KR102378665B1 - Vehicle emergency control system and method - Google Patents

Abstract

The present invention relates to an emergency control system for a vehicle and a method therefor. a sensing unit for photographing driver's seats at different viewpoints through a camera to obtain state information of at least two driver's seats and driving state information of the vehicle; a detection unit configured to provide at least one mission based on a result of comparing the state information of the at least two driver's seats and the driving state information of the vehicle acquired by the sensing unit; and a control unit configured to execute emergency control based on whether the at least one mission is successful.

Description

VEHICLE EMERGENCY CONTROL SYSTEM AND METHOD

The present invention relates to an emergency control system for a vehicle and a method therefor.

Existing driver state detection only provided warnings according to careless driving states such as steering wheel manipulation member and lane departure, and driver's drowsiness detection and careless state. That is, there is a problem in that there is no direct intervention in vehicle operation and no control to notify other vehicles and other people of a dangerous state. In addition, there is a problem in that it is difficult to distinguish because only the driver's state is sensed, frequent false warnings are generated, and the timing at which an emergency control operation must be performed is unclear.

An object of the present invention is to prevent an accident in advance through emergency control based on the driver's seat state detection.

In an embodiment of the present invention, the vehicle emergency control system includes: a sensing unit that captures driver's seats at different viewpoints through a camera, and obtains state information of at least two driver's seats and driving state information of the vehicle; a detection unit configured to provide at least one mission based on a result of comparing the state information of the at least two driver's seats and the driving state information of the vehicle acquired by the sensing unit; and a control unit configured to execute emergency control based on whether the at least one mission is successful.

In an embodiment, the state information of the driver's seat includes a plurality of feature points located in the driver's seat.

In an embodiment, the status information of the driver's seat includes face recognition information of a driver riding in the driver's seat.

In an embodiment, the driving state information of the vehicle is operation information of the vehicle, and is any one of steering state information, steering pedal information, control system information, and input state information.

In an embodiment, the driving state information of the vehicle is information sensed in real time by an ECU of the vehicle.

In an embodiment, the detection unit may include: a shape detection module configured to detect shapes of the plurality of feature points at a first time point, a second time point, and a third time point; First information in which the shapes of the plurality of characteristic points are detected at the first time point, second information in which the shapes of the plurality of characteristic points are detected at the second time point, and the third information in which the shapes of the plurality of characteristic points are detected at the third time point a state comparison module deriving third information and comparing a detection range of the first information and a detection range of the second information to derive a similarity value; and a mission providing module that provides the at least one mission when the detection range of the third information is equal to or greater than the similarity value.

In an embodiment, when a difference between the detection range of the third information and the detection range of the second information is greater than or equal to a preset value, the at least one mission is provided.

In an embodiment, the shape detection module counts the number of the plurality of feature points, and the state comparison module includes a first quantity counted at the first time point and the number of the plurality of feature points at the second time point. A second quantity in which the number of the plurality of feature points is counted and a third quantity in which the number of the plurality of feature points are counted at the third time point are derived, and a comparison quantity is derived based on the first quantity and the second quantity and the mission providing module provides the at least one mission when the third quantity is greater than or equal to the comparison quantity.

In an embodiment, the first time point is a time point before the driver is seated in the driver's seat, the second time point is a time point when the driver is seated in the driver's seat, and the third time point is when the driver is seated in the driver's seat. It is a time point after a predetermined period of time has elapsed since the seat was seated.

In an embodiment, the mission providing module includes: an emergency light control unit that turns on an emergency light when the detection range of the third information is equal to or greater than the similarity value; an operation recommendation unit that provides the at least one mission of recommending operation of a vehicle through a voice and a screen; and a posture recommendation unit providing the at least one mission of recommending the driver to perform a specific posture through the voice and the screen.

In an embodiment, the mission providing module includes an emergency call unit that provides an emergency call to the driver when the at least one mission is provided.

In one embodiment, the control unit, based on the screen of the camera, the determination module for determining whether to perform the at least one mission; and a control module that executes the emergency control when it is determined that more than a preset number of missions have not been performed among the at least one mission.

In one embodiment, the control unit, based on the screen of the camera and the driving state information of the vehicle, the determination module for determining whether to perform the at least one mission; and a control module that executes the emergency control when it is determined that more than a preset number of missions have not been performed among the at least one mission.

In an embodiment, the control module executes the emergency control based on driving state information of the vehicle.

In one embodiment, the control unit, based on the screen of the camera and the driving state information of the vehicle, the determination module for determining whether to perform the at least one mission; and a control module for executing the emergency control when it is determined that more than a preset number of the at least one mission has not been performed, wherein the determination module includes: a recommendation determination unit for determining whether to perform the at least one mission; and a call confirmation unit that determines whether the emergency call is received.

In one embodiment of the present invention, a vehicle emergency control method includes: capturing driver's seats at different viewpoints through a camera to obtain state information of at least two driver's seats and driving state information of the vehicle; providing at least one mission based on a comparison result of the obtained driver's seat state information of the at least two driver's seats and the driving state information of the vehicle; and executing emergency control based on whether the at least one mission is successful.

