KR102467632B1 - Vehicle rear detection device and method - Google Patents

Abstract

The present invention relates to an apparatus and method for detecting the rear of a vehicle, the apparatus comprising: a front camera module for photographing the front of the vehicle and detecting a lane in which the vehicle is driving; a side camera module installed on each of the side mirrors and receiving a shooting start signal and taking a rear side image while the vehicle is driving in a rearward outward direction for a first specific time period; a side vehicle detection module installed on the rear side of the vehicle and detecting the presence of a side vehicle approaching from outside the rear of the vehicle for a second specific time by receiving a detection start signal; and a vehicle configured to generate the detection start signal by detecting deviation from the driving lane or direction instruction operation of the vehicle through the front camera module, and generating the photographing start signal when the presence of the side vehicle is detected. Includes control module.

Description

Vehicle rear detection device and method {VEHICLE REAR DETECTION DEVICE AND METHOD}

The present invention relates to a technology for detecting the rear of a vehicle, and more particularly, to an apparatus and method for detecting the rear of a vehicle that assists a driver's driving by visualizing information obtained through a detection device mounted on a side mirror of a vehicle and outputting it to a terminal inside the vehicle. it's about

Various systems installed in vehicles have improved the driver's convenience and made it possible to more safely protect the driver while driving. However, despite the driver's convenience, vehicle driving may still cause various situations that may threaten the driver's life.

Accordingly, various technologies capable of assisting the driver's driving are being developed, and specifically, the following technologies have recently been applied.

Blind Spot Detection (BSD) is a system installed in recent vehicle models and implemented to sound a warning to the driver or turn on lights on side mirrors when a vehicle is detected from the rear side. Blind-spot View Monitor is a system installed in the latest models of vehicles such as BMW and Hyundai, and is implemented to output a screen in the corresponding direction when the driver turns on the turn signal through a high-resolution camera mounted on the rear side view of the vehicle. .

However, these technologies are applied only to the latest models and have a problem in that they are difficult to apply to existing vehicles and require a lot of cost for installation.

Korean Patent Registration No. 10-0775369 (2007.11.05)

An embodiment of the present invention is to provide an apparatus and method for detecting the rear of a vehicle that assists a driver's driving by visualizing information obtained through a detection device mounted on a side mirror of a vehicle and outputting the visualized information to a terminal inside the vehicle.

An embodiment of the present invention provides an apparatus and method for detecting the rear of a vehicle that can be easily applied to old as well as newer vehicle models and can help a driver's judgment by measuring the distance from a vehicle to the side and rear and providing visualized information. want to provide

Among the embodiments, the vehicle rear detection device includes a front camera module for photographing the front of the vehicle and detecting a driving lane of the vehicle; a side camera module installed on each of the side mirrors and receiving a shooting start signal and taking a rear side image while the vehicle is driving in a rearward outward direction for a first specific time period; a side vehicle detection module installed on the rear side of the vehicle and detecting the presence of a side vehicle approaching from outside the rear of the vehicle for a second specific time by receiving a detection start signal; and a vehicle configured to generate the detection start signal by detecting deviation from the driving lane or direction instruction operation of the vehicle through the front camera module, and generating the photographing start signal when the presence of the side vehicle is detected. Includes control module.

The side camera module may determine the first specific time to be in inverse proportion to the driving speed of the vehicle.

Even when the first specific time period has elapsed, the side camera module may continue to capture images from the rear side while driving if the approach of the side vehicle is gradually approaching.

The side camera module may enlarge the rear side image when the approach of the side vehicle is getting closer within a specific distance.

The side vehicle detecting module is implemented as a Time of Flight (ToF) sensor and may further detect a distance and an approaching speed to a side vehicle approaching from outside the rear of the vehicle during the second specific time period.

The side vehicle detection module may determine the second specific time to be in inverse proportion to the driving speed of the vehicle.

The side vehicle detection module may continue to detect the presence, distance, and approaching speed of the side vehicle if the side vehicle approaches gradually even when the second specific time has elapsed.

The side vehicle detection module may not extend the second specific time when the side vehicle exists in an adjacent lane other than an adjacent lane.

