KR102440478B1 - Blind spot detection method and blind spot detection device - Google Patents

Abstract

The present invention relates to a blind spot detection device for a vehicle, wherein a basic sensing area for detecting blind spots in the rear or side of a vehicle is set according to an approach angle θ at which a vehicle enters an adjacent entry lane and a current driving vehicle speed of the vehicle. By having the function of resetting the second extended detection area extended to the second adjacent lane separated by two or more lanes from the lane, it is possible to detect obstacles in the adjacent lane as well as the second adjacent lane beyond it and avoid collision. becomes

Description

Blind spot detection device and method

The present invention relates to a method and device for detecting a blind spot, and more particularly, to a method and device for detecting a blind spot that can accurately detect a blind spot when a vehicle rapidly changes lanes.

In general, in recent years, automobiles are facing an era of change in which the purpose of space movement, which is a unique function of automobiles, is more emphasized in the concept of asset ownership. In accordance with this change in concept, automobiles have improved convenience devices and introduced various communication equipment, so that the inherent performance of the vehicle, such as engine performance, acceleration or deceleration, stopping, turning ability, etc., is improved and human emotional satisfaction is pursued at the same time. The emotional engineering aspect is becoming a milestone in the development direction of the future car. In addition, technologies for active driving stability and accident prevention of automobiles are being developed, and related parts are being developed one after another.

Accordingly, a lot of research is being done on a navigation device for managing the driver's operation and a safety driving assistance device for assisting a vehicle operation while driving as a development direction for a vehicle safety system in the future. In particular, an automatic parking system that assists inexperienced drivers in operating and driving a vehicle, a lane departure prevention system, and a blind spot monitoring system are the main motivations for development.

2. Description of the Related Art In general, a side mirror of a vehicle is used as a basic part of a vehicle to secure a left and right rear view of the vehicle. The vehicle's side mirror has a blind spot of a certain angle due to the limit of the driver's visual observation and B-pollar, and the vehicle's blind spot is generally defined as an area of 13° to 45° with respect to the side of the vehicle body.

A blind spot outside the sensing area of the vehicle's side mirror is expressed as a so-called blind spot. .

Meanwhile, in the prior art, an ultrasonic sensor or the like is used to detect whether an obstacle or the like exists in such a blind spot.

However, the conventional blind spot detection (BSD) method using such an existing ultrasonic sensor is meaningful in the normal driving process in which the vehicle is parallel to the lane, but when the vehicle enters by rapidly changing the lane, the conventional There was a problem that the blind spot detection method of

That is, the detection area recognized by the conventional blind spot detection method (BSD) is determined as a predetermined area on the rear side of the vehicle. As a result, obstacles traveling in the next lane cannot be sufficiently detected.

In particular, when changing lanes of a vehicle, it is necessary to detect obstacles not only in the immediate adjacent lane but also in the more distant lane depending on the size of the angle between the current driving lane and the vehicle traveling direction. The disadvantage was that it was impossible to respond to the situation.

In order to solve such a problem, an object of the present invention is to provide a blind spot detection method and a detection device capable of accurately detecting a blind spot of an entry lane when a vehicle rapidly changes lanes.

In addition, an embodiment of the present invention aims to provide a blind spot detection method and detection device capable of detecting a blind spot in consideration of an adjacent lane even when changing a lane by resetting the blind spot detection area according to the lane change angle of the vehicle, etc. .

In addition, according to an embodiment of the present invention, the first extended detection area reset by extending the basic detection area for blind spot detection to the first adjacent lane according to the vehicle's lane change angle, etc., and the second adjacent lane farther than the first adjacent lane An object of the present invention is to provide a blind spot detection method and detection device capable of detecting even obstacles existing in two or more adjacent lanes even when a very abrupt lane change is made by selectively using the second extended detection area extended to

In order to achieve the above object, in one embodiment of the present invention, a blind spot detection unit mounted on the rear or side of a vehicle to set a basic detection area for detecting a blind spot on the rear side of the vehicle, and lane information around the vehicle are acquired a second lane information obtaining unit to separate the basic sensing area from the driving lane of the vehicle by two or more lanes when the angle θ at which the vehicle enters the adjacent entry lane and the current driving speed of the vehicle are equal to or greater than a certain level Provided is a blind spot detection device comprising: a control unit for resetting the second extended detection area extended to an adjacent lane; and a warning unit for warning or displaying when an obstacle exists in the second extended detection area.