In an embodiment, the state information of the driver's seat includes a plurality of feature points located in the driver's seat, and the providing of the at least one mission includes the plurality of points at a first time point, a second time point, and a third time point. detecting the shape of the feature point of ; deriving a similarity value by comparing the detection range of the first information in which the shapes of the plurality of feature points are detected at the first time point and the detection range of the second information in which the shapes of the plurality of feature points are detected at the second time point ; and providing the at least one mission when a detection range of the third information in which the shapes of the plurality of feature points are detected at the third time point is equal to or greater than the similarity value.

In one embodiment, the state information of the driver's seat includes face recognition information of a driver riding in the driver's seat, and the providing of the at least one mission includes detecting and storing a change in the driver's face recognition information to do; and providing the at least one mission when the face recognition information of the driver changes by more than a preset value.

In an embodiment, the driver's face recognition information includes the driver's pupil, eyelid, and gaze.

By detecting both the driver's pre- and post-seating conditions, the incidence of false alarms is low, and accidents can be prevented in advance through emergency control.

1 is a diagram showing a block diagram of a vehicle emergency control system according to an embodiment of the present invention.
2 is a diagram showing a more detailed block diagram of a vehicle emergency control system according to an embodiment of the present invention.
3 is a block diagram illustrating a mission providing module of a vehicle emergency control system according to an embodiment of the present invention.
4 is a block diagram illustrating a control unit of a vehicle emergency control system according to an embodiment of the present invention.
5 is a flowchart of a vehicle emergency control system according to an embodiment of the present invention.
6 is a flowchart illustrating in more detail detection of a driver's seat of a vehicle emergency control system according to an embodiment of the present invention.
7 is a diagram illustrating in more detail a flowchart of a vehicle emergency control system according to an embodiment of the present invention.
8 is a view showing in more detail the mission provision and emergency braking of the vehicle emergency control system according to an embodiment of the present invention.
9 is a diagram illustrating an example of a feature point located in a driver's seat of a vehicle emergency control system according to an embodiment of the present invention.
10 is a diagram illustrating an example of a feature point located in the driver's seat after the driver of the vehicle emergency control system is seated according to an embodiment of the present invention.
11 is a diagram illustrating an example of a state in which the driver of the emergency vehicle emergency control system according to an embodiment of the present invention is unable to drive normally after the driver is seated.

The present invention relates to a system and method for emergency control of a vehicle, including the driver's condition and the driver's pre-seated state, while simultaneously detecting the driver's seat and notifying other vehicles and pedestrians of a dangerous situation, and interlocking with ADAS products To determine whether there is an emergency control situation, and to prevent accidents in advance through emergency control. In addition, if you get off without changing to the parking state due to your careless driving, it is difficult to detect the fact that you got off while driving only with the seat sensor, so the need for a system to monitor the driver's seat is increasing.

In the past, driver status detection only provided warnings based on careless driving conditions such as steering wheel manipulation members and lane departure, and driver drowsiness detection and careless conditions, but there was no direct intervention or control to notify other vehicles or others of dangerous conditions. There is a problem. In addition, since only the driver's state is sensed, there is a problem in that frequent erroneous warnings are generated and it is difficult to distinguish a judgment point at which an emergency control operation should be performed.

Accordingly, the present invention detects the driver's pre-seating state based on a camera that captures the driver's seat, compares the driver's state after sitting, precisely detects the driver's state, and can determine risk factors such as drowsiness and seat departure. there is. In addition, to detect driving ability, the driver's face, gaze, and eyelid conditions are analyzed, and when a risk factor occurs, emergency light control is performed and emergency control is performed based on inputs such as steering wheel, accelerator and brake, and other vehicle operation buttons. to judge the necessity. In addition, by interworking with ADAS products, it is possible to determine whether a lane change is possible, and to avoid risk factors by moving to a safe area through emergency control.

Hereinafter, the present disclosure will be described with reference to the accompanying drawings. The present disclosure can make various changes and can have various embodiments, and specific embodiments are illustrated in the drawings and the related detailed description is described. However, this is not intended to limit the present disclosure to specific embodiments, and should be understood to include all modifications and/or equivalents or substitutes included in the spirit and scope of the present disclosure. In connection with the description of the drawings, like reference numerals have been used for like elements.

In the present disclosure, expressions such as “first,” “second,” “first,” or “second,” may modify various components of the disclosure, but do not limit the components. For example, the above expressions do not limit the order and/or importance of corresponding components. The above expressions may be used to distinguish one component from another. For example, both the first user device and the second user device are user devices, and represent different user devices. For example, without departing from the scope of the present disclosure, a first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

1 is a diagram showing a block diagram of a vehicle emergency control system according to an embodiment of the present invention.

2 is a diagram showing a more detailed block diagram of a vehicle emergency control system according to an embodiment of the present invention.

Referring to FIG. 1 , a vehicle emergency control system 100 according to an embodiment of the present invention includes a detector 110 , a detector 130 , and a controller 150 .

The sensing unit 110 may detect an internal state of the vehicle. For example, the sensing unit 110 may include an imaging device for photographing the inside of the vehicle or a sensor for determining whether or not the vehicle is in the vehicle. Accordingly, the sensing unit 110 may detect the state of the driver's seat by photographing the driver's seat. In an embodiment, the sensing unit 110 may acquire status information of at least two driver's seats by photographing driver's seats at different viewpoints through an imaging device such as a camera.

