KR102164753B1 - Lidar black box and method of detecting a thing - Google Patents

Abstract

Disclosed are a lidar black box and a device for preventing signal interference for lidar. The lidar black box is an image acquisition device that acquires an image of an object in front of or behind a moving object, when it is determined that there is a possibility of an accident between the moving object and the object as a result of detection of the lidar and the lidar for detecting the object And a black box module for storing event image information corresponding to an image acquired by the image acquisition device and event detection information corresponding to a detection result of the lidar in the lidar black box or in a connected external device. Here, the radar modulates a signal emitted by an identification code or a signal reflected by the object is demodulated with the identification code to distinguish it from a signal transmitted from another lidar.

Description

Lidar black box and object detection method therein {LIDAR BLACK BOX AND METHOD OF DETECTING A THING}

The present invention relates to a technology for obtaining synergy by combining an object detection function of a lidar and an image detection function of a camera in a single vehicle black box.

Further, the present invention relates to a technology for preventing signal interference with other lidars when driving a vehicle or operating a plurality of lidars in places such as a factory.

The black box installed in the vehicle is an important device that stores driving conditions, parking conditions, etc. as images, and is used as evidence in case of emergency (see Fig. 1).

In general, the black box is configured to store the accident history from the time of the accident by sensing the shock at the time of the accident and operating it (see FIG. 2). The reason why the video is saved at the time of the accident is because it is difficult to accurately measure the distance between cars with a camera.In the structure that operates by detecting the impact at the time of the accident, the black box is damaged due to the accident or the original shooting direction due to impact. It is obvious that if this is wrong, it will not perform its function.

Also, a black box using a camera has a problem that night photography is practically impossible. Even if night photography can be performed using infrared rays, a problem that is not practical due to a decrease in resolution is unavoidable.

Since the radar uses the characteristic of the transmitted radio waves reflected from the object, it is possible to detect objects even at night by overcoming the disadvantages of the camera, but due to the nature of using radio waves, the resolution as an image cannot be expected. There are also flaws that are insufficient to use as important evidence.

As a technology that scans laser light, radar detects an object with a sharp optical signal beam and a short pulse repetition period and expresses it in an image shape, so it has several advantages for object detection, such as improved precision compared to radar. However, LiDAR's scanning function has the following problems.

1) Unless the object to be detected is a complete flat plate and the laser is not transmitted at an exact right angle to the object, the reflected light from the laser from the lidar is diffusely reflected in an unspecified direction, and only some of them are returned to the vehicle. This not only causes the reception signal to be lowered, but also becomes a problem in which the diffusely reflected laser affects other vehicles through interference. Conversely, this phenomenon is similar to the fact that the transmitted signal of another vehicle interferes with the own vehicle with the reflected light directly emitted. In other words, as the lidar is activated, the problem of interference becomes more pronounced, and at some point, optical scattering and disturbance may reach a serious level.

2) In particular, when a plurality of lidar sensors are installed to detect a person's approach, etc. in a certain factory area to perform scanning, there is a problem in that each lidar sensor interferes with each other, causing jamming (Fig. 3). Reference).

3) Ryda is a technology that is based on scanning search. In other words, it detects surrounding objects while scanning the light of the delicate beam in the form of a sector in a certain range with left and right scanning or 360 degree rotation. However, when this function is implemented in a black box installed inside the vehicle, the detection laser when transmitted at an inclination angle to the window of the vehicle does not actually reach the object to be detected and is refracted and reflected from the interior of the vehicle and then disappears. There is a problem (see Fig. 4).

4) The vehicle black box camera captures a wide-angle image from a fixed position in a single direction. Here, if a lidar is installed to detect an object, the detection point detects only a very minute part of the wide-angle camera image. Therefore, if the lidar is installed inside the vehicle and you want to display the search information on the display screen of the black box, it synchronizes with the shooting direction of the camera, so that it is a relatively large search point to make it easier to see which direction within the range of the image. It is necessary to display as (point type direction indicating the search result, as follows), and when the search direction is changed, the search point needs to be synchronized to move within the range of the image. However, there is a difficulty in that there is no technology to achieve by moving it mechanically.