The vehicle control module may simultaneously generate the detection start signal and the photographing start signal and provide a lane departure alarm when detecting departure from the driving lane.

The vehicle control module may visualize and display the moving direction of the vehicle while outputting the presence and image of the side vehicle to an AVN (Audio Video Navigation) device of the vehicle in an around-view method.

When the existence of the side vehicle is detected within a possible collision distance, the vehicle control module may generate a virtual around view and provide it to the AVN device of the vehicle before generating the shooting start signal.

In embodiments, a method for detecting the rear of a vehicle may include detecting departure from a lane in which the vehicle is driving or detecting operation of indicating a direction of the vehicle through a front camera module; photographing a rear side image while the vehicle is driving in a rearward outward direction for a first specific time period when a recording start signal is received through the side camera module; detecting the presence of a side vehicle approaching from the rear of the vehicle for a second specific time period when a detection start signal is received through the side vehicle detection module; and generating a visualized image of the side vehicle when the presence of the side vehicle is detected through the vehicle control module.

The generating may include simultaneously generating the detection start signal and the photographing start signal and providing a lane departure alarm when the driving lane departure is detected.

The generating may include visualizing and displaying the moving direction of the vehicle while outputting the presence and image of the side vehicle to an AVN (Audio Video Navigation) device of the vehicle in an around-view method.

The generating may include generating a virtual around view before generating the shooting start signal and providing the virtual around view to an AVN device of the vehicle when the presence of the side vehicle is detected within a possible collision distance.

The disclosed technology may have the following effects. However, it does not mean that a specific embodiment must include all of the following effects or only the following effects, so it should not be understood that the scope of rights of the disclosed technology is limited thereby.

An apparatus and method for detecting the rear of a vehicle according to the present invention visualizes information obtained through a detection device mounted on a side mirror of a vehicle and outputs the visualized information to a terminal inside the vehicle, thereby assisting the driving of the driver.

The apparatus and method for detecting the rear of a vehicle according to the present invention can be easily applied to old as well as newer vehicle models, and can help a driver's judgment by providing visualized information by measuring a distance from a vehicle to the side and rear.

1 is a diagram illustrating a vehicle rear detection system according to the present invention.
FIG. 2 is a diagram illustrating a system configuration of the rear detection device of FIG. 1 .
FIG. 3 is a diagram illustrating a functional configuration of the rear detection device of FIG. 1 .
4 is a flowchart illustrating a process of detecting the rear of a vehicle according to the present invention.
5 is a diagram for explaining an embodiment of a system configuration diagram according to the present invention.
6 is a diagram illustrating one embodiment of system operation according to the present invention.
7 is a diagram for explaining an embodiment of the configuration and operation of the present invention.

Since the description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiment can be changed in various ways and can have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, the scope of the present invention should not be construed as being limited thereto.

Meanwhile, the meaning of terms described in this application should be understood as follows.

Terms such as "first" and "second" are used to distinguish one component from another, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

It should be understood that when an element is referred to as being “connected” to another element, it may be directly connected to the other element, but other elements may exist in the middle. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that no intervening elements exist. Meanwhile, other expressions describing the relationship between components, such as “between” and “immediately between” or “adjacent to” and “directly adjacent to” should be interpreted similarly.

Expressions in the singular number should be understood to include plural expressions unless the context clearly dictates otherwise, and terms such as “comprise” or “having” refer to an embodied feature, number, step, operation, component, part, or these. It should be understood that it is intended to indicate that a combination exists, and does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

In each step, the identification code (eg, a, b, c, etc.) is used for convenience of explanation, and the identification code does not describe the order of each step, and each step clearly follows a specific order in context. Unless otherwise specified, it may occur in a different order than specified. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

The present invention can be implemented as computer readable code on a computer readable recording medium, and the computer readable recording medium includes all types of recording devices storing data that can be read by a computer system. . Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. In addition, the computer-readable recording medium may be distributed to computer systems connected through a network, so that computer-readable codes may be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Terms defined in commonly used dictionaries should be interpreted as consistent with meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present application.

1 is a diagram illustrating a vehicle rear detection system according to the present invention.