In another embodiment of the present invention, a basic detection area determination step of setting a basic detection area for blind detection of the rear side of the vehicle using a sensor mounted on the rear or side of the vehicle, and a lane for obtaining information on lanes around the vehicle In the information acquisition step, when the approach angle θ at which the vehicle enters the adjacent entry lane and the current driving vehicle speed are equal to or greater than a certain level, the basic sensing area is set to a second adjacent lane spaced apart by two or more lanes from the vehicle driving lane Provided is a blind spot detection method comprising resetting a detection area resetting to a second extended detection area extended to , and warning or displaying when an obstacle exists in the second extended detection area.

As described above, according to the present invention, by obtaining and using information on lanes from the lane keeping assist system mounted on the own vehicle, when the vehicle rapidly changes lanes, there is an effect that can accurately detect the blind spot of the entering lane. .

In addition, the present invention has an effect of improving the blind spot detection method by correcting the basic detection area and resetting the first detection area when it is determined that the own vehicle rapidly changes lanes.

Furthermore, according to an embodiment of the present invention, a first extended detection area reset by extending a basic detection area for blind spot detection to a first adjacent lane according to a vehicle lane change angle, etc., and a second adjacent lane farther than the first adjacent lane By selectively using the second extended detection area extended to the lane, even when a very abrupt lane change occurs, even obstacles existing in two or more adjacent lanes can be detected.

1 is a conceptual diagram illustrating a blind spot detection system according to the prior art.
2 is a diagram for explaining the technical principle of a blind spot detection method by a first detection area extension method to an adjacent lane.
3 is a view for explaining the conditions in which the blind spot detection technology is used according to an embodiment of the present invention in comparison with FIG. 2 .
4 is a functional block diagram of a blind spot detection device according to an embodiment of the present invention.
5 illustrates a second extended detection area extended to a second adjacent lane spaced apart by two or more according to an embodiment of the present invention.
6 shows an example of a method for determining a second extended sensing area according to an embodiment of the present invention.
7 is a flowchart of a blind spot detection method according to an embodiment of the present invention.
8 illustrates an example of a display method when a collision with another vehicle traveling in a second adjacent lane is expected in the blind spot detection device according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are indicated in different drawings. In addition, in describing the present invention, when it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, order, or number of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but other components may be interposed between each component. It should be understood that each component may be “interposed” or “connected,” “coupled,” or “connected” through another component.

1 is a conceptual diagram illustrating a blind spot detection system according to the prior art.

In general, a vehicle's side mirror is used as a basic part of a vehicle to secure a left and right rear view of the vehicle, but it has a blind spot of a certain angle due to the limitation of the driver's visual observation and Bpollar.

In general, the blind spot of the vehicle is formed in an area of approximately 13° to 45° with respect to the side of the vehicle body.

In the blind spot detection system according to the prior art as shown in FIG. 1 , the own vehicle 10 in which the own vehicle 10 is currently operating the driving lane 30 changes the lane to the adjacent changed lane 40 to change the lane quickly. If necessary, the host vehicle 10 is inclined at a large angle toward the change lane 40 on the driving lane 30 .

In this case, the blind spot 50 formed by the host vehicle 10 is also set at a position inclined by the angle at which the host vehicle 10 is inclined.

At this time, when the vehicle 20 enters or is driving on the changed lane 40 , the other vehicle 20 is not only out of the gaze range by the side mirror of the own vehicle 10 , but is also detected by the own vehicle 10 . Since it is out of the blind spot 50, when the own vehicle 10 enters the changed lane 40 in this state, the own vehicle 10 and the other vehicle 20 are in danger of collision.

In addition, the prior art blind spot detection system cannot give any warning to the driver of the own vehicle even when a dangerous situation as described above occurs, thereby increasing the probability of an accident.

As a method for overcoming the problems of the blind spot detection method according to the prior art, a method of extending the blind spot detection area to an adjacent changing lane may be considered.

2 is a diagram for explaining the technical principle of a blind spot detection method by a first detection area extension method to an adjacent lane.

In FIG. 2, the basic detection area 240 measured using the existing ultrasonic sensor, infrared sensor, etc. for blind spot detection is extended to the first extended detection area 250 considering the adjacent lane 220 according to the lane change condition. show the way

For the description of FIG. 2 , it is assumed that the vehicle 100 attempts to enter the entry lane 230 of the driving lane 230 on which it is currently traveling at an angle θ.