The present invention was conceived to provide an additional technical method for solving the above problems and further preventing secondary damage in a vehicle accident.

The first object of the present invention is to provide a means for solving the interference of the optical system, which occurs when the signal is intersected with the other vehicle or when the signal between sensors is overlapped, by means of a modulation technology of the electromagnetic field. It provides signal modulation and demodulation and condensing amplification by lens.

A second object of the present invention is to provide a configuration for proactively preventing secondary damage caused by an accident by driving a hazard lamp while predicting an accident as a lidar immediately before a vehicle crash and driving the camera image storage function. have.

A third object of the present invention is to provide a configuration in which the characteristics of a lidar that transmits light with a single-directional spot beam and a camera that shoots an image at a wide angle are matched with software on the display, and follow changes in the driver's vision such as steering wheel manipulation. Therefore, it is intended to provide a means for shift display in a synchronous manner in a certain range.

The lidar black box according to an embodiment of the present invention includes an image acquisition device for obtaining an image of an object in front of or behind a moving object; A lidar to detect the object; And event image information corresponding to an image acquired by the image acquisition device and event detection information corresponding to a detection result of the lidar when it is determined that there is a possibility of an accident between the moving object and the object as a result of detection of the lidar. It includes a black box module that stores in the lidar black box or in a connected external device. Here, the radar modulates a signal emitted by an identification code or a signal reflected by the object is demodulated with the identification code to distinguish it from a signal transmitted from another lidar.

A lidar black box according to another embodiment of the present invention includes an image acquisition device for obtaining an image of an object in front of or behind a moving object; A lidar to detect the object; And a black box module for storing event image information corresponding to an image acquired by the image acquisition device or event detection information corresponding to a detection result of the lidar in the lidar black box or in a connected external device. Here, a signal emitted from the lidar is modulated with an identification code or a signal reflected by the object is demodulated with the identification code.

According to the present invention, the following effects can be obtained.

1) Accurate object detection capability is secured in the black box, so it is possible to save images and operate hazard lamps from the predicted state of collision, so not only does it secure its own event data, but also actively prevents collisions with rear vehicles, which are secondary damage. You will be able to.

2) Convenience for construction and maintenance is secured as the mechanical focus mismatch between the camera and lidar is resolved through software pitch adjustment.

3) Even at night, which is not observed by video, it can be detected through the lidar. Furthermore, the speed and distance information of the other vehicle is overlapped and expressed on the image of the black box, and the observation direction of the black box corresponds to the driving direction of the vehicle. Since the display is automatically linked, it is possible to accurately know the situation at the time of the accident when reproduced.

4) By applying the identification code of the electromagnetic field to the transmission and reception of the optical system, the immunity from signal interference of the other lidar is strengthened, and the function of condensing and amplifying the received signal of the optical system is secured through the lens of the structure where the window wiper is not disturbed.

5) In particular, the signal interference prevention configuration using the identification code is effective in preventing interference between optical signals that occurs when a plurality of lidar sensors are installed in a certain place such as a vehicle as well as a factory area.