Referring to FIG. 1 , the vehicle rear detection system 100 may include a vehicle 110 , a rear detection device 130 and a database 150 .

The vehicle 110 is a means of transportation that transports passengers or cargo using power generated by an engine, and may correspond to a car as a representative example. In addition, the vehicle 110 is not limited to automobiles, and may be understood as a concept including various means of transportation capable of moving using power, such as ships and airplanes. In one embodiment, the vehicle 110 may be connected to the rear sensing device 130 through a network. In this case, the sensing module and the camera module installed in the vehicle 110 may each be defined as a logical component of the rear sensing device 130, and the rear sensing device 130 is configured to detect the module and the camera through the vehicle 110. It may be understood as communicating with the module, but is not necessarily limited thereto.

In one embodiment, the vehicle 110 may be implemented with an autonomous driving function, and in this case, may include various sensors for autonomous driving. For example, the vehicle 110 may include an accelerator pedal sensor, a brake pedal sensor, a wheel acceleration sensor, a vehicle body acceleration sensor, a vehicle body vibration sensor, a Global Positioning System (GPS) sensor, a steering angle sensor, and the like.

The rear detection device 130 may be implemented as a server corresponding to a computer or program capable of supporting the driver's safe driving by generating information about the rear area of the vehicle 110 and providing the information to the driver. The rear detection device 130 may be connected to the vehicle 110 through a wireless network, and may transmit/receive data with the vehicle 110 through the network. In addition, the rear detection device 130 may be implemented by including an independent server to provide additional functions as needed. In this case, the rear detection device 130 may be implemented as a portable or mountable computing device, and may perform related operations through interworking with a server.

The database 150 may correspond to a storage device that stores various pieces of information necessary for the operation of the rear detection device 130 . The database 150 may store data required for driving of the vehicle 110 and may store data for analyzing an image from the rear or rear side of the vehicle 110, but is not limited thereto, and the rear detection device 130 ) may store collected or processed information in various forms in the process of generating useful information provided to the driver of the vehicle 110 .

FIG. 2 is a diagram illustrating a system configuration of the rear detection device of FIG. 1 .

Referring to FIG. 2 , the rear detection device 130 may be implemented by including a processor 210, a memory 230, a user input/output unit 250, and a network input/output unit 270.

The processor 210 may execute a procedure for processing each step in the process of the rear detection device 130 operating, and manage the memory 230 read or written throughout the process, and the memory 230 ), you can schedule the synchronization time between volatile memory and non-volatile memory. The processor 210 can control the overall operation of the rear detection device 130, and is electrically connected to the memory 230, the user input/output unit 250, and the network input/output unit 270 to control data flow between them. can The processor 210 may be implemented as a central processing unit (CPU) of the rear detection device 130 .

The memory 230 is implemented as a non-volatile memory such as a solid state drive (SSD) or a hard disk drive (HDD) and may include an auxiliary storage device used to store all data necessary for the rear detection device 130, It may include a main memory implemented as a volatile memory such as RAM (Random Access Memory).

The user input/output unit 250 may include an environment for receiving user input and an environment for outputting specific information to the user. For example, the user input/output unit 250 may include an input device including an adapter such as a touch pad, a touch screen, an on-screen keyboard, or a pointing device, and an output device including an adapter such as a monitor or touch screen. In one embodiment, the user input/output unit 250 may correspond to a computing device connected through a remote connection, and in such a case, the rear detection device 130 may be implemented as an independent server.

The network input/output unit 270 includes an environment for connecting to an external device or system through a network, and includes, for example, a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), and a VAN ( An adapter for communication such as Value Added Network) may be included.

FIG. 3 is a diagram illustrating a functional configuration of the rear detection device of FIG. 1 .

Referring to FIG. 3 , the rear detection device 130 may include a front camera module 310, a side camera module 330, a side vehicle detection module 350, a vehicle control module 370, and a control module 390. can

The front camera module 310 may photograph the front of the vehicle 110 and detect a lane in which the vehicle 110 is driving. The front camera module 310 may capture a front image in conjunction with a front camera installed toward the front of the vehicle 110, and may detect a lane through image analysis to determine whether or not to depart from the driving lane. The front camera module 310 may generate a lane departure detection signal when lane departure during driving is detected. Meanwhile, the front camera module 310 may utilize various lane detection algorithms to detect a lane from an image, and may perform a pre-processing operation on the image before performing a lane detection operation.

