KR102159355B1 - Method and apparatus for automated vehicle control - Google Patents

Abstract

A camera unit that photographs the outside of the vehicle and outputs an image, a speed measurement sensor unit that measures the speed of the vehicle and outputs the vehicle speed value, and recognizes a speed bump pattern in a set area of the image captured by the camera, and the vehicle It is a vehicle automatic control device including a control unit that outputs a braking signal for reducing the speed of the vehicle so that the speed of the vehicle becomes the reference speed value when the speed value of is exceeds the reference speed value.

Description

Vehicle automatic control method and vehicle automatic control apparatus TECHNICAL FIELD [Method and apparatus for automated vehicle control]

The present invention relates to an automatic vehicle control method and an automatic vehicle control device, and more particularly, a vehicle automatic control method for controlling the speed of a vehicle when the speed bump is present by detecting the presence or absence of a speed bump based on an image captured by the vehicle, and It relates to a vehicle automatic control device.

Recently, safety issues have emerged. Also, due to the development of electronic products, many safety-related control functions are being installed in vehicles. Among them, cameras that can implement various functions at an inexpensive price are widely used. Various algorithms such as lane detection are implemented and used as functions using a camera.

SCC (Smart Cruise Control) is an existing automatic braking system. SSC uses radar to maintain the gap with the preceding vehicle and prevent collision. Recently, when the smart cruise control is applied, a study is underway to automatically recognize the speed bump and automatically reduce the vehicle speed before passing through the speed bump.

It is an object of the present invention to provide an automatic vehicle control method and an automatic vehicle control device for controlling the speed of a vehicle in the presence of a speed bump by detecting the presence or absence of a speed bump based on an image.

The vehicle automatic control method according to the present invention includes: setting an area from an image captured by a camera mounted on a vehicle, recognizing a speed bump pattern in the set area, and calculating a distance value between the speed bump pattern and the vehicle. And outputting a speed value of the vehicle when the separation distance value is less than a reference distance value, and adjusting the vehicle speed so that the vehicle speed becomes a reference speed value when the vehicle speed value exceeds a reference speed value. And outputting a reducing braking signal.

The step of setting the area includes calculating a point where two lanes meet in the image, setting a horizontal axis perpendicular to a vertical axis including the point, and setting an area below the horizontal axis in the image do.

The step of setting the region further includes dividing an area below the horizontal axis into a remote region in which the speed bump pattern cannot be confirmed and a short region region in which the speed bump pattern can be confirmed.

The step of recognizing the speed bump pattern may include recognizing at least one of a brightness pattern that is a horizontal band pattern in which light/darkness is repeated as one in the set region, and a color pattern that is a horizontal band pattern in which at least two colors are repeated as one color. Include.

After outputting the braking signal, the tilt measurement sensor measures a vehicle tilt and outputs a tilt value, when the vehicle tilt value exceeds a reference vehicle tilt value, determining that the speed bump pattern has passed after a predetermined period of time, When the vehicle passes the speed bump pattern, the step of outputting a brake release signal.

The automatic vehicle control apparatus according to the present invention includes a camera unit that photographs the outside of a vehicle and outputs an image, a speed measurement sensor unit that measures the vehicle speed and outputs a vehicle speed value, and a set area of the image captured by the camera. And a control unit that recognizes the speed bump pattern and outputs a braking signal for reducing the speed of the vehicle so that the speed of the vehicle becomes a reference speed value when the speed value of the vehicle exceeds the reference speed value.

The region is characterized in that the region is a region below a horizontal axis perpendicular to a vertical axis including a point where two lanes meet in the image.

The control unit divides an area below the horizontal axis into a remote area where the speed bump pattern cannot be checked and a short range area where the speed bump pattern can be checked.

The speed bump pattern includes recognizing at least one of a brightness pattern that is a horizontal band pattern in which light/dark is repeated as one in the set region, and a color pattern that is a horizontal band pattern in which at least two colors are repeated as one color.

The sensor unit further includes a tilt measurement sensor unit that measures the vehicle inclination and outputs a vehicle inclination value, and the control unit outputs a brake release signal when the vehicle inclination value exceeds a reference vehicle inclination value and a predetermined time elapses. To

First, the present invention has an advantage in terms of efficiency of performing an algorithm for recognizing a speed bump pattern by recognizing a speed bump pattern only in a region below the horizontal axis perpendicular to the vertical axis including the point where two lanes meet.

