KR102418635B1 - Data based Accident Detection and Video Transmit System in road - Google Patents

Abstract

The present invention relates to a data-based accident detection and image transmission system on a road, and as a vehicle traveling on a road including a highway, collects GPS, geomagnetic and image data through a network infrastructure connected to the Internet and transmits it to the outside; A driving vehicle capable of receiving GPS, geomagnetism, image and accident data from the outside, and receiving GPS, geomagnetism and image data from the driving vehicle, detects an accident in real time, and when an accident is detected, all and an accident image transmission device that collects image data from the driving vehicle, processes the collected image data, and transmits image data related to the accident to driving vehicles around the area where the accident occurred. According to the present invention, there is an effect of providing real-time visual information to a vehicle traveling on a road.

Description

Data based Accident Detection and Video Transmit System in road}

The present invention relates to a technology for detecting an accident occurring on a road, and more particularly, to a technology for detecting an accident based on data when a road accident such as a highway occurs and transmitting an image.

Global Positioning System (GPS) is one of the global satellite navigation systems and is used in positioning. Recently, GPS is used for various purposes by being mounted on most movable objects such as smartphones and automobiles.

A geomagnetic sensor is a sensor that measures the earth's magnetic field and is widely used in smartphones and satellites. Geomagnetic data collected through a geomagnetic sensor can determine the earth's north latitude, so it is used similarly to a compass.

A lot of research has been done on vehicle accident detection. When a shock is received through the shock sensor, it can be judged as an accident and the image mounted on the road or vehicle can be analyzed using techniques such as artificial intelligence. It is also possible to predict an accident in a specific section by analyzing the level of traffic congestion. In addition, numerous studies on traffic accident detection are ongoing.

These existing vehicle accident detection technologies have a limitation in that they do not solve the curiosity of victims due to traffic congestion in the accident. In the event of an accident, traffic congestion occurs at that point, which can lead to road congestion. A typical example is a traffic accident on a highway. In this case, the road jammed vehicle may be waiting for a long time in a state in which information about the preceding accident is unknown, and thus, immediate detection of the accident and provision of visual information to the road jammed vehicle are required.

In addition, existing vehicle accident detection technologies require additional devices or involve non-real-time problems. For example, detection of an accident due to impact detection requires a sensor capable of detecting a certain level of impact or more, and image analysis through artificial intelligence requires time for analysis. In addition, there is a need for a system and infrastructure capable of notifying surrounding vehicles when an accident is detected.

Republic of Korea Patent Publication 10-2013-0006915

The present invention was devised to solve the above problems, and when a road accident occurs on a highway, etc., it detects it, collects camera images of surrounding vehicles, and provides an accident detection and image transmission system that can be shared with other vehicles. There is a purpose.

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

The present invention for achieving the above object relates to a data-based accident detection and image transmission system on a road, a vehicle traveling on a road including a highway, and provides GPS, geomagnetism and image data through a network infrastructure connected to the Internet. A driving vehicle capable of collecting and transmitting to the outside, receiving GPS, geomagnetism, image and accident data from the outside, and receiving GPS, geomagnetism and image data from the driving vehicle to detect an accident in real time, and when an accident is detected It includes an accident image transmission device that collects image data from all driving vehicles around the area where the accident occurred, processes the collected image data, and transmits image data related to the accident to driving vehicles around the area where the accident occurred.

The driving vehicle includes a camera module for capturing an image, a GPS module for collecting location data of the driving vehicle, a geomagnetic sensor for collecting geomagnetic data of the driving vehicle, and image data captured by the camera module to transmit the accident image An image data transmitting unit for transmitting to the device, an image data receiving unit for receiving image data from the accident image transmitting device, a vehicle data receiving unit for receiving vehicle data from the accident image transmitting device, and transmitting control data input by a user A vehicle data transmitter for transmitting vehicle data including a controller, location data collected from the GPS module, geomagnetic data collected from the geomagnetic sensor, and control data input by a user through the controller to the accident image transmitting device and a display for outputting the image data received by the image data receiving unit to a screen.

The accident image transmitting device includes a vehicle data receiving unit for receiving vehicle data including a location of the driving vehicle and geomagnetic data, a vehicle data storage unit for storing vehicle data received from the vehicle data receiving unit, and the vehicle data receiving unit A vehicle data analysis unit for determining whether a vehicle has been in an accident using the data received from the vehicle data analysis unit, a vehicle data transmission unit for transmitting the data analyzed by the vehicle data analysis unit to driving vehicles, a vehicle data transmission unit for receiving image data of the driving vehicle An image data receiving unit, an image data storage unit for storing the image data received by the image data receiving unit, and transmitting the image data stored in the image data storage unit to driving vehicles according to the accident analyzed by the vehicle data analysis unit It may include an image data transmitter for

The vehicle data analysis unit calculates the acceleration through the received vehicle location data, and if the calculated acceleration value exceeds a predetermined reference value in the opposite direction to the driving direction, it is determined as an abnormal deceleration, and through this, it can be determined that an accident has occurred. have.