The side camera module 330 is installed on each of the side mirrors and receives a recording start signal to capture a rear side image while the vehicle 110 is driving in a rearward and outward direction for a first specific time period. The side camera module 330 may operate in conjunction with cameras installed on each of the side mirrors, and may start its operation by a photographing start signal. In addition, the side camera module 330 is installed in a direction opposite to the movement of the vehicle 110 to capture an image of the rear or rear side of the vehicle 110 . That is, the posterolateral image may correspond to an image related to a rearward direction with respect to the vehicle 110, and may correspond to an image related to an outward direction based on the side surface of the vehicle 110. Accordingly, vehicles driving in a lane right next to the lane in which the vehicle 110 is driving may be captured in the rear side image.

In one embodiment, the side camera module 330 may determine the first specific time to be in inverse proportion to the driving speed of the vehicle 110 . The side camera module 330 may be implemented to always operate, but may be implemented to temporarily operate only for a first specific time period. In particular, the first specific time period may be set to be shorter as the driving speed of the vehicle 110 increases. This is in consideration of the fact that it is more effective to perform information update by capturing images frequently at a shorter period as the driving speed of the vehicle 110 increases.

In one embodiment, the side camera module 330 may continue to capture rear side images while driving if the approach of the side vehicle is gradually approaching even when the first specific time period has elapsed. Meanwhile, the side camera module 330 may basically capture a posterolateral image for a predetermined first specific time whenever each shooting start signal is received. However, even when the first specific time has elapsed, when there is a side vehicle, that is, a vehicle 110 approaching from the lane next to the vehicle 110 in motion, and the distance to the side vehicle gradually decreases, for the rear side image You can continue filming.

In one embodiment, the side camera module 330 may enlarge the rear side image if the approach of the side vehicle is getting closer within a specific distance. For example, the side camera module 330 may automatically adjust the focus so that the side vehicle is located in the center of the image by enlarging the rearward image when the distance to the side vehicle is continuously reduced to within a preset threshold distance.

The side vehicle detection module 350 is installed on each rear side of the vehicle 110 and receives a detection start signal to detect the presence of a side vehicle approaching from outside the rear of the vehicle 110 for a second specific time period. The side vehicle detection module 350 may serve to collect information on the rear side of the driving vehicle 110 together with the side camera module 330 . That is, the side vehicle detection module 350 may detect the presence of a side vehicle in the rearward direction of the vehicle 110 in motion, and for this purpose operates in conjunction with various sensors installed in the rearward direction of the vehicle 110. can do.

In one embodiment, the side vehicle detection module 350 is implemented as a Time of Flight (ToF) sensor and further detects a distance and an approaching speed to a side vehicle approaching from outside the rear of the vehicle 110 for a second specific time period. can It can be implemented through an infrared or laser-based Time of Flight (ToF) sensor. The ToF sensor may correspond to a sensor that measures the distance to a subject by measuring the time required to receive a signal that is reflected from a specific object after transmitting infrared or laser wavelengths. The side vehicle detection module 350 may calculate the side vehicle distance based on the measurement value received from the ToF sensor, and calculate the approaching speed of the side vehicle based on a change in the speed of the vehicle 110 and the distance to the side vehicle. can do.

In one embodiment, the side vehicle detection module 350 may determine the second specific time to be in inverse proportion to the driving speed of the vehicle 110 . The side vehicle detection module 350 may operate periodically to detect the presence of a side vehicle, and when the presence of a side vehicle is detected, the distance and approaching speed to the side vehicle may be calculated. That is, the second specific time may correspond to the operation period of the side vehicle detection module 350, and may be automatically set by the vehicle control module 370 or set in advance by the rear detection device 130. Also, the second specific time may be dynamically changed in synchronization with the first specific time, and may also be automatically changed in inverse proportion to the driving speed of the vehicle 110 .