Second, the present invention has the advantage of recognizing a brightness pattern in a distant region and a color pattern in a near region to recognize a speed bump pattern even in a distant region where color classification is impossible.

Third, the present invention has the advantage of providing driving convenience to the driver by automatically braking the vehicle when the speed bump pattern is recognized.

Fourth, the present invention has the advantage of providing driving convenience to the driver by automatically releasing the braking signal and accelerating the vehicle again when the vehicle passes through the speed bump.

1 is a control block diagram showing an automatic vehicle control device according to the present invention;
FIG. 2 is an exemplary view showing that a horizontal axis (d) is set on the front image of the vehicle captured by the camera unit shown in FIG. 1 and is divided into a far area and a near area;
3 is an exemplary view showing a brightness pattern of the speed bump shown in FIG. 2;
4 is an exemplary view showing a color pattern of the speed bump shown in FIG. 2;
5 is an exemplary view showing a standard for measuring the inclination of the vehicle to determine whether the vehicle has passed the speed bump pattern;
6 is a flow chart showing a vehicle automatic control method according to the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only these embodiments make the disclosure of the present invention complete, and are common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings,

1 is a control block diagram showing an automatic vehicle control apparatus according to the present invention. An automatic vehicle control device according to an embodiment of the present invention includes a speed measurement sensor unit 101, a tilt measurement sensor unit 102, a camera unit 103, a control unit 200, and a brake unit 300.

The speed measurement sensor unit 101 measures and outputs the speed of the vehicle. The speed measurement sensor unit 101 may be installed at a position inside and outside the vehicle between the vehicle front bumper and the vehicle rear bumper. The speed measurement sensor unit 101 measures the speed of the vehicle and outputs a speed value of the vehicle to the control unit 200.

The speed value of the vehicle output from the speed measurement sensor unit 101 may be transmitted to the control unit 200 through a vehicle CAN (Controller Area Network) communication.

The tilt measurement sensor unit 102 measures a vehicle tilt and outputs a vehicle tilt value. The tilt measurement sensor unit 102 may be attached between the vehicle front bumper and the vehicle rear bumper. The tilt measurement sensor unit 102 measures the vehicle tilt when the front wheel of the vehicle passes through the speed bump and outputs a vehicle tilt value. The tilt measurement sensor unit 102 measures the vehicle tilt when the rear wheel of the vehicle passes and outputs a vehicle tilt value. The vehicle inclination value output from the inclination measurement sensor unit 102 may be transmitted to the controller 200 through communication in a controller area network (CAN) for a vehicle. A reference for measuring the vehicle tilt by the tilt measurement sensor unit 102 will be described later in FIG. 5.

The camera unit 103 photographs the outside of the vehicle and outputs an image. The camera unit 103 photographs the front of the vehicle and outputs an image. According to an embodiment, the camera unit 103 may output an image by photographing the rear of the vehicle when the vehicle is driving backward. The camera unit 103 is installed at a position where the front of the vehicle can be photographed on the external front portion or the inner front portion of the vehicle capable of photographing the front of the vehicle. The camera unit 103 may be installed on an outer rear portion or an inner rear portion of a vehicle capable of photographing the rear of the vehicle.

The camera unit 103 transmits the captured image in front of the vehicle to the control unit 200. The camera unit 103 may transmit the photographed rear image of the vehicle to the controller 200. The image in front of the vehicle output from the camera unit 103 may be transmitted to the control unit 200 through a vehicle CAN (Controller Area Network) communication.

The brake unit 300 reduces the speed of the vehicle. The braking unit 300 may be one of a hydraulic brake, an automatic adjustment brake, a disk brake, a power brake, a hand brake, and a pneumatic brake. The braking unit 300 receives a braking signal and a braking release signal transmitted from the control unit 200. The braking part 300 may be installed between the front bumper and the rear bumper of the vehicle.

The control unit 200 receives the vehicle speed value transmitted from the speed measurement sensor unit 102, receives the vehicle front image transmitted from the camera unit 103, and receives the vehicle tilt output from the tilt measurement sensor unit 102. Receive a value.

The control unit 200 outputs the braking signal SS1 to the control unit 200 according to the vehicle speed value.

The control unit 200 receives the vehicle speed value transmitted from the speed measurement sensor unit 101. The control unit 200 transmits a braking signal to the brake unit 300 when the received vehicle speed value is greater than a preset reference speed value. Output to The controller 200 receives the vehicle tilt value transmitted from the tilt measurement sensor unit 102.