The detection unit 130 may detect a change amount according to a change in the state of the vehicle detected by the detection unit 110 . For example, the detector 130 counts or digitizes the state information of the driver's seat detected by the detector 110, compares the changed driver's seat state value with the initially measured state value of the driver's seat, and changes more than a preset value. In this case, at least one mission may be provided to the driver. Also, the detector 130 may provide an emergency call to the driver. In an embodiment, the detection unit 130 may provide at least one mission based on a comparison result of the state information of at least two driver's seats acquired by the detection unit 110 .

The controller 150 may execute emergency control of the vehicle based on whether at least one mission is successful. For example, when the driver succeeds in at least one mission, the control unit 150 may maintain a normal driving operation, and when the driver fails at least one mission, the vehicle may execute emergency control. Also, when the driver does not receive an emergency call, the controller 150 may execute emergency control.

Referring to FIG. 2 , the sensing unit 110 of the vehicle emergency control system 100 according to an embodiment of the present invention may be a camera 111 and may further include a seating sensor 113 .

In addition, the camera 111 may be provided in the vehicle to photograph the driver's seat, and the seating sensor 113 may be located in the driver's seat. For example, the camera 111 is provided in the vehicle and can detect whether the driver's seat changes such as boarding, sitting, and leaving the driver through image capturing, and the seating sensor 113 is located in the driver's seat to determine whether the driver is seated. can detect

The camera 111 may be installed in various ways in a space in the vehicle capable of photographing the driver's seat. For example, in one embodiment of the present invention, it may be provided in a cluster located on the dashboard in front of the driver's seat of the vehicle, and the driver's seat may be photographed. However, it will be understood that this is an example and the technical spirit of the present invention is not limited thereto.

In an embodiment, the camera 111 may photograph both a state before the driver is seated in the driver's seat and a state after the driver is seated in the driver's seat.

For example, the camera 111 may start shooting when the driver unlocks the door of the vehicle. However, this is only an example, and may be operated when the driver opens the door of the vehicle or according to a time period in which the driver sets whether to operate. Accordingly, the camera 111 may start photographing the driver's seat before the driver is seated in the driver's seat, and may continuously photograph the driver's seat after the driver is seated. In addition, the camera 111 may end the shooting when the ignition of the vehicle is turned off, when the lock function of the vehicle is activated after the driver leaves the vehicle, or when a predetermined time by the driver has elapsed. .

A plurality of feature points may exist in the driver's seat photographed by the camera 111 . For example, a plurality of feature points may exist in the driver's seat located within the photographing range of the camera 111 .

In an embodiment, feature points of a preset shape or various shapes may be distributed in the driver's seat photographed by the camera 111 . For example, the feature point A located in the driver's seat may have a slope m value located at the x-coordinate 10 and the y-coordinate 10 may be formed. In addition, a plurality of feature points may exist to have various shapes or shapes.

For example, detecting the driver's state through the key points may be implemented by counting the number of the key points. That is, the region of interest is set among the images captured by the camera 111 , and the region of interest at the time point before the driver is seated, when the driver is seated, and after a predetermined time has elapsed after the driver is seated. It can be implemented by counting the number of feature points.

In an embodiment, if a feature point having a certain shape exists in the driver's seat photographed by the camera 111, the camera 111 may detect the corresponding shape by almost 100% before the driver sits in the driver's seat. On the other hand, after the driver is seated in the driver's seat, the shape of the feature point detectable by the camera 111 is 0-50% depending on the position of the feature point and the driver's condition. The shape of the feature point with a lower numerical value may be detected. However, it will be understood that the present invention is not limited thereto, as this is for illustratively explaining a change in the shape of a feature point sensed before and after the driver's seated position.

In addition, the shape of the feature point detected in the driver's drowsy driving or other careless behavior state may be sensed in a wider range than the shape of the feature point detected immediately after the driver is seated.

For example, when the driver's head is tilted due to the driver's drowsy driving, the shape of the characteristic point detected immediately after the driver is seated will be different from the shape of the characteristic point detected immediately after the driver is seated. Based on this difference, the driver may determine that normal driving is impossible.

If this is implemented by counting the number of key points, the camera 111 may detect all the number of key points located in the driver's seat before the driver sits in the driver's seat. On the other hand, after the driver is seated in the driver's seat, the number of feature points detectable by the camera 111 may decrease according to various factors such as the driver's weight, height, or attire. Accordingly, there may be a difference in the number of feature points detected by photographing of the camera 111 before and after the driver is seated in the driver's seat.

Also, the number of feature points detected by the camera 111 may change according to the driver's condition. That is, there may be a difference between the number of feature points in a sitting state in which the driver can proceed with normal driving and the number of feature points in a state in which the driver has an abnormality such as drowsy driving. For example, when the number of detected feature points is 3 when driving normally after the driver is seated, when the driver is in a state where normal driving is impossible due to drowsy driving, etc., the driver's head or body tilted can be In this case, the number of feature points detected by the camera 111 may be greater than three. Accordingly, it is possible to determine whether the driver can drive normally according to a difference in the number of feature points detected by the camera 111 .

