KR101844851B1 - Black box having the function of controlling turn signal lamp and control method using the same - Google Patents

Abstract

The present invention relates to a black box having a function of controlling a turn signal lamp and a method for controlling the turn signal lamp using the same, and more specifically, to a black box which determines whether lane change has been completed when a vehicle turns on the turn signal lamp for lane change so as to transmit a signal or a message for turning off the turn signal lamp, and to a method for controlling the turn signal lamp using the same. Accordingly, the black box comprises: a photographing unit for photographing a road on which the vehicle travels and a lane indicated on the road; a control unit for determining whether the lane change is performed by analyzing the photographed image and generating a turn signal lamp control signal or a lane change completion message for turning off the turn change lamp in a blinking state when the lane change is completed; and a communication unit for transmitting the turn change control signal or the lane change completion message to a junction block mounted in the vehicle. Therefore, as a function of controlling the turn signal lamp of the vehicle is added to a basic function of the black box, it is possible to diversify functions of the black box.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a black box having a turn signal control function and a control method using the same,

The present invention relates to a black box having a turn signal lamp control function and a turn signal lamp control method using the same. More specifically, when the turn signal lamp is turned on for a lane change, And a method of controlling a turn signal using the black box.

In general, a black box is an electronic device that is used for capturing and storing an inside or a vicinity of a vehicle to analyze the pre-stored image in the event of an accident, thereby determining the cause of an accident.

Such a black box is widely used as a necessity of a vehicle, and in recent years, it has been demanding not only a basic function of shooting and storing an image but also various additional functions.

On the other hand, the vehicle is provided with a turn signal lamp for indicating the traveling direction, and the driver turns on or flashes the turn signal lamp by operating the turn signal switch and signals the other vehicle.

When the direction indicator switch is turned downward, the left turn indicator flashes. When the turn indicator switch is raised, the right turn indicator flashes. When the turn indicator switch is operated again to the original position, .

Such a turn signal lamp is frequently used not only in a section where the traveling direction of the vehicle is completely switched as in an intersection but also when changing lanes. However, since the driver must directly perform turning on / off the turn signal lamp, It is difficult for the driver to concentrate on driving the vehicle. In the case where the vehicle is running at a high speed, the process of operating the direction indicating switch simultaneously with the lane change makes the driver very cumbersome and inconvenient and increases the risk of accidents.

Recently, a one-touch direction indicating switch which is turned off automatically after a predetermined number of turn signal lamps are turned on is also used. In this case as well, the turn signal lamp is turned on and off only a predetermined number of times, There is a problem that it is turned off.

That is, by analyzing the image captured in the black box and controlling the direction indicator, it is possible to diversify the functions of the black box and to minimize the inconvenience of the driver during the operation of the turn signal lamp There is no technology available at all.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a black box having a turn signal lamp control function capable of realizing various functions of a black box by adding a turn signal lamp control function to the black box, The purpose is to provide.

In addition, the present invention provides a turn signal lamp control function capable of improving the convenience and stability of the driver by providing a turn signal lamp control function to reduce the number of operations of the turn signal switch by the driver during the lane changing process and to concentrate on driving the vehicle And a method of controlling a turn signal lamp using the same.

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

According to an aspect of the present invention, there is provided an information processing apparatus comprising: a photographing unit photographing a road on which a vehicle runs and a lane displayed on the road; A controller for analyzing an image photographed by the photographing unit to determine whether to change a lane of the vehicle, and generating a turn signal lamp control signal or a lane change completion message for turning off the turn signal lamp when the lane change is completed; And a communication unit for transmitting the turn signal light control signal or the lane change complete message generated from the control unit to a junction block for controlling the turn signal lamp mounted on the vehicle.

In a preferred embodiment, the control unit extracts lane information including the left and right lanes of the vehicle and the coordinate values of the lanes from the image photographed by the photographing unit, and based on the lane information, The vehicle recognizes the direction in which the lane change is attempted.

In a preferred embodiment, the control unit compares the coordinate value of the specific lane in the direction in which the vehicle attempts to change lanes and the reference coordinate value set at the center of the image to determine whether or not the lane change has been completed.

In a preferred embodiment, the control unit determines whether or not the attempted lane change to the left lane has been completed, using the following equation.