In one embodiment, the side vehicle detecting module 350 may continue to detect the existence, distance, and approaching speed of the side vehicle if the side vehicle approaches gradually even when the second specific time has elapsed. The side vehicle detection module 350 may basically perform an operation of detecting the presence of a side vehicle for each detection start signal, but if the side vehicle approaches gradually, the corresponding operation even after the lapse of the second specific time can continue to do. That is, if the side vehicle continues to approach, it may act as a risk factor to the driving vehicle 110, and it is necessary to continuously collect specific information about this.

In one embodiment, the side vehicle detection module 350 may not extend the second specific time when the side vehicle exists in the next lane other than the adjacent lane. Here, the adjacent next lane may correspond to the lane right next to the lane in which the vehicle 110 is currently driving, and the next lane may correspond to lanes adjacent to the lane in which the vehicle 110 is currently driving. Even if the side vehicle is getting closer, the side vehicle detection module 350 terminates the detection operation after the lapse of the second specific time and sends the next detection start signal if the corresponding side vehicle is driving in the next lane rather than the adjacent lane. can wait

The vehicle control module 370 generates a detection start signal by detecting departure from the driving lane or direction instruction operation of the vehicle 110 through the front camera module 310, and takes pictures when the presence of a side vehicle is detected. An initiation signal can be generated. The vehicle control module 370 may determine the initiation of an operation for capturing an image of the rear side of the vehicle or detecting the presence of a side vehicle approaching the rear side, and may generate a start command to execute the corresponding operations. The vehicle control module 370 controls the environment around the vehicle 110 in a state in which there is a high probability of occurrence of a dangerous situation while the vehicle 110 is driving, for example, when a direction instruction is operated to change a lane or a lane departure occurs. A detection start signal or a recording start signal may be generated to collect information about.

In an embodiment, the vehicle control module 370 may simultaneously generate a detection start signal and a photographing start signal and provide a lane departure alarm when detecting lane departure during driving. When lane departure occurs, the situation in the rear side is very important to the driving of the vehicle 110. To collect this information, a detection start signal and a recording start signal are generated at the same time to acquire the rear side image and the side vehicle in the rear side. can be controlled to detect the presence of

In one embodiment, the vehicle control module 370 visualizes and displays the moving direction of the vehicle 110 while outputting the presence and image of the side vehicle to the AVN (Audio Video Navigation) device of the vehicle 110 in an around view manner. can The vehicle control module 370 may provide information acquired through the side camera module 330 and the side vehicle detection module 350 to the driver through the user terminal. In this case, the user terminal may include a smartphone used by the user or a terminal installed in the vehicle 110 . In particular, the vehicle control module 370 may use the AVN system of the vehicle 110 to provide visualized information on the navigation screen in an around view manner. In this case, the moving direction of the vehicle 110 or the approaching direction of the side vehicle from the rear side may be displayed as visualized information, rather than simply reproducing the rear side image.

In one embodiment, the vehicle control module 370 may generate a virtual around view and provide it to the AVN device of the vehicle 110 before generating a shooting start signal when the presence of a side vehicle is detected within a collision possible distance. . Meanwhile, the possible collision distance may be dynamically calculated based on the speed of the vehicle 110 and the approaching speed of the side vehicle. The vehicle control module 370 may generate a recording start signal to capture a rear-side image when the presence of a side vehicle is suddenly detected within a collision possible distance, and the current situation of the vehicle 110 in an emergency situation. An around view about can be virtually created and displayed on the screen of the AVN device. That is, the virtual around view may correspond to preliminary visualization information provided for a moment until an actually captured posterolateral image is displayed in order to focus the driver's attention.

The control module 390 controls the overall operation of the rear detection device 130, and the control flow between the front camera module 310, the side camera module 330, the side vehicle detection module 350 and the vehicle control module 370 Or you can manage the data flow.

4 is a flowchart illustrating a process of detecting the rear of a vehicle according to the present invention.