In addition, when the camera 111 detects the feature point before the driver is seated for a predetermined period of time, the photographing may be terminated.

In another embodiment of the present invention, the camera 111 may detect the driver's face state, such as pupil, eyelid, and gaze. That is, face recognition information can be obtained through the driver's face recognition.

Referring to FIG. 2 , the detection unit 130 of the vehicle emergency control system 100 according to an embodiment of the present invention may include a shape detection module 131 , a state comparison module 133 , and a mission providing module 135 . can

The shape detection module 131 may detect the shape of the feature point detected by the camera 111 . For example, when a square feature point exists in the driver's seat, 90% or more of the square feature point may be detected in a state before the driver sits in the driver's seat. On the other hand, in the state after the driver is seated in the driver's seat, the square-shaped feature point sensed by the camera 111 is covered by the driver according to the driver's weight, height, and attire, etc. range may be greatly reduced. However, it will be understood that this is an example, and the technical spirit of the present invention is not limited thereto.

In addition, the shape detection module 131 may also change the shape of the characteristic point detected by the camera 111 as the shape of the characteristic point and the position of the characteristic point change.

In an embodiment, the shape detection module 131 may count the number of feature points detected by the camera 111 . For example, if ten feature points exist in the driver's seat, 10 feature points may be counted in a state before the driver sits in the driver's seat. On the other hand, in a state after the driver is seated in the driver's seat, the number of feature points detected by the camera 111 will decrease according to the weight, height, and attire of the driver. Accordingly, the number of feature points counted by the shape detection module 131 will be reduced.

Also, the shape detection module 131 may change the shape of the detected feature points as the number of the feature points detected by the camera 111 changes.

In an embodiment, the shape detection module 131 may detect first information that detects the shape of the feature point at the first time point and second information that detects the shape of the key point at the second time point.

If this is implemented as counting the number of feature points, the shape detection module 131 counts the first quantity counting the number of feature points at the first time point and the second quantity counting the number of feature points at the second time point. can

Here, the first time point may be a time point before the driver is seated in the driver's seat, and the second time point may be a time point when the driver is seated in the driver's seat. Accordingly, the shape or number of feature points at the time before the driver sits in the driver's seat is the first information or the first quantity, and the shape or number of feature points at the time when the driver sits in the driver's seat may be the second information or the second quantity there is.

In addition, the second time point is a state in which the driver can normally drive after the driver is seated. For example, the second time point may be a time point at which the vehicle starts after the driver is seated. However, this is exemplary, and may be any one of a time set by the driver, a time when the vehicle starts, a time when the vehicle is started, and a time when the accelerator of the vehicle operates.

Also, the shape detection module 131 may derive third information obtained by detecting the shape of the feature point at the third time point.

If this is implemented as counting the number of feature points, the shape detection module 131 may derive a third quantity obtained by counting the number of feature points at the third time point.

Here, the third time point may be a state that is continuously sensed after the driver is seated or after a predetermined time has elapsed after the driver is seated. For example, the third time point may be a time point after the second information or the second quantity of the feature point for the second time point is measured after the driver is seated.

In another embodiment, the shape detection module 131 may quantify facial states such as the driver's pupils, eyelids, and gaze detected by the camera 111 . For example, immediately after the driver is seated, the positions of the pupils, eyelids, and gaze in a state in which normal driving is possible may be digitized and stored, and the state of the face photographed by the camera 111 may be continuously digitized thereafter.

The state comparison module 133 may determine whether the driver can drive normally based on the shape or number of feature points detected or counted by the shape detection module 131 .

The state comparison module 133 may analyze and compare the shape or number of feature points detected or counted by the shape detection module 131 , and determine whether normal operation is possible.

In addition, the state comparison module 133 compares the detection range of the first information in which the shape of the feature point is detected at the first time point with the detection range of the second information in which the shape of the feature point is detected at the second time point to obtain a similarity value. can be derived

In an embodiment, the state comparison module 133 derives a preset quantity based on a first quantity counting the number of feature points at a first time point and a second quantity counting the number of feature points at a second time point can do.

Also, when the detection range of the third information is equal to or greater than the similarity value, the state comparison module 133 may determine that the normal operation is impossible.

However, this is an example, and when the detection range of the third information is greater than or equal to a preset value, it may be determined that the normal driving is impossible.

Also, when the third quantity is greater than or equal to a preset quantity, the state comparison module 133 may determine that the normal operation is impossible.

Here, the preset quantity may be a comparison quantity derived based on the first quantity and the second quantity. However, this is only an example, and the preset value or the preset quantity may be a numerical value that can be arbitrarily set by the driver.

In one embodiment, when about 90% of the feature point shape of the first information is detected and about 20% of the feature point shape of the second information is detected, the detection range of the feature point shape of the third information may be changed according to the driver's condition. can For example, the position of the face and body is changed due to the driver's drowsy driving, so that the detection range of the feature point of the third information may exceed the detection range of about 20% of the detection range of the feature point of the second information. In this case, a similarity value is derived by comparing the detection range of the first information and the detection range of the second information. can be judged as

However, this is an example, and when the detection range of the third information is greater than or equal to a preset value designated by the driver, the state comparison module 133 may determine that the normal driving is impossible.