1 is an example of a screen displayed when reproducing an image stored in a conventional black box.
2 is a sequential flowchart showing the concept of operating a conventional black box when a vehicle collision occurs.
3 is a conceptual diagram illustrating a principle of jamming and a state in which interference occurs on a screen when a plurality of scanning liders are installed in a specific place such as a factory, due to interference of optical signals from each other.
4 is a conceptual diagram showing the principle that the light signal passing through the window becomes weak by reflecting and refracting the light signal incident on the window at an inclination angle when the scanning lidar is operated inside the vehicle.
5 is a conceptual block diagram showing a first embodiment as a basic configuration of the present invention. (Claim 1 and Claim 2)
6 is a block diagram when the basic configuration of the present invention is shown as an electronic circuit.
7 is a block diagram of a third embodiment in which the basic configuration of the present invention and the interlocking configuration of an additional identification code are combined. (Claim 3)
8 is a block diagram of a fourth embodiment in which the basic configuration of the present invention and the interlocking configuration of additional lenses are combined. (Claim 4)
9 is a block diagram of a fifth embodiment in which the basic configuration of the present invention and the additional steering interlocking configuration are combined. (Claim 5)
10 is a flowchart illustrating a concept in which the ADAS module calculates event detection information in each of the above examples. (Claim 6)
11 is a conceptual diagram illustrating a principle of overlapping image information of a camera and object detection information of a lidar on a screen by matching a pitch in each of the above embodiments. (Claim 7)
12 is a conceptual diagram showing movement speed and distance information of a result of detection by a lidar on an object of an image captured by a camera in each of the above embodiments. (Claim 8)
13 is a conceptual diagram showing that the direction in which the camera photographs and the direction of detection of the lidar are adjusted according to steering of the steering wheel in each of the above embodiments. (Claim 9)
14 is a conceptual diagram showing a principle of solving signal interference that occurs when a scanning lidar is used in a certain factory area, etc. by a selective function using an identification code. (Claim 10)
15 is a principle diagram showing the concept of configuring the identification code of FIG. 14 with an IP in the form of a control header. (Claim 11)
16 is a principle diagram showing the concept of configuring the identification code of FIG. 14 as a PN code in the form of a control signal. (Claim 12)

In addition to the following description, the present invention may have various embodiments. Specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. However, since this is not intended to limit the present invention to a specific embodiment, the configuration disclosed below should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention. While describing each drawing, similar reference numerals have been used for similar elements, but, for example, terms such as first and second are only used for the purpose of distinguishing one element from other elements. They should not be understood as being limited by attaching terms as first, second, etc. In the above terms, the first component may be referred to as the second component without departing from the scope of the present invention, and the second component may also be referred to as the first component by the same principle.

On the basis of this principle, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Objects and features of the present invention will become more apparent through the following detailed description.

First, a description will be made with respect to FIGS. 2 to 4 illustrating problems arising from the prior art.

2 is a diagram conceptually showing a flowchart of storing an event image in a black box using a camera.

As shown in FIG. 2, a conventional black box normally records and stores an image (S11), and when an event is detected (S12), an event image is generated and stored (S13 and S14). Here, recording and storing an image includes a temporary storage type, and storing an event image includes a permanent storage type.

The event video is stored on a nonvolatile SD card, etc., and used to reproduce it as evidence in the future, and the start and end are determined by setting.

At this time, the event status is determined by detecting a collision of the vehicle or an impact corresponding to the collision. Here, the event image is stored as an image from about 10 seconds before the event to the end of the event.

3 is a diagram illustrating a principle in which jamming occurs due to interference of laser beams from each other when a plurality of lidar sensors are mixed in a factory area. (FIG. 3 shows only the beam width when the lidar scans, but in practice the scanning light is very confusing due to the scattered diffused light hitting the object, while referring to the concept of signal interference of FIG. 3 shown in the present invention. Hope you understand.)

Referring to FIG. 3, since the lidar sensor 9 detects an independent space, there is no signal interference from other lidar sensors, but other lidar sensors (1, 2, 3, 4, 5, 6, 7 and 8) Since everyone is detecting the same space at different angles, signals from each other cause interference.

For example, the lidar sensor 1 is affected by the lidar sensor 4 and jamming occurs in the Ic sector, and the lidar sensor 3 is affected by the lidar sensor 1 and jamming occurs in the Ia sector.

According to the same principle, sectors Ib, Id, Ie and If are all interfered by the opposing LiDAR sensor signals according to mutual interference. Here, interference refers to a phenomenon in which an unintended optical signal other than a transmission signal transmitted by itself is received to a receiving point.

LiDAR is the conversion of the time difference between the optical signal emitted from the transmission point and the reflection point and returned to the distance.When an unintended reception signal is received as described above, the reference transmission point or transmission location cannot be known. The detection function cannot be exercised. Therefore, the received signal only exerts an adverse effect on optical signal noise. This will be referred to as interference in the present invention.