Referring to FIG. 4 , the rear detection device 130 may detect departure from a lane in which the vehicle 110 is driving or detect manipulation of the direction of the vehicle 110 through the front camera module 310 (step S410). When a recording start signal is received through the side camera module 330, the rear detection device 130 may capture a rear side image while the vehicle 110 is driving in the rearward and outward direction for a first specific time period (step S430).

In addition, when the detection start signal is received through the side vehicle detection module 350, the rear detection device 130 may detect the presence of a side vehicle approaching from outside the rear of the vehicle 110 for a second specific time period (step S450). When the presence of a side vehicle is detected through the vehicle control module 370, the rear detection device 130 may generate a visualized image of the side vehicle (step S470).

5 is a diagram for explaining an embodiment of a system configuration diagram according to the present invention.

Referring to FIG. 5 , the rear side detection device 410 may correspond to the side vehicle detection module 350 and the rear side camera 430 may correspond to the side camera module 330 . Also, the user terminal 450 may correspond to the rear detection device 130, and the output display may correspond to the AVN device of the vehicle 110.

In FIG. 5 , the sensing device 410 and the camera 430 attached to the rear side may continuously transmit data to the user terminal 450 through wireless communication. The visualization system inside the user terminal 450 may be divided into a data pre-processing module and a visualization module, and the data pre-processing module removes unnecessary data for the visualization of the transmitted data and combines sensing data and camera data to visualize data. It can be transferred to the visualization module according to the form. In addition, the data visualization module may reconstruct the received data, build visualized information, and output it to the screen of the user terminal 450 .

6 is a diagram illustrating one embodiment of system operation according to the present invention.

Referring to FIG. 6 , the rear detection device 130 may periodically transmit and output detection data repeatedly. That is, the rear detection device 130 can efficiently deliver information to the user by checking whether or not there is a turn signal in the process of visualizing the pre-processed information.

More specifically, the rear detection device 130 may determine whether to detect a side-rear vehicle (or a side vehicle) based on the detection data. If a side-rear vehicle is detected, side-rear vehicle information may be generated and provided. The rear detecting device 130 may output a warning message and a warning sound when the direction indicator is operated in a state where a side-rear vehicle is detected (S610). If the turn signal does not operate in a state where a vehicle from the side or rear is detected, the rear detection device 130 may update only the visualized information and output it as visualization information (S630).

7 is a diagram for explaining an embodiment of the configuration and operation of the present invention.

Referring to FIG. 7 , the rear detection device 130 continuously transmits information about the currently driving vehicle 710 and the surrounding situation through the side vehicle detection module 350 and the side camera module 330 mounted on the side mirror. It can be visualized as a series or periodically. In the case of figure (a), information visualized by the rear detection device 130 may be displayed through a user terminal (or AVN device).

At this time, as the side vehicle 730 accelerates and approaches from the left side of the driving vehicle 710, it can be detected by the side vehicle detection module 350 and the side camera module 330 mounted on the left side mirror, Distance information to the side vehicle 730 may be displayed through a display screen. In addition, the rear detection device 130 transmits visualized information up to the distance to the left rear side vehicle 730 on the display screen of the user terminal (or AVN device) through the vehicle control module 370 as shown in Figure (b). can be printed out.

In addition, the rear detection device 130 may output a warning sound and a warning message to focus the driver's attention when the left turn signal is turned on while the side vehicle 730 is driving on the left rear of the driving vehicle 710. have. Therefore, the rear detection device 130 does not stop at simply reproducing the posterolateral image, but also visualizes and provides information on the distance to the side vehicle 730, and detects the possibility of an accident with the side vehicle 730, such as a lane change. It can detect a high situation and provide useful visual and auditory information to the driver.

In one embodiment, the rear detection device 130 may operate in conjunction with a vibration module mounted on a driver's seat. That is, the rear detection device 130 may detect a dangerous situation and initiate the operation of the vibration module to provide a physical notification to the driver. In this case, the vibration module may be installed in an appropriate place to provide physical vibration to the driver. Preferably, it may be installed in a driver's seat, a steering wheel, a safety belt, etc. capable of physically contacting the driver's body, but is not necessarily limited thereto, and may be installed in various ways and methods.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. You will understand that it can be done.