The controller 200 receives the image in front of the vehicle transmitted from the camera unit 103.

The control unit 200 sets an area from an image captured by a camera mounted on the vehicle.

The controller 200 sets an area less than or equal to the horizontal axis d perpendicular to the vertical axis c including a point b where two lanes meet in the image in front of the vehicle.

The control unit 200 divides the area below the horizontal axis d into a remote area ef in which the speed bump pattern cannot be checked and a short-range area en where the speed bump pattern can be checked.

A detailed description of this will be described later with reference to FIG. 2.

The control unit 200 recognizes the speed bump pattern in the set area. The control unit 200 recognizes a speed bump pattern in a remote area. The control unit 200 recognizes a speed bump pattern in a near area.

The controller 200 recognizes at least one of a brightness pattern that is a horizontal band pattern in which light/dark is repeated as one and a color pattern that is a horizontal band pattern in which two colors are repeated as one in a set area to recognize the speed bump pattern.

A method for the control unit 200 to recognize a speed bump pattern will be described later in FIGS. 3 to 4.

The controller 200 calculates a distance value between the speed bump pattern and the vehicle in the image in front of the vehicle. The separation distance value is obtained using the following equation.

Here, it is the angle formed by the line connecting the line perpendicular to the ground surface at the point where the speed bump pattern is photographed and the point where the speed bump pattern touches at the point where the speed bump pattern is photographed.

When the separation distance value is less than the reference distance value, the speed measurement sensor unit 101 measures the vehicle speed and outputs the vehicle speed value. The controller 200 compares the speed value of the vehicle and the size of a preset reference speed value. When the vehicle speed value exceeds a preset reference speed value, the control unit 200 outputs a braking signal SS1 for reducing the vehicle speed so that the vehicle speed becomes the reference speed value.

When the vehicle inclination value output from the inclination measurement sensor unit 102 exceeds a preset vehicle inclination value, the controller 200 determines that the vehicle has passed the speed bump pattern after a predetermined time has elapsed. A reference for measuring the vehicle inclination will be described later in FIG. 5.

The reference slope value is based on a speed bump height of 10 cm. The reference slope value may be set differently according to the size of the speed bump.

If the control unit 200 determines that the speed bump pattern has passed, the control unit 200 outputs a braking release signal SS2. The predetermined time is determined as a time between the time when the front wheel of the vehicle passes through the speed bump and the time when the rear wheel of the vehicle passes through the speed bump pattern. The predetermined time may be set differently for each vehicle. In addition, the predetermined time may be set differently according to a driver's habit.

FIG. 2 is an exemplary view showing that a horizontal axis (d) is set on a front image of a vehicle photographed by the camera unit shown in FIG. 1 and is divided into a far area and a near area.

The controller 200 calculates a point (b) where the two lanes, the lane a1 and the lane a2 meet in the image in front of the vehicle.

A method for the control unit 200 to recognize a lane will be described by way of example.

The control unit 200 recognizes a lane from the front image received from the camera unit 103.

Lane recognition is performed through white lane detection, edge detection, and Hough transformation. The control unit 200 may detect a white lane in the area by using color values of R(Red), G(Green), and B(Blue) in the area below the horizontal axis d.

The control unit 200 may obtain an outline from the detected white lane using the Canny Edge method.

The control unit 200 determines whether the detected edge contour is a straight line connected from the bottom to the top of the front image, using Hough Transform, and recognizes a line connected from the bottom to the top as a lane.

The control unit 200 sets a horizontal axis d that is perpendicular to the vertical axis c including the calculated point b. The control unit 200 recognizes the speed bump pattern in an area below the horizontal axis d. The control unit 200 divides an area below the horizontal axis d into a far area ef and a near area en in the vertical direction.

The controller 200 divides the image in front of the vehicle into an area in which the speed bump pattern cannot be confirmed and an area where it is possible. The control unit 200 sets a region in which the speed bump pattern cannot be confirmed in the image in front of the vehicle as a distant region ef. The control unit sets an area in which the speed bump pattern can be checked in the image in front of the vehicle as a near area area (en). The control unit 200 sets the distant area as it is closer to the vanishing point (b). The far area ef is an area closer to the vanishing point than the near area en in the vertical direction.

3 is an exemplary view showing a brightness pattern of the speed bump pattern shown in FIG. 2. The brightness pattern is a horizontal band pattern in which light/darkness is repeated as one. In the brightness pattern, the order of brightness of light/dark appears repeatedly.