4 is a diagram illustrating a principle in which an optical signal from a transmission point is reflected and lost indoors when a lidar is operated by scanning in a vehicle interior.

When the lidar sensor passes through a window formed at a right angle, most of it passes through the window and proceeds straight to the object to be detected (10a). However, when the lidar sensor projects an optical signal to the window 15a arranged at an inclined angle as shown in FIG. 4 for scanning in the vehicle interior, a part of the optical signal goes straight to the window 15a, but more More light energy is reflected back into the room. As a result, there is a problem of being lost indoors as a useless optical signal.

Likewise, when projecting an optical signal onto the window 15a at an inclined angle, some of the optical signals pass through the window 15a and are effectively utilized, but there is a problem in that more light energy is reflected into the room and lost.

The LIDAR optical signal that is lost indoors loses its function for object detection, so the function is degraded as much as it is lost.

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

5 is a diagram illustrating a lidar black box according to a first embodiment of the present invention.

Referring to FIG. 5, the lidar black box 502 of the present embodiment may be installed on, for example, an upper portion 500 of a front windshield of a vehicle, and an image acquisition device, for example, a camera 510 and a lidar ( 502).

In addition, although not shown, the lidar black box 502 may further include an ADAS module and an impact sensor, for example, a gyro sensor. However, the gyro sensor is not an essential component.

Meanwhile, the lidar black box 502 may itself include a black box module (not shown), or may be connected to an external black box module by wire or wirelessly. In this case, the black box module may be installed inside or outside the vehicle.

The camera 510 photographs an object in front (or rear) of the vehicle as a wide-angle camera image.

The lidar 512 detects an object in front (or rear) of the vehicle with a spot beam. Specifically, in FIG. 5, for example, a left rider may output a spot beam, and a right rider may receive a spot beam reflected by an object and incident thereon.

According to an embodiment, the lidar 512 may detect a distance between a vehicle and an object by emitting a spot beam. In terms of detecting a distance, the lidar 512 may be referred to as a distance detector, and is an example of a distance detector.

According to another embodiment, the lidar 512 may modulate and output a spot beam with an identification code, as described later, and demodulate the reflected beam received after being reflected with an identification code.

The ADAS module analyzes whether the image acquired by being connected to the shock sensor and the camera 510 is event image information, and the result detected by the lidar 512 connected to the lidar 512 is event detection information. Whether or not it is recognized can be analyzed with an object analysis program.

The black box module is connected to at least one of the camera 510, the lidar 512, and the ADAS module to determine the event image information or the event detection information, and the detection result of the lidar 512 For example, when it is determined that there is a possibility of a collision (accident) with the vehicle ahead, the event image information and the event detection information may be stored in the lidar black box 502 or in a connected external device (not shown).

For example, if the current vehicle speed is 100 km and the distance from the vehicle in front is within 10 meters as a result of detection of the lidar 512, the black box module determines that there is a possibility of an accident with the vehicle in front, and then, the event image information and Event detection information can be saved.

Meanwhile, the black box module determines the possibility of an accident and stores the event image information and the event detection information, but the possibility of an accident is an example of a specific condition. That is, the black box module may store the event image information and the event detection information when a predetermined specific condition is satisfied.

In addition, the black box module may overlap and display the stored event image information and the stored event detection information when requested by a user. Here, the black box module may include a display device or may be connected to an external display device.

That is, the ADAS module linked to the camera 510 and the lidar 512 and the black box module are linked to each other to store and display the event image information and the event detection information.

Here, the camera 510 installed in the interior of the vehicle in order to photograph an object in front (or rear) of the vehicle as a wide-angle camera image; refers to a means for photographing an image that can be directly checked with a field of view.

The lidar 512 installed in the interior of the vehicle in order to detect an object in front (or rear) of the vehicle with a spot beam; includes detection using radio wave or optical energy emission and reflection.

