and may be a form of controlling the execution of a program for one or more ADAS functions, have.

Each of the ADASs 110, 120 and 130 uses various sensors (an infrared sensor, a tilt sensor, an illuminance sensor, etc.), or a camera for photographing the outside or inside of the vehicle. For example, a lane departure warning system (LDWS) for detecting a lane uses an image of a camera that photographs a road outside a vehicle, and a driver drowsiness detection system uses a driver Is used for capturing an image. In the case of ADAS using the camera image, the input image is analyzed. For example, the input image is analyzed at a throughput rate of 30 FPS (Frame Per Second).

Therefore, the road identification unit 150 can identify the traveling road by analyzing the external image photographed by the camera as described above. For example, the roads may be identified by analyzing the text of signs (e.g., speed limit signs, etc.) present on the road. Or recognizing a traffic light or a crosswalk on the road, thereby recognizing that the road is a general road. In this way, according to the example, the road identification unit 150 can identify the type of the road by analyzing the image photographed by the camera.

In addition, the control unit 140 of the ADAS control system according to the present embodiment controls the driving of one or more ADASs using the type of the identified driving road.

3 is a flowchart illustrating a process of controlling an intelligent driver assistance system (ADAS) using traveling road recognition according to an embodiment of the present invention.

Referring to FIG. 3, the ADAS control system identifies the type of road under driving (S10) and determines whether the road is a special road (S20). That is, it is judged whether or not the current road is a road other than a vehicle such as a pedestrian or a two-wheeled vehicle such as a highway or an expressway, or a road that is not available to a vehicle.

As a result of the judgment, in the case of a special road, the ADAS control system restricts the driving of a specific ADAS function. For example, special roads such as Pedestrian Detection (PD), Blind Spot Detection (BSD), or Stereo Vision will stop driving for ADAS that does not require it . In other words, since the pedestrian sensing device does not need to be driven because there is no pedestrian on the special road, the driving of the device is stopped, and the driving can be resumed when traveling on the ordinary road again. Similarly, when driving at high speed, the monitoring function for the blind spot may not be required, so that the BSD can also be stopped. Hereinafter, the state in which the driving of some ADASs on the special road is restricted for convenience of explanation will be referred to as a special mode.

As a result of the determination in S20, if it is determined that the traveling road is a general road rather than a special road, the ADASs according to the normal mode are driven. That is, the ADAS such as the pedestrian sensing device, the dead zone warning device, or stereoscopic vision as described above is normally driven on the general road.

In this embodiment, the special mode is performed when the road is recognized as a special road. However, according to another embodiment, even if the road is a special road, if the current speed is below the threshold, the ADAS Some or all of them may be driven normally. For example, if the running speed is 50 km / h or less even in the case of running on a special road, the blind zone warning device is normally driven.

The road identification unit 150 of the ADAS control system according to FIG. 1 identifies the road by analyzing the image by the camera. According to another embodiment, information on the type of the running road may be obtained by communicating with a navigation system or high-pass terminal installed in the vehicle.

2, the ADAS control system may further include a sound source input unit 160 and a sound source conversion unit 170. [ The road identification unit 150 according to the present embodiment identifies the traveling road based on information converted by the sound source conversion unit into an external sound source input through the sound source input unit. For the sake of understanding, for example, an announcement of a content capable of recognizing the running road in the navigation system provided in the vehicle (for example, "running speed of 100 km section" The road identification unit 150 recognizes the traveling road as a special road by recognizing the text converted by the sound source conversion unit 170 performing the STT (speech to text) function. As another example, it is possible to recognize a state of entry into a special road or vice versa by inputting and receiving an operation sound or a charge notice of the high pass terminal provided in the vehicle.

Hereinafter, a process of identifying a traveling road according to each mode will be described.

4 and 5 are flowcharts illustrating a process of identifying a running road according to each embodiment of the present invention.

Referring to FIG. 4 according to an example, the ADAS control system analyzes an image of a road taken in step S410, and determines whether the road is a special road in step S420. Since the image analysis method has been described above, redundant description is omitted.

As a result of the determination, if the pedestrian sensing device determines that the pedestrian is sensed by the pedestrian sensing device (S450), the pedestrian sensing device is driven for a predetermined period of time (for example, one minute or five minutes) (S440).

If no pedestrian is detected, it is determined that the road is a special road (S460). That is, even if it is judged as a special degree by the image analysis, there may be an analysis error. Therefore, for further confirmation, the pedestrian sensing device is driven for a predetermined time to confirm whether a pedestrian exists.

As shown in the figure, if the image analysis result indicates that the road is not a special road or a pedestrian is detected, the road will be determined as a general road (S430).