[Mathematical Expression]

(L ₁ - 留 LG) > C ₀

Here, L ₁ is the X-axis coordinate value of the left lane, α is the predetermined constant value, LG is the distance between the left and right lanes, and C ₀ is the reference coordinate value set at the center of the image.

In a preferred embodiment, the control unit determines whether or not the attempted lane change to the right lane has been completed, using the following equation.

[Mathematical Expression]

(L ₂ + 留 LG) < C ₀

Here, L ₂ is the X-axis coordinate value of the right lane, α is a predetermined constant value, LG is the distance between the left and right lanes, and C ₀ is the reference coordinate value set at the center of the image.

In a preferred embodiment, the communication unit receives a turn signal ON signal from a junction block mounted on the vehicle, and the control unit controls the communication unit Perform analysis of images.

According to another aspect of the present invention, there is provided a method of controlling a turn indicator light performed in a black box, the method comprising the steps of: (1) photographing a road on which the vehicle travels and a lane indicated on the road; (3) The black box analyzes the photographed image to determine whether the lane of the vehicle is changed. When the lane change is completed, the black box generates a turn signal light control signal or a lane change complete message for turning off the turn indicator in the blinking state ; And (4) transmitting, by the black box, the generated turn signal indicator control signal or lane change complete message to a junction block for controlling the turn signal lamp mounted on the vehicle.

In a preferred embodiment, in the step (3), the black box extracts lane information including coordinate values of left and right lanes and lanes of the vehicle from the photographed image, and based on the lane information, And the direction in which the vehicle attempts to change the lane.

In a preferred embodiment, in the step (3), the black box compares the coordinate value of a specific lane located in a direction in which the vehicle attempts to change lanes with a reference coordinate value set at the center of the image, .

In a preferred embodiment, in the step (3), the black box determines whether or not the attempted lane change to the left lane has been completed using the following equation.

[Mathematical Expression]

(L ₁ - 留 LG) > C ₀

Here, L ₁ is the X-axis coordinate value of the left lane, α is the predetermined constant value, LG is the distance between the left and right lanes, and C ₀ is the reference coordinate value set at the center of the image.

In a preferred embodiment, in the step (3), the black box determines whether or not the attempted lane change to the right lane is completed using the following equation.

[Mathematical Expression]

(L ₂ + 留 LG) < C ₀

Here, L ₂ is the X-axis coordinate value of the right lane, α is a predetermined constant value, LG is the distance between the left and right lanes, and C ₀ is the reference coordinate value set at the center of the image.

In a preferred embodiment, the method further comprises, between the first step and the third step, (2) the black box receiving the turn signal lamp ON signal from the junction block mounted on the vehicle In step (3), the black box analyzes the image from the time when the turn signal lamp ON signal is received until the lane change of the vehicle is completed.

According to the above-mentioned problem solving means, according to the present invention, there is provided an image processing apparatus comprising: a photographing section for photographing a road on which a vehicle runs and a lane indicated on the road; A control section for generating a turn signal light control signal or a lane change completion message for turning off the turn signal light and a communication section for transmitting the turn signal light control signal or the lane change completion message to the junction block mounted on the vehicle, In addition to the basic function of photographing and storing an image, the function of controlling the turn signal lamp of the vehicle is added to realize the function diversification of the black box.

Further, according to the present invention, a signal or a message for controlling the turn signal lamp is transmitted to the junction block according to whether the lane change has been completed or not, so that the turn signal lamp is automatically turned off in the junction block to reduce the number of operations of the turn signal switch by the driver It is possible to concentrate on driving and improve the convenience and stability of the driver.

1 is a view for explaining a black box according to an embodiment of the present invention;
2 is a view for explaining a detailed configuration of a black box;
FIGS. 3 and 4 are diagrams for explaining a process of determining a lane change of a vehicle by using an image. FIG.
5 is a view for explaining a turn signal lamp control method according to the first embodiment of the present invention.
6 is a diagram for explaining a process of determining a lane change of a vehicle;
7 is a view for explaining a turn signal lamp control method according to a second embodiment of the present invention;

It should be understood that the specific details of the invention are set forth in the following description to provide a more thorough understanding of the present invention and that the present invention may be readily practiced without these specific details, It will be clear to those who have knowledge.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to FIGS. 1 to 7, but the present invention will be described with reference to the portions necessary for understanding the operation and operation according to the present invention.