The control unit 200 recognizes the point at which the brightness changes because the speed bump pattern is seen only in the form of a horizontal band rather than a color in the distant area ef. The control unit 200 performs the recognition process within the recognized lane among the distant area ef.

As for the method of determining whether or not the brightness pattern matches, for example, in the inspection of the brightness change point, a scan is performed in line units from the top to the bottom of the distant area ef. When a change in brightness is recognized through the scan, it is determined whether the brightness change is matched with a preset horizontal band-shaped brightness pattern in the direction from left to right in the recognized part to recognize the speed bump pattern.

The control unit 200 checks whether the speed bump pattern detected in the far area ef comes to the near area en. For example, if the control unit 200 recognizes the speed bump pattern at least once in the distant area ef, the control unit 200 repeatedly measures the distance between the vehicle and the speed bump pattern with respect to the recognized pattern at regular time intervals. And calculate the separation distance value. When the calculated separation distance value gradually decreases, the controller 200 determines that the detected speed bump pattern comes to the near area en.

When the speed bump pattern comes to the near region en, the control unit 200 applies the speed bump pattern recognition method in the near region en described in FIG. 4.

4 is an exemplary view showing a color pattern of the speed bump shown in FIG. 2. The color pattern is a horizontal band pattern in which at least two colors are repeated. In the color pattern, the first color and the second color are repeated with a constant width. The color pattern may vary depending on the setting, and is not limited to a specific color.

The controller 200 determines whether or not the color pattern shown in FIG. 4 exists in the near area en. This is because it is generally possible to check the speed bump pattern in the near area (en). The controller 200 determines whether or not the speed bump pattern matches the color pattern shown in FIG. 4 from left to right in the near area en.

The color pattern may be set to white/yellow or yellow/black.

When the color of the speed bump pattern in the near-field (en) is not clear, that is, when the color light output of the speed bump pattern is low, the color brightness is at the same interval as that of the color pattern shown in FIG. It is determined whether or not is repeatedly changed to recognize the speed bump pattern.

In FIGS. 4 to 5, the controller 200 tracks the speed bump pattern recognized in the far area and/or the near area. Tracking refers to repeatedly recognizing the speed bump pattern while following the originated speed bump pattern until the speed bump pattern disappears from the image in front of the vehicle. During tracking, when the distance between the vehicle and the speed bump is less than the reference distance, the controller 200 measures and outputs a speed value of the vehicle.

FIG. 5 shows a standard for measuring a vehicle inclination to determine whether the vehicle has passed the speed bump pattern of FIG. 2. In Fig. 5(a), when the front wheel of the vehicle (h) passes the speed bump (f), the angle (g1) generated below the ground among the angles between the bottom surface of the vehicle (h) and the ground is set as the vehicle inclination value. do. In Fig. 5(b), when the rear wheel of the vehicle h passes the speed bump f, the angle g2 generated on the ground among the angles formed between the bottom of the vehicle h and the ground is the vehicle inclination value. Set to

As an embodiment, the tilt measurement sensor unit 102 may measure a pitch angle of a vehicle. The pitch angle can be set to a negative (-) sign value on an uphill road and a positive (+) sign value on a downhill road. The controller 200 uses the amount of change in the magnitude of the output slope value regardless of the sign of the pitch angle measured by the slope measurement sensor unit 102 and output.

Hereinafter, the operation of the automatic vehicle control apparatus according to an embodiment of the present invention will be described with reference to FIG. 6.

6 is a flow chart showing a vehicle automatic control method according to the present invention.

The camera unit 103 photographs the front of the vehicle and outputs a photographed image in front of the vehicle (S100). The image in front of the vehicle captured by the camera unit 103 is received by the controller 200. In an embodiment, the image in front of the vehicle output from the camera unit 103 may be transmitted to the control unit 200 through a CAN (Controller Area Network) communication.

A method for the control unit 200 to recognize a lane is as described above with reference to FIG. 2.

The control unit 200 sets a region in the image in front of the vehicle received from the camera unit 103 (S110).

As described with reference to FIG. 2, the control unit 200 sets an area from an image captured by a camera mounted on the vehicle (S110). The controller 200 recognizes a lane in the image in front of the vehicle, calculates a point (b) where the recognized two lanes (a1) and lane (a2) meet, and on the vertical axis (c) including the calculated point (b). By setting the vertical horizontal axis d, the control unit 200 divides the area below the horizontal axis d into a far area ef and a near area en. The controller 200 sets an area in the front image of the vehicle in which the speed bump color pattern cannot be checked as a far-field area ef, and sets the area in which the speed bump color pattern can be checked as a near-field area en.