Referring to FIG. 5 according to another embodiment, the ADAS control system analyzes an input external sound source as described above with reference to FIG. 2 (S510), and determines whether a specific text (number, word or phrase) exists S520). That is, the road type can be classified as a special road. For example, it is judged whether or not text such as [entered the expressway], [entered the highway], and [speed limit of traveling is 100 km] .

(S530). If there is a determination result (S530), it is determined to be a special degree, otherwise, it is determined to be a general degree.

Likewise, if the current driving road is determined to be a special road, the entrance to the general road can be detected by recognizing the existence of the specific text related to the general road by analyzing the external sound source inputted later.

Here, the ADAS control system may always analyze the input external sound source, but according to another example, the external sound source may be analyzed only in a specific situation in order to reduce the processing load. According to one example of this, the ADAS control system further includes a speed measuring unit (not shown in the figure), and only when the traveling speed measured by the speed measuring unit has a predetermined threshold value or more, 160 and / or the sound source conversion unit 170 are driven. That is, only when it is determined that the vehicle is moving at a traveling speed higher than a critical speed (for example, 70 km / h or more) or more than a predetermined time (for example, 5 minutes) Input and / or analysis.

The moving speed of the vehicle can be acquired from an external device such as a navigation system provided or a speed measuring device (a device for measuring the speed displayed on the instrument panel) provided in the vehicle itself. Alternatively, the relative moving speed of the vehicle may be calculated by analyzing the image captured by the camera that photographs the outside and calculating the moving speed of the surrounding object. For example, the moving speed of the vehicle can be calculated by analyzing the image captured by the camera that photographs the front of the vehicle and recognizing the degree of change of the lane displayed on the road in a dotted line of a predetermined length. For example, if six lanes of four meters with 1 meter intervals disappear in a second, then 30 meters per second (30 meters per second), which is 30 meters per 5 meters (1 + 4 meters) 108 km / h).

According to another example, the ADAS control system may analyze not only the external sound source but also the external image as described with reference to FIG. For example, if the type of the road is determined to be a special road by an analysis of the external perusal, the text of the signboard existing in the image by the at least one camera photographing the outside is analyzed to further check whether the road is a special road .

The control method of the intelligent driver assistance system using road recognition according to the present invention can be implemented as a computer readable code on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording media storing data that can be decoded by a computer system. For example, it may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like. In addition, the computer-readable recording medium may be distributed and executed in a computer system connected to a computer network, and may be stored and executed as a code readable in a distributed manner.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that various modifications and changes may be made.

110, 120, 130: ADAS 140:
150: road identification unit 160: sound source input unit
170: Sound source conversion section

Claims

A method for controlling an ADAS (Intelligent Driver Assist System)
By analyzing the external sound source and performing sound source analysis to confirm whether there is a predetermined word or phrase set in advance output from the navigation device or the high pass device in the vehicle, the type of the road currently being driven is determined as a special Identifying a road type for road awareness or general road awareness;
If the road type is identified as the special road, analyzing the image by at least one camera photographing the outside and analyzing the text of the sign on the road to further check whether the road is a special road;
Driving the pedestrian sensing device if the road type is identified as the special road;
Determining a road type as the special road if a pedestrian is not detected by the pedestrian sensing device until a preset time elapses; And
And restricting the driving of the preset ADAS function.

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The method according to claim 1,
Wherein the analysis of the external sound source is performed only when the measured traveling speed has a predetermined threshold or more for a predetermined time or more.

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A recording medium on which a program for carrying out the method of claim 1 or 4 is recorded so as to be read by a computer.

A sound source input unit for receiving an external sound source;
A sound source converting unit for identifying a sound included in the external sound source and converting the sound into text;
At least one camera for photographing the exterior of the vehicle;
Analyzing the external sound source to perform a sound source analysis that confirms whether a predetermined word or phrase that is preset from the navigation device or the high pass device in the vehicle is present so that the type of road currently being operated includes a highway or a highway The road type of the special road or the general road is identified, and if the road type is identified as the special road, the image of the sign on the road is analyzed by analyzing the image by the camera photographing the outside, A road identification unit for confirming additionally; And
Wherein when the pedestrian sensing device is not detected by the pedestrian sensing device until a predetermined time elapses when the road type is identified as the special road by the road identification part, The ADAS control system comprising a control unit for determining a special degree and restricting the driving of a predetermined ADAS function.

The method of claim 7,
And a speed measuring unit for measuring a running speed,
Wherein the sound source input unit is driven only when the traveling speed has a predetermined threshold or more for a predetermined time or more.

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