FIG. 1 is a view for explaining a black box according to a first embodiment of the present invention, FIG. 2 is a view for explaining a detailed configuration of a black box, FIGS. 3 and 4 are diagrams Fig.

1 to 4, a black box 100 according to a first embodiment of the present invention includes a photographing unit 110, a control unit 120, and a communication unit 130.

Here, the black box 100 according to the embodiment of the present invention performs not only a basic function of photographing an image and storing a photographed image, but also a direction indicator switch 10 Is turned on and a corresponding direction indicating signal is inputted to the junction block 20 and the junction block 20 is turned on by the junction block 20 so that the junction block 20 turns off the turn signal lamp 30 A function of transmitting a signal or a message for turning off the turn signal lamp 30 by determining the time point when the lane change of the vehicle is completed, for example.

The above-described junction block 20 may be a Smart Junction Block (SJB), interrupts battery power supplied to the turn signal lamp 30, and turns on / off / off the turn signal lamp 30 Function.

The photographing unit 110 photographs an image, and may be equipped with a camera. The photographing unit 110 photographs a road on which the vehicle is traveling and a lane on the road.

The image photographed by the photographing unit 110 may be stored in a storage unit (not shown) including an SD card and a solid state drive (SSD). When a vehicle accident occurs, The image stored in the means can be checked to identify the cause of the accident.

The control unit 120 performs control of the entire apparatus including the photographing unit 110 and a communication unit 130 to be described later and analyzes the images photographed by the photographing unit 110 in real time, And performs a function of determining whether or not it has been changed.

When the controller 120 determines that the lane change of the vehicle is completed, the control unit 120 generates a turn signal lamp control signal or a lane change completion message to be transmitted to the junction block 20. The direction indicator light control signal and the lane change completion message generated by the controller 120 are transmitted to the junction block 20 through the communication unit 130 to be described later and the junction block 20 receiving the direction indicator light control signal and the lane change completion message The turn signal lamp 30 can be automatically turned off even if the direction indicating switch 10 is not operated.

The control unit 120 detects lane information including coordinates of left and right lanes and lanes of the vehicle from the image photographed by the photographing unit 110, and then, based on the lane information, It is possible to determine whether or not the lane change has been completed by comparing the coordinate value of the specific lane located in the direction in which the vehicle attempts to change lanes among the lanes and the reference coordinate value set at the center of the image.

At this time, the controller 120 can detect coordinate values of left and right lanes and lanes of the vehicle from the image using any one of conventionally known modeling techniques, feature point techniques, and area techniques of the image processing field have.

3, the control unit 120 analyzes the image photographed in real time in the photographing unit 110, and calculates the X-axis coordinate value L ₁ of the left lane located on the left side of the vehicle and the X- The lane information including the X-axis coordinate value (L ₂ ) of the lane can be detected. A reference coordinate value (C ₀ ) is previously set on the X-axis at the center of the image. At this time, the reference coordinate value C ₀ may be preset in accordance with the image size of the photographing unit 110.

In addition, the controller 120 controls the X-axis coordinate value (L ₁ ) of the left lane and the X-axis coordinate value (L ₂ ) of the right lane from the left and right lanes detected in the image, Detects a lane approaching the vehicle and recognizes the direction in which the vehicle attempts to change lanes. That is, the control unit 120 recognizes the direction in which the vehicle attempts to change lanes according to whether the X-axis coordinate value L ₁ of the left lane increases or the X-axis coordinate value L ₂ of the right lane decreases can do.

On the other hand, the control unit 120 may receive a direction indicator ON signal from the junction block 20 through the communication unit 130 to be described later, recognize the direction in which the vehicle attempts to change lanes, May be a signal indicating either the left turn indicator light or the right turn indicator light blinking or blinking when the direction indicating switch 10 is operated by the driver.

Also, the control unit 120 may recognize the analysis of the image and the determination time of the lane change using the turn signal indicator ON signal. For example, when the vehicle does not attempt to change lanes, it may be unnecessary to analyze the image. Therefore, the control unit 120 may control the lane change from the time the direction indicator ON signal is received to the lane change May be configured to perform an analysis of an image taken by the photographing unit 110 until it is determined that the photographing operation is completed.