When it is determined that an accident has occurred, the vehicle data analysis unit determines the driving vehicle that has transmitted related vehicle data as an accident detection vehicle, compares the location information of the accident detection vehicle with the location information of other driving vehicles, and sets the schedule with the accident detection vehicle A vehicle traveling within a distance may be detected, and image data related to an accident may be transmitted to the traveling vehicle through the image data transmitter.

The vehicle data may include a key that is an identifier of the recorded content, an ID that is an identifier of a vehicle, a recording time, a location of the vehicle, an azimuth of the vehicle, and whether an accident has occurred.

The image data may include a key that is an identifier of the recorded content, an ID that is an identifier of a vehicle, a recording time, a location of the vehicle, a capacity of an image, and a codec used for the image.

는 단위 시간 t에서 주행 차량 i번째의 가속도 값이고,

는 단위 시간 t에서 주행 차량 i번째의 가속도의 각도와 차량 후방 각도의 유사도이고,

는 차량 이상 여부에 대한 기준 값일 때, 상기 차량 데이터 해석부에서 단위 시간 t에서 주행 차량 i번째의 사고 여부

를

is the acceleration value of the i-th driving vehicle at unit time t,

is the degree of similarity between the angle of the acceleration of the driving vehicle i-th and the rear angle of the vehicle at unit time t,

When is a reference value for whether the vehicle is abnormal, whether the i-th driving vehicle has an accident at the unit time t in the vehicle data analysis unit

cast

(수학식 1)

(Equation 1)

can be expressed as

는 단위 시간 t에서 i번째 차량의 가속도 벡터이고,

는 단위 시간 t에서 i번째 차량의 전방 각도를 향한 단위 벡터이고,

는 단위 시간 t에서 i번째 차량의 가속도 크기일 때, 상기 차량 데이터 해석부에서 단위 시간 t에서 주행 차량 i번째의 가속도의 각도와 차량 후방 각도의 유사도

를

is the acceleration vector of the i-th vehicle at unit time t,

is the unit vector toward the front angle of the i-th vehicle at unit time t,

When is the magnitude of the acceleration of the i-th vehicle at the unit time t, the similarity between the angle of the acceleration of the driving vehicle and the rear angle of the vehicle at the unit time t in the vehicle data analysis unit

cast

(수학식 2)

(Equation 2)

can be expressed as

단위 시간 t에서 i번째 차량의 y축에 해당하는 가속도 크기일 때, 상기 차량 데이터 해석부에서 단위 시간 t에서 i번째 차량의 가속도 벡터

를It is the acceleration magnitude corresponding to the x-axis of the i-th vehicle at unit time t,

When the magnitude of the acceleration corresponding to the y-axis of the i-th vehicle at the unit time t is the acceleration vector of the i-th vehicle at the unit time t in the vehicle data analysis unit

cast

(수학식 3)

(Equation 3)

can be expressed as

는 단위 시간 t에서 i번째 차량의 x축 위치일 때, 상기 차량 데이터 해석부에서 단위 시간 t에서 i번째 차량의 x축에 해당하는 가속도 크기

를

When is the x-axis position of the i-th vehicle at the unit time t, the acceleration magnitude corresponding to the x-axis of the i-th vehicle at the unit time t in the vehicle data analysis unit

cast

(수학식 4)

(Equation 4)

can be expressed as

는 단위 시간 t에서 i번째 차량의 y축 위치일 때, 상기 차량 데이터 해석부에서 단위 시간 t에서 i번째 차량의 y축에 해당하는 가속도 크기

를

is the y-axis position of the i-th vehicle at the unit time t, the magnitude of the acceleration corresponding to the y-axis of the i-th vehicle at the unit time t in the vehicle data analysis unit

cast

(수학식 5)

(Equation 5)

can be expressed as

는 단위 시간 t에서 i번째 차량의 방위각 정보일 때, 상기 차량 데이터 해석부에서 단위 시간 t에서 i번째 차량의 전방 각도를 향한 단위 벡터

를

is the azimuth angle information of the i-th vehicle at the unit time t, in the vehicle data analysis unit, the unit vector toward the front angle of the i-th vehicle at the unit time t

cast

(수학식 6)

(Equation 6)

can be expressed as

는 단위 시간 t에서 i번째 차량의 x축 위치이고,

는 단위 시간 t에서 i번째 차량의 y축 위치이고,

는 단위 시간 t에서 j번째 차량의 x축 위치이고,

는 단위 시간 t에서 j번째 차량의 y축 위치이고,

는 사고 알림 범위 기준일 때, 상기 차량 데이터 해석부에서 단위 시간 t에서 i번째 차량에 대한 사고 여부를 j번째 차량으로 알림을 결정하는 여부