In the present invention, this configuration is an identification code as described later, which modulates and transmits an optical signal, and after receiving, demodulates only the LIDAR optical signal suitable for this identification code, thereby selectively discriminating only the object detection signal emitted from the vehicle itself. Includes the receiving configuration.

Meanwhile, in the present invention, instead of adopting a configuration in which the lidar signal is scanned indoors, the pitch is adjusted only by a certain portion within the range of the optical lens, so that the lidar operates within the range of the camera image, thereby preventing the optical signal lost indoors. It can be minimized (see Fig. 8).

ADAS module that is connected to the shock sensor and the camera 51 to analyze the event image information, while connected to the lidar 512 and analyzes the event detection information with an object analysis program; It may further include a configuration for recording image or object information. At this time, the object analysis program refers to a configuration that analyzes situations such as a collision predicted as a proximity state considering the speeds of the host vehicle and the other vehicle. A detailed principle for this will be described in FIG. 10.

When connected to at least one of a camera 510, a lidar 512, and the ADAS module to store the event image information or event detection information and reproduce the stored event image information and event detection information, the event image information and In the black box module 120 that combines and displays the event detection information by overlapping; wherein the storing of the event image information refers to an image that stores the image itself acquired from the camera when the sensor detects an impact event, Storing the event detection information means converting the object detection information into a function of time and distance in XY coordinates when the optical signal transmitted from the lidar reaches an object and the signal reflected from the object is determined as a specific danger signal. It refers to the image data to be saved.

In these configurations, an image that collectively stores the entire screen and the time distance function data to detect an object within a specific XY coordinate range have different properties, so a separate storage medium or table must be used. For example, it is preferable to store image data in a frame and object detection data in a point coordinate format.

This in turn requires a means to prevent the pitch from shifting when disparate data is displayed overlaid in order to reproduce on one screen, that is, a means of overlapping which coordinates in the image frame screen should be taken. It will play the same role.

The visual screen and the point coordinates of the object detected in the image screen must be completely overlapped on the screen to confirm the evidence with the naked eye, but in reality it is very difficult to match the focus of the camera with the focus of the LiDAR optics. Matching this in software is pitch control. That is, a software means for correcting the focus of the lidar 512 to match the position of an actual object while moving to the XY coordinates on the image screen is a pitch adjustment configuration.

Applying this as a reverse idea, this pitch adjustment configuration can be intentionally shifted within a certain range if necessary once calibration is completed, and the use of this is a configuration in which the lidar focus is moved by interlocking with the handle ( See Fig. 9). Here, the movement includes, for example, a certain range of left and right.

The combination of the ADAS module and the black box module corresponds to a comprehensive abbreviation of all the actions described above. That is, the camera 510 acquires the event image information, and the radar acquires the event detection information through the object analysis program of FIG. 10, which will be described later, and stores the information individually, It is summarized and summarized the operation displayed on one screen by overlapping.

In particular, through the above configuration, event data can be faithfully stored not only in the daytime but also at night, and furthermore, it is possible to accurately capture the detection target by being combined with the image of the camera without the scanning configuration of the lidar 512.

The scanning function of the lidar 512 is to comprehensively collect reflected signals detected within the scanning range while scanning the vertical plane array-type laser beam left and right to draw an image on a computer screen. However, in the present invention, since the camera is taking such a comprehensive image as an actual image, the lidar 512 can detect it in the form of a spot instead of scanning. (However, it is possible to shift the focus within a certain range for the handle linkage described later.)

In terms of a hardware structure, it is possible to adopt a shape in which the lidar 512 is attached to the window of the vehicle in a fixed manner rather than a scanning structure.

According to an embodiment, when the ADAS module recognizes event image information or event detection information, the hazard lamp system of the vehicle and the ADAS module may be combined to automatically control the hazard lamp system of the vehicle.

If the hazard lamp is automatically operated while the event image information or event detection information is recognized, the ADAS module supplementally manipulates the hazard lamp operation that the human ability cannot reach in a very urgent situation, so that urgent information can be delivered to the following vehicles. It is possible, and through this, a safety alarm function that prevents secondary accidents is secured.