In addition, the lane on which the vehicle 100 enters among the lanes immediately adjacent to the currently running driving lane 230 is expressed as the first adjacent lane 220 , and the first adjacent lane 220 and the current driving lane. A lane between the lanes 210 is expressed as a change lane 230 , and a rear side vehicle driving in the first adjacent lane 220 is displayed as the other vehicle 200 .

According to the sensing area expansion technology shown in FIG. 2 , when it is sensed that the vehicle 100 intends to change a lane while forming an approach angle θ of more than a certain level with the changing lane 230, the basic sensing area 240 of the conventional blind spot detection device ) in the direction of the first adjacent lane 220 by a reset distance X and rotated by a reset angle θ' proportional to the entry angle θ to change to the first extended detection area 250 .

In general, a sensor used in a blind spot detection device has a detection range of a certain distance, such as an infrared sensor or an ultrasonic sensor, and the controller of the blind spot detection device determines the blind spot detection area by appropriately adjusting the detection area of the sensor.

Therefore, as in FIG. 2 , when the vehicle enters the adjacent lane at a predetermined angle or more, the basic sensing area 240 is moved and rotated as shown in FIG. 2 to reset it to the first extended sensing area, and then 1 Based on the extended detection area 250, blind spot detection and warning functions are performed.

3 is a view for explaining the conditions in which the blind spot detection technology is used according to an embodiment of the present invention in comparison with FIG. 2 .

As described above, by extending the blind spot detection area to be parallel to the adjacent lane as shown in FIG. 2 , the blind spot detection function (BSD) is performed by detecting the other vehicle 200 driving the adjacent lane 220 as shown in FIG. 2 . can do.

However, as shown in FIG. 3 , when the lane entry angle of the vehicle 100 is equal to or greater than a predetermined angle, it may be understood that the driver intends to change the lane to the next lane beyond the immediate adjacent lane.

In this case, the blind spot detection function cannot be sufficiently provided only by the extension of the blind spot detection area shown in FIG. 2 .

That is, as shown in FIG. 3 , when the vehicle 100 enters the change lane 230 at an entry angle θ greater than or equal to a certain level, only the first extended detection area 250 reset by FIG. 2 is the immediate adjacent lane 220 . It is possible to detect only the first other vehicle 200 of , and it is impossible to detect the second other vehicle 300 driving in the second adjacent lane 330 , which is the next lane.

In this case, if it is recognized that there are no obstacles in the immediately adjacent lane 220 , the vehicle 100 moves in a state where there is a second other vehicle 300 driving in the second adjacent lane 330 that exists next. If the vehicle continues to drive, there is a risk that the two vehicles collide at the collision prediction point 320 .

Therefore, in the embodiment of the present invention, when a vehicle enters an adjacent lane at a predetermined angle or more, it is intended to propose a method of extending the blind spot detection area to the second adjacent lane, which is the next lane, in addition to the first adjacent lane.

4 is a functional block diagram of a blind spot detection device according to an embodiment of the present invention, and FIG. 5 shows a second extended detection area extended to a second adjacent lane spaced apart by two or more according to an embodiment of the present invention.

As shown in FIG. 4 , the blind spot detection device 400 according to the embodiment of the present invention includes a blind spot detection unit 410 , a lane information acquisition unit 420 , and a basic sensing area for blind detection as second adjacent. It may be configured to include a control unit 430 that resets the second extended detection area that covers up to the road, and a warning unit 440 or a display unit 450 .

The blind spot detection unit 410 is mounted on the rear or side of the vehicle to set a basic detection area for detecting the blind spot on the rear side of the vehicle, and more specifically, an ultrasonic sensor module installed on the rear or side of the vehicle. , it may be configured to include one or more of an infrared sensor module and a radar sensor module.

The blind spot detection unit 410 is a sensor and sensor module used for a general blind spot detection function (BSD). For example, an emitter is installed on the side of the vehicle 100 to transmit infrared or ultrasonic waves to the blind spot. A detector detects infrared or ultrasonic waves that are emitted and reflected back from the object to recognize the presence of an object in the blind spot.

At this time, in order to increase the sensitivity of the sensor, the infrared signal is composed of a mixed frequency of a carrier frequency (CRF) and a center frequency (CTF) of the infrared sensor to improve the signal sensitivity and characteristics. .

The receiver may be implemented to be robust to noise caused by other light sources by designing the receiver to detect only infrared in a frequency wavelength region corresponding to the frequency band of infrared emitted by the transmitter.