를

is the x-axis position of the i-th vehicle at unit time t,

is the y-axis position of the i-th vehicle at unit time t,

is the x-axis position of the j-th vehicle at unit time t,

is the y-axis position of the j-th vehicle at unit time t,

Whether to determine whether to notify the j-th vehicle as to whether or not an accident on the i-th vehicle at the unit time t in the vehicle data analysis unit is based on the accident notification range

cast

(수학식 7)

(Equation 7)

can be expressed as

According to the present invention, by proposing a system for detecting an accident on the road and transmitting an accident-related image to the vehicle, there is an effect of providing real-time visual information to a vehicle traveling on the road. In particular, when road congestion occurs, an accident may be detected in real time and an accident-related image may be provided to a vehicle in traffic congestion.

In addition, the system proposed in the present invention is implemented using GPS, geomagnetism, etc., which are basically provided in a vehicle, thereby eliminating the need for additional equipment and reducing the implementation cost by detecting an accident with a minimum amount of equipment. there is

1 is an overall configuration diagram of a data-based accident detection and image transmission system on a road according to an embodiment of the present invention.
2 is a block diagram illustrating an internal configuration of a driving vehicle according to an embodiment of the present invention.
Figure 3 is a block diagram showing the internal configuration of the accident video transmission device in an embodiment of the present invention.
4 is a diagram illustrating a format of vehicle data stored in a vehicle data storage unit according to an embodiment of the present invention.
5 is a diagram illustrating a format of image data stored in an image data storage unit according to an embodiment of the present invention.

Advantages and features of the embodiments disclosed herein, and methods for achieving them will become apparent with reference to the embodiments described below in conjunction with the accompanying drawings. However, the embodiments to be proposed in the present disclosure are not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments are provided to those of ordinary skill in the art. It is only provided to be a complete indication of the category.

Terms used in this specification will be briefly described, and the disclosed embodiments will be described in detail.

The terms used in this specification have been selected as currently widely used general terms as possible while considering the functions of the disclosed embodiments, but may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the detailed description part of the corresponding specification. Therefore, the terms used in the present disclosure should be defined based on the meaning of the term and the contents of the entire specification, rather than the simple name of the term.

References in the singular herein include plural expressions unless the context clearly dictates the singular.

In the entire specification, when a part "includes" a certain element, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated. Also, as used herein, the term “unit” refers to a hardware component such as software, FPGA, or ASIC, and “unit” performs certain roles. However, "part" is not meant to be limited to software or hardware. A “unit” may be configured to reside on an addressable storage medium and may be configured to refresh one or more processors. Thus, by way of example, “part” includes components such as software components, object-oriented software components, class components and task components, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. The functionality provided within components and “parts” may be combined into a smaller number of components and “parts” or further divided into additional components and “parts”.

In addition, in the description with reference to the accompanying drawings, the same components are given the same reference numerals regardless of the reference numerals, and the overlapping description thereof will be omitted. In describing the present invention, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

The present invention relates to a data-based accident detection and image transmission system on a road.

1 is an overall configuration diagram of a data-based accident detection and image transmission system on a road according to an embodiment of the present invention.

Referring to FIG. 1 , the data-based accident detection and image transmission system on the road of the present invention includes a driving vehicle 100 , a network infrastructure 200 , and an accident image transmission device 300 .

In the embodiment of FIG. 1 , a plurality of driving vehicles 100_1 , 100_2 , 100_3 , 100_4 , and 100_5 are shown on the road, but this is only an embodiment, and various numbers of driving vehicles may be exemplified, and below For convenience of description, it will be described with reference to the drawing symbols of the driving vehicle 100 .

The driving vehicle 100 is a vehicle that travels on a road including a highway, collects GPS, geomagnetism and image data through the network infrastructure 200 connected to the Internet, and transmits it to the outside. data can be received.

The accident image transmission device 300 receives GPS, geomagnetism and image data from the driving vehicle 100 and detects whether there is an accident in real time, and when an accident is detected, collects image data from all driving vehicles around the area where the accident occurred, and , process the collected image data and transmit the image data related to the accident to driving vehicles around the area where the accident occurred.

In FIG. 1 , the vehicles 100 traveling on the road and the accident image transmitting apparatus 300 communicate through the network infrastructure 200 .

In addition, each driving vehicle 100 may be connected to the Internet by the network infrastructure 200 .

Each driving vehicle 100 may transmit their location data and image information to the accident image transmitting device 300 through the network infrastructure 200 .

In addition, the accident image transmitting apparatus 300 may receive and store location data and image information of each driving vehicle 100 .

The accident image transmitting apparatus 300 may analyze whether an accident has occurred through the location data of each driving vehicle 100 , and transmit the analysis result to each driving vehicle 100 .

Also, the accident image transmitting apparatus 300 may transmit image information of each driving vehicle 100 to another driving vehicle.