6 is a schematic diagram of FIG. 5 as an electronic circuit block diagram.

That is, according to the hardware configuration of the present invention depicted in FIG. 6, the present invention illustrated in FIG. 5

The camera 510 and the lidar 512 are connected to the ADAS module, and the black box module such as a display unit and the hazard lamp are connected to the ADAS module.

Furthermore, it is organized in a configuration in which a manual operation mechanism unit for manually operating the hazard lamp and an electronic control unit (ECU) for controlling the function of the vehicle are connected. Since the operation of each component has been previously described, duplicate descriptions are omitted.

7 is a diagram showing the concept of adding an identification code (eg PN (Pseudo Noise)) to an optical signal to prevent interference between LiDAR signals.

In the present invention, the lidar 512 modulates and demodulates the signal 10a emitted by the spot beam and the signal reflected by the object into an identification code 110b (PN code, etc.), so that the optical signal emitted by itself is emitted from other signal sources. It includes a configuration that is distinct from the optical signal.

The principle of this configuration can be explained as the principle of code division multiple modulation (CDMA) in a mobile communication network.

That is, in mobile communication networks, CDMA uses a pseudo noise code to distinguish information to be transmitted through the matching filter differently while using the same frequency domain. When this configuration is applied to the lidar 512 Even if interference occurs between optical signals of each other, only those modulated by the corresponding code can be selectively demodulated. However, considering the high-speed detection, it is advantageous to have a small number of bits of the PN code at this time, so an appropriate compromise is required.

In short, FIG. 7 illustrates a function of excluding signal interference between other vehicles by applying an identification code of an electromagnetic field to transmission and reception of an optical system.

Specifically, the identification signal generated by the electromagnetic field 111b is modulated by the optical system 110b and transmitted (10a), and the transmitted optical signal is reflected from the object and received by the optical system, and then converted back to the electromagnetic field to be converted into the final data. This is the principle to detect.

The identification code at this time can select signals between lidar sensors by applying the principle of time-modulated TDMA (Time Division Multiple Access), even if it is not the principle of code modulation, for example, Code Division Multiple Access (CDMA) using a PN code.

In addition, the identification code is a header principle of address classification using IP (Internet Protocol) and can also identify a source. In any case, the present invention includes a configuration for solving signal interference between lidars by applying a communication technology of an electromagnetic field to an optical system.

In addition, the identification code may select a signal between the lidar sensors by applying the principle of, for example, FDMA (Frequency Division Multiple Access).

8 shows the principle of condensing and receiving 13a by the optical system receiver 13 through a lens 13b formed in a window (window) of a vehicle after the signal transmitted from the optical system transmitting unit 10a of the lidar is reflected on an object. Is shown.

Even if the optical signal is originally transmitted from one point, when it hits an object forming a polygonal surface, a significant portion of the optical signal is lost as it deflects to the other direction, so the received optical signal is only a part of it. In addition, since the front or rear glass of the vehicle has a certain inclination angle as shown in Fig. 4 to 15b, even if it reaches the window, it may not form a light angle to the active ingredient reaching the receiver.

Accordingly, the present invention forms the lens 13b function only on the inside of the window (for example, the front windshield of the vehicle) so as not to damage the operation of the window wiper (brush) on the outer side, and the receiving unit through the lens 13b function The configuration inducing the optical signal 13a to (13) can be applied. When a certain portion of the light is focused using this lens 13b, not only can the sensitivity of the received signal be enhanced, but also when the lidar focus is adjusted to a certain portion of the pitch by the handle interlocking (refer to ΔR, 30b, 30a in Fig. 9 below). It is possible to prevent a phenomenon in which the sensitivity of the optical signal is deteriorated.

Here, damage in the window wiper operation does not refer to mechanical disturbance, but refers to a phenomenon in which water droplets remain when the rainwater is cleaned with a window.

That is, the lens of the present invention refers to a means for forming a lens inside the vehicle so as to have a function of condensing and amplifying received light as a function of, for example, a concave lens, so as not to interfere with the window wiper.