In one embodiment, the first information is X, the second information is Y, and the value of X/Y*100 is expressed as A (%) to set the +5% range of the A value as the error range, and the third information Z A mission may be provided to the driver when ? changes more than A+5% of the first information X.

X/Y*100=A

If Z ≥ X*A/100+Y, mission is provided and emergency call (E-Call) is made.

Accordingly, X*A/100+Y may be a similarity value G.

For example, if the detection range of the first information is 10 and the detection range of the second information is 2, the range of 20% to 25%, which is the +5% range of 20%, which is the value of 2/10*100, is the error range. set, and when the detection range Z of the third information changes by 2 to 2.5 or more, which is in the range of 20% to 25% of the first information 10, a mission may be provided to the driver. That is, when the third information Z changes by 4 or more, the mission can be provided to the driver. Here, 4, which is a value of 2+Y, may be a similarity value G.

In another exemplary embodiment, when the detection range of the first information is X and the detection range of the second information is Y, the driver may directly set a preset value according to the detection range of Y.

In another embodiment, when the detection range of the third information detected at the third time point has a large similarity difference to the detection range of the second information detected at the second time point, the state comparison module 133 is in a state in which normal operation is impossible. can be judged as

In an embodiment, when the number of feature points of the first quantity is 10 and the number of feature points of the second quantity is 3, the number of feature points of the third quantity may be changed according to the driver's condition. For example, since the position of the face and body is changed due to the driver's drowsy driving, the number of detected feature points of the third quantity may be measured to be three or more. At this time, when the third quantity is measured more than the preset quantity, the state comparison module 133 may determine that the normal operation is impossible.

In one embodiment, the first quantity is X, the second quantity is Y, and the value of X/Y*100 is expressed as A (%, percentage) to set the +5% range of the A value as the error range, and the third When the quantity Z changes by more than the range A(%, percentage)+5% of the first quantity X, a mission may be provided to the driver.

X/Y*100=A(%)

If Z ≥ X*A/100+Y, mission is provided and emergency call (E-Call) is made.

Accordingly, X*A/100+Y may be a comparison quantity G.

For example, if the first quantity is 10 and the second quantity is 2, the range of 20% to 25%, which is the +5% range of 20%, which is the value of 2/10*100, is set as the error range, and the third quantity is set as the error range. When Z changes by more than 2 to 2.5, which is in the range of 20% to 25% of the first quantity 10, a mission can be provided to the driver. That is, when the third quantity Z changes by 4 or more, a mission may be provided to the driver. Here, 4, which is a value of 2+Y, may be a comparison quantity G.

In another embodiment, when the first quantity is X and the second quantity is Y, the driver may directly set the preset quantity according to the quantity of Y.

In another embodiment, the state comparison module 133 may compare the face state such as the pupil, eyelid, and gaze of the driver stored in numerical value by the shape detection module 131 with the face state being continuously quantified. For example, the state in which the driver's pupil, eyelid, and gaze are digitized and stored immediately after the driver's seated state is the state in which the driver's pupil, eyelid, and gaze are continuously quantified after state A and state A. It can be called state B. At this time, the state comparison module 133 may determine whether the driver can drive normally by continuously comparing the values of the state A and the state B.

Here, when the compared value of the state A and the state B is equal to or greater than a preset value, the state comparison module 133 may determine that the driver is in a state in which normal driving is impossible.

For example, when the numerical value of the eyelid in the A state is 1, the numerical value of the eyelid in the B state is 5, and the preset value is 4, the state comparison module 133 can determine that the normal operation is impossible. there is. However, this is only an example, and when both the numerical value of the eyelid and the numerical value of the gaze are equal to or greater than a preset value, it may be determined that the normal operation is impossible.

When the state comparison module 133 determines that the normal driving is impossible, the mission providing module 135 may notify the driver and surrounding drivers of the emergency state.

For example, a mission of operating a vehicle or performing a specific posture may be provided to the driver, and an emergency lamp of the vehicle may be turned on. In addition, it is possible to provide an emergency call to the driver.

For example, when the detection range according to the second information detected by the shape detection module 131 is 20%, the detection range according to the third information is 60%, and the similarity value is 50%, or to a preset value When the detection range is 50%, the mission providing module 135 gives the driver staring at the front for more than a predetermined time, gripping the handle with both hands for a predetermined time, controlling the speed, operating the wiper, turning off the emergency light, operating the accelerator, operating the brake, etc. missions can be provided.

For example, when the second quantity counted by the shape detection module 131 is 3, the third quantity is 6, and the preset quantity is 5, the mission providing module 135 sends the driver forward for a predetermined time. It is possible to provide missions such as staring abnormally, gripping the handle with both hands for a predetermined time, controlling speed, operating wipers, and turning off emergency lights.

The mission providing module 135 will be described in detail below in conjunction with FIG. 3 .

When the driver fails to pass the mission provided by the detection unit 130 , the controller 150 may perform emergency control.

The control unit 150 may determine whether or not the mission provided by the detection unit 130 has been successfully performed based on the camera screen provided by the sensing unit 110 and driving state information of the vehicle. In addition, when it is determined that the mission has not succeeded more than a preset number, emergency control may be executed.