Of course, the blind spot detection unit 410 is not limited to infrared and ultrasonic waves, and may be a radar type that transmits general radio waves and receives a received signal reflected from an object.

The sensor included in the blind spot detection unit 410 may have a certain detection angle, and the blind spot detection unit may further include a sensor ECU for setting a predetermined detection range within a detectable area of the sensor.

Such a sensor ECU can set a certain area within the detectable area of the sensor as the detection area, and in this specification, the blind detection area basically set by the sensor ECU of the blind spot detection unit is expressed as the basic detection area (550 in FIG. 5). do.

The lane information acquisition unit 420 may be implemented as an image system used in a lane keeping assistance system (LKAS), an adaptive cruise control system (ACC), or the like.

The lane information obtaining unit 420 may be configured to include a camera and an image processing unit, and after photographing an image of the front or side of the vehicle, image processing the photographed image to identify a lane around the vehicle. be prepared

In addition, the lane information acquisition unit 420 may have a function of determining the angle between the traveling direction of the vehicle and the lane, that is, the lane entry angle θ in the present invention, together with the function of acquiring a lane around the vehicle. .

That is, the lane information obtaining unit 420 may measure the traveling direction of the identified lane and the heading direction of the vehicle, and determine the angle formed by the two directions as the vehicle lane entry angle θ.

Also, the lane information obtaining unit 420 may have a function of identifying how many lanes exist in a direction in which the vehicle intends to proceed by identifying lanes around the vehicle.

For example, when the vehicle 500 attempts to enter another lane beyond the changed lane 512 as shown in FIG. 5 , the lane information acquisition unit 420 may add an additional second change lane beyond the changed lane 512 as shown in FIG. 5 . By checking whether the second adjacent lane 530 according to the present invention exists, it can be checked whether the second adjacent lane 530 exists.

That is, as a result of image processing by the lane information acquisition unit, when a center line (540 in FIG. 5 ) or a shoulder lane (not shown) exists immediately after the change lane 512 in the vehicle traveling direction, only the first adjacent lane 520 exists. However, it may be recognized that the second adjacent lane 530, which is the next lane, does not exist.

Conversely, as a result of image processing by the lane information acquisition unit, the first adjacent lane 520 and the second adjacent lane 530 adjacent thereto, in which an additional second changed lane 522 exists after the changed lane 512 in the vehicle traveling direction, is can be recognized as existing.

The control unit 430 of the blind spot detection device according to the present invention performs a function of resetting the first extended sensing region and the second extended sensing region, and more specifically, the entry angle θ at which the vehicle enters the adjacent entry lane. and when the current driving vehicle speed of the vehicle is greater than or equal to a certain level, resetting the basic sensing region to a second extended sensing region extending from the driving lane of the vehicle to a second adjacent lane spaced apart by two or more lanes.

More specifically, the controller 430 moves the basic detection area set by the blind spot detection unit 410 toward the second adjacent lane by the reset distance Y, and a reset angle θ' proportional to the entry angle θ. It is determined as the area rotated by the amount, and the width W of the second extended sensing area may be greater than or equal to the sum of the width W' of the basic sensing area and the road width Wr.

The second extended detection area setting function of the control unit will be further described with reference to FIGS. 5 and 6 as follows.

For convenience of explanation, in the present specification, the lane into which the control target vehicle 500 intends to enter is the entry lane 512 , the lane in which the vehicle 500 is currently driving is the driving lane 510 , and the immediately adjacent lane to enter. is a first adjacent lane 520 , and a next lane adjacent to the first adjacent lane is denoted as a second adjacent lane 530 .

In addition, the blind spot detection area basically set by the blind spot detection unit 410 is displayed as the basic detection area 550, and only the first adjacent lane 520 of the extended detection area reset by the control unit according to the present invention is extended. The detection area extended to cover the detection area to the first extended detection area 562 and the second adjacent road is displayed as a second extended detection area 560 .

As shown in FIG. 5 , the controller 430 moves the basic detection area 550 set by the blind spot detection unit 410 in parallel by the reset distance Y in the direction of the first adjacent road and rotates it by the reset angle θ' to detect the first extension. area 562 is determined.

More specifically, when the approach angle θ and the vehicle speed are greater than the first threshold, only the first adjacent lane 520 exists in the traveling direction and the second adjacent lane 530 does not exist. After resetting the extended detection area 562 as the final detection area, a blind spot detection function is performed.