2 is a block diagram illustrating an internal configuration of a driving vehicle according to an embodiment of the present invention. That is, FIG. 2 is a block diagram showing that vehicle data and image data are collected from each driving vehicle 100 and transmitted to the accident image transmitting apparatus 300 .

Referring to FIG. 2 , the driving vehicle 100 of the present invention includes a camera module 110 , a GPS module 120 , a geomagnetic sensor 130 , a vehicle data receiver 140 , an image data receiver 150 , and an image data transmitter 160 , a vehicle data transmitter 170 , a controller 180 , and a display 190 .

The camera module 110 is provided in the driving vehicle and serves to capture an image.

The GPS module 120 serves to collect location data of the driving vehicle using a global positioning system (GPS) technology.

The geomagnetic sensor 130 serves to collect geomagnetic data of the driving vehicle.

The vehicle data receiving unit 140 serves to receive vehicle data from the accident image transmitting device 300 .

The image data receiving unit 150 serves to receive image data from the accident image transmitting device 300 .

The image data transmission unit 160 serves to transmit the image data captured by the camera module 110 to the accident image transmission device 300 .

The vehicle data transmitter 170 transmits vehicle data including location data collected from the GPS module 120 , geomagnetic data collected from the geomagnetic sensor 130 , and control data input by the user through the controller 170 , as an accident image. It serves to transmit to the transmitting device 300 .

The controller 180 transmits control data input by the user.

The display 190 serves to output the image data received by the image data receiving unit 150 to the screen.

In FIG. 2 , each driving vehicle 100 is equipped with a GPS module 120 , a geomagnetic sensor 130 , and a camera module 110 .

The vehicle data transmitter 170 receives location information received from the GPS module 120 , geomagnetic information collected from the geomagnetic sensor 130 , and information controlled by the controller 180 and transmits it to the accident image transmitting device 300 . do.

The image data transmitter 160 transmits the image captured by the camera module 110 to the accident image transmission device 300 .

The vehicle data receiving unit 140 receives vehicle data from the accident image transmitting apparatus 300 .

The controller 180 may determine accident information of a surrounding vehicle based on the vehicle data received from the vehicle data receiving unit 140 , and transmit image reception or not command data related to the accident to the vehicle data transmitting unit 170 . In an embodiment of the present invention, the controller 180 may be controlled by a user's input, and may transmit image reception or not command data to the vehicle data 170 according to the user's input.

The image data receiving unit 150 receives image data from the accident image transmitting device 300 .

The display 190 displays the image received by the image data receiver 150 .

Figure 3 is a block diagram showing the internal configuration of the accident video transmission device in an embodiment of the present invention. That is, FIG. 3 is a block diagram of an accident image transmitting apparatus 300 that receives vehicle data to determine whether an accident occurs, and receives image data and transmits the image data to each driving vehicle 100 .

Referring to FIG. 3 , the accident image transmitting apparatus 300 includes a vehicle data receiving unit 310 , a vehicle data storage unit 320 , a vehicle data analyzing unit 330 , a vehicle data transmitting unit 340 , and an image data receiving unit 350 . , an image data storage unit 360 , and an image data transmission unit 370 .

The vehicle data receiver 310 serves to receive vehicle data including the location of the driving vehicle 100 and geomagnetic data.

The vehicle data storage unit 320 serves to store vehicle data received from the vehicle data reception unit 310 .

The vehicle data analysis unit 330 determines whether or not the vehicle is in an accident by using the data received from the vehicle data receiving unit 310 .

The vehicle data transmission unit 340 serves to transmit the data analyzed by the vehicle data analysis unit 330 to driving vehicles.

The image data receiving unit 350 serves to receive image data of the driving vehicle.

The image data storage unit 360 serves to store the image data received by the image data receiving unit 350 .

The image data transmission unit 370 serves to transmit the image data stored in the image data storage unit 360 to driving vehicles according to the accident analyzed by the vehicle data analysis unit 330 .

In the present invention, the vehicle data analysis unit 330 calculates an acceleration based on the received vehicle location data, and if the calculated acceleration value exceeds a predetermined reference value in the direction opposite to the driving direction, it is determined as an abnormal deceleration, and through this, an accident can be considered to have occurred.

And, when it is determined that an accident has occurred, the vehicle data analysis unit 330 determines that the driving vehicle that has transmitted the related vehicle data is an accident detection vehicle, and compares the location information of the accident detection vehicle with the location information of other driving vehicles. It is possible to detect an accident detection vehicle and a driving vehicle within a predetermined distance, and transmit image data related to the accident to the driving vehicle through the image data transmitter 370 .

As such, the vehicle data analysis unit 330 determines whether an accident occurs through the vehicle data received from the vehicle data receiving unit 310 . The vehicle data analysis unit 330 calculates an acceleration based on the received vehicle location data. At this time, when the value of acceleration exceeds a certain level in the direction opposite to the driving direction, it is determined as abnormal deceleration. In addition, by comparing the location information of the accident detection vehicle with the location information of each driving vehicle 100 , it is possible to determine a nearby driving vehicle 100 .