The control unit 200 recognizes the speed bump pattern in the set area of the image in front of the vehicle (S120). The controller 200 recognizes at least one of a brightness pattern that is a horizontal band pattern in which light/dark is repeated as one and a color pattern that is a horizontal band pattern in which two colors are repeated as one in a set area to recognize the speed bump pattern.

A method for the control unit 200 to recognize the speed bump pattern will be described.

The control unit 200 recognizes the point at which the brightness changes because the speed bump pattern is seen only in the form of a horizontal band rather than a color in the distant area ef. The control unit 200 performs the recognition process within the recognized lane among the distant area ef.

As for the method of determining whether or not the brightness pattern matches, for example, in the process of recognizing the brightness change point, a scan is performed in units of lines from the top to the bottom of the far area ef. When a change in brightness is recognized through the scan, it is determined whether the brightness change is matched with a preset horizontal band-shaped brightness pattern in the direction from left to right in the recognized part to recognize the speed bump pattern.

The control unit 200 checks whether the speed bump pattern detected in the far area ef comes to the near area en. For example, if the control unit 200 recognizes the speed bump pattern at least once in the distant area ef, the control unit 200 repeats the separation distance between the vehicle and the speed bump pattern with respect to the originated pattern at predetermined time intervals. Measure and calculate the separation distance value. When the calculated separation distance value becomes small, it is determined that the detected speed bump pattern comes to the near area en.

When the speed bump pattern comes to the near region en, the control unit 200 applies the speed bump pattern recognition method in the near region en described in FIG. 4.

The controller 200 determines whether or not the color pattern shown in FIG. 4 exists in the near area en. This is because it is generally possible to check the speed bump pattern in the near area (en). The controller 200 determines whether or not the speed bump pattern matches the color pattern shown in FIG. 4 from left to right in the near area en.

The color pattern may be set to white/yellow or yellow/black.

When the color of the speed bump pattern in the near-field (en) is not clear, that is, when the color light output of the speed bump pattern is low, the color brightness is at the same interval as that of the color pattern shown in FIG. It is determined whether or not is repeatedly changed to recognize the speed bump pattern.

In FIGS. 4 to 5, the controller 200 tracks the speed bump pattern recognized in the far area and/or the near area. Tracking refers to repeatedly recognizing the speed bump pattern while following the originated speed bump pattern until the speed bump pattern disappears from the image in front of the vehicle. During tracking, when the distance between the vehicle and the speed bump is less than the reference distance value, the control unit 200 measures the speed of the vehicle and outputs a speed value. Through tracking, the reliability of the recognition result of the speed bump pattern can be increased.

The control unit 200 recognizes the speed bump pattern and determines whether the speed bump pattern exists (S130). When it is determined that the speed bump pattern exists, the controller 200 calculates a distance value between the speed bump pattern and the vehicle in the image (S140).

A method in which the control unit 200 calculates a distance value between a speed bump pattern and a vehicle will be described by way of example.

The separation distance is obtained using the following equation.

Here, it is the angle formed by the line connecting the line perpendicular to the ground surface at the point where the speed bump pattern is photographed and the point where the speed bump pattern touches at the point where the speed bump pattern is photographed.

The controller 200 compares and determines the speed bump pattern, the distance value of the vehicle, and the size of the reference distance value (S150).

When the control unit 200 determines that the separation distance value is less than the preset reference distance value, the speed measurement sensor unit 102 measures the vehicle speed and outputs the vehicle speed value (S160).

The controller 200 determines whether the vehicle speed value exceeds a preset reference speed value (S170). When the vehicle speed value exceeds a preset reference speed value, a braking signal for reducing the vehicle speed so that the vehicle speed becomes the reference speed value is output to the brake unit 300 (S180). For example, the control unit 200 transmits a braking signal to the braking unit 300 when the vehicle speed value exceeds 30 km/h.

The braking signal SS1 may be transmitted to the controller 200 through a vehicle CAN (Controller Area Network) communication.

The tilt measurement sensor unit 102 measures a vehicle tilt and outputs a vehicle tilt value (S190). The standard for measuring the vehicle inclination has been described in FIG. 5.