Also, when the approach angle θ and the vehicle speed are greater than the second threshold and the first adjacent lane 520 and the second adjacent lane 530 exist in the traveling direction of the vehicle, the control unit 430 selects the basic sensing area 550. It is reset by changing to the second extended detection area 560 extended to the second adjacent lane 530 .

In this case, the first threshold value for setting the first extended detection area 562 may be determined to be 30 to 45 degrees of the approach angle θ and 30 km/h or more of the vehicle speed, and the second threshold value for setting the second extended detection area is It may be determined that the approach angle θ is 45 degrees or more and the vehicle speed is 30 km/h or more.

Of course, these first and second thresholds are not limited to the above ranges, and the approach angle and vehicle speed at which the vehicle is expected to enter the first adjacent lane 520 or the second adjacent lane 530 over the changed lane. may be determined otherwise.

Also, after confirming whether the lane change lamp is operating, the controller 430 may determine whether to reset the second extended detection area by considering the information together with the aforementioned approach angle and vehicle speed.

In this case, the method of determining the second extended sensing area by the controller 430 will be described in more detail as follows.

6 shows an example of a method for determining a second extended sensing area according to an embodiment of the present invention.

As shown in FIG. 6 , the second extended detection area 560 moves the basic detection area 550 determined by the blind spot detection unit 410 by a reset distance Y in the direction of the second adjacent lane 530 , and by a reset angle θ' It is rotated, and the width of the sensing area is determined as an area extended by W.

As shown in FIG. 6 , the sensor included in the blind spot detection unit 410 has a wide-angle detection area 504, and a certain area is determined as the basic detection area 550 to perform a blind spot detection function. do.

At this time, the control unit 430 resets the second extended sensing area 560, which is the extension of the basic sensing area 550 in the sensing area 504, and measures the received signal reflected from the area to detect obstacles. to perform the function.

At this time, the reset distance Y is a movement distance from the upper right corner point of the basic sensing area to the upper right corner point of the second extended sensing area 560, and this reset distance Y is from the first point 502 at the rear of the vehicle. It may be determined as b, which is the distance to the change lane 512 .

Also, in some cases, it is assumed that the reset distance Y is parallel to the driving lane at b, which is the distance from the first point 502 at the rear of the vehicle to the change lane 512 just before entering the first adjacent lane. It may be determined as a value obtained by subtracting the distance a between one vehicle side and the changing lane.

That is, the reset distance Y for determining the second extended detection area 560 is b or b, which is the distance from the first point 502 at the rear of the vehicle to the change lane 512 just before entering the first adjacent lane. It can be (b-a), which is a value obtained by subtracting the distance a between the vehicle side and the change lane, assuming that the vehicle is parallel to the driving lane.

On the other hand, the distance a between the vehicle side and the change lane, assuming that the vehicle is parallel to the driving lane, can be obtained from the vehicle width (Wv) and lane width (Wr), for example, a is ( Wr-Wv)/2 may be determined.

In addition, b, which is the distance from the first point 502 at the rear of the vehicle to the change lane 512 just before entering the first adjacent lane, is assuming that the front end of the vehicle is in contact with the change lane 512, the vehicle It can be obtained from the length (Lv) and the angle of entry (θ).

For example, as shown in FIG. 6B , b, which is the distance from the first point 502 at the rear of the vehicle to the change lane 512, may be determined as Lv*sin θ.

On the other hand, the reset angle θ ' for the second extended detection area 560 may be basically the same as the entrance angle θ at which the vehicle enters the change lane, but is not limited thereto. can

In addition, the width W of the second extended sensing area 560 is greater than the width W' of the basic sensing area 550 , and more specifically, the sum of the width W' of the basic sensing area 550 and the road width Wr; It is preferably equal to or greater than that.

More specifically, the width W1 of the first extended sensing region 562 included in the second extended sensing region 560 may be the same as the width W′ of the basic sensing region 550 , and The width W may be determined as the sum of the width W1 of the first extended sensing area 562 and the additional extended width W2.

To this end, the control unit 430 may obtain information on the lane width (Wr) of the currently driving road using the lane information acquisition unit 420 or a separate navigation device, and store vehicle width (Wv) information in advance. can

Of course, the width W of the second extended detection area 560 is not limited to this relationship, and may be set differently as long as the second extended detection area 560 covers a part of the second adjacent lane 530 . .