Although the X-axis coordinate value L ₁ of the left lane, the X-axis coordinate value L ₂ of the right lane and the reference coordinate value C ₀ are set to '0' in the left lane, To a specific position N on the screen.

When the vehicle attempts to change the lane to the left lane, the controller 120 compares the coordinate value L ₁ of the left lane with the reference coordinate value C ₀ by using the following equation ( ₁ ) Can be determined.

[Equation 1]

(L ₁ - 留 LG) > C ₀

Here, L ₁ is the X-axis coordinate value of the left lane, and α is a predetermined constant value for determining the lane change and is set to a value larger than '0' and smaller than '1', LG is a distance between left and right lanes And C ₀ denotes a reference coordinate value set at the center of the image. Preferably, the above-mentioned constant value alpha is set to a specific value between 0.25 and 0.5.

4, when the controller 120 recognizes that the direction in which the vehicle attempts to change lanes is the left lane, the controller 120 determines that the X-axis coordinate value (L ₁ ) of the left lane of the vehicle and the constant value (L ₁ - LG LG) between the values of the difference (L ₁ - LG LG) and the reference coordinates (LG - LG) (C ₀ ), and when the difference value (L ₁ - α × LG) is larger than the reference coordinate value (C ₀ ), it is determined that the lane change to the left lane has been completed.

On the other hand, when the vehicle attempts to change the lane on the right lane, the controller 120 compares the coordinate value L ₂ of the right lane with the reference coordinate value C ₀ using the following equation ( ₂ ) It may be determined whether or not the change is completed.

&Quot; (2) "

(L ₂ + 留 LG) < C ₀

Where LG is a distance between the left and right lanes, C ₀ is a reference coordinate value set at the center of the image, and L ₂ is a coordinate value of the X-axis of the right lane, α is a constant value set to a specific value between 0.25 and 0.5, It means.

In this case, the control unit 120 calculates a sum of the X axis coordinate value (L ₂ ) of the right lane and the value (? X LG) obtained by multiplying the constant value (?) And the distance between the left and right lanes Next, when the sum value (L ₂ + α × LG) is compared with the reference coordinate value (C ₀ ) and the corresponding sum value (L ₂ + α × LG) becomes smaller than the reference coordinate value (C ₀ ) It can be determined that the lane change to the lane has been completed.

On the other hand, when the reference coordinate value C ₀ is larger than the X-axis coordinate value L _{1 of the} left lane and smaller than the X-axis coordinate value L ₂ of the right lane, It may be determined that the lane change intention is not given to the driver.

The control unit 120 may further include a direction indicator light control signal or a lane indicator control signal to be transmitted to the junction block 20 when the vehicle has completed the lane change to the left lane, completes the lane change to the left lane, A change completion message is generated.

The communication unit 130 is connected to the junction block 20 mounted on the vehicle in a wired or wireless manner and transmits a turn signal control signal or a lane change complete message generated from the control unit 120 to the junction block 20 And receives a turn signal ON signal from the junction block 20.

The communication unit 130 is provided as a communication module using CAN (Controller Area Network) and Ethernet (Ethernet) communication and operates under the control of the controller 120. The communication unit 130 may be provided to receive a signal for controlling the turn signal lamp 30 directly from the turn signal switch 10 when the turn signal switch 10 is operated by the driver.

Therefore, the black box 100 according to the first embodiment of the present invention determines whether or not the vehicle has completed the lane change while performing a basic function of photographing and storing the image in front of the vehicle, and outputs it to the junction block 20 A signal or a message can be further transmitted.

Accordingly, when the driver turns on the turn signal lamp 30 to turn on the lane, the turn signal lamp 30 is not turned off while the lane change is being performed, and the turn signal lamp 30 is automatically turned off when the lane change is completed. The number of times the direction indicating switch 10 is operated can be reduced to improve convenience, and it is possible to concentrate on driving the vehicle, thereby improving the stability.

FIG. 5 is a view for explaining a turn signal lamp control method according to the first embodiment of the present invention, and FIG. 6 is a diagram for explaining a process of determining a lane change of a vehicle.

5 and 6, a method of controlling the turn signal lamp performed in the black box according to the first embodiment of the present invention will be described.