100: vehicle rear detection system
110: vehicle 130: rear detection device
150: database
210: processor 230: memory
250: user input/output unit 270: network input/output unit
310: front camera module 330: side camera module
350: side vehicle detection module 370: vehicle control module
390: control module
410: rear side detection device 430: rear side camera
450: user terminal
710: drive vehicle 730: side vehicle

Claims (15)

a front camera module for photographing the front of the vehicle and detecting a driving lane of the vehicle;
a side camera module installed on each of the side mirrors and receiving a shooting start signal and taking a rear side image while the vehicle is driving in a rearward outward direction for a first specific time period;
a side vehicle detection module installed on the rear side of the vehicle and detecting the presence of a side vehicle approaching from outside the rear of the vehicle for a second specific time by receiving a detection start signal; and
The detection start signal is generated by detecting departure from the driving lane or direction instruction operation of the vehicle through the front camera module, and the photographing start signal is generated when the presence of the side vehicle is detected. When the existence of a side vehicle is detected within a collision possible distance, a vehicle control module that generates a virtual around view before generating the shooting start signal and provides it to the AVN device of the vehicle,
The side vehicle detection module is implemented as a Time of Flight (ToF) sensor and further detects a distance and an approaching speed to a side vehicle approaching from outside the rear of the vehicle during the second specific time period, and according to the driving speed of the vehicle. The second specific time is determined to be inversely proportional, and even if the second specific time has elapsed, if the approach of the side vehicle is getting closer, the presence, distance and approaching speed of the side vehicle are continuously detected, and the side vehicle is continuously detected. The second specific time period is not extended when the vehicle exists in an adjacent lane other than an adjacent lane.
The method of claim 1, wherein the side camera module
The vehicle rear detection device, characterized in that the first specific time is determined in inverse proportion to the driving speed of the vehicle.
The method of claim 2, wherein the side camera module
Even if the first specific time has elapsed, if the approach of the side vehicle is gradually approaching, the rear side image is continuously captured while driving.
The method of claim 3, wherein the side camera module
The vehicle rear detection device, characterized in that for enlarging the rear side image when the approach of the side vehicle is getting closer within a specific distance.
delete delete delete delete The method of claim 1, wherein the vehicle control module
and generating the detection start signal and the photographing start signal at the same time and providing a lane departure alarm when detecting departure from the driving lane.
10. The method of claim 9, wherein the vehicle control module
The vehicle rear detection device, characterized in that for visualizing and displaying the moving direction of the vehicle while outputting the presence and image of the side vehicle to an AVN (Audio Video Navigation) device of the vehicle in an around-view method.
delete detecting departure from the lane in which the vehicle is driving or detecting manipulation of a direction of the vehicle through a front camera module;
photographing a rear side image while the vehicle is driving in a rearward outward direction for a first specific time period when a recording start signal is received through the side camera module;
detecting the presence of a side vehicle approaching from the rear of the vehicle for a second specific time period when a detection start signal is received through the side vehicle detection module; and
When the presence of the side vehicle is detected through the vehicle control module, generating a visualized image of the side vehicle,
The generating step includes generating a virtual around view and providing it to an AVN device of the vehicle before generating the shooting start signal when the presence of the side vehicle is detected within a collision possible distance,
The detecting of the presence of the side vehicle is implemented with a Time of Flight (ToF) sensor and further detects a distance and an approaching speed to a side vehicle approaching from outside the rear of the vehicle during the second specific time period, and The second specific time is determined in inverse proportion to the driving speed, and even if the second specific time has elapsed, if the approach of the side vehicle is getting closer, the presence, distance and approaching speed of the side vehicle are continuously detected, and not extending the second specific time period when the side vehicle is present in an adjacent lane other than an adjacent lane.
13. The method of claim 12, wherein the generating step
and simultaneously generating the detection start signal and the photographing start signal and providing a lane departure alarm when detecting departure from the driving lane.
13. The method of claim 12, wherein the generating step
The vehicle rearward detection method comprising the step of visualizing and displaying the moving direction of the vehicle while outputting the presence and image of the side vehicle to an AVN (Audio Video Navigation) device of the vehicle in an around-view method.
delete

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