In addition, the control unit 430 may additionally include a function of calculating an expected collision time or an expected collision point between the second other vehicle 300 and the vehicle 500 driving in the second extended sensing area 560 .

The expected collision time or collision prediction point may be derived using a time to collision (TTC) technique, which is a general collision prediction algorithm.

That is, in consideration of the traveling direction and the traveling speed of the vehicle 500 and the traveling speed of the second other vehicle 300 , the expected time for the vehicle 500 and the second other vehicle 300 to collide and the second An expected collision point on the adjacent lane 530 may be calculated.

In addition, the blind spot detection device according to the present invention may further include a display unit 450 for displaying one or more of the predicted collision point, the vehicle, the second other vehicle, and the dangerous lane according to the calculated expected collision time or collision expected point. .

The display unit 450 may display the fact of collision in two or more different expression methods according to the expected collision time and the expected collision point, which will be described in more detail with reference to FIG. 8 .

As described above, when there is a possibility that the vehicle may enter the first adjacent lane and the second adjacent lane by changing the lane, the blind spot detection device according to the present invention can cover the existing blind spot detection area to the adjacent lane. By expanding and resetting the area, it has the effect that it is possible to detect and avoid collisions with other vehicles or obstacles proceeding in the lane after the change.

That is, according to the embodiment of the present invention, the basic sensing area for blind detection of the rear or side of the vehicle is set from the driving lane of the vehicle according to the approach angle θ at which the vehicle enters the adjacent entry lane and the current driving vehicle speed. By having a function of resetting to a second extended detection area extended to a second adjacent lane separated by two or more lanes, it is possible to detect obstacles existing in the second adjacent lane beyond the adjacent lane as well as to avoid collision. It works.

7 is a flowchart of a blind spot detection method according to an embodiment of the present invention.

As shown in FIG. 7 , the blind spot detection method according to the present invention determines a basic detection area for setting a basic detection area for detecting a blind spot on the rear or side of the vehicle using a sensor mounted on the rear or side of the vehicle (S710). ), and a lane information acquisition step (S720) of acquiring lane information around the vehicle.

Next, using information from the lane information obtaining unit 420 , the approach angle θ at which the vehicle enters the adjacent entry lane and the distances a and b between the vehicle and the changed lane are determined. (S730)

Next, the control unit 430 determines whether the approach angle θ and the vehicle speed are equal to or greater than the first threshold or the second threshold (S740), and if the threshold is less than the threshold, the blind spot detection function is performed using the basic detection area determined by the blindness detection unit. Execute. (S742)

If the approach angle θ and the vehicle speed are equal to or greater than the threshold in step S740, it is checked whether a second adjacent lane exists in the vehicle traveling direction (S750).

When the approach angle θ and the vehicle speed are equal to or greater than the threshold, and a second adjacent lane exists in the vehicle traveling direction, the basic sensing area is spaced apart by two lanes or more from the driving lane of the vehicle in the manner shown in FIGS. 5 and 6 . It is reset to the second extended detection area extended to the second adjacent lane, and a blind spot detection function is performed based on the reset second extended detection area (S760).

At this time, the second extended detection area is determined as an area in which the basic detection area is moved toward the second adjacent lane by a reset distance Y and rotated by a reset angle θ' proportional to the entry angle θ, The width W of the second extended sensing region may be greater than or equal to the sum of the width W′ of the basic sensing region and the road width Wr.

On the other hand, the reset distance (Y) is a state in which the vehicle is parallel to the driving lane at the distance (b) between the first point at the rear of the vehicle and the change lane (b) or the distance between the first point at the rear of the vehicle and the change lane (b). It may be determined as a value obtained by subtracting the distance (a) between the assumed vehicle side and the change lane.

The method of determining the first extended sensing region and the second extended sensing region is the same as that described with reference to FIGS. 5 and 6 , and thus detailed description will be omitted to avoid duplication.

On the other hand, as a result of checking in step S750, if the approach angle θ and the vehicle speed are equal to or greater than the threshold, but there is no second adjacent lane in the traveling direction of the vehicle, the basic detection area is extended to the first adjacent lane immediately adjacent to the driving lane of the vehicle. It resets to the extended first extended sensing region and performs a blind spot detection function based on the reset first extended sensing region. (S752)

In addition, although not shown, the blind spot detection method according to an embodiment of the present invention may further include warning when an obstacle is detected in the second extended detection area.