However, since the functions performed in the direction indicator light control method shown in FIGS. 5 and 6 are all performed in the black box described with reference to FIGS. 1 to 4, even if no explicit description is given, All the functions are performed in the direction indicator control method according to the preferred embodiment of the present invention, and all the functions described with reference to FIG. 5 and FIG. 6 are performed in the black box according to the preferred embodiment of the present invention.

First, the photographing section of the black box photographs the road on which the vehicle travels and the lane indicated on the road (S110).

Then, the control unit of the black box analyzes the image photographed by the photographing unit to determine whether or not the lane of the vehicle is changed. When the lane change is completed, the control unit of the black box controls the direction indicator light for turning off the turn- A change completion message is generated (S120).

6, the controller analyzes the image and extracts lane information including the left and right lanes of the vehicle and the coordinate values of the lanes of the vehicle. Then, based on the lane information, And the direction in which the vehicle attempts to change lanes (S121).

When the vehicle attempts to change the lane to the left lane, the control unit determines whether the lane change attempted in the left lane is completed using Equation (3) below (S122). At this time, if it is determined that the lane change of the vehicle is not determined, the lighting or blinking state of the turn signal lamp is maintained (S123).

&Quot; (3) "

(L ₁ - 留 LG) > C ₀

Here, L ₁ is the X-axis coordinate value of the left-hand lane, α is a constant value that is set in advance to a specific value between 0.25 to 0.5, LG is the distance between the left and right lane, C ₀ is the reference coordinate set in the image center Value.

That is, the control unit calculates a difference value (L ₁ - 留) between the X axis coordinate value (L ₁ ) of the left lane and a value (留 x LG) obtained by multiplying the constant value (留) LG) is calculated and it can be determined that the lane change to the left lane is completed if the difference value (L ₁ -? X LG) is larger than the reference coordinate value (C ₀ ).

On the other hand, the control unit sets a state in which the vehicle maintains the existing lane and the reference coordinate value C ₀ is smaller than the X-axis coordinate value L _{1 of the} left lane and the X-axis coordinate value L ₂ of the right lane If it is maintained for the time, it may be determined that there is no lane-changing intention (S124). If the X-axis coordinate value L ₁ of the left lane increases to a value larger than the reference coordinate value C ₀ or the X-axis coordinate value L ₂ of the right lane increases to the reference coordinate value C ₀ ), The turn-on / turn-off state of the turn signal lamp is maintained (S125).

When the vehicle attempts to change the lane on the right lane, the control unit determines whether the lane change attempted in the right lane is completed using Equation (4) below (S126). At this time, if the lane change of the vehicle is not determined, the lighting or blinking state of the turn signal lamp is maintained (S127).

&Quot; (4) "

(L ₂ + 留 LG) < C ₀

Where LG is the distance between the left and right lanes, C ₀ is the reference coordinate set at the center of the image, L ₂ is the X-axis coordinate value of the right lane, α is a predetermined constant value between 0.25 and 0.5, Value.

The control unit calculates a sum of a value obtained by multiplying the X-axis coordinate value (L ₂ ) of the right lane by the above-described constant value (?) And the distance between the left and right lanes, When the value (L ₂ + alpha x LG) becomes smaller than the reference coordinate value C ₀ , it is determined that the lane change to the right lane is completed.

That is, the control unit compares the coordinate values (L ₁ , L ₂ ) of the specific lane in the direction in which the vehicle attempts to change lanes and the reference coordinate value (C ₀ ) set in the center of the image to determine whether or not the lane change has been completed If the vehicle has completed the lane change to the left lane, completes the lane change to the left lane, or is determined not to intend to change the lane, it generates a turn signal indicator control signal or lane change completion message to be transmitted to the junction block (S128) .

Then, the communication unit of the black box transmits the turn signal light control signal or the lane change complete message generated by the control unit to the junction block (S130).

In addition, when the junction block mounted on the vehicle receives the turn signal lamp control signal or the lane change completion message from the communication unit, the turn signal lamp is controlled to turn off the turn signal lamp (S140).

On the other hand, if the vehicle has not attempted to change lanes, it may be unnecessary to analyze the image to determine whether the lane change has been completed.

7, the photographing unit of the black box photographs the road on which the vehicle is traveling and the lane indicated on the road (S210). Then, The control unit may analyze the image and determine whether the lane change has been completed or not when the direction indicator ON signal is transmitted from the junction block mounted on the vehicle and the communication unit receives the signal.