For example, when the detection unit 130 provides the wiper operation mission, the emergency light off mission, and the forward gaze mission, if it is determined that the driver did not succeed in the wiper operation mission and the emergency light off mission, emergency control may be executed.

Here, the emergency control interworks with the ADAS product, determines whether a lane change is possible, and moves to a safe area through emergency control to avoid risk factors.

3 is a block diagram illustrating a mission providing module of a vehicle emergency control system according to an embodiment of the present invention.

Referring to FIG. 3 , the mission providing module 135 includes an emergency light control unit 135_1 , an operation recommendation unit 135_2 , a posture recommendation unit 135_3 , and an emergency call unit 135_4 .

The emergency light control unit 135_1 may turn on the emergency light of the vehicle when the state comparison module 133 determines that the driver is unable to drive normally. That is, when the detection range of the third information is equal to or greater than the similarity value, the emergency light control unit 135_1 may turn on the emergency light of the vehicle.

However, this is an example, and when the detection range of the third information is equal to or greater than a preset value, the emergency light control unit 135_1 may turn on the emergency light of the vehicle.

In an embodiment, when the difference between the third quantity and the comparison quantity is equal to or greater than a preset quantity, the emergency lamp of the vehicle may be turned on.

When it is determined in the state comparison module 133 that the driver is unable to drive normally, the operation recommendation unit 135_2 may recommend a vehicle operation mission to the driver through voice and screen. That is, when the state comparison module 133 determines that normal driving is impossible, a mission of recommending operation of the vehicle to the driver may be provided.

The vehicle operation recommendation of the operation recommendation unit 135_2 may recommend manipulation of a steering state of driving a vehicle, a steering pedal, a control system input state, and the like. For example, the driver's actions may be recommended in relation to overall operation of the vehicle, such as speed reduction, turning off emergency lights, steering wheel and pedal operation, air conditioning operation, radio operation, and wiper operation.

When it is determined by the state comparison module 133 that the normal driving is impossible, the posture recommendation unit 135_3 may recommend a specific posture performance mission to the driver through a voice or a screen. That is, when the state comparison module 133 determines that normal driving is impossible, a mission of recommending performing a specific posture to the driver may be provided.

The posture performance recommendation of the posture recommendation unit 135_3 indicates the overall state of the driver's behavior. For example, the driver's action related to the driver's movement may be recommended, such as holding the steering wheel with both hands, staring at the front for a predetermined time, moving the head, and moving the arm.

The emergency call unit 135_4 may provide an emergency call to the driver when the state comparison module 133 determines that the driver is unable to drive normally. For example, an emergency call may be provided through a terminal preset by the driver.

4 is a block diagram illustrating a control unit of a vehicle emergency control system according to an embodiment of the present invention.

Referring to FIG. 4 , the controller 170 of the present invention may include a determination module 151 and a control module 153 .

The determination module 151 may include a recommendation determination unit 151_1 and a call confirmation unit 151_2 .

The recommendation determination unit 151_1 may determine whether the driver succeeds in performing the mission provided by the mission providing module 135 based on the screen of the camera 111 of the sensing unit 110 and the driving state information of the vehicle. For example, the recommendation determination unit 151_1 may determine that the driver has not succeeded in inputting the emergency light control, steering wheel operation, accelerator or brake operation, and other vehicle operation buttons in the mission providing module 135 .

The call confirmation unit 151_2 may check whether the emergency call provided by the emergency call unit 135_4 is received.

The control module 153 may execute emergency control when the determination module 151 determines that the mission has not been successful.

For example, if the determination module 151 determines that more than a preset number of missions have not been successful, it is determined that emergency control is required, and emergency control may be executed. For example, when the recommendation determination unit 151_1 determines that the driver has not succeeded in performing the mission provided by the mission providing module 135 , the emergency control may be executed. Also, when the call confirmation unit 151_2 determines that the driver has not received the emergency call provided by the emergency call unit 135_4 , the emergency control may be executed.

Here, the emergency control may be interlocking with the ADAS product, determining whether a lane change is possible, and moving to a safe area through emergency control to avoid a risk factor.

In another embodiment, the control module 153 may execute emergency control based on driving state information of the vehicle. For example, information on a steering state, a steering pedal, a control system, and an input state is information that is sensed and stored in real time through the ECU, and emergency control can be executed based on the information.

5 is a flowchart of a vehicle emergency control system according to an embodiment of the present invention.

Referring to FIG. 5 , first, before the driver boards, the state of the driver's seat may be sensed and stored ( S110 ).

Thereafter, the driver's seat and the driver's state after the driver's boarding may be sensed and stored (S120).

After that, it is possible to continuously sense and detect the driver's seat and the driver's state (S130).

It is determined whether the amount of state change of the driver's seat and the driver is equal to or greater than a preset value (S140), and when the amount of state change of the driver's seat and the driver is greater than or equal to a preset value, the emergency light can be controlled (S150).

In this case, if the amount of change in the driver's seat and driver's state is not greater than or equal to the preset value, the process may return to the step of continuously detecting and detecting the driver's seat and driver's state again.