The vehicle data transmitter 340 may transmit the vehicle data analyzed by the vehicle data analyzer 330 to each driving vehicle 100 .

The image data receiving unit 350 may receive image information from each driving vehicle 100 ,

The image data storage unit 360 may store image information received from the image data receiving unit 350 .

The image data transmission unit 370 may transmit image information stored in the image data storage unit 320 to each driving vehicle 100 based on the data analyzed by the vehicle data analysis unit 330 .

4 is a diagram illustrating a format of vehicle data stored in a vehicle data storage unit according to an embodiment of the present invention.

In FIG. 4 , vehicle data includes a key that is an identifier of record data, an ID that is an identifier of a vehicle, data transmission time, location information of a vehicle that has transmitted data, azimuth, and whether or not there is an accident.

5 is a diagram illustrating a format of image data stored in an image data storage unit according to an embodiment of the present invention.

In FIG. 5, image data includes a key that is an identifier of recorded data, ID that is an identifier of a vehicle, data transmission time, location information of the vehicle that transmitted data, data capacity, codec used when compressing the image, etc. includes

In an embodiment of the present invention, data analyzed by the vehicle data analysis unit 330 may be expressed by the following equation.

First, whether each driving vehicle 100 has an accident is as follows.

[Equation 1]

는 단위 시간 t에서 주행 차량 i번째의 사고 여부이다.

는 단위 시간 t에서 주행 차량 i번째의 가속도 값이다.

는 단위 시간 t에서 주행 차량 i번째의 가속도의 각도와 차량 후방 각도의 유사도이다.

는 차량 이상 여부에 대한 기준 값이다.here

is whether the i-th driving vehicle has an accident at unit time t.

is the acceleration value of the i-th driving vehicle at unit time t.

is the degree of similarity between the angle of the acceleration of the driving vehicle i-th and the rear angle of the vehicle at unit time t.

is a reference value for whether the vehicle is abnormal.

)는 차량의 급격한 감속으로 판단을 한다. 주행하는 차량이 급격하게 감소를 할 경우, 주행 반대 방향으로 가속도가 증가한다. 차량의 후방 가속도 증가의 여부는 i번째 차량의 가속도 각도와 차량 후방 각도의 유사도(

)로 알 수 있다.

는 가속도가 정 전방으로 증가할 경우 0, 정 후방으로 증가할 경우 1의 값을 가지고, 이외는 그 사이의 값을 가진다. 단위시간 t의 i번째 차량에서 가속도의 각도 및 차량 후방 각도의 유사도(

)와 가속도 크기(

)의 곱이 일정 수준(

)이상의 값을 가지면 시스템은 해당 차량의 주행에 이상이 발생하였다고 판단한다. 이 경우 단위 시간 t에서 주행 차량 i번째 사고 여부인

는 1의 값을 가진다. 이상이 없다고 판단될 경우

는 0의 값을 가진다.Whether the i-th driving vehicle has an accident at unit time t (

) is judged by the rapid deceleration of the vehicle. When the traveling vehicle sharply decreases, the acceleration increases in the opposite direction of travel. Whether the vehicle's rear acceleration increases or not depends on the similarity (

) can be found.

has a value of 0 when the acceleration increases forward, 1 when the acceleration increases forward, and a value in between. The degree of similarity between the angle of acceleration and the angle of the rear of the vehicle in the i-th vehicle of unit time t (

) and the magnitude of the acceleration (

) to a certain level (

) or higher, the system determines that an abnormality has occurred in the driving of the corresponding vehicle. In this case, it is the i-th accident of the driving vehicle at unit time t.

has a value of 1. If it is judged that there is no problem

has a value of 0.

[Equation 2]

는 단위 시간 t에서 주행 차량 i번째의 가속도의 각도와 차량 후방 각도의 유사도이다.

는 단위 시간 t에서 i번째 차량의 가속도 벡터이다.

는 단위 시간 t에서 i번째 차량의 전방 각도를 향한 단위 벡터이다.

는 단위 시간 t에서 i번째 차량의 가속도 크기이다.here

is the degree of similarity between the angle of the acceleration of the driving vehicle i-th and the rear angle of the vehicle at unit time t.

is the acceleration vector of the i-th vehicle at unit time t.

is a unit vector toward the front angle of the i-th vehicle at unit time t.

is the magnitude of the acceleration of the i-th vehicle at unit time t.