At this time, the control unit analyzes in real time the image photographed by the photographing unit from the time when the direction indicator light ON signal is received until the time when the lane change of the vehicle is completed, and the vehicle completes the lane change to the left lane, It is determined whether or not the change is completed or whether there is no lane change intention, and a turn signal indicator control signal or a lane change completion message to be transmitted to the junction block is generated (S230).

The direction indicator light control signal or the lane change completion message generated by the controller is transmitted to the junction block through the communication unit at step S240. The junction block receiving the direction indicator light control signal or the lane change completion message controls the turn signal light The direction indicator lamp is turned off (S250).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.

110:
120:
130:

Claims (12)

A photographing section for photographing a road on which the vehicle travels and a lane indicated on the road;
A controller for analyzing an image photographed by the photographing unit to determine whether to change a lane of the vehicle, and generating a turn signal lamp control signal or a lane change completion message for turning off the turn signal lamp when the lane change is completed; And
And a communication unit for receiving a turn signal ON signal from a junction block for controlling a turn signal lamp mounted on the vehicle and transmitting a turn signal light control signal or a lane change complete signal generated from the control unit to a junction block,
Wherein,
The control unit performs an analysis of an image photographed by the photographing unit from a point of time when the turn signal ON signal is received until a point of time when the lane change of the vehicle is completed, The lane information is extracted and the specific lane approaching to the vehicle based on the lane information and the direction in which the vehicle tries to change the lane are recognized and then the coordinate value of the specific lane in the direction in which the vehicle tries to change lanes, And determines whether or not the lane change has been completed.
delete delete The method according to claim 1,
Wherein the control unit determines whether the lane change attempted in the left lane has been completed, using the following equation.

[Mathematical Expression]
(L ₁ - 留 LG) > C ₀

Here, L ₁ is the X-axis coordinate value of the left lane, α is the predetermined constant value, LG is the distance between the left and right lanes, and C ₀ is the reference coordinate value set at the center of the image.
The method according to claim 1,
Wherein the control unit determines whether or not the attempted lane change to the right lane has been completed, using the following equation.

[Mathematical Expression]
(L ₂ + 留 LG) < C ₀

Here, L ₂ is the X-axis coordinate value of the right lane, α is a predetermined constant value, LG is the distance between the left and right lanes, and C ₀ is the reference coordinate value set at the center of the image.
delete A method of controlling a turn signal light performed in a black box,
(1) photographing the road on which the vehicle travels and the lane indicated on the road, by the black box;
(2) the black box includes: a turn indicator ON signal from a junction block mounted on the vehicle and controlling the turn indicator lamp;
(3) The black box analyzes the photographed image to determine whether the lane of the vehicle is changed. When the lane change is completed, the black box generates a turn signal light control signal or a lane change complete message for turning off the turn indicator in the blinking state ; And
(4) transmitting, by the black box, the generated turn signal indicator control signal or lane change completion message to the junction block,
In the step (3), the black box may include:
Extracting lane information including coordinate values of left and right lanes and lanes of the vehicle from the photographed image, and analyzing the lane information including the coordinates of the lane of the vehicle from the captured image, And recognizes the lane change direction of the specific lane approaching to the vehicle based on the lane information and the direction in which the vehicle attempts to change the lane. Then, the reference coordinate value set in the center of the image and the coordinate value of the specific lane, And judges whether the lane change has been completed or not.
delete delete 8. The method of claim 7,
Wherein, in the step (3), the black box determines whether or not the attempted lane change to the left lane has been completed using the following equation.

[Mathematical Expression]
(L ₁ - 留 LG) > C ₀

Here, L ₁ is the X-axis coordinate value of the left lane, α is the predetermined constant value, LG is the distance between the left and right lanes, and C ₀ is the reference coordinate value set at the center of the image.
8. The method of claim 7,
Wherein, in the step (3), the black box determines whether the lane change attempted in the right lane has been completed using the following equation.

[Mathematical Expression]
(L ₂ + 留 LG) < C ₀

Here, L ₂ is the X-axis coordinate value of the right lane, α is a predetermined constant value, LG is the distance between the left and right lanes, and C ₀ is the reference coordinate value set at the center of the image. delete

Images