In addition, the blind spot detection method according to an embodiment of the present invention calculates the expected collision time or expected collision point between the second other vehicle and the vehicle in motion, and according to the calculated expected collision time or collision expected point, the collision expected point, the vehicle , the step of displaying one or more of the second other vehicle and the dangerous lane (S770) may be further included.

8 shows an example of a display method when a collision with another vehicle traveling in a second adjacent lane is expected in the blind spot detection device according to an embodiment of the present invention.

As shown in FIG. 8 , in the blind spot detection apparatus and method according to the present invention, when another vehicle driving is detected in the second extended detection area, the expected collision time between the other vehicle and the own vehicle, or the expected collision distance/location, etc. are calculated. It can be displayed on the display unit in various ways.

In this case, the collision prediction information may be displayed in different ways according to the magnitude of the collision prediction point/time.

For example, as shown in (a) of FIG. 8 , when the expected collision point remains above a certain threshold, the collision expected point icon 840, the own vehicle icon 810, and the other vehicle icon 840 on the display unit. may be displayed together with the lane image, but a yellow first blinking image in which the second change lane image 830 that should not be crossed and the collision expected point icon 840 blink at a regular cycle.

On the other hand, when the expected collision point and the collision expected time are imminent within a certain threshold, as shown in FIG. is displayed together with the lane image, but the second changing lane image 830 ′ that should not be crossed and the collision expected point icon 840 ′ blinking at a shorter cycle than the first blinking cycle. ) can be displayed as an image.

As shown in FIG. 8 , by displaying an image of a changing lane in different ways according to the expected collision time or point, the driver may be warned of the danger of lane change to the second adjacent lane in stages.

According to the apparatus and method for detecting blind spots according to the embodiment of the present invention as described above, when there is a possibility that the vehicle may enter the first adjacent lane and the second adjacent lane by changing the lane, the existing blind spot detection area is extended to the adjacent lane. By expanding and resetting the extended detection area that can be covered, it has the effect that it is possible to detect and avoid collisions with other vehicles or obstacles proceeding in the lane after the change.

In addition, according to the embodiment of the present invention, the basic sensing area for blind detection of the rear or side of the vehicle is set from the driving lane of the vehicle according to the approach angle θ at which the vehicle enters the adjacent entry lane and the current driving vehicle speed. By having a function of resetting to a second extended detection area extended to a second adjacent lane separated by two or more lanes, it is possible to detect obstacles existing in the second adjacent lane beyond the adjacent lane as well as to avoid collision. It works.

In addition, the first extended detection area reset by extending the basic detection area for blind spot detection to the first adjacent lane according to the vehicle's lane change angle, etc., and the second extended detection extended to the second adjacent lane farther than the first adjacent lane By selectively using the area, even when a very abrupt lane change occurs, even obstacles existing in two or more adjacent lanes can be detected.

In the above, even though all the components constituting the embodiment of the present invention are described as being combined or operating in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more. In addition, all of the components may be implemented as one independent hardware, but a part or all of each component is selectively combined to perform some or all of the functions of the combined hardware in one or a plurality of hardware program modules It may be implemented as a computer program having Codes and code segments constituting the computer program can be easily deduced by those skilled in the art of the present invention. Such a computer program is stored in a computer readable storage medium (Computer Readable Media), read and executed by the computer, thereby implementing the embodiment of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, and the like.

In addition, terms such as "comprises", "comprises" or "have" described above mean that the corresponding component may be embedded, unless otherwise stated, excluding other components. Rather, it should be construed as being able to include other components further. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms commonly used, such as those defined in the dictionary, should be interpreted as being consistent with the meaning of the context of the related art, and are not interpreted in an ideal or excessively formal meaning unless explicitly defined in the present invention.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

400: blind spot detection device 410: blind spot detection unit
420: lane information acquisition unit 430: control unit
440: warning unit 510: driving lane
520: 1st adjacent lane 530: 2nd adjacent lane
512: change lane 522, 830: second change lane
550: basic detection area 560: second extended detection area
562: first extended detection area