)는 단위 시간 t에서 i번째 차량의 가속도 벡터(

), 단위 시간 t에서 i번째 차량의 전방 각도를 향한 단위 벡터(

), 단위 시간 t에서 i번째 차량의 가속도 크기(

)로 위의 수식과 같이 정의된다. 시스템에서는 차량 후방 각도에 대한 가속도 증가 여부를 요구하기 때문에 수식에서는 차량 전방 각도를 향한 단위 벡터(

)를 차량 후방 각도를 향한 단위 벡터(-

)로 음의 값을 곱하여 사용한다.The degree of similarity between the angle of the acceleration of the driving vehicle i-th and the rear angle of the vehicle at unit time t (

) is the acceleration vector (

), the unit vector toward the front angle of the i-th vehicle at unit time t (

), the magnitude of the acceleration of the i-th vehicle at unit time t (

) is defined as in the above formula. Since the system requires whether or not to increase the acceleration with respect to the vehicle rear angle, in the formula, the unit vector toward the vehicle front angle (

) is the unit vector towards the vehicle rear angle (-

) by multiplying a negative value by

[Equation 3]

는 단위 시간 t에서 i번째 차량의 가속도 벡터이다.

는 단위 시간 t에서 i번째 차량의 x축에 해당하는 가속도 크기이다.

단위 시간 t에서 i번째 차량의 y축에 해당하는 가속도 크기이다.here,

is the acceleration vector of the i-th vehicle at unit time t.

is the acceleration magnitude corresponding to the x-axis of the i-th vehicle at unit time t.

It is the acceleration magnitude corresponding to the y-axis of the i-th vehicle at unit time t.

)는 단위 시간 t에서 i번째 차량의 x축에 해당하는 가속도 크기(

)와 단위 시간 t에서 i번째 차량의 y축에 해당하는 가속도 크기(

)로 구성되어 있다.The acceleration vector of the ith vehicle at unit time t (

) is the acceleration magnitude (

) and the magnitude of acceleration corresponding to the y-axis of the i-th vehicle at unit time t (

) is composed of

[Equation 4]

는 단위 시간 t에서 i번째 차량의 x축에 해당하는 가속도 크기이다.

는 단위 시간 t에서 i번째 차량의 x축 위치이다.here,

is the acceleration magnitude corresponding to the x-axis of the i-th vehicle at unit time t.

is the x-axis position of the i-th vehicle at unit time t.

)는 단위 시간 t에서 i번째 차량의 x축 위치(

)의 2차 미분으로 결정된다.The magnitude of acceleration corresponding to the x-axis of the i-th vehicle at unit time t (

) is the x-axis position (

) is determined by the second derivative of

In an embodiment of the present invention, the x-axis can be expressed in latitude or longitude using the GPS module, but the present invention is not limited thereto and can be applied to any notation that can express a plane and space, such as a metric system or a coordinate system.

[Equation 5]

는 단위 시간 t에서 i번째 차량의 y축에 해당하는 가속도 크기이다.

는 단위 시간 t에서 i번째 차량의 y축 위치이다.here,

is the magnitude of the acceleration corresponding to the y-axis of the i-th vehicle at unit time t.

is the y-axis position of the i-th vehicle at unit time t.

)는 단위 시간 t에서 i번째 차량의 y축 위치(

)의 2차 미분으로 결정된다.The magnitude of the acceleration corresponding to the y-axis of the i-th vehicle at unit time t (

) is the y-axis position of the i-th vehicle at unit time t (

) is determined by the second derivative of

In an embodiment of the present invention, the y-axis can be expressed in latitude or longitude using the GPS module, but the present invention is not limited thereto and can be applied to any notation that can express a plane and space, such as a metric system or a coordinate system.

[Equation 6]

는 단위 시간 t에서 i번째 차량의 전방 각도를 향한 단위 벡터이다.

는 단위 시간 t에서 i번째 차량의 방위각 정보이다.here

is a unit vector toward the front angle of the i-th vehicle at unit time t.

is the azimuth information of the i-th vehicle at unit time t.

)는 1의 크기와 단위 시간 t에서 i번째 차량의 방위각 정보에 해당하는 각도(

)에 의해 결정된다.The unit vector toward the front angle of the i-th vehicle at unit time t

) is the angle (

) is determined by

[Equation 7]

는 단위 시간 t에서 i번째 차량에 대한 사고 여부를 j번째 차량으로 알림을 결정하는 여부이다.

는 단위 시간 t에서 i번째 차량의 x축 위치이다.

는 단위 시간 t에서 i번째 차량의 y축 위치이다.

는 단위 시간 t에서 j번째 차량의 x축 위치이다.

는 단위 시간 t에서 j번째 차량의 y축 위치이다.

는 사고 알림 범위 기준이다.here

is whether or not to determine whether to notify the j-th vehicle whether or not the i-th vehicle has an accident at unit time t.

is the x-axis position of the i-th vehicle at unit time t.

is the y-axis position of the i-th vehicle at unit time t.

is the x-axis position of the j-th vehicle at unit time t.

is the y-axis position of the j-th vehicle at unit time t.

is the standard of the accident notification range.