While controlling the emergency lights, a mission may be provided to the driver (S1601), and an emergency call (E-call) may be additionally provided (S1602) (S160).

Thereafter, it is possible to determine whether the mission is successful (S1701) and additionally determine whether to receive an emergency call (E-call) (S1702) (S170).

When the mission performance fails and the emergency call (E-call) is not received, emergency control may be executed (S180).

On the other hand, when it is confirmed that the mission is successful and the reception of an emergency call (E-call) is confirmed, the process may return to the step of continuously detecting and detecting the driver's seat and the driver's state.

6 is a flowchart illustrating in more detail detection of a driver's seat of a vehicle emergency control system according to an embodiment of the present invention.

Referring to FIG. 6 , in the step ( S110 ) of detecting and storing state information of the driver's seat before the driver boards, the camera operates when the vehicle door is unlocked or the vehicle door is opened to detect and store the state of the driver's seat ( S1101).

Accordingly, the driver's seat can be photographed through the camera (S1102).

Thereafter, a feature point of the driver's seat may be detected and stored through the driver's seat inspection prior to the driver's seating (S1103).

In the step of detecting and storing the driver's seat and the driver's state after the driver's boarding (S120), first, the driver is detected (S1201).

After the driver is seated, a feature point of the driver's seat may be detected and stored ( S1202 ).

Thereafter, the driver's face position, pupil, and gaze may be detected and stored (S1203).

7 is a diagram illustrating in more detail a flowchart of a vehicle emergency control system according to an embodiment of the present invention.

Referring to FIG. 7 , in the step of continuously detecting and detecting the driver's seat and the driver's state (S130), the driver's eyelids and gaze are sensed (S1320) or a form in which a feature point located on the driver's seat is detected (S1311) can be detected. there is. Here, the shape of the key point may be compared with the shape of the key point detected when the vehicle starts after the driver is seated (S1312).

The step (S140) of determining that the amount of change in the driver's seat and driver's state is greater than or equal to the preset value (S1402) and when the shape of the feature point changes by more than the preset value (S1401) is to be determined, respectively. can

When the number of changes in the eyelids and gaze is greater than or equal to the preset value, and when the shape of the feature point is greater than or equal to the preset value, the emergency light of the vehicle may be controlled and turned on (S150).

However, when the numerical value of the change of the eyelids and gaze is not greater than or equal to the preset value, and when the shape of the feature point is not greater than or equal to the preset value, the process may return to the step (S1301) of continuously detecting and detecting the driver's seat and the driver's state again. .

8 is a view showing in more detail the mission provision and emergency braking of the vehicle emergency control system according to an embodiment of the present invention.

Referring to FIG. 8 , the step of providing the mission to the driver ( S1601 ) is divided into a step ( S1611 ) of recommending a vehicle operation to the driver and a step ( S1613 ) of recommending a posture (action). First, it is determined whether the driver's steering state, the steering pedal, and the input state of the control system are maintained through the step of recommending vehicle manipulation ( S1611 ) ( S1711 ). When it is determined that the driver's steering state, the steering pedal and the input state of the control system are not maintained, emergency control is executed, the front and rear vehicles and lanes are detected (S1801), and the vehicle is moved to the right lane (S1802) can Thereafter, the vehicle may be stopped by executing emergency braking ( S1803 ).

Through the step of recommending the posture (action) (S1613), it is determined (S1713) whether the driver performs the recommended posture (action). When it is determined that the driver cannot perform the recommended posture (action), emergency control may be executed to detect the vehicle in front and behind and lanes (S1801), and the vehicle may be moved to the right lane (S1802). After that, the vehicle may be stopped by executing emergency braking ( S1803 ).

On the other hand, when it is determined (S1711, S1713) that the driver maintains and performs the operation and posture (action) recommended in the vehicle operation recommendation (S1611) step and the posture (action) recommendation (S1613) step (S1711, S1713), the driver's seat and driver's state may be returned to the step of continuously detecting driver's state information ( S130 ).

9 is a view showing an example of the feature point 10 located in the driver's seat of the vehicle emergency control system according to an embodiment of the present invention.

10 is a view showing an example of the feature point 10 located in the driver's seat after the driver 20 of the vehicle emergency control system according to an embodiment of the present invention is seated.

11 is a diagram illustrating an example of a state in which the driver 20 is unable to operate normally after the driver 20 of the vehicle emergency control system is seated according to an embodiment of the present invention.

9 to 11 , in FIG. 9 , the number of feature points 10 sensed before the driver 20 is seated may be confirmed. For example, 16 feature points 10 may be detected from the driver's seat.

10 shows the number of feature points 10 sensed after the driver 20 is seated.

For example, it can be confirmed that the number of feature points 10 detected before the driver 20 is seated is reduced to four after the driver 20 is seated.

11 shows the number of feature points 10 detected when the driver 20 is unable to drive normally, such as drowsy driving.

For example, it can be confirmed that after the driver 20 is seated, the number of feature points 10 sensed from four is increased to eight. Accordingly, it may be determined that the driver 20 is in a state in which normal driving is impossible.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art or those having ordinary skill in the art will not depart from the spirit and scope of the present invention described in the claims to be described later. It will be understood that various modifications and variations of the present invention can be made without departing from the scope of the present invention.