Claims (15)

a blind spot detection unit mounted on the rear or side of the vehicle to set a basic detection area for detecting a blind spot on the rear side of the vehicle;
a lane information acquisition unit configured to acquire lane information around the vehicle;
When the approach angle θ at which the vehicle enters the adjacent entry lane and the current driving vehicle speed are above a certain level, the basic sensing area is extended to a second adjacent lane spaced by two or more lanes from the driving lane of the vehicle. a control unit for resetting the extended detection area;
and a warning unit for warning or displaying when an obstacle exists in the second extended detection area,
The second extended detection area is determined as an area in which the basic detection area is moved toward the second adjacent lane by a reset distance Y and rotated by a reset angle θ' proportional to the entry angle θ, A width W of the second extended detection area is greater than or equal to a sum of a width W' of the basic detection area and a lane width Wr. delete According to claim 1,
When the approach angle θ and the vehicle speed are equal to or greater than a first threshold and the second adjacent lane is not searched for by the lane information obtaining unit, the control unit is configured to control a first extended detection area having a smaller range than the second extended detection area. Blind spot detection device, characterized in that reset to. 4. The method of claim 3,
When the approach angle θ and the vehicle speed are equal to or greater than a second threshold and the second adjacent lane is searched for by the lane information obtaining unit, the controller expands the first extended detection area to a second extended detection area. Blind spot detection device, characterized in that reset. According to claim 1,
The blind spot detection unit includes at least one of an ultrasonic sensor module, an infrared sensor module, and a radar sensor module installed at the rear or side of the vehicle, and the lane information obtaining unit includes an image module mounted inside or outside the vehicle. blind spot detection device. According to claim 1,
The reset distance (Y) assumes a state in which the vehicle is parallel to the driving lane at the distance (b) from the first point at the rear of the vehicle to the change lane (b) or the distance between the first point at the rear of the vehicle and the change lane (b) Blind spot detection device, characterized in that it is determined by subtracting the distance (a) between one vehicle side and the changing lane. According to claim 1,
The control unit is a blind spot detection device, characterized in that for calculating the expected collision time or collision point of the second other vehicle and the vehicle driving in the second extended detection area. 8. The method of claim 7,
Blind spot detection device, characterized in that it further comprises a display unit for displaying at least one of the predicted collision point, vehicle, second other vehicle, and dangerous lane according to the calculated expected collision time or collision expected point. According to the approach angle θ at which the vehicle enters the adjacent entry lane and the current driving speed of the vehicle, the basic detection area for detecting the blind spot at the rear or side of the vehicle is set to a second adjacent lane spaced by two or more lanes from the driving lane of the vehicle. reset to the second extended detection area extended to
The second extended detection area is determined as an area in which the basic detection area is moved toward the second adjacent lane by a reset distance Y and rotated by a reset angle θ' proportional to the entry angle θ, A width W of the second extended detection area is greater than or equal to a sum of a width W' of the basic detection area and a lane width Wr. a basic detection area determining step of setting a basic detection area for blind detection of the rear or side of the vehicle using a sensor mounted on the rear or side of the vehicle;
a lane information acquisition step of acquiring lane information around the vehicle;
When the approach angle θ at which the vehicle enters the adjacent entry lane and the current driving vehicle speed are above a certain level, the basic sensing area is extended to a second adjacent lane spaced by two or more lanes from the driving lane of the vehicle. a detection area resetting step of resetting to an extended detection area;
a warning step of warning or displaying when an obstacle exists in the second extended detection area;
includes,
The second extended detection area is determined as an area in which the basic detection area is moved toward the second adjacent lane by a reset distance Y and rotated by a reset angle θ' proportional to the entry angle θ, The width (W) of the second extended detection area is greater than or equal to the sum of the width (W') of the basic detection area and the road width (Wr). delete 11. The method of claim 10,
In the step of resetting the detection area, when the approach angle θ and the vehicle speed are equal to or greater than a first threshold, and the second adjacent lane is not searched for by the step of obtaining lane information, a first range smaller than the second extended detection area Blind spot detection method, characterized in that it further comprises the step of resetting to the extended detection area. 11. The method of claim 10,
The reset distance (Y) assumes a state in which the vehicle is parallel to the driving lane at the distance (b) from the first point at the rear of the vehicle to the change lane (b) or the distance between the first point at the rear of the vehicle and the change lane (b) Blind spot detection method, characterized in that it is determined by subtracting the distance (a) between one side of the vehicle and the change lane. 11. The method of claim 10,
The method for detecting a blind spot according to claim 1, further comprising: a collision prediction calculation step of calculating an expected collision time or an expected collision point between a second other vehicle and the vehicle driving in the second extended detection area. 15. The method of claim 14,
The warning step further comprises a display step of displaying at least one of the predicted collision point, the vehicle, the second other vehicle, and the dangerous lane according to the calculated expected collision time or collision expected point.

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