)는 단위 시간 t에서 i번째 차량의 x축 위치(

), 단위 시간 t에서 i번째 차량의 y축 위치(

), 단위 시간 t에서 j번째 차량의 x축 위치(

), 단위 시간 t에서 j번째 차량의 y축 위치(

), 단위 시간 t에서 주행 차량 i번째의 사고 여부(

), 사고 알림 범위 기준(

)으로 결정된다.Whether to determine whether to notify the j-th vehicle of an accident with the i-th vehicle at unit time t (

) is the x-axis position (

), the y-axis position of the i-th vehicle at unit time t (

), the x-axis position of the j-th vehicle at unit time t (

), the y-axis position of the j-th vehicle at unit time t (

), whether the i-th driving vehicle has an accident at unit time t (

), based on the scope of the accident notification (

) is determined by

)가 1일 경우, j번째의 차량과의 x축, y축 위치를 비교하여 그 합이 고 알림 범위 기준(

)을 초과할 경우 i번째 차량의 사고 여부를 j번째 차량에게 알린다.

가 1일 경우 i번째 차량의 사고 정보를 j번째 차량에게 알리고, 0일 경우 알리지 않는다.Whether the i-th driving vehicle has an accident at unit time t (

) is 1, the x-axis and y-axis positions with the j-th vehicle are compared, and the sum is determined based on the notification range (

), it notifies the j-th vehicle of whether the i-th vehicle has been in an accident.

When is 1, the accident information of the i-th vehicle is notified to the j-th vehicle, and when is 0, not notified.

The present invention proposes a system for collecting camera images of surrounding vehicles and sharing them with other vehicles when a road accident such as a highway occurs. The data-based accident detection and image transmission system of the present invention is proposed to collect all images around an accident, and determines abnormal signs of not only the accident vehicle but also surrounding vehicles. To this end, devices such as GPS and geomagnetic sensors used in vehicles are utilized by taking advantage of the characteristic that rear vehicles including the accident vehicle decelerate when an accident occurs.

Specifically, location information and geomagnetic information of all vehicles can be known by collecting location information through GPS mounted on vehicles and geomagnetic information through geomagnetic sensors. In order to determine whether each vehicle is in an accident, the magnitude and direction of acceleration are calculated using location information, and the vehicle's azimuth is calculated through geomagnetic information. By comparing these two, it can be known whether the direction of acceleration is toward the rear of the vehicle, and the magnitude of acceleration and deceleration can be known as the magnitude of acceleration. If the deceleration magnitude of a specific vehicle exceeds a certain level, it is determined that there is an abnormality in the corresponding vehicle and an accident is diagnosed.

In addition, the present invention may notify whether or not an accident occurred to a vehicle located around the accident vehicle through the collected data. Since it is possible to specify the accident vehicle and collect image information about the surrounding vehicles, it transmits images of various angles to the vehicles affected by the accident.

The present invention has been described above using several preferred embodiments, but these embodiments are illustrative and not restrictive. Those of ordinary skill in the art to which the present invention pertains will understand that various changes and modifications can be made without departing from the spirit of the present invention and the scope of the appended claims.

100 Driving Vehicles 200 Network Infrastructure
300 accident video transmission device 110 camera module
120 GPS module 130 Geomagnetic sensor
140 Vehicle data receiver 150 Image data receiver
160 Video data transmitter 170 Vehicle data transmitter
180 controller 190 display
310 vehicle data receiving unit 320 vehicle data storage unit
330 Vehicle data analysis unit 340 Vehicle data transmission unit
350 image data receiver 360 image data storage unit
370 video data transmitter

Claims (14)

In a data-based accident detection and image transmission system on the road,
A vehicle traveling on a road including a highway, comprising: a driving vehicle capable of collecting and transmitting GPS, geomagnetism and image data to the outside through a network infrastructure connected to the Internet, and receiving GPS, geomagnetism, image and accident data from the outside; and
Receive GPS, geomagnetism and image data from the driving vehicle to detect an accident in real time, collect image data from all driving vehicles around the area where the accident occurred, and process the collected image data to prevent accidents Including an accident image transmission device that transmits related image data to a driving vehicle around the area where the accident occurred,
The accident video transmission device,
a vehicle data receiver configured to receive vehicle data including the location of the driving vehicle and geomagnetic data;
a vehicle data storage unit for storing vehicle data received by the vehicle data receiving unit;
a vehicle data analysis unit for determining whether a vehicle has been in an accident by using the data received from the vehicle data receiving unit;
a vehicle data transmission unit for transmitting the data analyzed by the vehicle data analysis unit to driving vehicles;
an image data receiver configured to receive image data of the driving vehicle;
an image data storage unit for storing the image data received by the image data receiving unit; and
and an image data transmitter for transmitting the image data stored in the image data storage unit to driving vehicles according to the accident analyzed by the vehicle data analysis unit,

is the acceleration value of the i-th driving vehicle at unit time t,

is the degree of similarity between the angle of the acceleration of the driving vehicle i-th and the rear angle of the vehicle at unit time t,