Accordingly, the technical scope of the present invention should not be limited to the content described in the detailed description of the specification, but should be defined by the claims.

100: vehicle emergency control system
110: sensing unit
111 : camera
113: seating sensor
130: detection unit
131: shape detection module
133: state comparison module
135: mission providing module
150: control unit
151: judgment module
153: control module
10: feature point
20: driver

Claims (18)

a sensing unit for photographing driver's seats at different viewpoints through a camera to obtain status information of at least two driver's seats;
a detection unit configured to provide at least one mission based on a comparison result of the state information of the at least two drivers' seats and the driving state information of the vehicle acquired by the sensing unit; and
Based on the success or failure of the at least one mission, comprising a control unit for executing emergency control,
The state information of the driver's seat includes a plurality of feature points located in the driver's seat,
The detection unit,
a shape detection module configured to detect shapes of the plurality of feature points at a first time point, a second time point, and a third time point;
First information in which the shapes of the plurality of characteristic points are detected at the first time point, second information in which the shapes of the plurality of characteristic points are detected at the second time point, and the third information in which the shapes of the plurality of characteristic points are detected at the third time point a state comparison module for deriving third information and comparing a detection range of the first information and a detection range of the second information to derive a similarity value; and
and a mission providing module providing the at least one mission when the detection range of the third information is equal to or greater than the similarity value. delete According to claim 1,
The driver's seat status information is
A vehicle emergency control system comprising face recognition information of a driver riding in the driver's seat. According to claim 1,
The driving state information of the vehicle is
The vehicle emergency control system, wherein the vehicle operation information is any one of steering state information, control system information, and input state information. 5. The method of claim 4,
The driving state information of the vehicle is
The vehicle emergency control system, which is information sensed in real time by the ECU of the vehicle. delete According to claim 1,
and providing the at least one mission when the detection range of the third information and the similarity difference of the detection range of the second information are equal to or greater than a preset value. According to claim 1,
The shape detection module,
Count the number of the plurality of feature points,
The state comparison module is
A first quantity in which the number of the plurality of feature points is counted at the first time point, a second quantity in which the number of the plurality of feature points is counted at the second time point, and the number of the plurality of feature points are counted at the third time point Derive a third quantity, and derive a comparative quantity based on the first quantity and the second quantity,
The mission providing module,
When the third quantity is greater than or equal to the comparison quantity, the at least one mission is provided, the vehicle emergency control system. According to claim 1,
The first time point is
It is a time point before the driver is seated in the driver's seat,
The second time point is
The time when the driver is seated in the driver's seat,
The third time point is,
The vehicle emergency control system, which is a point in time after a predetermined time has elapsed since the driver is seated. According to claim 1,
The mission providing module,
an emergency light control unit that turns on an emergency light when the detection range of the third information is equal to or greater than the similarity value;
an operation recommendation unit that provides the at least one mission of recommending operation of a vehicle through a voice and a screen;
and a posture recommendation unit that provides the at least one mission of recommending the driver to perform a specific posture through the voice and the screen. According to claim 1,
The mission providing module,
and an emergency call unit configured to provide an emergency call to a driver when the at least one mission is provided. 5. The method of claim 4,
The control unit is
a determination module for determining whether to perform the at least one mission based on the screen of the camera and driving state information of the vehicle; and
and a control module configured to execute the emergency control when it is determined that the at least one mission has not been performed more than a preset number. 13. The method of claim 12,
The control module is
and executing the emergency control based on driving state information of the vehicle. 12. The method of claim 11,
The control unit is
a determination module for determining whether to perform the at least one mission based on the screen of the camera and driving state information of the vehicle; and
and a control module for executing the emergency control when it is determined that more than a preset number of missions have not been performed among the at least one mission;
The determination module is
a recommendation judgment unit for judging whether to perform the at least one mission; and
and a call confirmation unit that determines whether the emergency call is received. obtaining state information of at least two driver's seats by photographing driver's seats at different viewpoints through a camera;
providing at least one mission based on a comparison result of the obtained state information of the at least two driver's seats and the driving state information of the vehicle; and
Based on the success or failure of the at least one mission, comprising the step of executing emergency control,
The state information of the driver's seat includes a plurality of feature points located in the driver's seat,
The step of providing the at least one mission comprises:
detecting the shapes of the plurality of feature points at a first time point, a second time point, and a third time point;
deriving a similarity value by comparing the detection range of the first information in which the shapes of the plurality of feature points are detected at the first time point and the detection range of the second information in which the shapes of the plurality of characteristic points are detected at the second time point ; and
and providing the at least one mission when a detection range of the third information in which the shapes of the plurality of feature points are detected at the third time point is equal to or greater than the similarity value. delete 16. The method of claim 15,
The driver's seat status information is
Includes face recognition information of a driver riding in the driver's seat,
The step of providing the at least one mission comprises:
detecting and storing a change in the driver's face recognition information;
and providing the at least one mission when the face recognition information of the driver changes by more than a preset value. 18. The method of claim 17
The driver's face recognition information,
A vehicle emergency control method comprising the driver's pupil, eyelid, and gaze.

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