9 is a conceptual diagram showing a configuration in which the detection direction of the optical system transmitter and receiver of the lidar is changed according to steering of a vehicle steering wheel.

This configuration refers to a configuration in which the lidar changes direction in the steering direction of the vehicle by adjusting the pitch according to the steering wheel angle change (ΔR) of the vehicle within the range of obtaining the lens 13b effect in FIG. 8.

This steering-interlocking configuration is a new concept, whether it be a camera or a lidar, and it is a novel effect as a new black box in that it automatically adjusts the observation direction of the black box in advance by linking to the curved part on the road.

The rotational linkage between the handle and the lidar black box can be achieved as a wireless IoT (Internet of Things) sensor linkage technology that detects and interlocks the rotation angle of the handle.

FIG. 10 is a flow chart illustrating the configuration of an object-to-object distance analysis program that determines the movement speed of an object detected from the ADAS module of FIG. 5 or the movement speed of the object to be detected as event detection information when it is less than a certain detection distance.

That is, 300 in FIG. 10 is a step of detecting the vehicle speed. Here, the speed of the own vehicle and the speed of the other party can be determined by interlocking with the vehicle-to-vehicle wireless communication (eg, WAVE).

As another method, you can calculate the speed of the other party from the change in the distance per hour between your speed and the other vehicle. In short, it is possible to derive the safety distance between vehicles according to the vehicle speed through a method of determining the speed based on only one vehicle or by interlocking the speed of the other party.

In FIG. 10, reference numeral 301 is a configuration for sensing the distance between vehicles. Here, the lidar 512 detects the distance.

In FIG. 10, 302 is a configuration for determining whether or not the device is approached within a safe distance. Through this, it is decided whether or not to treat it as an event.

In FIG. 10, 303 is a step of processing event image information and event detection information. In this process, the image information of the camera and the detection information of the lidar are stored (304), and the hazard lamp is selectively operated (305).

11 is a black box module 120 in FIG. 5 combines (117) the event image information (110aa) and the event detection information (110ba) in FIG. 11 by overlapping, but the location and spot of the object on the event image information (110aa) It is a diagram showing the principle of adjusting the pitch by software so that the position of the object detected by the beam matches.

As a specific example for this configuration, the image of the camera and the XY coordinate data of the lidar are stored separately, but when visual information is combined as a key value when reproducing, the image from the camera and the optical system to the lidar detection are matched on one display. Can be expressed as In this case, the difference can be achieved by finely adjusting the coordinate pitch on the display vertically, horizontally, and vertically.

If a number of points in the LiDAR image in Fig. 11 are zero-adjusted according to the camera image, corrections can be made by software operation with the same technique without structural changes such as the case and brackets, even if some are distorted in the future. Is done.

12 is a diagram illustrating a principle in which a black box module in FIG. 5 combines the event image information and the event detection information by overlapping, but displays movement speed and distance information for an object detected by the spot beam on an object of a camera image. will be.

That is, in FIG. 12, the distance 115bb to the vehicle ahead is displayed in the upper right corner, and the current speed 115ba is displayed in the upper left corner. Among these displays, the current speed may be displayed as the speed of the vehicle in front, the speed of the own vehicle may be displayed, and further, the difference in speed between the vehicle ahead and the own vehicle may be displayed. In addition, it is possible to display or store various useful information that is highlighted as a difference between camera image and lidar detection.

According to another embodiment, the distance or current speed may not be displayed as a number, but may be displayed in color. For example, the color of the displayed image 115bb may vary according to the distance, and the distance to the vehicle in front may be determined through the color. Of course, both numbers and colors could be used.

In addition, in Fig. 12, it can be seen that information on which opponent's position is detected by the own lidar is also displayed as coordinate points, and these coordinate points are interlocked so that the pitch changes to the left or right according to steering of the steering wheel. It can be sloppy. That is, the event image information and the event detection information are combined by overlapping, but the spot beam is changed on the object of the camera image by following the detection direction of the lidar which changes according to the steering of the handle.