When is the reference value for whether the vehicle is abnormal,
In the vehicle data analysis unit, whether the i-th driving vehicle has an accident at unit time t

cast

(Equation 1)
Data-based accident detection and image transmission system on the road, characterized in that it can be represented as.
The method according to claim 1,
The driving vehicle is
a camera module for taking an image;
a GPS module for collecting location data of the driving vehicle;
a geomagnetic sensor for collecting geomagnetic data of the driving vehicle;
an image data transmission unit for transmitting the image data captured by the camera module to the accident image transmission device;
an image data receiving unit for receiving image data from the accident image transmitting device;
a vehicle data receiving unit for receiving vehicle data from the accident image transmitting device;
a controller for transmitting control data input by a user;
a vehicle data transmitter for transmitting vehicle data including location data collected from the GPS module, geomagnetic data collected from the geomagnetic sensor, and control data input by a user through the controller to the accident image transmitting device; and
A display for outputting the image data received by the image data receiving unit to the screen
Data-based accident detection and image transmission system on the road, characterized in that it comprises a.
delete The method according to claim 1,
The vehicle data analysis unit calculates the acceleration through the received vehicle position data, and if the calculated acceleration value exceeds a predetermined reference value in the opposite direction to the driving direction, it is determined as abnormal deceleration, and through this, it is determined that an accident has occurred. A data-based accident detection and video transmission system on the road featuring
5. The method according to claim 4,
When it is determined that an accident has occurred, the vehicle data analysis unit determines a driving vehicle that has transmitted related vehicle data as an accident detection vehicle, compares the location information of the accident detection vehicle with the location information of other driving vehicles, and schedules the accident detection vehicle and schedule A data-based accident detection and image transmission system on a road, characterized in that it detects a vehicle driving within a distance and transmits image data related to the accident to the driving vehicle through the image data transmitter.
The method according to claim 1,
The vehicle data is data-based accident detection and image transmission on a road, characterized in that it includes a key that is an identifier of the recorded content, an ID that is an identifier of a vehicle, a recording time, a location of a vehicle, an azimuth of the vehicle, and whether an accident has occurred. system.
The method according to claim 1,
The image data is data-based accident detection on a road, characterized in that it includes a key that is an identifier of the recorded content, an ID that is an identifier of a vehicle, a recording time, a location of a vehicle, a capacity of an image, and a codec used for the image and video transmission systems.
delete The method according to claim 1,

is the acceleration vector of the i-th vehicle at unit time t,

is the unit vector toward the front angle of the i-th vehicle at unit time t,

is the acceleration magnitude of the i-th vehicle at unit time t,
In the vehicle data analysis unit, the degree of similarity between the acceleration angle of the driving vehicle i-th and the vehicle rear angle at unit time t

cast

(Equation 2)
Data-based accident detection and image transmission system on the road, characterized in that it can be represented as.
10. The method of claim 9,
It is the acceleration magnitude corresponding to the x-axis of the i-th vehicle at unit time t,

When it is the acceleration magnitude corresponding to the y-axis of the i-th vehicle at unit time t,
The acceleration vector of the i-th vehicle at unit time t in the vehicle data analysis unit

cast

(Equation 3)
Data-based accident detection and image transmission system on the road, characterized in that it can be represented as.
11. The method of claim 10,

is the x-axis position of the i-th vehicle in unit time t,
The magnitude of the acceleration corresponding to the x-axis of the i-th vehicle at the unit time t in the vehicle data analysis unit

cast

(Equation 4)
Data-based accident detection and image transmission system on the road, characterized in that it can be represented as.
12. The method of claim 11,

is the y-axis position of the i-th vehicle in unit time t,
The magnitude of the acceleration corresponding to the y-axis of the i-th vehicle at the unit time t in the vehicle data analysis unit

cast

(Equation 5)
Data-based accident detection and image transmission system on the road, characterized in that it can be represented as.
13. The method of claim 12,

is the azimuth information of the i-th vehicle at unit time t,
A unit vector toward the front angle of the i-th vehicle at unit time t in the vehicle data analysis unit

cast

(Equation 6)
Data-based accident detection and image transmission system on the road, characterized in that it can be represented as. 14. The method of claim 13,

is the x-axis position of the i-th vehicle at unit time t,

is the y-axis position of the i-th vehicle at unit time t,

is the x-axis position of the j-th vehicle at unit time t,

is the y-axis position of the j-th vehicle at unit time t,

is the standard of the accident notification range,
Whether the vehicle data analysis unit determines whether to notify the j-th vehicle of whether the i-th vehicle has an accident at the unit time t

cast

(Equation 7)
Data-based accident detection and image transmission system on the road, characterized in that it can be represented as.

Images