The controller 200 determines whether the vehicle slope value exceeds a preset reference slope value (S200). The reference slope value may be set differently according to the size of the speed bump based on the height of the speed bump being 10 cm. The control unit 200 determines that the vehicle inclination value exceeds the preset reference inclination value, and outputs the brake release signal SS2 to the brake unit 300 when a predetermined time elapses (S210).

The control unit 200 sets the predetermined time as a time between the time when the front wheel passes through the speed bump and the time when the rear wheel passes through the speed bump. The predetermined time may be set differently for each vehicle. Also, the predetermined time may be set differently according to the driver's habit.

In the above, preferred embodiments of the present invention have been shown and described, but the present invention is not limited to the specific embodiments described above, and without departing from the gist of the present invention claimed in the claims, Various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

101: speed measurement sensor unit
102: tilt measurement sensor unit
103: camera unit
200: control unit
300: brake
SS1: braking signal output
SS2: Brake release signal output

Claims (10)

Setting an area from an image captured by a camera mounted on the vehicle;
Recognizing a speed bump pattern in the set area;
Calculating a distance value between the speed bump pattern and the vehicle;
Outputting a speed value of the vehicle when the separation distance value is less than a reference distance value; And
And outputting a braking signal for reducing the speed of the vehicle so that the speed of the vehicle becomes a reference speed value when the speed value of the vehicle exceeds the reference speed value,
The step of setting a region in the image captured by the camera mounted on the vehicle,
Calculating a point where two lanes meet in the image, setting a horizontal axis perpendicular to a vertical axis including the point, and setting an area below the horizontal axis in the image, and
And dividing an area below the horizontal axis into a remote area in which the speed bump pattern cannot be checked and a near area area in which the speed bump pattern can be checked,
The step of calculating a distance value between the speed bump pattern and the vehicle,
When the point where the brightness changes in the distant area is recognized, the distant area is scanned in line units, and when the brightness change is recognized through the scan, it is determined whether the brightness change matches the brightness pattern in the recognized area to recognize the speed bump pattern. And, it checks whether the speed bump pattern detected in the distant region comes to the near region, but calculates the distance value by repeatedly measuring the distance between the vehicle and the speed bump pattern for the originated pattern at regular time intervals. Control method. delete delete The method of claim 1
Recognizing the speed bump pattern,
And recognizing at least one of a brightness pattern that is a horizontal band pattern in which light/dark is repeated as one and a color pattern that is a horizontal band pattern in which at least two colors are repeated as one color in the set region. The method of claim 1,
After outputting the braking signal, a tilt measurement sensor unit measures a vehicle tilt and outputs a tilt value;
Determining that the speed bump pattern has passed after a predetermined period of time when the vehicle slope value exceeds the reference vehicle slope value;
When the vehicle passes through the speed bump pattern, outputting a brake release signal; A camera unit that photographs the outside of the vehicle and outputs an image;
A speed measurement sensor unit that measures the speed of the vehicle and outputs a speed value of the vehicle;
Recognizes the speed bump pattern in the set area of the image captured by the camera, and outputs a braking signal for reducing the speed of the vehicle so that the speed of the vehicle becomes the reference speed value when the speed value of the vehicle exceeds the reference speed value. Including;
The area is an area below the horizontal axis perpendicular to the vertical axis including a point where two lanes meet in the image,
The control unit divides the area below the horizontal axis into a remote area where the speed bump pattern cannot be checked and a short range area where the speed bump pattern can be checked, and when recognizing a point at which brightness changes in the remote area, the remote area is scanned by line And, if a change in brightness is recognized through scanning, it is determined whether the change in brightness matches the brightness pattern in the recognized part, recognizes the speed bump pattern, and checks whether the speed bump pattern detected in the distant region comes to the near region. A vehicle automatic control device that calculates the separation distance value by repeatedly measuring the separation distance between the vehicle and the speed bump pattern with respect to the recognized pattern at predetermined time intervals. delete delete The method of claim 6
The speed bump pattern is
And recognizing at least one of a brightness pattern that is a horizontal band pattern in which light/darkness is repeated as one in the set region, and a color pattern that is a horizontal band pattern in which at least two colors are repeated as one color. The method of claim 9
A tilt measurement sensor unit that measures a vehicle tilt and outputs a vehicle tilt value; It further includes,
And the control unit outputs a brake release signal when the vehicle inclination value exceeds the reference vehicle inclination value and a predetermined time elapses.

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