FIG. 13 shows a state in which the lens 13 of FIG. 8 changes the angle of a certain portion by changing the direction 30a and 30b according to the handle manipulation ΔR.

14 is a conceptual diagram showing a configuration for actively preventing interference between optical signals crossing an identification code in order to solve the problem of the prior art as shown in FIG. 3.

That is, the present invention

A lidar (1, 2, 3, 4, 5, 6, 7, 8, and 9) that scans and transmits optical system signals at a plurality of azimuth angles in order to detect surrounding objects with an optical signal beam;

The optical system signal of the lidar is modulated with the unique identification code of the electromagnetic field (PN1, PN2, ... PNn), and the transmitted and received optical system signal is converted into the unique identification code (PN1, PN2, ... By demodulating with PNn), an optical signal emitted from its own signal source is selectively received from an optical signal emitted from another signal source.

The lidar (1, 2, 3, 4, 5, 6, 7, 8, 9); is the lidar sensors (1, 2, 3, 4, 5, 6, 7, 8, 9) described in FIG. ), so the redundant description is omitted.

In particular, since the radar includes a configuration that generates an alarm by detecting the approach of an object within a certain radius at a place such as a factory, a reflector and a motor are usually used in a spherical or hemispherical enclosure, and a plurality of arrays are formed vertically. It works to draw a three-dimensional image through a computer by performing a scanning operation to the left and right. However, if it is operated only in this state, there is a problem in that interference occurs in the prior art as described in FIG. 3, so this is solved with identification codes (PN1, PN2, ... PNn).

The specific principles of the identification codes PN1, PN2, ... PNn have been described in FIG. 7 and thus will be omitted. In short, this identification code is a principle that applies mutatis mutandis that the identification signal of the electromagnetic field becomes the modulation and demodulation signal of the optical system.

In short, by combining the identification code (PN1, PN2, ......PNn) to the lidar (1, 2, 3, 4, 5, 6, 7, 8, 9); the factory area as in Fig. 3 Even if the optical signals are overlapped within each other, in terms of the search information, the principle that interference is eliminated because they are individually distinguished is exactly FIG.

In this regard, Fig. 15 shows a case where an identification code is configured as a header control using IP, and Fig. 16 shows a case where an identification code is configured as a signal control using a PN code. In addition, a configuration using a time code is possible, but since the above description alone will be sufficient conceptually, further detailed examples are omitted.

In the present invention, the identification code is preferably randomly generated, whether it is an IP or a PN code, since synchronization between a plurality of lidars is independently operated.

As described above, in the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but these are provided only to help the general understanding of the present invention, and the present invention is not limited to the above embodiments Anyone of ordinary skill in the field to which the present invention belongs can make various modifications and variations from this description. Therefore, the spirit of the present invention is limited to the described embodiments and should not be defined, and all things that are equivalent or equivalent to the claims as well as the claims to be described later fall within the scope of the spirit of the present invention. .

Claims (6)

In the lidar black box,
An image acquisition device that acquires an image of an object in front of or behind the moving object;
A lidar to detect the object; And
When it is determined that there is a possibility of an accident between the moving object and the object as a result of the detection of the lidar, event image information corresponding to the image acquired by the image acquisition device and event detection information corresponding to the detection result of the lidar are stored in the d. It includes a black box module that stores in a black box or in a connected external device,
The lidar modulates the emitted signal with an identification code or demodulates the signal reflected by the object with the identification code to distinguish it from signals transmitted from other lidars,
The black box module stores the event image information as a frame and stores the event detection information as point coordinates, and overlaps the event image information and the event detection information to display,
The event detection information is expressed as a function of time and distance on XY coordinates, and the event image information and the event detection information are stored in different storage spaces. The lidar black box according to claim 1, wherein a CDMA, TDMA, or FDMA scheme is applied when modulating with the identification code. The lidar black box according to claim 1, wherein the identification code is configured using an IP or PN code. delete delete delete

Images